An automatic slide loading and unloading device, method, and stage

Abstract

This solution discloses an automatic slide loading and unloading device, including a stage and a robotic arm with a slide clamping mechanism having a pushing part. The stage includes two bearing units arranged opposite each other, each having an elastic bearing part and a fixed bearing part. The elastic bearing part and the fixed bearing part have a mutually cooperating positioning and clamping structure. When the elastic bearing part is in its natural state, the bearing space of the slide position is smaller than the external dimensions of the slide. The pushing part acts on the elastic bearing part to compress it, and the bearing space of the slide position can be expanded to be larger than the external dimensions of the slide. When the slide is placed in the slide position, both ends of the slide abut against the positioning and clamping structures of the elastic bearing part and the fixed bearing part, respectively. The elastic bearing part remains compressed under the reaction force of the slide and provides elastic force to make the elastic bearing part move towards the second bearing unit, thereby clamping the slide. The robotic arm cleverly pushes the elastic bearing part to clamp and release the slide while picking up and placing the slide, simplifying the loading and unloading process.

Description

Technical Field

[0001] This invention belongs to the field of microscope scanning stage technology, and in particular relates to an automatic slide loading and unloading device, method and stage that can realize synchronous positioning and clamping during the loading process. Background Technology

[0002] In fields such as cytogenetics research and clinical testing, glass slides are the core carriers for carrying cell samples to conduct experimental analysis and diagnostic testing. Traditionally, the slide loading process on scanning stages is entirely manual, requiring researchers to place each slide individually into its designated position—a tedious and time-consuming process. Especially with the rapid development of precision medicine and the increasing demand for high-throughput testing, laboratory sample volumes are growing exponentially, highlighting the limitations of manual loading methods. These limitations restrict the overall efficiency of the testing process and are susceptible to human error due to operator fatigue and differences in operating habits, affecting the stability of the testing work.

[0003] To address this, researchers have proposed a technology that automatically loads slides using robotic arms. This simplifies the manual process by replacing human intervention in loading and unloading slides, making it suitable for high-throughput detection scenarios. However, two issues need to be addressed during automated slide loading: First, positioning. The slide must be accurately placed in the preset area; otherwise, subsequent scanning and imaging will fail to accurately capture the sample, affecting the accuracy of the detection results. In traditional manual operation, humans naturally possess hand-eye coordination and flexible adjustment capabilities, allowing for manual placement of the slide to fit its size without additional positioning. However, robotic arms lack autonomous perception and flexible adaptation capabilities, requiring a certain margin of error and unable to guarantee accurate positioning. Second, stability is crucial. The slide must be fixed within the preset area to prevent displacement due to equipment vibration or shifting during scanning, which could affect the scanning results.

[0004] In existing solutions, slides are adjusted to their precise positions manually or through additional mechanical structures, while additional clamping or holding mechanisms are used for manual operation or automated control to secure the slides. Whether manual or automated, these methods require additional structures or steps beyond the robotic loading process, making the entire loading and securing process cumbersome. Furthermore, improper coordination among multiple mechanisms can affect operational efficiency and even increase the risk of slide malfunction or sample contamination. Summary of the Invention

[0005] The purpose of this invention is to address the above-mentioned problems by providing an automatic slide loading and unloading device, method, and stage.

[0006] An automatic slide loading and unloading device includes a stage and a robotic arm, wherein the robotic arm includes a slide clamping mechanism with a pushing part;

[0007] The stage includes a first support unit and a second support unit arranged opposite to each other, the first support unit and the second support unit having a certain interval to form a slide position with adjustable support space;

[0008] The first bearing unit includes an elastic bearing part for receiving the thrust of the pushing part to move away from the second bearing unit and thus expand the bearing space;

[0009] The second bearing unit includes a fixed bearing part;

[0010] The elastic bearing part and the fixed bearing part have a positioning and clamping structure that cooperates with each other;

[0011] When the elastic bearing part is in its natural state, the bearing space of the glass slide position is smaller than the external dimensions of the glass slide;

[0012] When the pushing part acts on the elastic bearing part, the elastic bearing part is compressed, and the bearing space of the slide position can be expanded to be larger than the outer dimensions of the slide, so as to allow the slide to be loaded and unloaded.

[0013] When the glass slide is placed in the slide position, both ends of the glass slide abut against the positioning and clamping structure of the elastic bearing part and the fixed bearing part, respectively. The elastic bearing part is kept in a compressed state under the reaction force of the glass slide and provides elastic force to make the elastic bearing part move towards the second bearing unit, thereby clamping the glass slide.

[0014] In the above-mentioned automatic slide loading and unloading device, the first carrier unit has a first slide carrier surface, and the second carrier unit has a second slide carrier surface;

[0015] The first glass slide bearing surface and the second glass slide bearing surface are arranged opposite each other and their upper surfaces are flush to form the glass slide position;

[0016] The elastic bearing part is located above the first glass slide bearing surface, and the fixed bearing part is located above the second glass slide bearing surface, so that the bearing space of the glass slide position is adjustable.

[0017] In the above-mentioned automatic slide loading and unloading device, the positioning and pressing structure of the elastic bearing part includes a first pressing slope and a first slide position adjusting slope. The first pressing slope is formed by the lower side of the elastic bearing part from top to bottom and from outside to inside, and extends in a direction perpendicular to the line connecting the two bearing units.

[0018] The first slide position adjustment slope is formed by the elastic bearing part being located on one side of the first pressing slope and tilting from the outside to the inside towards the other side of the first pressing slope;

[0019] The positioning and clamping structure of the fixed bearing part includes a second pressing slope that is consistent with and opposite to the first pressing slope structure located on the lower side of the fixed bearing part, and a second glass slide position adjusting slope that is consistent with and opposite to the first glass slide position adjusting slope structure.

[0020] The first pressure plate inclined surface moves closer to the second pressure plate inclined surface during the removal of the thrust to press the glass slide tightly;

[0021] The first slide position adjustment ramp and the second slide position adjustment ramp move closer together during the removal process under the thrust to adjust the slide to one side.

[0022] In the aforementioned automatic slide loading and unloading device, the slide loaded to the slide position is pressed downwards by the combined action of the first pressing inclined surface, the second pressing inclined surface, and the elastic bearing part, which bring the two closer together.

[0023] Under the combined action of the first slide position adjustment ramp, the second slide position adjustment ramp, and the elastic bearing part, which bring the two closer together, the slide is adjusted to one side so as to simultaneously complete the fixation and positioning of the slide during the loading process.

[0024] In the above-mentioned automatic slide loading and unloading device, the elastic bearing part includes a bearing block with a force-bearing surface, which is used to bear the pushing force.

[0025] One end of the bearing block away from the force-bearing surface is connected to an elastic guide, which provides elastic force and guidance to the elastic bearing part.

[0026] The platform includes a platform frame with an internal empty space, and the first bearing unit and the second bearing unit are arranged opposite to each other on the inner sides of the platform frame within the empty space;

[0027] The elastic guide includes at least one spring and a guide rod, with the spring and guide rod circumferentially outward;

[0028] One end of the spring is connected to the bearing block, and the other end is connected to the inner wall of the outer frame of the platform. One end of the guide rod is connected to the bearing block, and the other end passes through the outer frame of the platform.

[0029] In the above-mentioned automatic slide loading and unloading device, the slide clamping mechanism includes two L-shaped clamping arms arranged opposite each other, and the L-shaped clamping arms include a horizontal clamping section and a vertical action section.

[0030] The horizontal clamping sections of the two L-shaped clamping arms are arranged opposite to each other to clamp the edge of the glass slide;

[0031] The backs of the vertical action sections of the two L-shaped clamping arms are located on the same plane to form the pushing part, which is used to cooperate with the elastic bearing part to expand the bearing space of the slide position when the slide is loaded or unloaded.

[0032] In the above-mentioned automatic slide loading and unloading device, the vertical working sections of the two L-shaped clamping arms are configured such that the relative distance between them before and after clamping the slide is always less than the length of the force-bearing surface in the extension direction of the first pressing slope, so that a pushing force can still be applied to the elastic bearing part when the slide is not clamped.

[0033] The height of the force-bearing surface in the vertical direction of the extension direction of the first pressing slope is higher than the upper surface of the fixed bearing part, so that a thrust can be applied to the elastic bearing part in its natural state when the glass slide clamping mechanism clamps the glass slide.

[0034] In the aforementioned automatic slide loading and unloading device, the robotic arm is configured as follows:

[0035] When loading the glass slide, control the L-shaped clamping arm to move to the force-bearing surface and then push the elastic bearing part to move a distance away from the second bearing unit until the bearing space is expanded to be larger than the outer dimensions of the glass slide, and move it down a distance to place the glass slide in the glass slide position;

[0036] After the loading is completed, the two L-shaped clamping arms are controlled to move away from each other until the glass slide is released but the pushing force on the elastic bearing part is still maintained. The glass slide is moved a distance to the second bearing unit until it no longer contacts the elastic bearing part, so that the elastic bearing part moves towards the second bearing unit under the combined action of elasticity and pushing force. This causes the glass slide to be pressed down under the gentle clamping force of the first and second pressing slopes, and to be adjusted to one side under the gentle positioning force of the first and second glass slide position adjustment slopes.

[0037] When downloading a glass slide, the L-shaped clamping arm is controlled to move to the force-bearing surface and then pushes the elastic bearing part to move away from the second bearing unit a certain distance until the bearing space is expanded to be larger than the outer size of the glass slide. Then the glass slide is clamped. Subsequently, it is moved up a certain distance to be higher than the upper plane of the fixed bearing part and then moves towards the second bearing unit until it no longer contacts the elastic bearing part, so that the elastic bearing part returns to its natural state under the thrust restriction.

[0038] An automatic slide loading method based on the aforementioned automatic slide loading and unloading device, the method comprising:

[0039] Upload process

[0040] S11. A glass slide clamping mechanism clamps the glass slide;

[0041] S12. The robotic arm moves the glass slide to above the stage, and the glass slide clamping mechanism applies a pushing force to the elastic bearing part, so that the bearing space is expanded to be larger than the outer dimensions of the glass slide, and then the glass slide is lowered to the glass slide position;

[0042] S13. The slide clamping mechanism continues to apply a pushing force to the elastic bearing part and moves toward the direction of the second bearing unit until it no longer contacts the elastic bearing part;

[0043] During this period, the first pressing slope moves closer to the second pressing slope to cooperate in pressing the glass slide;

[0044] During this period, the first slide position adjustment ramp moves closer to the second slide position adjustment ramp to facilitate the adjustment of the slide to one side;

[0045] Download process

[0046] S21. The robotic arm moves the slide clamping mechanism above the stage, applies a pushing force to the elastic bearing part, expands the bearing space to be larger than the external dimensions of the slide, and then clamps the slide from the slide position.

[0047] S22. The slide clamping mechanism continues to apply a pushing force to the elastic bearing part and lifts it upward above the upper plane of the fixed bearing part so that the slide does not interfere with the fixed bearing part, and then moves towards the fixed bearing part until it no longer contacts the elastic bearing part.

[0048] A stage for an automatic slide loading and unloading device includes a first support unit and a second support unit arranged opposite to each other, the first support unit and the second support unit having a certain interval to form a slide position with adjustable support space;

[0049] The first load-bearing unit includes an elastic bearing part for receiving external thrust to move away from the second load-bearing unit and thus expand the load-bearing space;

[0050] The second bearing unit includes a fixed bearing part;

[0051] The elastic bearing part and the fixed bearing part have a positioning and clamping structure that cooperates with each other;

[0052] When the elastic bearing part is in its natural state, the bearing space of the glass slide position is smaller than the external dimensions of the glass slide;

[0053] When an external thrust is applied to the elastic bearing part, the elastic bearing part is compressed, and the bearing space of the slide position can be expanded to be larger than the outer dimensions of the slide.

[0054] When the glass slide is placed in the slide position, both ends of the glass slide abut against the positioning and clamping structure of the elastic bearing part and the fixed bearing part, respectively. The elastic bearing part is kept in a compressed state under the reaction force of the glass slide and provides elastic force to make the elastic bearing part move towards the second bearing unit, thereby clamping the glass slide.

[0055] The advantages of this invention are:

[0056] This solution cleverly clamps and releases the glass slides by pushing the elastic bearing part while the robotic arm picks up and places the slides, without the need for additional mechanical structures and mechanical control, thus simplifying the loading and unloading operation process;

[0057] Furthermore, the first pressing slope and the first slide position adjustment slope of the elastic bearing part proposed in this solution, together with the second pressing slope and the second slide position adjustment slope of the fixed bearing part, form a synergistic structure of double slopes, which integrates the clamping and positioning functions of the slide into the same action process. With the help of the same elastic force, downward pressing and lateral positioning are achieved simultaneously during the removal process of the robotic arm, without the need for manual adjustment or additional mechanical structures and mechanical controls.

[0058] The combined action of the elasticity of the elastic bearing part, the thrust of the robotic arm, and the positioning and clamping structure achieved by the structure simultaneously completes the loading of the glass slide and simultaneously achieves smooth positioning and clamping of the glass slide, avoiding damage to the glass slide during the positioning and clamping process. Attached Figure Description

[0059] Figure 1 The diagram shown is a schematic representation of the stage structure according to an embodiment of the present invention. Figure 1 ;

[0060] Figure 2 The diagram shown is a schematic representation of the stage structure according to an embodiment of the present invention. Figure 2 ;

[0061] Figure 3 The diagram shows a stage structure in which a glass slide is placed on the slide position according to an embodiment of the present invention. Figure 3 ;

[0062] Figure 4 As shown Figure 3 Another perspective view;

[0063] Figure 5 The figure shown is a cross-sectional schematic diagram of the stage according to an embodiment of the present invention;

[0064] Figure 6 The diagram shown is a structural schematic of the bearing block of the elastic bearing part in the platform of the present invention.

[0065] Figure 7 The diagram shown is a structural schematic of the fixed bearing part of the stage according to an embodiment of the present invention;

[0066] Figure 8 The diagram shown is a schematic diagram of the glass slide clamping mechanism of the robotic arm in an embodiment of the present invention.

[0067] Figure 9The diagram shows the slide clamping mechanism and the stage in use according to an embodiment of the present invention.

[0068] Reference numerals: Stage 1; Platform frame 11; First bearing unit 2; Elastic bearing part 21; First pressing slope 211; First slide position adjustment slope 212; Bearing block 213; Force-bearing surface 2131; Elastic guide 214; First slide bearing surface 22; First arc-shaped clearance space 23; Second bearing unit 3; Fixed bearing part 31; Second pressing slope 311; Second slide position adjustment slope 312; Second slide bearing surface 32; Second arc-shaped clearance space 33; Slide position 4; Robotic arm 5; Slide clamping mechanism 51; Pushing part 511; L-shaped clamping arm 512; Horizontal clamping section 5121; Vertical action section 5122; Extension section 5123; Slide 6. Detailed Implementation

[0069] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0070] This solution provides an automatic slide loading and unloading device, including a stage and a robotic arm.

[0071] The stage includes a first support unit 2 and a second support unit 3 arranged opposite to each other, with a certain interval between them to form an adjustable slide position 4. Figures 1-4 As shown, in this embodiment, two slide positions are designed on one stage, namely two sets of first support units 2 and second support units 3. To clearly demonstrate the stage structure, Figure 3 , Figure 4 In this embodiment, the first support unit 2 on one of the slide positions is removed, revealing the full view of the first slide support surface 22. A slide 6 is placed on the other slide position 4. When put into use, one or more slide positions 4 can be designed on a single stage; this is not the focus of this solution and is not a limitation.

[0072] Specifically, the first bearing unit 2 includes an elastic bearing part 21 for receiving the thrust of the pushing part 511 to move away from the second bearing unit 3 and thus expand the bearing space;

[0073] The second bearing unit 3 includes a fixed bearing part 31;

[0074] The elastic bearing part 21 and the fixed bearing part 31 have a mutually cooperating positioning and clamping structure;

[0075] When the elastic bearing part 21 is in its natural state, the bearing space of the slide position 4 is smaller than the external dimensions of the slide;

[0076] When the elastic bearing part 21 is subjected to a thrust, it is compressed, and the bearing space of the slide position 4 can be expanded to be larger than the external dimensions of the slide to allow for the loading and unloading of the slide. Figure 1 In the middle, the elastic bearing part 21 is pushed to the left, the elastic bearing part 21 moves to the left, the bearing space of the slide position 4 expands, and the slide can be placed on the slide position 4 or removed from the slide position 4.

[0077] When the slide is placed in slide position 4, both ends of the slide abut against the positioning and clamping structures of the elastic bearing part 21 and the fixed bearing part 31, respectively. The elastic bearing part 21 remains compressed under the reaction force of the slide and provides an elastic force that causes the elastic bearing part 21 to move towards the second bearing unit 3, thereby clamping the slide. That is, after the external force is removed, the elastic bearing part 21 has an elastic force in the direction of the fixed bearing part 31, and because the slide has a reaction force on the elastic bearing part 21 under the action of the positioning and clamping structure, the slide can be firmly clamped by the positioning and clamping structures on both sides when it is in position.

[0078] Specifically, the first support unit 2 has a first glass slide support surface 22, and the second support unit 3 has a second glass slide support surface 32. The first glass slide support surface 22 and the second glass slide support surface 32 are arranged opposite to each other and their upper surfaces are flush to form a glass slide position 4.

[0079] The elastic bearing portion 21 is located above the first slide bearing surface 22, and the fixed bearing portion 31 is located above the second slide bearing surface 32, so that the bearing space of the slide position 4 is adjustable. That is, the slide bearing space is located in the space between the fixed bearing portion 31 and the elastic bearing portion 21 on the slide position. When the elastic bearing portion 21 is relatively close to the fixed bearing portion 31, the bearing space is reduced, and when the elastic bearing portion 21 is relatively far away from the fixed bearing portion 31, the bearing space is expanded.

[0080] Specifically, such as Figures 4-7 As shown, the positioning and clamping structure of the elastic bearing part 21 includes a first pressing slope 211 and a first glass slide position adjusting slope 212.

[0081] The first pressing slope 211 is formed by the lower side of the elastic bearing part 21, which slopes from top to bottom and from outside to inside and extends in the vertical direction of the line connecting the first bearing unit 2 and the second bearing unit 3.

[0082] The first slide position adjustment slope 212 is formed by the elastic bearing part 21 being located on one side of the first pressing slope 211 and tilting from the outside to the other side of the first pressing slope 211. That is, the first pressing slope 211 has two end sides along its extension direction. The first slide position adjustment slope 212 tilts from one end side to the other end side to adjust the slide 6 toward one end side of the first pressing slope 211 in the extension direction. Preferably, there is a first arc-shaped clearance space 23 at the other end side to accommodate the corner of the slide.

[0083] The definitions of up, down, inside, and outside here are as follows: Figure 5 As shown.

[0084] The positioning and clamping structure of the fixed bearing part 31 includes a second pressing slope 311 located on the lower side of the fixed bearing part 31 and arranged opposite to the first pressing slope 211, and a second slide position adjusting slope 312 arranged opposite to the first slide position adjusting slope 212. Simultaneously, the fixed bearing part 31 also has a second arc-shaped clearance space 33 arranged opposite to the first arc-shaped clearance space 23.

[0085] During the removal process under the action of the pushing force, the first pressing slope 211 moves closer to the second pressing slope 311 to cooperate in pressing the glass slide;

[0086] The first slide position adjustment ramp 212 and the second slide position adjustment ramp 312 move closer together during the removal process under the action of thrust to adjust the slide to one side.

[0087] The slide, which is loaded onto the slide position 4, is pressed downward under the combined action of the elastic force provided by the first pressing slope 211, the second pressing slope 311 and the elastic bearing part 21, which brings the two closer together. It is also adjusted to one side under the combined action of the elastic force provided by the first slide position adjusting slope 212, the second slide position adjusting slope 312 and the elastic bearing part 21, which brings the two closer together, so as to simultaneously complete the fixation and positioning of the slide during the loading process.

[0088] Specifically, the elastic bearing part 21 includes a bearing block 213 with a force-bearing surface 2131, which is used to bear the thrust. An elastic guide 214 is connected to one end of the bearing block 213 away from the force-bearing surface 2131, and the elastic guide 214 provides elasticity and guidance to the elastic bearing part 21.

[0089] The platform 1 includes a platform frame 11 with an internal empty space, and a first bearing unit 2 and a second bearing unit 3 are arranged opposite to each other on the inner sides of the platform frame 11 within the empty space.

[0090] The elastic guide 214 includes at least one spring and a guide rod;

[0091] One end of the spring assembly is connected to the bearing block 213, and the other end is connected to the inner wall of the outer frame of the platform 1. One end of the guide rod is connected to the bearing block 213, and the other end passes through the outer frame of the platform 1. Figure 1 and Figure 5 As shown.

[0092] like Figure 8 and Figure 9As shown, the robotic arm 5 includes a glass slide clamping mechanism 51 with a pushing part 511, and an elastic bearing part 21 for bearing the pushing force of the pushing part 511.

[0093] Specifically, the slide clamping mechanism 51 includes two L-shaped clamping arms 512 arranged opposite to each other, and the L-shaped clamping arms 512 include a horizontal clamping section 5121 and a vertical action section 5122.

[0094] The horizontal clamping sections 5121 of the two L-shaped clamping arms 512 are arranged opposite each other to clamp the edge of the glass slide; the backs of the vertical action sections 5122 of the two L-shaped clamping arms 512 are located on the same plane to form a pushing action part 511, which is used to cooperate with the elastic bearing part 21 to expand the bearing space of the glass slide position 4 when the glass slide is loaded and unloaded.

[0095] The vertical action section 5122 of the two L-shaped clamping arms 512 is configured such that, before and after clamping the glass slide, the relative distance between them is always less than the length of the force-bearing surface 2131 extending in the direction of the first pressing slope 211, so that a pushing force can still be applied to the elastic bearing part 21 when the glass slide is not clamped. Figure 8 and Figure 9 As shown, in this embodiment, by providing extension sections 5123 to the opposite side of the two vertical action sections 5122, the relative distance between the vertical action sections 5122 of the two L-shaped clamping arms 512 before and after clamping the glass slide is always less than the length of the force-bearing surface 2131 in the extension direction of the first pressing slope 211.

[0096] The terms "before" and "after" in this context refer to the time before clamping the slide and the time after releasing the slide during the loading process. By designing the vertical action section 5122 of the two L-shaped clamping arms 512, the relative distance can be adjusted to be greater than the length of the force-bearing surface 2131 extending in the direction of the first pressing slope 211. However, before clamping the slide and after releasing the slide during the loading process, the distance is still less than the length of the force-bearing surface 2131 extending in the direction of the first pressing slope 211. This ensures that a pushing force can still be applied to the elastic bearing part 21 when the slide is not clamped, which remains within the limitations of this design.

[0097] The height of the force-bearing surface 2131 in the vertical direction extending from the first pressing slope 211 is higher than the upper surface of the fixed bearing part 31, so that when the glass slide clamping mechanism 51 clamps the glass slide, it can apply a pushing force to the elastic bearing part 21 in its natural state.

[0098] Specifically, the controller of robotic arm 5 is configured as follows:

[0099] When loading the glass slide, control the L-shaped clamping arm 512 to move to the elastic bearing part 21, the vertical action section 5122 contacts the force-bearing surface 2131, and then push the elastic bearing part 21 to move a distance away from the second bearing unit 3 until the bearing space is expanded to be larger than the outer size of the glass slide, and move down a distance to place the glass slide in the glass slide position 4.

[0100] After loading is complete, that is, after the slide is placed in slide position 4, the two L-shaped clamping arms 512 are moved away from each other until the slide is released. At this time, since the two L-shaped clamping arms 512 are still attached to the force-bearing surface 2131, they still maintain a pushing force on the elastic bearing part 21. Subsequently, it moves a distance towards the second bearing unit 3 until it no longer contacts the elastic bearing part 21, so that the elastic bearing part 21 moves towards the second bearing unit 3 under the combined action of elastic force and pushing force. This causes the slide to be pressed downward under the gentle clamping force of the first pressing slope 211 and the second pressing slope 311, and to be adjusted to one side under the gentle positioning force of the first slide position adjusting slope 212 and the second slide position adjusting slope 312. Here, "gentle" is relative to the free rebound of the spring.

[0101] When downloading the glass slide, the L-shaped clamping arm 512 is controlled to move to the force-bearing surface 2131 and then pushes the elastic bearing part 21 to move away from the second bearing unit 3 a certain distance until the bearing space is expanded to be larger than the outer size of the glass slide. Then the glass slide is clamped. Afterwards, it moves up a certain distance to be higher than the upper plane of the fixed bearing part 31 and then moves towards the second bearing unit 3 until it no longer contacts the elastic bearing part 21, so that the elastic bearing part 21 returns to its natural state under the thrust restriction.

[0102] The movement speed of the robotic arm is set by those skilled in the art according to their needs, and is not specifically limited here. Among them, the speed during which the vertical action segment 5122 acts on the elastic bearing part 21 and moves towards the second bearing unit 3 until it no longer contacts the elastic bearing part 21 is required not to exceed the natural rebound speed of the elastic bearing part 21 in order to achieve a smooth recovery, smooth clamping, and smooth positioning effect under the thrust limitation.

[0103] Specifically, the process of automatic loading, fixing, and positioning of the platform in this solution, in conjunction with the robotic arm, is as follows:

[0104] Upload process

[0105] S11. The slide clamping mechanism 51 uses two horizontal clamping sections 5121 to clamp the slide 6 from the slide compartment;

[0106] S12. The robotic arm 5 moves the glass slide 6 above the stage 1. The pushing part 511 of the glass slide clamping mechanism 51 applies a pushing force to the elastic bearing part 21, so that the bearing space is expanded to be larger than the outer dimensions of the glass slide. Then the glass slide is lowered to the glass slide position 4.

[0107] S13. After the glass slide clamping mechanism 51 releases the glass slide 6, it continues to apply a pushing force to the elastic bearing part 21 and moves toward the second bearing unit 3 until it no longer contacts the elastic bearing part 21.

[0108] During this period, the elastic bearing part 21 continuously recovers its elasticity until the elastic bearing part 21 and the fixed bearing part 31 are tightly pressed against the glass slide placed on the glass slide position 4. At this time, the elastic bearing part 21 is still in a compressed state.

[0109] During this period, the first pressing slope 211 moves closer to the second pressing slope 311 to cooperate in pressing the glass slide. Figure 1 For example, the glass slide is pressed down relative to the horizontal plane and clamped towards the second support unit 3.

[0110] During this period, the first slide positioning ramp 212 moves closer to the second slide positioning ramp 312 to facilitate the adjustment of the slide to one side. Figure 1 For example, slide 6 was... Figure 1 The lower direction from the perspective, i.e. Figure 1 Adjust in the X direction.

[0111] Thus, the glass slide was loaded and its position was adjusted and fixed simultaneously.

[0112] Download process

[0113] S21. The robotic arm 5 moves the slide clamping mechanism 51 to above the stage 1 and applies a pushing force to the elastic bearing part 21, so that the bearing space is expanded to be larger than the outer dimensions of the slide. Then, the two horizontal clamping sections 5121 clamp the slide from the slide position 4.

[0114] S22. The pushing part 511 continues to apply a pushing force to the elastic bearing part 21 to remove the glass slide, and lifts it upward until the lower surface of the glass slide 6 is higher than the upper plane of the fixed bearing part 31, so that the glass slide 6 does not interfere with the fixed bearing part 31. Then it moves towards the fixed bearing part 31 until it no longer contacts the elastic bearing part 21. At this point, the glass slide is removed, and the elastic bearing part 21 is smoothly reset.

[0115] Although this document frequently uses terms such as stage 1; platform frame 11; first bearing unit 2; elastic bearing part 21; first pressing slope 211; first slide position adjusting slope 212; bearing block 213; force-bearing surface 2131; elastic guide 214; first slide bearing surface 22; second bearing unit 3; fixed bearing part 31; second pressing slope 311; second slide position adjusting slope 312; second slide bearing surface 32; slide position 4; robotic arm 5; slide clamping mechanism 51; pushing part 511; L-shaped clamping arm 512; horizontal clamping section 5121; vertical action section 5122, etc., the possibility of using other terms is not excluded. The use of these terms is merely for the convenience of describing and explaining the essence of the invention; interpreting them as any additional limitation would contradict the spirit of the invention.

[0116] The specific embodiments described in this example are merely illustrative of the spirit of this solution. Those skilled in the art to which this solution pertains may make various modifications or additions to the described specific embodiments or use similar methods to replace them, but without departing from the spirit of this solution or exceeding the scope defined by the appended claims.

Claims

1. A stage, comprising a first support unit (2) and a second support unit (3) arranged opposite to each other, wherein the first support unit (2) and the second support unit (3) have a certain interval to form a slide position (4) with adjustable support space. The first bearing unit (2) includes an elastic bearing part (21) for receiving external thrust to move away from the second bearing unit (3) and thus expand the bearing space. The second bearing unit (3) includes a fixed bearing part (31); The elastic bearing part (21) and the fixed bearing part (31) have a positioning and clamping structure that cooperates with each other; When the elastic bearing part (21) is in its natural state, the bearing space of the glass slide position (4) is smaller than the outer dimensions of the glass slide; When an external thrust is applied to the elastic bearing part (21), the elastic bearing part (21) is compressed, and the bearing space of the slide position (4) can be expanded to be larger than the outer dimensions of the slide, so as to allow the slide to be loaded and unloaded. The positioning and pressing structure of the elastic bearing part (21) includes a first pressing plate inclined surface (211). The first pressing plate inclined surface (211) is formed by the lower side of the elastic bearing part (21) from top to bottom and from outside to inside, and extends in a direction perpendicular to the line connecting the two bearing units. The positioning and pressing structure of the fixed bearing part (31) includes a second pressing slope (311) located on the lower side of the fixed bearing part (31) and arranged opposite to the structure of the first pressing slope (211). The first pressing slope (211) moves toward the second pressing slope (311) during the removal process by the external thrust to cooperate in pressing the glass slide; When the glass slide is placed in the glass slide position (4), both ends of the glass slide abut against the positioning and pressing structure of the elastic bearing part (21) and the fixed bearing part (31) respectively. The elastic bearing part (21) remains compressed under the reaction force of the glass slide and provides elastic force that makes the elastic bearing part (21) move towards the second bearing unit (3) to clamp the glass slide.

2. The stage according to claim 1, characterized in that, The first support unit (2) has a first glass slide support surface (22), and the second support unit (3) has a second glass slide support surface (32). The first glass slide bearing surface (22) and the second glass slide bearing surface (32) are arranged opposite to each other and their upper surfaces are flush to form the glass slide position (4). The elastic bearing part (21) is located above the first glass slide bearing surface (22), and the fixed bearing part (31) is located above the second glass slide bearing surface (32), so that the bearing space of the glass slide position (4) is adjustable.

3. The stage according to claim 1, characterized in that, The positioning and clamping structure of the elastic bearing part (21) also includes a first glass slide position adjustment slope (212). The first slide position adjustment slope (212) is formed by the elastic bearing part (21) being located on one side of the first pressing slope (211) and tilting from the outside to the inside towards the other side of the first pressing slope (211); The positioning and clamping structure of the fixed bearing part (31) also includes a second slide position adjustment slope (312) that is consistent with and opposite to the structure of the first slide position adjustment slope (212). The first slide position adjustment ramp (212) and the second slide position adjustment ramp (312) move closer to each other during the removal process by the external thrust to adjust the slide to one side.

4. The stage according to claim 3, characterized in that, The glass slide, which is loaded onto the slide position (4), is pressed downward under the combined action of the elastic force provided by the first pressing slope (211), the second pressing slope (311), and the elastic bearing part (21), which brings the two closer together. Under the combined action of the elastic force provided by the first slide position adjustment slope (212), the second slide position adjustment slope (312) and the elastic bearing part (21) that brings the two closer together, the slide is adjusted to one side so as to simultaneously complete the fixation and positioning of the slide during the loading process.

5. The stage according to claim 1, characterized in that, The elastic bearing part (21) includes a bearing block (213) with a force-bearing surface (2131), which is used to bear the external thrust. The end of the bearing block (213) facing away from the force-bearing surface (2131) is connected to an elastic guide (214), which provides elastic force and guidance to the elastic bearing part (21). The platform (1) includes a platform frame (11) with an empty space inside, and the first bearing unit (2) and the second bearing unit (3) are arranged opposite to each other on the inner sides of the platform frame (11) in the empty space. The elastic guide (214) includes at least one spring and a guide rod; One end of the spring is connected to the bearing block (213), and the other end is connected to the inner wall of the platform frame (11) of the platform (1). One end of the guide rod is connected to the bearing block (213), and the other end passes through the platform frame (11) of the platform (1).

6. An automatic slide loading and unloading device, comprising a stage (1) and a robotic arm (5), characterized in that, The robotic arm (5) includes a glass slide clamping mechanism (51) with a pushing part (511). The stage (1) is as described in any one of claims 1 to 5, and the external thrust is applied to the elastic bearing part (21) of the stage (1) by the pushing part (511).

7. The automatic slide loading and unloading device according to claim 6, characterized in that, The slide clamping mechanism (51) includes two L-shaped clamping arms (512) arranged opposite to each other, and the L-shaped clamping arm (512) includes a horizontal clamping section (5121) and a vertical action section (5122). The horizontal clamping sections (5121) of the two L-shaped clamping arms (512) are arranged opposite to each other to clamp the edge of the glass slide; The backs of the vertical action sections (5122) of the two L-shaped clamping arms (512) are located on the same plane to form the pushing part (511), which is used to cooperate with the elastic bearing part (21) to expand the bearing space of the slide position (4) when the slide is loaded and unloaded.

8. The automatic slide loading and unloading device according to claim 7, characterized in that, The vertical action section (5122) of the two L-shaped clamping arms (512) is configured such that the relative distance between them before and after clamping the glass slide is always less than the length of the force-bearing surface (2131) in the extension direction of the first pressing slope (211), so that a pushing force can still be applied to the elastic bearing part (21) when the glass slide is not clamped. The height of the force-bearing surface (2131) in the vertical direction of the extension direction of the first pressing slope (211) is higher than the upper surface of the fixed bearing part (31), so that when the glass slide is clamped by the glass slide clamping mechanism (51), a pushing force can be applied to the elastic bearing part (21) in its natural state.

9. The automatic slide loading and unloading device according to claim 8, characterized in that, The robotic arm (5) is configured to, When loading the glass slide, control the L-shaped clamping arm (512) to move to the force-bearing surface (2131) and push the elastic bearing part (21) to move a distance away from the second bearing unit (3) until the bearing space is expanded to be larger than the outer size of the glass slide, and move down a distance to place the glass slide to the glass slide position (4). After the loading is completed, the two L-shaped clamping arms (512) are controlled to move away from each other until the glass slide is released but the pushing force on the elastic bearing part (21) is still maintained, and the glass slide moves a distance to the second bearing unit (3) until it no longer contacts the elastic bearing part (21), so that the elastic bearing part (21) moves towards the second bearing unit (3) under the combined action of elastic force and pushing force, so that the glass slide is pressed down under the gentle clamping force of the first pressing slope (211) and the second pressing slope (311), and is adjusted to one side under the gentle positioning force of the first glass slide position adjustment slope (212) and the second glass slide position adjustment slope (312); When downloading the glass slide, the L-shaped clamping arm (512) is controlled to move to the force-bearing surface (2131) and then pushes the elastic bearing part (21) to move a distance away from the second bearing unit (3) until the bearing space is expanded to be larger than the outer size of the glass slide. Then the glass slide is clamped. Then it moves up a distance to be higher than the upper plane of the fixed bearing part (31) and moves towards the second bearing unit (3) until it no longer contacts the elastic bearing part (21), so that the elastic bearing part (21) returns to its natural state under the thrust restriction.

10. An automatic slide loading method based on the automatic slide loading and unloading device according to any one of claims 6 to 9, characterized in that, The method includes: Upload process S11. Slide clamping mechanism (51) clamps the slide; S12. The robotic arm (5) moves the glass slide to the top of the stage (1), and the glass slide clamping mechanism (51) applies a pushing force to the elastic bearing part (21) to expand the bearing space to a size larger than the outer dimensions of the glass slide before lowering the glass slide to the glass slide position (4). S13. The glass slide clamping mechanism (51) continues to apply a pushing force to the elastic bearing part (21) and moves toward the second bearing unit (3) until it no longer contacts the elastic bearing part (21). During this period, the first pressing slope (211) moves toward the second pressing slope (311) to cooperate in pressing the glass slide; During this period, the first slide position adjustment ramp (212) moves closer to the second slide position adjustment ramp (312) to facilitate the adjustment of the slide to one side; Download process S21. The robotic arm (5) drives the glass slide clamping mechanism (51) to move above the stage (1), applies a pushing force to the elastic bearing part (21), and expands the bearing space to be larger than the outer dimensions of the glass slide before clamping the glass slide from the glass slide position (4). S22. The slide clamping mechanism (51) continues to apply a pushing force to the elastic bearing part (21) and lifts it up to a height above the upper plane of the fixed bearing part (31) so that the slide does not interfere with the fixed bearing part (31) and then moves towards the fixed bearing part (31) until it no longer contacts the elastic bearing part (21).

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