CN103884564B - A kind of double mechanical arms slide stainer - Google Patents
A kind of double mechanical arms slide stainer Download PDFInfo
- Publication number
- CN103884564B CN103884564B CN201410131971.XA CN201410131971A CN103884564B CN 103884564 B CN103884564 B CN 103884564B CN 201410131971 A CN201410131971 A CN 201410131971A CN 103884564 B CN103884564 B CN 103884564B
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- Prior art keywords
- cylinder cap
- slide
- slide frame
- grip unit
- clamp assemblies
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- 241001510071 Pyrrhocoridae Species 0.000 title claims abstract description 15
- 230000000712 assembly Effects 0.000 claims abstract description 47
- 238000000429 assembly Methods 0.000 claims abstract description 47
- 239000003153 chemical reaction reagent Substances 0.000 claims abstract description 29
- 230000033001 locomotion Effects 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 238000004043 dyeing Methods 0.000 abstract description 11
- 238000004519 manufacturing process Methods 0.000 abstract 1
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010186 staining Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000008014 freezing Effects 0.000 description 1
- 238000007710 freezing Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 231100000331 toxic Toxicity 0.000 description 1
- 230000002588 toxic effect Effects 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
Abstract
A kind of double mechanical arms slide stainer, including casing, is positioned at multiple reagent tanks of casing, slide frame and mechanical arm, it is characterised in that: also include the cylinder cap for covering the plurality of reagent tank；Described mechanical arm includes slide frame clamp assemblies and cylinder cap clamp assemblies；Described rotary drive unit is used for driving the rotation of described cylinder cap grip unit to pick and place working position and a skew working position to produce at least one；At the described working position that picks and places, described cylinder cap grip unit is positioned at the underface of described slide grip unit；At described skew working position, described cylinder cap grip unit deviates the underface of described slide grip unit, so that described slide grip unit can move down maybe the slide frame of clamping is put into reagent tank with gripping slide frame in reagent tank.Compared with prior art, the overflow dyeing machine structure of the present invention is compacter, manufacturing cost more cheap, control are simpler.
Description
Technical field
The present invention relates to slide stainer, especially a kind of double mechanical arms slide stainer.
Background technology
Traditional section statining is to be dyeed in each reagent tank by manual operation section.Due to part dyeing
Reagent is the toxic liquid of effumability, during manual operation, the reagent of volatilization can by operating personnel's suction body,
Cause that operating personnel are healthy to suffer damage.
Chinese patent " full-automatic double-rail freezing microtome section dyeing instrument " (patent publication No. CN102854050A)
Disclose a kind of dyeing instrument, and specifically disclose improve by the way of mechanical arm moves section staining efficiency and
Avoid operating personnel to be injured by coloring agent, and one cylinder cap is set at each reagent tank top, pass through
The folding of cylinder application cylider cover.This patent really has positive effect to protection operating personnel, but due to dye
Cylinder cap needed for look has ten several even more than 20, uses such scheme to need to arrange one for each staining jar
Individual cylinder, the most with high costs, and also space hold is big, connects up, circuit is waterproof and cylinder controls the most tired
Difficult.The scheme of this patent there is also when uncapping incomplete, and section frame cannot put into the risk of reagent tank.
Summary of the invention
The technical problem to be solved is to provide a kind of compact conformation, control is simple, realize low cost
Double mechanical arms slide stainer.
The present invention is by the following technological means above-mentioned technical problem of solution:
A kind of double mechanical arms slide stainer, including casing, is positioned at multiple reagent tanks of casing, slide
Frame and mechanical arm；
Also include the cylinder cap for covering the plurality of reagent tank；
Described mechanical arm includes slide frame clamp assemblies and cylinder cap clamp assemblies；
Described slide frame clamp assemblies includes in slide frame clamp assemblies fixed plate, slide frame grip unit and first
Lower driver element；Described about first driver element is fixed in described slide frame clamp assemblies fixed plate, is used for
Described slide frame grip unit is driven to move up and down；Described slide frame grip unit is used for clamping described slide frame；
Described cylinder cap clamp assemblies includes cylinder cap clamp assemblies fixed plate, cylinder cap grip unit and rotates driving list
Unit；Described cylinder cap clamp assemblies fixed plate and described slide frame clamp assemblies fixed plate are to installation；Described rotation
Driver element is arranged in described cylinder cap clamp assemblies fixed plate, and described cylinder cap grip unit is arranged on described rotation
On driver element, described rotary drive unit is used for driving described cylinder cap grip unit to rotate to produce at least one
Pick and place working position and a skew working position；
At the described working position that picks and places, described cylinder cap grip unit is positioned at the underface of described slide grip unit；?
Described skew working position, described cylinder cap grip unit deviates the underface of described slide grip unit, so that institute
State slide grip unit can move down with in reagent tank grip slide frame maybe the slide frame of clamping is put into
Reagent tank.
Compared with prior art, the present invention arrange be oppositely arranged for gripping slide frame and for gripping cylinder cap
Two mechanical arms, slide frame grip unit moves up and down and grips, and cylinder cap grip unit passes through rotary motion
Realize gripping, and cylinder cap grip unit is in the underface of slide grip unit clamping when, this
The setting of sample, on the one hand, cylinder cap grip unit uses the mode rotated to be operated, and is not only able to and transports up and down
Dynamic slide frame grip unit realizes multiplexing spatially, saves space and reduces the overall volume of mechanical arm, it is achieved
Low cost；On the other hand, the working position that picks and places of cylinder cap grip unit is in the underface of slide grip unit,
Thus, gripping cylinder cap-pick and place slide frame-cover cylinder cap whole during, mechanical arm is overall without moving
Dynamic, it is easy to control.
Preferably: described cylinder cap clamp assemblies also includes about the second driver element, and described about second drives list
Unit is fixed in described cylinder cap clamp assemblies fixed plate, and described rotary drive unit drives by described about second
Unit is installed to described cylinder cap clamp assemblies fixed plate, and described about second driver element is used for driving described rotation
Turn driver element to move up and down.
Preferably: described about first driver element, about the second driver element and rotary drive unit are respectively positioned on
To between described slide frame clamp assemblies fixed plate and the described cylinder cap clamp assemblies fixed plate installed.This is preferably
Scheme makes mechanical arm overall structure compacter, is conducive to saving the space in casing.
Preferably: described cylinder cap grip unit includes cylinder cap clamping machine mechanical arm and rotary shaft, described rotary shaft place
Axis and described cylinder cap clamping machine mechanical arm between there is predetermined distance to form a cavity, so that in institute
When stating skew working position, described slide grip unit can move down through described cavity with from reagent tank inner clip
Take slide frame and maybe the slide frame of clamping is put into reagent tank.
Preferably: described cylinder cap grip unit and/or described slide frame grip unit use cam clamping machine mechanical arm；
Described cam clamping machine mechanical arm includes: left grip block, right grip block, cam, cam rotary drive mechanism and cunning
Rail；Described left grip block and described right grip block are installed on described slide rail and can slide along described slide rail, institute
State and on cam, offer two cam paths, described left grip block and described right grip block are respectively provided with one driven
Axle, said two driven shaft lays respectively in said two cam path；Described cam rotary drive mechanism is used for driving
Dynamic described cam rotates to drive described left folder by described cam path change in location relative with described driven shaft
Hold block and right grip block relative movement.More preferably: described cam path is deep-slotted chip breaker, and one end of this deep-slotted chip breaker is relative
In the other end near the rotary shaft of cam.The grip unit of this preferred version uses the mode of cam to realize, structure
Compact, control simple.
Accompanying drawing explanation
Fig. 1 is the structural representation of the overflow dyeing machine of specific embodiment；
Fig. 2 is the structure chart of the mechanical arm of the overflow dyeing machine of specific embodiment；
Fig. 3 is the structure chart of the slide frame clamp assemblies of the overflow dyeing machine of Fig. 2；
Fig. 4 is that the cylinder cap clamp assemblies of the overflow dyeing machine of Fig. 2 is positioned at structure chart when picking and placeing working position；
Fig. 5 is the cylinder cap clamp assemblies of the overflow dyeing machine of Fig. 2 structure chart when being disposed offset from working position；
Fig. 6 is the structure chart of the cam clamping machine mechanical arm of the dyeing mechanism of specific embodiment；
Fig. 7 is the STRUCTURE DECOMPOSITION figure of the cam clamping machine mechanical arm of Fig. 6；
Fig. 8 is the structural representation of the cam of Fig. 6；
Fig. 9-Figure 15 is the course of work state diagram of the mechanical arm of the overflow dyeing machine of embodiment.
Detailed description of the invention
Below in conjunction with preferred embodiment the invention will be further described.
As shown in Figure 1, 2, 3, the double mechanical arms slide stainer of the present embodiment, including casing 001,
It is positioned at the cylinder cap 005 of multiple reagent tanks 002 of casing, slide frame 003, mechanical arm 004 and reagent tank 002
(seeing in Figure 12).
As in figure 2 it is shown, mechanical arm 004 includes slide frame clamp assemblies 410 and cylinder cap clamp assemblies 420.Its
In, slide frame clamp assemblies 410 includes slide frame clamp assemblies fixed plate 411, slide frame grip unit 412
With about the first driver element 413；About first driver element fixes 413 in slide frame clamp assemblies fixed plate
On 411, it is used for driving slide frame grip unit 412 to move up and down；Slide frame grip unit 412 is used for clamping
Slide frame 003；Cylinder cap clamp assemblies 420 includes cylinder cap clamp assemblies fixed plate 421, cylinder cap grip unit 422
With rotary drive unit 423；Cylinder cap clamp assemblies fixed plate 421 is right with slide frame clamp assemblies fixed plate 411
To installation；Rotary drive unit 423 is arranged in cylinder cap clamp assemblies fixed plate 421, is used for driving cylinder cap to press from both sides
Hold unit 422 to rotate to produce at least one and pick and place working position and a skew working position.Picking and placeing working position
Time, cylinder cap grip unit 422 is positioned at the underface of slide grip unit 412；At skew working position, cylinder cap presss from both sides
Hold unit 422 and deviate the underface of slide grip unit 412, so that slide grip unit 412 can be downward
Move and maybe the slide frame 003 of clamping is put into reagent tank with gripping slide frame 003 in reagent tank.
As it is shown on figure 3, about first driver element 413 of the present embodiment, including driving motor 4130, synchronizing
Wheel (not shown), Timing Belt 4131, contiguous block 4132 and line slideway 4133.Drive motor 4130
Driving to synchronize to take turns drives Timing Belt 4131 to move, and contiguous block 4132 is fixed on Timing Belt 4131, can be same
Walk with under the drive of 4131 linearly guide rail 4133 move up and down, slide frame grip unit 412 is fixed on connection
On block 4132, thus by driving motor 4130 that slide frame grip unit 412 can be driven to move up and down.
As shown in Figure 4, the rotary drive unit 423 of the present embodiment includes rotary drive motor 4230, synchronizes
Wheel 4231 and 4233 and Timing Belt 4232.Drive motor 4230 to drive and synchronize wheel 4231 rotation, synchronize wheel
4231 drive synchronization wheel 4233 rotation by Timing Belt 4232, synchronize wheel 4233 and pass with a rotary shaft 4222
Dynamic, axle 4222 is rotated and rotates.The cylinder cap clamping machine mechanical arm 4221 of cylinder cap grip unit 422 rotates
Axle 4222 is fixing to be connected, and rotates under the drive of rotary shaft 4222.In the present embodiment, cylinder cap clamp assemblies is also
Including about the second driver element 424, its structure is identical with about the first driver element, and it will not go into details again,
The effect of about the second driver element 424 is for driving rotary drive unit 423 move up and down and then drive cylinder
Lid grip unit moves up and down, concrete: rotary drive unit 423 is fixed on about the second driver element 424
Connecting plate 4241 on, move up and down with connecting plate 4241 the most linearly guide rail.Such as Fig. 4, the present embodiment
In, the cylinder cap clamping machine mechanical arm 4221 of cylinder cap grip unit 422 rotate have between axle 4222 predetermined
Distance is to form a cavity 4223, as it is shown in figure 5, when at described second working position, and slide grip unit
412 can through cavity 4223 move down with in reagent tank grip slide frame maybe the slide frame of clamping is put
Enter reagent tank.
As in figure 2 it is shown, about first driver element of the present embodiment, the second driver element and rotary drive unit
It is respectively positioned between described slide frame clamp assemblies fixed plate and the described cylinder cap clamp assemblies fixed plate installed.
Mechanical arm compact overall structure, is very beneficial for saving the space in casing.
Cylinder cap grip unit and the slide frame grip unit of the present embodiment all use cam clamping machine mechanical arm 600, as
Shown in Fig. 6,7,8, this cam clamping machine mechanical arm includes: motor 601, left fixed plate 602, right fixed plate
603, motor fixing plate 604, cam 605, left grip block 606, right grip block 607, driven shaft 608 and
609 and guide rod 610.Left fixed plate 602, right fixed plate 603 are separately fixed at motor fixing plate 604
Two ends, motor 601 is fixed on motor fixing plate 604, and motor fixing plate 604 is provided with power supply machine 601
The hole that passes of power transmission shaft, the power transmission shaft of motor 601 is connected with band moving cam 605 through this hole with cam 605
Rotating, cam 605 offers two cam paths 6051, cam path 6051 is deep-slotted chip breaker, this deep-slotted chip breaker
One end relative to the other end near the rotary shaft of cam；Guide rod 610 two ends are separately fixed at left fixed plate 602
With in right fixed plate 603, left grip block 606, right grip block 607 are respectively equipped with and supply guide rod 610 to pass
Hole, left grip block 606, right grip block 607 are coordinated with guide rod 610 by this hole and move along guide rod 610；
The driven shaft 608 that the cam path with cam 605 coordinates is further respectively had on left grip block 606, right grip block 607
With 609, driven shaft 608 and 609 lays respectively in two cam paths 6051, when cam 605 rotates from
Moving axis 608 and 609 drives left grip block 606, right grip block 607 to move respectively, thus clamping or relieving quilt
The slide frame of clamping or cylinder cap.
As shown in Fig. 9-15, the course of work of the double mechanical arms slide stainer of the present embodiment is as follows: machine
The surface (as shown in Figure 9) that mechanical arm moves to slide frame；Slide frame grip unit moves downward, and clamps
Slide frame (as shown in Figure 10)；Slide frame grip unit moves up to topmost (as shown in figure 11)；Machine
Mechanical arm moves to the reagent tank of slide frame to be placed, and cylinder cap grip unit is from skew working position rotary motion
To picking and placeing working position (as shown in figure 12)；Cylinder cap grip unit moves down and clamps cylinder cap (such as Figure 13
Shown in)；Cylinder cap grip unit moves up to top (as shown in figure 14)；Cylinder cap grip unit is from picking and placeing work
Making position to rotate to offseting working position (as shown in figure 15), now slide frame grip unit can move downward to reagent
Slide frame is placed in cylinder.
Above content is to combine concrete preferred embodiment further description made for the present invention, it is impossible to
Assert the present invention be embodied as be confined to these explanations.For those skilled in the art
For, without departing from the inventive concept of the premise, it is also possible to make some equivalents and substitute or obvious modification, and
And performance or purposes identical, all should be considered as belonging to protection scope of the present invention.
Claims (6)
1. a double mechanical arms slide stainer, the multiple reagent tanks including casing, being positioned at casing,
Slide frame and mechanical arm, it is characterised in that:
Also include the cylinder cap for covering the plurality of reagent tank；
Described mechanical arm includes slide frame clamp assemblies and cylinder cap clamp assemblies；
Described slide frame clamp assemblies includes in slide frame clamp assemblies fixed plate, slide frame grip unit and first
Lower driver element；Described about first driver element is fixed in described slide frame clamp assemblies fixed plate, is used for
Described slide frame grip unit is driven to move up and down；Described slide frame grip unit is used for clamping described slide frame；
Described cylinder cap clamp assemblies includes cylinder cap clamp assemblies fixed plate, cylinder cap grip unit and rotates driving list
Unit；Described cylinder cap clamp assemblies fixed plate and described slide frame clamp assemblies fixed plate are to installation；Described rotation
Driver element is arranged in described cylinder cap clamp assemblies fixed plate, and described cylinder cap grip unit is arranged on described rotation
On driver element, described rotary drive unit is used for driving described cylinder cap grip unit to rotate to produce at least one
Pick and place working position and a skew working position；
At the described working position that picks and places, described cylinder cap grip unit is positioned at the underface of described slide grip unit；?
Described skew working position, described cylinder cap grip unit deviates the underface of described slide grip unit, so that institute
State slide grip unit can move down with in reagent tank grip slide frame maybe the slide frame of clamping is put into
Reagent tank.
Double mechanical arms slide stainer the most according to claim 1, it is characterised in that: described cylinder
Lid clamp assemblies also includes that about the second driver element, described about second driver element are fixed on described cylinder cap folder
Holding in assembly fixed plate, described rotary drive unit is installed to described cylinder cap by described about second driver element
In clamp assemblies fixed plate, described about second driver element is used for driving on described rotary drive unit and moves down
Dynamic.
Double mechanical arms slide stainer the most according to claim 2, it is characterised in that: described first
Driver element, about the second driver element and rotary drive unit are respectively positioned on to the described slide frame installed up and down
Between clamp assemblies fixed plate and described cylinder cap clamp assemblies fixed plate.
Double mechanical arms slide stainer the most according to claim 1 and 2, it is characterised in that: described
Cylinder cap grip unit includes cylinder cap clamping machine mechanical arm and rotary shaft, the axis at described rotary shaft place and described cylinder cap
There is predetermined distance to form a cavity between clamping machine mechanical arm, so that in described skew working position time institute
State slide grip unit to move down in reagent tank, to grip slide frame maybe by clamping through described cavity
Slide frame put into reagent tank.
Double mechanical arms slide stainer the most according to claim 1 and 2, it is characterised in that: institute
State cylinder cap grip unit and/or described slide frame grip unit uses cam clamping machine mechanical arm；
Described cam clamping machine mechanical arm includes: left grip block, right grip block, cam, cam rotary drive mechanism
And slide rail；Described left grip block and described right grip block are installed on described slide rail and can be sliding along described slide rail
Dynamic, described cam offers and on two cam paths, described left grip block and described right grip block, is respectively provided with one
Driven shaft, said two driven shaft lays respectively in said two cam path；Described cam rotary drive mechanism is used
Described in driving described cam to rotate to be driven by described cam path change in location relative with described driven shaft
Left grip block and right grip block relative movement.
Double mechanical arms slide stainer the most according to claim 5, it is characterised in that: described convex
Race is deep-slotted chip breaker, one end of this deep-slotted chip breaker relative to the other end near the rotary shaft of cam.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410131971.XA CN103884564B (en) | 2014-04-02 | 2014-04-02 | A kind of double mechanical arms slide stainer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410131971.XA CN103884564B (en) | 2014-04-02 | 2014-04-02 | A kind of double mechanical arms slide stainer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103884564A CN103884564A (en) | 2014-06-25 |
| CN103884564B true CN103884564B (en) | 2016-08-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410131971.XA Active CN103884564B (en) | 2014-04-02 | 2014-04-02 | A kind of double mechanical arms slide stainer |
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| Country | Link |
|---|---|
| CN (1) | CN103884564B (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201225970Y (en) * | 2008-04-29 | 2009-04-22 | 珠海市丽拓发展有限公司 | Cell tablet dyeing machine |
| CN201449352U (en) * | 2009-02-26 | 2010-05-05 | 广州鸿琪光学仪器科技有限公司 | Dyeing machine for natural sedimentation liquid based cell slice |
| CN203798650U (en) * | 2014-04-02 | 2014-08-27 | 深圳市达科为医疗科技有限公司 | Double-manipulator tissue slice dying machine |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5818166A (en) * | 1981-07-24 | 1983-02-02 | Hitachi Ltd | Automatic dyeing device |
-
2014
- 2014-04-02 CN CN201410131971.XA patent/CN103884564B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201225970Y (en) * | 2008-04-29 | 2009-04-22 | 珠海市丽拓发展有限公司 | Cell tablet dyeing machine |
| CN201449352U (en) * | 2009-02-26 | 2010-05-05 | 广州鸿琪光学仪器科技有限公司 | Dyeing machine for natural sedimentation liquid based cell slice |
| CN203798650U (en) * | 2014-04-02 | 2014-08-27 | 深圳市达科为医疗科技有限公司 | Double-manipulator tissue slice dying machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103884564A (en) | 2014-06-25 |
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Effective date of registration: 20160317 Address after: Baoan District Xixiang Huang Tian street community of Shenzhen city in Guangdong province 518000 Yang back industrial zone three Heng Rong High-tech Industrial Park eleven Building 5 floor A District Applicant after: Dakewe (Shenzhen) medical equipment Co., Ltd. Address before: 518000, 203B building, building A, No. 43, building 1, Shenzhen, Nanshan District, Guangdong Applicant before: SHENZHEN DAKEWE MEDICAL TECHNOLOGY CO., LTD. |
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Effective date of registration: 20161116 Address after: 518000 room A, building 203A, No.1 building, No. 43, along hill road, Shenzhen, Guangdong, China Patentee after: Shenzhen Dakewe biotechnology Limited by Share Ltd Address before: Baoan District Xixiang Huang Tian street community of Shenzhen city in Guangdong province 518000 Yang back industrial zone three Heng Rong High-tech Industrial Park eleven Building 5 floor A District Patentee before: Dakewe (Shenzhen) medical equipment Co., Ltd. |
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Denomination of invention: Tissue slice dyeing machine with two mechanical arms Effective date of registration: 20171026 Granted publication date: 20160824 Pledgee: Shenzhen high tech investment and financing Company limited by guarantee Pledgor: Shenzhen Dakewe biotechnology Limited by Share Ltd Registration number: 2017990000993 |
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Denomination of invention: Tissue slice dyeing machine with two mechanical arms Effective date of registration: 20180817 Granted publication date: 20160824 Pledgee: Shenzhen high tech investment and financing Company limited by guarantee Pledgor: Shenzhen Dakewe biotechnology Limited by Share Ltd Registration number: 2018990000707 |
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Denomination of invention: Tissue slice dyeing machine with two mechanical arms Effective date of registration: 20190806 Granted publication date: 20160824 Pledgee: Shenzhen high tech investment and financing Company limited by guarantee Pledgor: Shenzhen Dakewe biotechnology Limited by Share Ltd Registration number: Y2019990000013 |
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Denomination of invention: A double mechanical arm tissue section dyeing machine Effective date of registration: 20201230 Granted publication date: 20160824 Pledgee: Shenzhen high tech investment and financing Company limited by guarantee Pledgor: Shenzhen Dakewe biotechnology Limited by Share Ltd. Registration number: Y2020990001532 |
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