Photocuring-based sheet sealing mechanical arm and multifunctional comprehensive dyeing system

Abstract

The utility model provides a photo-curing-based sheet sealing mechanical arm and a multifunctional comprehensive dyeing system, and belongs to the field of test sample preparation equipment. The sealing mechanical arm based on photocuring comprises a mechanical arm main body and a glue solution sample adding needle connected with the mechanical arm main body, and further comprises an ultraviolet lamp which is connected with the mechanical arm main body and moves along with the mechanical arm main body, the irradiation direction of the ultraviolet lamp faces downwards, and the ultraviolet lamp and the glue solution sample adding needle are arranged in a spaced mode in the transverse direction. The multifunctional comprehensive dyeing system comprises a rack, and the rack is provided with a photo-curing-based sheet sealing mechanical arm. The ultraviolet lamp is arranged on the mechanical arm main body of the sealing mechanical arm based on photocuring, so that the ultraviolet lamp can be directly moved to the corresponding glass slide through the mechanical arm main body and irradiates the glass slide after glue liquid is dropwise added to the glass slide, the curing operation is completed, and the operation convenience and the dyeing efficiency are improved.

Description

Technical Field

[0001] The utility model belongs to the field of test sample preparation equipment, in particular to a sheet sealing mechanical arm based on light curing and a multifunctional comprehensive staining system. Background Art

[0002] For hospitals with a large demand for tissue cell staining, manual staining can no longer meet the requirements. On the one hand, the efficiency of manual staining is low, and on the other hand, there are large errors in manual operation, and the consistency of staining results is not high. Therefore, automatic staining machines have gradually replaced manual staining.

[0003] The Chinese invention patent application with the existing application publication number CN116840023A and the application publication date of October 3, 2023 discloses a fully automatic immunohistochemistry staining machine, which includes a workbench, a first robotic arm assembly, a second robotic arm assembly, an incubation module assembly, a small-capacity reagent storage assembly, a reagent switching and adding assembly, a cleaning agent liquid supply assembly, a cleaning tank, a mixing station and a large-capacity reagent storage assembly; the first robotic arm assembly and the second robotic arm assembly both include a first Z-axis lifting module and a second Z-axis lifting module, the first Z-axis lifting module is provided with a sample adding needle, and the second Z-axis lifting module is provided with a spray assembly, the sample adding needle and the spray assembly can be lifted and lowered independently to realize fully automated sample adding and cleaning operations.

[0004] The above-mentioned staining machine can automatically use a sample needle to absorb the reagent and drip it onto the slide at the incubation module assembly, and then use the spray assembly to clean it after the reaction is completed. However, in order to facilitate observation, glue is generally dripped on the slide and covered with a sealing film made of glass for sealing. The glue can be absorbed by a sample needle and dripped onto the slide. Photosensitive glue is often used as the glue for sealing in this field. Photosensitive glue can only be cured under the irradiation of ultraviolet light, so it can effectively prevent the problem of glue solidification and clogging the sample needle. However, after dripping the glue, the operator needs to hold a UV lamp, or transfer each slide to a table equipped with an ultraviolet lamp so that the slide is exposed to ultraviolet light, which leads to cumbersome operation and low efficiency. Utility Model Content

[0005] One of the purposes of the utility model is to provide a photocuring-based sealing robot to solve the technical problems in the prior art that after dripping glue on the glass slide, the operator needs to hold a UV lamp or transfer each glass slide to a table equipped with a UV lamp so that the glass slide can be irradiated with ultraviolet light, resulting in cumbersome operation and low efficiency.

[0006] Another object of the utility model is to provide a multifunctional comprehensive dyeing system to solve the above technical problems.

[0007] In order to achieve the above-mentioned purpose, the technical solution of the light-curing-based sealing robot arm provided by the utility model is:

[0008] A sealing robot arm based on photocuring comprises a robot arm main body and a glue sample injection needle connected to the robot arm main body, and also comprises an ultraviolet lamp connected to the robot arm main body and moving with the robot arm main body, the irradiation direction of the ultraviolet lamp is downward, and the ultraviolet lamp and the glue sample injection needle are arranged with intervals in the horizontal direction; a lifting mechanism is arranged on the robot arm main body, the lifting mechanism comprises a mounting seat and an output end that can move up and down relative to the mounting seat, a lifting guide rail for guiding the output end up and down is arranged on one side of the mounting seat, and the ultraviolet lamp is installed on the other side of the mounting seat.

[0009] As a further improvement, the output end is provided with a sealing assembly for placing a sealing film on the slide.

[0010] As a further improvement, the mounting seat extends in an up-down direction, and the ultraviolet lamp is located at the lower part of the mounting seat.

[0011] As a further improvement, the sealing assembly includes a sealing head for pressing the sealing film after the sealing film is covered on the glass slide, and the ultraviolet lamp is higher than the sealing head when the sealing head presses the sealing film.

[0012] As a further improvement, the ultraviolet lamp includes a lamp body and a connecting member, the connecting member has a connecting portion fixedly connected to the mounting seat and an overhanging portion overhanging one side of the mounting seat, and the lamp body is connected to the overhanging portion.

[0013] As a further improvement, the connecting portion and the overhanging portion are both plate-shaped and perpendicular to each other, so that the connecting piece has an L-shaped structure as a whole.

[0014] The beneficial effect is that the light-curing-based sealing robot provided by the utility model is an improvement on the prior art. The light-curing-based sealing robot is equipped with an ultraviolet lamp on the robot body, so that after dripping glue onto the glass slide, the ultraviolet lamp can be moved to the top of the glass slide to be cured by the robot body, so that the glass slide receives the irradiation of the ultraviolet lamp and is quickly cured, so that the curing operation can be completed automatically without manual participation, thereby improving the convenience of operation and the staining efficiency.

[0015] To achieve the above-mentioned purpose, the technical solution of the multifunctional comprehensive dyeing system provided by the utility model is:

[0016] A multifunctional comprehensive staining system comprises a frame, on which a light-curing-based sealing arm is arranged, the light-curing-based sealing arm comprises a mechanical arm body and a glue sample injection needle connected to the mechanical arm body, and also comprises an ultraviolet lamp connected to the mechanical arm body and moving with the mechanical arm body, the irradiation direction of the ultraviolet lamp faces downward, and the ultraviolet lamp and the glue sample injection needle are arranged with intervals in the horizontal direction; a lifting mechanism is arranged on the mechanical arm body, the lifting mechanism comprises a mounting seat and an output end that can move up and down relative to the mounting seat, a lifting guide rail for guiding the output end up and down is arranged on one side of the mounting seat, and the ultraviolet lamp is installed on the other side of the mounting seat.

[0017] As a further improvement, the output end is provided with a sealing assembly for placing a sealing film on the slide.

[0018] As a further improvement, the mounting seat extends in an up-down direction, and the ultraviolet lamp is located at the lower part of the mounting seat.

[0019] As a further improvement, the sealing assembly includes a sealing head for pressing the sealing film after the sealing film is covered on the glass slide, and the ultraviolet lamp is higher than the sealing head when the sealing head presses the sealing film.

[0020] As a further improvement, the ultraviolet lamp includes a lamp body and a connecting member, the connecting member has a connecting portion fixedly connected to the mounting seat and an overhanging portion overhanging one side of the mounting seat, and the lamp body is connected to the overhanging portion.

[0021] As a further improvement, the connecting portion and the overhanging portion are both plate-shaped and perpendicular to each other, so that the connecting piece has an L-shaped structure as a whole.

[0022] The beneficial effect is that the multifunctional integrated staining system provided by the utility model is an improvement over the prior art. The light-curing based sealing mechanical arm in the multifunctional integrated staining system is equipped with an ultraviolet lamp on the main body of the mechanical arm, so that after dripping glue onto the glass slide, the ultraviolet lamp can be moved to the top of the glass slide to be cured by the main body of the mechanical arm, so that the glass slide receives the irradiation of the ultraviolet lamp and is quickly cured, so that the curing operation can be completed automatically without manual participation, thereby improving the convenience of operation and the staining efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a front view of an embodiment of the multifunctional integrated dyeing system of the utility model;

[0024] Figure 2 A top view of an embodiment of the multifunctional integrated dyeing system of the utility model;

[0025] Figure 3 This is a schematic diagram of the structure of the small reagent area in one embodiment of the multifunctional comprehensive staining system of the utility model;

[0026] Figure 4 This is a schematic structural diagram of the sealing glue area and the sealing film area in one embodiment of the multifunctional comprehensive staining system of the utility model;

[0027] Figure 5 It is a schematic structural diagram of a cleaning tank area and a liquid mixing tank area in one embodiment of the multifunctional integrated dyeing system of the utility model;

[0028] Figure 6 This is a schematic diagram of the structure of a dyeing mechanical arm in one embodiment of the multifunctional integrated dyeing system of the utility model;

[0029] Figure 7 This is a structural schematic diagram of a sealing mechanical arm in one embodiment of the multifunctional comprehensive staining system of the utility model;

[0030] Figure 8 This is a partial structural schematic diagram of a sealing mechanical arm in one embodiment of the multifunctional comprehensive staining system of the utility model;

[0031] Fig. 9 It is a cross-sectional view of a sealing robot arm in one embodiment of the multifunctional comprehensive staining system of the utility model.

[0032] Description of reference numerals:

[0033] 1. Rack; 2. Operation table; 3. Staining area; 4. Small reagent area; 41. Base frame; 42. Slide; 43. Handle; 44. Slot; 45. Reagent tube; 5. Cleaning pool; 6. Mixing tank; 7. Sealing glue area; 8. Sealing film area; 9. Auxiliary reagent area; 10. Waste liquid area; 11. Staining robot arm; 111. Reagent injection needle; 112. Cleaning head; 113. Sweeping dock; 114. Blowing head; 12. Sealing robot arm; 1201. Glue injection needle; 1202. Mounting seat; 1203. Driving motor; 1204. Lifting guide Rail; 1205, slider; 1206, connector; 1207, sealing head; 1208, hinge pin; 1209, film pressing wall; 1210, mounting groove; 1211, first card slot; 1212, second card slot; 1213, first suction cup; 1214, second suction cup; 1215, ultraviolet lamp; 12151, lamp body; 12152, mounting part; 1216, induction sheet; 1217, sensor; 1218, receiving groove; 1219, sensor; 1220, threaded rod; 1221, torsion spring; 1222, stop pin. DETAILED DESCRIPTION

[0034] The present invention is further described in detail below in conjunction with the embodiments.

[0035] In order to solve the technical problems in the prior art, the basic concept of the utility model is to arrange an ultraviolet lamp on the mechanical arm body of the sealing robot arm, so that after adding glue to the glass slide, the ultraviolet lamp can be directly moved to the corresponding glass slide through the mechanical arm body and irradiate the glass slide, thereby completing the curing operation, improving the operating convenience and staining efficiency.

[0036] Specific embodiments of the multifunctional comprehensive dyeing system provided by the utility model:

[0037] This multifunctional comprehensive staining system integrates special staining, HE staining, Wright staining and Papanicolaou staining. It can be used as a comprehensive staining platform for small hospitals, a frozen HE staining platform for large hospitals, and a tissue cell staining platform for non-pathology departments of hospitals.

[0038] See attached Figure 1 and attached Figure 2 The multifunctional comprehensive staining system includes a frame 1, on which an operating table 2 is arranged, and the upper side of the operating table 2 is provided with a staining area 3, a small reagent area 4, a cleaning pool area 5, a mixing tank area 6, a sealing glue area 7 and a sealing film area 8, and the lower side of the operating table 2 is provided with an auxiliary reagent area 9 and a waste liquid area 10.

[0039] The staining area 3 is located in the center of the operating table 2. The staining area 3 is provided with four staining stations. Each staining station has a tray and a heating station located under the tray. Each staining station has five slide positions for placing slides. A barcode is affixed to each slide, and the temperature of each slide position can be independently controlled.

[0040] The small reagent area 4 is located on one side of the staining area 3. The small reagent area 4 is used to store reagent tubes 45 containing staining reagents. A barcode is attached to each reagent tube 45. Figure 3 The small reagent area 4 includes a base frame 41, a linear guide rail is arranged on the base frame 41, a slide 42 is arranged above the base frame 41 to slide with the linear guide rail, and a slot 44 is arranged on the top of the slide 42 for inserting a reagent tube 45. A handle 43 is arranged on the slide 42 to facilitate the slide 42 to be pulled out to take and place the reagent tube 45.

[0041] The sealing glue area 7 and the sealing film area 8 are located on the other side of the staining area 3, see the attached Figure 4 The sealing glue area 7 is provided with a glue bottle for storing liquid sealing glue, and the sealing film area 8 is provided with a film box for storing stacked sealing films.

[0042] See attached Figure 5 The mixing tank area 6 is provided with six mixing tanks for mixing liquid. The cleaning tank area 5 is provided with four cleaning holes for cleaning the inner wall and outer wall of the reagent injection needle 111 to avoid crosstalk between reagents. The cleaning tank area 5 and the mixing tank area 6 are connected as one.

[0043] The auxiliary reagent area 9 is used to store reagents with large usage, such as auxiliary reagents used for pre-staining or cleaning. The auxiliary reagent area 9 is equipped with an identification sensor and a liquid level sensor for sensing the existence state of the auxiliary reagent barrel and the liquid level state of the auxiliary reagent in the barrel.

[0044] The waste liquid area 10 is provided with a waste liquid bucket for collecting waste liquid generated during the dyeing process.

[0045] The frame 1 is provided with a dyeing robot arm 11 and a sealing robot arm 12, both of which are located above the operating table 2 and are used for dyeing and sealing operations, respectively. The frame 1 is provided with a first guide rail extending in the left-right direction thereof, and both of the dyeing robot arm 11 and the sealing robot arm 12 are slidably matched with the first guide rail. The frame 1 is also provided with a first driving mechanism for driving the dyeing robot arm 11 and the sealing robot arm 12 to move left and right.

[0046] The dyeing robot 11 and the sealing robot 12 both include a robot body, which includes a main arm and a forward and backward moving seat arranged on the main arm and a second guide rail extending forward and backward, the forward and backward moving seat and the second guide rail are slidably matched, and the main arm is provided with a second driving mechanism for driving the forward and backward moving seat to move forward and backward. The first guide rail, the first driving mechanism, the second guide rail, and the second driving mechanism are all prior art and are not described in detail here.

[0047] See attached Figure 6 , a reagent sample adding needle 111, a cleaning head 112 and a scanning dock 113 that can move up and down are arranged on the front and back moving seat of the dyeing mechanical arm 11. The specific structures of the reagent sample adding needle 111, the cleaning head 112 and the scanning dock 113 can be the same as the dyeing assembly, the spray assembly and the scanning assembly in the Chinese utility model patent with the authorization announcement number CN219152897U, and will not be repeated here. In this embodiment, a blowing head 114 is also arranged on the front and back moving seat of the dyeing mechanical arm 11, and the blowing head 114 and the cleaning head 112 are connected together.

[0048] The scanning port 113 can identify different reagent tubes 45 and glass slide positions, and then use the reagent sample needle 111 to extract the reagent from the test tube in the small reagent area 4 and drip it onto the glass slide at the corresponding glass slide position. At this time, the reagent on the glass slide can be blown evenly using the blower head 114. After the reaction is completed, the waste liquid on the glass slide is rinsed using the cleaning head 112, and finally the liquid on the glass slide can be blown dry using the blower head 114.

[0049] After the above staining operation is completed, the sealing operation can be performed using the sealing robot 12.

[0050] See attached Figure 7 and attached Figure 8The glue sample needle 1201 is arranged on the front and rear moving seat of the sealing mechanical arm 12, which is used to absorb the sealing glue in the sealing glue area 7 and drip the sealing glue onto the slide glass after the staining is completed. The structure of the glue sample needle 1201 is the same as that of the reagent sample needle 111, and will not be described in detail here.

[0051] The front and rear moving seat of the sealing robot arm 12 is also provided with a lifting mechanism, which includes a mounting seat 1202 fixedly mounted on the front and rear moving seat and extending up and down, a driving motor 1203 fixedly mounted on the mounting seat 1202, an output shaft of the driving motor 1203 facing downward and coaxially fixed with a threaded rod 1220, a lifting guide rail 1204 extending up and down is provided on the mounting seat 1202, a slider 1205 is slidably provided on the lifting guide rail 1204, and a threaded hole is provided on the slider 1205 to threadably match the threaded rod 1220. The driving motor 1203 can drive the slider 1205 to move up and down.

[0052] The slider 1205 is fixedly connected with a connector 1206, the lower end of which is the output end of the lifting mechanism. The lower end of the connector 1206 is hingedly connected with a sealing head 1207 via a hinge pin 1208. The lower end surface of the sealing head 1207 is a film pressing wall 1209, which is an arc-shaped wall. The hinge pin 1208 is located at one end of the circumference of the arc-shaped wall. The axis of the hinge pin 1208 is parallel to the central axis of curvature of the film pressing wall 1209 and both are arranged horizontally.

[0053] See attached Fig. 9 The sealing head 1207 is provided with a mounting groove 1210 which runs through from top to bottom. The lower end of the connecting member 1206 is located in the mounting groove 1210. There is a gap between the bottom wall of the mounting groove 1210 and the connecting member 1206, so that the sealing head 1207 can rotate in the up and down direction relative to the connecting member 1206. The mounting groove 1210 can be directly grooved on the sealing head 1207, or a pair of connecting ears can be provided on the sealing head 1207. The space enclosed by the two connecting ears and the corresponding side walls of the sealing head 1207 constitutes the mounting groove 1210.

[0054] When the sealing head 1207 rotates downward relative to the connecting member 1206, there is an extreme position. Figure 7 and attached Figure 8 A stop pin 1222 is fixedly provided on the connecting piece 1206. After the sealing head 1207 rotates downward so that the lower side wall of the connecting ear abuts against the stop pin 1222, the sealing head 1207 will not be able to continue to rotate downward. The stop pin 1222 constitutes a limiting structure for limiting the downward rotation of the sealing head 1207.

[0055] The upper end wall of the sealing head 1207 is provided with a first slot 1211 with an opening facing upwards, and the first slot 1211 is connected to the mounting slot 1210. A second slot 1212 with an opening facing the sealing head 1207 is provided on a side wall of the connecting member 1206 facing the sealing head 1207. The hinge pin 1208 is located in the second slot 1212. A torsion spring 1221 is sleeved on the hinge pin 1208. One end of the torsion spring 1221 abuts against the bottom wall of the first slot 1211, and the other end abuts against the bottom wall of the second slot 1212. In the absence of external force, the sealing head 1207 will rotate downward to the limit position under the action of the torsion spring 1221, at which time the end of the sealing head 1207 away from the connecting member 1206 is lower than the end close to the connecting member 1206. When in use, the connecting piece 1206 drives the sealing head 1207 to move downward under the drive of the lifting mechanism, and the end of the sealing head 1207 away from the connecting piece 1206 will first press the sealing film, so the side of the film pressing wall 1209 corresponding to this end in the circumference is the first pressing side, and the other side of the film pressing wall 1209 in the circumference is the rear pressing side.

[0056] The first suction cup 1213 and the second suction cup 1214 are arranged on the circumference of the film pressing wall 1209, and the first suction cup 1213 and the second suction cup 1214 are located at both ends of the length direction of the sealing head 1207. The first suction cup 1213 is far away from the connecting piece 1206, and the second suction cup 1214 is close to the connecting piece 1206. The first suction cup 1213 and the second suction cup 1214 both penetrate the sealing head 1207 in the up-down direction, and the upper ends of the first suction cup 1213 and the second suction cup 1214 are connected to the negative pressure device through a hose, and the lower ends of the first suction cup 1213 and the second suction cup 1214 have elastic suction heads, and the lower ends of the elastic suction heads protrude from the film pressing wall 1209, and the elastic suction heads are bellows made of rubber.

[0057] The axes of the first suction cup 1213 and the second suction cup 1214 are arranged at an angle. Specifically, the upper end spacing of the first suction cup 1213 and the second suction cup 1214 is smaller than the lower end spacing, so that the lower end surfaces of the elastic adsorption heads of the first suction cup 1213 and the second suction cup 1214 are not coplanar. In addition, in the absence of external force, the height of the first suction cup 1213 is lower than the height of the second suction cup 1214.

[0058] When sucking the sealing film from the sealing film area 8, the position of the sealing robot arm 12 is adjusted so that the sealing head 1207 is located directly above the sealing film, and the first suction cup 1213 and the second suction cup 1214 are opened at the same time. Then, the connecting member 1206 drives the sealing head 1207 to move downward under the drive of the lifting mechanism, so that the first pressing side of the film pressing wall 1209 first contacts the sealing film located at the uppermost layer, and at the same time, the first suction cup 1213 has been adsorbed to one end of the length direction of the sealing film.

[0059] Then the connecting piece 1206 continues to move downward, and the sealing head 1207 will roll on the sealing film, and the contact position between the film pressing wall 1209 and the sealing film will gradually move from the front pressing side to the rear pressing side. During this process, the front pressing side will tilt upward, and the first suction cup 1213 will drive the end of the sealing film to move upward, and the end of the sealing film will also tilt, so that the uppermost sealing film is separated from the adjacent sealing film below it, effectively preventing the adjacent sealing film below from being lifted due to factors such as electrostatic adsorption. Finally, the rear pressing side contacts the sealing film, and the second suction cup 1214 is also adsorbed to the sealing film.

[0060] After the second suction cup 1214 and the first suction cup 1213 absorb the sealing film together, the connecting piece 1206 drives the sealing head 1207 to move upward, adjusts the position of the sealing robot arm 12, and transfers the sealing film to the top of the glass slide to which the sealing glue has been dripped. In this process, the sealing head 1207 is driven by the torsion spring 1221 to restore to the initial state, that is, the state where the front pressure side is lower than the rear pressure side, and the first suction cup 1213 is also lower than the second suction cup 1214.

[0061] Driven by the lifting mechanism, the connecting piece 1206 drives the sealing head 1207 to move downward again, so that the end of the sealing film adsorbed by the first suction cup 1213 contacts the glue on the glass slide. At this time, the sealing film is pressed tightly against the glass slide, and then the first suction cup 1213 is closed.

[0062] As the connecting piece 1206 continues to move downward, the sealing head 1207 will roll on the cover glass to crush the sealing film, and the position of the film pressing wall 1209 pressing the sealing film will gradually move from the front pressing side to the rear pressing side. During this process, the front pressing side will warp upward, but the end of the sealing film originally adsorbed by the first suction cup 1213 will not warp.

[0063] Finally, the rear pressure side presses the sealing film tightly onto the glass slide, and at this time the second suction cup 1214 is also closed, and the sealing film completes the covering operation.

[0064] First, one end of the sealing film is contacted with the glass slide, and then the rest of the sealing film is gradually covered on the glass slide. This allows the sealing film to contact the glue at a single point at the beginning, and then the contact range between the sealing film and the glue gradually expands. This process can completely expel the gas between the sealing film and the sealing glue to prevent bubbles from being generated in the sealing glue, thereby improving the sealing efficiency and ensuring the quality of the sealing.

[0065] In the process of gradually covering the sealing film onto the glass slide, the sealing head 1207 is also used to synchronously roll the sealing film. During the rolling process, the sealing glue can be forced to flow along the rolling direction to a certain extent, thereby ensuring the uniformity of the covering speed of the sealing film, further preventing the generation of bubbles in the sealing glue, and at the same time facilitating the discharge of existing bubbles.

[0066] In order to further prevent bubbles from being generated in the sealing glue, before the rear pressure side presses the sealing film, or after the second suction cup 1214 is closed, the sealing head 1207 can also reciprocate and roll the sealing film multiple times to exhaust the bubbles in the sealing glue and ensure the sealing quality.

[0067] The lower part of the mounting seat 1202 is also equipped with an ultraviolet lamp 1215 with the irradiation direction facing downward. The lower end of the ultraviolet lamp 1215 is not lower than the lower end of the mounting seat 1202. When covering the sealing film, the bottom of the sealing head 1207 is lower than the lower end of the mounting seat 1202 to prevent the ultraviolet lamp 1215 from colliding with other glass slides when covering the sealing film. The sealing head 1207 and the ultraviolet lamp 1215 are respectively located on opposite sides of the mounting seat 1202, and the sealing head 1207 and the ultraviolet lamp 1215 are arranged at intervals along the left and right directions of the sealing robot arm 12.

[0068] The ultraviolet lamp 1215 includes a lamp body 12151 for generating ultraviolet rays and a mounting member 12152 for connecting the lamp body 12151 to the mounting seat 1202, wherein the mounting member 12152 includes a connecting portion and an overhanging portion, and the connecting portion and the overhanging portion are both plate-shaped and perpendicular to each other, so that the mounting member 12152 is an L-shaped structure as a whole. The mounting member 12152 can be bent and formed as a whole, which is convenient for processing and manufacturing. The connecting portion of the mounting member 12152 is attached to the mounting seat 1202 and fixedly connected together by bolts, and the lamp body 12151 is connected to the overhanging portion.

[0069] After the sealing film is covered, the ultraviolet lamp 1215 can be moved to the top of the glass slide that needs to be cured by using the main body of the mechanical arm, and the ultraviolet lamp 1215 can be used to irradiate the sealing glue to make the sealing glue cure quickly. The ultraviolet lamp 1215 and the glue injection needle 1201 are arranged at intervals in the horizontal direction, specifically, they are arranged at intervals along the left and right directions of the sealing mechanical arm 12. The installation height of the ultraviolet lamp 1215 is slightly higher than the sealing head 1207, so that when the sealing head 1207 covers the sealing film on one glass slide position, the ultraviolet lamp 1215 can irradiate the adjacent glass slide position that has been covered with the sealing film, thereby improving the operation efficiency.

[0070] The slider 1205 is provided with a sensing sheet 1216, and the fixing seat is provided with a sensor 1217. When the sensing sheet 1216 moves upward to reach the sensor 1217, the sensor 1217 will be triggered to detect the upper limit position of the slider 1205 to prevent the slider 1205 from moving upward excessively.

[0071] A receiving groove 1218 is provided on the film pressing wall 1209 of the sealing head 1207, and the receiving groove 1218 is located between the first suction cup 1213 and the second suction cup 1214. A sensor 1219 for detecting the distance between the sealing head 1207 and the glass slide is installed in the receiving groove 1218 to prevent the sealing head 1207 from being pressed down too much and damaging the glass slide. The sensor 1219 can be an ultrasonic sensor or a capacitive sensor. In other embodiments, a sensor for detecting whether the sealing head 1207 is in contact with the sealing film may not be separately provided. In this embodiment, the up and down displacement of the slider is detected by the number of revolutions of the output shaft of the driving motor, thereby indirectly obtaining information on whether the sealing head is in contact with the glass slide.

[0072] In other embodiments, the overhanging portion of the connector can also be connected to the middle of the connector, so that the connector has a T-shaped structure. In other embodiments, the ultraviolet lamp can also only include a lamp body. In this embodiment, a connecting bracket is fixed to one side of the mounting seat, and the ultraviolet lamp is fixedly mounted on the connecting bracket.

[0073] In other embodiments, the sealing assembly and the ultraviolet lamp may also be arranged on the same side of the mounting base. In this embodiment, the sealing assembly and the ultraviolet lamp need to be laterally staggered to prevent interference.

[0074] In other embodiments, the ultraviolet lamp may also be arranged in the middle or upper part of the mounting seat, and the ultraviolet lamp may also be directly installed on the main arm instead of on the mounting seat.

[0075] In the above embodiments, the axes of the first suction cup and the second suction cup are arranged at an angle to prevent multiple sealing films from being pulled up when the sealing film is sucked. In other embodiments, the axes of the first suction cup and the second suction cup can be respectively on the extension lines of the two curvature radii of the film pressing wall, which can improve the smoothness of the sealing film covering operation process. In other embodiments, if the sealing films will not be adsorbed due to static electricity or other reasons, the axes of the first suction cup and the second suction cup can also be arranged in parallel.

[0076] In the above embodiments, the torsion spring constitutes an elastic reset member that is deformed during the process of the sealing head rolling the sealing film to provide a force to restore the sealing head to a state where the first pressure side is lower than the rear pressure side. The main purpose of providing the elastic reset member is to provide sufficient rolling force for the sealing head to ensure the rolling effect and prevent the hose from interfering with the rotation of the sealing head. In other embodiments, the elastic reset member can also be a rubber block embedded in the first slot and the second slot. When the sealing head is rotated upward by an external force, the rubber block is compressed to drive the sealing head to rotate downward after the external force is eliminated. In other embodiments, if the weight of the sealing head is sufficient to overcome the influence of the hose on it, the elastic reset member may not be provided, so that the sealing head is reset under the action of gravity.

[0077] In the above embodiments, the rolling and crushing action of the sealing head is completed by the connection member driving it to move downward, wherein the hinged matching structure of the connection member and the sealing head and the stop pin constitute a film pressing structure. In other embodiments, the film pressing structure may also include a rotating motor disposed on the connection member, and the output shaft of the rotating motor is fixedly connected to the sealing head. The sealing head can rotate under the drive of the rotating motor and cooperate with the up and down movement of the connection member to perform the crushing action. In this embodiment, the crushing force can be adjusted by the output torque of the rotating motor, and the rotation posture of the sealing head can also be controlled by the rotating motor, so the rotating motor itself can be used as a limiting structure of the sealing head. In other embodiments, the sealing head can also be a semi-cylinder, the circumferential wall of the sealing head is the film pressing wall, the lower end of the connecting piece is hinged to the axis position of the sealing head, in this embodiment, the first suction cup is located at the lowest point of the natural droop of the sealing head, and the second suction cup is set higher than the first suction cup. When in use, the connecting piece drives the sealing head to move downward, so that the first suction cup first contacts the sealing film, and then the sealing mechanical arm is moved horizontally to roll the sealing head to complete the rolling action. After the rolling is completed, the sealing head is reset under the action of its own gravity. In this embodiment, the sealing head itself constitutes a film pressing structure. In other embodiments, the sealing head can also be a roller.

[0078] In the above embodiments, the film pressing wall is an arc-shaped wall, which can be rolled to squeeze out the excess glue between the sealing film and the glass slide, so as to better discharge the bubbles. In other embodiments, the film pressing wall can also be a plane wall. In this embodiment, one side of the film pressing wall can be pressed against the sealing film first, that is, the first pressing side presses the sealing film, and then the state of the first pressing side pressing against the sealing film is maintained, and the rear pressing side is slowly dropped, and finally the sealing film is covered well, which can also play a role in discharging air. In the case where the film pressing wall is a plane wall, the film pressing structure can also be omitted. In this embodiment, the sealing head is fixedly connected to the connecting piece. In the process of covering the sealing film, the first suction cup still releases the sealing film first, and the second suction cup releases the sealing film later, so that the sealing film falls obliquely onto the glass slide. After the sealing film completely falls onto the glass slide, the sealing head moves downward, and the film pressing wall is used to flatten the sealing film, which is conducive to discharging bubbles.

[0079] In other embodiments, the sealing head may not be provided. In this embodiment, a bracket is installed at the lower end of the connecting piece. When the first suction cup and the second suction cup are both installed on the bracket, during the process of covering the sealing film, the first suction cup is still released first, and the second suction cup releases the sealing film later, so that the sealing film falls on the glass slide at an angle, completing the covering operation of the sealing film. This embodiment can also reduce bubbles in the glue.

[0080] In the above embodiments, only one of the first suction cup and the second suction cup is provided, while in other embodiments, two or three of the first suction cup and the second suction cup may be provided, and the specific number may be determined according to the size of the first suction cup and the second suction cup actually used and the size of the sealing film.

[0081] In other embodiments, the lifting mechanism may also be an electric push rod or a cylinder with adjustable stroke.

[0082] Specific embodiments of the light-curing-based sealing robot provided by the utility model:

[0083] The photocuring-based sealing robot arm is the sealing robot arm in the embodiment of the multifunctional comprehensive staining system, which will not be described in detail here.

[0084] Finally, it should be noted that the above is only a preferred embodiment of the utility model and is not intended to limit the utility model. Although the utility model is described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions recorded in the above embodiments without creative work, or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A light-curing based sealing robot arm, comprising a robot arm body and a glue sample injection needle connected to the robot arm body, characterized in that: It also includes an ultraviolet lamp connected to the robot arm body and moves with the robot arm body, the irradiation direction of the ultraviolet lamp is downward, and the ultraviolet lamp and the glue sample injection needle are arranged at intervals in the horizontal direction; a lifting mechanism is arranged on the robot arm body, the lifting mechanism includes a mounting seat and an output end that can move up and down relative to the mounting seat, one side of the mounting seat is provided with a lifting guide rail for guiding the output end up and down, and the ultraviolet lamp is installed on the other side of the mounting seat.

2. The photocuring-based sealing robot according to claim 1, characterized in that: The output end is provided with a sealing assembly for placing a sealing film on the slide.

3. The photocuring-based sealing robot according to claim 2, characterized in that: The mounting seat extends in the up-down direction, and the ultraviolet lamp is located at the lower part of the mounting seat.

4. The photocuring-based sealing robot according to claim 3, characterized in that: The sealing assembly comprises a sealing head for pressing the sealing film after the sealing film is covered on the glass slide, and the ultraviolet lamp is higher than the sealing head when the sealing head presses the sealing film.

5. The photocuring-based sealing robot according to any one of claims 1 to 4, characterized in that: The ultraviolet lamp comprises a lamp body and a connecting piece, wherein the connecting piece comprises a connecting part fixedly connected to the mounting seat and an overhanging part overhanging one side of the mounting seat, and the lamp body is connected to the overhanging part.

6. The photocuring-based sealing robot according to claim 5, characterized in that: The connecting part and the overhanging part are both plate-shaped and perpendicular to each other, so that the connecting piece is in an L-shaped structure as a whole.

7. A multifunctional integrated dyeing system, comprising a rack, characterized in that: The frame is provided with a photocuring-based sealing robot arm as described in any one of claims 1 to 6.

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