Fully automated immunohistochemical stainer, arc door structure and medical laboratory device

Abstract

The present application relates to a fully automated immunohistochemical stainer, an arc door structure and a medical laboratory device. The fully automated immunohistochemical stainer comprises a workbench, a first mechanical arm assembly, a second mechanical arm assembly, incubation module assemblies, a small-capacity reagent storage assembly, a reagent switching and addition assembly and a large-capacity reagent storage assembly. The first mechanical arm assembly and the second mechanical arm assembly can drive sample dispensing probes and spray assemblies to ascend and descend independently, implementing fully automated sample dispensing operation. The two mechanical arm assemblies can perform sample dispensing operation on the plurality of incubation module assemblies at the same time, shortening the overall staining time and improving staining efficiency. The functional assemblies are stacked into a layout, with a compact structure and a small footprint. The arc door structure provided in the embodiments of the present application is easy to operate and occupies little space.

Description

Fully automatic immunohistochemistry staining machine, arc door structure and medical laboratory equipment

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese patent application number 202420620263.1 filed with the Chinese Patent Office on March 27, 2024, entitled “A Circular Arc Door Structure, Medical Laboratory Equipment, and Immunohistochemistry Analyzer”;

[0003] And the priority of the Chinese patent application with application number 202310799469.5 and title “A fully automatic immunohistochemical staining machine” submitted to the China Patent Office on June 30, 2023, the entire contents of which are incorporated by reference into this application. Technical Field

[0004] The present application relates to the technical field of medical equipment, and in particular to a fully automatic immunohistochemical staining machine, an arc door structure, and medical laboratory equipment. Background Art

[0005] The fully automatic immunohistochemical staining machine in the related art uses a robotic arm to automatically add reaction reagents, thereby automating immunohistochemical staining. However, the staining efficiency of the fully automatic immunohistochemical staining machine in the related art is still not high enough, making it difficult to adapt to the increasing number of tests in the department.

[0006] Application Contents

[0007] In order to improve the technical problem that the staining efficiency of existing fully automatic immunohistochemical staining machines is increasingly unable to meet demand, the present invention provides a fully automatic immunohistochemical staining machine, an arc door structure and medical laboratory equipment.

[0008] The technical solutions provided in this application are as follows:

[0009] In the first aspect, an embodiment of the present application provides a fully automatic immunohistochemical staining machine, comprising a workbench, a first robotic arm assembly, a second robotic arm assembly, a plurality of incubation module assemblies, a small-capacity reagent storage assembly, a reagent switching and adding assembly, a cleaning agent liquid supply assembly and a large-capacity reagent storage assembly, wherein the plurality of incubation module assemblies are arranged in a parallel array on the workbench, the small-capacity reagent storage assembly is arranged in the middle of the plurality of incubation module assemblies, the reagent switching and adding assembly, the cleaning agent liquid supply assembly and the large-capacity reagent storage assembly are arranged below the workbench; the first robotic arm assembly and the second robotic arm assembly both comprise an X-axis motion module, a Y-axis motion module, a first Z-axis lifting module and a second Z-axis lifting module, the first Z-axis lifting module and the second Z-axis lifting module are arranged on the Y-axis slide of the Y-axis motion module, the first Z-axis lifting module is provided with a sample adding needle, and the second Z-axis lifting module is provided with a sample adding needle. A spray component is provided, and the sample addition needle and the large-capacity reagent storage component are both connected to the reagent switching and adding component. The reagent switching and adding component is used to draw reagents from the large-capacity reagent storage component and flow out the sample from the sample addition needle. The reagent switching and adding component is also used to draw reagents from the small-capacity reagent storage component through the sample addition needle and then flow out the sample from the sample addition needle; the spray component and the large-capacity reagent storage component are both connected to the cleaning agent liquid supply component, and the cleaning agent liquid supply component is used to draw cleaning agent from the large-capacity reagent storage component and spray cleaning agent from the spray component. The first robotic arm component and the second robotic arm component are configured to drive the sample addition needle to move to add reagents to the incubation module component and to draw reagents from the small-capacity reagent storage component. The first robotic arm component and the second robotic arm component are also configured to drive the spray component to move to spray into the incubation module component.

[0010] By adopting the above technical solution, the small-capacity reagent storage component of the present application is mainly used to place staining reagents with smaller usage; the large-capacity reagent storage component is mainly used to place buffers and cleaning agents with larger usage, or to store waste liquid; the reagent switching and adding component can directly draw reagents from the large-capacity reagent storage component and distribute them to the sampling needle, and can also draw reagents from the small-capacity reagent storage component through the sampling needle, and then add samples to the incubation module component. The cleaning agent liquid supply component draws cleaning agent from the large-capacity reagent storage component and sprays it out from the spray component for cleaning. The first robotic arm component and the second robotic arm component are both provided with a first Z-axis lifting module and a second Z-axis lifting module, which can drive the sampling needle and the spray component to rise and fall independently, thereby realizing fully automated sampling and cleaning operations. This application incorporates two sets of robotic arm assemblies that can simultaneously perform sample loading and spraying operations on multiple incubation module assemblies, shortening overall staining time and improving staining efficiency. The spray assembly can continuously or intermittently spray the reagent reaction area on the slide, effectively avoiding insufficient cleaning force during capillary replacement of reagents, achieving better cleaning results and improving staining quality. If intermittent spraying is used, while ensuring effective cleaning, reagent consumption can be minimized. The functional components are stacked in a compact layout, occupying a small area.

[0011] Optionally, the X-direction motion module includes an X-direction guide rail, the first robotic arm assembly and the second robotic arm assembly are spaced apart in the X-direction and share the X-direction guide rail, the first robotic arm assembly is configured to perform sample loading and cleaning operations on the incubation module assembly located on one side of the small-capacity reagent storage assembly in the X-direction, and the second robotic arm assembly is configured to perform sample loading and cleaning operations on the incubation module assembly located on the other side of the small-capacity reagent storage assembly in the X-direction.

[0012] By adopting the above technical solution and rationally staggering the use of intermediate small-capacity reagent storage components through the scheduling control program, sample addition and spraying operations can be performed on multiple incubation module components at the same time, shortening the overall staining time and improving staining efficiency.

[0013] Optionally, there are two sets of incubation module components on each side of the small-capacity reagent storage component.

[0014] By adopting the above technical solution, there are four groups of incubation module components, and the detection volume is large.

[0015] Optionally, the first Z-direction lifting module includes a first lifting rod, a first driving motor and a spline shaft. The first lifting rod is slidably arranged on the Y-direction slider of the Y-direction motion module. The spline shaft is parallel to the Y-direction. The side wall of the first lifting rod is provided with bar teeth engaged with the spline shaft. The first driving motor is provided on the X-direction slider of the X-direction motion module and is configured to drive the spline shaft to rotate. The rotation of the spline shaft drives the first lifting rod to rise and fall. The sample addition needle is provided at the lower end of the first lifting rod. The first lifting rod is a hollow rod with a first liquid tube inside. The sample addition needle is connected to the reagent switching and adding component through the first liquid tube.

[0016] By adopting the above technical solution, the volume of the first drive motor is also larger. After being placed on the X-axis slider, the Y-axis motion module can be designed to be thinner. In this way, the width of the fully automatic immunohistochemistry staining machine can be further shortened, making it more miniaturized and occupying less space, and the staining machine can be more easily placed in the testing room.

[0017] Optionally, the second Z-direction lifting module includes a second lifting rod, a second drive motor and a screw transmission assembly. The second lifting rod is slidably arranged on the Y-direction slider of the Y-direction motion module. The second drive motor and the screw transmission assembly are both arranged on the mounting frame of the Y-direction motion module. The second drive motor drives the second lifting rod to rise and fall through the screw transmission assembly. The spray assembly is arranged at the lower end of the second lifting rod. The second lifting rod is a hollow rod with a second liquid pipe inside. The spray assembly is connected to the reagent switching and adding assembly through the second liquid pipe.

[0018] By adopting the above technical solution, since the space on the X-axis slider is limited and it is difficult to place two drive motors, this application adopts a traditional lifting solution to place the second drive motor and the screw transmission assembly on the Y-axis slider.

[0019] Optionally, the incubation module assembly includes a slide placement tray, a heating block, a confluence plate, an air-liquid separation assembly and a liquid collecting funnel. The slide placement tray is placed above the heating block so that the lower surface of the slide is in direct contact with the heating block. The confluence plate is located below the slide placement tray and is used to receive waste liquid. A negative pressure drainage port is provided at the lower end of the confluence plate. The air-liquid separation assembly is connected to an external negative pressure source. The upper end of the air-liquid separation assembly is connected to the negative pressure drainage port of the confluence plate, the lower end of the air-liquid separation assembly is connected to the liquid collecting funnel, and the lower end of the liquid collecting funnel is connected to the waste liquid bottle.

[0020] By adopting the above technical solution, when the slide placement tray is placed in the incubation module assembly, the heating block can heat the slide according to actual needs to ensure the temperature required during the staining step; the manifold can collect the waste liquid generated after the reaction is completed, and enter the gas-liquid separation assembly through the negative pressure drainage port for gas-liquid separation. The waste liquid then flows into the liquid collecting funnel and finally into the waste liquid bottle.

[0021] Optionally, a liquid level sensor is provided on the sample loading needle, and the liquid level sensor is configured to detect the liquid level of the corresponding reagent bottle in the small-capacity reagent storage assembly when the sample loading needle draws reagent from the small-capacity reagent storage assembly. The first Z-axis lifting module is configured to continue to drive the sample loading needle downward for a distance when the sample loading needle contacts the liquid surface, so that the sample loading needle is immersed below the liquid surface.

[0022] By adopting the above technical solution, the liquid level sensor can ensure that the sample injection needle can absorb the reagent, and can also make the residual amount of reagent in the small-capacity reagent storage component very small, thereby reducing waste.

[0023] Optionally, a cleaning pool is further provided on the workbench, and the sample addition needle or spray assembly is further configured to add cleaning agent into the cleaning pool. A liquid extraction port is provided at the bottom of the cleaning pool, and the waste liquid in the cleaning pool is extracted into the waste liquid bottle through the liquid extraction component. The sample addition needle is extended into the cleaning pool to clean the residual liquid on the inner and outer walls.

[0024] By adopting the above technical solution, the purpose of setting up the cleaning pool is mainly to clean the residual liquid on the inner and outer walls of the sampling needle to avoid mutual contamination between reagents in the sampling needle.

[0025] Optionally, a mixing station is provided next to the cleaning pool, and the sample adding needle is further configured to draw multiple reagents from a small-capacity reagent storage component to the mixing station for mixing, and then add the mixed liquid to the incubation module component.

[0026] By adopting the above technical solution, some reagents with mixed ingredients cannot be stored for a long time and must be prepared freshly when used. This application sets up a mixing station, and multiple reagents can be added to the mixing station. The sample needle can be aspirated or stirred multiple times to achieve a uniform mixing effect, which solves the defect that traditional equipment cannot automatically add some mixed reagents.

[0027] Optionally, the cleaning pool is further provided with a negative pressure drainage liquid suction point, which is configured to remove liquid remaining at the bottom of the spray assembly.

[0028] By adopting the above technical solution, it is prevented that the liquid remaining at the bottom of the spray assembly drips onto the incubation module assembly during the movement.

[0029] In the second aspect, an embodiment of the present application provides a fully automatic immunohistochemistry staining machine, comprising a workbench, a first robotic arm assembly, a second robotic arm assembly, multiple incubation module assemblies, a small-capacity reagent storage assembly, a reagent switching and adding assembly, and a large-capacity reagent storage assembly, wherein the multiple incubation module assemblies are arranged on the workbench, and the small-capacity reagent storage assembly is arranged between the multiple incubation module assemblies; the first robotic arm assembly and the second robotic arm assembly are both provided with a sample adding needle, and the sample adding needle and the large-capacity reagent storage assembly are both connected to the reagent switching and adding assembly, and the reagent switching and adding assembly is configured to draw reagents from the large-capacity reagent storage assembly and flow out the sample from the sample adding needle, and the reagent switching and adding assembly is also configured to draw reagents from the small-capacity reagent storage assembly through the sample adding needle, and then flow out the sample from the sample adding needle; the first robotic arm assembly and the second robotic arm assembly are configured to drive the sample adding needle to move so as to add reagents to the incubation module assembly and draw reagents from the small-capacity reagent storage assembly.

[0030] In a third aspect, an embodiment of the present application provides an arc door structure, comprising:

[0031] A support frame having an operation window and being configured to be disposed above an operation space of the working equipment, wherein a guide structure is provided on the support frame; and

[0032] The arc door is provided with a limiting structure matched with the guide structure and has a travel that slides up and down along the guide structure. When the arc door is in the upper position, the operation window is opened, and when the arc door is in the lower position, the sealing cover is closed on the operation window.

[0033] In a fourth aspect, an embodiment of the present application provides a medical experimental device, comprising a working device and the arc door structure of the third aspect, wherein the arc door structure is installed on the working device.

[0034] This application includes at least one of the following beneficial technical effects:

[0035] The first robotic arm assembly and the second robotic arm assembly in the fully automatic immunohistochemistry staining machine of the present application can drive the sample adding needle to move independently, realizing fully automated sample adding operations, and can perform sample adding operations on multiple incubation module assemblies at the same time, shortening the overall staining time and improving staining efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] FIG1 is a perspective view of the fully automatic immunohistochemical staining machine according to an embodiment of the present application;

[0037] FIG2 is a perspective view of the first robotic arm assembly and the second robotic arm assembly according to an embodiment of the present application;

[0038] FIG3 is a perspective view of the first robotic arm assembly according to an embodiment of the present application;

[0039] FIG4 illustrates a perspective view of the first robotic arm assembly from another angle according to an embodiment of the present application;

[0040] FIG5 is a perspective view of the incubation module assembly according to an embodiment of the present application;

[0041] FIG6 illustrates a perspective view of the incubation module assembly from another angle according to an embodiment of the present application;

[0042] FIG7 is a perspective view of the busbar according to an embodiment of the present application;

[0043] FIG8 is a perspective view of a cleaning pool according to an embodiment of the present application;

[0044] FIG9 is a schematic diagram of the three-dimensional structure of an arc revolving door structure in one embodiment of the present application;

[0045] FIG10 is a partial enlarged schematic diagram of portion A in FIG9 ;

[0046] FIG11 is a partial enlarged schematic diagram of portion B in FIG9 ;

[0047] FIG12 is a schematic diagram of an exploded structure of a guide assembly in one embodiment of the present application;

[0048] FIG13 is a schematic cross-sectional view of a guide wheel in one embodiment of the present application;

[0049] FIG14 is a schematic cross-sectional view of a circular arc revolving door structure according to an embodiment of the present invention;

[0050] FIG15 is a partial enlarged schematic diagram of portion C in FIG14;

[0051] FIG16 is a schematic diagram of an arc door structure applied to a fully automatic immunohistochemical staining machine in one embodiment of the present application.

[0052] Explanation of reference numerals: 1. workbench; 2. first robot arm assembly; 21. X-axis motion module; 211. X-axis guide rail; 212. X-axis slider; 22. Y-axis motion module; 221. Y-axis slider; 23. first Z-axis lifting module; 231. first lifting rod; 2311. bar gear; 232. first drive motor; 233. spline shaft; 234. first liquid pipe; 24. second Z-axis lifting module; 241. second lifting rod; 242. second liquid pipe; 3. second robot Arm assembly; 4. Incubation module assembly; 41. Slide tray; 42. Heating block; 43. Manifold; 431. Negative pressure drainage port; 44. Gas-liquid separation assembly; 45. Collection funnel; 5. Small-volume reagent storage assembly; 6. Reagent switching and addition assembly; 7. Large-volume reagent storage assembly; 8. Sample injection needle; 9. Spray assembly; 10. Cleaning tank; 101. Liquid extraction port; 102. Negative pressure drainage aspiration level; 11. Detergent liquid supply assembly; 12. Mixing station; 13. Cleaning tank;

[0053] 01. Support frame; 011. Operation window; 012. Support plate; 013. U-shaped rod; 02. Arc door; 03. Guide structure; 031. Guide wheel; 0311. Rotating shaft; 0312. Upper roller; 0313. Lower roller; 0314. Rolling bearing; 032. Arc groove; 033. Fixed seat; 0331. Mounting hole; 034. Gear; 04. Limiting structure; 041. Arc guide rail; 042. Connecting plate; 0421. Jack; 043. Rack; 05. Power assist member; 0 51. Traction rope; 0511. First traction rope; 0512. Second traction rope; 052. First elastic element; 053. Pulley block; 0531. Fixed pulley; 0532. Movable pulley; 06. Buffer; 061. Mounting seat; 062. Second elastic element; 063. Buffer column; 07. Push handle; 08. Display screen; 09. Drag chain; 010. Working equipment; 020. Operating platform; 030. Operating space; 040. Support plate; 050. Limit sleeve; 060. Limit column. DETAILED DESCRIPTION

[0054] The present application is further described in detail below with reference to Figures 1-8.

[0055] With reference to Figure 1, the embodiment of the present application discloses a fully automatic immunohistochemical staining machine, comprising a workbench 1, a first robotic arm assembly 2, a second robotic arm assembly 3, a plurality of incubation module assemblies 4, a small-capacity reagent storage assembly 5, a reagent switching and adding assembly 6, and a large-capacity reagent storage assembly 7. A plurality of incubation module assemblies 4 are arranged on the workbench 1. Optionally, a plurality of incubation module assemblies 4 are arranged in a parallel array on the workbench 1. The small-capacity reagent storage assembly 5 is arranged between the plurality of incubation module assemblies 4. For example, the small-capacity reagent storage assembly 5 is provided with a plurality of incubation module assemblies 4 on both sides in the X direction (i.e., the left and right sides in Figure 1). Optionally, the reagent switching and adding assembly 6 and the large-capacity reagent storage assembly 7 are arranged below the workbench 1. Optionally, the large-capacity reagent storage assembly 7 includes a plurality of barrels, and the plurality of barrels can be used to store different reagents, such as buffers, detergents, etc.; optionally, some of the barrels can also be used to store waste liquid.

[0056] Optionally, the first robotic arm assembly 2 and the second robotic arm assembly 3 have the same structure. In this embodiment, the first robotic arm assembly 2 includes an X-axis motion module 21, a Y-axis motion module 22, a first Z-axis lifting module 23, and a second Z-axis lifting module 24. The first Z-axis lifting module 23 and the second Z-axis lifting module 24 are arranged on the Y-axis slider 221 of the Y-axis motion module 22. The first Z-axis lifting module 23 is provided with a sample injection needle 8. The sample injection needle 8 and the large-capacity reagent storage assembly 7 are both connected to the reagent switching and adding assembly 6. The reagent switching and adding assembly 6 is configured to draw reagent from the large-capacity reagent storage assembly 7 and flow it out from the sample injection needle 8 for injection. The reagent switching and adding assembly 6 is also configured to draw reagent from the small-capacity reagent storage assembly 5 through the sample injection needle 8 and then flow it out from the sample injection needle 8 for injection. The first robotic arm assembly 2 and the second robotic arm assembly 3 are configured to drive the sample injection needle 8 to move to add reagent to the incubation module assembly 4 and draw reagent from the small-capacity reagent storage assembly 5.

[0057] Optionally, a spray assembly 9 is provided on both the first robotic arm assembly 2 and the second robotic arm assembly 3; optionally, the spray assembly 9 is provided on the second Z-direction lifting module 24. Optionally, the fully automatic immunohistochemical staining machine further comprises a detergent liquid supply assembly 11. The spray assembly 9 and the large-capacity reagent storage assembly 7 are both connected to the detergent liquid supply assembly 11, and the detergent liquid supply assembly 11 is configured to draw detergent from the large-capacity reagent storage assembly 7 and spray out cleaning from the spray assembly 9. The first robotic arm assembly 2 and the second robotic arm assembly 3 are configured to drive the sample needle 8 to move to add reagents to the incubation module assembly 4 and draw reagents from the small-capacity reagent storage assembly 5. The first robotic arm assembly 2 and the second robotic arm assembly 3 are also configured to drive the spray assembly 9 to move to spray into the incubation module assembly 4. Spray cleaning needs to achieve a spraying effect and requires a large spraying pressure. Therefore, in this embodiment, a detergent liquid supply assembly 11 is separately provided, and a liquid circuit is separately provided to supply the detergent required for spraying. Alternatively, the cleaning agent supply assembly 11 can first draw cleaning agent from the large-capacity reagent storage assembly 7 into a transfer bottle (not shown), and then into the spray assembly 9. Alternatively, the pumping and drainage systems of the sample injection needles 8 on the first and second robotic arm assemblies 2 and 3 are shared, with two valves at the end of the transfer bottle splitting into two spray paths.

[0058] The spray assembly 9 in the embodiment of the present application can continuously or intermittently spray the reagent reaction area to avoid insufficient cleaning force during capillary replacement of the reagent, achieve better cleaning effect, improve dyeing quality, and use the jet generated by intermittent spraying to ensure the cleaning effect while minimizing reagent consumption to the greatest extent.

[0059] With reference to Figures 1 and 2, the first robot arm assembly 2 and the second robot arm assembly 3 are located on the workbench 1 and are spaced apart in the X direction, that is, the two are arranged on the left and right sides of the workbench 1 respectively. In the present embodiment, the first robot arm assembly 2 and the second robot arm assembly 3 share the X-guide rail 211, and the first robot arm assembly 2 is configured to perform sample addition and cleaning operations on the incubation module assembly 4 of the small-capacity reagent storage assembly 5 on the X-side (left side in the figure), and the second robot arm assembly 3 is configured to perform sample addition and cleaning operations on the incubation module assembly 4 of the small-capacity reagent storage assembly 5 on the other side (right side in the figure). The small-capacity reagent storage assembly 5 has two groups of incubation module assemblies 4 on opposite sides in the X direction, with a total of four groups, and a large amount of detection. By rationally dislocating the use of the middle small-capacity reagent storage assembly 5 through the scheduling control program, sample addition and spraying operations can be performed on multiple incubation module assemblies 4 at the same time, shortening the overall dyeing time and improving dyeing efficiency.

[0060] 3 and 4 , the first Z-direction lifting module 23 includes a first lifting rod 231, a first driving motor 232 and a spline shaft 233. The first lifting rod 231 is slidably arranged on the Y-direction slider 221 of the Y-direction motion module 22. The spline shaft 233 is parallel to the Y direction. The side wall of the first lifting rod 231 is provided with a bar tooth 2311 engaged with the spline shaft 233. The first driving motor 232 is provided on the X-direction slider 212 of the X-direction motion module 21 and is configured to drive the spline shaft 233 to rotate. The rotation of the spline shaft 233 drives the first lifting rod 231 to rise and fall. The sample adding needle 8 is provided at the lower end of the first lifting rod 231. The first lifting rod 231 is a hollow rod with a first liquid pipe 234 provided inside. The sample adding needle 8 is connected to the reagent switching and adding component 6 through the first liquid pipe 234.

[0061] Since the heavier first drive motor 232 is placed on the X-direction slider 212 of the X-direction motion module 21, rather than on the Y-direction slider 221, the spline shaft 233 does not need to be mounted on the Y-direction slider 221. Therefore, neither the first drive motor 232 nor the spline shaft 233 need to move with the Y-direction slider 221, thereby reducing the load on the Y-direction motion module 22. The strip teeth 2311 on the side wall of the first lifting rod 231 can move axially along the spline shaft 233, thereby not affecting the movement of the Y-direction slider 221. Furthermore, the first drive motor 232 is also relatively large. By placing it on the X-direction slider 212, the Y-direction motion module 22 can be designed to be thinner, thereby further shortening the width of the fully automatic immunohistochemical staining machine, making it more compact, occupying less space, and more easily placed in the testing room. The sample addition needle 8 is connected to the reagent switching and adding component 6 through the first liquid tube 234, and can perform sample addition operations, and absorb reagents from the small-capacity reagent storage component 5, and then perform sample addition operations. The first liquid tube 234 is built-in, fixed reliably, and not easy to shake. The first robotic arm component 2 and the second robotic arm component 3 can correspondingly increase the operating speed.

[0062] 3 and 4 , the second Z-direction lifting module 24 includes a second lifting rod 241, a second drive motor (not shown) and a screw transmission assembly (not shown). The second lifting rod 241 is slidably arranged on the Y-direction slider 221 of the Y-direction motion module 22. The second drive motor and the screw transmission assembly are both arranged on the mounting frame of the Y-direction motion module 22. The second drive motor drives the second lifting rod 241 to rise and fall through the screw transmission assembly. The spray assembly 9 is arranged at the lower end of the second lifting rod 241. The second lifting rod 241 is a hollow rod with a second liquid pipe 242 inside. The spray assembly 9 is connected to the reagent switching and adding assembly 6 through the second liquid pipe 242.

[0063] Since the space on the X-direction slider 212 is limited and it is difficult to place two drive motors, the present application adopts a traditional lifting solution to place the second drive motor and the screw transmission assembly on the Y-direction slider 221.

[0064] In an optional embodiment, the sample addition needles 8 on the first robotic arm assembly 2 and the second robotic arm assembly 3 can both achieve sampling and sample addition through the same reagent switching and adding assembly 6, and the spraying assemblies 9 on the first robotic arm assembly 2 and the second robotic arm assembly 3 can both achieve spraying operations through the same cleaning agent liquid supply assembly 11.

[0065] In other optional embodiments, the cleaning agent supply assembly 11 in the above embodiment can also be replaced with another reagent switching and adding assembly 6, that is, the fully automatic immunohistochemical staining machine includes two reagent switching and adding assemblies 6. Among them, the sample injection needle 8 and the large-capacity reagent storage assembly 7 on the first robotic arm assembly 2 are both connected to the first reagent switching and adding assembly 6, and the sample injection needle 8 and the large-capacity reagent storage assembly 7 on the second robotic arm assembly 3 are both connected to the second reagent switching and adding assembly 6 (that is, the reagent switching and adding assembly 6 that replaces the cleaning agent supply assembly 11). Optionally, the spray assembly 9 and the large-capacity reagent storage assembly 7 on the first robotic arm assembly 2 are both connected to the first reagent switching and adding assembly 6, and the spray assembly 9 and the large-capacity reagent storage assembly 7 on the second robotic arm assembly 3 are both connected to the second reagent switching and adding assembly 6; the reagent switching and adding assembly 6 is also configured to draw cleaning agent from the large-capacity reagent storage assembly 7 and spray cleaning agent from the spray assembly 9, and the first robotic arm assembly 2 and the second robotic arm assembly 3 are configured to drive the spray assembly 9 to move so as to spray into the incubation module assembly 4. In other words, the reagent switching and adding assembly 6 has both the function of adding reagents and the function of spraying operations. The two reagent switching and adding assemblies 6 can realize simultaneous sample addition or simultaneous spraying operations through the first robotic arm assembly 2 and the second robotic arm assembly 3, respectively, thereby improving operating efficiency.

[0066] In other optional embodiments, two reagent switching and adding components 6 can also be used to respectively realize the sampling and adding operations of the first robotic arm component 2 and the second robotic arm component 3, and a cleaning agent liquid supply component 11 (which can be set at other positions under the workbench 1) can be provided to realize the spraying operation of the first robotic arm component 2 and the second robotic arm component 3.

[0067] 5 to 7 , the incubation module assembly 4 includes a slide placement tray 41, a heating block 42, a conduit 43, an air-liquid separation assembly 44, a liquid collecting funnel 45 and a waste liquid bottle (not shown). The slide placement tray 41 is placed above the heating block 42 so that the lower surface of the slide is in direct contact with the heating block 42. The conduit 43 is located below the slide placement tray 41 and is configured to receive waste liquid. A negative pressure drainage port 431 is provided at the lower end of the conduit 43. The air-liquid separation assembly 44 is connected to an external negative pressure source, the upper end of which is connected to the negative pressure drainage port 431 of the conduit 43, and the lower end is connected to the liquid collecting funnel 45. The lower end of the liquid collecting funnel 45 is connected to the waste liquid bottle.

[0068] In an optional embodiment, one or more barrels in the large-capacity reagent storage assembly 7 can be used as a waste liquid bottle. For example, when two barrels in the large-capacity reagent storage assembly 7 are used as waste liquid bottles, one of the barrels is used to store toxic waste liquid, and the other barrel is used to store non-toxic waste liquid.

[0069] When the slide tray 41 is placed in the incubation module assembly 4, the heating block 42 can heat the slide according to actual needs to ensure the temperature required during the staining step; the manifold 43 can collect the waste liquid generated after the reaction is completed, and enter the gas-liquid separation assembly 44 through the negative pressure drainage port 431 for gas-liquid separation, and the waste liquid then flows into the liquid collecting funnel 45 and finally into the waste liquid bottle.

[0070] In the present application, the sample adding needle 8 is provided with a liquid level sensor (not shown). When the sample adding needle 8 draws reagent from the small-capacity reagent storage assembly 5, it is configured to detect the liquid level of the corresponding reagent bottle in the small-capacity reagent storage assembly 5. When the sample adding needle 8 contacts the liquid level, the first Z-direction lifting module 23 continues to drive the sample adding needle 8 to move downward for a distance so that the sample adding needle 8 is immersed below the liquid level. Generally, the liquid level sensor is set at the lower end of the sample adding needle 8, which can ensure that the sample adding needle 8 draws reagent and can also make the residual amount of reagent in the small-capacity reagent storage assembly 5 very small, reducing waste. The liquid level sensor is also beneficial to prevent the insertion depth of the sample adding needle 8 from being too deep, avoiding the contact surface between the outside of the sample adding needle 8 and the reagent from being too large, thereby facilitating cleaning.

[0071] Referring to Figures 1 and 8, the workbench 1 is also provided with a cleaning tank 10. The sample injection needle 8 or spray assembly 9 is also configured to add cleaning agent to the cleaning tank 10. A liquid extraction port 101 is provided at the bottom of the cleaning tank 10. The waste liquid in the cleaning tank 10 is extracted to a waste liquid bottle through the liquid extraction component. The sample injection needle 8 extends into the cleaning tank 10 to clean the residual liquid on the inner and outer walls. Since the sample injection needle 8 needs to add multiple reagents, in order to avoid cross-contamination between reagents, the sample injection needle 8 needs to be cleaned before adding new reagents. The interior of the sample injection needle 8 is generally rinsed by extracting cleaning agent through the reagent switching and addition assembly 6, while the exterior of the sample injection needle 8 is mainly cleaned in the cleaning tank 10. Specifically, a cleaning tank 13 is provided on the cleaning tank 10, and the cleaning of the sample injection needle 8 is achieved in the cleaning tank 13. In a specific scenario, when the sample injection needle 8 spits out cleaning agent, a liquid backflow is formed at a specific position in the cleaning tank 13, achieving the effect of cleaning the exterior of the sample injection needle 8, and the generated waste liquid is extracted from the bottom liquid extraction port 101. Since the flow rate of the spray component 9 is relatively large, liquid is likely to remain at the bottom after spraying. During the movement, the residual liquid is likely to drip downwards and may drip onto the incubation module component 4, causing adverse effects. Therefore, optionally, a negative pressure drainage liquid suction level 102 is further provided on the cleaning pool 10. The negative pressure drainage liquid suction level 102 is configured to remove the liquid remaining at the bottom of the spray component 9. In addition, a mixing station 12 is further provided on the cleaning pool 10, and the sample adding needle 8 is further configured to draw a variety of reagents from the small-capacity reagent storage component 5 to the mixing station 12 for mixing, and then add the mixed liquid to the incubation module component 4. Some reagents with mixed components cannot be stored for a long time and must be prepared freshly when used. The present application sets a mixing station 12, and a variety of reagents can be added to the mixing station 12. The sample adding needle 8 aspirates or stirs multiple times to achieve a uniform mixing effect before use, which solves the defect that traditional equipment cannot automatically add some mixed reagents.

[0072] There are two groups of cleaning pools 10 in the embodiment of the present application, which are respectively arranged on the left and right sides of the workbench 1 and are used by the first robotic arm assembly 2 and the second robotic arm assembly 3 respectively.

[0073] The implementation principle of the present application is as follows: the small-capacity reagent storage component 5 of the present application can be used to store some more expensive staining reagents, and the large-capacity reagent storage component 7 can be used to store some inexpensive but large-volume buffers and cleaning agents. The reagent switching and adding component 6 can directly draw reagents from the large-capacity reagent storage component 7 and distribute them to the sample adding needle 8. It can also draw reagents from the small-capacity reagent storage component 5 through the sample adding needle 8 and then add samples to the incubation module component 4. The cleaning agent liquid supply component 11 draws cleaning agent from the large-capacity reagent storage component 7 and sprays it out for cleaning from the spray component 9. The first robotic arm component 2 and the second robotic arm component 3 are both provided with a first Z-direction lifting module 23 and a second Z-direction lifting module 24, which can drive the sample adding needle 8 and the spray component 9 to rise and fall independently, thereby realizing fully automated sample adding and cleaning operations. This application sets up two sets of robotic arm components. Through the scheduling control program, the middle small-capacity reagent storage component 5 is rationally staggered to use, which can simultaneously perform sample addition and spray operations on multiple incubation module components 4, shortening the overall staining time and improving staining efficiency. The spray component 9 can continuously or intermittently spray the reagent reaction area on the slide, effectively avoiding the lack of cleaning force during the capillary replacement of the reagent, achieving better cleaning effect and improving the staining quality. If intermittent spraying is used, while ensuring the cleaning effect, it can also minimize reagent consumption. The functional components are stacked in a layout, with a compact structure and a small footprint.

[0074] The embodiment of the present application also provides a medical experimental device, referring to Figures 9 to 15, comprising a working device 010 and an arc door structure, wherein the working device 010 has an operating platform 020, and the arc door structure is installed on the working device 010. The two end faces of the arc door 02 are sealed. When the arc door is closed, a closed working environment can be provided for the working device 010. Optionally, the medical experimental device can be an immunohistochemical instrument, a staining machine, a frozen slicer, etc., or other equipment. For example, the medical experimental device can be the fully automatic immunohistochemical staining machine provided in the above embodiment of the present application. In other words, the arc door structure provided in the embodiment of the present application can be applied to the fully automatic immunohistochemical staining machine provided in the above embodiment of the present application, as shown in Figure 16.

[0075] The following description uses the fully automatic immunohistochemical staining machine provided in the aforementioned embodiment of this application as an example of medical laboratory equipment. In conjunction with Figures 1 to 8 , in this embodiment, the working device 010 can be the sum of the workbench 1, first robotic arm assembly 2, second robotic arm assembly 3, multiple incubation module assemblies 4, small-capacity reagent storage assembly 5, reagent switching and addition assembly 6, detergent supply assembly 11, and large-capacity reagent storage assembly 7 of the fully automatic immunohistochemical staining machine. Specifically, in this embodiment, the arc door structure is provided on the workbench 1 (equivalent to the operating platform 020 of the working device 010).

[0076] Referring to Figure 9, the arc door structure includes a support frame 01, which is positioned above the operating space 030 of the fully automatic immunohistochemical staining machine and has an operating window 011. Window 011 is connected to the operating space 030 of the fully automatic immunohistochemical staining machine. Support frame 01 is provided with an arc-shaped guide structure 03 and an arc door 02. Arc door 02 slidably cooperates with guide structure 03 and has a travel range for sliding up and down along guide structure 03. Within this travel range, arc door 02 has an upper position and a lower position. When arc door 02 is in the upper position, operating window 011 is opened. When arc door 02 is in the lower position, operating window 011 is sealed.

[0077] The support frame 01 includes a support plate 012 and a U-shaped rod 013 located at both ends of the support plate 012. The two ends of the support plate 012 are respectively connected to the two U-shaped rods 013 in a one-to-one manner, so that one side of the support frame 01 is sealed and the other side forms an operation window 011. When the arc door 02 is in the upper position, the operation window 011 is opened, and the staff can place experimental equipment, raw materials and samples on the operating platform 020 (equivalent to the workbench 1 of the fully automatic immunohistochemistry staining machine in the above embodiment). When the preparation work is completed, push the arc door 02 so that the arc door 02 is in the lower position to seal the cover on the operation window 011. The operating space 030 is sealed to provide a closed environment for the experiment. At this time, the staff operates the work equipment 010 to conduct the experiment.

[0078] Correspondingly, it also includes a drag chain 09 and a display screen 08 provided on the arc door 02. When the arc door 02 covers the operating window 011, the display screen 08 faces the staff. The staff inputs instructions on the display screen 08 to operate the working equipment 010, and the drag chain 09 is configured to accommodate electrical circuits connected to the display screen 08. The drag chain 09 is generally U-shaped, with one end connected to the support frame 01 and the other end connected to the arc door 02 to facilitate wiring and prevent the electrical circuits from being damaged during the pushing and pulling of the arc door 02.

[0079] In addition, combined with Figure 11, limiting sleeves 070 and two groups of limiting columns 080 on both sides of the limiting sleeves 070 are provided on both sides of the working equipment 010. In this embodiment, two limiting columns 080 are used as a group, and the two limiting columns 080 are diagonally distributed relative to the limiting sleeve 070. The limiting sleeve 070 is plugged into the drag chain 09. By setting the limiting sleeve 070 and the limiting column 080, the movement trajectory of the drag chain 09 is constrained.

[0080] 9 and 10 , the arc door 02 is provided with a corresponding limiting structure 04 that cooperates with the guide structure 03. In one embodiment, the guide structure 03 includes an arc groove 032 provided at both ends of the support frame 01. The arc door 02 is provided with a roller (not shown in the figure), and the roller slides in the arc groove 032 so that the arc door 02 has an up and down sliding stroke along the arc groove 032. When the arc door 02 is pushed to slide, the arc door 02 will slide along the opening direction of the arc groove 032, and the moving trajectory will be constrained by the arc groove 032 to improve the stability of the sliding and pulling arc door 02.

[0081] It should be noted that the arc groove here can be additionally opened on the side where the two U-shaped rods 013 are close to each other, or the U-shaped rod 013 can be integrally formed and have an arc groove 032 on the side close to the arc door 02.

[0082] In another embodiment, the arc groove 032 may not be provided on the support frame 01, and the clearance between the U-shaped rod and the support plate 012 is matched to form a limiting space for limiting the arc door 02 for the insertion of the arc door 02, thereby achieving the same restraining effect as the arc groove 032.

[0083] Further, in combination with Figure 12, in other embodiments, the guide structure 03 includes multiple guide wheel groups, the number of guide wheel groups is preferably two groups, each guide wheel group includes two guide wheels 031, and multiple guide wheel 031 groups are arranged on the support plate 012 at intervals along the sliding direction of the arc door 02, and the limiting structure 04 includes an arc guide rail 041, which is installed on the arc door 02, inserted between the two guide wheels 031 in each guide wheel group and slidably connected to the guide wheel 031.

[0084] When the arc door 02 is pushed, the arc guide rail 041 installed on the arc door 02 will be guided and limited by the guide wheel 031 group, thereby facilitating the pushing of the arc door 02 and improving the stability of the sliding arc door 02.

[0085] In this embodiment, the guide structure 03 includes the above-mentioned arc groove 032 and the guide wheel group, and the limiting structure 04 includes the above-mentioned arc guide rail 041, that is, the above-mentioned two methods of restraining the arc door 02 are used at the same time to further improve the stability of the sliding arc door 02.

[0086] Furthermore, in other embodiments, a fixing seat 033 configured to install a guide wheel group is provided on the support plate 012, a mounting hole 0331 is provided on the fixing seat 033, and a gear 034 is rotatably connected in the mounting hole 0331. Correspondingly, a rack 043 capable of engaging with the gear 034 is installed on one side of the arc guide rail 041 close to the fixing seat 033.

[0087] Among them, gear 034 is driven by a motor (not shown in the figure). When the motor rotates, gear 034 drives rack 043, causing arc guide rail 041 to slide. The forward and reverse rotation of the motor realizes the automatic opening and closing of arc door 02. In addition, a damper (not shown in the figure) can be connected to the other side of gear 034 to prevent the sudden change of force when opening and closing arc door 02, thereby balancing the force on arc door 02. In other optional embodiments, gear 034 can also be manually driven, for example, by a handle connected to gear 034, so that the opening and closing of arc door 02 can be driven manually.

[0088] When pushing or pulling the revolving door, the arc guide rail 041 slides relative to the fixed seat 033. During the sliding process, the arc guide rail 041 will push the guide wheel 031 to rotate, and driven by the rack 043, the gear 034 will also rotate. The cooperation between the rack 043 and the gear 034 ensures the smooth movement of the arc door 02.

[0089] It should be noted that, in other embodiments, the guide wheel 031 set and the gear 034 can also be directly installed on the support plate 012 to ensure the smooth movement of the arc door 02.

[0090] 12 and 13 , the guide wheel 031 includes a rotating shaft 0311 mounted on the support frame 01, an upper roller 0312 and a lower roller 0313 rotatably connected to the rotating shaft 0311 and spaced apart from each other, and a chamfer is provided around the side where the upper roller 0312 and the lower roller 0313 are close to each other, so that the end of the arc guide rail 041 can be wedged into the gap between the upper roller 0312 and the lower roller 0313. Correspondingly, the arc guide rail 041 is tapered on both sides along its own width direction, and abuts against the upper roller 0312 and the lower roller 0313.

[0091] When the arc door 02 is pushed, the motion trajectory of the arc guide rail 041 is an arc. In other words, the arc guide rail 041 makes a circular motion relative to the support frame 01. Since the arc guide rail 041 has thickness, the linear speeds of the inner and outer sides of the arc guide rail 041 are inconsistent. The arc guide rail 041 is slidingly connected to the upper roller 0312 and the lower roller 0313 respectively, and the upper roller 0312 and the lower roller 0313 rotate independently, thereby preventing the inconsistent linear speeds of the inner and outer sides of the arc guide rail 041 from causing greater damage to the guide wheel 031 when it slides.

[0092] In addition, rolling bearings 0314 are provided in the upper roller 0312 and the lower roller 0313. The rolling bearings 0314 are sleeved on the rotating shaft 0311 to improve the smoothness of the rotation of the upper roller 0312 and the lower roller 0313 relative to the rotating shaft 0311, so as to reduce the friction between the arc guide rail 041 and the upper roller 0312 and the lower roller 0313 when sliding, and further protect the guide wheel 031.

[0093] 9 , in order to facilitate the staff in pushing and pulling the arc door 02 , a push handle 07 is installed on the side of the arc door 02 away from the arc guide rail 041 .

[0094] Further, referring to Figures 14 and 15, it also includes a power-assisting member 05, one end of which is elastically connected to the working equipment 010 or the support frame 01. In this embodiment, the elastic end of the power-assisting member is connected to the working equipment 010. In other embodiments, the elastic end of the power-assisting member 05 can also be connected to the support frame 01. The other end of the power-assisting member 05 is overlapped on the support frame 01 and connected to the arc door 02, and is configured to provide power assistance to the arc door 02 when sliding from the lower position to the upper position.

[0095] Specifically, the power assist member 05 includes a traction rope 051 and a first elastic element 052. The number of the traction rope 051 and the first elastic element 052 can be one or more. In this embodiment, the traction rope 051 and the first elastic element 052 are both set as two groups. The two groups of traction ropes 051 are arranged in a one-to-one correspondence with the two groups of first elastic elements 052. The first elastic element 052 is preferably a spring, which is installed on the working equipment 010. One end of the traction rope 051 is connected to the first elastic element 052, and the other end of the traction rope 051 is connected to the arc door 02.

[0096] Taking the door opening action as an example, when the arc door 02 is in the lower position, the first elastic element 052 is in a stretched state, applying a pulling force to the arc door 02 to provide assistance to the staff when pushing the arc door 02 from the lower position to the upper position. It should be noted that in the process of the arc door 02 being pushed, the first elastic element 052 gradually shrinks back to its initial state, and the pulling force applied to the arc door 02 gradually decreases to adapt to the different position states of the arc door 02 (when the arc door 02 is in different positions, the resistance encountered when pushing and pulling the arc door 02 is different, the resistance is the largest in the lower position, and the resistance is the smallest in the upper position), so that the entire pushing and pulling process is smooth.

[0097] It should be noted that, in other embodiments, only the first elastic element 052 may be provided. The first elastic element 052 is provided in an arc shape, with one end connected to the arc door 02 and the other end connected to the working equipment 010 to achieve the same power-assisting effect.

[0098] In this embodiment, in order to further improve the stability of sliding and pulling the arc door 02, the traction rope 051 includes a first traction rope 0511 and a second traction rope 0512. Correspondingly, a pulley group 053 is provided on the working equipment 010, including a fixed pulley 0531 and a movable pulley 0532. The first traction rope 0511 is overlapped with the movable pulley 0532, one end of which is connected to the arc door 02, and the other end is connected to the working equipment 010, while the second traction rope 0512 is overlapped with the fixed pulley 0531, one end of which is connected to the first elastic element 052, and the other end is connected to the movable pulley 0532.

[0099] By setting the pulley group 053 and the traction rope 051, the pulling force applied by the elastic element to the arc door 02 can be better transmitted to the arc door 02.

[0100] In addition, a supporting plate 040 is installed on the support plate 012. The supporting plate 040 is arranged in an arc shape and is configured to support the first traction rope 0511 to prevent the first traction rope 0511 from being directly placed on the support plate 012 during the process of pushing and pulling the arc door 02, and scratching the support plate 012 after long-term pushing and pulling of the arc door 02.

[0101] Referring to Figures 14 and 15, a buffer member 06 is also included. The buffer member 06 is installed on the working equipment 010 and is located on the side of the support frame 01 facing away from the operating space 030. It can offset the arc door 02 when it is in the upper position. Specifically, the buffer member 06 includes a mounting seat 061 and a second elastic element 062. The mounting seat 061 is installed on the support frame 01, one end of the second elastic element 062 is connected to the mounting seat 061, and the other end of the second elastic element 062 is configured to offset the arc door 02 when it is in the upper position.

[0102] When the arc door 02 moves from the lower position to the upper position, the arc door 02 will contact and compress the second elastic element 062. The second elastic element 062 balances the effect of gravity, so that the arc door 02 moves smoothly when its center of gravity moves downward.

[0103] Furthermore, the buffer member 06 further includes a buffer column 063 mounted on the mounting seat 061 to constrain the second elastic element 062 and prevent the second elastic element 062 from moving during compression. The number of the buffer column 063 and the second elastic element 062 can be one or more. In this embodiment, two buffer columns 063 and two second elastic elements 062 are provided. The two buffer columns 063 are mounted on opposite sides of the mounting seat 061 and are arranged one-to-one with the two second elastic elements 062.

[0104] The second elastic element 062 is sleeved on the buffer column 063, and the end of the buffer column 063 is extended out, and a connecting plate 042 is installed on the side of the arc door 02 that can abut against the second elastic element 062. The connecting plate 042 is connected to the side of the arc guide rail 041 away from the arc door 02. A socket 0421 that matches the buffer column 063 is provided on the connecting plate 042. The aperture of the socket 0421 is larger than the outer diameter of the buffer column 063 to facilitate the insertion of the buffer column 063.

[0105] Before the connecting plate 042 abuts against the second elastic element 062, the buffer column 063 is inserted into the insertion hole 0421 to constrain the movement of the connecting plate 042. The buffer column 063 provides a buffering effect in the process of pushing the arc door 02 to fall backward, avoiding impact damage, and reducing the noise generated when opening the door, thereby ensuring the stability of the arc door 02 when it moves to the upper position.

[0106] The implementation principle of the embodiment of the present application is: hold the push handle 07 to push the revolving door. At this time, the arc guide rail 041 located on one side of the arc door 02 will be constrained by the guide wheel 031, and the two ends of the arc door 02 are constrained by the arc groove 032. In the process of pushing the revolving door, the first elastic element 052 applies a pulling force to the arc door 02, so that the door opening action is smoother and smoother. When the arc door 02 reaches the upper position from the lower position, the second elastic element 062 gradually contracts to filter out the impact formed during the door opening action. The arc door 02 is finally covered on the support plate 012, which has the characteristics of small occupation area and smooth and stable pushing and pulling.

[0107] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application. Industrial Applicability

[0108] The fully automatic immunohistochemistry staining machine provided in the above embodiment of the present application has a high staining efficiency. The arc door structure provided in the above embodiment is more convenient to use and takes up less space. The medical experimental equipment provided in the above embodiment is easy to use and takes up less space.

Claims

1. A fully automatic immunohistochemical staining machine, comprising a workbench, a first mechanical arm assembly, a second mechanical arm assembly, a plurality of incubation module assemblies, a small-capacity reagent storage assembly, a reagent switching and adding assembly, a cleaning agent liquid supply assembly and a large-capacity reagent storage assembly, wherein the plurality of incubation module assemblies are arranged in a parallel array on the workbench, the small-capacity reagent storage assembly is arranged in the middle of the plurality of incubation module assemblies, the reagent switching and adding assembly, the cleaning agent liquid supply assembly and the large-capacity reagent storage assembly are arranged below the workbench; the first mechanical arm assembly and the second mechanical arm assembly each comprise an X-direction motion module, a Y-direction motion module, a first Z-direction lifting module and a second Z-direction lifting module, the first Z-direction lifting module and the second Z-direction lifting module are arranged on a Y-direction slider of the Y-direction motion module, the first Z-direction lifting module is provided with a sample adding needle, the second Z-direction lifting module is provided with a spray assembly, and the The sample loading needle and the large-capacity reagent storage component are both connected to the reagent switching and adding component, and the reagent switching and adding component is configured to draw reagents from the large-capacity reagent storage component and flow out the sample from the sample loading needle. The reagent switching and adding component is also configured to draw reagents from the small-capacity reagent storage component through the sample loading needle and then flow out the sample from the sample loading needle; the spray component and the large-capacity reagent storage component are both connected to the cleaning agent liquid supply component, and the cleaning agent liquid supply component is configured to draw cleaning agent from the large-capacity reagent storage component and spray cleaning agent from the spray component. The first robot arm component and the second robot arm component are configured to drive the sample loading needle to move so as to add reagents to the incubation module component and draw reagents from the small-capacity reagent storage component. The first robot arm component and the second robot arm component are also configured to drive the spray component to move so as to spray the incubation module component.

2. The fully automatic immunohistochemical staining machine according to claim 1, wherein: The X-direction motion module includes an X-direction guide rail, the first robot arm assembly and the second robot arm assembly are spaced apart in the X-direction and share the X-direction guide rail, the first robot arm assembly is configured to perform sample loading and cleaning operations on the incubation module assembly located on one side of the small-capacity reagent storage assembly in the X-direction, and the second robot arm assembly is configured to perform sample loading and cleaning operations on the incubation module assembly located on the other side of the small-capacity reagent storage assembly in the X-direction.

3. The fully automatic immunohistochemical staining machine according to any one of claims 1 to 2, wherein: The first Z-direction lifting module includes a first lifting rod, a first driving motor and a spline shaft. The first lifting rod is slidably arranged on the Y-direction slider of the Y-direction motion module, and the spline shaft is parallel to the Y direction. The side wall of the first lifting rod is provided with bar teeth meshing with the spline shaft. The first driving motor is arranged on the X-direction slider of the X-direction motion module and is configured to drive the spline shaft to rotate. The spline shaft is configured to drive the first lifting rod to rise and fall by rotating. The sample addition needle is arranged at the lower end of the first lifting rod. The first lifting rod is a hollow rod and a first liquid tube is arranged inside. The sample addition needle is connected to the reagent switching and adding component through the first liquid tube.

4. The fully automatic immunohistochemical staining machine according to claim 3, wherein: The second Z-direction lifting module includes a second lifting rod, a second driving motor and a screw transmission assembly. The second lifting rod is slidably arranged on the Y-direction slider of the Y-direction motion module. The second driving motor and the screw transmission assembly are both arranged on the mounting frame of the Y-direction motion module. The second driving motor drives the second lifting rod to rise and fall through the screw transmission assembly. The spray assembly is arranged at the lower end of the second lifting rod. The second lifting rod is a hollow rod and a second liquid pipe is arranged inside. The spray assembly is connected to the reagent switching and adding assembly through the second liquid pipe.

5. The fully automatic immunohistochemical staining machine according to claim 1, wherein: The incubation module assembly includes a slide placement tray, a heating block, a conduit plate, a gas-liquid separation assembly and a liquid collecting funnel. The slide placement tray is placed above the heating block so that the lower surface of the slide is in direct contact with the heating block. The conduit plate is located below the slide placement tray and is configured to receive waste liquid. A negative pressure drainage port is provided at the lower end of the conduit plate. The gas-liquid separation assembly is connected to an external negative pressure source. The upper end of the gas-liquid separation assembly is connected to the negative pressure drainage port of the conduit plate, and the lower end of the gas-liquid separation assembly is connected to the liquid collecting funnel.

6. The fully automatic immunohistochemical staining machine according to claim 1, wherein: A liquid level sensor is provided on the sample loading needle, and the liquid level sensor is configured to detect the liquid level of the corresponding reagent bottle in the small-capacity reagent storage assembly when the sample loading needle absorbs the reagent from the small-capacity reagent storage assembly; the first Z-axis lifting module is configured to continue to drive the sample loading needle to move downward a certain distance when the sample loading needle contacts the liquid surface, so that the sample loading needle is immersed below the liquid surface.

7. The fully automatic immunohistochemical staining machine according to claim 6, wherein: A cleaning pool is also provided on the workbench, and the sample adding needle or the spray assembly is also configured to add cleaning agent into the cleaning pool. A liquid extraction port is provided at the bottom of the cleaning pool, and the waste liquid in the cleaning pool is extracted into the waste liquid bottle through the liquid extraction component. The sample adding needle extends into the cleaning pool to clean itself.

8. The fully automatic immunohistochemical staining machine according to claim 7, wherein: The fully automatic immunohistochemical staining machine also includes a mixing station, and the sample adding needle is further configured to draw multiple reagents from a small-volume reagent storage component to the mixing station for mixing, and then add the mixed solution to the incubation module component.

9. The fully automatic immunohistochemical staining machine according to any one of claims 1 to 8, wherein: The fully automatic immunohistochemical staining machine further comprises an arc door structure disposed on the workbench, and the arc door structure comprises: A support frame is provided with an operation window, the operation window is communicated with the operation space of the full-automatic immunohistochemical staining machine, and the support frame is provided with a guide structure; and The arc door is slidably matched with the guide structure. The arc door has an upper position and a lower position in the sliding stroke along the guide structure. When the arc door is in the upper position, the operating window is opened. When the arc door is in the lower position, the operating window is sealed and covered.

10. The fully automatic immunohistochemical staining machine according to claim 9, wherein: The guide structure includes a plurality of guide wheel groups, each of which includes two guide wheels, and the plurality of guide wheel groups are arranged on the support frame at intervals along the sliding direction of the arc door; The arc door is provided with a limiting structure matched with the guide structure, and the limiting structure includes an arc guide rail, which is installed on the arc door, inserted between the two guide wheels in each guide wheel group and slidably connected with the guide wheels.

11. A fully automatic immunohistochemical staining machine according to claim 10, wherein: The guide wheel comprises a rotating shaft mounted on the support frame, an upper roller and a lower roller rotatably connected to the rotating shaft and spaced apart from each other, and an end of the arc-shaped guide rail is wedged between the upper roller and the lower roller and abuts against each other; and / or The support frame is provided with a fixing seat configured to install the guide wheel group, the fixing seat is provided with a mounting hole, and a gear is rotatably connected in the mounting hole, and the gear is driven by a motor; a rack capable of meshing with the gear is installed on one side of the arc guide rail close to the fixing seat.

12. The fully automatic immunohistochemical staining machine according to any one of claims 9 to 11, wherein: The arc door structure also includes a power-assisting member, one end of which is elastic and configured to be connected to the workbench or the support frame, and the other end of the power-assisting member is connected to the arc door and configured to provide power assistance to the arc door sliding from the lower position to the upper position.

13. The fully automatic immunohistochemical staining machine according to claim 12, wherein: The power assist member includes a traction rope and a first elastic element. The first elastic element is used to be installed on a workbench. One end of the traction rope is connected to the first elastic element, and the other end of the traction rope is connected to the arc door.

14. A fully automatic immunohistochemical staining machine, comprising a workbench, a first robotic arm assembly, a second robotic arm assembly, a plurality of incubation module assemblies, a small-capacity reagent storage assembly, a reagent switching and adding assembly and a large-capacity reagent storage assembly, wherein the plurality of incubation module assemblies are arranged on the workbench, and the small-capacity reagent storage assembly is arranged between the plurality of incubation module assemblies; the first robotic arm assembly and the second robotic arm assembly are both provided with sample loading needles, the sample loading needles and the large-capacity reagent storage assembly are both connected to the reagent switching and adding assembly, the reagent switching and adding assembly is configured to draw reagents from the large-capacity reagent storage assembly and flow out the sample loading from the sample loading needle, the reagent switching and adding assembly is also configured to draw reagents from the small-capacity reagent storage assembly through the sample loading needle, and then flow out the sample loading from the sample loading needle; the first robotic arm assembly and the second robotic arm assembly are configured to drive the sample loading needle to move, so as to add reagents to the incubation module assembly and draw reagents from the small-capacity reagent storage assembly.

15. The fully automatic immunohistochemical staining machine according to claim 14, wherein: The fully automatic immunohistochemical staining machine also includes a cleaning agent liquid supply component. The first robotic arm component and the second robotic arm component are both provided with spray components. The spray component and the large-capacity reagent storage component are both connected to the cleaning agent liquid supply component. The cleaning agent liquid supply component is configured to absorb cleaning agent from the large-capacity reagent storage component and spray cleaning agent from the spray component. The first robotic arm component and the second robotic arm component are also configured to drive the spray component to move so as to spray into the incubation module component.

16. The fully automatic immunohistochemical staining machine according to claim 15, wherein: The fully automatic immunohistochemical staining machine includes two reagent switching and adding components; wherein the sample adding needle and the large-capacity reagent storage component on the first robotic arm component are both connected to the first reagent switching and adding component, and the sample adding needle and the large-capacity reagent storage component on the second robotic arm component are both connected to the second reagent switching and adding component.

17. The fully automatic immunohistochemical staining machine according to claim 15 or 16, wherein: The first robotic arm assembly and the second robotic arm assembly both include an X-axis motion module, a Y-axis motion module, a first Z-axis lifting module and a second Z-axis lifting module. The first Z-axis lifting module and the second Z-axis lifting module are arranged on the Y-axis slide block of the Y-axis motion module. The first Z-axis lifting module is provided with the sample adding needle, and the second Z-axis lifting module is provided with the spray assembly.

18. The fully automatic immunohistochemical staining machine according to claim 17, wherein: The first Z-direction lifting module includes a first lifting rod, a first driving motor and a spline shaft. The first lifting rod is slidably arranged on the Y-direction slider of the Y-direction motion module, and the spline shaft is parallel to the Y direction. The side wall of the first lifting rod is provided with bar teeth meshing with the spline shaft. The first driving motor is arranged on the X-direction slider of the X-direction motion module and is configured to drive the spline shaft to rotate. The spline shaft is configured to drive the first lifting rod to rise and fall by rotating. The sample addition needle is arranged at the lower end of the first lifting rod. The first lifting rod is a hollow rod and a first liquid tube is arranged inside. The sample addition needle is connected to the reagent switching and adding component through the first liquid tube.

19. A circular arc door structure, comprising: A support frame is provided with an operation window and is used to be arranged above the operation space of the working equipment, and a guide structure is provided on the support frame; as well as The arc door is provided with a limiting structure matched with the guide structure and has a travel of sliding up and down along the guide structure. When the arc door is in the upper position, the operating window is opened, and when the arc door is in the lower position, the operating window is sealed and covered.

20. A medical experimental device, comprising a working device and the arc door structure according to claim 19, wherein the arc door structure is installed on the working device.

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