CN102279462A - Automatic glass slide conveying and loading device - Google Patents
Automatic glass slide conveying and loading device Download PDFInfo
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- CN102279462A CN102279462A CN 201010195858 CN201010195858A CN102279462A CN 102279462 A CN102279462 A CN 102279462A CN 201010195858 CN201010195858 CN 201010195858 CN 201010195858 A CN201010195858 A CN 201010195858A CN 102279462 A CN102279462 A CN 102279462A
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- microslide
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- carriage
- objective table
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- 239000011521 glass Substances 0.000 title abstract 12
- 230000033001 locomotion Effects 0.000 claims abstract description 24
- 238000000386 microscopy Methods 0.000 claims description 14
- 230000001360 synchronised effect Effects 0.000 claims description 13
- 230000005540 biological transmission Effects 0.000 claims description 4
- 239000007787 solid Substances 0.000 claims description 3
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 239000008280 blood Substances 0.000 description 4
- 210000004369 blood Anatomy 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- 238000011160 research Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000012467 final product Substances 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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Abstract
The invention provides an automatic glass slide conveying and loading device. The device comprises a slide feeding structure, a slide pushing structure, an objective stage and a motion control system, wherein the slide feeding structure comprises a glass slide carrier (1) and a carrier actuating structure which can drive the glass slide carrier (1) to move along a Y direction; the slide pushing structure comprises a manipulator (2) and a manipulator actuating structure which can drive the manipulator (2) to move along an X direction; the manipulator (2) is connected with a first pushing piece (3) and a second pushing piece (4) which are used for pushing the glass slide to move along the X direction; a space which can accommodate the glass slide is formed between the first pushing piece and the second pushing piece; and a slide way (5) through which the glass slide can be pushed by the first pushing piece (3) to slide from the glass slide carrier (1) to the microscopic examination area of the objective stage is formed on the objective stage. An optional automatic glass slide conveying and loading device can be used for assembling a microscope which can automatically convey and load the glass slide. The device can serve as the glass slide conveying device of the microscope and accomplish the action of automatically loading and fetching the glass slide stably and efficiently.
Description
Technical field
The present invention relates to a kind of microscopical microslide robotization transmission loading attachment that is used for.
Background technology
Optical microscope is as a kind of exploration microworld strong tool, be widely used in every medical diagnosis and the scientific experiment research. in recent years, fast development along with scientific-technical progress and Computer Processing technology and digital image processing techniques, some self-reacting devices have been introduced in the blood testing of clinical labororatory in a large number, obtaining automatically of the online control of realization microscope, micro-image preserved and computer aided detection, become the inexorable trend of microscope automation development.Meanwhile, along with extensively carrying out of every medical treatment generaI investigation and deepening continuously of scientific research, sample smear quantity to be analyzed also increases considerably.With the blood smear microscopy is example, the microscopy smear number in average every microscope every year reaches up to ten thousand, and based on this, manual fully microslide loads, get flow processs such as sheet and will expend a large amount of microscopy time, nor meet the development trend of existing self-reacting device.
The microslide of the described robotization of this patent loads conveyer, the propelling movement chip architecture of robotization and supporting with it objective table structure have been designed, satisfied the demand of existing automated hematology analyzer, can realize the microslide robotization and accurately put into and specify zone to be detected, and the function of after microscopy finishes, automatically microslide being sent, realized the unattended function when carrying out the smear analyzing and processing, so also saved the time for medical personnel, make that also the processing of clinical samples is simpler, fast, accurately, effectively alleviate reviewer's workload, improved work efficiency.
Summary of the invention
The robotization that the purpose of this invention is to provide a kind of microslide transmits loading attachment, by the control gearing microslide is sent into sample zone to be detected on the supporting objective table accurately, and receive detect the signal that finishes after, microslide is taken out automatically.
Microslide robotization provided by the invention transmits loading attachment, comprise and send chip architecture, push jack structure, objective table and kinetic control system, wherein, describedly send chip architecture to comprise to be used to place and transmit the slide carriage of microslide and the carriage actuating structure that this slide carriage is moved along the Y direction; Described push jack structure comprises mechanical arm and the mechanical arm actuating structure that this mechanical arm is moved along directions X, described directions X and Y direction are two orthogonal rectilinear directions, be connected with on the described mechanical arm and be used to promote first push piece and second push piece that microslide moves along directions X, space for holding microslide between described first push piece and second push piece, this space can move to along directions X with described mechanical arm can directly admit the contact pin position of described slide carriage along the microslide of Y direction transmission; Have on the described objective table can make the promotion of microslide by described first push piece slide to from described slide carriage this objective table the microscopy zone slideway (correspondingly, microslide also can slide on the described slide carriage by the microscopy zone of this slideway from described objective table under the promotion of second push piece); Described kinetic control system connects described carriage actuating structure and mechanical arm actuating structure and controls the motion of described carriage actuating structure and mechanical arm actuating structure.
Described first push piece and second push piece can be shapes such as sheet or bulk, promote the purpose that microslide slides as long as the setting of described first push piece and second push piece can be satisfied.Preferably, described first push piece and second push piece and described mechanical arm form domes, can make the slide carriage front end that send sheet not interrupted, are convenient to the smooth cooperation of delivery sheet.
Preferably, the microscopy zone of described objective table has the microslide fixed sturcture, as long as this microslide fixed sturcture helps pushing of microslide and releases also and can play fixation.For example, this microslide fixed sturcture comprises slide pressing plate, leaf spring and clamp, described leaf spring is fixed on the described objective table, and described clamp connects described leaf spring, constitutes the solid sheet space that can admit and fix the microslide that is pushed between described clamp and the described slide pressing plate.Preferably, described clamp fixedly has the evagination radian of being convenient to push microslide in the position of microslide.
Preferably, described slideway and described slide carriage are grooved, and the planing surface of described slideway can be positioned at conplane position with stage movement to the slide support with described slide carriage.Help microslide like this under the promotion of described first push piece or described second push piece, between described objective table and described slide carriage, slide.
Preferably, described carriage actuating structure comprises that Y traversing guide, Y direction activate the drive motor of belt wheel structure and carriage actuating, and the Y direction activates the synchronous band that the belt wheel structure comprises two synchronous pulleys and drives described slide movement of bracket.Realize the motion of Y direction thereby described slide carriage can be connected with described synchronous band, for example, described slide carriage is fixedlyed connected with described being with synchronously by synchronizing jugged.
Similarly, described mechanical arm actuating structure can comprise that directions X guide rail, directions X activate the drive motor of belt wheel structure and mechanical arm actuating, and directions X activates the synchronous band that the belt wheel structure comprises two synchronous pulleys and drives described manipulator motion.
The drive motor that drive motor that described carriage activates and described mechanical arm activate can be five-phase induction motor.
Described kinetic control system can comprise the spacing contact of slide carriage and the slide carriage limit circuit plate of the described slide movement of bracket of control position, and spacing contact of mechanical arm and the mechanical arm limit circuit plate of controlling described manipulator motion position.
Described objective table can also be connected with the objective table lifting structure, can and control described objective table lifting structure by described kinetic control system connection.
Preferably, described kinetic control system has and can control the photosignal control module that described carriage actuating structure, described mechanical arm actuating structure and described objective table lifting structure are connected action.
Can utilize above-mentioned any microslide robotization to transmit loading attachment and assemble the microscope that can robotization transmits microslide.
Microslide robotization provided by the invention transmits the action that loading attachment can steadily be finished automatic loading efficiently and fetch microslide.
Description of drawings
Fig. 1 is the stereographic map that a kind of microslide robotization of the present invention transmits loading attachment;
Fig. 2 transmits the stereographic map that send chip architecture of loading attachment for microslide robotization shown in Figure 1;
Fig. 3 is the stereographic map that microslide robotization shown in Figure 1 transmits the push jack structure of loading attachment;
Fig. 4 is the stereographic map at another visual angle of first push piece, second push piece and the mechanical arm of push jack structure shown in Figure 3;
Fig. 5 is the planimetric map that microslide robotization shown in Figure 1 transmits the objective table of loading attachment.
Reference numeral refers to as follows:
1-slide carriage, the 2-mechanical arm, 3-first push piece, 4-second push piece, the 5-slideway, 6-slide pressing plate, the 7-leaf spring, the 8-clamp, the 9-Y traversing guide, the 10-Y direction activates the belt wheel structure, the drive motor that the 11-carriage activates, the 12-X traversing guide, the 13-X direction activates the belt wheel structure, the drive motor that the 14-mechanical arm activates, the spacing contact of 15-slide carriage, 16-slide carriage limit circuit plate, the spacing contact of 17-mechanical arm, 18-mechanical arm limit circuit plate, synchronizing jugged of 19-, the 20-microslide.
Embodiment
This microslide robotization transmits loading attachment and comprises and send chip architecture, push jack structure, objective table and kinetic control system, as illustrated in fig. 1 and 2, describedly send chip architecture to comprise to be used to the slide carriage 1 of placing and transmit microslide and the carriage actuating structure that this slide carriage is moved along the Y direction.Described carriage actuating structure comprises that Y traversing guide 9, Y direction activate the drive motor 11 of belt wheel structure 10 and carriage actuating, and the Y direction activates the synchronous band that belt wheel structure 10 comprises two synchronous pulleys and drives described slide carriage 1 motion.Described slide carriage is fixedlyed connected with described being with synchronously by synchronizing jugged 19.
As shown in figs. 1 and 3, described push jack structure comprises mechanical arm 2 and the mechanical arm actuating structure that this mechanical arm 2 is moved along directions X, similar with the result of described carriage actuating structure, described mechanical arm actuating structure comprises that directions X guide rail 12, directions X activate the drive motor 14 of belt wheel structure 13 and mechanical arm actuating, and directions X activates the synchronous band that belt wheel structure 13 comprises two synchronous pulleys and drives described mechanical arm 2 motions.Described directions X and Y direction are two orthogonal rectilinear directions.Shown in Fig. 1,3 and 4, be connected with on the described mechanical arm 2 and be used to promote first push piece 3 and second push piece 4 that microslide moves along directions X, space for holding microslide between described first push piece and second push piece, this space can move to along directions X with described mechanical arm 2 can directly admit the contact pin position of described slide carriage 1 along the microslide of Y direction transmission.As shown in Figure 4, described first push piece 3 and second push piece 4 form domes with described mechanical arm 2, and these domes can make slide carriage 1 front end that send sheet not interrupted, are convenient to the smooth cooperation of delivery sheet.
Shown in Fig. 1 and 5, have on the described objective table and can make microslide slide to the slideway 5 in the microscopy zone of this objective table from described slide carriage 1 by the promotion of described first push piece 3, correspondingly, microslide also can slide on the described slide carriage 1 by the microscopy zone of this slideway 5 from described objective table under the promotion of second push piece 4.The microscopy zone of described objective table has the microslide fixed sturcture, this microslide fixed sturcture comprises slide pressing plate 6, leaf spring 7 and clamp 8, described leaf spring 7 is fixed on the described objective table, described clamp 8 connects described leaf spring 7, constitutes the solid sheet space that can admit and fix the microslide that is pushed between described clamp 8 and the described slide pressing plate 6.The described clamp 8 fixedly position of microslide has the evagination radian of being convenient to push microslide, than straight design, can reduce friction, is convenient to slide and pushes smoothly and obtain fastening along slideway 5.
Shown in Fig. 1,2 and 5, described slideway 5 and described slide carriage 1 are grooved, and the planing surface of described slideway 5 can be positioned at conplane position with stage movement to the slide support with described slide carriage 1.Help microslide like this under the promotion of described first push piece or described second push piece, between described objective table and described slide carriage, slide.
Shown in Fig. 2 and 3, described kinetic control system comprises spacing contact 15 of slide carriage and the slide carriage limit circuit plate 16 of controlling described slide carriage 1 movement position, and spacing contact 17 of mechanical arm and the mechanical arm limit circuit plate 18 of controlling described mechanical arm 2 movement positions.
The setting that described kinetic control system is provided with in a conventional manner more specifically gets final product, not all expressions among the figure.Described kinetic control system connects described carriage actuating structure and mechanical arm actuating structure and controls the motion of described carriage actuating structure and mechanical arm actuating structure.Described objective table is connected with the objective table lifting structure, connects and controls described objective table lifting structure by described kinetic control system.Described kinetic control system has can control the photosignal control module that described carriage actuating structure, described mechanical arm actuating structure and described objective table lifting structure are connected action.
Below in conjunction with above structrual description the using method that this microslide robotization transmits loading attachment is described.
Operation beginning, this device ejects slide carriage 1, and the initial position that this moment, mechanical arm 2 was in the right side is waited for microslide 20 is sent into objective table.With microslide 20(blood smear) put into the slide carriage 1 of ejection, behind the button, send the operation of sheet drive motor, slide carriage 1 moves along the Y direction, after the limit switch contact that together moves with slide carriage 1 triggers the spacing contact 15 of slide carriage, the drive motor 11 that carriage activates stops to drive, and slideway 5 and the mechanical arm 2 on microslide 20, the objective table is in same position on the Y direction at this moment.This moment, mechanical arm 2 moved to the objective table direction along directions X guide rail 10, and first push piece 3 that mechanical arm 2 right-hand members stretch out promotes microslides 20 and is moved to the left, and entered the microscopy zone of objective table by slideway 5, received the pressuring action of clamp 8 in the process.Behind the spacing contact 17 of limit switch contact triggering mechanical arm that mechanical arm 2 together moves, the drive motor 14 that mechanical arm activates stops to drive in the moving process.At this moment, microslide 20 is in the microscopy zone, is subjected to the constraint of three directions of XYZ, can not move freely.
Objective table descends, carry out picture and handle, this moment, mechanical arm 2 waited in this position, after the analyzing and processing of finishing the blood sample on the microslide 20, objective table rises to assigned address, the drive motor 14 that mechanical arm activates obtains control signals, and mechanical arm 2 moves in the other direction along X, and second push piece 4 promotes microslides 20 motions, detect photo-sensor signal will simultaneously, when specimen slide moves on the slide carriage 1, detect photo-sensor signal will, mechanical arm 2 stop motions.The drive motor 11 driving slide carriages of carriage actuating move in the other direction along Y traversing guide 9 then, and microslide 20 is sent, and finish the whole sheet that send and load process.The location positioning of whole process and motion start-stop are to be finished by the kinetic control system that comprises the spacing contact 15 of slide carriage, slide carriage limit circuit plate 16, the spacing contact 17 of mechanical arm, mechanical arm limit circuit plate 18 and photosignal control module.
Claims (10)
1. the microslide robotization transmits loading attachment, it is characterized in that, comprise and send chip architecture, push jack structure, objective table and kinetic control system, wherein, describedly send chip architecture to comprise to be used to place and transmit the slide carriage (1) of microslide and the carriage actuating structure that this slide carriage is moved along the Y direction; Described push jack structure comprises mechanical arm (2) and the mechanical arm actuating structure that this mechanical arm (2) is moved along directions X, described directions X and Y direction are two orthogonal rectilinear directions, be connected with on the described mechanical arm (2) and be used to promote first push piece (3) and second push piece (4) that microslide moves along directions X, space for holding microslide between described first push piece and second push piece, this space can move to along directions X with described mechanical arm (2) can directly admit the contact pin position of described slide carriage (1) along the microslide of Y direction transmission; Have on the described objective table and can make microslide slide to the slideway (5) in the microscopy zone of this objective table from described slide carriage (1) by the promotion of described first push piece (3); Described kinetic control system connects described carriage actuating structure and mechanical arm actuating structure and controls the motion of described carriage actuating structure and mechanical arm actuating structure.
2. microslide robotization according to claim 1 transmits loading attachment, it is characterized in that, the microscopy zone of described objective table has the microslide fixed sturcture, this microslide fixed sturcture comprises slide pressing plate (6), leaf spring (7) and clamp (8), described leaf spring (7) is fixed on the described objective table, described clamp (8) connects described leaf spring (7), constitutes the solid sheet space that can admit and fix the microslide that is pushed between described clamp (8) and the described slide pressing plate (6).
3. microslide robotization according to claim 1 transmits loading attachment, it is characterized in that described clamp (8) the fixedly position of microslide has the evagination radian of being convenient to push microslide.
4. microslide robotization according to claim 1 transmits loading attachment, it is characterized in that, described slideway (5) and described slide carriage (1) are grooved, and the planing surface of described slideway (5) can be positioned at conplane position with stage movement to the slide support with described slide carriage (1).
5. microslide robotization according to claim 1 transmits loading attachment, it is characterized in that, described carriage actuating structure comprises that Y traversing guide (9), Y direction activate the drive motor (11) of belt wheel structure (10) and carriage actuating, and the Y direction activates the synchronous band that belt wheel structure (10) comprises two synchronous pulleys and drives described slide carriage (1) motion.
6. microslide robotization according to claim 1 transmits loading attachment, it is characterized in that, described mechanical arm actuating structure comprises that directions X guide rail (12), directions X activate the drive motor (14) of belt wheel structure (13) and mechanical arm actuating, and directions X activates the synchronous band that belt wheel structure (13) comprises two synchronous pulleys and drives described mechanical arm (2) motion.
7. microslide robotization according to claim 1 transmits loading attachment, it is characterized in that, described kinetic control system comprises the spacing contact of slide carriage (15) and the slide carriage limit circuit plate (16) of control described slide carriage (1) movement position, and spacing contact of mechanical arm (17) and the mechanical arm limit circuit plate (18) of controlling described mechanical arm (2) movement position.
8. microslide robotization according to claim 1 transmits loading attachment, it is characterized in that described objective table also is connected with the objective table lifting structure, and described kinetic control system connection is also controlled described objective table lifting structure.
9. microslide robotization according to claim 8 transmits loading attachment, it is characterized in that described kinetic control system has can control the photosignal control module that described carriage actuating structure, described mechanical arm actuating structure and described objective table lifting structure are connected action.
10. a microscope is characterized in that, is provided with each described microslide robotization of claim 1 ~ 9 and transmits loading attachment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010195858 CN102279462B (en) | 2010-06-09 | 2010-06-09 | Automatic glass slide conveying and loading device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010195858 CN102279462B (en) | 2010-06-09 | 2010-06-09 | Automatic glass slide conveying and loading device |
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| Publication Number | Publication Date |
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| CN102279462A true CN102279462A (en) | 2011-12-14 |
| CN102279462B CN102279462B (en) | 2013-02-06 |
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| CN 201010195858 Expired - Fee Related CN102279462B (en) | 2010-06-09 | 2010-06-09 | Automatic glass slide conveying and loading device |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105910870A (en) * | 2016-06-30 | 2016-08-31 | 上海市奉贤区中心医院 | Blood smear pushing device |
| CN106019546A (en) * | 2016-07-15 | 2016-10-12 | 麦克奥迪实业集团有限公司 | Gravity type automatic feeding scanning microscope and feeding method thereof |
| CN106019547A (en) * | 2016-07-25 | 2016-10-12 | 麦克奥迪实业集团有限公司 | Microscope automatic slice feeding device capable of accommodating multiple boxes of slices |
| CN106908616A (en) * | 2017-03-15 | 2017-06-30 | 北方工业大学 | Automatic medical glass slide detection sheet advancing and retreating device, sheet advancing and retreating method and application |
| CN107350796A (en) * | 2017-07-10 | 2017-11-17 | 柴传程 | A kind of Medical glass slide automatic assembling device people |
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| CN109087356A (en) * | 2018-06-29 | 2018-12-25 | 齐鲁工业大学 | Recognition positioning method, system and the device of medicine glass slide based on machine vision |
| CN109254166A (en) * | 2018-10-30 | 2019-01-22 | 襄阳市科瑞杰医疗器械有限公司 | It is a kind of for automatic push or the device of the carriers such as automatic operating sample and slide |
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| CN111366429A (en) * | 2014-04-28 | 2020-07-03 | 深圳迈瑞生物医疗电子股份有限公司 | Smear preparation device and smear preparation method |
| CN111736331A (en) * | 2020-06-18 | 2020-10-02 | 湖南索莱智能科技有限公司 | Method for judging horizontal and vertical directions of glass slide and device using method |
| CN112859316A (en) * | 2020-12-30 | 2021-05-28 | 杭州德适生物科技有限公司 | Large-flux microscope slide loading system and scanning method |
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| CN109087356A (en) * | 2018-06-29 | 2018-12-25 | 齐鲁工业大学 | Recognition positioning method, system and the device of medicine glass slide based on machine vision |
| CN109254166A (en) * | 2018-10-30 | 2019-01-22 | 襄阳市科瑞杰医疗器械有限公司 | It is a kind of for automatic push or the device of the carriers such as automatic operating sample and slide |
| CN110281200A (en) * | 2019-06-27 | 2019-09-27 | 王浩然 | A kind of film-making clip assembly automatic setup system |
| CN110281200B (en) * | 2019-06-27 | 2021-09-03 | 张海燕 | Automatic assembly system for film making clamp assembly |
| CN111289734A (en) * | 2020-04-13 | 2020-06-16 | 蒋甜 | Multifunctional medical detection instrument and use method thereof |
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| CN111736331A (en) * | 2020-06-18 | 2020-10-02 | 湖南索莱智能科技有限公司 | Method for judging horizontal and vertical directions of glass slide and device using method |
| CN112859316A (en) * | 2020-12-30 | 2021-05-28 | 杭州德适生物科技有限公司 | Large-flux microscope slide loading system and scanning method |
| CN115220209A (en) * | 2022-04-19 | 2022-10-21 | 清华大学 | Operating device for assisting microscopic image acquisition |
| CN115220209B (en) * | 2022-04-19 | 2024-02-27 | 清华大学 | Operating device for assisting in acquiring microscopic image |
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