A digital pathology slide scanner slide tray gripper device

Abstract

The utility model belongs to digital pathological section scanning appearance technical field discloses a kind of digital pathological section scanning appearance slide tray clamping device, further includes: two pedestals, two pedestals are detachably mounted on digital pathological section scanning appearance by fastener;Six-axis robot, six-axis robot is symmetrically installed on pedestal by pedestal, and six-axis robot includes multiple rotary joints, harmonic reducer, and hydraulic push rod is configured at the joint of rotary joint;Clamping claw, clamping claw is installed at the end of six-axis robot, and antiskid pad is installed in the inside of clamping claw.The utility model is by the clamping claw of servo motor control force and the cooperation of three layers of bionic antiskid pad, wherein surface bionic adhesion layer breaks through the material restriction of electromagnetic adsorption, reliably grasps non-magnetic tray such as ceramic, polymer, and then combined with accurate clamping force control to avoid the tray deformation or slip caused by traditional pneumatic scheme, and mechanical structure still maintains grasping force after power off, to eliminate the risk of falling.

Description

Technical Field

[0001] This utility model relates to the field of digital pathology slide scanner technology, and in particular to a slide tray clamping device for a digital pathology slide scanner. Background Technology

[0002] The slide tray gripping device of a digital pathology slide scanner is a precision electromechanical actuator integrated inside the scanner. It is used to automatically grab, transfer, and position a special tray loaded with pathology slides in unattended scenarios, realizing the fully automated operation of the slides in the scanner's workflow (such as sample loading, scanning, and sample unloading).

[0003] Digital pathology slide scanners are typically equipped with an automatic slide tray (or slide cassette) loading system when performing high-throughput scanning. This system is required to accurately transfer the tray containing multiple pathology slides from the storage compartment to the scanning position and return it after the scanning is completed.

[0004] Existing gripping devices mostly use simple pneumatic fingers or electromagnets for adsorption. However, these methods have the following problems: the gripping force of pneumatic fingers is uneven, which can easily cause deformation or damage to the precision tray due to excessive tightness, or cause the tray to slip and vibrate during high-speed movement due to excessive looseness, affecting the positioning accuracy; the electromagnet adsorption method has special requirements for the tray material (it needs to be magnetic), has poor versatility, and there is a risk of falling when the power is suddenly cut off. Therefore, we propose a slide tray gripping device for digital pathology slide scanners. Utility Model Content

[0005] In view of the problems existing in the above-mentioned background art, this utility model is proposed.

[0006] To solve the above-mentioned technical problems, this utility model provides the following technical solution: A slide tray gripping device for a digital pathology slide scanner, comprising a digital pathology slide scanner, and further comprising: Two bases are detachably mounted on the digital pathology slide scanner by fasteners. A six-axis robotic arm is symmetrically mounted on the base via the base. The six-axis robotic arm includes multiple rotary joints and a harmonic reducer. Hydraulic push rods are configured at the joints of the rotary joints. A gripper is mounted at the end of the six-axis robotic arm, and an anti-slip pad is installed on the inner side of the gripper.

[0007] As a technical solution of the slide tray gripping device for a digital pathology slide scanner described in this utility model, the base is provided with elongated holes arranged in a circumferential array. The elongated holes are waist-shaped holes. The base is detachably mounted on the digital pathology slide scanner through the elongated holes and the fasteners, so as to allow for fine adjustment of the base position to adapt to the differences in scanner structure, while ensuring the installation accuracy of the six-axis robotic arm.

[0008] As a technical solution of the slide tray gripping device for a digital pathology slide scanner described in this utility model, the gripping claw adopts a linkage hinge structure, the gripping claw is driven to open and close by a servo motor, and the opening and closing force range is 0.5N-10N, so as to accurately control the gripping force and avoid tray deformation or slippage.

[0009] As a technical solution of the slide tray gripping device for a digital pathology slide scanner described in this utility model, the anti-slip pad has a multi-layer composite structure. From the inside to the outside, the anti-slip pad consists of a flexible graphite thermal conductive layer, a micro-pillar array silicone layer, and a surface biomimetic adhesion layer, in order to solve the problem of slide slippage in traditional gripping and reduce positioning errors.

[0010] As a technical solution of the slide tray gripping device for a digital pathology slide scanner described in this utility model, the thickness of the flexible graphite thermal conductive layer is 0.5-1mm, and the diameter of the micropillars in the micropillar array silicone layer is 50-200μm, the height is 0.3-0.8mm, and the spacing is 100-300μm, so as to facilitate the rapid dissipation of the motor heat of the six-axis robotic arm, prevent the high temperature from weakening the adhesion force, and absorb vibration energy through the deformation of the micropillar array to buffer the impact of high-speed start-up and shutdown.

[0011] As a technical solution of the digital pathology slide scanner slide tray gripping device of this utility model, the surface biomimetic adhesion layer is a polyurethane material with a gecko-like foot bristle structure and a surface roughness Ra≤0.1μm, so as to provide van der Waals force adsorption, be compatible with non-magnetic trays, and not fall off when power is off.

[0012] As a technical solution of the digital pathology slide scanner slide tray gripping device of this utility model, the six-axis robotic arm has a maximum working radius of ≥800mm and a repeatability of ≤±0.05mm, so as to cover the distance from the storage compartment to the scanning position and meet the sub-micron scanning requirements of pathology slides.

[0013] Compared with the prior art, the present invention has at least the following beneficial effects: 1. This utility model utilizes a gripper controlled by a servo motor and a three-layer biomimetic anti-slip pad. The biomimetic adhesive layer on the surface overcomes the material limitations of electromagnetic adsorption, enabling reliable gripping of non-magnetic trays such as ceramics and polymers. Combined with precise gripping force control, it avoids tray deformation or slippage caused by traditional pneumatic solutions. Furthermore, the mechanical structure maintains gripping force even after power failure, eliminating the risk of falling.

[0014] 2. This utility model enhances the rigidity of the rotary joint through a hydraulic push rod, achieves ultra-high positioning accuracy in conjunction with a harmonic reducer, and absorbs vibration energy during high-speed movement by a micro-pillar array silicone layer, reducing glass slide displacement error. At the same time, the base with an elongated hole ensures the stability of the robotic arm installation and can suppress vibration transmission from the source. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Among them: Figure 1 This is a schematic diagram of the main structure of this utility model.

[0016] Figure 2 This is a schematic diagram of the main structure connecting the base, six-axis robotic arm, and gripper of this utility model.

[0017] Figure 3 This is a side view schematic diagram of the connection structure of the base, six-axis robotic arm and gripper of this utility model.

[0018] Figure 4 For the present utility model Figure 3 Enlarged structural diagram at point A in the middle.

[0019] Explanation of reference numerals in the attached figures: In the figure: 1. Digital pathology slide scanner; 2. Base; 201. Elongated hole; 3. Six-axis robotic arm; 301. Rotary joint; 302. Harmonic reducer; 303. Hydraulic push rod; 4. Gripping claw; 401. Servo motor; 5. Anti-slip pad; 501. Flexible graphite thermal conductive layer; 502. Micropillar array silicone layer; 503. Surface biomimetic adhesion layer. Detailed Implementation

[0020] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present utility model, and not all of them. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model. In order to make the above-mentioned objects, features and advantages of the present utility model more apparent and understandable, the specific embodiments of the present utility model will be described in detail below with reference to the accompanying drawings.

[0021] Reference Figures 1-4 A slide tray gripping device for a digital pathology slide scanner is provided. This device includes a digital pathology slide scanner 1 (which is prior art and will not be described in detail here), and also includes: Two bases 2 are detachably mounted on the digital pathology slide scanner 1 via fasteners. In application, the detachable base 1 design is adopted, and fasteners are used to achieve quick installation / removal, adapting to different models of digital pathology slide scanners 1 to improve equipment compatibility. The six-axis robotic arm 3 is symmetrically mounted on the base 2 via the base 2. The six-axis robotic arm 3 includes multiple rotary joints 301 and harmonic reducers 302. The joints of the rotary joints 301 are equipped with hydraulic push rods 303. For example, the six rotary joints 301 are integrated with hydraulic push rods 303, with an oil pressure of 20MPa and a reduction ratio of 1:120 for the harmonic reducer 302. In application, the built-in hydraulic push rods 303 in the rotary joints 301 enhance rigidity, suppress vibration during high-speed transport, and ensure the stability of the pallet. The gripper 4 is installed at the end of the six-axis robotic arm 3. The gripper 4 has an anti-slip pad 5 installed on its inner side. In application, by setting the anti-slip pad 5 on the inner side of the gripper 4, the problem of glass slide slippage in traditional gripping can be directly solved, thereby reducing positioning error.

[0022] Reference Figures 1-3 The base 2 has elongated holes 201 arranged in a circular array. The elongated holes 201 are waist-shaped holes. The base 2 can be detachably installed on the digital pathology slide scanner 1 through the elongated holes 201 and fasteners. For example, there are 6 sets of waist-shaped elongated holes 201 in a circular array. The hole length is 15±0.1mm. The fasteners are high-strength bolts (M8 grade) with a preload of 12N·m±10%. In application, the circular array of elongated holes 201 and the waist-shaped hole design allow for fine adjustment of the position of the base 2 to adapt to the differences in scanner structure, while ensuring the installation accuracy of the six-axis robotic arm 3.

[0023] Reference Figure 3 and Figure 4The gripper 4 adopts a linkage hinge structure. The gripper 4 is driven to open and close by a servo motor 401, and the opening and closing force range is 0.5N-10N. For example, the servo motor 401 outputs a torque of 2.5N·m, and the force sensor provides real-time feedback (accuracy ±0.05N). The dynamic range of the clamping force is 0.5N-10N. In application, the gripper 4, which uses a servo-controlled force, adopts a linkage hinge structure in conjunction with the servo motor 401 to accurately control the clamping force (0.5N-10N) to avoid tray deformation or slippage.

[0024] Reference Figure 3 and Figure 4 The anti-slip pad 5 has a multi-layer composite structure. From the inside out, the anti-slip pad 5 consists of a flexible graphite thermal conductive layer 501, a micropillar array silicone layer 502, and a surface biomimetic adhesion layer 503. The flexible graphite thermal conductive layer 501 has a thickness of 0.5-1 mm. The micropillars in the micropillar array silicone layer 502 have a diameter of 50-200 μm, a height of 0.3-0.8 mm, and a spacing of 100-300 μm. The surface biomimetic adhesion layer 503 is a polyurethane material with a gecko-like foot bristle structure and a surface roughness Ra≤0.1 μm. For example, the flexible graphite thermal conductive layer 501 is 0.7 mm thick with a thermal conductivity of 200 W / (m·K), and the micropillar array silicone layer 502 has a diameter of 1 mm. The surface biomimetic adhesion layer 503 is made of polyurethane bristles (Ra=0.07μm) with a diameter of 20μm, a height of 0.6mm, and a spacing of 200μm. In application, a three-layer anti-slip pad composite structure is adopted. The flexible graphite heat-conducting layer 501 can quickly dissipate the motor heat of the six-axis robotic arm 3, preventing high temperature from weakening the adhesion force. The micropillars (diameter 50-200μm, height 0.3-0.8mm) on the micropillar array silicone layer 502 absorb vibration energy through deformation and buffer the impact of high-speed start-up and shutdown. The surface biomimetic adhesion layer 503 is made of polyurethane material (Ra≤0.1μm) that mimics gecko bristles to provide van der Waals force adsorption, is compatible with non-magnetic trays, and does not fall off when power is off.

[0025] Reference Figures 1-4 The six-axis robotic arm 3 has a maximum working radius of ≥800mm and a repeatability of ≤±0.05mm. For example, with a working radius of 850mm, the repeatability is ±0.04mm. In application, it adopts a wide range of high-precision motion. Its working radius of ≥800mm covers the distance from the storage compartment to the scanning position, and the repeatability of ≤±0.05mm can meet the submicron level scanning requirements of pathological slides.

[0026] This utility model provides a slide tray gripping device for a digital pathology slide scanner. Through the synergy of the gripping claw 4 controlled by a servo motor 401 and the three-layer biomimetic anti-slip pad 5, the surface biomimetic adhesion layer 503 overcomes the material limitations of electromagnetic adsorption, realizing reliable gripping of non-magnetic trays such as ceramics and polymers. Combined with precise gripping force control, it avoids tray deformation or slippage caused by traditional pneumatic solutions. Moreover, the mechanical structure still maintains gripping force after power failure to eliminate the risk of falling. The rigidity of the rotary joint 301 is further enhanced by the hydraulic push rod 303, and the ultra-high positioning accuracy is achieved in conjunction with the harmonic reducer 302. The micro-pillar array silicone layer 502 absorbs the vibration energy in high-speed movement and reduces the glass slide displacement error. At the same time, the base 2 with the elongated hole 201 can ensure the installation stability of the robotic arm and suppress vibration transmission from the source.

[0027] It should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solution of this utility model without departing from the spirit and scope of the technical solution of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A slide tray gripping device for a digital pathology slide scanner, comprising a digital pathology slide scanner (1), characterized in that: Also includes: Two bases (2) are detachably mounted on the digital pathology slide scanner (1) by fasteners; A six-axis robotic arm (3) is symmetrically mounted on the base (2) via the base (2). The six-axis robotic arm (3) includes multiple rotary joints (301) and a harmonic reducer (302). A hydraulic push rod (303) is provided at the joint of the rotary joint (301). A gripper (4) is mounted on the end of the six-axis robotic arm (3), and an anti-slip pad (5) is mounted on the inner side of the gripper (4).

2. The slide tray gripping device for a digital pathology slide scanner according to claim 1, characterized in that: The base (2) has elongated holes (201) arranged in a circular array. The elongated holes (201) are waist-shaped holes. The base (2) can be detachably installed on the digital pathology slide scanner (1) through the elongated holes (201) and the fasteners.

3. The slide tray gripping device for a digital pathology slide scanner according to claim 1, characterized in that: The gripper (4) adopts a linkage hinge structure. The gripper (4) is driven to open and close by a servo motor (401), and the opening and closing force range is 0.5N-10N.

4. The slide tray gripping device for a digital pathology slide scanner according to claim 1, characterized in that: The anti-slip pad (5) has a multi-layer composite structure. From the inside to the outside, the anti-slip pad (5) consists of a flexible graphite thermal conductive layer (501), a micro-pillar array silicone layer (502), and a surface biomimetic adhesion layer (503).

5. The slide tray gripping device for a digital pathology slide scanner according to claim 4, characterized in that: The flexible graphite thermal conductive layer (501) has a thickness of 0.5-1 mm, and the micropillar array silicone layer (502) has a micropillar diameter of 50-200 μm, a height of 0.3-0.8 mm, and a spacing of 100-300 μm.

6. The slide tray gripping device for a digital pathology slide scanner according to claim 4, characterized in that: The biomimetic adhesion layer (503) is a polyurethane material with a gecko-like foot bristle structure and a surface roughness Ra≤0.1μm.

7. The slide tray gripping device for a digital pathology slide scanner according to any one of claims 1-6, characterized in that: The six-axis robotic arm (3) has a maximum working radius of ≥800mm and a repeatability of ≤±0.05mm.

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