Pollen slide automatic staining system and control method thereof

Abstract

The application discloses a pollen slide automatic dyeing system and a control method thereof. The automatic dyeing system comprises a pollen slide, a cover slide, a dyeing agent adding device, a low-temperature storage box, a weighing table, a mechanical hand and a heating table, and is electrically connected with a control module. The surface area of the cover slide is smaller than that of the pollen slide. The low-temperature storage box comprises a storage box for storing finished products after the pollen slide is dyed and the cover slide is attached, and a cooling system for cooling the storage box. The dyeing agent adding device is installed on a moving mechanism for moving the dyeing agent adding device in a horizontal plane and a vertical plane, and the dyeing agent in the dyeing agent adding device is cooled by the cooling system. The moving mechanism is electrically connected with the control module. The mechanical hand comprises a suction and taking and placing end for grabbing and transferring the pollen slide and the cover slide, and a rotating moving mechanism for moving and rotating the suction and taking and placing end in the horizontal plane and the vertical plane. The suction and taking and placing end is provided with an extrusion assembly for removing bubbles in the dyeing agent between the pollen slide and the cover slide.

Description

TECHNICAL FIELD

[0001] The present application relates to a dyeing technology, in particular to a pollen slide automatic dyeing system and a control method thereof. BACKGROUND

[0002] There are various types of airborne pollen with wide distribution, and their morphological and structural characteristics are closely related to local climate conditions. However, there is currently a lack of standardized methods for pollen collection and concentration monitoring. Existing research relies heavily on manual dyeing and microscopic examination to identify pollen, which not only is inefficient, but also is limited by the technical level of researchers, resulting in research content usually being focused on a single type or a single region of pollen. This limitation seriously hinders systematic research on pollen of different regions and types, and limits researchers' comprehensive understanding of the ecological effects of airborne pollen.

[0003] The main purpose of pollen slide dyeing is to enhance the visibility of pollen structure, facilitating morphological identification and research of pollen under an optical microscope. Currently, pollen slide dyeing techniques are mainly completed through manual operation. The most commonly used dyeing methods include acetic acid carmine staining, basic fuchsin staining, safranin-fast green double staining, toluene alizarin blue staining, and potassium iodide-iodine solution staining, etc.

[0004] Pollen slide dyeing technology has a wide range of applications in ecology, biology, medicine, and botany. Through dyeing, researchers can observe the characteristics of pollen grains, thereby revealing the classification, evolution, and reproductive mechanisms of plants, as well as the transmission patterns of pollen in the atmosphere. In ecological and medical research, pollen analysis has become an important means to assess air quality, monitor changes in biodiversity, and predict pollen allergies.

[0005] Traditional pollen slide dyeing is completed through manual operation, which has many limitations:

[0006] ① Low efficiency: manual operation is time-consuming and labor-intensive, with low pass rate, making it difficult to meet the needs of large-scale sample processing;

[0007] ② Insufficient accuracy: it is difficult to accurately control the amount of dyeing agent and reaction conditions, affecting the dyeing effect;

[0008] ③ Poor consistency of results: human factors lead to fluctuations in dyeing quality, affecting data reliability;

[0009] ④ Complicated operation: including slide processing, dyeing, heating, and covering, etc., which is prone to errors, and improper operation can easily damage the structure of pollen;

[0010] ⑤ High safety risks: long-term exposure to dyeing agents may have adverse effects on the health of operators.

[0011] In summary, with the deepening of scientific research, the precision and efficiency requirements of pollen staining are also increasing. Therefore, it is urgent to develop a standardized, automated, efficient and high-precision pollen slide automatic staining system to meet the needs of scientific research. SUMMARY

[0012] In view of the above problems in the prior art, the pollen slide automatic staining system and the control method thereof provided by the present application solve the problems of low precision and efficiency of manual staining of pollen.

[0013] To achieve the above-mentioned purposes, the technical scheme adopted by the present application is as follows:

[0014] In a first aspect, a pollen slide automatic staining system is provided, which comprises a slide storage area for storing pollen slides and cover glasses, and a staining agent adding device, a low-temperature storage box, a weighing table, a mechanical hand and a heating table, all of which are electrically connected to a control module; the surface area of the cover glass is smaller than that of the pollen slide.

[0015] The weighing table is used to weigh the staining agent added to the pollen slide by the staining agent adding device, and the heating table is used to heat the staining agent on the slide; the low-temperature storage box comprises a storage box for storing the finished product with the cover glass attached to the stained pollen slide, and a cooling system for cooling the storage box.

[0016] The staining agent adding device is installed on a moving mechanism that moves it in the horizontal and vertical planes, and the staining agent in the staining agent adding device is cooled by the cooling system; the moving mechanism is electrically connected to the control module.

[0017] The mechanical hand comprises a suction and placement end for grabbing and transferring the pollen slide and the cover glass, and a rotating and moving mechanism that moves and rotates the suction and placement end in the horizontal and vertical planes; the suction and placement end is provided with a squeezing assembly for removing bubbles in the staining agent between the pollen slide and the cover glass.

[0018] Further, the suction and placement end comprises a connecting plate fixedly connected to the rotating and moving mechanism, a plurality of suction cups are fixed to the lower surface of the connecting plate, the suction cups are connected to a vacuum generating device through air pipes, and the squeezing assembly is arranged on the connecting plate for squeezing the plurality of suction cups.

[0019] Further, the suction cup comprises a sleeve fixed in a through hole of the connecting plate and a disc body integrally formed with the sleeve and in communication; the sleeve is connected to the vacuum generating device through the air pipe; the squeezing assembly comprises a top rod arranged in the sleeve and connected to the top surface of the disc body, and a driving part for driving the top rod to move downward; the top surface of the top rod is arc-shaped, and a spring in a compressed state is sleeved between the limiting disc of the top rod and the connecting plate.

[0020] The driving part comprises a driving motor fixed to the connecting plate, a regulating screw rod connected to the rotating shaft of the driving motor, and a threaded sleeve threadedly connected to the outside of the regulating screw rod, which is limited to move linearly relative to the regulating screw rod by a limiting piece; the lower surface of the threaded sleeve is provided with an extrusion structure for extruding the downward movement of the ejector rod.

[0021] Further, the extrusion structure comprises a plurality of convex vibration zones for vibration fitting the ejector rod and a slope pushing zone for extruding and pushing, the convex vibration zone is a plurality of convex blocks arranged at intervals, and the slope pushing zone is an extrusion block with a horizontal part and an inclined part; when the convex block and the extrusion block move to the position of the ejector rod, the convex block vibrates up and down when covering the convex block, and the ejector rod is first pushed downward and then kept in the extrusion state when covering the extrusion block.

[0022] Further, the distance from the axis of each row of ejector rods arranged from one side to the other side of the threaded sleeve to the corresponding slope pushing zone is d1, d2 and d3 respectively, and d1 < d2 < d3.

[0023] Further, the dyeing agent adding device comprises a storage cavity for storing the dyeing agent and a stepping motor fixedly sealed to the top of the storage cavity for extruding the dyeing agent in the storage cavity, the output end of the stepping motor is fixedly connected with a screw rod located in the storage cavity, and a piston is sleeved on the screw rod;

[0024] The cooling system in the low-temperature storage box flows the cold source through the outer surface of the storage cavity through the refrigeration pipeline; the outflow channel of the storage cavity is connected with an extrusion outlet, the outside of the extrusion outlet is covered with a heating chamber, and the heating chamber is wound with a resistance heating wire to preheat the frozen dyeing agent in the extrusion outlet.

[0025] Further, the rotary moving mechanism comprises an electric turntable for adjusting the rotation angle of the adsorption taking and placing end, a Y-axis electric sliding component mounted on the electric turntable for adjusting the height of the adsorption taking and placing end, an X-axis electric sliding component provided on the sliding end of the Y-axis electric sliding component for adjusting the horizontal position of the adsorption taking and placing end, and the adsorption taking and placing end is arranged on the sliding end of the X-axis electric sliding component.

[0026] Further, the moving mechanism comprises a door-shaped frame and a sliding component, the sliding component is an XY-axis electric sliding mechanism, the X-axis electric sliding mechanism is fixed to the top of the door-shaped frame, the Y-axis electric sliding mechanism is fixed to the X-axis electric sliding mechanism, and the dyeing agent adding device is fixed to the sliding end of the Y-axis electric sliding mechanism.

[0027] In a second aspect, a control method of a pollen slide automatic dyeing system is provided, which comprises the following steps:

[0028] S1, the mechanical hand adjusts the adsorption and takes the end, makes it grab the pollen slide stored in the slide storage area, and moves the pollen slide to the weighing table through the mechanical hand;

[0029] S2, the moving mechanism adjusts the dye adding device, so that it is located above the pollen slide on the weighing table, and extrudes the dye on the pollen slide until the count of the weighing table reaches the preset value;

[0030] S3, the mechanical hand adjusts the adsorption and takes the end, makes it grab the pollen slide on the weighing table, and moves it to the heating table for heating, and heats for a preset time;

[0031] S4, the mechanical hand adjusts the adsorption and takes the end, makes it grab the cover glass in the slide storage area, the mechanical hand moves to the heating table and covers the pollen slide, and makes the adsorption and takes the end away from the cover glass by a preset distance;

[0032] S5, start the extrusion assembly, make it extrude the adsorption and take the end and gradually contact with the cover glass, to extrude the bubbles in the dye between the pollen slide and the cover glass, and then the extrusion assembly returns to the original position;

[0033] S6, the mechanical hand adjusts the adsorption and takes the end, makes it adsorb the pollen slide below the cover glass, and stores the finished product formed by the pollen slide and the cover glass in the low-temperature storage box, and then resets the adsorption and takes the end.

[0034] Further, step S5 further comprises:

[0035] S51, start the driving motor of the extrusion assembly, drive the adjusting screw rod to rotate to make the threaded sleeve move linearly, the plurality of protrusions cross the jacks to make the jacks move up and down to break the bubbles;

[0036] S52, the threaded sleeve continues to move, the leftmost jack is in contact with the inclined surface of the extrusion block above it, and the suction cup below it is in contact with the cover glass first to extrude the cover glass;

[0037] S53, the jacks from left to right are in contact with the inclined surfaces of the extrusion blocks above them in turn, so that the cover glass is in contact from left to right in turn to extrude the bubbles from one side to the other side;

[0038] S54, when all the jacks are in contact with the planes of all the extrusion blocks, the driving motor moves reversely to reset, and at the same time, the vacuum generating device is started to inject gas into the suction cup;

[0039] S55, repeat steps S51-S54 for a preset number of times to complete the gas discharge.

[0040] Compared with the prior art, the beneficial effects of the present application are:

[0041] (1) The pollen slide automatic dyeing system of the scheme has a sample area, a weighing table, a dyeing agent adding device, a heating table and a finished product area, uses a mechanical hand and cooperates with the dyeing agent adding device to carry out smearing and assembly of the pollen slide, can quickly and in batches process the pollen slide, greatly shortens the experimental period, and enables researchers to obtain more pollen data in the same time.

[0042] (2) The unified standardized operation of the dyeing agent adding device can ensure the consistency and repeatability of the dyeing quality, the precision is controllable, the dyeing effect of each batch is stable and reliable, the error caused by manual operation is eliminated, the comparability of data between different batches and different experiments is greatly improved, and reliable technical support is provided for pollen ecology research across regions and time.

[0043] (3) By setting the extrusion assembly, the bubbles in the dyeing agent can be removed through the extrusion assembly, so that the bubbles in the dyeing agent do not affect the subsequent observation; when the extrusion assembly is set to the unique structure of the scheme, the convex vibration area and the inclined surface pushing area pushed by the extrusion can cooperate with the top rod on the suction cup, so that the suction cup vibrates and progressively extrudes the dyeing agent after heating, which can efficiently eliminate the bubbles in the slide, and ensure the accuracy of subsequent observation.

[0044] (4) The pollen slide automatic dyeing system can accurately control the dyeing agent dosage, reaction time and temperature and other parameters, and can flexibly adjust the dyeing scheme according to different types of dyeing agent and the characteristics of the material to be dyed. It will help to obtain clearer pollen images, improve the accuracy of identification and analysis, and expand the application range of the equipment.

[0045] (5) The automatic operation of the pollen slide automatic dyeing system reduces the opportunity of researchers to directly contact the dyeing agent, greatly reduces the risk of occupational exposure, and is conducive to the sustainable development of scientific research work. DETAILED DESCRIPTION

[0046] Figure 1 It is a perspective view of the pollen slide automatic dyeing system of the application;

[0047] Figure 2 It is a top view of the pollen slide automatic dyeing system of the application;

[0048] Figure 3 It is a schematic view of the mechanical hand structure of the pollen slide automatic dyeing system of the application;

[0049] Figure 4 It is a perspective view of the weighing device and the heater of the pollen slide automatic dyeing system of the application;

[0050] Figure 5 It is a perspective view of the moving mechanism of the pollen slide automatic dyeing system of the application;

[0051] Figure 6 The perspective view of the dyeing agent adding device of the pollen slide automatic dyeing system of the present application;

[0052] Figure 7 The perspective view of the dyeing agent adding device of the dyeing agent adding device of the present application;

[0053] Figure 8 The sectional view of the dyeing agent adding device;

[0054] Figure 9 The perspective view of the dyeing agent adding device of the pollen slide automatic dyeing system of the present application; Figure 7 The partial enlarged view of the middle A part;

[0055] Figure 10 The structure schematic view of the extrusion assembly of the pollen slide automatic dyeing system of the present application;

[0056] Figure 11 The distance schematic view between the top rod and the inclined surface pushing area of the extrusion assembly of the pollen slide automatic dyeing system of the present application;

[0057] Figure 12 The schematic view of the extrusion assembly of the pollen slide automatic dyeing system of the present application;

[0058] Figure 13 The schematic view of the extrusion assembly of the pollen slide automatic dyeing system of the present application;

[0059] 1, low temperature storage box; 2, dyeing agent adding device; 21, extrusion port; 22, heating chamber; 23, resistance heating wire; 24, stepping motor; 25, screw rod; 26, piston; 27, storage cavity; 3, mechanical hand; 31, adsorption taking and placing end; 311, connecting plate; 312, suction cup; 3121, sleeve; 313, air pipe; 32, rotary moving mechanism; 321, electric rotating disc; 322, Y-axis electric sliding assembly; 323, X-axis electric sliding assembly;

[0060] 4, extrusion assembly; 41, top rod; 42, driving part; 421, driving motor; 422, adjusting screw rod; 423, threaded sleeve; 424, extrusion structure; 4241, convex vibration area; 4242, extrusion block; 43, spring; 5, moving mechanism; 51, door-shaped frame; 52, X-axis electric sliding mechanism; 53, Y-axis electric sliding mechanism; 54, sliding end; 6, weighing table; 7, heating table; 8, cover glass holder; 81, cover glass; 9, pollen slide holder; 91, pollen slide. DETAILED DESCRIPTION

[0061] The specific embodiments of the present application are described below to facilitate the understanding of the present application for those skilled in the art, but it should be clear that the present application is not limited to the scope of the specific embodiments, and for those skilled in the art, it is obvious that all the inventions utilizing the concept of the present application are within the scope of the present application as defined and limited by the appended claims.

[0062] Referring to Figures 1-13 The pollen slide 91 automatic staining system provided by the present application realizes the automation, standardization and standardization of the pollen slide 91 staining process, thereby ensuring the consistency and accuracy of the pollen slide 91 staining, and significantly improving the data quality.

[0063] As Figure 1 and Figure 2 shown, the pollen slide 91 automatic staining system provided by the present application includes a slide storage area for storing the pollen slide 91 and the cover glass 81, and a staining agent adding device 2, a low-temperature storage box 1, a weighing table 6, a mechanical hand 3 and a heating table 7 all electrically connected with the control module. The surface area of the cover glass 81 is smaller than that of the pollen slide 91. As Figure 4 shown, the weighing table 6 is used to weigh the staining agent added to the pollen slide 91 by the staining agent adding device 2, and the heating table 7 is used to heat the staining agent on the slide.

[0064] In order to facilitate the storage of each component of the pollen slide 91 automatic staining system, the present application preferably further comprises an assembly table, and the low-temperature storage box 1, the weighing table 6, the mechanical hand 3, the heating table 7, the slide storage area and the moving mechanism 5 are all arranged on the assembly table.

[0065] Because the staining agent will be oxidized if exposed to air for a long time, and the staining agent will lose its effect after oxidation, it is necessary to refrigerate the staining agent. The automatic staining system of the present application has two places that need to be refrigerated. The first is the staining agent contained in the staining agent adding device 2; the second is the finished product formed by adding the staining agent and covering the cover glass 81, which also needs to be refrigerated.

[0066] For this reason, the low-temperature storage box 1 of the present application includes a storage box for storing the finished product with the cover glass 81 after staining the pollen slide 91, and a cooling system for cooling the storage box; the staining agent adding device 2 is installed on the moving mechanism 5 which moves it in the horizontal and vertical planes, and the staining agent in the staining agent adding device 2 is cooled by the cooling system.

[0067] The low-temperature storage box 1 preferably adopts a water circulation cooling system. When water passes through the internal cooling module, the water temperature will drop rapidly, and the low-temperature water will always be kept between 3-5°C, thereby ensuring the effect of the dyeing agent. The low-temperature storage box 1 is generally in a closed state, and is only opened when the finished product needs to be transferred to the low-temperature storage box 1 for cooling after the processing is completed. Specifically, the door of the low-temperature storage box 1 can be connected with an electric push rod electrically connected with the control module, and the automatic opening and closing of the door can be realized through the cooperation of the electric push rod and the control module.

[0068] The pollen slide 91 and the cover glass 81 are stacked separately in the pollen slide 91 and the cover glass 81, and the pollen slide 91 and the cover glass 81 are stacked separately in the pollen slide 91 and the cover glass 81. The slide storage area is provided with separate holders, i.e. a cover glass holder 8 and a pollen slide holder 9. The cover glass holder 8 is provided with cover glasses 81 stacked and prepared, and the other holder is provided with pollen slides 91 stacked and prepared (with pollen collected).

[0069] As shown in Figure 3 The mechanical arm 3 includes a suction and placement end 31 for grabbing and transferring the pollen slide 91 and the cover glass 81, and a rotating and moving mechanism 532 for moving and rotating the suction and placement end 31 in the horizontal plane and the vertical plane. Therefore, the cover glass holder 8 and the pollen slide holder 9 are designed near the mechanical arm 3 for easy operation of the mechanical arm 3. The suction and placement end 31 is provided with a squeezing component 4 for removing bubbles in the dyeing agent between the pollen slide 91 and the cover glass 81.

[0070] There are some dyeing agent bubbles on the assembled pollen slide 91 and cover glass 81, which will have a significant impact on the experimental data. Therefore, it is necessary to remove the dyeing agent bubbles. After the cover glass 81 is placed on the slide after the dyeing agent is applied, the bubbles in the dyeing agent can be removed in a large area by the squeezing component 4 to prevent large bubbles in the dyeing agent from affecting the observation of the dyed pollen by the detection personnel.

[0071] The pollen slide 91 automatic dyeing system of the present application can precisely add dyeing agent to the pollen slide 91 through the cooperation of the control module, the low-temperature storage box 1, the weighing table 6, the mechanical arm 3, and the heating table 7. When the cover glass 81 is placed, the bubbles in the dyeing agent can be squeezed out through the cooperation of the control module, the mechanical arm 3, and the squeezing component 4, thereby ensuring the observation of the dyed pollen.

[0072] As shown in Figures 10-13As shown, the adsorption and release end 31 comprises a connecting plate 311 fixedly connected with the rotating moving mechanism 532, a lower surface of the connecting plate 311 is fixed with a plurality of suction cups 312, the suction cups 312 are connected with the vacuum generating device through air pipes 313, and the pressing assembly 4 is arranged on the connecting plate 311 and used for pressing the plurality of suction cups 312. The control module cooperates with the vacuum generating device to enable the suction cups 312 to be in a vacuum state and a non-vacuum state, so as to realize adsorption and release of the pollen slide 91 and the cover glass 81, and to ensure safe transfer of the pollen slide 91 and the cover glass 81.

[0073] As shown in the drawings, Figure 10 The suction cup 312 comprises a sleeve 3121 fixed in a through hole of the connecting plate 311 and a disc body integrally formed with the sleeve 3121 and in communication, the sleeve 3121 is connected with the vacuum generating device through the air pipe 313, and the top end of the sleeve 3121 is sealingly connected with the top rod 41, which can be unfixed with the through hole to facilitate downward movement of the top rod 41 with the suction cup 312.

[0074] The pressing assembly 4 comprises the top rod 41 arranged in the sleeve 3121 and connected with a top surface of the disc body and the driving part 42 driving the top rod 41 to move downward, and the top surface of the disc body is arranged to facilitate fixation of the top rod 41, and a hole in communication with the sleeve 3121 is arranged on the top surface to facilitate vacuumization and gas passage of the disc body by the vacuum generating device. The top surface of the top rod 41 is arc-shaped, and a spring 43 in a compressed state is sleeved between a limiting disc of the top rod 41 and the connecting plate 311.

[0075] The driving part 42 comprises the driving motor 421 fixed on the connecting plate 311, the rotating shaft of the driving motor 421 is connected with the adjusting screw rod 422, the outer side of the adjusting screw rod 422 is threadedly connected with the threaded sleeve 423, the threaded sleeve 423 is limited to move linearly relative to the adjusting screw rod 422 by the limiting part, the limiting part can be a sliding block fixedly connected with the threaded sleeve 423 and arranged in a sliding rail on the connecting plate 311, and the lower surface of the threaded sleeve 423 is provided with the extrusion structure 424 extruding the top rod 41 to move downward.

[0076] The use method of the extrusion assembly 4 of the scheme is as follows: after the adsorption and taking end 31 moves the cover glass 81 to the pollen slide 91 on which the dyeing agent is added, the cover glass 81 is released and is moved upward by a distance which should be less than the maximum distance of the downward movement of the top rod 41; then the driving motor 421 is started, the driving motor 421 rotates to move the threaded sleeve 423, to move the extrusion structure 424 along the arc-shaped top surface of the top rod 41, so that the top rod 41 moves downward to extrude the suction disc 312, the suction disc 312 moves downward and contacts the cover glass 81, and continues to move downward to extrude the cover glass 81, so as to drive the bubbles in the dyeing agent; when the driving motor 421 is reversed, the vacuum generating device is started synchronously to introduce air into the disc body, so that there is no adsorption force between the disc body and the cover glass 81, to avoid that the cover glass 81 moves with the disc body and air is introduced into the dyeing agent again.

[0077] As shown in Figures 11 to 13 The extrusion structure 424 includes a plurality of convex vibration regions 4241 which are vibrated with the top rod 41 and a slope pushing region which pushes extrusion, the convex vibration region 4241 is a plurality of convex blocks which are arranged at intervals, and the slope pushing region is an extrusion block 4242 which has a horizontal part and an inclined part; when the convex blocks and the extrusion block 4242 move to the position of the top rod 41, the top rod 41 bobs up and down when covering the convex blocks, and pushes the top rod 41 downward and then maintains the extrusion state when covering the extrusion block 4242.

[0078] The scheme preferably provides a plurality of suction discs 312 arranged side by side on the connecting plate 311, and the extrusion assembly 4 arranged on the connecting plate 311 performs slight vibration and progressive extrusion on the loaded cover glass 81, so as to discharge the bubbles in the dyeing agent in the pollen slide 91.

[0079] In the implementation, the scheme preferably provides that the axis of each row of top rods 41 arranged from one side to the other side of the threaded sleeve 423 is respectively at a distance d1, d2 and d3 from the corresponding slope pushing region, and d1 < d2 < d3. The design aims to drive the adjusting screw 422 to rotate by using the driving motor 421, and the adjusting screw 422 rotates to slide the external threaded sleeve 423 to one side, at this time, the convex blocks of each section are in contact with the corresponding top rod 41 at the same time, and the top rod 41 vibrates in contact with the convex blocks in the movement process of the threaded sleeve 423, at this time, all the suction discs 312 vibrate downward and upward, and the vibration is transmitted to the cover glass 81 adsorbed by the suction discs 312, so that the bubbles in the cover glass 81 are loosened uniformly, which is convenient for subsequent extrusion operation.

[0080] During the continuous movement of the threaded sleeve 423, the extrusion blocks 4242 in the outermost row are closest to the position of the top rod 41, and use the inclined surface to extrude the top rod 41, so that the top rod 41 drives the suction disc 312 to extrude the cover glass 81. The axis of each row of top rods 41 is farther away from the corresponding inclined surface pushing area, and the remaining suction discs 312 extrude the cover glass 81 in turn, and the bubbles in the pollen slide 91 are extruded from one side to the other side, so that the bubbles are extruded from the dyeing agent.

[0081] As shown in the drawings, Figures 6-8 The dyeing agent adding device 2 includes a storage cavity 27 for storing the dyeing agent and a stepper motor 24 fixedly sealed on the top of the storage cavity for extruding the dyeing agent in the storage cavity 27. The output end of the stepper motor 24 is fixedly connected with a screw rod 25 located in the storage cavity 27, and the screw rod 25 is sleeved with a piston 26. The stepper motor 24 has micro-step control capability, such as subdivision driving technology, which ensures that the rotation amount of the screw rod 25 can be accurately controlled to 0.001 revolutions / primary, meeting the micro-adjustment requirement.

[0082] The cooling system in the low-temperature storage box 1 passes the cold source through the outer surface of the storage cavity 27 through a refrigeration pipeline. Specifically, a cooling cavity can be arranged on the outer surface of the storage cavity 27, and the refrigeration pipeline is spirally wound in the cooling cavity. The outflow channel of the storage cavity 27 is connected with the extrusion outlet 21. The outside of the extrusion outlet 21 is covered with a heating chamber 22, and the heating chamber 22 is wound with a resistance heating wire 23 to preheat the frozen dyeing agent in the extrusion outlet 21.

[0083] When the stepper motor 24 rotates, the piston 26 at the end of the screw rod 25 is pushed by the screw rod 25 to extrude the dyeing agent in the storage cavity 27. The amount of extruded dyeing agent is controlled by controlling the micro-rotation amount of the screw rod 25. In this scheme, the frozen dyeing agent in the extrusion outlet 21 is preheated by the heating chamber 22 to improve the fluidity of the dyeing agent, facilitate the weighing of the dyeing agent, and the extrusion outlet 21 is also provided with a rubber plug to seal and isolate the extrusion outlet 21 when there is no glue, preventing the dyeing agent from being oxidized.

[0084] In this scheme, the weighing device on the weighing table 6 weighs the cover glass and the dyeing agent extruded by the dyeing agent adding device 2. The weighing accuracy of the weighing device is set to 0.001 g. The specific weighing method is as follows: the weighing device obtains the weight of the unstained cover glass → the dyeing agent adding device 2 accurately adds the dyeing agent, the weighing device obtains the weight of the cover glass after adding the dyeing agent, and the system automatically calculates the weight of the added dyeing agent.

[0085] In order to realize the same batch of pollen slide 91 coating dyeing agent, improve the efficiency of coating and weighing, the weighing table 6 has a plurality of extended weighing stations to realize the same batch of dyeing and weighing of the plurality of pollen slides 91, and the mechanical hand 3 can select on the plurality of extended weighing stations. The weighed pollen slide 91 is grabbed by the mechanical hand 3 on the assembly table and placed on the heater of the heating table 7 for heating, and the dyeing agent is melted. The heating time of the heater of the heating table 7 to the glass slide is 5-10s.

[0086] As shown in Figure 1 and Figure 3 , the rotary moving mechanism 532 includes an electric turntable 321 for adjusting the rotation angle of the adsorbing and taking and placing end 31, and a Y-axis electric sliding component 322 is installed on the electric turntable 321 for adjusting the height of the adsorbing and taking and placing end 31. An X-axis electric sliding component 323 is arranged on the sliding end 54 of the Y-axis electric sliding component 322 for adjusting the horizontal position of the adsorbing and taking and placing end 31, and the adsorbing and taking and placing end 31 is arranged on the sliding end 54 of the X-axis electric sliding component 323.

[0087] As shown in Figure 1 and Figure 5 , the moving mechanism 5 includes a door-shaped frame 51 and a sliding component, which is an XY-axis electric sliding mechanism 53. The X-axis electric sliding mechanism 52 is fixed to the top of the door-shaped frame 51, the Y-axis electric sliding mechanism 53 is fixed to the X-axis electric sliding mechanism 52, and the dyeing agent adding device 2 is fixed to the sliding end 54 of the Y-axis electric sliding mechanism 53.

[0088] When adding the coating dyeing agent to the pollen slide 91 each time, the amount of coating glue needs to be controlled according to the needs of the user, and the amount of coating glue will affect the accuracy of the collected data. The position of the dyeing agent adding device 2 is adjusted by the mechanical hand 3, the moving mechanism 5 moves laterally to add the dyeing agent to the plurality of extended stations, the dyeing agent adding device 2 is installed on the sliding end of the sliding component to adjust the position of the dyeing agent adding device 2, and when dyeing, the sliding component moves the dyeing agent adding device 2 laterally to the corresponding dyeing station, and then controls the dyeing agent adding device 2 to descend to the upper surface of the glass slide vertically.

[0089] The X-axis electric sliding component 323, the Y-axis electric sliding component 322, the Y-axis electric sliding mechanism 53 and the X-axis electric sliding mechanism 52 of the present scheme can adopt the existing relatively mature screw nut structure, and the sliding end 54 is a nut fixed on the screw and limited to move linearly. It can also use an electric push rod structure. These structures are relatively mature technologies in the prior art, and will not be described here.

[0090] The present scheme also provides a control method of the pollen slide 91 automatic dyeing system, which includes the following steps:

[0091] S1, the mechanical arm 3 adjusts the adsorption and taking end 31 to make it grab the pollen slide 91 stored in the slide storage area, and moves the pollen slide 91 to the weighing table 6 through the mechanical arm 3;

[0092] S2, the moving mechanism 5 adjusts the dye adding device 2 to make it above the pollen slide 91 on the weighing table 6, and extrudes the dye on the pollen slide 91, and then the count of the weighing table 6 reaches the preset value;

[0093] S3, the mechanical arm 3 adjusts the adsorption and taking end 31 to make it grab the pollen slide 91 on the weighing table 6, and moves it to the heating table 7 for heating, and heats for a preset time;

[0094] S4, the mechanical arm 3 adjusts the adsorption and taking end 31 to make it grab the cover slide 81 in the slide storage area, and the mechanical arm 3 moves to the heating table 7 to cover the pollen slide 91, and makes the adsorption and taking end 31 a preset distance from the cover slide 81; The preset distance here is less than the thickness of the protrusion;

[0095] S5, start the extrusion assembly 4 to extrude the adsorption and taking end 31 and gradually contact with the cover slide 81, to extrude the bubbles in the dye between the pollen slide 91 and the cover slide 81, and then the extrusion assembly 4 returns to the original position;

[0096] S6, the mechanical arm 3 adjusts the adsorption and taking end 31 to adsorb the pollen slide 91 below the cover slide 81, and stores the finished product formed by the pollen slide 91 and the cover slide 81 in the low-temperature storage box 1, and then resets with the adsorption and taking end 31.

[0097] In implementation, the preferred step S5 of the present scheme further comprises:

[0098] S51, start the drive motor 421 of the extrusion assembly 4, the drive motor 421 rotates with the adjusting screw rod 422 to make the threaded sleeve 423 move linearly, the plurality of protrusions cross the top rod 41 to make the top rod 41 move up and down to break the bubbles;

[0099] S52, the threaded sleeve 423 continues to move, the leftmost top rod 41 contacts the inclined surface of the extrusion block 4242 above it, and the suction cup 312 below it contacts the cover slide 81 first to extrude the cover slide 81;

[0100] S53, the top rods 41 from left to right successively contact the inclined surfaces of the extrusion blocks 4242 above them, so that the cover slide 81 successively contacts from left to right to extrude the bubbles from one side to the other side;

[0101] S54, when all the top rods 41 contact the planes of all the extrusion blocks 4242, the drive motor 421 reverses to reset, and at the same time, the vacuum generating device injects gas into the suction cup 312;

[0102] S55, repeating steps S51-S54 for a predetermined number of times to complete the gas discharge.

[0103] The comparison of the dyeing quality indexes before and after the completion of the dyeing system of the present application and manual dyeing is shown in Table 1.

[0104] Table 1 Comparison of dyeing quality indexes before and after completion

[0105]

[0106] Therefore, through the development of the pollen slide 91 automatic dyeing system, the problems existing in manual dyeing technology can be comprehensively solved from the aspects of dyeing qualification rate, dyeing consistency, precision control, etc., the efficiency and accuracy of pollen research are significantly improved, and strong technical support is provided for scientific research work in related fields.

Claims

1. A pollen slide automatic staining system, characterized in that: It includes a slide storage area for storing pollen slides and cover slides, a dye adding device electrically connected to the control module, a low-temperature storage box, a weighing table, a manipulator and a heating table, wherein the surface area of ​​the cover slide is smaller than that of the pollen slide; The weighing platform is used to weigh the dye added to the pollen slide by the dye adding device, and the heating platform is used to heat the dye on the slide; the low-temperature storage box includes a storage box for storing the finished product of the pollen slide covered with a cover glass after dyeing, and a cooling system for cooling the storage box; The dye adding device is mounted on a moving mechanism that moves the dye adding device in a horizontal and vertical plane, and the dye in the dye adding device is cooled by the cooling system; the moving mechanism is electrically connected to the control module; The manipulator includes an adsorption pick-up and placement end for grabbing and transferring the pollen slide and the cover glass, and a rotating movement mechanism that moves and rotates the adsorption pick-up and placement end in the horizontal and vertical planes. The adsorption pick-up and placement end is provided with an extrusion component for removing bubbles in the stain between the pollen slide and the cover glass. The suction pick-and-place end includes a connecting plate fixedly connected to the rotating movement mechanism, a plurality of suction cups are fixed to the lower surface of the connecting plate, and the suction cups are connected to the vacuum generating device through an air pipe, and the extrusion assembly is provided on the connecting plate for extruding the plurality of suction cups; The suction cup includes a sleeve fixed in the through hole of the connecting plate and a disc body integrally formed with and connected to the sleeve; the sleeve is connected to the vacuum generating device via an air pipe; the extrusion assembly includes a push rod disposed in the sleeve and connected to the top surface of the disc body, and a driving portion for driving the push rod downward; the top surface of the push rod is arc-shaped, and a spring is installed between the limit plate of the push rod and the connecting plate to maintain a compressed state; The driving part includes a driving motor fixed on the connecting plate, an adjusting screw is connected to the rotating shaft of the driving motor, the outer side of the adjusting screw is threadedly connected to a threaded sleeve, and the threaded sleeve is limited by a limit member to make linear motion relative to the adjusting screw; the lower surface of the threaded sleeve is provided with an extrusion structure for extruding the push rod to move downward.

2. The pollen slide automatic staining system according to claim 1, characterized in that: The extrusion structure includes multiple groups of convex vibration areas that vibrate and cooperate with the push rod and inclined push areas for extrusion and pushing. The convex vibration areas are multiple spaced protrusions, and the inclined push areas are extrusion blocks with horizontal and inclined parts. When the protrusions and the extrusion blocks move toward the position of the push rod, they vibrate up and down when covering the protrusions, and when covering the extrusion blocks, they first push the push rod downward and then maintain the extrusion state.

3. The pollen slide automatic staining system according to claim 2, characterized in that: The distances from the axis of each row of push rods arranged from one side to the other side of the threaded sleeve to the corresponding inclined surface pushing area are d1, d2 and d3 respectively, and d1<d2<d3.

4. The pollen slide automatic staining system according to claim 1, characterized in that: The dye adding device includes a storage chamber for storing the dye and a stepper motor sealed and fixed to the top of the storage chamber for squeezing the dye out of the storage chamber. The output end of the stepper motor is fixedly connected to a screw located in the storage chamber, and a piston is mounted on the screw. The cooling system in the low-temperature storage box flows the cold source through the outer surface of the storage cavity through a refrigeration pipe; the outflow channel of the storage cavity is connected to the extrusion port, the outside of the extrusion port is covered with a heating chamber, and a resistance heating wire is wound in the heating chamber to preheat the frozen dye in the extrusion port.

5. The pollen slide automatic staining system according to claim 1, characterized in that: The rotating movement mechanism includes an electric turntable for adjusting the rotation angle of the adsorption and pick-up end, and a Y-axis electric sliding component for adjusting the height of the adsorption and pick-up end is installed on the electric turntable. An X-axis electric sliding component for adjusting the horizontal position of the adsorption and pick-up end is provided on the sliding end of the Y-axis electric sliding component, and the adsorption and pick-up end is provided on the sliding end of the X-axis electric sliding component.

6. The pollen slide automatic staining system according to claim 1, characterized in that: The moving mechanism includes a portal frame and a sliding component, the sliding component is an XY-axis electric sliding mechanism, and the X-axis electric sliding mechanism is fixed to the top of the portal frame, the Y-axis electric sliding mechanism is fixed on the X-axis electric sliding mechanism, and the dye adding device is fixed to the sliding end of the Y-axis electric sliding mechanism.

7. A control method for the pollen slide automatic staining system according to any one of claims 1 to 6, characterized in that: Including steps: S1. The manipulator adjusts the suction pick-up end to grab the pollen slide stored in the slide storage area and moves the pollen slide to the weighing platform through the manipulator; S2. The moving mechanism adjusts the dye adding device so that it is located directly above the pollen slide on the weighing platform, and squeezes the dye onto the pollen slide until the count on the weighing platform reaches a preset value; S3. The robot adjusts the suction and placement end so that it grabs the pollen glass on the weighing table and moves it to the heating table for heating for a preset time. S4, the manipulator adjusts the suction and placement end so that it grabs the cover glass in the slide storage area, moves the manipulator to the heating table and covers the pollen slide, and keeps the suction and placement end at a preset distance from the cover glass; S5, start the squeezing component, so that it squeezes the pick-up and placement end and gradually contacts the cover glass to squeeze out the bubbles in the stain between the pollen glass and the cover glass, and then the squeezing component returns to its original position; S6. The robot adjusts the adsorption and placement end so that it adsorbs the pollen glass slide under the cover glass, and stores the finished product formed by the pollen glass slide and the cover glass slide in a low-temperature storage box, and then resets the robot with the adsorption and placement end.

8. The control method of the pollen slide automatic staining system according to claim 7, characterized in that: Step S5 further comprises: S51, starting the drive motor of the extrusion assembly, the drive motor drives the adjusting screw to rotate so that the threaded sleeve moves linearly, and the multiple protrusions span the ejector rod, causing the ejector rod to move up and down to break the bubble; S52, the threaded sleeve continues to move, the leftmost push rod contacts the inclined surface of the squeezing block above it, and the suction cup below it contacts the cover glass first to squeeze the cover glass; S53, the push rods from left to right sequentially contact the inclined surfaces of the squeezing blocks thereon, so that the cover glass contacts sequentially from left to right, thereby squeezing out the bubbles from one side to the other; S54, when all the ejector pins are in contact with the planes of all the extrusion blocks, the drive motor moves in the reverse direction to reset, and simultaneously the vacuum generating device is started to inject gas into the suction cup; S55. Repeat steps S51 to S54 for a preset number of times to complete gas discharge.

Images