Dyeing mechanical arm with adjustable spraying angle and multifunctional comprehensive dyeing system

Abstract

The utility model provides a dyeing mechanical arm with an adjustable spraying angle and a multifunctional comprehensive dyeing system, and belongs to the field of test sample preparation equipment. The dyeing mechanical arm with the adjustable spraying angle comprises a mechanical arm body, a spraying structure used for washing a glass slide is arranged at the output end of the mechanical arm body, and a rotation driving device used for driving the spraying structure to rotate is arranged at the output end of the mechanical arm body. The multifunctional comprehensive dyeing system comprises a rack and a dyeing mechanical arm arranged on the rack, wherein the spraying angle of the dyeing mechanical arm can be adjusted. The spraying structure arranged on the dyeing mechanical arm with the adjustable spraying angle can rotate under the driving of the rotary driving device, so that the relative angle between the cleaning liquid sprayed by the spraying structure and a glass slide can be adjusted according to requirements, and the optimal washing effect is achieved.

Description

Technical Field

[0001] The utility model belongs to the field of test sample preparation equipment, and particularly relates to a dyeing robotic arm with adjustable spraying angle and a multi-functional comprehensive dyeing 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 relatively low, and on the other hand, there are large errors in manual operations, resulting in low consistency of staining results. Therefore, automatic stainers have gradually replaced manual staining.

[0003] An automatic stainer usually uses a robotic arm for staining operations. For example, a Chinese utility model patent with the authorization publication number CN219152897U and the authorization publication date of June 9, 2023, discloses a robotic arm for section staining, which includes a fixed base frame, an X-axis sliding module, a Y-axis sliding module, and a Z-axis sliding module arranged on the fixed base frame. The Z-axis sliding module includes a bracket mounting seat, a staining component and a spraying component movably arranged on the bracket mounting seat. The staining component is used to suck the staining reagent and then drip the staining reagent onto the glass slide. The spraying component has a spray head for spraying cleaning liquid on the glass slide after the reaction of the staining reagent is completed to wash away the staining waste liquid.

[0004] The angle of the above spray head cannot be adjusted, and the sprayed cleaning liquid can only wash the glass slide at a fixed angle. Under the conditions of different staining methods, different types and dosages of staining reagents used, and different amounts of sprayed cleaning liquid, the fixed-angle flushing cannot achieve the best flushing effect and cannot meet the usage requirements. Summary of the Utility Model

[0005] The purpose of the utility model is to provide a dyeing robotic arm with adjustable spraying angle to solve the technical problem that the robotic arm used for staining operations in the prior art cannot adjust the angle of the spray head according to requirements when flushing the glass slide after staining, resulting in the inability to achieve the best flushing effect.

[0006] Another purpose of the utility model is to provide a multi-functional comprehensive dyeing system to solve the above technical problems.

[0007] To achieve the above purpose, the technical solution of the dyeing robotic arm with adjustable spraying angle provided by the utility model is as follows:

[0008] A dyeing robotic arm with adjustable spraying angle, comprising a robotic arm main body. At the output end of the robotic arm main body, there is a spraying structure for flushing the glass slide. At the output end of the robotic arm main body, there is a rotary driving device for driving the spraying structure to rotate. The rotary driving device has a rotary output shaft, and the spraying structure is connected to the rotary output shaft. The spraying structure includes a flow channel for the cleaning liquid to flow through. One end of the flow channel is a connection end for connecting the pipeline, and the other end is a nozzle. The nozzle is in a duckbill-like structure and is arranged downward. The rotation axis of the spraying structure is horizontally arranged, and the length direction of the nozzle is parallel to the rotation axis of the spraying structure. The rotary driving device can drive the spraying structure to rotate around the rotation axis to adjust the relative angle between the nozzle and the glass slide.

[0009] As a further improvement, the spraying structure includes a spray head, and at least one flow channel penetrating the spray head is provided on the spray head.

[0010] As a further improvement, the rotary driving device includes a driving motor, and the spraying structure is connected to the output shaft of the driving motor.

[0011] As a further improvement, the robotic arm main body includes a second Z-axis sliding module. The second Z-axis sliding module includes a lifting guide rail and a lifting frame that is guidingly engaged with the lifting guide rail and can move up and down along the lifting guide rail. The lifting frame constitutes the output end of the robotic arm main body, and the rotary driving device and the spraying structure are located at the lower end of the lifting frame.

[0012] As a further improvement, the second Z-axis sliding module further includes a lifting motor. The output shaft end of the lifting motor faces downward and is connected with a threaded rod, and a threaded hole threadedly engaged with the threaded rod is provided on the lifting frame.

[0013] As a further improvement, a dyeing component for dripping a dyeing reagent onto the glass slide is further provided on the robotic arm main body. The dyeing component includes a reagent adding needle.

[0014] As a further improvement, a first Z-axis sliding module for independently driving the dyeing component to rise and fall is provided on the robotic arm main body.

[0015] The beneficial effects are as follows: The dyeing robotic arm with adjustable spraying angle provided by the present utility model is an improvement over the prior art. The spraying structure on the dyeing robotic arm with adjustable spraying angle can rotate under the drive of the rotary driving device, so that the angle of the cleaning liquid sprayed by the spraying structure relative to the glass slide can be adjusted according to requirements during use, in order to optimize the spraying and flushing effect according to different dyeing methods, different types and dosages of dyeing reagents, and different dosages of cleaning liquid, and meet different usage requirements.

[0016] To achieve the above object, the technical solution of the multifunctional integrated dyeing system provided by the present utility model is:

[0017] A multifunctional integrated staining system includes a frame. A staining robotic arm with adjustable spraying angle is arranged on the frame. The staining robotic arm with adjustable spraying angle includes a robotic arm main body. A spraying structure for flushing a glass slide is arranged at the output end of the robotic arm main body. A rotation driving device for driving the spraying structure to rotate is arranged at the output end of the robotic arm main body. The rotation driving device has a rotation output shaft. The spraying structure is connected to the rotation output shaft. The spraying structure includes a flow channel for the cleaning liquid to flow. One end of the flow channel is a connection end for connecting a pipeline, and the other end is a nozzle. The nozzle is in a duckbill-like structure and is arranged downward. The rotation axis of the spraying structure is horizontally arranged, and the length direction of the nozzle is parallel to the rotation axis of the spraying structure. The rotation driving device can drive the spraying structure to rotate around the rotation axis to adjust the relative angle between the nozzle and the glass slide.

[0018] As a further improvement, the spraying structure includes a spray head, and at least one flow channel penetrating the spray head is opened on the spray head.

[0019] As a further improvement, the rotation driving device includes a driving motor, and the spraying structure is connected to the output shaft of the driving motor.

[0020] As a further improvement, the robotic arm main body includes a second Z-axis sliding module. The second Z-axis sliding module includes a lifting guide rail and a lifting frame that is guidingly matched with the lifting guide rail and can move up and down along the lifting guide rail. The lifting frame constitutes the output end of the robotic arm main body, and the rotation driving device and the spraying structure are located at the lower end of the lifting frame.

[0021] As a further improvement, the second Z-axis sliding module further includes a lifting motor. The output shaft end of the lifting motor faces downward and is connected with a threaded rod, and a threaded hole threadedly matched with the threaded rod is opened on the lifting frame.

[0022] As a further improvement, a staining assembly for dripping a staining reagent onto the glass slide is further arranged on the robotic arm main body. The staining assembly includes a reagent adding needle.

[0023] As a further improvement, a first Z-axis sliding module for separately driving the staining assembly to rise and fall is arranged on the robotic arm main body.

[0024] The beneficial effects are as follows: The multifunctional integrated staining system provided by the present utility model is an improvement over the prior art. The spraying structure on the staining robotic arm with adjustable spraying angle in the multifunctional integrated staining system can rotate under the drive of the rotation driving device, so that when in use, the angle of the cleaning liquid sprayed by the spraying structure relative to the glass slide can be adjusted according to needs, so as to optimize the spraying and flushing effect according to different staining methods, different staining reagents and dosages, and different cleaning liquid dosages, and meet different usage requirements. Description of the Drawings

[0025] Figure 1 The front view of an embodiment of the multi-functional comprehensive staining system of the present utility model;

[0026] Figure 2 The top view of an embodiment of the multi-functional comprehensive staining system of the present utility model;

[0027] Figure 3 The structural schematic diagram of the small reagent area in an embodiment of the multi-functional comprehensive staining system of the present utility model;

[0028] Figure 4 The structural schematic diagram of the cover glass glue area and the cover glass film area in an embodiment of the multi-functional comprehensive staining system of the present utility model;

[0029] Figure 5 The structural schematic diagram of the cleaning pool area and the mixing tank area in an embodiment of the multi-functional comprehensive staining system of the present utility model;

[0030] Figure 6 The structural schematic diagram of the staining robotic arm in an embodiment of the multi-functional comprehensive staining system of the present utility model;

[0031] Figure 7 The structural schematic diagram of another perspective of the staining robotic arm in an embodiment of the multi-functional comprehensive staining system of the present utility model;

[0032] Figure 8 The cross-sectional view of the spraying and blowing component in an embodiment of the multi-functional comprehensive staining system of the present utility model.

[0033] Explanation of the reference numerals:

[0034] 1, frame; 2, operating table; 3, staining area; 4, small reagent area; 41, bottom frame; 42, sliding frame; 43, handle; 44, slot; 45, reagent tube; 5, cleaning pool area; 6, mixing tank area; 7, cover glass glue area; 8, cover glass film area; 9, auxiliary reagent area; 10, waste liquid area; 11, staining robotic arm; 111, reagent sampling needle; 112, spraying and blowing component; 1121, gas flow channel; 1122, liquid flow channel; 113, scanning head; 114, drive motor; 115, second Z-axis sliding module; 1151, fixing frame; 1152, lifting motor; 1153, lifting frame; 1154, lifting guide rail; 1155, threaded rod; 116, first Z-axis sliding module; 117, angle detection device; 12, cover glass robotic arm. Detailed implementation manners

[0035] The following further describes the present utility model in detail with reference to the embodiments.

[0036] To solve the problems in the prior art, the basic concept of the present utility model is to provide a rotary drive device on the dyeing robotic arm to drive the rotation of the spraying structure, so that the relative angle between the cleaning liquid sprayed by the spraying structure and the glass slide can be adjusted according to requirements to obtain the best rinsing effect.

[0037] Specific embodiments of the multifunctional integrated staining system provided by the present utility model:

[0038] This multifunctional integrated staining system combines special staining, HE staining, Wright staining, and Papanicolaou staining, and 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 in hospitals.

[0039] See Appendix Figure 1 and Appendix Figure 2 As shown in Appendix

[0040] This multifunctional integrated staining system includes a frame 1. An operating table 2 is arranged on the frame 1. Above the operating table 2, there are a staining area 3, a small reagent area 4, a cleaning pool area 5, a mixing tank area 6, a cover slip glue area 7, and a cover slip film area 8. Below the operating table 2, there are an auxiliary reagent area 9 and a waste liquid area 10. Among them, the staining area 3 is located at the central position of the operating table 2 and is used to place glass slides. Figure 3 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 filled with staining reagents, and each reagent tube 45 is pasted with a barcode. See Appendix

[0041] The cover slip glue area 7 and the cover slip film area 8 are located on the other side of the staining area 3. See Appendix Figure 4 As shown in Appendix

[0042] See Appendix Figure 5 As shown in Appendix

[0043] The auxiliary reagent area 9 is used to store reagents with large usage amounts, such as auxiliary reagents for pre-staining treatment or cleaning. The auxiliary reagent area 9 is equipped with an identification sensor and a liquid level sensor for sensing the presence 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 the waste liquid generated during the staining process.

[0045] A staining robotic arm 11 and a coverslipping robotic arm 12 are provided on the frame 1. Both the staining robotic arm 11 and the coverslipping robotic arm 12 are located above the operating table 2 and are respectively used for staining operations and coverslipping operations.

[0046] See the appendix Figure 6 and the appendix Figure 7 As shown in the appendix, the staining robotic arm 11 includes a robotic arm main body, which has an X-axis sliding module, a Y-axis sliding module, and a Z-axis sliding module. The X-axis sliding module is used to move the robotic arm main body along the X-axis direction on the frame 1, the Y-axis sliding module is used to move the Z-axis sliding module along the Y-axis direction, and the Z-axis sliding module includes a first Z-axis sliding module 116 and a second Z-axis sliding module 115.

[0047] A staining assembly is provided on the first Z-axis sliding module 116. The staining assembly includes a reagent adding needle 111 and a control structure for controlling the suction and extrusion of the staining reagent by the reagent adding needle 111. The reagent adding needle 111 can move along the Z-axis direction, that is, rise or fall, under the drive of the first Z-axis sliding module 116. The reagent adding needle 111 can extract the reagent from the test tube in the small reagent area 4 and then drip it onto the glass slide.

[0048] The second Z-axis sliding module 115 includes a fixing frame 1151 connected to the Y-axis sliding module. A lifting motor 1152 and a lifting guide rail 1154 extending in the up and down direction are fixedly installed on the fixing frame 1151. The output shaft end of the lifting motor 1152 faces downward and is connected to a threaded rod 1155. A lifting frame 1153 is slidably and guidingly arranged on the lifting guide rail 1154. A threaded hole threadedly engaged with the threaded rod 1155 is provided on the lifting frame 1153. The lifting motor 1152 can drive the threaded rod 1155 to rotate, thereby causing the lifting frame 1153 to rise or fall. In this embodiment, the lifting frame 1153 is the output end of the robotic arm main body.

[0049] A rotary driving device is fixedly installed at the lower end of the lifting frame 1153. The output end of the rotary driving device is connected to a spraying and blowing member 112. In this embodiment, the rotary driving device is specifically a driving motor 114. The output shaft of the driving motor 114 is connected to the spraying and blowing member 112. The spraying and blowing member 112 includes a main body portion and a connecting portion. See the appendix Figure 8, in which two flow channels are penetrated through the main body part, the extending direction of the flow channels is perpendicular to the rotation axis of the spray and blowing member 112, one end of the flow channels is a connection end for connecting pipelines, and the other end of the flow channels is a nozzle. The connection end is of a cylindrical structure, and internal threads can be machined on the inner wall of the connection end to facilitate sealed connection with the pipeline. The nozzle is of a flat duckbill-like structure so that the fluid can fully diverge after reaching the nozzle, forming a waterfall-like spray effect, increasing the spraying range and making the fluid uniform. In other embodiments, the shape of the nozzle can be designed according to actual needs. If a greater blowing force is required during blowing, the nozzle can also be designed into a constricted structure.

[0050] The two flow channels are arranged at intervals in the extending direction of the rotation center axis of the spray and blowing member 112, that is, arranged at intervals in the length direction of the spray and blowing member 112, and the length direction of the nozzle is the same as the extending direction of the rotation center axis of the spray and blowing member 112. One of the two flow channels is a gas flow channel 1121 for gas flow, and the other flow channel is a liquid flow channel 1122 for cleaning liquid flow. The two ends of the gas flow channel 1121 are respectively a gas connection end and a gas nozzle, and the two ends of the liquid flow channel 1122 are respectively a liquid connection end and a liquid nozzle. In this embodiment, the gas flow channel 1121 constitutes a blowing structure, and the liquid flow channel 1122 constitutes a spraying structure.

[0051] The connecting part is located at the edge of the end of the main body part far from the nozzle, so that the overall structure of the connecting part and the main body part is in an L shape, which is convenient for connecting the connecting part with the output shaft end of the driving motor 114. The connecting part is provided to have a certain distance from the output shaft of the driving motor 114 to the main body part, so that the liquid nozzle and the gas nozzle can be closer to the glass slide, improving the flushing and blowing effects. In other embodiments, the connecting part can also be arranged in the middle of the end of the main body part far from the nozzle, making the connecting part and the main body part as a whole in a T shape.

[0052] An angle detection device 117 for detecting the rotation angle of the spray and blowing member 112 is further provided at the lower end of the lifting frame 1153. The angle detection device 117 is specifically an optical sensor fixedly installed on the lifting frame 1153. A light shielding sheet is provided on the spray and blowing member 112. When the light shielding sheet reaches the optical sensor, the optical sensor will be triggered, so that the rotation position of the spray and blowing member 112 can be determined. During use, only one optical sensor can be set to determine whether the spray and blowing member 112 is reset, and then the rotation angle of the spray and blowing member 112 can be determined by detecting the rotation phase angle of the output shaft of the driving motor 114. Multiple optical sensors can also be set to respectively detect multiple rotation positions of the spray and blowing member 112.

[0053] During use, the reagent adding needle 111 can be used to drop the staining reagent onto the glass slide first. Then, the spraying and blowing member 112 is rotated to a suitable angle, and the gas nozzle is aligned with the glass slide. The airflow blown out from the gas nozzle is used to blow the staining reagent away and spread it evenly, so as to ensure that the tissue sample on the glass slide can be evenly and completely stained with an appropriate amount of staining reagent, effectively ensuring the quality of sample preparation.

[0054] After the staining is completed, the spraying and blowing member 112 can be rotated to a suitable angle, and the liquid nozzle is aligned with the glass slide. At this time, the cleaning liquid sprayed out from the liquid nozzle is used to rinse the glass slide. After the rinsing is completed, the gas nozzle is aligned with the glass slide again, and then the airflow blown out from the gas nozzle is used to dry the glass slide. During this process, the liquid beads on the glass slide will be directly blown off, and the liquid traces will be quickly vaporized under the action of the airflow, effectively accelerating the drying process of the glass slide. Therefore, when using this multifunctional integrated staining device, it is not necessary to wait for a long drying time for the glass slide, nor is it necessary to transfer the glass slide to other drying devices for drying. Instead, the next step of the coverslipping operation can be carried out at the original position, ensuring the efficiency of sample preparation. Using the rotation drive device to drive the rotation of the spraying and blowing member, the relative angles of the liquid nozzle and the gas nozzle with respect to the glass slide can be adjusted according to actual needs, so as to facilitate optimizing the rinsing and blowing effects according to different staining methods.

[0055] A scanning head 113 is also provided on the fixing frame 1151. The scanning head 113 can identify different reagent tubes 45, so as to facilitate the staining robotic arm 11 to drop different staining reagents onto the corresponding glass slides.

[0056] The specific structures of the staining component and the scanning head 113 can be the same as those of the staining component and the scanning component in the Chinese utility model patent with the authorization announcement number CN219152897U, and will not be elaborated here.

[0057] After the above staining operation is completed, the coverslipping robotic arm 12 can be used for the coverslipping operation. A glue adding needle is provided on the coverslipping robotic arm 12, which is used to suck the coverslipping glue in the coverslipping glue area 7 and drop the coverslipping glue onto the glass slide after the staining is completed. The structure of the glue adding needle is the same as that of the reagent adding needle 111, and will not be elaborated here. A suction cup is also provided on the coverslipping robotic arm, which is used to suck the coverslipping film, transfer the coverslipping film and cover it onto the glass slide with the coverslipping glue dropped, and the coverslipping operation is completed after the coverslipping film is covered onto the glass slide with the coverslipping glue dropped.

[0058] In the above embodiments, the angle detection device is set to facilitate detecting and controlling the rotation angle of the spraying and blowing member. In other embodiments, if the control accuracy of the driving motor is relatively high or the driving motor has a built-in angle detection function, the angle detection device can be not set.

[0059] In the above embodiments, only two flow channels are provided, namely a gas flow channel and a liquid flow channel respectively, in order to make the structure of the spray and blowing member simpler. In other embodiments, if it is desired to increase the ejection amount of the cleaning liquid and the ejection amount of the gas, two or three gas flow channels and liquid flow channels can be provided respectively. When three gas flow channels and three liquid flow channels are provided, for the convenience of layout, the three gas flow channels can be evenly spaced in a direction perpendicular to the rotation axis of the spray and blowing member, and the three liquid flow channels can also be evenly spaced in a direction perpendicular to the rotation axis of the spray and blowing member.

[0060] In other embodiments, the connecting portion may not be provided, and the output shaft end of the driving motor is directly fixedly connected to one end of the main body portion in the length direction.

[0061] In the above embodiments, the gas flow channel and the liquid flow channel of the spray and blowing member can respectively function as blowing and spraying the cleaning liquid. Integrating the gas flow channel and the liquid flow channel onto the spray and blowing member can reduce the number of parts and lower the manufacturing cost. In other embodiments, an independent blowing head and a spray head can be fixed together for use. In this embodiment, a gas flow channel is provided in the blowing head, and a liquid flow channel is provided in the spray head. The blowing head constitutes a blowing structure, and the spray head constitutes a spraying structure. This embodiment can also achieve the effect of driving the spraying structure and the blowing structure to rotate together by one driving motor. In other embodiments, the spray head and the blowing head can also be separated, and a driving motor can be separately configured for the two, so as to independently drive the spray head and the blowing head to rotate.

[0062] In the above embodiments, the rotation driving device is a driving motor. In other embodiments, the rotation driving device can also be an electric push rod. In this embodiment, the connecting portion of the spray and blowing member is rotatably mounted on the lifting frame through a pin shaft, and both ends of the electric push rod are hinged to the lifting frame and the connecting portion respectively. By controlling the extension and shortening of the electric push rod, the spray and blowing member is driven to rotate.

[0063] Specific embodiments of the dyeing robotic arm with adjustable spraying angle provided by the present utility model:

[0064] The dyeing robotic arm with adjustable spraying angle is the dyeing robotic arm in the embodiment of the above-mentioned multi-functional integrated dyeing system, which will not be elaborated here.

[0065] Finally, it should be noted that the above are only the preferred embodiments of the present utility model and are not used to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still make modifications to the technical solutions described in the foregoing embodiments without creative efforts, or make equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A dyeing robot with adjustable spray angle, comprising a robot body, wherein the output end of the robot body is provided with a spray structure for washing a slide, wherein: A rotary drive device for driving the spray structure to rotate is provided at the output end of the robot arm body. The rotary drive device has a rotary output shaft. The spray structure is connected to the rotary output shaft. The spray structure includes a flow channel for the flow of cleaning liquid. One end of the flow channel is a connecting end for connecting a pipeline, and the other end is a nozzle. The nozzle is a duckbill structure and is arranged downward. The rotation axis of the spray structure is arranged horizontally, and the length direction of the nozzle is parallel to the rotation axis of the spray structure. The rotary drive device can drive the spray structure to rotate around the rotation axis to adjust the relative angle between the nozzle and the slide.

2. The dyeing robot arm with adjustable spray angle according to claim 1 is characterized in that: The spray structure comprises a spray head, and at least one flow channel penetrating the spray head is provided on the spray head.

3. The dyeing robot arm with adjustable spray angle according to claim 1 or 2, characterized in that: The rotary drive device comprises a drive motor, and the spray structure is connected to the output shaft of the drive motor.

4. The dyeing robot arm with adjustable spray angle according to claim 1 or 2, characterized in that: The robot body includes a second Z-axis sliding module, which includes a lifting guide rail and a lifting frame that cooperates with the lifting guide rail and can move up and down along the lifting guide rail. The lifting frame constitutes the output end of the robot body, and the rotation drive device and the spray structure are located at the lower end of the lifting frame.

5. The dyeing robot arm with adjustable spray angle according to claim 4 is characterized in that the second The Z-axis sliding module also includes a lifting motor, the output shaft end of the lifting motor faces downward and is connected to a threaded rod, and a threaded hole that matches the thread of the threaded rod is opened on the lifting frame.

6. The dyeing robot arm with adjustable spray angle according to claim 1 or 2, characterized in that: The main body of the robot arm is also provided with a staining component for dripping staining reagent onto the glass slide, and the staining component includes a reagent adding needle.

7. The dyeing robot arm with adjustable spray angle according to claim 6 is characterized in that: The main body of the robot arm is provided with a first Z-axis sliding module for independently driving the dyeing component to rise and fall.

8. A multifunctional integrated dyeing system, comprising a rack, characterized in that: A dyeing mechanical arm with adjustable spray angle as described in any one of claims 1 to 7 is arranged on the frame.

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