CN102279462B - Automatic glass slide conveying and loading device - Google Patents
Automatic glass slide conveying and loading device Download PDFInfo
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- CN102279462B CN102279462B CN 201010195858 CN201010195858A CN102279462B CN 102279462 B CN102279462 B CN 102279462B CN 201010195858 CN201010195858 CN 201010195858 CN 201010195858 A CN201010195858 A CN 201010195858A CN 102279462 B CN102279462 B CN 102279462B
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- glass slide
- mechanical arm
- microslide
- slide holder
- loading attachment
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- 239000011521 glass Substances 0.000 title claims abstract description 85
- 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 6
- 230000005540 biological transmission Effects 0.000 claims description 5
- 230000001737 promoting effect Effects 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 3
- 238000000034 method Methods 0.000 description 7
- 238000012545 processing Methods 0.000 description 6
- 230000008569 process Effects 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
- 238000004321 preservation Methods 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 for microscopical automatic glass slide transmission loading attachment.
Background technology
Optical microscope is as the strong instrument of a kind of exploration microworld, 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, realize automatic acquisition preservation and the computer aided detection of the online control of microscope, micro-image, 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.Take the blood smear microscopy as example, the microscopy smear number in average every microscope every year reaches up to ten thousand, and based on this, fully manual microslide loads, get the 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 objective table structure have with it been designed, satisfied the demand of existing automated hematology analyzer, can realize automatic glass slide 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, also so that 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.
Automatic glass slide provided by the invention transmits loading attachment, comprise and send chip architecture, push jack structure, objective table and kinetic control system, wherein, the described chip architecture of sending comprises for placing and transmit the glass slide holder of microslide and the carriage actuating structure that this glass slide holder is moved along 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 the first push piece and the second push piece that move along directions X for promoting microslide on the described mechanical arm, space for holding microslide between described the first push piece and the second push piece, this space can move to along directions X with described mechanical arm can directly admit described glass slide holder along the contact pin position of the microslide of Y-direction transmission; Have on the described objective table can make the promotion of microslide by described the first push piece slide to from described glass slide holder this objective table the microscopy zone slideway (correspondingly, microslide also can under the promotion of the second push piece, slide on the described glass slide holder by the microscopy zone of this slideway from described objective table); 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 the first push piece and the second push piece can be the shapes such as sheet or bulk, promote the purpose that microslide slides as long as the setting of described the first push piece and the second push piece can be satisfied.Preferably, described the first push piece and the second push piece and described mechanical arm form domes, can make the glass slide holder 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 is conducive to 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, consists of the solid sheet space that can admit and fix the microslide that pushes 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 glass slide holder are grooved, and the planing surface of described slideway can be positioned at conplane position with stage movement to the slide support with described glass slide holder.Be conducive to like this microslide under the promotion of described the first push piece or described the second push piece, between described objective table and described glass slide holder, slide.
Preferably, described carriage actuating structure comprises that Y-direction guide rail, Y-direction activate the drive motor of pulley structure and carriage actuating, and Y-direction activates the Timing Belt that pulley structure comprises two synchronous pulleys and drives described glass slide holder motion.Realize the Y-direction motion thereby described glass slide holder can be connected with described Timing Belt, for example, described glass slide holder is fixedly connected with described Timing Belt by synchronizing jugged.
Similarly, described mechanical arm actuating structure can comprise that directions X guide rail, directions X activate the drive motor of pulley structure and mechanical arm actuating, and directions X activates the Timing Belt that pulley structure comprises two synchronous pulleys and drives described manipulator motion.
The drive motor that the 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 glass slide holder and the glass slide holder limit circuit plate of controlling described glass slide holder movement position, and the 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 lifting of object loading table structure, can and control described lifting of object loading table 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 lifting of object loading table structure are connected action.
Can utilize above-mentioned any automatic glass slide to transmit loading attachment and assemble the microscope that can robotization transmits microslide.
Automatic glass slide provided by the invention transmits the action that loading attachment can steadily be finished efficiently automatic loading and fetch microslide.
Description of drawings
Fig. 1 is the stereographic map that a kind of automatic glass slide of the present invention transmits loading attachment;
Fig. 2 is the stereographic map that send chip architecture that automatic glass slide shown in Figure 1 transmits loading attachment;
Fig. 3 is the stereographic map that automatic glass slide shown in Figure 1 transmits the push jack structure of loading attachment;
Fig. 4 is the stereographic map at another visual angle of the first push piece, the second push piece and the mechanical arm of push jack structure shown in Figure 3;
Fig. 5 is the planimetric map that automatic glass slide shown in Figure 1 transmits the objective table of loading attachment.
Reference numeral refers to as follows:
The 1-glass slide holder, the 2-mechanical arm, 3-the first push piece, 4-the 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 pulley structure, the drive motor that the 11-carriage activates, the 12-X traversing guide, the 13-X direction activates pulley structure, the drive motor that the 14-mechanical arm activates, the spacing contact of 15-glass slide holder, 16-glass slide holder 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 automatic glass slide 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, the described chip architecture of sending comprises for the glass slide holder 1 of placing and transmit microslide and the carriage actuating structure that this glass slide holder is moved along Y-direction.Described carriage actuating structure comprises that Y-direction guide rail 9, Y-direction activate the drive motor 11 of pulley structure 10 and carriage actuating, and Y-direction activates the Timing Belt that pulley structure 10 comprises two synchronous pulleys and drives described glass slide holder 1 motion.Described glass slide holder is fixedly connected with described Timing Belt 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 pulley structure 13 and mechanical arm actuating, and directions X activates the Timing Belt that pulley 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 the first push piece 3 and the second push piece 4 that move along directions X for promoting microslide on the described mechanical arm 2, space for holding microslide between described the first push piece and the second push piece, this space can move to along directions X with described mechanical arm 2 can directly admit described glass slide holder 1 along the contact pin position of the microslide of Y-direction transmission.As shown in Figure 4, described the first push piece 3 and the second push piece 4 form domes with described mechanical arm 2, and these domes can make glass slide holder 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 glass slide holder 1 by the promotion of described the first push piece 3, correspondingly, microslide also can under the promotion of the second push piece 4, slide on the described glass slide holder 1 by the microscopy zone of this slideway 5 from described objective table.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, consists of the solid sheet space that can admit and fix the microslide that pushes 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 glass slide holder 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 glass slide holder 1.Be conducive to like this microslide under the promotion of described the first push piece or described the second push piece, between described objective table and described glass slide holder, slide.
Shown in Fig. 2 and 3, described kinetic control system comprises the spacing contact 15 of glass slide holder and the glass slide holder limit circuit plate 16 of controlling described glass slide holder 1 movement position, and the 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 arranges 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 lifting of object loading table structure, connects and controls described lifting of object loading table 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 lifting of object loading table structure are connected action.
The using method of describing this automatic glass slide transmission loading attachment below in conjunction with above structure describes.
Operation beginning, this device ejects glass slide holder 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 glass slide holder 1 of ejection, behind the button, send the operation of sheet drive motor, glass slide holder 1 moves along Y-direction, after the limit switch contact that together moves with glass slide holder 1 triggers the spacing contact 15 of glass slide holder, the drive motor 11 that carriage activates stops to drive, and the slideway 5 on this moment microslide 20, the objective table and mechanical arm 2 are in same position in Y-direction.This moment, mechanical arm 2 moved to the objective table direction along directions X guide rail 10, and the first push piece 3 that mechanical arm 2 right-hand members stretch out promotes microslide 20 and is moved to the left, and the microscopy that enters objective table by slideway 5 is regional, receives the pressuring action of clamp 8 in the process.Behind the spacing contact 17 of limit switch contact Crush trigger 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 subject to the constraint of three directions of XYZ, can not move freely.
Objective table descends, carry out picture processing, 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 the second push piece 4 promotes microslides 20 motions, detect simultaneously photo-sensor signal will, when specimen slide moves on the glass slide holder 1, detect photo-sensor signal will, mechanical arm 2 stop motions.Then the drive motor 11 driving glass slide holders of carriage actuating move in the other direction along Y-direction guide rail 9, and microslide 20 is sent, and finish the whole sheet that send and load process.Location, position and the motion start-stop of whole process are to be finished by the kinetic control system that comprises the spacing contact 15 of glass slide holder, glass slide holder limit circuit plate 16, the spacing contact 17 of mechanical arm, mechanical arm limit circuit plate 18 and photosignal control module.
Claims (10)
1. automatic glass slide transmits loading attachment, it is characterized in that, comprise and send chip architecture, push jack structure, objective table and kinetic control system, wherein, the described chip architecture of sending comprises for placing and transmit the glass slide holder (1) of microslide and the carriage actuating structure that this glass slide holder is moved along 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 the first push piece (3) and the second push piece (4) that move along directions X for promoting microslide on the described mechanical arm (2), space for holding microslide between described the first push piece and the second push piece, this space can move to along directions X with described mechanical arm (2) can directly admit described glass slide holder (1) along the contact pin position of 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 glass slide holder (1) by the promotion of described the 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. automatic glass slide 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), consists of the solid sheet space that can admit and fix the microslide that pushes between described clamp (8) and the described slide pressing plate (6).
3. automatic glass slide according to claim 2 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. automatic glass slide according to claim 1 transmits loading attachment, it is characterized in that, described slideway (5) and described glass slide holder (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 glass slide holder (1).
5. automatic glass slide according to claim 1 transmits loading attachment, it is characterized in that, described carriage actuating structure comprises that Y-direction guide rail (9), Y-direction activate the drive motor (11) of pulley structure (10) and carriage actuating, and Y-direction activates the Timing Belt that pulley structure (10) comprises two synchronous pulleys and drives described glass slide holder (1) motion.
6. automatic glass slide 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 pulley structure (13) and mechanical arm actuating, and directions X activates the Timing Belt that pulley structure (13) comprises two synchronous pulleys and drives described mechanical arm (2) motion.
7. automatic glass slide according to claim 1 transmits loading attachment, it is characterized in that, described kinetic control system comprises the spacing contact of glass slide holder (15) and the glass slide holder limit circuit plate (16) of control described glass slide holder (1) movement position, and the spacing contact of mechanical arm (17) and the mechanical arm limit circuit plate (18) of controlling described mechanical arm (2) movement position.
8. automatic glass slide according to claim 1 transmits loading attachment, it is characterized in that described objective table also is connected with the lifting of object loading table structure, and described kinetic control system connection is also controlled described lifting of object loading table structure.
9. automatic glass slide 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 lifting of object loading table structure are connected action.
10. a microscope is characterized in that, is provided with each described automatic glass slide 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 CN102279462A (en) | 2011-12-14 |
| CN102279462B true 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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| CN111337323A (en) * | 2014-04-28 | 2020-06-26 | 深圳迈瑞生物医疗电子股份有限公司 | Smear preparation device and smear preparation method |
| CN105910870A (en) * | 2016-06-30 | 2016-08-31 | 上海市奉贤区中心医院 | Blood smear pushing device |
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| 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 |
| CN110281200B (en) * | 2019-06-27 | 2021-09-03 | 张海燕 | Automatic assembly system for film making clamp assembly |
| CN111289734B (en) * | 2020-04-13 | 2022-01-25 | 深圳熙谷威生物医疗科技有限公司 | Multifunctional medical detection instrument and use method thereof |
| CN111736331B (en) * | 2020-06-18 | 2022-04-01 | 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 |
| CN115220209B (en) * | 2022-04-19 | 2024-02-27 | 清华大学 | Operating device for assisting in acquiring microscopic image |
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