A fully automatic micro pipetting system

Abstract

The utility model discloses a full -automatic microscopic sample adding system, including equipment support, sample reagent box, sample reagent sample adding device, servo turntable, glass slide loading and pushing device, preheating device, dyeing reagent sample adding device, cover glass cover device, the sample reagent sample adding device includes mechanical arm A, liquid injection head, liquid injection pump, the servo turntable includes servo motor, turntable, the glass slide loading and pushing device sets up at servo turntable's one side position department, preheating device sets up above the turntable, and covers at least 1 loading station, the dyeing reagent sample adding device includes mechanical arm B, liquid injection pump, liquid injection head, the cover glass cover device includes cover glass storage box, the utility model discloses only need to complete glass slide, cover glass supplementary material for operator, need not to participate in intermediate link, realizes system accurate control.

Description

Technical Field

[0001] This utility model relates to the field of automatic sample loading equipment technology, specifically to a fully automatic microscopic sample loading system. Background Technology

[0002] In medical testing, pathological analysis, and biological experiments, glass slides serve as the core carriers for biological samples (such as cells, tissue sections, and blood samples). The processing of slides (including sample loading, preheating, staining, cleaning, and covering) directly impacts the accuracy and reliability of test results. Currently, slide processing methods are mainly divided into two categories: manual operation and semi-automated equipment assistance. Both methods have significant technical limitations and struggle to meet the demands for efficient, precise, and standardized experiments and tests.

[0003] Manually processing glass slides requires multiple steps, including "taking the slide → adding the sample → manually transferring it to a heating stage for preheating → adding staining reagents one by one → rinsing with water → manually covering with a coverslip," each requiring manual operation. For example, in clinical pathology testing, processing 10 slides at a time takes 30-60 minutes, and multiple slides cannot be processed simultaneously. When the sample volume is large, this can easily lead to excessively long processing times and delayed test results.

[0004] Most equipment is designed for a single step, and slides need to be manually transferred between different devices. For example, operators need to take the preheated slides out of the preheater and then manually put them into the staining machine. This not only increases the number of steps, but also makes the slides prone to breakage due to collisions during the transfer process, or affects the sample condition due to excessive exposure time. Utility Model Content

[0005] In order to solve the problems existing in the prior art, this utility model provides a fully automatic microscopic sample loading system with a well-designed structure.

[0006] The technical solution of this utility model is as follows: A fully automated microscopy sample loading system includes an equipment support, a sample reagent kit, a sample reagent loading device, a servo turntable, a slide feeding and pushing device, a preheating device, a staining reagent loading device, and a coverslip device. The sample reagent dispensing device includes a robotic arm A, a dispensing head, and a dispensing pump; the dispensing head and the dispensing pump are connected and are mounted vertically on the robotic arm A. The servo turntable includes a servo motor and a turntable. The turntable is connected to the servo motor for transmission. The turntable is provided with several loading stations along its circumferential edge for positioning and placing glass slides and cover glass slides. The slide feeding and pushing device is located on one side of the servo turntable and is used to feed multiple stacked slides sequentially onto the turntable. The preheating device is located above the turntable and covers at least one loading station; The staining reagent dispensing device includes a robotic arm B, a dispensing pump, and a dispensing head. The dispensing head and the dispensing pump are connected and are vertically mounted on the robotic arm B. The dispensing pump is connected to the staining reagent storage tank. The coverslip device includes a coverslip storage box, in which several coverslips are stacked and automatically covered by gravity.

[0007] Furthermore, a fully automated microscopy sample loading system also includes a cleaning device, which is positioned above the servo turntable and between the staining reagent loading device and the coverslip device.

[0008] Furthermore, a fully automated microscopic sample loading system also includes a feeding and pushing device, which includes a feeding and pushing cylinder, a pushing block, and a pushing guide rail; the feeding and pushing cylinder is mounted on the equipment support, the pushing block is mounted at the front end of the feeding and pushing cylinder, and the pushing guide rail is mounted on the equipment support and slides in cooperation with the pushing block.

[0009] Furthermore, the slide feeding and pushing device includes a feeding and pushing cylinder, a slide storage box, and a feeding and pushing plate; the slide storage box includes an upper box body and a lower box body; the upper surface of the lower box body is provided with a T-shaped slot, and a cylinder telescopic rod through hole is provided below the T-shaped slot; the upper box body is set on the lower box body, the lower opening of the upper box body corresponds to the position of the T-shaped slot, and the bottom of the slide is limited by the T-shaped slot; the feeding and pushing plate is installed on the telescopic rod of the feeding and pushing cylinder, and the position of the feeding and pushing plate corresponds to the position of the slide in the T-shaped slot.

[0010] Furthermore, the robotic arm A includes an X-axis lead screw drive assembly, a Y-axis lead screw drive assembly, and a Z-axis lead screw drive assembly. The X-axis lead screw drive assembly includes an X-axis servo lead screw, a guide rail, and a guide block. The X-axis servo lead screw is arranged parallel to the guide rail, and the guide block is disposed on the guide rail and slides with the guide rail. The Y-axis lead screw drive assembly includes a Y-axis servo lead screw, which is mounted between the X-axis servo lead screw and the guide rail. One end of the Y-axis servo lead screw is connected to the X-axis servo lead screw, and the other end is connected to the guide block. The Z-axis lead screw drive assembly includes a Z-axis servo lead screw, which is connected to the Y-axis servo lead screw.

[0011] Furthermore, the robotic arm B includes an X-axis servo screw, a Y-axis servo screw, and a Z-axis servo screw, with the Y-axis servo screw mounted on the X-axis servo screw and the Z-axis servo screw mounted on the Y-axis servo screw.

[0012] Furthermore, the preheating device includes a heating element and a temperature sensor. The heating element is fixed on the equipment support and is arranged parallel to the turntable. The temperature sensor is electrically connected to the heating element to control the temperature of the heating element.

[0013] Furthermore, the cleaning device includes a lifting cylinder, a cleaning hood, and a nozzle. The lifting cylinder is mounted on the equipment support, the cleaning hood is located at the end of the lifting cylinder, and the nozzle is mounted on the cleaning hood, with an external water pipe connected to the nozzle.

[0014] Furthermore, the sample kit is provided with several wells for placing test tubes and positioning them.

[0015] Furthermore, the turntable is provided with several U-shaped slots along its circumference. A pusher block slot is provided at one end of the U-shaped slot away from the opening side. A glass slide placement slot is provided on the upper surface of the turntable at the U-shaped slot. A cleaning cover matching slot is provided on the upper surface of the turntable at the position corresponding to the glass slide placement slot.

[0016] The beneficial effects of this utility model are as follows: This utility model integrates automatic feeding, sample addition, preheating, dyeing, cleaning, slide covering, and automatic transfer into one system, thereby achieving fully automated operation; This invention utilizes mechanical structures and robotic arms to perform the entire process from slide loading and sample addition to cover slip completion. Operators do not need to directly touch the slides, samples, and staining reagents, effectively preventing cross-contamination of biological samples caused by hand contact. This invention allows operators to simply replenish the glass slides and coverslips without needing to participate in intermediate steps, thus enabling precise system control. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the internal structure of the present invention; Figure 3 This is a schematic diagram of the servo turntable structure of this utility model; Figure 4 This is a schematic diagram of the structure of the glass slide feeding and pushing device of this utility model; In the diagram: 1. Equipment bracket; 2. Support frame; 3. Z-axis servo screw; 4. X-axis servo screw; 5. Y-axis servo screw; 6. Injection head; 7. Sample reagent kit; 8. Recovery box; 9. Guide block; 10. Guide rail; 11. Top plate; 12. Bottom plate; 13. Feeding and pushing cylinder; 14. Slide storage box; 15. Heating plate; 16. Lifting cylinder; 17. Nozzle; 18. Cleaning hood; 19. Discharge and pushing cylinder; 20. Cover slide storage box; 21. Pushing block; 22. Pushing guide rail; 23. Turntable; 2301. U-shaped slot; 2302. Slide placement slot; 2303. Cleaning hood mating slot; 2304. Pushing block slot. Detailed Implementation

[0018] The present invention will be further described below with reference to the accompanying drawings.

[0019] like Figure 1 As shown, a fully automated microscopy sample loading system includes an equipment support 1, a sample reagent kit 7, a sample reagent loading device, a servo turntable, a slide loading and pushing device, a preheating device, a cleaning device, a staining reagent loading device, a coverslip covering device, and a material unloading and pushing device. The equipment bracket 1 is used for the installation and fixation of the sample kit 7, sample reagent dispensing device, servo turntable, slide feeding and pushing device, preheating device, staining reagent dispensing device and cover slip device, and includes a base plate 12, a pair of support frames 2 set on the base plate 12 and a top plate 11 set on the support frames 2.

[0020] The sample kit 7 has several wells for placing test tubes and positioning them.

[0021] The sample reagent dispensing device includes a robotic arm A, a dispensing head 6, and a dispensing pump; the dispensing head 6 and the dispensing pump are connected and are mounted vertically on the robotic arm A. Specifically, robotic arm A includes an X-axis lead screw drive assembly, a Y-axis lead screw drive assembly, and a Z-axis lead screw drive assembly. The X-axis lead screw drive assembly includes an X-axis servo lead screw 4, a guide rail 10, and a guide block 9. The X-axis servo lead screw 4 is arranged parallel to the guide rail 10, and the guide block 9 is set on the guide rail 10 and slides with the guide rail 10. The Y-axis lead screw drive assembly includes a Y-axis servo lead screw 4, and a Y-axis servo lead screw 5 is mounted between the X-axis servo lead screw 4 and the guide rail 10. One end of the Y-axis servo lead screw 5 is connected to the X-axis servo lead screw 4, and the other end is connected to the guide block 9. The Z-axis lead screw drive assembly includes a Z-axis servo lead screw 3, and the Z-axis servo lead screw 3 is connected to the Y-axis servo lead screw 5 (lead screw nut).

[0022] The servo turntable includes a servo motor and a turntable 23. The turntable 23 is connected to the servo motor for transmission. The turntable 23 has several loading stations along its circumferential edge for positioning glass slides and cover glass slides. Specifically, the turntable 23 has several U-shaped slots 2301 along its circumferential direction. The upper surface of the turntable has a glass slide placement slot 2302 at a position corresponding to the U-shaped slots 2301. A pusher block slot 2304 is provided at the end of the U-shaped slot 2301 away from the opening side. The upper surface of the turntable has a cleaning cover mating slot 2303 at a position corresponding to the glass slide placement slot 2302, wherein the cleaning cover mating slot 2303 is located outside the glass slide placement slot 2302.

[0023] The slide feeding and pushing device is located on one side of the servo turntable and is used to feed multiple slides onto the turntable in sequence; the multiple slides are stacked in sequence in the vertical direction.

[0024] Specifically, the slide feeding and pushing device includes a feeding and pushing cylinder 13, a slide storage box 14, and a feeding and pushing plate 1302; the slide storage box 14 includes an upper box body 1402 and a lower box body 1401. The upper surface of the lower box body 1404 is provided with a T-shaped slot, and a cylinder telescopic rod through hole is provided below the T-shaped slot. The upper box body 1402 is placed on the lower box body 1401, and the lower opening of the upper box body 1402 corresponds to the position of the T-shaped slot, and the slide... The bottom limit is set on the T-shaped slot (the thickness of the horizontal slot of the T-shaped slot is slightly greater than or equal to the thickness of the slide + sample + cover glass). The feeding pusher 1302 is installed on the telescopic rod 1301 of the feeding pusher cylinder 13, and the feeding pusher 1302 corresponds to the position of the slide in the T-shaped slot. Under the action of the feeding pusher cylinder 13, the slide is pushed out of the slide storage box 14 by the feeding pusher 1302 and enters the slide placement slot 2302 of the turntable 23.

[0025] The preheating device is set above the turntable and covers 4 loading stations. The preheating device includes a heating element 15 and a temperature sensor. The heating element 15 is fixed on the equipment support 1 and has a parallel gap with the turntable 23. The temperature sensor is electrically connected to the heating element to control the temperature of the heating element 15.

[0026] The staining reagent dispensing device is similar to the sample reagent dispensing device, including a robotic arm B, a dispensing pump, and a dispensing head 6. The dispensing head 6 is connected to the dispensing pump and is mounted vertically on the robotic arm B. The dispensing pump is externally connected to a staining reagent storage tank. The robotic arm B includes an X-axis servo screw 4, a Y-axis servo screw 5, and a Z-axis servo screw 3. The Y-axis servo screw 5 is mounted on the X-axis servo screw 4, and the Z-axis servo screw 3 is mounted on the Y-axis servo screw 5.

[0027] The coverslip device includes a coverslip storage box 20, in which several coverslips are stacked and automatically covered by gravity. The coverslip storage box 20 is slidably limited to a top plate 11, meaning the top plate 11 has a groove that mates with the coverslip storage box 20. In this embodiment, the upper surface of the turntable 23 can be made of nylon to prevent damage caused by friction between the coverslips and the upper surface of the turntable.

[0028] The cleaning device is positioned above the servo turntable and between the staining reagent application device and the coverslip device. The cleaning device includes a lifting cylinder 16, a cleaning hood 18, and a nozzle 17. The lifting cylinder 16 is mounted on the equipment support 1, the cleaning hood 18 is located at the end of the lifting cylinder 16, and the nozzle 17 is located on the cleaning hood 18. A water pipe is connected to the nozzle 17. The water after cleaning can be collected in a water tank located below the base plate 12. During cleaning, the lifting cylinder 16 lowers the cleaning hood 18, and the bottom of the cleaning hood 18 fits into the cleaning hood fitting groove 2303 to prevent water from splashing onto the turntable. The inner wall of the cleaning hood 18 is coated with a hydrophobic layer to prevent water residue.

[0029] The feeding and pushing device includes a feeding and pushing cylinder 19, a pushing block 21, and a pushing guide rail 22. The feeding and pushing cylinder 19 is mounted on the top plate 11 of the equipment support 1, the pushing block 21 is mounted at the front end of the feeding and pushing cylinder 19, and the pushing guide rail 19 is mounted on the equipment support 1 and slides in cooperation with the pushing block 21. There is a straight plate below the pushing block 21, which cooperates with the pushing block slot 2304. Under the action of the feeding and pushing cylinder 19 and the pushing block 21, the processed glass slide is pushed out of the servo turntable.

[0030] Work process: Take the most classic and common scenario in the laboratory—preparing blood smears and performing Wright-Gymza staining—as an example. Automatic slide loading: Several glass slides are stacked together and placed in the cover slide storage box 20. The glass slides are pushed one by one into the glass slide placement slot 2302 of the turntable by the feeding push cylinder 13 and the feeding push plate 1302. Sampling process: The servo motor rotates, moving the glass slide on the turntable to the set position. Then, the sample reagent (a few drops of blood taken from anticoagulated whole blood that has completed routine blood analysis) is added to the glass slide through the injection head 6 attached to the robotic arm A. The injection volume is set by the injection pump, and the sample blood volume is 5-10 microliters.

[0031] Preheating process (baking slices): The slide is heated at a constant temperature of 50°C to 60°C using a heating element and sensor. After 60-180 seconds of heating, the cell proteins on the slide denature due to heat and are firmly "welded" to the slide (heating can evaporate the water on the smear, allowing the cells to adhere more tightly to the glass surface and further enhancing adhesion), thus proceeding to the next process.

[0032] The process of adding staining reagents: The preheated slide is moved to the set position by the servo turntable. The selected dye is added to the slide by the injection head 6 attached to the robotic arm B, so that it is mixed with the sample reagent. The injection volume is set by the injection pump. (After fixation, the cell membrane and internal structure will change, making it easier to bind with commonly used blood dyes such as Wright-Gymsa, thus presenting a clearer and more distinct cell nucleus and cytoplasm structure, making it easier to distinguish different types of white blood cells, red blood cells and platelets.)

[0033] Cleaning: After adding the staining reagent, the slide is moved to the set position by the servo turntable, and the cleaning hood descends and engages in the cleaning hood matching tank 2303. The slide is then cleaned with water. (The staining reaction is terminated by cleaning with water or buffer solution, and any unbound stains on the slide are removed, resulting in a blood smear with a clean background, clear cell structure, and strong color contrast.) Cover plate process: Move the dyed glass slide to the set position, and the cover glass slide will automatically fall into the glass slide placement slot 2302 under the action of gravity, thus realizing automatic cover glass covering; Automatic feeding: The processed glass slides are pushed out of the servo turntable by the feeding and pushing cylinder 19 and the pushing block 21, and then collected manually or by other equipment.

[0034] The above embodiments are merely preferred embodiments of this utility model and are not intended to limit the technical solutions of this utility model. Any technical solution that can be implemented based on the above embodiments without creative effort should be considered to fall within the scope of protection of this utility model patent.

Claims

1. A fully automated microscopic sample loading system, characterized in that, Includes equipment support, sample kit, sample reagent dispensing device, servo turntable, slide feeding and pushing device, preheating device, staining reagent dispensing device, and coverslip device; The sample reagent dispensing device includes a robotic arm A, a dispensing head, and a dispensing pump; the dispensing head and the dispensing pump are connected and are mounted vertically on the robotic arm A. The servo turntable includes a servo motor and a turntable. The turntable is connected to the servo motor via a drive. The turntable has several loading stations along its circumferential edge for positioning and placing glass slides and cover glass slides. The slide feeding and pushing device is located on one side of the servo turntable and is used to feed multiple stacked slides sequentially onto the turntable. The preheating device is located above the turntable and covers at least one loading station; The staining reagent dispensing device includes a robotic arm B, a dispensing pump, and a dispensing head. The dispensing head and the dispensing pump are connected and are vertically mounted on the robotic arm B. The dispensing pump is connected to the staining reagent storage tank. The coverslip device includes a coverslip storage box, in which several coverslips are stacked and automatically covered by gravity.

2. The fully automated microscopic sample loading system according to claim 1, characterized in that, It also includes a cleaning device, which is positioned above the servo turntable and between the staining reagent dispensing device and the coverslip device.

3. The fully automated microscopic sample loading system according to claim 1, characterized in that, It also includes a material feeding and pushing device, which includes a material feeding and pushing cylinder, a pushing block, and a pushing guide rail; the material feeding and pushing cylinder is mounted on the equipment support, the pushing block is mounted at the front end of the material feeding and pushing cylinder, and the pushing guide rail is mounted on the equipment support and slides in cooperation with the pushing block.

4. The fully automated microscopic sample loading system according to claim 1, characterized in that, The slide feeding and pushing device includes a feeding and pushing cylinder, a slide storage box, and a feeding and pushing plate. The slide storage box includes an upper box body and a lower box body. The upper surface of the lower box body is provided with a T-shaped slot, and a cylinder telescopic rod through hole is provided below the T-shaped slot. The upper box body is set on the lower box body, and the lower opening of the upper box body corresponds to the position of the T-shaped slot. The bottom of the slide is limited by the T-shaped slot. The feeding and pushing plate is installed on the telescopic rod of the feeding and pushing cylinder, and the position of the feeding and pushing plate corresponds to the position of the slide in the T-shaped slot.

5. The fully automated microscopic sample loading system according to claim 1, characterized in that, The robotic arm A includes an X-axis lead screw drive assembly, a Y-axis lead screw drive assembly, and a Z-axis lead screw drive assembly. The X-axis lead screw drive assembly includes an X-axis servo lead screw, a guide rail, and a guide block. The X-axis servo lead screw is arranged parallel to the guide rail, and the guide block is disposed on the guide rail and slides with the guide rail. The Y-axis lead screw drive assembly includes a Y-axis servo lead screw, which is mounted between the X-axis servo lead screw and the guide rail. One end of the Y-axis servo lead screw is connected to the X-axis servo lead screw, and the other end is connected to the guide block. The Z-axis lead screw drive assembly includes a Z-axis servo lead screw, which is connected to the Y-axis servo lead screw.

6. The fully automated microscopic sample loading system according to claim 1, characterized in that, The robotic arm B includes an X-axis servo screw, a Y-axis servo screw, and a Z-axis servo screw. The Y-axis servo screw is mounted on the X-axis servo screw, and the Z-axis servo screw is mounted on the Y-axis servo screw.

7. The fully automated microscopic sample loading system according to claim 1, characterized in that, The preheating device includes a heating element and a temperature sensor. The heating element is fixed on the equipment support and is arranged parallel to the turntable. The temperature sensor is electrically connected to the heating element to control the temperature of the heating element.

8. The fully automated microscopic sample loading system according to claim 2, characterized in that, The cleaning device includes a lifting cylinder, a cleaning hood, and a nozzle. The lifting cylinder is mounted on a support frame, the cleaning hood is located at the end of the lifting cylinder, and the nozzle is mounted on the cleaning hood with an external water pipe connected to it.

9. The fully automated microscopic sample loading system according to claim 1, characterized in that, The sample kit has several wells for placing test tubes and positioning them.

10. The fully automated microscopic sample loading system according to claim 1, characterized in that, The turntable has several U-shaped slots along its circumference. A pusher block slot is provided at one end of the U-shaped slot away from the opening side. A glass slide placement slot is provided on the upper surface of the turntable at the U-shaped slot. A cleaning cover matching slot is provided on the upper surface of the turntable at the position corresponding to the glass slide placement slot.

Images