Glass slide clamping and transferring manipulator mechanism for independent drop dyeing HE dyeing machine

Abstract

The utility model relates to the technical field of medical instruments, in particular to a glass slide clamping and transferring manipulator mechanism for an independent drop dyeing HE dyeing machine, which comprises an X-axis module, a Z-axis module, a Y-axis module, an electric claw mechanism, a glass slide box and a glass slide placing mechanism, and can drive the electric claw mechanism to move towards different normal phases through the X-axis module, the Z-axis module and the Y-axis module. According to the glass slide transferring device, the occupied space is small, the instrument space is saved, automatic glass slide transferring is achieved, the glass slides can be clamped, including but not limited to the vertical direction, the glass slides can be clamped and placed at different angles by replacing the clamping heads, the glass slide transferring distance is short, and the glass slide transferring efficiency is improved. The glass slide transfer mechanism is simple in structure and short in transfer time, improves the glass slide transfer efficiency, is beneficial to time distribution of subsequent dyeing processes, and accordingly solves the problem that an existing glass slide transfer mechanism occupies a large space.

Description

Technical Field

[0001] The utility model relates to the technical field of medical devices, in particular to a slide clamping and transferring manipulator mechanism for a single-drop HE staining machine. Background Technique

[0002] Single-drop HE staining is a commonly used staining method for staining tissue sections in histological research to observe and analyze the structure of tissues and the morphology of tissue cells. Single-drop HE staining means placing tissue section specimens in a staining tank frame and going through a series of processes such as heating and baking the slides, dewaxing, staining, cleaning, and covering the slides to ensure the uniformity and accuracy of staining. The single-drop HE staining machine is convenient to operate, has a high-definition staining effect, and shortens the staining time. It is widely used in medical biology and pathological diagnosis. It can adapt to tissue sections of different sizes and shapes for staining treatment, reduce manual operation, and provide more accurate histological information.

[0003] A slide is a carrier needed when observing things with a microscope. When making a sample, cells or tissues need to be placed on the slide, and then after staining and covering the slide with a coverslip, a complete sample is made for laboratory use. Drop staining requires staining the slides with sealed tissue wax blocks.

[0004] At present, most of the slide carriers for drop staining on the market are in the form of a tray with slides laid flat one by one. The transfer of slides is achieved by the movement of the tray. The transfer of the tray takes up a large amount of space, and the slide transfer module will occupy most of the space of the instrument. The space occupation is large, and the instrument size is huge, showing obvious deficiencies in space use. Content of the Utility Model

[0005] The purpose of the utility model is to provide a slide clamping and transferring manipulator mechanism for a single-drop HE staining machine, aiming to solve the problem that the existing slide transfer mechanism occupies a large amount of space.

[0006] To achieve the above purpose, the utility model provides a slide clamping and transferring manipulator mechanism for a single-drop HE staining machine, including an X-axis module, a Z-axis module, a Y-axis module, an electric claw mechanism, a slide box, and a slide placement mechanism;

[0007] The Z-axis module is installed at the output end of the X-axis module, the Y-axis module is installed at the output end of the Z-axis module, the electric claw mechanism is installed at the output end of the Y-axis module, the slide box is arranged on the workbench, and the slide placement mechanism is installed on the workbench.

[0008] Among them, the X-axis module includes an X-axis bottom plate, two linear slide rails 1, an X-axis motor mounting plate, a lead screw motor 1, an X-axis lead screw bearing seat, an X-axis slider, a sensor baffle 1, and an X-axis origin sensor. The two linear slide rails 1 are both installed on the X-axis bottom plate. The X-axis motor mounting plate is installed on one side of the X-axis bottom plate. The lead screw motor 1 is installed on the X-axis motor mounting plate. The X-axis lead screw bearing seat is rotationally connected to the output end of the lead screw motor 1 and is fixedly connected to the X-axis bottom plate. The X-axis slider is installed on the sliders of the two linear slide rails 1 and is connected to the lead screw nut of the lead screw motor 1. The sensor baffle 1 is installed on the X-axis slider. The X-axis origin sensor is installed on the X-axis motor mounting plate.

[0009] Among them, the Z-axis module includes a Z-axis motor mounting plate, a linear slide rail 2, a Z-axis slider, a lead screw motor 2, a Z-axis lead screw bearing seat, a sensor baffle 2, and a Z-axis origin sensor. The Z-axis motor mounting plate is installed on the X-axis slider. The lead screw motor 2 is installed on the Z-axis motor mounting plate. The linear slide rail 2 is installed on the X-axis slider. The Z-axis lead screw bearing seat is installed on the X-axis slider and is connected to the output end of the lead screw motor 2. The Z-axis slider is installed on the slider of the linear slide rail 2 and is connected to the lead screw nut of the lead screw motor 2. The sensor baffle 2 is installed on the Z-axis slider. The Z-axis origin sensor is installed on the Z-axis motor mounting plate.

[0010] Among them, the Y-axis module includes a Y-axis bottom plate, a Y-axis motor mounting plate, a linear slide rail 3, a Y-axis slider, a lead screw motor 3, a Y-axis lead screw bearing seat, a sensor baffle 3, and a Y-axis origin sensor. The Y-axis bottom plate is installed on the Z-axis slider. The linear slide rail 3 is installed on the Y-axis bottom plate. The Y-axis motor mounting plate is installed on the Y-axis bottom plate. The lead screw motor 3 is installed on the Y-axis motor mounting plate. The Y-axis lead screw bearing seat is installed on the Y-axis bottom plate and is connected to the output end of the lead screw motor 3. The Y-axis slider is installed on the linear slide rail 3 and is connected to the lead screw nut of the lead screw motor 3. The sensor baffle 3 is installed on the Y-axis slider; the Y-axis origin sensor is installed on the Y-axis lead screw bearing seat.

[0011] Among them, the electric claw mechanism consists of an electric claw mounting plate, an electric claw, a gripping head, and an electric claw fixing plate. The electric claw is installed on the electric claw mounting plate. The electric claw fixing plate is installed on the electric claw mounting plate; the gripping head is installed on the electric claw.

[0012] The slide clamping and transferring manipulator mechanism for a separate dropping HE staining machine of the present utility model includes an X-axis module, a Z-axis module, a Y-axis module, an electric claw mechanism, a slide box, and a slide placement mechanism. The electric claw mechanism can be driven by the X-axis module, the Z-axis module, and the Y-axis module to move in different directions. At the same time, the electric claw mechanism can pick up the slides in the slide box and place them into the slide placement mechanism to achieve automated operation. The present utility model occupies a small space, saves instrument space, realizes the automation of slide transfer, can clamp in including but not limited to the vertical direction, and can replace the clamping head to achieve clamping and placing slides at any angle between the horizontal and vertical directions. The slide transfer distance is short, and the transfer time is short, improving the slide transfer efficiency and facilitating the time allocation of subsequent staining processes, thus solving the problem that the existing slide transfer mechanism occupies a large space. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art.

[0014] Figure 1 It is a schematic diagram of the slide clamping and transferring manipulator mechanism for a separate dropping HE staining machine of the present utility model.

[0015] Figure 2 It is a schematic diagram of the X-axis module.

[0016] Figure 3 It is a schematic diagram of the Y-axis module.

[0017] Figure 4 It is a schematic diagram of the Z-axis module.

[0018] Figure 5 It is a schematic diagram of the electric claw mechanism.

[0019] Figure 6 It is a schematic diagram of the vertical clamping head, the inclined clamping head, the horizontal clamping head, and the slide.

[0020] In the figure: 1 - X-axis module, 2 - Y-axis module, 3 - Z-axis module, 4 - electric claw mechanism, 5 - slide box, 6 - slide placement mechanism, 101 - first lead screw motor, 102 - X-axis origin sensor, 103 - first sensor baffle, 104 - X-axis slider, 105 - first linear slide rail, 106 - X-axis base plate, 107 - X-axis lead screw bearing block, 108 - X-axis motor mounting plate, 201 - third lead screw motor, 202 - Y-axis base plate, 203 - Y-axis motor mounting plate, 204 - third sensor baffle, 205 - Y-axis slider, 206 - third linear slide rail, 207 - Y-axis origin sensor, 208 - Y-axis lead screw bearing block, 301 - second lead screw motor, 302 - Z-axis motor mounting plate, 303 - Z-axis slider, 304 - second linear slide rail, 305 - Z-axis lead screw bearing block, 306 - Z-axis origin sensor, 307 - second sensor baffle, 401 - electric claw, 402 - electric claw fixing plate, 403 - clamping head, 404 - electric claw mounting plate, 4031 - vertical clamping head, 4032 - inclined clamping head, 4033 - horizontal clamping head, 7 - glass slide. Detailed implementation manners

[0021] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0022] Please refer to Figures 1 - 6 , the present invention provides a slide clamping and transferring manipulator mechanism for a separate HE staining machine, including an X-axis module 1, a Y-axis module 3, a Y-axis module 2, an electric claw mechanism 4, a slide box 5, and a slide placement mechanism 6;

[0023] The Y-axis module 3 is installed at the output end of the X-axis module 1, the Y-axis module 2 is installed at the output end of the Y-axis module 3, the electric claw mechanism 4 is installed at the output end of the Y-axis module 2, the slide box 5 is arranged on the workbench, and the slide placement mechanism 6 is installed on the workbench.

[0024] In this embodiment, the X-axis module 1, the Y-axis module 3 and the Y-axis module 2 can drive the electric claw mechanism 4 to move in different directions. At the same time, the electric claw mechanism 4 can pick up the glass slides 7 in the glass slide box 5 and place them into the glass slide placement mechanism 6, realizing automated operation. The utility model occupies a small space, saves instrument space, realizes the automation of glass slide transfer, can clamp in including but not limited to the vertical direction, and can replace the clamping head 403 to realize clamping and placing the glass slide at any angle between the horizontal and vertical directions. The glass slide transfer distance is short and the transfer time is short, improving the glass slide transfer efficiency and facilitating the time allocation of subsequent staining processes, thus solving the problem that the existing glass slide transfer mechanism occupies a large space.

[0025] Further, the X-axis module 1 includes an X-axis bottom plate 106, two linear slide rails 105, an X-axis motor mounting plate 108, a lead screw motor 101, an X-axis lead screw bearing seat 107, an X-axis slider 104, a sensor stop piece 103 and an X-axis origin sensor 102. The two linear slide rails 105 are both installed on the X-axis bottom plate 106. The X-axis motor mounting plate 108 is installed on one side of the X-axis bottom plate 106. The lead screw motor 101 is installed on the X-axis motor mounting plate 108. The X-axis lead screw bearing seat is rotationally connected to the output end of the lead screw motor 101 and is fixedly connected to the X-axis bottom plate 106. The X-axis slider 104 is installed on the sliders of the two linear slide rails 105 and is connected to the lead screw nut of the lead screw motor 101. The sensor stop piece 103 is installed on the X-axis slider 104. The X-axis origin sensor 102 is installed on the X-axis motor mounting plate 108.

[0026] In this embodiment, the position of the X-axis slider 104 during movement can be identified through the sensor stop piece 103 and the X-axis origin sensor 102. The X-axis bottom plate 106 provides installation conditions for the two linear slide rails 105 and the X-axis motor mounting plate 108. The X-axis motor mounting plate 108 provides installation conditions for the lead screw motor 101. When the lead screw motor 101 works, it can drive the X-axis slider 104 to move on the two linear slide rails 105. The X-axis slider 104 can be guided by the linear slide rails 105. The movement of the X-axis slider 104 can drive the Y-axis module 3 to move. The X-axis lead screw bearing seat 107 can support the lead screw of the lead screw motor 101.

[0027] Further, the Z-axis module includes a Z-axis motor mounting plate 302, a linear slide rail two 304, a Z-axis slider 303, a lead screw motor two 301, a Z-axis lead screw bearing block 305, a sensor baffle two 307, and a Z-axis origin sensor 306. The Z-axis motor mounting plate 302 is mounted on the X-axis slider. The lead screw motor two 301 is mounted on the Z-axis motor mounting plate 302. The linear slide rail two 304 is mounted on the X-axis slider. The Z-axis lead screw bearing block 305 is mounted on the X-axis slider and is connected to the output end of the lead screw motor two 301. The Z-axis slider 303 is mounted on the slider of the linear slide rail two 304 and is connected to the lead screw nut of the lead screw motor two 301. The sensor baffle two 307 is mounted on the Z-axis slider 303. The Z-axis origin sensor 306 is mounted on the Z-axis motor mounting plate 302.

[0028] In this embodiment, the position of the Z-axis slider 303 during movement can be identified by the sensor baffle two 307 and the Z-axis origin sensor 306. The Z-axis motor mounting plate 302 provides a mounting condition for the lead screw motor two 301. When the lead screw motor two 301 operates, it can drive the Z-axis slider 303 to move on the linear slide rail two 304. The linear slide rail two 304 can guide the Z-axis slider 303. The movement of the Z-axis slider 303 can drive the Z-axis module to move. The Z-axis lead screw bearing block 305 can support the lead screw of the lead screw motor two 301.

[0029] Further, the Y-axis module includes a Y-axis bottom plate 202, a Y-axis motor mounting plate 203, a linear slide rail three 206, a Y-axis slider 205, a lead screw motor three 201, a Y-axis lead screw bearing block 208, a sensor baffle three 204, and a Y-axis origin sensor 207. The Y-axis bottom plate 202 is mounted on the Z-axis slider. The linear slide rail three 206 is mounted on the Y-axis bottom plate 202. The Y-axis motor mounting plate 203 is mounted on the Y-axis bottom plate 202. The lead screw motor three 201 is mounted on the Y-axis motor mounting plate 203. The Y-axis lead screw bearing block 208 is mounted on the Y-axis bottom plate 202 and is connected to the output end of the lead screw motor three 201. The Y-axis slider 205 is mounted on the linear slide rail three 206 and is connected to the lead screw nut of the lead screw motor three 201. The sensor baffle three 204 is mounted on the Y-axis slider 205. The Y-axis origin sensor 207 is mounted on the Y-axis lead screw bearing block 208.

[0030] In this embodiment, the position of the Y-axis slider 205 can be identified by the sensor baffle three 204 and the Y-axis origin sensor 207. The Y-axis bottom plate 202 provides installation conditions for the two linear slide rails three 206 and the Y-axis motor mounting plate 203. The Y-axis motor mounting plate 203 provides installation conditions for the lead screw motor three 201. When the lead screw motor three 201 works, it can drive the Y-axis slider 205 to move on the linear slide rail three 206. The Y-axis slider 205 can be guided by the linear slide rail three 206. The movement of the Y-axis slider 205 can drive the electric claw mechanism to move. The lead screw of the lead screw motor three 201 can be supported by the Y-axis lead screw bearing block 208.

[0031] Further, the electric claw mechanism 4 includes an electric claw mounting plate 403, an electric claw 401, a clamping head 403, and an electric claw fixing plate 402. The electric claw 401 is installed on the electric claw mounting plate 403, and the electric claw fixing plate 402 is installed on the electric claw mounting plate 403. The clamping head 403 is installed on the electric claw 401.

[0032] In this embodiment, the electric claw mounting plate 403 provides installation conditions for the electric claw 401. The electric claw 401 cooperates with the clamping head 403 to clamp the glass slide 7. The electric claw 401 can be fixed by the electric claw fixing plate 402. The form of the clamping head 403 is divided into a vertical clamping head 4031, an inclined clamping head 4032, and a horizontal clamping head 4032. Different forms of the clamping head 403 can clamp glass slides 7 in different states.

[0033] Beneficial effects:

[0034] 1. The glass slide transfer mechanism occupies a small space, saves instrument space, and realizes the automation of slide transfer.

[0035] 2. It can clamp glass slides placed in the vertical direction (including but not limited to the vertical direction, and different clamping heads can be replaced to clamp glass slides placed at any angle between the horizontal and vertical directions).

[0036] 3. The transfer distance of the glass slide is short, and the transfer time is short, which improves the transfer efficiency of the glass slide and is beneficial to the time allocation of subsequent staining processes.

[0037] The above-disclosed are only one or more preferred embodiments of the present application, and the scope of rights of the present application cannot be limited thereby. Those of ordinary skill in the art can understand all or part of the processes of implementing the above embodiments, and the equivalent changes made according to the claims of the present application still fall within the scope covered by the present application.

Claims

1. A slide clamping and transferring manipulator mechanism for a single-drop HE staining machine, characterized in that it includes an X-axis module, a Z-axis module, a Y-axis module, an electric claw mechanism, a slide box and a slide placement mechanism; The Z-axis module is installed at the output end of the X-axis module, the Y-axis module is installed at the output end of the Z-axis module, the electric claw mechanism is installed at the output end of the Y-axis module, the slide box is arranged on the workbench, and the slide placement mechanism is installed on the workbench.

2. The slide clamping and transferring manipulator mechanism for a single-drop HE staining machine according to claim 1, characterized in that The X-axis module includes an X-axis bottom plate, two linear slide rails I, an X-axis motor mounting plate, a lead screw motor I, an X-axis lead screw bearing seat, an X-axis slider, a sensor baffle I and an X-axis origin sensor. The two linear slide rails I are both installed on the X-axis bottom plate. The X-axis motor mounting plate is installed on one side of the X-axis bottom plate. The lead screw motor I is installed on the X-axis motor mounting plate. The X-axis lead screw bearing seat is rotationally connected to the output end of the lead screw motor I and is fixedly connected to the X-axis bottom plate. The X-axis slider is installed on the sliders of the two linear slide rails I and is connected to the lead screw nut of the lead screw motor I. The sensor baffle I is installed on the X-axis slider, and the X-axis origin sensor is installed on the X-axis motor mounting plate.

3. The slide clamping and transferring manipulator mechanism for a single-drop HE staining machine according to claim 2, characterized in that The Z-axis module includes a Z-axis motor mounting plate, a linear slide rail II, a Z-axis slider, a lead screw motor II, a Z-axis lead screw bearing seat, a sensor baffle II and a Z-axis origin sensor. The Z-axis motor mounting plate is installed on the X-axis slider. The lead screw motor II is installed on the Z-axis motor mounting plate. The linear slide rail II is installed on the X-axis slider. The Z-axis lead screw bearing seat is installed on the X-axis slider and is connected to the output end of the lead screw motor II. The Z-axis slider is installed on the slider of the linear slide rail II and is connected to the lead screw nut of the lead screw motor II. The sensor baffle II is installed on the Z-axis slider, and the Z-axis origin sensor is installed on the Z-axis motor mounting plate.

4. The slide clamping and transferring manipulator mechanism for a single-drop HE staining machine according to claim 3, characterized in that The Y-axis module includes a Y-axis bottom plate, a Y-axis motor mounting plate, a linear slide rail III, a Y-axis slider, a lead screw motor III, a Y-axis lead screw bearing block, a sensor baffle III, and a Y-axis origin sensor. The Y-axis bottom plate is mounted on the Z-axis slider, the linear slide rail III is mounted on the Y-axis bottom plate, the Y-axis motor mounting plate is mounted on the Y-axis bottom plate, the lead screw motor III is mounted on the Y-axis motor mounting plate, the Y-axis lead screw bearing block is mounted on the Y-axis bottom plate and is connected to the output end of the lead screw motor III. The Y-axis slider is mounted on the linear slide rail III and is connected to the lead screw nut of the lead screw motor III. The sensor baffle III is mounted on the Y-axis slider; the Y-axis origin sensor is mounted on the Y-axis lead screw bearing block.

5. The slide glass clamping and transferring manipulator mechanism for a single-drop HE staining machine according to claim 4, wherein The electric claw mechanism consists of an electric claw mounting plate, an electric claw, a clamping head, and an electric claw fixing plate. The electric claw is mounted on the electric claw mounting plate, and the electric claw fixing plate is mounted on the electric claw mounting plate; the clamping head is mounted on the electric claw.

Images