An automatic embedding device

Abstract

The utility model relates to histopathology section technology field especially, more particularly to a kind of automatic embedding device;Including the mechanical hand of being arranged in multiple embedding work position center or one side;The mechanical hand includes base, vertical setting on the pivot of the base, servo motor for driving the pivot rotation angle and being arranged on the base, lift adjustment seat being arranged on the pivot, and lift drive mechanism for adjusting the position of the lift adjustment seat and being arranged on the pivot, and respectively arranged in the telescopic cylinder and electric control jaw adjusting arm of the both ends of the lift adjustment seat.This utility model designs multiple embedding work positions, and the mechanical hand located in multiple embedding work position center or one side;And utilize the lift drive mechanism on the mechanical hand, rotation adjusting mechanism, and electric control jaw adjusting arm on the lift adjustment seat, the flattening disc of telescopic cylinder;It can realize automatically to carry out tissue embedding operation, to improve operating efficiency.

Description

Technical Field

[0001] This utility model relates to the field of histopathological slide preparation technology, and in particular to an automatic embedding device. Background Technology

[0002] With the continuous development and innovation of science and technology, the medical industry is constantly advancing in technology and is currently in the era of digital and intelligent pathology.

[0003] The process of preparing pathological tissue slides involves many steps and takes a long time, usually requiring 3 to 5 days per cycle. The embedding step is a part of the pathological tissue slide preparation process. The traditional embedding process is cumbersome and relies on the professional operation of personnel, which is time-consuming and inefficient. Utility Model Content

[0004] The purpose of this invention is to provide an automatic embedding device to solve the problem of low efficiency in conventional embedding processes.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: This utility model provides an automatic embedding device, including a robot arm disposed at the center or one side of multiple embedding stations; the robot arm includes a base, a rotating shaft vertically disposed on the base, a servo motor disposed on the base for driving the rotating shaft to rotate, a lifting adjustment seat disposed on the rotating shaft, a lifting drive mechanism disposed on the rotating shaft for adjusting the position of the lifting adjustment seat, and telescopic cylinders and electrically controlled gripper adjustment arms respectively disposed at both ends of the lifting adjustment seat; The telescopic cylinder is equipped with a first identification sensor for detecting different work positions, and a flattening plate is provided at its telescopic end; the electrically controlled gripper adjusting arm is equipped with an electrically controlled gripper and a second identification sensor for detecting different work positions.

[0006] In this embodiment, the lifting drive mechanism further includes an upper support and a lower support disposed on the rotating shaft, a guide rod and a lead screw connecting the upper support and the lower support, and a lead screw motor disposed on the upper support for driving the lead screw; wherein the lifting adjustment seat is disposed on the rotating shaft through a bushing and is also adapted to the lead screw through a lead screw nut seat, and a bushing is also disposed on the lifting adjustment seat at a position corresponding to the guide rod.

[0007] Furthermore in this embodiment, the lead screw motor is a servo motor, the guide rod and the lead screw are symmetrically arranged about the rotating shaft, and the two ends of the lead screw are respectively set on the upper support and the lower support through bearings or couplings; a lifting position sensor for detecting the lifting height of the lifting adjustment seat is also provided at the bottom of the upper support.

[0008] In this embodiment, the lifting drive mechanism is a telescopic cylinder located at the upper end of the rotating shaft.

[0009] In this embodiment, the base is a rotary transmission box, and a rotary shaft sleeve is vertically arranged on the base, communicating with its interior. The lower end of the rotating shaft is disposed in the rotary shaft sleeve through a thrust bearing. A transmission gear is disposed at the lower end of the rotating shaft extending into the base. A servo motor is disposed in the base, and the servo motor is driven by a reducer. A drive gear that meshes with the transmission gear is disposed on the power output shaft of the reducer.

[0010] Furthermore in this embodiment, both the first identification sensor and the second identification sensor are non-contact rotary position sensors.

[0011] Furthermore in this embodiment, multiple embedding stations partially or completely surround the robotic arm.

[0012] Compared with the prior art, the beneficial technical effects of this utility model are as follows: This invention incorporates multiple embedding stations and a robotic arm located at the center or one side of each station. By utilizing the lifting drive mechanism, rotation adjustment mechanism, and electrically controlled gripper adjustment arm and telescopic cylinder flattening plate on the lifting adjustment seat, the tissue embedding operation can be automatically performed, thereby improving operational efficiency. Attached Figure Description

[0013] The present invention will be further described below with reference to the accompanying drawings.

[0014] Figure 1 This is a top view schematic diagram of the installation of the automatic embedding device of this utility model; Figure 2 This is a mechanical schematic diagram of the automatic embedding device of this utility model; Figure 3 This is a partially enlarged schematic diagram of the lifting drive structure of the automatic embedding device of this utility model; Figure 4 This is a partially enlarged schematic diagram of the rotary drive mechanism of the automatic embedding device of this utility model; Figure 5 This is another top view of the installation arrangement of the automatic embedding device of this utility model.

[0015] Explanation of reference numerals in the attached drawings: 1. Base; 2. Rotary bushing seat; 3. Lifting drive mechanism; 31. Lead screw; 32. Lead screw motor; 33. Upper support; 331. Lifting position sensor; 34. Lower support; 4. Lifting adjustment seat; 41. Bushing; 5. Telescopic cylinder; 51. First identification sensor; 52. Flattening plate; 6. Electrically controlled gripper adjusting arm; 61. Electrically controlled gripper; 62. Second identification sensor; 7. Rotating shaft; 71. Transmission gear; 8. Servo motor; 81. Drive gear. Detailed Implementation

[0016] This embodiment discloses an automated embedding device, including a robotic arm disposed at the center or one side of multiple embedding stations; adopting the design... Figure 1 and Figure 5 The multiple embedding stations partially or fully surround the robotic arm.

[0017] Station Z is where the dehydrated tissue, along with its basket, is placed in the corresponding incubator; Station A is a heating platform (temperature: 65℃); Station B is a platform for adding a portion of the wax solution (temperature: 65℃); Station C is a platform to reduce the fluidity of the paraffin wax in the embedding mold (-15℃ < temperature < 65℃); Station D is a demolding platform (room temperature); and the cooling stage is a freezing platform (temperature: -15℃). The above temperature settings are based on the melting point of paraffin wax being 65℃.

[0018] refer to Figure 2 The robotic arm includes a base 1, a rotating shaft 7 vertically mounted on the base 1, a servo motor 8 mounted on the base 1 for driving the rotating shaft 7 to rotate, a lifting adjustment seat 4 mounted on the rotating shaft 7, a lifting drive mechanism 3 mounted on the rotating shaft 7 for adjusting the position of the lifting adjustment seat 4, and telescopic cylinders 5 and electrically controlled gripper adjustment arms 6 respectively mounted on both ends of the lifting adjustment seat 4.

[0019] In use, the servo motor 8 can be controlled to drive the rotating shaft 7 to rotate, which in turn drives the telescopic cylinder 5 and the electrically controlled gripper adjusting arm 6 on the lifting adjustment seat 4 to rotate and adjust, thereby adapting to the adjustment requirements of the above-mentioned workstation.

[0020] refer to Figure 2 and Figure 3 The lifting drive mechanism 3 includes an upper support 33 and a lower support 34 mounted on the rotating shaft 7, a guide rod and a lead screw 31 connecting the upper support 33 and the lower support 34, and a lead screw motor 32 mounted on the upper support 33 and used to drive the lead screw 31; wherein the lifting adjustment seat 4 is disposed on the rotating shaft 7 through a bushing 41, and is also adapted to be connected to the lead screw 31 through a lead screw nut seat, and a bushing is also installed on the lifting adjustment seat 4 at a position corresponding to the guide rod.

[0021] In use, the lead screw motor 32 drives the lead screw 31 to rotate, thereby causing the lifting adjustment seat 4 to rise or fall along the rotating shaft 7.

[0022] In specific implementation, the lead screw motor 32 is a servo motor, and the guide rod and the lead screw 31 are symmetrically installed about the rotating shaft 7 to smoothly guide the lifting adjustment seat 4. The two ends of the lead screw 31 are respectively installed on the upper support 33 and the lower support 34 through bearings or couplings. A lifting position sensor 331 for detecting the lifting height of the lifting adjustment seat 4 is also installed at the bottom of the upper support 33. The lifting position sensor 331 detects the position of the lifting adjustment seat 4. The lifting position sensor 331 transmits the detection data to the controller in real time. At both ends of the lifting adjustment seat 4, a device is installed to detect the vertical height of its end from the work position.

[0023] As an alternative design, the lifting drive mechanism 3 can also be a telescopic cylinder installed on the upper end of the rotating shaft 7; however, this method would increase the overall structural height, which is not conducive to stabilizing the center of gravity, and is not considered a preferred option.

[0024] refer to Figure 4 The base 1 is specifically a rotary transmission box. A rotary shaft sleeve 2 communicating with the interior is vertically installed on the base 1. The lower end of the rotating shaft 7 is installed in the rotary shaft sleeve 2 through a thrust bearing. A transmission gear 71 is installed on the lower end of the rotating shaft 7 extending into the base 1. A servo motor 8 is installed in the base 1. The servo motor 8 is connected to a reducer. A drive gear 81 that meshes with the transmission gear 71 is installed on the power output shaft of the reducer.

[0025] In use, the servo motor 8 drives the reducer, and the drive gear 81 on the reducer meshes with the transmission gear 71 to drive the rotating shaft 7 and its lifting adjustment seat 4, telescopic cylinder 5 and electrically controlled gripper adjustment arm 6 to rotate and adjust it to the top of the corresponding work position.

[0026] refer to Figure 2 The telescopic cylinder 5 is equipped with a first identification sensor 51 for detecting different workstation positions, and a flattening plate 52 is installed at its telescopic end; the electrically controlled gripper adjusting arm 6 is equipped with an electrically controlled gripper 61 and a second identification sensor 62 for detecting different workstation positions. Both the first identification sensor 51 and the second identification sensor 62 are non-contact rotary position sensors.

[0027] The flattening disc 52 is adjusted in height by the telescopic cylinder 5 so that the surface protrusions of the flattening disc 52 that contact the tissue make point contact, allowing the tissue to flatly contact the embedding mold within the embedding mold. The opening and closing range of the electrically controlled gripper 61 is adjusted by a drive, and can be used to pick up, place, and transfer the tissue to be embedded and the embedding mold.

[0028] In this embodiment, reference Figure 1 and Figure 5 The embedding station includes station Z, station A, station B, station C, station D, and a cooling table.

[0029] Station Z is where the dehydrated tissue, along with the basket, is placed in the corresponding incubator; Station A is the heating platform at 65°C; Station B is the platform for adding a portion of the wax solution at 65°C; Station C is the platform that reduces the fluidity of the paraffin wax in the embedding mold at -15°C < temperature < 65°C; Station D is the demolding platform at room temperature; and the cold stage is the freezing platform at -15°C. The above temperature settings are based on the melting point of paraffin wax being 65°C.

[0030] The dehydrated tissue, along with the basket, is placed in the corresponding incubator (65℃), referred to here as position Z. The robotic arm removes the embedding cassette and embedding mold from the corresponding position or basket and places them on the heated platform A (65℃), securing them. The corresponding mechanism disassembles the connecting structure, at which point the gripping mechanism picks up the embedding cassette, and the robotic arm grips the embedding mold, releasing the fixing mechanism on platform A. The robotic arm moves the embedding mold to platform B (65℃) and adds some paraffin wax. It is then moved to platform C (-15℃ < temperature < 65℃) to reduce the fluidity of the paraffin wax in the embedding mold and increase its viscosity. Simultaneously, the flattening mechanism (65℃) is activated, creating protrusions on the surface in contact with the tissue, ensuring the tissue makes flat contact with the embedding mold. The flattening mechanism advances a certain distance and returns to its origin. The robotic arm moves the embedding mold to platform A and places the embedding cassette on it. The robotic arm then moves it to platform B to refill with paraffin wax. After the wax solution is added, the robotic arm moves it to a cold stage (-15℃) for freezing (the cold stage has some storage space). After a period of time, the robotic arm transfers it to platform D (room temperature) for demolding (while waiting for freezing, other automated mechanisms and devices continue to perform corresponding operations). The fixing mechanism on platform D fixes the embedding mold, and the robotic arm clamps the embedding box, separates it, and places it in the designated position. At this time, the embedding mold and the tissue are tightly connected by paraffin wax. Subsequently, platform D releases the fixed embedding mold, and the robotic arm picks it up and moves it to the basket at position Z.

[0031] The above embodiments are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Any modifications and improvements made to the technical solutions of the present invention by those skilled in the art without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. An automatic embedding device, characterized in that: The system includes a robotic arm located at the center or one side of multiple embedding stations; the robotic arm includes a base (1), a rotating shaft (7) vertically mounted on the base (1), a servo motor (8) mounted on the base (1) and used to drive the rotating shaft (7) to rotate, a lifting adjustment seat (4) mounted on the rotating shaft (7), a lifting drive mechanism (3) mounted on the rotating shaft (7) and used to adjust the position of the lifting adjustment seat (4), and telescopic cylinders (5) and electrically controlled gripper adjustment arms (6) respectively mounted at both ends of the lifting adjustment seat (4); The telescopic cylinder (5) is equipped with a first identification sensor (51) for detecting different work positions, and a flattening plate (52) is provided at its telescopic end; the electrically controlled gripper adjusting arm (6) is equipped with an electrically controlled gripper (61) and a second identification sensor (62) for detecting different work positions.

2. The automatic embedding device according to claim 1, characterized in that: The lifting drive mechanism (3) includes an upper support (33) and a lower support (34) mounted on the rotating shaft (7), a guide rod and a lead screw (31) connecting the upper support (33) and the lower support (34), and a lead screw motor (32) mounted on the upper support (33) for driving the lead screw (31); wherein the lifting adjustment seat (4) is mounted on the rotating shaft (7) via a bushing (41) and is adapted to the lead screw (31) via a lead screw nut seat, and a bushing is also mounted on the lifting adjustment seat (4) at a position corresponding to the guide rod.

3. The automatic embedding device according to claim 2, characterized in that: The lead screw motor (32) is a servo motor. The guide rod and the lead screw (31) are symmetrically arranged about the rotating shaft (7). The two ends of the lead screw (31) are respectively set on the upper support (33) and the lower support (34) through bearings or couplings. A lifting position sensor (331) for detecting the lifting height of the lifting adjustment seat (4) is also provided at the bottom of the upper support (33).

4. The automatic embedding device according to claim 1, characterized in that: The lifting drive mechanism (3) is a telescopic cylinder located at the upper end of the rotating shaft (7).

5. The automatic embedding device according to claim 1, characterized in that: The base (1) is a rotary transmission box. A rotary shaft sleeve (2) is vertically arranged on the base (1) and communicates with its interior. The lower end of the rotating shaft (7) is arranged in the rotary shaft sleeve (2) through a thrust bearing. A transmission gear (71) is arranged at the lower end of the rotating shaft (7) extending into the base (1). A servo motor (8) is arranged in the base (1). The servo motor (8) is connected to a reducer. A drive gear (81) that meshes with the transmission gear (71) is arranged on the power output shaft of the reducer.

6. The automatic embedding device according to claim 1, characterized in that: Both the first identification sensor (51) and the second identification sensor (62) are non-contact rotary position sensors.

7. The automatic embedding device according to claim 1, characterized in that: Multiple embedding stations partially or fully surround the robotic arm.

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