Dyeing mechanical arm and multifunctional comprehensive dyeing system

Abstract

The utility model provides a dyeing mechanical arm and a multifunctional comprehensive dyeing system, and belongs to the field of test sample preparation equipment. The dyeing mechanical arm comprises a mechanical arm body, and the output end of the mechanical arm body is provided with a dyeing assembly used for dropwise adding a dyeing reagent to a glass slide and a spraying structure used for washing the glass slide. And the output end of the mechanical arm main body is provided with an air blowing structure which is used for blowing away the dyeing reagent after the dyeing assembly drips the dyeing reagent on the glass slide so as to uniformly spread the dyeing reagent and blow-drying the glass slide after the spraying assembly flushes the glass slide. The multifunctional comprehensive dyeing system comprises a rack and a dyeing mechanical arm arranged on the rack. According to the utility model, the blowing structure is arranged on the dyeing mechanical arm, so that the dyeing reagent on the glass slide can be uniformly blown by utilizing the blowing structure so as to improve the sample preparation quality, and the cleaned glass slide can be quickly blow-dried by utilizing the blowing structure so as to improve the sample preparation efficiency.

Description

Technical Field

[0001] The utility model belongs to the field of test sample preparation equipment, and particularly relates to a dyeing robotic arm and a multifunctional integrated dyeing system. Background Technique

[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. On the other hand, there are large errors in manual operations, and the consistency of staining results is not high. 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 slice 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. Among them, the staining component is used to suck the staining reagent and then drop 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] When using the above-mentioned robotic arm to drop the staining reagent, it is difficult to make the staining reagent evenly distributed on the glass slide. Therefore, there may be a situation where local tissue samples cannot be completely stained, affecting the quality of sample preparation. In addition, after staining is completed and the glass slide is rinsed with the spray head, the drying time of the glass slide is relatively long or it needs to be transferred to other drying equipment for drying, so that the operation of covering the slide with a cover glass for the next step cannot be carried out in situ in a short time, affecting the efficiency of sample preparation. Summary of the Utility Model

[0005] The purpose of the utility model is to provide a dyeing robotic arm to solve the technical problems in the prior art that it is difficult to make the staining reagent evenly distributed on the glass slide after using the robotic arm for staining operations, thus affecting the quality of sample preparation, and the technical problem that the glass slide cannot be quickly dried after rinsing, affecting the efficiency of sample preparation.

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

[0007] To achieve the above purpose, the technical solution of the dyeing robotic arm provided by the utility model is:

[0008] A dyeing robotic arm includes a robotic arm main body. At the output end of the robotic arm main body, there is a dyeing component for dripping a dyeing reagent onto a carrier slide and a spraying structure for rinsing the slide. At the output end of the robotic arm main body, there is a blowing structure for blowing the dyeing reagent away to spread it evenly after the dyeing component drips the dyeing reagent onto the slide and for drying the slide after the spraying component rinses the slide. The blowing structure includes a gas flow channel for gas to flow through. One end of the gas flow channel is a gas connection end for connecting a pipeline, and the other end is a gas nozzle, and the gas nozzle has a duckbill-like structure.

[0009] As a further improvement, a rotary driving device is provided at the output end of the robotic arm main body. The blowing structure is connected to the output end of the rotary driving device, and the rotary driving device is used to drive the blowing structure to rotate to adjust the relative angle between the blowing structure and the slide.

[0010] As a further improvement, the spraying structure is connected to the blowing structure to rotate together with the blowing structure during use.

[0011] As a further improvement, the output end of the rotary driving device is connected to a spraying and blowing member. At least two flow channels penetrating the spraying and blowing member are provided on the spraying and blowing member. One end of the flow channel is a connection end for connecting a pipeline, and the other end is a nozzle. At least one of the flow channels is a gas flow channel for gas to flow through, and at least one of the flow channels is a liquid flow channel for cleaning liquid to flow through, and the liquid flow channel constitutes the spraying structure.

[0012] As a further improvement, the spraying and blowing member includes a main body portion and a connecting portion. The flow channels are provided on the main body portion, and the connecting portion is located at one end of the main body portion away from the nozzle and is used to connect to the output end of the rotary driving device.

[0013] As a further improvement, the connecting portion and the main body portion are integrally L-shaped.

[0014] As a further improvement, the flow channels are arranged at intervals in the rotation axis direction of the spraying and blowing member.

[0015] As a further improvement, an angle detection device for detecting the rotation angle of the blowing head is provided at the output end of the robotic arm main body.

[0016] The beneficial effects are as follows: The dyeing robotic arm provided by the present utility model is an improvement over the prior art. After a blowing structure is provided on the dyeing robotic arm, after the dyeing component drops the dyeing reagent onto the glass slide, the air flow blown by the blowing structure can blow the dyeing reagent away and spread it evenly, so as to ensure that the tissue sample on the glass slide can be evenly and completely dyed with an appropriate amount of dyeing reagent, effectively ensuring the quality of sample preparation. In addition, after the glass slide is rinsed by the spraying structure, the air flow blown by the blowing structure can be used to dry the glass slide, eliminating the need for long waiting or transferring the glass slide to other drying equipment for drying, effectively accelerating the drying process of the glass slide and improving the efficiency of sample preparation.

[0017] To achieve the above object, the technical solution of the multifunctional integrated dyeing system provided by the present utility model is as follows:

[0018] A multifunctional integrated dyeing system includes a frame. A dyeing robotic arm is provided on the frame. The dyeing robotic arm includes a robotic arm main body. At the output end of the robotic arm main body, there is a dyeing component for dropping a dyeing reagent onto a glass slide and a spraying structure for rinsing the glass slide. At the output end of the robotic arm main body, there is a blowing structure for blowing the dyeing reagent away to spread it evenly after the dyeing component drops the dyeing reagent onto the glass slide and for drying the glass slide after the spraying component rinses the glass slide. The blowing structure includes a gas flow channel for gas flow. One end of the gas flow channel is a gas connection end for connecting a pipeline, and the other end is a gas nozzle. The gas nozzle has a duckbill-like structure.

[0019] As a further improvement, a rotation driving device is provided at the output end of the robotic arm main body. The blowing structure is connected to the output end of the rotation driving device. The rotation driving device is used to drive the blowing structure to rotate to adjust the relative angle between the blowing structure and the glass slide.

[0020] As a further improvement, the spraying structure is connected to the blowing structure to rotate together with the blowing structure during use.

[0021] As a further improvement, the output end of the rotation driving device is connected to a spraying and blowing member. At least two flow channels penetrating the spraying and blowing member are provided on the spraying and blowing member. One end of each flow channel is a connection end for connecting a pipeline, and the other end is a nozzle. At least one of the flow channels is a gas flow channel for gas flow, and at least one of the flow channels is a liquid flow channel for cleaning liquid flow. The liquid flow channels constitute the spraying structure.

[0022] As a further improvement, the spraying and blowing member includes a main body portion and a connecting portion. The flow channels are provided on the main body portion. The connecting portion is located at one end of the main body portion away from the nozzle and is used to connect to the output end of the rotation driving device.

[0023] As a further improvement, the connecting portion and the main body portion are integrally L-shaped.

[0024] As a further improvement, the flow channels are arranged at intervals in the direction of the rotation axis of the spraying and blowing member.

[0025] As a further improvement, an angle detection device for detecting the rotation angle of the blowing head is provided at the output end of the robotic arm body.

[0026] The beneficial effects are as follows: The multifunctional comprehensive staining system provided by the present utility model is an improvement on the existing technology. After a blowing structure is provided on the staining robotic arm of the multifunctional comprehensive staining system, after the staining component drops the staining reagent onto the glass slide, the airflow blown out by the blowing structure can blow open and spread the staining reagent 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. In addition, after the glass slide is rinsed by the spraying structure, the airflow blown out by the blowing structure can be used to dry the glass slide, without the need to wait for a long time or transfer the glass slide to other drying equipment for drying, effectively accelerating the drying process of the glass slide and improving the efficiency of sample preparation. Description of the Drawings

[0027] Figure 1 The front view of an embodiment of the multifunctional comprehensive staining system of the present utility model;

[0028] Figure 2 The top view of an embodiment of the multifunctional comprehensive staining system of the present utility model;

[0029] Figure 3 The structural schematic diagram of the small reagent area in an embodiment of the multifunctional comprehensive staining system of the present utility model;

[0030] Figure 4 The structural schematic diagram of the cover glass glue area and the cover glass film area in an embodiment of the multifunctional comprehensive staining system of the present utility model;

[0031] Figure 5 The structural schematic diagram of the cleaning pool area and the mixing tank area in an embodiment of the multifunctional comprehensive staining system of the present utility model;

[0032] Figure 6 The structural schematic diagram of the staining robotic arm in an embodiment of the multifunctional comprehensive staining system of the present utility model;

[0033] Figure 7 The structural schematic diagram of the staining robotic arm from another perspective in an embodiment of the multifunctional comprehensive staining system of the present utility model;

[0034] Figure 8 The cross-sectional view of the spraying and blowing member in an embodiment of the multifunctional comprehensive staining system of the present utility model.

[0035] Description of reference numerals:

[0036] 1. Rack; 2. Operating table; 3. Staining area; 4. Small reagent area; 41. Base frame; 42. Slide; 43. Handle; 44. Slot; 45. Reagent tube; 5. Cleaning pool area; 6. Mixing tank area; 7. Sealing glue area; 8. Sealing film area; 9. Auxiliary reagent area; 10. Waste liquid area; 11. Staining robot arm; 111. Reagent sample injection needle; 112. Spray blowing parts; 1121. Gas flow channel; 1122. Liquid flow channel; 113. Sweeping dock; 114. Driving motor; 115. Second Z-axis sliding module; 1151. Fixed 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. Sealing robot arm. DETAILED DESCRIPTION

[0037] The present invention is further described in detail below in conjunction with the embodiments.

[0038] In order to solve the problems in the prior art, the basic concept of the utility model is to set an air blowing structure on the staining robot arm, so that the air blowing structure can be used to blow the staining reagent on the slide evenly to improve the quality of sample preparation, and the air blowing structure can also be used to quickly blow dry the cleaned slide to improve the efficiency of sample preparation.

[0039] Specific embodiments of the multifunctional comprehensive dyeing system provided by the utility model:

[0040] 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.

[0041] See attached Figure 1 and attached Figure 2 The multifunctional integrated staining system comprises a frame 1, on which an operating table 2 is arranged, and on the upper side of the operating table 2, 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 are arranged, and on the lower side of the operating table 2, an auxiliary reagent area 9 and a waste liquid area 10 are arranged. The staining area 3 is located in the center of the operating table 2 and is used to place a slide.

[0042] 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 chassis 41. A linear guide rail is provided on the chassis 41. Above the chassis 41, there is a carriage 42 that is slidably engaged with the linear guide rail. At the top of the carriage 42, there is a slot 44 for inserting a reagent tube 45. A handle 43 is provided on the carriage 42 to facilitate pulling out the carriage 42 for placing and removing the reagent tube 45.

[0043] The cover slip glue area 7 and the cover slip film area 8 are located on the other side of the staining area 3. Refer to the appendix Figure 4 , the cover slip glue area 7 is provided with a glue liquid bottle for storing liquid cover slip glue, and the cover slip film area 8 is provided with a film cassette for storing stacked cover slip films.

[0044] Refer to the appendix Figure 5 , the mixing tank area 6 is provided with six mixing tank positions for mixing. The cleaning pool area 5 is provided with four cleaning holes for cleaning the inner and outer walls of the reagent adding needle 111 to avoid cross-interference of reagents. The cleaning pool area 5 and the mixing tank area 6 are integrated.

[0045] The auxiliary reagent area 9 is used to store reagents with a large usage amount, 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.

[0046] The waste liquid area 10 is provided with a waste liquid barrel for collecting waste liquid generated during the staining process.

[0047] On the frame 1, there are a staining robotic arm 11 and a cover slipping robotic arm 12. Both the staining robotic arm 11 and the cover slipping robotic arm 12 are located above the operation table 2 and are respectively used for staining operations and cover slipping operations.

[0048] Refer to the appendix Figure 6 and the appendix Figure 7 , the staining robotic arm 11 includes a robotic arm main body. The robotic arm main body has an X-axis sliding module, a Y-axis sliding module, and a Z-axis sliding module. Among them, 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.

[0049] A staining component is provided on the first Z-axis sliding module 116. The staining component includes a reagent adding needle 111 and a control structure for controlling the suction and extrusion of staining reagents 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 reagents from the test tube in the small reagent area 4 and then drip them onto the glass slide.

[0050] 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 that is 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 body.

[0051] A rotation driving device is fixedly installed at the lower end of the lifting frame 1153. The output end of the rotation driving device is connected to a spray and blowing member 112. In this embodiment, the rotation driving device is specifically a driving motor 114. The output shaft end of the driving motor 114 is connected to the spray and blowing member 112. The spray and blowing member 112 includes a main body portion and a connecting portion. Refer to the attached Figure 8 , where two flow channels are penetrated through the main body portion. 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 channel is a connection end for connecting a pipeline, and the other end of the flow channel is a nozzle. The connection end is 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 in a duckbill-like structure so that after the fluid reaches the nozzle, it can diverge sufficiently to form 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.

[0052] 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, that is, arranged at intervals in the length direction of the nozzle. 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.

[0053] The connecting part is located at the edge of the end of the main body away from the nozzle, so that the overall structure of the connecting part and the main body is L-shaped, 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, so as to facilitate the liquid nozzle and the gas nozzle to be closer to the glass slide and improve 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 away from the nozzle, so that the connecting part and the main body are integrally T-shaped.

[0054] An angle detection device 117 for detecting the rotation angle of the spraying 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 arranged on the spraying 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 spraying and blowing member 112 can be determined. When in use, only one optical sensor can be set to determine whether the spraying and blowing member 112 is reset, and then the rotation angle of the spraying 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 detect multiple rotation positions of the spraying and blowing member 112 respectively.

[0055] When in use, the reagent adding needle 111 can be used to drop the staining reagent on the glass slide first, and 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 a proper amount of staining reagent, effectively ensuring the quality of sample preparation.

[0056] 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 wash the glass slide. After the washing 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 to transfer the glass slide to other drying devices for drying, but the next sealing operation can still be carried out at the original position, ensuring the efficiency of sample preparation.

[0057] A sweeping head 113 is further provided on the fixing frame 1151. The sweeping 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.

[0058] The specific structures of the dyeing component and the scanning head 113 may be the same as those of the dyeing component and the scanning component in the Chinese utility model patent with the authorization announcement number CN219152897U, and will not be elaborated here.

[0059] After the above dyeing operation is completed, the cover glass can be covered by using the cover glass manipulator 12. A glue liquid sampling needle is provided on the cover glass manipulator 12, which is used to suck the cover glass glue in the cover glass glue area 7 and drop the cover glass glue onto the glass slide after the dyeing is completed. The structure of the glue liquid sampling needle is the same as that of the reagent sampling needle 111 and will not be elaborated here. A suction cup for sucking the cover glass film and transferring and covering the cover glass film onto the glass slide with the cover glass glue dropped thereon is also provided on the cover glass manipulator. After the cover glass film is covered onto the glass slide with the cover glass glue dropped thereon, the cover glass covering operation is completed.

[0060] In the above embodiments, the angle detection device is provided to facilitate the detection and control of the rotation angle of the spraying and blowing member. In other embodiments, if the control accuracy of the driving motor is high or the driving motor has a built-in angle detection function, the angle detection device may not be provided.

[0061] In the above embodiments, only two flow channels are provided, namely a gas flow channel and a liquid flow channel, to make the structure of the spraying and blowing member simpler. In other embodiments, if it is necessary to increase the ejection amount of the cleaning liquid and the gas, two or three gas flow channels and two or three liquid flow channels can be provided. 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 spraying and blowing member, and the three liquid flow channels can also be evenly spaced in a direction perpendicular to the rotation axis of the spraying and blowing member.

[0062] In other embodiments, the connecting portion may not be provided either, 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.

[0063] In the above embodiments, the gas flow channel and the liquid flow channel of the spray and blow member can respectively function as blowing and spraying cleaning liquid. Integrating both the gas flow channel and the liquid flow channel onto the spray and blow 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, the blowing head constitutes the blowing structure, and the spray head constitutes the spraying structure. This embodiment can also achieve the effect of using one driving motor to drive the spraying structure and the blowing structure to rotate together. In other embodiments, the spray head and the blowing head can also be separated, and a driving motor can be separately configured for each of them to independently drive the spray head and the blowing head to rotate. In other embodiments, the end of the pipeline for the cleaning liquid to flow through can be used as the spraying structure. In this embodiment, the end of the pipeline is fixedly connected to the driving motor shaft, and the spraying angle can also be adjusted accordingly.

[0064] 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 blow member is rotatably mounted on the lifting frame through a pin shaft. The two ends of the electric push rod are respectively hinged to the lifting frame and the connecting portion. By controlling the extension and shortening of the electric push rod, the spray and blow member can be driven to rotate.

[0065] In the above embodiments, the rotation driving device is used to drive the spray and blow member to rotate, and the relative angles between the liquid nozzle and the gas nozzle and 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. In other embodiments, the spray and blow member can also be fixedly installed on the lifting frame, and the relative angles between the liquid nozzle and the gas nozzle on the spray and blow member and the glass slide are fixed, and the operations of blowing away the staining reagent and spreading it evenly, rinsing operation, and accelerating the drying of the glass slide by blowing can also be completed. In other embodiments, the mutually independent blowing head and spray head can also be fixedly installed on the lifting frame.

[0066] Specific embodiments of the staining robotic arm provided by the present utility model:

[0067] This staining robotic arm is the staining robotic arm in the embodiment of the above-mentioned multi-functional integrated staining system, and will not be elaborated here.

[0068] 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 recorded in the foregoing embodiments without creative efforts, or perform 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 robotic arm, comprising a robotic arm main body, wherein a dyeing component for dropping a dyeing reagent onto a carrier slide and a spraying structure for rinsing the carrier slide are arranged at the output end of the robotic arm main body, and it is characterized in that, The output end of the robotic arm main body is provided with a blowing structure for blowing away the staining reagent after the staining component drops the staining reagent onto the glass slide to spread it evenly and drying the glass slide after the spraying component rinses the glass slide. The blowing structure includes a gas flow channel for gas flow. One end of the gas flow channel is a gas connection end for connecting a pipeline, and the other end is a gas nozzle. The gas nozzle has a duckbill-like structure.

2. The dyeing robot arm according to claim 1, characterized in that, The output end of the robotic arm main body is provided with a rotation driving device. The blowing structure is connected to the output end of the rotation driving device. The rotation driving device is used to drive the blowing structure to rotate to adjust the relative angle between the blowing structure and the glass slide.

3. The dyeing robotic arm according to claim 2, characterized in that, The spraying structure is connected to the blowing structure and rotates together with the blowing structure during use.

4. The dyeing robotic arm according to claim 3, characterized in that, The output end of the rotation driving device is connected with a spraying and blowing member. At least two flow channels penetrating through the spraying and blowing member are formed on the spraying and blowing member. One end of each flow channel is a connection end for connecting a pipeline, and the other end is a nozzle. At least one of the flow channels is a gas flow channel for gas flow, and at least one of the flow channels is a liquid flow channel for cleaning liquid flow. The liquid flow channels constitute the spraying structure.

5. The dyeing robotic arm according to claim 4, characterized in that, The spraying and blowing member includes a main body portion and a connecting portion. The flow channels are arranged on the main body portion. The connecting portion is located at one end of the main body portion away from the nozzle and is used for connecting to the output end of the rotation driving device.

6. The dyeing robot arm according to claim 5, characterized in that The connecting portion and the main body portion are integrally L-shaped.

7. The dyeing robotic arm according to any one of claims 4 to 6, characterized in that, The flow channels are arranged at intervals in the rotation axis direction of the spraying and blowing member.

8. The dyeing robotic arm according to any one of claims 2-6, characterized in that, The output end of the robotic arm main body is provided with an angle detection device for detecting the rotation angle of the blowing head.

9. A multi-functional integrated dyeing system, comprising a frame, characterized in that, A staining robotic arm according to any one of claims 1-8 is provided on the frame.

Images