Automatic chip mounter for cell climbing slide

Abstract

An automatic chip mounter for a cell glass slide comprises a machine table and a conveying device which is arranged on the machine table and used for conveying a carrier loaded with a glass slide, and the machine table is sequentially provided with a glue dispensing mechanism used for dripping glue on the glass slide located on the carrier, a conveying mechanism used for conveying the carrier loaded with the glass slide, and a conveying mechanism used for conveying the carrier loaded with the glass slide, the glass slide nicking and feeding mechanism is used for cutting a glass slide and mounting the glass slide on a glass slide, the glass slide nicking and feeding mechanism comprises a laser cutting machine for nicking the cell glass slide and a feeding device, and a plurality of suction cups moving in the vertical direction are arranged on a suction head; the glass slide breaking device is used for breaking the adsorbed nicked glass slide and placing the glass slide on a glass slide dripped with glue. According to the technical scheme provided by the embodiment of the invention, the pasting work of the slide can be conveniently and quickly carried out, and cells on the slide cannot be damaged in the process of separating the slide, so that the survival rate of the cells is ensured.

Description

Technical Field

[0001] The utility model relates to the technical field of encapsulation of cell slides, in particular to an automatic cell slide pasting machine. Background Art

[0002] The research of cells is widely applied in the modern biomedical field. Through the culture and research of cells, many in vitro tests can be carried out. Technologies such as cell fusion, cell hybridization, and transgenic technology can be combined. In a large number of cell researches, cell slides are required.

[0003] A cell slide is to place a glass slide in a cell culture dish so that cells grow on the glass slide. When it is necessary to study or observe the cells, the cell slide is pasted on a glass slide to facilitate the study and observation of the cells.

[0004] Since cells grow on the cell slide, they are small in size and have a thin sheet structure. Therefore, when pasting a large number of cell slides onto a glass slide, the workload and difficulty are relatively large. Moreover, during the pasting process, it is easy to damage or even kill the cells on the cell slide, affecting the accuracy of cell research.

[0005] Therefore, the purpose of the utility model is to provide a pasting machine that can automatically paste slides. Summary of the Utility Model

[0006] The purpose of the utility model is to solve at least one of the above problems, and provide an automatic cell slide pasting machine, which can automatically paste a large number of cell slides onto a glass slide by the system, and can improve the working efficiency of pasting slides.

[0007] An automatic cell slide pasting machine includes a machine platform and a conveying device arranged on the machine platform for conveying a carrier loaded with a glass slide. Along the conveying direction on the machine platform, there are successively arranged:

[0008] A dispensing mechanism, which is used to drop glue onto the glass slide located on the carrier. The dispensing mechanism includes a first robot arm and a dispensing head driven by the first robot arm;

[0009] A cell slide notching and feeding mechanism, which is used to cut and paste the cell slide onto the glass slide. It includes a laser cutting machine for notching the cell slide and a feeding device. The feeding device includes a second robot arm and a suction head driven by the second robot arm. A plurality of suction cups are arranged on the suction head and move vertically respectively. The plurality of suction cups move vertically in sequence to break and place the notched cell slide adsorbed thereon onto the glass slide with dropped glue.

[0010] Furthermore, the dispensing head includes

[0011] A mounting plate, the mounting plate is fixedly mounted at the end of the first robot arm and is driven by the first robot arm to move in multiple directions;

[0012] The glue dispensing syringe is fixedly mounted on the mounting plate and is used for dropping glue on the glass slide on the carrier.

[0013] Furthermore, the dispensing mechanism also includes a coder, which is fixedly mounted on the mounting plate and is used to code the glass slide loaded onto the carrier.

[0014] Furthermore, the suction head includes:

[0015] A frame, the frame is fixedly mounted on the end of the second robot arm, and the frame includes at least one vertically arranged side plate;

[0016] A first driving device, the first driving device comprising at least two devices arranged side by side and fixed on the side plate;

[0017] The suction cup assembly is transmission-connected to the first driving device and is driven by the first driving device to reciprocate in the vertical direction.

[0018] Furthermore, the suction cup assembly includes

[0019] A fixed block, the fixed block is drivingly connected to the first driving device and is provided with a through hole in a vertical direction;

[0020] A rod, the rod is slidably connected in the hole along the vertical direction, and an air passage for communicating with an external air source is opened inside the rod, and the suction cup is fixedly installed on the lower end of the rod and communicated with the air passage;

[0021] An elastic member is sleeved on the rod to provide an elastic force downward to the rod.

[0022] Furthermore, the sheet-climbing scoring feeding mechanism also includes a cleaning component for cleaning the suction cup, and the cleaning component includes

[0023] A cleaning box, wherein the cleaning box is fixedly arranged below the second robot arm, and an inclined plate is fixedly arranged on the upper side of the cleaning box;

[0024] The titration valve is fixedly mounted on the inclined plate and is connected to a container containing a cleaning agent, and the valve port of the titration valve faces the cleaning box.

[0025] Further, a box loading mechanism is also arranged on the machine platform along the conveying direction, and the box loading mechanism includes

[0026] a box loading frame for containing packaging boxes stacked on top of each other to form a pallet;

[0027] a third robotic arm fixed on the machine platform for grasping the packaging boxes placed in the box loading frame;

[0028] a box placing platform for carrying the packaging boxes transferred by the third robotic arm, and a negative pressure structure is arranged on the box placing platform.

[0029] Further, a bagging mechanism is also arranged on the machine platform along the conveying direction for encapsulating the packaging boxes loaded with glass slides in a packaging bag, and the bagging mechanism includes

[0030] a bagging frame for containing packaging bags stacked on top of each other to form a pallet;

[0031] a fourth robotic arm fixedly installed on the machine platform for grasping the packaging bags contained in the bagging frame;

[0032] a bag placing platform with a negative pressure structure on its surface, and an opening cylinder for adsorbing the packaging bag is arranged above the bag placing platform, and a bag opening suction nozzle is fixedly connected to the piston rod extending towards the bag placing platform direction of the bag opening cylinder.

[0033] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0034] In the automatic chip mounter provided in this embodiment, a dispensing mechanism is used to drop glue on the glass slide, and after laser scribing a large cell culture slide in advance, the scribed slide is sucked by the feeding device, and by moving the suction nozzle towards the glass slide in sequence, part of the slide is broken along the scribed line on the large slide and separated, so as to mount part of the slide on the glass slide with glue dropped thereon, thus completing the mounting work of the slide. In the above process, the large slide can be divided into several small slides, and during the separation process, the direct laser cutting method is avoided to prevent damage to the cells growing on the slide and ensure the survival rate of the cells.

[0035] At the same time, when using the chip mounting method provided by this technical solution, during the process of mounting the slide, since the glue overflows towards the outside under extrusion during the mutual mounting of the slide and the glass slide, by pre-setting a dispensing area on the glass slide, the overflowing glue can be blocked to prevent the overflowing glue from flowing onto adjacent slides and interfering with the cells on the slides.

[0036] Through the technical solution provided by this embodiment, the patch mounting work of the coverslip can be carried out conveniently and quickly. Moreover, during the process of separating the coverslip, the cells on the coverslip will not be damaged, ensuring the cell survival rate. Also, during the process of mounting the coverslip, it can prevent the glue with cells from overflowing into the adjacent coverslip area, avoiding interference and contamination of the cells on other coverslips.

[0037] The following further describes the present utility model in conjunction with the accompanying drawings of the specification and the embodiments. Description of the Drawings

[0038] Figure 1 is the structural schematic diagram of the present utility model.

[0039] Figure 2 is the structural schematic diagram of the dispensing mechanism and the coverslip notch feeding mechanism of the present utility model.

[0040] Figure 3 is the structural schematic diagram of the coverslip notch feeding mechanism of the present utility model.

[0041] Figure 4 is the structural schematic diagram of the dispensing mechanism of the present utility model.

[0042] Figure 5 is the structural schematic diagram of the suction head of the present utility model.

[0043] Figure 6 is the exploded structural schematic diagram of the suction head of the present utility model.

[0044] Figure 7 is the exploded structural schematic diagram of the suction cup assembly of the present utility model.

[0045] Figure 8 is the structural schematic diagram of the cleaning assembly of the present utility model.

[0046] Figure 9 is the structural schematic diagram of the box loading mechanism and the bag loading mechanism of the present utility model.

[0047] Figure 10 is the structural schematic diagram of the bag placing platform of the present utility model.

[0048] Figure 11 is the structural schematic diagram of the carrier of the present utility model.

[0049] Figure 12 is the structural schematic diagram of the glass slide with a coverslip with cells mounted thereon of the present utility model. Detailed Embodiments

[0050] In order to make the technical problems, technical solutions and beneficial effects solved by the present utility model clearer and more understandable, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present utility model and are not used to limit the present utility model.

[0051] It should be noted that in the embodiments of the present utility model, all directional indicators (such as up, down, left, right, front, back...) are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the attached drawings). If the specific posture changes, the directional indicators will change accordingly.

[0052] In addition, in the embodiments of the present utility model, the descriptions such as "first" and "second" are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features.

[0053] The embodiments of the present utility model provide an automatic cell slide pasting machine for automatically pasting a cell slide 11 onto a glass slide 13. As Figures 1-12 shown, an automatic cell slide 11 pasting machine provided by the embodiments of the present utility model includes a machine table 1 and a conveying device 10 arranged on the machine table 1 for conveying a carrier 12 loaded with a glass slide 13. Along the conveying direction on the machine table 1, there are sequentially arranged: a dispensing mechanism 20 and a slide 11 scoring and feeding mechanism 30. The dispensing mechanism 20 is used to drip glue on the glass slide 13 in advance, and the slide 11 scoring and feeding mechanism 30 is used to pre-scribe marks on the whole slide 11 and then suck and place the slide 11 at the glue place on the glass slide 13.

[0054] Specifically, as Figures 1-4 shown, the dispensing mechanism 20 includes a first robotic arm 21 and a dispensing head 22 driven by the first robotic arm 21; the slide 11 scoring and feeding mechanism 30 is used to cut and paste the slide 11 onto the glass slide 13, including a laser cutting machine 31 for scoring the cell slide 11 and a feeding device 32. The feeding device 32 includes a second robotic arm 33 and a suction head 34 driven by the second robotic arm 33. A plurality of suction cups 341 that move respectively in the vertical direction are arranged on the suction head 34. The plurality of suction cups 341 move sequentially in the vertical direction to break and place the scored slide 11 adsorbed thereon on the glass slide 13 with glue dripped thereon.

[0055] During the mounting process of the cell smear 11, the conveying device 10 conveys the carrier 12 with the glass slide 13. In this embodiment, the conveying device 10 can be implemented by any one of the existing technologies. In this embodiment, an orbital conveying device 10 is adopted. The carrier 12 is placed on the track and conveyed along the linear direction of the track. When the carrier 12 is conveyed to the position corresponding to the dispensing mechanism 20, the first robotic arm 21 drives the dispensing head 22 to move towards the carrier 12 and drops glue on the glass slide 13 on the carrier 12. Subsequently, the carrier 12 is continuously conveyed by the driving device and moved to the position corresponding to the scoring feeding mechanism 30 of the smear 11. The laser cutting machine 31 performs laser scoring on the whole cell smear 11. It should be noted that cells grow on the smear 11, and the large smear 11 needs to be made into small pieces and then mounted on the glass slide 13, so as to increase the number of detections. The laser cutting machine 31 scores the smear 11 to avoid damaging or even killing the cells growing on the smear 11 when directly cutting the smear 11 by laser; the second robotic arm 33 drives the suction head 34 to move so that the suction cups 341 respectively adsorb on the parts of the smear 11 defined by the score lines, thereby adsorbing the scored smear 11 and moving the smear 11 towards the glass slide 13 with glue dropped thereon, enabling the smear 11 to be mounted on the glass slide 13. When the suction head 34 mounts the smear 11 on the glass slide 13, multiple suction nozzles sequentially move towards the glass slide 13 in the vertical direction. During the movement of the suction nozzles, the parts of the smear 11 defined by the score lines being transported towards the glass slide 13 are broken off from the whole smear 11. By cutting the whole smear 11 by breaking the smear 11 along the score lines, the damage to the cells on the smear 11 can be reduced, and the quality of the smear 11 mounted on the glass slide 13 can be ensured.

[0056] Through the automatic mounting machine provided by the embodiment of the present utility model, the whole smear 11 can be pre-laser scored and divided into multiple regions. After being adsorbed by the suction nozzles corresponding to the multiple regions, it is transported towards the glass slide 13 with glue dropped thereon. When the suction nozzles drive the adsorbed part of the smear 11 to move downward, the part of the smear 11 is broken along the score line and separated from the whole, and the separated part is mounted on the glue on the glass slide 13. Through the above method, the damage to the cells on the smear 11 during direct laser cutting of the smear 11 can be avoided, and the survival rate of the cells can be ensured.

[0057] In this embodiment, as Figure 4As shown, the glue dispensing head 22 includes a mounting plate 221, a glue dispensing syringe 222 and a coder 223, wherein the mounting plate 221 is fixedly mounted on the end of the first robot 21, and is driven by the first robot 21 to move in multiple directions; the glue dispensing syringe 222 is fixedly mounted on the mounting plate 221, and is used to drip glue on the glass slide 13 on the carrier 12; the coder 223 is fixedly mounted on the mounting plate 221, and is used to code the glass slide 13 loaded onto the carrier 12.

[0058] like Figure 4 As shown, the inkjet printer 223 and the glue dispensing syringe 222 are respectively located on the two sides of the mounting plate 221. When the carrier 12 moves to the position corresponding to the first robot 21, the first robot 21 moves the glue dispensing head 22 toward the carrier 12, and the glue dispensing syringe 222 drips glue on the glass slide 13 on the carrier 12. Then, the inkjet printer 223 sprays and numbers the glass slide 13 that has been glued.

[0059] In this embodiment, the suction head 34 is used to drive the second robot 33 to absorb the scratched sheet 11. Figures 5-7 As shown, the suction head 34 includes a frame 342, a first driving device 344 and a suction cup assembly 345, wherein the frame 342 is fixedly mounted at the end of the second robot arm 33, and the frame 342 includes at least one vertically arranged side panel 343; the first driving device 344 includes at least two arranged side by side with each other, which are fixed on the side panel 343; the suction cup assembly 345 is transmission-connected to the first driving device 344, and is driven by the first driving device 344 to reciprocate in the vertical direction, and the suction cup 341 is mounted on the suction cup assembly 345 to adsorb the crawling sheet 11. In the present embodiment, each side plate 343 is provided with two first driving devices 344, and correspondingly, each driving device drives a suction cup assembly 345 respectively, that is, the suction head 34 includes four suction cup assemblies 345, so that the climbing sheet 11 with four areas carved out can be adsorbed, and there is no suction cup assembly 345 adsorbed on one area respectively. In the present embodiment, the first driving device 344 takes a cylinder as an example, and the cylinder is installed on the side plate 343, and the suction cup assembly 345 is installed on the piston rod of the cylinder, and the suction nozzle assembly is driven by the cylinder to move in a straight line direction.

[0060] In the initial state of adsorbing the climbing sheet 11, the four first driving devices 344 move the four suction cup assemblies 345 upward so that the suction cups 341 are all located at the same horizontal position. When the four suction cups 341 are respectively adsorbed on the areas divided by the notches on the climbing sheet 11, the second robot 33 drives the suction head 34 to move toward the glass slide 13 where the glue is dripped and is located directly above it. The four first driving devices 344 move in turn to move the four suction cup assemblies 345 toward the glass slide 13 in turn. In the process of the suction cup assemblies 345 moving in turn, the area of the climbing sheet 11 adsorbed by the moving suction cups 341 is broken and separated along the notches on the entire climbing sheet 11, so that the separated climbing sheet 11 is mounted on the glass slide 13, and the movement process of the remaining suction cups 341 is the same as described above.

[0061] Through the above-mentioned scheme, the whole climbing sheet 11 can be broken and separated along the notch, and then the broken and separated climbing sheets 11 are mounted on the glass slide 13. The breaking and separation method in the present technical scheme is simple, and is completed and realized by breaking and mounting the climbing sheet 11 during the mounting process. The breaking and mounting are completed in one process, and the action is simple, fast and efficient.

[0062] In this embodiment, in order to avoid damage to the climbing sheet 11 and the glass slide 13 due to the large driving force of the first driving device 344 during the process of the suction nozzle sucking the climbing sheet 11 and attaching the climbing sheet 11 to the glass slide 13, the suction cup assembly 345 adopts the following technical solutions, such as Figure 7 As shown, the suction cup assembly 345 includes a fixed block 2451, a rod 3453 and an elastic member 3455. The fixed block 2451 is transmission-connected to the first driving device 344, and is provided with a through hole 3452 along the vertical direction; the rod 3453 is slidably connected in the hole along the vertical direction, and an air channel 3454 for connecting to an external air source is opened inside the rod 3453. The suction cup 341 is fixedly installed on the lower end of the rod 3453 and is connected to the air channel 3454; the elastic member 3455 is mounted on the rod 3453 to provide an elastic force downward to the rod 3453.

[0063] During the process of the suction nozzle sucking the climbing sheet 11 and mounting it on the glass slide 13, when the suction nozzle contacts the climbing sheet 11, elastic buffering is performed through the elastic member 3455 to prevent the suction nozzle from making hard contact with the climbing sheet 11 due to the large pushing force of the first driving device 344, resulting in a large impact force and causing damage to the climbing sheet 11. Similarly, when the climbing sheet 11 is mounted on the glass slide 13 again, the elastic member 3455 also plays the above-mentioned role.

[0064] like Figure 3 , 8As shown, in order to ensure that the suction holes of the suction cup 341 remain unobstructed, the notched loading mechanism 30 of the cell culture slide 11 is further provided with a cleaning assembly 35 for cleaning the suction cup 341. The cleaning assembly 35 includes a cleaning box 351 and a titration valve 353. The cleaning box 351 is fixedly arranged below the second robotic arm 33, and an inclined plate 352 is fixedly arranged on the upper side of the cleaning box 351; the titration valve 353 is fixedly installed on the inclined plate 352 and is communicated with a container containing a cleaning agent, and the valve port of the titration valve 353 faces the cleaning box 351. The cleaning agent is transmitted into the titration valve 353 through a pipeline, and the cleaning agent drips at the valve port of the titration valve 353 at a predetermined flow rate. When it is necessary to clean the suction cup 341, the second robotic arm 33 moves the suction cup 341 to the position of the titration valve 353, and drips the cleaning agent onto the suction cup 341, thereby cleaning the suction cup 341.

[0065] An automatic cell culture slide 11 pasting machine provided by the present utility model can draw traces on a large cell culture slide 11, separate the part of the cell culture slide 11 defined by the notch among the whole cell culture slide 11 during the sequential lowering of the suction cup 341, and then paste the separated part onto the glass slide 13. Through the above scheme, the segmentation of the cell culture slide 11 is completed, which can avoid the situation of further damaging or killing the cells on the cell culture slide 11 when directly cutting the cell culture slide 11, and ensure the survival rate of the cells; at the same time, for the separation method of the cell culture slide 11, the separation is completed when the suction cup 341 faces the direction of the glass slide 13, that is, the separation of the cell culture slide 11 and the pasting of the separated part of the cell culture slide 11 are the same action, so as to reduce the processes of pasting or separating the cell culture slide 11, and enable the separation and pasting actions of the cell culture slide 11 to be completed in one process at a time.

[0066] Embodiment 1

[0067] In this embodiment, the overall structure of the pasting machine is the same as above. In this embodiment, the pasting machine is further provided with a boxing mechanism 40 for loading the glass slide 13 with the pasted cell culture slide 11 into a packaging box.

[0068] As Figure 9 shown, the boxing mechanism 40 is arranged on the downstream side of the notched loading mechanism 30 of the cell culture slide 11 along the conveying direction, and is used to load the glass slide 13 with the pasted cell culture slide 11 into the packaging box. The boxing mechanism 40 includes a boxing frame 41, a third robotic arm 42, and a box placing platform 43. The boxing frame 41 is used to hold the packaging boxes stacked on top of each other to form a pallet, that is, after the packaging boxes are stacked on top of each other to form a pallet, they are placed in the boxing frame 41; the third robotic arm 42 is fixedly installed on the machine table 1 and is used to grab the packaging boxes placed in the boxing frame 41; the box placing platform 43 is used to carry the packaging boxes transferred by the third robotic arm 42, and a negative pressure structure is arranged on the box placing platform 43.

[0069] During the process of box loading, after the third robotic arm 42 removes the packaging box within the box loading frame 41, it places the box on the box placing platform 43, and the negative pressure structure adsorbs the packaging box on the box placing platform 43 and fixes it by negative pressure. In this embodiment, the negative pressure mechanism can be provided with multiple adsorption holes on the platform. After the multiple adsorption holes are interconnected, they are interconnected with an external vacuum source, so as to adsorb and fix the packaging box on the box placing platform 43 through the adsorption holes. Subsequently, the third robotic arm 42 adsorbs the glass slide 13 with the crawling piece 11 attached and loads it into the packaging box.

[0070] Embodiment 2

[0071] In this embodiment, the structure of the chip mounter is the same as that in Embodiment 1. In this embodiment, the chip mounter is further provided with a bagging mechanism 50 for loading the packaging box containing the glass slide 13 into a packaging bag. As Figures 9-10 shown, along the conveying direction on the machine table 1, there is also a bagging mechanism 50 for encapsulating the packaging box containing the glass slide 13 in a packaging bag. The bagging mechanism 50 includes a bagging frame 51, a fourth robotic arm 52, and a bag placing platform 53. The bagging frame 51 is used to hold the packaging bags stacked on top of each other to form a pallet; the fourth robotic arm 52 is fixedly installed on the machine table 1 to grab the packaging bags placed in the bagging frame 51; on the surface of the bag placing platform 53, there is a negative pressure structure, and above the bag placing platform 53, there is an opening cylinder 54 for adsorbing the packaging bag. A bag opening suction nozzle 55 is fixed on the piston rod of the opening cylinder extending towards the bag placing platform 53.

[0072] When loading the packaging box containing the glass slide 13 into the packaging bag, the fourth robotic arm 52 removes the packaging from the bagging frame 51 and places it on the bag placing platform 53. The negative pressure structure on the bag placing platform 53 adsorbs and fixes the packaging bag. In this embodiment, the negative pressure structure is the same as the negative pressure structure in Embodiment 1. At the same time, the opening cylinder 54 located on the bag placing platform 53 drives the bag opening suction nozzle 55 to move towards the packaging bag to adsorb the upper side of the packaging bag. When the bag opening suction nozzle 55 moves towards it, the bag opening action of the packaging bag is completed, facilitating the fourth robotic arm 52 to load the packaging box into the packaging bag and completing the bagging work.

[0073] During the chip mounting process, after the chip 11 is mounted on the glass slide 13, due to the tight contact between the chip 11 and the glass slide 13, the glue located between the glass slide 13 and the chip 11 is pressurized and overflows, and the cells growing on the chip 11 are carried away. The overflowing glue easily spreads to the position of the adjacent chip 11, so that the glue with cells at the two chips 11 is fused with each other, and then the cells of the two chips 11 are mixed with each other, resulting in contamination of the cells on the chip 11, thus affecting the detection and experiment of the cells on the chip 11. In this embodiment, a fence is pre-determined by the glue, so that the chip 11 can only be mounted within a certain range. When the glue between the chip 11 and the glass slide 13 overflows, the overflowing glue with cells will be blocked by the glue fence, so as to avoid mixing with the adjacent chip 11 and affecting the accuracy of cell detection.

[0074] At the same time, when separating the large chip 11 in this embodiment, first perform scribing, and when moving the part of the chip 11 defined by the scribing towards the glass slide 13 by the suction cup 341, separate this part, so as to avoid damaging the cells caused by directly using the laser cutting method and ensure the survival rate of the cells.

[0075] For those skilled in the art, various corresponding changes and deformations can be obtained according to the structure and principle disclosed in the present invention, and all these changes and deformations belong to the protection scope of the present invention.

Claims

1. An automatic cell smear pasting machine, comprising a machine platform and a conveying device arranged on the machine platform for conveying a carrier loaded with a glass slide, characterized in that, The machine is provided with: A glue dispensing mechanism, the glue dispensing mechanism is used to drop glue on the glass slide located on the carrier, the glue dispensing mechanism includes a first robot arm and a glue dispensing head driven by the first robot arm; A cell slice scoring and loading mechanism is used to cut the cell slice and mount it on a glass slide, comprising a laser cutting machine for scoring the cell slice and a loading device, wherein the loading device comprises a second robot arm and a suction head driven by the second robot arm, wherein the suction head is provided with a plurality of suction cups which move in vertical directions respectively, and the plurality of suction cups move in vertical directions in sequence to break the adsorbed scored cell slice and place it on a glass slide dotted with glue.

2. The automatic cell smear pasting machine according to claim 1, wherein The dispensing head includes A mounting plate, the mounting plate is fixedly mounted at the end of the first robot arm and is driven by the first robot arm to move in multiple directions; The glue dispensing syringe is fixedly mounted on the mounting plate and is used for dropping glue on the glass slide on the carrier.

3. The automatic cell smear pasting machine according to claim 2, characterized in that, The dispensing mechanism also includes a code sprayer, which is fixedly mounted on the mounting plate and is used to spray codes on the glass slide loaded onto the carrier.

4. The automatic cell smear pasting machine according to claim 1, characterized in that, The suction head comprises: A frame, the frame is fixedly mounted on the end of the second robot arm, and the frame includes at least one vertically arranged side plate; A first driving device, the first driving device comprising at least two devices arranged side by side and fixed on the side plate; The suction cup assembly is transmission-connected to the first driving device and is driven by the first driving device to reciprocate in the vertical direction.

5. The automatic cell smear pasting machine according to claim 4, wherein, The suction cup assembly includes A fixed block, the fixed block is drivingly connected to the first driving device and is provided with a through hole in a vertical direction; A rod, the rod is slidably connected in the hole along the vertical direction, and an air passage for communicating with an external air source is opened inside the rod, and the suction cup is fixedly installed on the lower end of the rod and communicated with the air passage; An elastic member is sleeved on the rod to provide an elastic force downward to the rod.

6. The automatic cell smear pasting machine according to claim 1, wherein, The sheet-climbing scoring feeding mechanism also includes a cleaning component for cleaning the suction cup. The cleaning component includes A cleaning box, wherein the cleaning box is fixedly arranged below the second robot arm, and an inclined plate is fixedly arranged on the upper side of the cleaning box; The titration valve is fixedly mounted on the inclined plate and is connected to a container containing a cleaning agent, and the valve port of the titration valve faces the cleaning box.

7. A cell smear automatic pasting machine according to claim 1, characterized in that, A box loading mechanism is also arranged on the platform along the conveying direction, and the box loading mechanism includes: A box loading frame, the box loading frame is used to hold the packaging boxes stacked on each other to form a pallet; A third robot arm, the third robot arm is fixed on the machine platform and is used to grab the packaging box placed in the box frame; The box placing platform is used to carry the packaging boxes transferred by the third robot, and a negative pressure structure is arranged on the box placing platform.

8. The automatic cell smear pasting machine according to claim 7, characterized in that, Above the machine table, a bagging mechanism is further arranged along the conveying direction for encapsulating the packaging box loaded with glass slides into a packaging bag. The bagging mechanism includes a bagging frame for holding packaging bags stacked on top of each other to form a pallet; a fourth robotic arm fixedly installed on the machine table for grasping the packaging bags placed in the bagging frame; a bag placing platform with a negative pressure structure on its surface, and an opening cylinder for adsorbing the packaging bag is arranged above the bag placing platform. A bag opening suction nozzle is fixedly connected to the piston rod of the opening cylinder extending towards the bag placing platform.

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