CN109612799B

CN109612799B - Automatic analyzer for glass slide

Info

Publication number: CN109612799B
Application number: CN201811615077.4A
Authority: CN
Inventors: 杨永俊
Original assignee: Individual
Current assignee: Lepaien (Shenzhen) Biotechnology Co.,Ltd.
Priority date: 2018-12-27
Filing date: 2018-12-27
Publication date: 2023-09-19
Anticipated expiration: 2038-12-27
Also published as: CN109612799A

Abstract

The invention discloses an automatic slide analyzer, which comprises a sample processing unit with automatic separation and purification functions, a dyeing assembly unit for automatically assembling a slide, a dyeing substrate and a cylinder into a whole, an automatic dyeing unit, an automatic cover plate unit and a sheet reading unit with automatic sheet reading and recovery functions. The invention realizes the automatic, intelligent and batch analysis of the sample to be detected and realizes the standardized and standardized detection of the sample to be detected; the manual intervention is less, the success rate of slide preparation is ensured, the repeatability and consistency of samples to be detected are ensured, the detection efficiency is improved, and the detection efficiency is more than 20 times of that of the traditional manual detection; the harm of the coloring agent to the human body is reduced, and the safety is high; sample information can be automatically stored and compared and analyzed, problems can be positioned and analyzed, and the film reading can be repeated.

Description

Automatic analyzer for glass slide

Technical Field

The invention relates to an analyzer, in particular to an automatic slide analyzer.

Background

In the field of pathology or histology based detection, the magnifying effect of a microscope is often relied upon to read pathogen, cell or tissue information on a slide. There are no existing automated analyzers for slide making and reading that typically handle samples manually, assemble slides manually, stain manually, cover slip manually, and read slides manually. The above operation process has the following technical problems: the whole operation process is operated manually, has hidden pollution hazards, and lacks standardization and normalization; due to the fact that the levels and capabilities of technicians are different, the slide preparation success rate is low, and slide preparation is needed again when any link is in error; the sample dyeing lacks unified standard, has poor dyeing repeatability, and the dyeing agent has toxicity and has safety problem; the manual film reading efficiency is low, and repeated reference of sample information and secondary film reading are difficult and uncertain, so that the result interpretation is not facilitated.

Disclosure of Invention

The invention aims to provide the slide glass automatic analyzer with the functions of sample pretreatment, dyeing assembly, automatic dyeing, automatic cover plate and automatic slide reading, so that the full-automatic analysis of a sample to be detected is realized, the pollution risk caused by manual intervention is completely avoided, and the standardized and standardized detection of the sample to be detected is realized.

In order to achieve the above purpose, the invention adopts the following technical scheme:

the automatic slide analyzer comprises a sample processing unit, a dyeing component assembling unit, a dyeing unit, a cover plate unit and a slide reading unit which are sequentially connected.

The sample processing unit can automatically push, extract, filter, separate and purify a sample to be detected;

the dyeing assembly assembling unit is used for assembling a dyeing assembly formed by a glass slide, a dyeing substrate and a canister into a whole and adding samples, and conveying the dyeing assembly to the dyeing unit after the sample addition is completed;

the dyeing unit is used for automatically dyeing the sample on the dyeing assembly;

the cover plate unit is used for unloading the canister on the dyeing assembly and covering the glass slide;

and the slide reading unit is used for automatically reading the slide glass after the cover plate and automatically recovering the slide glass after the cover plate.

The sample processing unit comprises a sample tray automatic feeding mechanism which can accommodate the sample tray and automatically load and withdraw the sample tray;

the centrifugal machine can load the centrifugal tube and adjust the included angle between the centrifugal tube and the rotating shaft;

a first pipetting mechanism for transferring liquid in a sample bottle in the sample tray into a centrifuge tube in the centrifuge;

a second pipetting mechanism for transferring liquid from the centrifuge tube into the staining assembly;

and the centrifuge tube transfer mechanism and the filter screen management transfer mechanism are matched with the centrifuge, the first gun head replacement mechanism is matched with the first pipetting mechanism, and the second gun head replacement mechanism is matched with the second pipetting mechanism.

The machine frame bottom plate is also provided with a vortex vibrator and a matched liquid injection mechanism.

The automatic sample tray feeding mechanism comprises a sample feeding guide rail and a sample withdrawing guide rail which are arranged in parallel, wherein a sample feeding push rod driven by an air cylinder is arranged on the sample feeding guide rail in a sliding manner, and a sample withdrawing push rod driven by the air cylinder is arranged on the sample withdrawing guide rail in a sliding manner; an annular belt positioned below the sampling needle of the analyzer is vertically arranged between the sample feeding guide rail and the sample withdrawing guide rail, a pushing guide rail is arranged on one side of the annular belt in parallel, and a tray clamping block driven by the annular belt is arranged on the pushing guide rail in a sliding manner; the bottom plate is also provided with a tray vibrating table positioned on the tray sample conveying channel.

The centrifugal machine comprises a support frame, an outer sleeve is arranged on a top plate of the support frame, an inner sleeve driven by a motor is connected in the outer sleeve through a bearing, a rotating shaft is arranged in the inner sleeve in a penetrating manner, a compression spring is sleeved on the rotating shaft, spline grooves matched with each other are formed in the joint surface of the rotating shaft and the inner sleeve, and a lifting cylinder I connected with a bottom plate of the support frame is correspondingly arranged below the rotating shaft; the top of the inner sleeve is connected with a rotating cage, a plurality of through holes are uniformly formed in the side wall of the rotating cage, the top of each through hole is hinged with a test tube placing card, and the test tube placing card is provided with a rotating arm extending into the through hole; the top of the rotating shaft is provided with a lifting disc, and the periphery of the lifting disc is provided with a plurality of articulated arms correspondingly connected with the rotating arm.

The first pipetting mechanism comprises a multidimensional movement mechanism, a vertical connecting column driven by a translation motor, a lifting motor and a rotating motor is arranged on the multidimensional movement mechanism, and a melt cutter and a pipetting gun are arranged on the vertical connecting column; the fusion cutter is an electric soldering iron with a cylindrical cutting head at the tail end, and the bottom surface of the cylindrical cutting head is obliquely arranged; the pipette comprises a suction cylinder connected with a vertical connecting column, a piston rod driven by a pushing motor is sleeved in the suction cylinder, a rubber clamping block is sleeved at the tail end of a suction head communicated with the suction cylinder, and the rubber clamping block is of an inverted cone structure with a limiting baffle at the top.

The first gun head replacing mechanism comprises a spiral circular vibration gun head feeder and a gun head feeder, the spiral circular vibration gun head feeder comprises a gun head storage box, a spiral single-row gun head discharging channel is arranged in the gun head storage box, a linear single-row discharging channel with a vibrator at the bottom is tangentially connected to the outlet of the single-row gun head discharging channel, a gun head support clamping block is arranged at the outlet of the linear single-row discharging channel, the gun head support clamping block is driven by a cylinder to lift and is slidingly connected to a vertical supporting plate, the vertical supporting plate is driven by the cylinder and moves along the direction perpendicular to the linear single-row discharging channel, and a fixed clamping plate of a liquid-transferring gun installation head above the gun head support clamping block and a baffle for blocking the outlet of the linear single-row discharging channel are arranged on the vertical supporting plate.

The dyeing assembly unit comprises a dyeing tank rotary feeding mechanism which can accommodate a canister and automatically turn over and sample the canister;

the dyeing substrate feeding mechanism can accommodate the dyeing substrate and automatically feed the dyeing substrate;

the glass slide feeding mechanism can accommodate glass slides and automatically feed the glass slides, and automatically push the assembled glass slides and the dyeing substrate;

The dyeing tank screwing mechanical arm can grasp and transfer the canister and screw the canister on the dyeing substrate;

and the dyeing component pushing mechanism is used for conveying the assembled dyeing component to the dyeing unit.

The dyeing tank feeding mechanism comprises a tank storage box, an arc-shaped single-row tank discharging channel is arranged in the tank storage box, a linear single-row discharging channel with a vibrator at the bottom is tangentially connected to the outlet of the single-row tank discharging channel, a motor-driven rotating disc is arranged at the outlet of the linear single-row discharging channel, a groove for receiving the tank is radially formed in the rotating disc, an air cylinder-driven lifting supporting plate is arranged at the outlet of the groove extending to the edge of the rotating disc, an output guide rail is arranged below the lifting supporting plate, an air cylinder-driven feeding supporting plate is arranged on the output guide rail in a sliding mode, and the feeding supporting plate and the lifting supporting plate are mutually matched.

The feeding support plate and the lifting support plate are of U-shaped structures with opposite openings, and a positioning support plate is arranged between U-shaped arms of the feeding support plate; when the two are matched, the U-shaped supporting arms of the feeding supporting plate are positioned at the outer sides of the U-shaped supporting arms of the lifting supporting plate, the positioning supporting plate is positioned between the U-shaped arms of the lifting supporting plate, and the lug plate lap joint grooves formed in the U-shaped supporting arms are all positioned on the same straight line.

The slide glass feeding mechanism comprises transverse blocks and transverse vertical plates which are arranged at intervals in parallel, a support driven by an air cylinder is arranged on a transverse sliding rail of each transverse block in a sliding mode, a lifting seat I driven by a lifting air cylinder is arranged on a vertical sliding rail of each vertical plate of the support in a sliding mode, and a negative pressure sucker I for adsorbing a slide glass is arranged on the lifting seat I; the bottom of support is provided with the connecting block of transversely extending, the support with the vertical seat I on the connecting block controls the interval setting, it is provided with the pushing hands by lift cylinder II driven to slide on the vertical seat, the pushing hands upwards extend horizontal slide at horizontal riser top and follow horizontal slide horizontal back and forth movement, and the left side of horizontal riser is provided with the slide storage box.

The dyeing substrate feeding mechanism comprises a dyeing substrate storage box and a vertical seat II which are arranged at intervals in the front-back direction, and a horizontal push plate which is pushed by an air cylinder to move back and forth is arranged on the vertical seat II; the left end of the horizontal sliding plate extends backwards to form an installation part, and the dyeing substrate storage box is arranged on the installation part of the horizontal sliding plate through an installation frame; the length of the horizontal push plate is longer than that of the dyeing substrate storage box, and the horizontal push plate moves back and forth in a gap between the dyeing substrate storage box and the horizontal sliding plate.

The dyeing component pushing mechanism comprises a pushing component and a dyeing component conveying mechanism which are mutually connected, the pushing component comprises a pushing slide rail which extends forwards horizontally from the right end of the front edge of the horizontal slide rail, a horizontal pushing block driven by a cylinder is arranged at the rear edge of the horizontal slide rail corresponding to the pushing slide rail, the dyeing component conveying mechanism is arranged at the front side of the pushing slide rail, a transverse pushing rod driven by the cylinder is arranged at the outlet end of the dyeing component conveying mechanism, and the dyeing component at the outlet end of the dyeing component conveying mechanism is pushed to the dyeing unit by the transverse pushing rod.

The dyeing tank screwing manipulator comprises a rotating support arranged at the right end of a transverse vertical plate and driven by a rotating cylinder, a lifting seat II driven by the cylinder is arranged on a vertical sliding rail of the rotating support in a sliding mode, a mounting support extending downwards is arranged on the lifting seat II, a rotating seat driven by a rotating motor II is arranged at the bottom of the mounting support, and a pair of arc clamping plates I matched with the cylinder are correspondingly arranged on a clamping cylinder of the rotating seat.

The dyeing unit comprises an input conveying mechanism for conveying dyeing components, and the input conveying mechanism is used for connecting the dyeing component assembling unit; the outlet end of the input conveying mechanism is connected with the inlet end of the annular conveying mechanism through a sample feeding gripper, the outlet end of the annular conveying mechanism is provided with a sample discharging gripper, and the sample feeding gripper and the sample discharging gripper are arranged at left and right intervals; the annular conveying mechanism comprises a conveying chain driven by a stepping motor, a plurality of conveying assemblies used for clamping dyeing assemblies are uniformly arranged at the top of the conveying chain at intervals, and a waste liquid pool is correspondingly arranged below the conveying assemblies; a plurality of dyeing stations are arranged along the circumferential direction of the conveying chain at intervals, and each dyeing station is provided with a sample adding mechanism and a turnover manipulator.

The carrying assembly comprises a mounting block fixedly connected to the conveying chain through a connecting sheet, a U-shaped clamping plate used for clamping the dyeing assembly is connected to the mounting block through a hinge shaft, a horizontal positioning structure is arranged between the mounting block and the U-shaped clamping plate, and a limiting clamping groove matched with the dyeing assembly is formed in the inner side face of the U-shaped clamping plate.

The overturning manipulator comprises a base fixedly connected to the bottom plate, an L-shaped support driven by a power source is arranged on a guide rail of the base in a sliding mode, a rotating hand driven by a rotating motor III is arranged at the upper end of the L-shaped support, the height of the rotating hand is consistent with that of the U-shaped clamping plate, and a positioning groove matched with the short side of the dyeing assembly is formed in the rotating hand.

The cover plate unit comprises a cover plate conveying mechanism connected with the dyeing unit, a dyeing tank unloading position, an ethanol flushing position, a loose oil drop adding position and a cover plate position are sequentially arranged from the inlet end of the cover plate conveying mechanism to the outlet end of the cover plate conveying mechanism, a dyeing tank unloading manipulator is arranged at the dyeing tank unloading position, and a recovery barrel is arranged below the dyeing tank unloading manipulator; the two sides of the ethanol flushing position are respectively provided with a flushing manipulator and an ethanol flushing head, a clamping arm of the flushing manipulator reciprocates between the ethanol flushing head and the ethanol flushing position, and a fan is arranged above the ethanol flushing head; a dripping head is arranged at the corresponding position of the pine node oil drop; the cover plate position is provided with a cover plate manipulator, and one side of the cover plate manipulator is provided with a cover plate box.

The cover plate manipulator comprises an installation vertical plate, wherein the installation vertical plate is slidably provided with a lifting block driven by an air cylinder, a rotating shaft driven by a rotating air cylinder is arranged on the lifting block, and a negative pressure sucker II is arranged on a horizontal arm at the top of the rotating shaft.

The slide-reading unit comprises a microscope for reading sample information on a slide glass, a mechanical gripper for connecting the cover-sheet unit and the microscope is arranged on one side of the microscope, the other side of the microscope is provided with a slide recovery mechanism with translation and jacking functions, and the mechanical gripper horizontally reciprocates between the microscope and the slide recovery mechanism.

Slide recovery mechanism includes a font frame, the roof of font frame is put up and is equipped with end open-ended recovery box, the symmetry is provided with a pair of support spacing subassembly that prevents that the slide glass from dropping on retrieving the lateral wall of box, and the below of font frame is equipped with the pushing hands subassembly that has translation and jacking effect through the stand, the pushing hands subassembly is including setting up the horizontal plate in font frame below, be provided with a pair of transversely extending's recovery guide rail on the horizontal plate, it is provided with by sharp cylinder driven base to retrieve the slip on the guide rail, the lift cylinder piston rod of base below upwards extends the base, the top of lift cylinder piston rod is provided with the jacking piece.

The invention has the advantages that the invention provides the slide glass automatic analyzer with the functions of automatically processing samples, automatically assembling dyeing components, automatically dyeing, automatically covering sheets and automatically reading sheets, realizes the automatic, intelligent and batch analysis of the samples to be detected, and realizes the standardization and standardized detection of the samples to be detected; the manual intervention is less, the success rate of slide preparation is ensured, the repeatability and consistency of samples to be detected are ensured, the detection efficiency is improved, and the detection efficiency is more than 20 times of that of the traditional manual detection; the harm of the coloring agent to the human body is reduced, and the safety is high; sample information can be automatically stored and compared and analyzed, problems can be positioned and analyzed, and the film reading can be repeated.

Drawings

Fig. 1 is a flow chart of the present invention.

Fig. 2.1 is a schematic structural view of a dyeing assembly for use with the present invention.

Fig. 2.2 is a schematic structural diagram of the dyed substrate of fig. 2.1.

FIG. 3 is a diagram showing the positional relationship between a sample processing unit and a staining module assembly unit according to the present invention.

Fig. 4.1 is a schematic structural view of the automatic sample tray feeding mechanism in fig. 1.

Fig. 4.2 is a schematic top view of fig. 4.1.

Fig. 4.3 is a schematic structural view of the feeding mechanism connected to the first magazine in fig. 4.1.

Fig. 4.4 is a schematic structural view of the second magazine section of fig. 4.1.

Fig. 4.5.1 and 4.5.2 are schematic diagrams of the front and back structures of a sample tray used with the tray clamping block in fig. 4.1.

Fig. 5.1 is a schematic structural view of the first pipetting mechanism in fig. 3.

Fig. 5.2 is a schematic view of the configuration of the melter of fig. 5.1.

Fig. 6.1 is a schematic structural view of a gun head installer of the first gun head changing mechanism of fig. 3.

Fig. 6.2 is a schematic view of the vertical support plate portion of fig. 6.1.

Fig. 7.1 is a schematic diagram of the structure of the centrifuge of fig. 3.

Fig. 7.2 is a schematic cross-sectional structure of the turning part in fig. 7.1.

Fig. 7.3 is a schematic diagram of the connection structure of the parts such as the transfer cage (without the upper cover), the lifting disc and the test tube placing card in fig. 7.1.

FIG. 8 is a schematic view of the centrifuge tube gripping robot of the centrifuge tube transfer mechanism of FIG. 3.

Fig. 9 is a schematic structural view of the dyeing component assembly unit according to the present invention.

Fig. 10 is a schematic structural view of the dyeing assembly unit according to the present invention (omitting the dyeing tank feeding mechanism).

Fig. 11.1 is a schematic structural view of the dye tank feeding mechanism in fig. 9.

Fig. 11.2 is a schematic top view of fig. 11.1.

Fig. 11.3 is a schematic structural view of the rotary table of fig. 11.1.

Fig. 11.4 is a schematic structural view of the loading pallet in fig. 11.1.

Fig. 12.1 is a schematic view of the slide loading mechanism of fig. 10.

Fig. 12.2 is a schematic view of the slide loading mechanism of fig. 10 (with horizontal slide and transverse riser hidden).

Fig. 13 is a schematic view of the structure of the dyeing tank screwing robot of fig. 10.

FIG. 14 is a schematic view of the structure of the dyeing unit according to the present invention.

FIG. 15 is a schematic top view of FIG. 14 (excluding the first and second shields and the waste reservoir).

FIG. 16.1 is a schematic view of the sample application mechanism of FIG. 14.

FIG. 16.2 is a schematic view of another construction of the loading mechanism of FIG. 14.

Fig. 17 is a schematic structural view of the sample introduction grip of fig. 14.

Fig. 18 is a schematic structural view of the handling assembly and the flipping robot of fig. 14.

Fig. 19 is a schematic view of the structure of the cover sheet unit according to the present invention.

Fig. 20 is a schematic view of the structure of the unloading robot for the dye tank in fig. 19.

Fig. 21 is a schematic view of the configuration of the flushing robot of fig. 19.

Fig. 22 is a schematic structural view of the flap robot of fig. 19.

Fig. 23 is a schematic structural view of the lifting mechanism in fig. 19.

Fig. 24 is a schematic view of the structure of the film reading unit according to the present invention.

Fig. 25 is a schematic view of the slide recovery mechanism of fig. 24.

Fig. 26 is a schematic view of the support and stop assembly of fig. 24.

Fig. 27 is a flowchart of the operation of the present invention.

Detailed Description

As shown in fig. 1, the automatic slide analyzer of the present invention comprises a sample processing unit, a staining assembly assembling unit, a staining unit, a cover plate unit and a slide reading unit which are sequentially connected, wherein the sample processing unit can push, extract, filter, centrifuge, separate and purify a sample to be detected; the dyeing assembly assembling unit is used for assembling a dyeing assembly consisting of a glass slide, a dyeing substrate and a canister into a whole and adding samples, the dyeing assembly is conveyed to the dyeing unit after the sample adding is finished, the specific structure of the dyeing assembly V is shown in figures 2.1 and 2.2, the dyeing assembly comprises a dyeing substrate for clamping and loading the glass slide and the canister U, the dyeing substrate comprises a transfer plate W01, the middle part of the transfer plate W01 is provided with a clamping groove W02 for placing the glass slide, the difference between the depth of the clamping groove W02 and the thickness of the glass slide is 2-5mm, an installation space is provided for the canister U, an observation hole W03 is formed in the bottom wall of the clamping groove W02, the middle part of the long side of the clamping groove W02 extends outwards to form a screwing groove W04, one end of each screwing groove W04 is screwed, the other end forms clamping and fixing positions through a screw cover W05 plate, the two clamping positions are opposite angles, the glass slide is clamped in the clamping groove W02, and the base lug plate of the canister U is clamped in the two clamping positions, and is tightly attached to the glass slide; the dyeing unit automatically dyes the sample on the dyeing assembly and conveys the sample to the cover plate unit; the cover plate unit unloads a canister on the dyeing assembly and sequentially washes, air dries and drops turpentine and cover plates on the glass slide in the dyeing substrate; the slide glass after the cover plate can be automatically read by the slide glass reading unit and automatically recycled by the slide glass after the cover plate is read.

The sample processing unit comprises a sample tray automatic feeding mechanism capable of accommodating a sample tray and automatically feeding and withdrawing the sample tray, a centrifuge capable of loading a centrifuge tube and adjusting the included angle between the centrifuge tube and the rotating shaft, a first pipetting mechanism used for transferring liquid in a sample bottle in the sample tray into the centrifuge tube in the centrifuge, a second pipetting mechanism used for transferring liquid in the centrifuge tube into a dyeing assembly, a centrifuge tube transferring mechanism and a filter net tube transferring mechanism matched with the centrifuge, a first gun head replacing mechanism matched with the first pipetting mechanism, a second gun head replacing mechanism matched with the second pipetting mechanism, and further a vortex vibrator capable of carrying out vortex vibration on the sample.

The sample pretreatment unit can continuously sample, fuse and cut the bottle cap of the sample bottle, realize the operations such as automatic suction, transfer and centrifugation of the sample, achieve the full-automatic operation of sample extraction pretreatment, greatly reduce the manual work load, improve the degree of standardized operation, reduce the probability of pollution caused by personnel intervention, and has the following specific structure: as shown in fig. 3, a sample tray automatic feeding mechanism a100 is provided on a bottom plate M, a first pipetting mechanism a200, a centrifuge a300 and a vortex vibrator a400 are provided on a sampling side of the sample tray automatic feeding mechanism a100, and a second pipetting mechanism a500 is provided on one side of the vortex vibrator a 400. In order to prevent cross infection between samples and ensure the same tube, the first pipette mechanism A200 is provided with a first gun head replacing mechanism A600 in a matched manner, and the second pipette mechanism A500 is provided with a second gun head replacing mechanism A700 in a matched manner; the centrifugal machine A300 is arranged below the first pipetting mechanism A200, and is matched with the centrifugal machine A300, the centrifugal tube transferring mechanism A800 and the filter net tube transferring mechanism A900, and the vortex vibrator A400 is matched with the pipetting mechanism 100.

As shown in fig. 4.1 and 4.2, the sample tray automatic feeding mechanism a100 comprises a sample feeding guide rail a101 and a sample withdrawing guide rail a102 which are arranged on a bottom plate M in parallel, wherein a sample feeding push rod a103 driven by a cylinder is arranged on the sample feeding guide rail a101 in a sliding manner, and a sample withdrawing push rod a104 driven by a cylinder is arranged on the sample withdrawing guide rail a102 in a sliding manner; an annular belt A105 perpendicular to the sample feeding guide rail A101 and the sample withdrawing guide rail A102 is arranged between the sample feeding guide rail A101 and the sample withdrawing guide rail A102, a pushing guide rail A106 is arranged on one side of the annular belt A105 in parallel, a tray clamping block A107 driven by the annular belt A105 is arranged on the pushing guide rail A106 in a sliding mode, two positioning pins A107.1 are arranged on the top surface of the tray clamping block A107 at intervals, and the positioning pins A107.1 are matched with positioning grooves A109.1 (see FIG. 4.5.2) at the bottom of a sample tray A109 (see FIG. 4.5.1). The sample tray a109 is provided with three rows and four columns of inserting positions, and the positioning groove a109.1 comprises two transverse positioning grooves and a longitudinal positioning groove, the longitudinal positioning groove is arranged at the center of the tray, and the transverse positioning groove is positioned at the left side of the longitudinal positioning groove. The annular belt A105, the pushing guide rail A106 and the tray clamping block A107 are all positioned in the working area of the sampling needle of the analyzer. The tray vibration table A108 positioned on the tray sample feeding channel is arranged on the bottom plate M, and when the sample tray A109 placed on the tray vibration table A is vibrated, samples in the sample tray A can be uniformly mixed by vibration.

In order to reduce manual operation and achieve the aim of batch processing, a first storage box A110.1 with an automatic feeding function is arranged on a sample conveying channel of a tray of the bottom plate M, and a second storage box A111.2 with an automatic receiving function is arranged on a sample withdrawing channel of the tray of the bottom plate M. As shown in fig. 4.1 and 4.3, a first storage box a110.1 is erected around a tray vibrating table a108 and consists of two side vertical plates and a back plate, a gap is arranged between the bottom of the back plate and the bottom plate M, a lifting support a110.2 driven by an air cylinder is slidably arranged on the back plate, a pair of opening and closing clamping arms a110.3 perpendicular to the back plate are arranged at the bottom of the lifting support a110.2, and the opening and closing clamping arms a110.3 are driven by the air cylinder and pass through the back plate to be arranged above the tray vibrating table a 108; after the open-close clamping arm A110.3 holds a sample tray A109, the bottom surface of the sample tray A109 is separated from the upper surface of the tray vibration table A108 by the height of a sample bottle. As shown in fig. 4.4, a jacking supporting plate a111.1 driven by an air cylinder is arranged on a tray sample withdrawing channel of the bottom plate M, the jacking supporting plate a111.1 Zhou Cejia is provided with a second storage box a111.2 consisting of two side vertical plates and a back plate, a pair of wedge-shaped supporting plates a111.3 for supporting the sample tray a109 are hinged on the inner wall of the second storage box a111.2, the bottom inclined plane of the wedge-shaped supporting plates a111.3 is in sliding fit with the jacking supporting plate a111.1, and torsion springs a111.4 are arranged on the hinge shafts of the wedge-shaped supporting plates a111.3 in a penetrating mode. In addition, the first storage box a110.1 and the second storage box a111.2 can also adopt other structures capable of automatically feeding and receiving materials.

During operation, a plurality of sample trays A109 containing sample bottles are stacked and placed in a first storage box A110.1, the bottom sample tray A109 is supported by an opening and closing clamping arm A110.3, and continuous feeding is carried out on a tray vibrating table A108 through opening and closing of the opening and closing clamping arm A110.3 for uniform mixing and vibration; then, the sample tray a109 moves to the pushing guide rail a106 under the action of the sample feeding push rod a103 and is connected with the tray clamping block a107 in a clamping way, specifically, two positioning pins a107.1 of the tray clamping block a107 are respectively clamped at the cross joint of the positioning grooves a109.1 of the sample tray a109, the transverse positioning groove a109.1 of the sample tray a109 is positioned at the left side, and the tray clamping block a107 moves rightwards; then, alternately operating the fuse cutter and the liquid transferring gun, namely performing bottle cap hole cutting and sample suction on the sample bottles on the sample tray A109 one by one, namely performing hole cutting and suction on the sample bottles in the first right row firstly even if the fuse cutter and the liquid transferring gun move longitudinally, then driving the sample tray A109 to move rightwards by the tray clamping block A107, performing hole cutting and suction on the sample bottles in the second right row, and then performing hole cutting and suction on the sample bottles in the third and fourth rows until all samples are sucked; after that, the sample tray a109 is pushed to the vicinity of the sample withdrawing guide rail a102 and is pushed onto the jacking plate a111.1 by the sample withdrawing push rod a104, then the jacking plate a111.1 lifts the sample tray a109 upwards, the wedge-shaped supporting plate a111.3 is turned upwards under the pushing action of the sample tray a109, after the sample tray a109 passes over the wedge-shaped supporting plate a111.3, the wedge-shaped supporting plate a111.3 returns to the original position under the action of the torsion spring a111.4, the jacking plate a111.1 falls back, and the sample tray a109 is lifted by the wedge-shaped supporting plate a 111.3. When the second magazine a111.2 is filled with the waste sample tray a109, the concentrated processing is manually removed.

As shown in fig. 5.1 and 5.2, the first pipetting mechanism a200 comprises a multidimensional movement mechanism with translation, lifting and rotation functions and a fusion cutter and a pipetting gun connected with the multidimensional movement mechanism. Specifically, the multidimensional movement mechanism is installed on a support above a bottom plate M and comprises a vertical plate A201.1 connected with the support, a moving frame A201.2 is installed on the vertical plate A201.1 in a sliding mode along the horizontal direction, the moving frame A201.2 is connected with a ball screw driven by a translation motor A201.3, a lifting motor A201.4 is installed on a top plate of the moving frame A201.2, a lifting plate A201.5 is installed in the moving frame A201.2 in a sliding mode, the lifting plate A201.5 is connected with the ball screw driven by the lifting motor A201.4, a rotating motor I A201.6 is installed on the lifting plate A201.5, the rotating motor I A201.6 is connected with a vertical connecting column A201.7 through a synchronous belt mechanism, and a vertical connecting column A201.7 extends downwards through the moving frame A201.2. Thus, the vertical connection column a201.7 can perform translational, elevating, and rotational functions.

As shown in fig. 5.2, one side of the vertical connecting column a201.7 is connected with a fusion cutter, the fusion cutter is an electric soldering iron with a cylindrical cutting head a202.1 at the tail end, and the bottom surface of the cylindrical cutting head a202.1 is obliquely arranged to form an inclined plane with an included angle of 30-60 degrees with the horizontal plane. Further, a pushing post a202.2 made of a non-heat conductive material is installed in the cylindrical cutting head a202.1, and the pushing post a202.2 is arranged coplanar with the bottom of the cylindrical cutting head a202.1, that is, the bottom surface of the pushing post a202.2 has the same inclination as the bottom surface of the cylindrical cutting head a 202.1.

As shown in fig. 5.1, a pipette consisting of a suction cylinder a203.1, a piston rod a203.2 and a suction head a203.3 is connected to the other side of the vertical connecting column a 201.7. Specifically, a guide sleeve A203.4 is installed on the vertical connecting column A201.7, a ball screw driven by a pushing motor A203.5 is installed in the guide sleeve A203.4, a screw nut of the ball screw is connected with a pushing rod A203.6, a plug-in clamping plate A203.7, an upper clamping clamp A203.8 and a lower clamping clamp A203.9 are installed outside the guide sleeve A203.4 from top to bottom, the plug-in clamping plate A203.7, the upper clamping clamp A203.8 and the lower clamping clamp A203.9 are connected with a suction cylinder A203.1, and a piston rod A203.2 is connected with the pushing rod A203.6 through a pushing plate A203.10. The tail end of the suction head A203.3 is sleeved with a rubber clamping block A203.11 for connecting the gun head of the liquid-transfering gun, and the rubber clamping block A203.11 is of an inverted cone structure with a limiting baffle at the top. The upper clamping jaw A203.8 and the lower clamping jaw A203.9 have the same structure and comprise a left claw and a right claw which are hinged and connected with the guide sleeve A203.4, and the left claw and the right claw are connected through a return spring, so that pipette guns with different models (different outer diameters of the suction cylinders) can be clamped.

Typically, the first pipetting mechanism a200 is used in combination with a first gun head changing mechanism a600 comprising a gun head installer and a gun head unloader. The gun head installer adopts a common commercial gun head box or other structures, and the gun head unloader comprises a collecting box and a gun head clamping plate arranged on the collecting box. Under the action of the multidimensional movement mechanism, the pipette gun moves to the position above the gun head installer, and the suction head A203.3 moves downwards after aligning with the disposable gun head opening, so that the gun head is sleeved on the rubber clamping block A203.11 of the suction head A203.3; then, alternately moving the fusion cutter and the liquid-transferring gun to the upper part of the sample bottle, fusing and cutting the bottle cap, sucking the sample, and then injecting the sample in the liquid-transferring gun into a centrifuge tube inserted on the centrifuge A300; after all the sucking work is finished, the liquid-transferring gun is moved to a gun head clamping plate of a gun head unloader, the upper surface of the gun head is contacted with the lower surface of the gun head clamping plate, then the suction head A203.3 is lifted, the gun head is separated from the rubber clamping block A203.11, and after the suction head A and the rubber clamping block A203.11 are separated, the waste gun head naturally falls into a collecting box below. Thus, one automatic sampling operation is completed.

The bottle cap melt cutting process specifically comprises the following steps: the electric iron is electrified to reach the set temperature, and then the cylindrical cutting head A202.1 is vertically downwards used for fusing and cutting the bottle cap of the sample bottle. Because the bottom of the cylindrical cutting head A202.1 is a bevel, one end of the lower part of the cylindrical cutting head A is contacted with the bottle cap for fusion cutting, and the other end of the bottle cap is still connected with the bottle cap main body; along with the continuous downward pushing of the cylindrical cutting head A202.1, the cutting contour on the bottle cap is gradually prolonged, and the cut part moves downward to be separated from the bottle cap main body under the action of the pushing column A202.2, so that a suction hole for the gun head of the liquid-transferring gun to pass through is formed. In order to avoid that the root of the cut-out portion is thoroughly separated from the main body of the bottle cap, so that the cut-out piece falls into the sample bottle, at the end point of the cut-out, the highest point of the chamfer of the cylindrical cutting head A202.1 still needs to be above the bottle cap.

As shown in fig. 6.1 and 6.2, the gun head installer of the first gun head replacing mechanism a600 comprises a gun head storage box a601 arranged on a bottom plate M, a spiral single-row gun head discharging channel is arranged in the gun head storage box a601, a linear single-row discharging channel with a vibrator a602 at the bottom is tangentially connected to an outlet of the single-row gun head discharging channel, a gun head supporting fixture block a603 is arranged at an outlet of the linear single-row discharging channel, the gun head supporting fixture block a603 is driven by a cylinder to lift and is slidably arranged on a vertical supporting plate a604 parallel to the gun head discharging direction, and the vertical supporting plate a604 is driven by the cylinder and moves along a direction perpendicular to the gun head discharging direction (namely perpendicular to the linear single-row discharging channel). In order to cooperate with the pipette, a pipette mounting function is realized, a pipette mounting head fixing clamping plate A605 positioned above a pipette supporting clamping block A603 is mounted on a vertical supporting plate A604, and meanwhile, a baffle A606 for blocking the discharge of the pipette is mounted on the back of the vertical supporting plate A604. The gun head support clamping block A603 and the pipette mounting head fixing clamping plate A605 are provided with the containing holes A607, the two containing holes A607 are coaxially arranged, and the containing holes A607 positioned on the gun head support clamping block A603 are provided with an opening structure at one side opposite to the linear single-row output channel.

When the automatic gun head mounting device is used, the vibrator A602 is started to cause the bottom plate of the gun head storage box A601 to vibrate, so that the gun head in the gun head storage box A601 rotates along with the spiral single-row gun head discharging channel to move outwards until the linear single-row discharging channel above the vibrator A602 reaches the gun head support clamping block A603, at the moment, the gun head to be mounted at the forefront end is clamped in the accommodating hole A607 of the gun head support clamping block A603, the vertical support plate A604 moves forwards under the driving of the air cylinder, the baffle A606 moves forwards along with the forward movement and is blocked at the outlet of the single-row gun head discharging channel, the gun head to be mounted reaches the lower part of the pipette along with the vertical support plate A604, and when the suction head of the pipette is clamped on the fixed clamping plate A605 of the pipette gun, the air cylinder drives the gun head support clamping block A603 to move upwards, so that the gun head to be mounted is clamped on the suction head of the pipette gun, and automatic gun head mounting is completed.

The second pipetting mechanism A500 is similar to the first pipetting mechanism A200 except that no melt cutter is provided and liquid transfer between lidless containers (centrifuge tube and staining assembly) is accomplished. The second gun head replacing mechanism A700 matched with the second pipetting mechanism A500 consists of a gun head installer and a gun head unloader, and compared with the first gun head replacing mechanism A600, the gun head unloader of the second gun head replacing mechanism A700 adopts a commercially available disc-shaped gun head box, and the gun head is directly clamped on a rubber clamping block of the suction head by pressing down the suction head of the pipetting gun; the gun head unloader is identical in structure to the gun head unloader of the first gun head exchanging mechanism a 600.

As shown in fig. 7.1-7.3, the centrifuge a300 comprises a support frame a301 installed below a bottom plate M, an outer sleeve a302 is arranged on a top plate of the support frame a301, an inner sleeve a305 is connected in the outer sleeve a302 through an upper bearing a303 and a lower bearing a303, and the inner sleeve a305 is connected with a motor a304 through a synchronous belt transmission mechanism; a rotating shaft A306 is arranged in the inner sleeve A305 in a penetrating way, a compression spring A307 is arranged on the rotating shaft A306 in a penetrating way, an upper limiting block positioned on the inner sleeve A305 and a lower limiting block positioned on the rotating shaft A306 are respectively arranged at two ends of the compression spring A307, a spline groove A308 matched with each other is further arranged on the joint surface of the lower section of the rotating shaft A306 and the inner sleeve A305, and a lifting cylinder IA309 installed on the bottom plate of the support frame A301 is correspondingly arranged below the rotating shaft A306. Under the action of the motor A304 and the lifting air cylinder IA309, the rotating shaft A306 can realize the lifting and rotating functions; meanwhile, when the piston rod of the lifting cylinder IA309 is retracted, the compression spring a307 can quickly return the lifted rotation shaft a306 to the original position under the action of the upper and lower stoppers.

As shown in fig. 7.2 and 7.3, the top of the inner sleeve a305 is connected with a rotating cage a310, a plurality of through holes a311 are uniformly formed in the side wall of the rotating cage a310, a horizontal connecting arm is mounted at the top of the through hole a311, an annular test tube placing card a312 is hinged on the horizontal connecting arm, and the end part of the test tube placing card a312 is connected with a rotating arm a313 extending into the through hole a 311. The included angle between the rotating arm A313 and the central axis of the test tube placing card A312 is 30-45 degrees; the top of the rotating shaft A306 is connected with a lifting disk A314, and a plurality of articulated arms A315 correspondingly connected with the rotating arm A313 are arranged on the periphery of the lifting disk A314. When the rotating shaft A306 rises, the connecting rod mechanism formed by the rotating arm A313 and the hinged arm A315 enables the test tube placing card A312 to gradually tend to be horizontally arranged, so that the vertical sample injection of the pipetting gun is facilitated; in the descending process of the rotating shaft A306, the upper end surface of the test tube placing card A312 gradually rotates from the vertical direction to the center direction of the lifting disc A314, so that the centrifugal force applied to the centrifugal tube placed in the test tube placing card A is adapted to the rotating speed of the lifting disc A314. In order to adapt to the displacement change of the centrifuge tube, the middle part of the rotating cage A310 is of a necking cylindrical structure, and a long hole corresponding to the test tube placing card A312 in position is formed in an upper cover arranged on the top of the rotating cage A310. And a water injection mechanism is further arranged near the centrifugal machine A300 and used for balancing water injection of the centrifugal machine and ensuring normal operation of the centrifugal machine.

When the centrifuge tube is used, the centrifuge tube is inserted into the test tube placing card A312, the piston rod of the lifting cylinder IA309 pushes the rotating shaft A306 upwards, the lifting disk A314 is lifted to enable the hinge arm A315 and the rotating arm A313 to be linked, and therefore the centrifuge tube is in a vertical sample injection position; after the sample injection is finished, the lifting cylinder IA309 is deflated, the piston cylinder is separated from the bottom of the rotating shaft A306, meanwhile, the motor A304 is started to drive the rotating shaft A306 to rotate, the rotating shaft A306 moves downwards under the action of the restoring force of the compression spring A307, and the opening of the centrifugal tube is gradually inclined towards the rotating center and is matched with the centrifugal force.

Centrifuge a300 is provided with a centrifuge tube inserted therein by a centrifuge tube transfer mechanism a800 disposed in the vicinity. The centrifuge tube transfer mechanism A800 comprises a centrifuge tube storage box and a centrifuge tube clamping manipulator, wherein a discharge hole is formed in the bottom of the centrifuge tube storage box, and a horizontally placed centrifuge tube slides and discharges under the action of gravity; as shown in fig. 8, the centrifuge tube gripping robot includes a pair of gripping jaws a801, the gripping jaws a801 are driven by a gripping cylinder a802 and are connected to a rotating cylinder a803 provided at the end of a vertical connecting column of the multi-dimensional movement mechanism which can drive the vertical connecting column to translate, lift and rotate, and the structure thereof is the same as that of the multi-dimensional movement mechanism of the first pipetting mechanism a 200.

In order to filter the liquid sample injected into the centrifuge tube, a filter screen pipe is inserted into the centrifuge tube, the filter screen pipe is a commercial product, and a filter screen is arranged on the inclined surface at the bottom of the filter screen pipe, so that a filter screen pipe transfer mechanism A900 is also arranged near the centrifuge A300. Above-mentioned filter screen management transfer mechanism A900 includes filter screen management storage box and filter screen pipe clamp manipulator, and this filter screen management storage box is similar with the rifle head feeding mechanism of rifle head installer of first rifle head change mechanism A600, including arc list row feed track and the line type list row feed track tangential connection with arc list row feed track, line type list row feed track exit is provided with the baffle, and line type list row feed track bottom is provided with the electromagnetic shaker, through vibration ejection of compact to supply the filter screen pipe clamp manipulator to press from both sides and get. The filter screen pipe clamping manipulator comprises a multidimensional movement mechanism arranged below a bottom plate M, a vertical connecting column of the multidimensional movement mechanism extends above the bottom plate M, and clamping claws driven by a clamping cylinder are arranged at the top of the multidimensional movement mechanism. The vortex vibrator a400 is disposed between the centrifuge a300 and the second pipetting mechanism a500, and a staining assembly conveying mechanism 603 is disposed on the right side of the second pipetting mechanism a 500.

The dyeing component assembling unit realizes automatic assembly of the dyeing component, improves the assembly efficiency while guaranteeing the assembly precision, standardizes the operation, and has the following specific structure: as shown in fig. 9, the dyeing assembly assembling unit is disposed at the right rear side of the bottom plate M, and includes a dyeing tank loading mechanism 200 disposed on the bottom plate N, capable of accommodating a canister and performing automatic overturning and automatic loading of the canister; a dyeing substrate loading mechanism 300 capable of accommodating a dyeing substrate and performing automatic loading of the dyeing substrate, a glass slide loading mechanism 400 capable of accommodating a glass slide and performing automatic loading and clamping of the glass slide and automatically pushing and assembling the glass slide and the dyeing substrate together, and a dyeing tank screwing manipulator 500 capable of grabbing, transferring and screwing a tank, and a dyeing assembly pushing mechanism 600 for pushing the assembled dyeing assembly to the conveying unit 100; the dyeing substrate feeding mechanism 300 and the glass slide feeding mechanism 400 are correspondingly arranged longitudinally, and the glass slide feeding mechanism 400, the dyeing component pushing mechanism 600, the dyeing tank screwing manipulator 500 and the dyeing tank feeding mechanism 200 are sequentially connected from left to right.

Specifically, as shown in fig. 11.1-11.4, the dye tank feeding mechanism 200 includes a tank storage box 201 disposed on a bottom plate N, an arc-shaped single-row tank discharging channel is disposed in the tank storage box 201, a linear single-row output channel with a vibrator 202 at the bottom is tangentially connected to an outlet of the single-row tank discharging channel, a motor-driven rotating disk 203 is disposed at an outlet of the linear single-row output channel, a groove 204 for receiving a tank is radially formed in the rotating disk 203, a cylinder-driven lifting support plate 205 is disposed at an outlet of the groove 204 extending to an edge of the rotating disk 203, an output guide rail is disposed below the lifting support plate 205, a cylinder-driven feeding support plate 206 is slidably disposed on the output guide rail, and the feeding support plate 206 and the lifting support plate 205 are mutually matched; the feeding pallet 206 and the lifting pallet 205 are of a U-shaped structure with opposite openings, and a positioning pallet 207 is arranged between U-shaped arms of the feeding pallet 206; when the two are matched, the U-shaped supporting arms of the feeding supporting plate 206 are positioned at the outer sides of the U-shaped supporting arms of the lifting supporting plate 205, the positioning supporting plate 207 is positioned between the U-shaped arms of the lifting supporting plate 205, and the lug plate overlapping grooves 208 formed in the U-shaped supporting arms are all positioned on the same straight line.

The specific working process of the dye tank feeding mechanism 200 is as follows: the plurality of canister U are placed in the canister storage box 201 in an inverted mode, namely, the canister U is hung on the arc-shaped single-piece canister discharging channel through the base lug plate of the canister storage box, the vibrator 202 sequentially advances along the single-row canister discharging channel and the linear single-row output channel when working, enters the groove 204 of the rotating disc 203 under the inertia effect when the vibrator is moved to the outlet of the linear single-row output channel, is clamped and fixed through the lifting supporting plate 205, and the rotating disc 203 rotates 180 degrees, so that the canister U is vertically placed in the alignment direction, and automatic overturning of the rotating disc 203 is achieved. During this time, the linear single row outlet channel outlet is blocked by the rotary disk 203, preventing other canisters U from discharging. The feeding support plate 206 moves to the position right below the lifting support plate 205 along the output guide rail, the canister U descends along with the lifting support plate 205, when the lifting support plate 205 and the feeding support plate 206 are positioned on the same horizontal plane, the lifting support plate 205 and the feeding support plate 206 are matched in a staggered mode, the canister U is supported by the lifting support plate 205 and the feeding support plate 206 together, and after the lifting support plate 205 descends continuously, the canister U is supported by the feeding support plate 206 only.

As shown in fig. 12.1 and 12.2, the slide feeding mechanism 400 includes a transverse block 401 and a transverse vertical plate 402 that are arranged on a bottom plate N at intervals in parallel, a support 403 driven by an air cylinder is slidably arranged on a transverse sliding rail of the transverse block 401, a lifting seat i 404 driven by a lifting air cylinder ii is slidably arranged on a vertical sliding rail of the vertical plate of the support 403, and a negative pressure suction cup i 405 for sucking a slide is arranged on the lifting seat i 404; the bottom of support 403 is provided with the connecting block of transversely extending, support 403 with the vertical seat I406 on the connecting block controls the interval setting, slide on the vertical slide rail of vertical seat I406 is provided with the pushing hands 407 by lift cylinder drive, the top of horizontal riser 402 sets up horizontal slide 408, the pushing hands 407 upwards extend horizontal slide 408's horizontal spout 409, the left side of horizontal riser 402 is provided with slide storage box 410. During operation, the cylinder drives the negative pressure sucker I405 to move to the upper part of the glass slide storage box 410 through the support 403, the lifting cylinder drives the lifting seat I404 to ascend or descend to adjust the height of the negative pressure sucker I405 so as to enable the negative pressure sucker I to absorb a glass slide, the dyeing substrate feeding mechanism 300 pushes the dyeing substrate to a horizontal sliding plate 408 corresponding to the dyeing substrate, the glass slide feeding mechanism 400 transversely moves to the right upper part of the dyeing substrate, and then the height of the glass slide feeding mechanism is adjusted again so as to clamp the glass slide in a clamping groove W02 of the dyeing substrate; the position of the pushing arm 407 is adjusted to be positioned at the left side of the dyeing substrate, then the pushing arm 407 is adjusted to extend out of the transverse chute 409 to push the assembled glass slide and the dyeing substrate rightward until the glass slide and the dyeing substrate are pushed onto the horizontal sliding plate 408 corresponding to the dyeing component pushing mechanism 600, and the pushing arm 407 descends to move leftwards to the original position so as to push the next dyeing substrate and glass slide combination.

As shown in fig. 10, the dyeing substrate loading mechanism 300 includes a dyeing substrate storage box 301 disposed at intervals in front and back and a stand ii 302 disposed on a bottom plate N, wherein a left end of the horizontal sliding plate 408 extends backward to form a mounting portion, a bottom opening of the dyeing substrate storage box 301 is disposed on the mounting portion of the horizontal sliding plate 408 through a mounting frame, and a bottom of the dyeing substrate storage box 301 is disposed in a gap with the mounting portion of the horizontal sliding plate 408; the vertical seat II 302 is provided with a horizontal push plate 303 driven by an air cylinder, the length of the horizontal push plate 303 is larger than that of the dyeing substrate storage box 301, the horizontal push plate 303 longitudinally moves back and forth between the dyeing substrate storage box 301 and the horizontal sliding plate 408, and the horizontal push plate 303 pushes the dyeing substrate from the bottom of the dyeing substrate storage box 301 to the horizontal sliding plate 408.

As shown in fig. 10 and 14, the dyeing tank screwing manipulator 500 includes a rotating bracket 502 disposed at the right end of the horizontal vertical plate 402 and driven by a rotating cylinder 501 (the rotating cylinder 501 is fixedly connected to the horizontal vertical plate 402 through a connecting plate), a lifting seat ii 503 driven by a cylinder is slidably disposed on a vertical sliding rail of the rotating bracket 502, a mounting bracket 504 extending downward is disposed on the lifting seat ii 503, a rotating seat 506 driven by a rotating motor ii 505 is disposed at the bottom of the mounting bracket 504, a pair of arc clamping plates i 507 matched with the canister U are correspondingly disposed on a clamping cylinder of the rotating seat 506, and a positioning groove 508 matched with a reinforcing rib at the lower part of the canister U is disposed at the lower part of the arc clamping plates i 507. The arc clamping plate I of the dyeing tank screwing manipulator can rotate and lift during operation, can revolve along with the rotary support 502, can successfully grab and send the canister U supported by the feeding support plate 206 to the upper part of the horizontal sliding plate 408 at the corresponding position of the dyeing component pushing mechanism 600, and screw the canister U on the clamping and fixing position of the dyeing substrate. Specifically, the rotary support 502 is adjusted through the rotary air cylinder 501 to be vertically corresponding to the canister on the loading support plate 206, the arc clamp plate I507 is in an open state before clamping, the arc clamp plate I507 descends along the vertical sliding rail until the canister body of the canister U is completely located in the arc clamp plate I507, the arc clamp plate I507 is used for clamping the canister and ascends and rotates to the upper side of the dyeing component pushing mechanism 600, the arc clamp plate I507 is correspondingly arranged up and down with the glass slide and the dyeing substrate group, the height of the canister U is adjusted to be exactly located in the middle of the glass slide, the arc clamp plate I507 is driven to rotate through the rotary motor II 505, the two base lug plates of the canister U are rotated into clamping positions from the screwing position of the groove W04 of the dyeing substrate, and then the three are tightly connected into a whole.

As shown in fig. 10 and 11, the dyeing assembly pushing mechanism 600 includes a pushing assembly and a dyeing assembly conveying mechanism that are connected with each other, the pushing assembly includes a pushing slide 601 extending horizontally forward from the right end of the front edge of the horizontal slide 408, a horizontal pushing block 602 driven by a cylinder is disposed at the rear edge of the horizontal slide 408 corresponding to the pushing slide 601, a dyeing assembly conveying mechanism 603 is disposed at the front side of the pushing slide 601, the dyeing assembly conveying mechanism 603 is a synchronous belt conveying mechanism disposed on the bottom plate M, a transverse push rod 605 driven by a cylinder 604 is disposed at the outlet end of the synchronous belt, and the transverse push rod 605 pushes the dyeing assembly at the outlet end of the dyeing assembly conveying mechanism to the dyeing assembly input mechanism B100 of the dyeing unit. After the dyeing assembly is assembled, the horizontal pushing block 602 pushes the dyeing assembly to move forward and smoothly along the pushing slideway 601 until the dyeing assembly is pushed onto a synchronous belt of the dyeing assembly conveying mechanism 603, the synchronous belt is driven to translate forward in the rotation process, the liquid injection mechanism injects a sample into a cylinder U of the dyeing assembly when moving to the position of the second liquid transfer mechanism A500, and when moving to the position of the transverse push rod 605, the cylinder drives the transverse push rod 605 to push the dyeing assembly to move rightward onto a dyeing assembly input mechanism B100 of the dyeing unit for dyeing.

The dyeing unit realizes the automatic dyeing of the glass slide on the assembly line without repeatedly replacing the dyeing agent and the gun head, simplifies the experimental steps, improves the dyeing efficiency, completely avoids manual intervention, standardizes the dyeing operation, has good dyeing repeatability, reduces the harm of the dyeing reagent to the human body, and has high safety, and the specific structure is as follows: as shown in fig. 14 and 15, the dyeing unit includes a bottom plate P, a dyeing component input mechanism B100 for connecting with a dyeing component conveying mechanism 603 is disposed on the bottom plate P, an outlet end of the dyeing component input mechanism B100 is connected with an inlet end of an annular conveying mechanism B300 through a sample feeding grip B200, an outlet end of the annular conveying mechanism B300 is connected with a dyeing component output mechanism B500 through a sample discharging grip B400, and the dyeing component input mechanism B100 and the dyeing component output mechanism B500 are both synchronous belt conveying mechanisms; the annular conveying mechanism B300 comprises a conveying chain B301 driven by a stepping motor through a chain wheel, a plurality of conveying assemblies B302 used for clamping the dyeing assemblies are uniformly arranged at intervals on the top of the conveying chain B301, and a waste liquid pool Q is arranged below the conveying assemblies B302; a plurality of dyeing stations are arranged along the circumferential direction of the conveying chain B301 at intervals, each dyeing station is provided with a sampling mechanism B600 and a turnover manipulator B700, the number and the positions of specific dyeing stations can be set according to actual requirements during installation, for example, 16 dyeing stations are required to be arranged at intervals during cervical cancer cell dyeing, and dyeing or eluting treatment is respectively carried out on samples; as shown in fig. 16.1, the sample adding mechanism B600 includes an L-shaped substrate B601 fixedly connected to the bottom plate P, and sample adding components on a horizontal section of the L-shaped substrate B601 are vertically arranged correspondingly to the carrying components B302; the sample adding assembly comprises a horizontal block B603 driven by a lifting cylinder IIIB 602, a sample adding needle B604 is arranged on the horizontal block B603, the lifting cylinder IIIB 602 drives the sample adding needle B604 to descend through the horizontal block B603 during sample adding, and the sample adding needle B604 ascends to an original position after sample adding is completed, so that the phenomenon of liquid splashing during adding of a coloring agent is avoided. Of course, if gradient elution is required to be performed on the sample, three sample adding needles B604 which are respectively communicated with different eluents can be arranged on the horizontal block B603 at intervals, specifically as shown in fig. 16.2, a sample adding component is fixedly connected to a nut seat B606 of a screw stepping motor B605, the positions of the three sample adding needles B604 are adjusted through the screw stepping motor B605, elution requirements of different eluents are met, for example, when cervical cancer cells are detected, three sample adding needles B604 are required to be arranged at a third dyeing station, and 95% ethanol elution, 80% ethanol elution and 70% ethanol gradient elution are sequentially performed on the sample on the slide, so that the elution effect is ensured.

As shown in fig. 17, the sample feeding grip B200 and the sample discharging grip B400 have the same structure, and the structure of the sample feeding grip B200 is specifically described by taking the sample feeding grip B200 as an example, and the sample feeding grip B comprises a U-shaped frame B201 fixedly connected to the bottom of the bottom plate P, a pair of vertical sliding rails B202 are provided on two side walls of the U-shaped frame B201, a horizontal lifting plate B204 driven by a stepping motor B203 is slidably provided on the vertical sliding rails B202 (the horizontal lifting plate B204 is fixed on a nut of a ball screw of the stepping motor B203), a rotating shaft B205 driven by a synchronous belt conveying mechanism is rotatably provided on the horizontal lifting plate B204, the rotating shaft B205 extends upwards out of the bottom plate P, a slide block B207 driven by a linear cylinder is provided on a horizontal plate B206 at the top of the rotating shaft B205, a pair of clamping arms B208 with L-shaped structures are provided on clamping cylinders on the slide block B207, and a limit groove matched with the dyeing substrate is provided on a horizontal section of the clamping arms B208. Sample introduction gripper B200 and sample discharge gripper B400 have the functions of lifting, horizontal rotation and longitudinal translation, realize the butt joint of dyeing assembly and conveying chain B301, do not need manual handling, improve work efficiency.

As shown in fig. 18, the handling component B302 includes a mounting block B302.2 fixedly connected to the conveying chain B301 through a connecting sheet B302.1, the mounting block B302.2 is connected with a U-shaped clamping plate B302.3 for clamping the dyeing substrate through a hinge shaft, a horizontal positioning structure is provided between the mounting block B302.2 and the U-shaped clamping plate B302.3, the horizontal positioning structure includes a limiting cylinder B302.4 fixedly connected to the mounting block B302.2, a return spring is provided in the limiting cylinder B302.4, a positioning bead B302.5 at the end of the return spring extends out of the limiting cylinder B302.4 and is clamped in a limiting groove of the U-shaped clamping plate B302.3, and a limiting clamping groove matched with the dyeing substrate is provided on the inner side surface of the U-shaped clamping plate B302.3 for clamping the dyeing component.

As shown in fig. 18, the turning manipulator B700 includes a base B701 fixedly connected to the bottom plate P, an L-shaped bracket B703 driven by a linear cylinder B702 is slidably disposed on a guide rail of the base B701, a rotating hand B705 driven by a rotating motor iiib 704 is disposed at an upper end of the L-shaped bracket B703, the height of the rotating hand B705 is consistent with that of the U-shaped clamping plate B302.3, and a positioning groove matched with a short side of the dyeing substrate is formed on the rotating hand B705. When the coloring agent or the eluent is poured, the linear cylinder B702 drives the rotary hand B705 to move towards the U-shaped clamping plate B302.3 through the L-shaped bracket B703, so that the short side at the outer end of the coloring clamping plate is ensured to be just clamped in a positioning groove of the rotary hand B705, the rotary motor III B704 drives the U-shaped clamping plate B302.3 and the glass slide to turn 180 degrees through the rotary hand B705, the coloring agent or the eluent is poured into a waste liquid pool Q below, and the positioning beads B302.5 are forced to extrude a return spring to retract into the limiting cylinder B302.4 in the process of turning the U-shaped clamping plate B302.3; after dumping is finished, the rotating motor IIIB 704 drives the U-shaped clamping plate B302.3 and the dyeing component to restore to the horizontal position through the rotating hand B705, and the linear cylinder B702 drives the rotating hand B705 to leave the U-shaped clamping plate B302.3 through the L-shaped bracket B703, so that the dyeing component of the dyeing station can smoothly rotate to the next station after dyeing or elution; after the U-shaped clamping plate B302.3 is restored to the horizontal state, the positioning beads B302.5 are pushed into the limiting clamping grooves under the action of the return springs, so that the U-shaped clamping plate B302.3 is horizontally positioned, and the running stability of the dyeing assembly is ensured.

In actual installation, in order to protect the dyeing unit, a first protection cover R is covered on the bottom plate P, and the waste liquid pool Q is arranged on the first protection cover R; the annular conveying mechanism B300 is covered with a second protective cover S.

In actual dyeing, taking cervical cancer cell dyeing as an example, for convenience in setting dyeing, marking the upper inlet end of a conveying chain B301 corresponding to a sample introduction gripper B200 as a station No. 1, sequentially sequencing the marks clockwise from the station No. 1, enabling the distance between every two adjacent stations to be consistent with the distance between two adjacent conveying assemblies B302, enabling the outlet end of the conveying chain B301 corresponding to a sample discharge gripper B400 to be a station No. 28 (namely a station No. end), and enabling the sample discharge gripper B400 to grasp a slide glass of the station No. 28 to a dyeing assembly output mechanism B500; and a dyeing station of 16 is arranged along the conveying chain B301 from the station No. 1, wherein a sample adding mechanism of the third dyeing station is provided with three sample adding needles, and samples are subjected to gradient elution.

The cover plate unit sequentially carries out ethanol washing, air drying and turpentine dripping on the glass slide, completely avoids bubble generation, standardizes cover plate operation, improves the success rate of the cover plate, and has the following specific structure: as shown in fig. 19, the cover plate unit includes a cover plate conveying mechanism on the bottom plate T, the cover plate conveying mechanism is a synchronous belt conveying mechanism C102 arranged in the mounting frame C101, and in order to ensure the running stability of the glass slide, a support plate is arranged at the lower part of the working surface on the synchronous belt of the synchronous belt conveying mechanism C102 to provide a supporting force for the glass slide; the dyeing tank unloading position is provided with a dyeing tank unloading manipulator C200 through a bracket, and a recovery barrel C3 is arranged below the dyeing tank unloading manipulator C200; the two sides of the ethanol flushing position are respectively provided with a flushing manipulator C400 and an ethanol flushing head C5, a clamping arm of the flushing manipulator C400 moves back and forth between the ethanol flushing head and the ethanol flushing position, a fan C6 is arranged above the ethanol flushing head, and the fan C6 is used for quickly drying 95% ethanol on a glass slide; a dripping head C7 is arranged at the corresponding position of the loose knot oil drop; the cover plate position is provided with a cover plate manipulator C800, and one side of the cover plate manipulator C800 is provided with a cover plate box Z driven by a jacking mechanism C900.

As shown in fig. 19, the unloading position, the ethanol flushing position, the loose oil drop adding position and the cover plate position of the staining tank are all provided with a limiting blocking assembly D100, working time is provided for unloading the staining tank, flushing the glass slide, dripping turpentine and covering the cover plate respectively, the limiting blocking assembly comprises a support C103.1 fixedly connected to a side plate of the mounting frame C101, the support C103.1 is provided with a limiting rod C103.3 driven by a linear cylinder C103.2, a piston rod of the linear cylinder C103.2 extends outwards to push the limiting rod C103.3 to extend above a working surface on the synchronous belt to block the glass slide from moving forward along with the synchronous belt, the piston rod of the linear cylinder C103.2 retracts to drive the limiting rod C103.3 to move away from the synchronous belt after the operation is completed, and the glass slide moves to the next station along with the synchronous belt.

As shown in fig. 20, the dyeing tank unloading manipulator C200 includes a longitudinal plate C201 erected above the bottom plate T, a slide seat C202 driven by a horizontal cylinder is provided on a longitudinal guide rail of the longitudinal plate C201, a lifting seat iii C204 driven by a lifting cylinder iv C203 is slidably provided on the slide seat C202, a clamping seat driven by a rotating motor iv C206 is provided at the bottom of a vertical column C205 fixedly connected to the lifting seat iii C204, an arc clamping plate ii C207 driven by a clamping cylinder is provided on the clamping seat, and the structure of the arc clamping plate ii C207 is the same as that of an arc clamping plate i 507 of the dyeing tank screwing manipulator 500.

As shown in fig. 21, the flushing manipulator C400 includes a vertical plate C401 fixedly connected to the bottom of the bottom plate T, a lifting block C402 driven by a linear cylinder is slidably disposed on a vertical guide rail of the vertical plate C401, a column C403 at the top of the lifting block C402 extends upwards out of the bottom plate T, a clamping seat C404 (the clamping seat C404 is driven by the linear cylinder) that moves back along the Y direction is slidably disposed on a mounting plate at the top of the column C403, a clamping cylinder is disposed on the clamping seat C404, and a clamping arm C405 is fixedly connected to a clamping head of the clamping cylinder. When the slide glass after unloading the dyeing tank moves to an ethanol flushing position, the linear cylinder drives the clamping arm C405 to move above the synchronous belt along the Y direction through the clamping seat C404, the power source drives the clamping arm C405 to descend to the working surface on the synchronous belt through the lifting block C402, the clamping cylinder drives the clamping arm C405 to open to clamp the slide glass, and then the clamping arm C405 is driven to close to ensure stable clamping of the slide glass; after the clamping is successful, the position of the clamping arm C405 is adjusted through a power source and a linear cylinder, so that the glass slide is just positioned under the ethanol flushing head 6, and after the flushing is finished, the ethanol is dried through the fan 8, so that the ethanol is quickly evaporated; and after the ethanol is completely evaporated, the position of the clamping arm C405 is adjusted to ensure that the washed glass slide is just positioned on the working surface of the synchronous belt, the clamping cylinder is disconnected from air to loosen the glass slide, and the glass slide moves to a cover plate station along with the synchronous belt.

As shown in fig. 19 and 22, the cover plate manipulator C800 includes a vertical plate C801 disposed at the bottom of the bottom plate T, a lifting block C803 driven by a linear cylinder is slidably disposed on a vertical guide rail C802 of the vertical plate C801, a rotating shaft C804 driven by a rotating cylinder is disposed on the lifting block C803, the rotating shaft C804 extends upwards out of the bottom plate T, a negative pressure suction cup ii C806 is disposed on a horizontal arm C805 at the top of the rotating shaft C804, and the negative pressure suction cup ii C806 can rotate 180 ° on a horizontal plane, so that a cover plate in the cover plate box Z can be successfully transferred to the upper side of the slide, and the negative pressure suction cup ii C806 is driven by the linear cylinder to lift, thereby ensuring that the cover plate is successfully loaded on the upper surface of the slide; as shown in fig. 19 and 23, the lifting mechanism C900 includes a stepper motor C902 disposed on a vertical plate C901, a lifting column C904 is disposed on a lifting seat iiic 903 on a ball screw of the stepper motor C902, the lifting column C904 is fixedly connected to the top of the cover plate box Z, and the cover plate is driven to rise by the lifting column C904, so that the negative pressure suction cup ii C806 is convenient to suck the cover plate, and meanwhile, a supporting force is provided for the negative pressure suction cup ii C806 to suck the cover plate.

When a cover plate is used, the dyed dyeing assembly is conveyed to a synchronous belt conveying mechanism C102 of the cover plate conveying mechanism by a dyeing assembly output mechanism B500, a cylinder U on the dyeing assembly is unloaded at a dyeing tank unloading position in sequence, a limiting rod of the dyeing tank unloading position extends to a working surface on the synchronous belt at the moment and is used for blocking a glass slide, an arc clamping plate II C207 moves to the upper part of the synchronous belt and clamps the cylinder U, the cylinder U is screwed by 90 degrees from a dyed substrate, and then the cylinder U is clamped by the arc clamping plate II C207 and is lost in a recovery barrel C3; the limiting rod at the unloading position of the dyeing tank is retracted to release the glass slide, the glass slide moves to the ethanol flushing position, the limiting rod at the ethanol flushing position extends out to limit, the clamping arm C405 of the flushing manipulator C400 moves to the working face on the synchronous belt to clamp the unloaded dyeing assembly and push the dyeing assembly to the lower part of the ethanol flushing head to flush, and the ethanol is dried by the fan C6 after flushing is completed, so that the ethanol is quickly evaporated; the dyeing assembly is pushed onto the synchronous belt by the flushing manipulator C400 after the ethanol is completely evaporated, turpentine is dripped when the dyeing assembly is operated to a turpentine dripping position, a cover plate at the top of the cover plate box Z is sucked by the negative pressure sucker IIC 806 in a vacuumizing mode and is rotated to a cover plate station, the height of the rotating shaft C804 is adjusted to enable the cover plate to descend to the upper surface of a glass slide, and the cover plate is placed on the upper surface of the glass slide after the negative pressure sucker IIC 806 is ventilated, so that the cover plate operation of the glass slide is completed.

The slide reading unit realizes full-automatic slide reading and sorting recovery of the slides, improves the slide reading efficiency, greatly reduces the manual work load, improves the degree of standardized and normalized operation, and has the following specific structure: as shown in fig. 24, the film reading unit includes a microscope D1 disposed on a bottom plate H, where the microscope D1 is a full-automatic microscope, and is capable of automatically reading and storing sample information on a slide glass, so as to facilitate later reference; the microscope D1 is characterized in that one side of the microscope D1 is provided with a mechanical gripper for connecting the cover plate conveying mechanism with the microscope D1, the other side of the microscope D1 is provided with a glass slide recycling mechanism with translation and jacking functions, and the mechanical gripper horizontally reciprocates between the outlet end of the cover plate conveying mechanism, the microscope D1 and the glass slide recycling mechanism.

As shown in fig. 24, the mechanical gripper includes a transverse guide rail D21 disposed on the bottom plate H, a rotating assembly is slidably disposed on the transverse guide rail D21, the rotating assembly includes a mounting seat D22 slidably disposed on the transverse guide rail D21, a rotating frame D23 driven by a rotating cylinder is disposed on the mounting seat D22, a lifting assembly is slidably disposed on a vertical guide rail D24 on a vertical plate of the rotating frame D23, the lifting assembly includes an L-shaped lifting plate D25, a screw stepper motor disposed on a lower portion of the rotating frame D23 drives the L-shaped lifting plate D25 to lift, a clamping cylinder is disposed on a horizontal portion of the L-shaped lifting plate D25, a pair of clamping arms D26 for clamping the dyed substrate are disposed on a clamping head of the clamping cylinder, and a limit clamping groove matched with the dyed substrate is formed in a horizontal section along a length direction of the clamping arm D26. The mechanical gripper has the functions of transverse translation, longitudinal translation and rotation, and is used for grabbing and conveying the dyed glass slide to the objective table of the microscope D1, and grabbing and placing the abandoned glass slide on the jacking block D36 of the glass slide recycling mechanism after the glass slide is read.

As shown in fig. 24-26, the slide glass recovery mechanism comprises a door-shaped frame D31 arranged on a bottom plate H, wherein a recovery box D33 extending upwards is erected on the top plate of the door-shaped frame D31 through a mounting frame D32, the bottom of the recovery box D33 is provided with an opening, and a notch matched with the recovery box D33 is formed in the top plate of the door-shaped frame D31, so that a slide glass can pass smoothly; a pair of supporting and limiting components for preventing glass slides from falling are symmetrically arranged on the side wall of the recovery box D33, a pushing handle component with translation and jacking functions is arranged below the portal frame D31 through a stand column, the pushing handle component comprises a horizontal plate D34 erected below the portal frame D31, a pair of horizontally arranged recovery guide rails are arranged on the horizontal plate D34, a base D35 driven by a linear cylinder is slidably arranged on the recovery guide rails, a lifting cylinder piston rod below the base D35 extends upwards out of the base D35 and is fixedly connected with a jacking block D36, the jacking block D36 vertically reciprocates between the portal frame D31 and the recovery box D33, and at least two groups of wedge-shaped limiting blocks are symmetrically arranged at the left edge and the right edge of the jacking block D36, and inclined surfaces inside the wedge-shaped limiting blocks are matched with a dyeing substrate; the support limiting component comprises a wedge-shaped block D37 hinged to the side wall of the recovery box D33, a torsion spring D38 is sleeved on a hinge shaft of the wedge-shaped block D37, a bottom inclined surface of the wedge-shaped block D37 is in sliding fit with the jacking block D36, and the glass slide recovery mechanism not only realizes automatic recovery of glass slides, but also can store glass slides after reading according to the reading sequence, so that later-stage searching and retesting are facilitated.

As shown in fig. 27, the workflow of the present invention is illustrated by cervical cancer cell sample extraction, and is specifically as follows: placing a sample to be detected in a sample bottle and in a sample tray A109, automatically feeding the sample through a sample tray automatic feeding mechanism A100, fusing and cutting a sample bottle cap by a first pipetting mechanism A200, then drawing the sample and transferring the sample into a centrifuge A300 for centrifugal separation, drawing the separated supernatant (waste liquid) by a pipetting gun of the first pipetting mechanism A200, transferring a centrifuge tube together with sample sediment at the bottom into a vortex vibrator A400 through a centrifuge tube clamping manipulator of a centrifuge tube transferring mechanism A800, adding a proper amount of medicament into the centrifuge tube by the pipetting mechanism 100, and uniformly mixing the reagent and the sample sediment through oscillation; the pipette gun of the first pipetting mechanism A200 is provided with a new gun head a before pipetting and is replaced after extracting centrifugal separation liquid (supernatant liquid); the second pipetting mechanism a500 performs a change of the gun head b after performing one aspiration transfer of the sample (centrifugal sedimentation and drug mixture); before the first pipetting mechanism A200 is used for pipetting, a centrifuge tube transferring mechanism A800 is used for installing a centrifuge tube into the centrifuge A300, a filter net tube transferring mechanism A900 is used for installing a filter net tube into the centrifuge tube, after the pipetting of the centrifuge tube is completed, the filter net tube transferring mechanism A900 is used for removing the filter net tube, and then centrifugal separation is carried out; the sample in the centrifuge tube (centrifuge pellet and drug mixture) is drawn into the staining module on the staining module transport mechanism 603 and the centrifuge tube is then removed from the vortex shaker a400 by the centrifuge tube transfer mechanism a800 along with the in-tube residue. The waste gun head a, the waste gun head b and the waste centrifuge tube are collected and then are subjected to centralized treatment;

While separating and purifying the sample to be detected, the dyeing substrate feeding mechanism 300 pushes the dyeing substrate onto the horizontal sliding plate 408, the glass slide feeding mechanism 400 clamps the glass slide in the clamping groove W02 of the dyeing substrate, then pushes the assembled dyeing substrate and glass slide onto the horizontal sliding plate 408 at the corresponding position of the dyeing component pushing mechanism 600 and waits for the canister U, the canister screwing manipulator 500 clamps the canister U on the feeding support plate 206 of the dyeing tank feeding mechanism 200 and screws the canister U onto the dyeing substrate and glass slide assembly at the position of the dyeing component pushing mechanism 600, the horizontal pushing block 602 of the dyeing component pushing mechanism 600 pushes the dyeing component onto the synchronous belt of the dyeing component conveying mechanism 603 after the canister U is screwed in place, the synchronous belt rotates to drive the dyeing component to translate forward to the position of the second liquid transferring mechanism A500, the second liquid transferring mechanism A500 injects the sample into the canister U of the dyeing component, and when the dyeing component continues to move forward to the position of the transverse push rod 605, the dyeing component 605 moves onto the dyeing component input mechanism B100 of the dyeing unit;

during dyeing, the transverse push rod 605 pushes the dyeing component on the dyeing component conveying mechanism 603 to the right on the synchronous belt of the dyeing component input mechanism B100, the sample introduction gripper B200 clamps the dyeing component and rotates 90 degrees clockwise when the dyeing component moves to the outlet end of the dyeing component input mechanism B100, so that the dyeing component is aligned with the conveying component B302 of the station No. 1, the slide block on the horizontal plate B206 of the sample introduction gripper B200 drives the dyeing component to move towards the conveying component B302, the dyeing component is just clamped in the U-shaped clamping plate B302.3, and then the sample introduction gripper B200 retracts and rotates anticlockwise to be in butt joint with the dyeing component input mechanism B100, so that another dyeing component is conveniently transferred; the dyeing assembly on the carrying assembly B302 sequentially passes through 16 dyeing stations clockwise to carry out dyeing or elution, when each dyeing station is dyed or eluted, a sample adding needle B604 firstly injects a dyeing agent or eluent into a cylinder U to dye, after dyeing or elution is completed, a rotating hand B705 and a U-shaped clamping plate B302.3 act on the dyeing assembly together, a rotating motor IIIB 704 drives the rotating hand B705 to turn over 180 DEG to pour the dyeing agent or eluent into a waste liquid pool Q below, each dyeing or eluting of the dyeing assembly is moved to the next station along with a conveying chain B301 clockwise until dyeing is completed, a clamping arm B208 of a sample outputting clamping plate B400 clamps the dyeing assembly and pulls outwards, the dyeing assembly is transferred to a clamping arm of the sample outputting clamping plate B400 from the U-shaped clamping plate B302.3, then the sample outputting clamping plate B400 rotates clockwise by 90 DEG to place a glass slide on a synchronous belt conveying mechanism C102 of a conveying mechanism B500, a cylinder U-shaped clamping plate C on a dyeing tank unloading position unloading dyeing assembly is sequentially unloaded at a dyeing tank unloading position, a clamping plate C is screwed on a clamping plate C3, and a clamping plate C is screwed to a rotary clamping cylinder 207 from the cylinder C to a rotary clamping plate C90; the limiting rod at the unloading position of the dyeing tank is retracted to release the glass slide, the glass slide moves to the ethanol flushing position, the limiting rod at the ethanol flushing position extends out to limit, the clamping arm C405 of the flushing manipulator C400 moves to the working face on the synchronous belt to clamp the unloaded dyeing assembly and push the dyeing assembly to the lower part of the ethanol flushing head to flush, and the ethanol is dried by the fan C6 after flushing is completed, so that the ethanol is quickly evaporated; after the ethanol is completely evaporated, the manipulator C400 is washed, the dyeing component is pushed onto the synchronous belt, the dyeing component is operated to a turpentine oil adding position to drop turpentine oil, the negative pressure sucker IIC 806 vacuumizes to suck the cover plate at the top of the cover plate box Z and rotates to a cover plate station, the height of the rotating shaft C804 is adjusted to enable the cover plate to descend to the upper surface of the glass slide, and the negative pressure sucker IIC 806 ventilates and then places the cover plate on the upper surface of the glass slide to finish the cover plate operation of the glass slide;

When the slide is read, the mechanical gripper grabs the slide on the cover plate position and moves to the position aligned with the objective table of the microscope D1 along the transverse guide rail D21, the rotary cylinder drives the clamping arm D26 to rotate to the position right above the objective table through the rotary frame D23, the height of the clamping arm D26 is adjusted to place the slide on the objective table of the microscope D1, and the microscope D1 automatically scans and reads the picture information of a sample on the slide and stores the picture information; the jacking block D36 moves between the recovery box D33 and the microscope D1 along the recovery guide rail through the base D35, the mechanical gripper grabs the slide glass with the read slide glass and transfers the slide glass to the position above the jacking block D36, the jacking block D36 is retracted to the position below the recovery box D33, the lifting cylinder drives the jacking block D36 to lift, the jacking block D36 upwards extrudes the wedge block D37, the torsion spring D38 bears the wedge block D37 to rotate upwards so that the slide glass smoothly enters the recovery box D33, the slide glass is restored to the original state under the action of the torsion spring D38 through the rear wedge block D37, and the slide glass is limited and supported; then the jacking block D36 moves leftwards to the right side of the microscope D1 along the recovery guide rail after descending under the action of the lifting cylinder, so that the next glass slide can be recovered conveniently.

Claims

1. An automatic slide analyzer, characterized in that: the device comprises a sample processing unit, a dyeing assembly unit, a dyeing unit, a cover plate unit and a film reading unit which are sequentially connected;

The sample processing unit comprises a sample tray automatic feeding mechanism for accommodating a sample tray and carrying out automatic sample loading and automatic sample unloading of the sample tray, a centrifuge for loading a centrifuge tube and adjusting an included angle between the centrifuge tube and a rotating shaft, a first pipetting mechanism for transferring liquid in a sample bottle in the sample tray into the centrifuge tube in the centrifuge, a second pipetting mechanism for transferring liquid in the centrifuge tube into a dyeing assembly, a centrifuge tube transferring mechanism and a filter net tube transferring mechanism matched with the centrifuge, a first gun head replacing mechanism matched with the first pipetting mechanism, a second gun head replacing mechanism matched with the second pipetting mechanism and a vortex vibrator for carrying out vortex vibration on samples, wherein the first pipetting mechanism, the centrifuge and the vortex vibrator are arranged on a sampling side of the sample tray automatic feeding mechanism;

the automatic sample tray feeding mechanism comprises a sample feeding guide rail and a sample withdrawing guide rail which are arranged on a bottom plate in parallel, wherein a sample feeding push rod driven by an air cylinder is arranged on the sample feeding guide rail in a sliding manner, and a sample withdrawing push rod driven by the air cylinder is arranged on the sample withdrawing guide rail in a sliding manner; an annular belt positioned below the sampling needle of the analyzer is vertically arranged between the sample feeding guide rail and the sample withdrawing guide rail, a pushing guide rail is arranged on one side of the annular belt in parallel, and a tray clamping block driven by the annular belt is arranged on the pushing guide rail in a sliding manner; the bottom plate is also provided with a tray vibrating table positioned on the tray sample feeding channel;

The second pipetting mechanism and the first pipetting mechanism both comprise multidimensional movement mechanisms, vertical connecting columns driven by a translation motor, a lifting motor and a rotating motor are arranged on the multidimensional movement mechanisms, pipetting guns are arranged on the vertical connecting columns, each pipetting gun comprises a suction cylinder connected with the vertical connecting column, a piston rod driven by a pushing motor is sleeved in each suction cylinder, a rubber clamping block is sleeved at the tail end of each suction head communicated with each suction cylinder, and each rubber clamping block is of an inverted cone structure with a limiting baffle at the top;

the first pipetting machine further comprises a fusion cutter arranged on the vertical connecting column, wherein the fusion cutter is an electric soldering iron with a cylindrical cutting head at the tail end, and the bottom surface of the cylindrical cutting head is obliquely arranged;

the centrifugal machine comprises a support frame, an outer sleeve is arranged on a top plate of the support frame, an inner sleeve driven by a motor is connected in the outer sleeve through a bearing, a rotating shaft is arranged in the inner sleeve in a penetrating manner, a compression spring is sleeved on the rotating shaft, spline grooves matched with each other are formed in the joint surface of the rotating shaft and the inner sleeve, and a lifting cylinder I connected with a bottom plate of the support frame is correspondingly arranged below the rotating shaft; the top of the inner sleeve is connected with a rotating cage, a plurality of through holes are uniformly formed in the side wall of the rotating cage, the top of each through hole is hinged with a test tube placing card, and the test tube placing card is provided with a rotating arm extending into the through hole; the top of the rotating shaft is provided with a lifting disc, and the periphery of the lifting disc is provided with a plurality of articulated arms correspondingly connected with the rotating arm;

The first gun head replacing mechanism comprises a spiral round vibration gun head feeder and a gun head feeder, the spiral round vibration gun head feeder comprises a gun head storage box, a spiral single-row gun head discharging channel is arranged in the gun head storage box, a linear single-row discharging channel with a vibrator at the bottom is tangentially connected to the outlet of the single-row gun head discharging channel, a gun head support clamping block is arranged at the outlet of the linear single-row discharging channel, the gun head support clamping block is driven by a cylinder to lift and is slidingly connected to a vertical supporting plate, the vertical supporting plate is driven by the cylinder and moves along the direction perpendicular to the linear single-row discharging channel, and a liquid-transferring gun mounting head fixing clamping plate positioned above the gun head support clamping block and a baffle plate for blocking the outlet of the linear single-row discharging channel are arranged on the vertical supporting plate;

the dyeing component assembling unit comprises a dyeing tank rotary feeding mechanism for accommodating a tank and automatically overturning and loading the tank, a dyeing substrate feeding mechanism for accommodating a dyeing substrate and automatically feeding the dyeing substrate, a glass slide feeding mechanism for accommodating a glass slide and automatically feeding the glass slide and automatically pushing the assembled glass slide and the dyeing substrate, a dyeing tank screwing manipulator for grabbing and transferring the tank and screwing the tank on the dyeing substrate, and a dyeing component pushing mechanism for conveying the assembled dyeing component to the dyeing unit;

The dyeing tank feeding mechanism comprises a tank storage box, wherein an arc-shaped single-row tank discharging channel is arranged in the tank storage box, a linear single-row discharging channel with a vibrator at the bottom is tangentially connected to the outlet of the single-row tank discharging channel, a motor-driven rotating disc is arranged at the outlet of the linear single-row discharging channel, a groove for receiving the tank is radially formed in the rotating disc, an air cylinder-driven lifting supporting plate is arranged at the outlet of the groove extending to the edge of the rotating disc, an output guide rail is arranged below the lifting supporting plate, an air cylinder-driven feeding supporting plate is slidably arranged on the output guide rail, and the feeding supporting plate and the lifting supporting plate are mutually matched;

the slide glass feeding mechanism comprises transverse blocks and transverse vertical plates which are arranged at intervals in parallel, a support driven by an air cylinder is arranged on a transverse sliding rail of each transverse block in a sliding mode, a lifting seat I driven by a lifting air cylinder is arranged on a vertical sliding rail of each vertical plate of the support in a sliding mode, and a negative pressure sucker I for adsorbing a slide glass is arranged on the lifting seat I; the bottom of the support is provided with a connecting block which transversely extends, the support and a vertical seat I on the connecting block are arranged at left and right intervals, a pushing hand driven by a lifting cylinder II is arranged on the vertical seat in a sliding manner, the pushing hand extends upwards out of a horizontal sliding plate at the top of the transverse vertical plate and transversely reciprocates along the horizontal sliding plate, and a slide storage box is arranged at the left side of the transverse vertical plate;

The dyeing substrate feeding mechanism comprises a dyeing substrate storage box and a vertical seat II which are arranged at intervals in the front-back direction, and a horizontal push plate which is pushed by an air cylinder to move back and forth is arranged on the vertical seat II; the left end of the horizontal sliding plate extends backwards to form an installation part, and the dyeing substrate storage box is arranged on the installation part of the horizontal sliding plate through an installation frame; the length of the horizontal push plate is longer than that of the dyeing substrate storage box, and the horizontal push plate moves back and forth in a gap between the dyeing substrate storage box and the horizontal sliding plate;

the dyeing component pushing mechanism comprises a pushing component and a dyeing component conveying mechanism which are mutually connected, the pushing component comprises a pushing slide rail which horizontally extends forwards from the right end of the front edge of the horizontal slide rail, a horizontal pushing block driven by an air cylinder is arranged at the rear edge of the horizontal slide rail corresponding to the pushing slide rail, the dyeing component conveying mechanism is arranged at the front side of the pushing slide rail, a transverse push rod driven by the air cylinder is arranged at the outlet end of the dyeing component conveying mechanism, and the dyeing component at the outlet end of the dyeing component conveying mechanism is pushed to the dyeing unit by the transverse push rod;

the dyeing tank screwing manipulator comprises a rotary support arranged at the right end of the transverse vertical plate and driven by a rotary cylinder, a lifting seat II driven by the cylinder is arranged on a vertical sliding rail of the rotary support in a sliding manner, a mounting support extending downwards is arranged on the lifting seat II, a rotary seat driven by a rotary motor II is arranged at the bottom of the mounting support, and a pair of arc clamping plates I matched with the cylinder tank are arranged on a clamping cylinder on the rotary seat;

The dyeing unit comprises an input conveying mechanism for conveying dyeing components, and the input conveying mechanism is used for connecting the dyeing component assembling unit; the outlet end of the input conveying mechanism is connected with the inlet end of the annular conveying mechanism through a sample feeding gripper, the outlet end of the annular conveying mechanism is provided with a sample discharging gripper, and the sample feeding gripper and the sample discharging gripper are arranged at left and right intervals; the annular conveying mechanism comprises a conveying chain driven by a stepping motor, a plurality of conveying assemblies used for clamping dyeing assemblies are uniformly arranged at the top of the conveying chain at intervals, and a waste liquid pool is correspondingly arranged below the conveying assemblies; a plurality of dyeing stations are arranged along the circumferential direction of the conveying chain at intervals, and each dyeing station is provided with a sample adding mechanism and a turnover manipulator;

the carrying assembly comprises a mounting block fixedly connected to the conveying chain through a connecting sheet, a U-shaped clamping plate for clamping the dyeing assembly is connected to the mounting block through a hinge shaft, a horizontal positioning structure is arranged between the mounting block and the U-shaped clamping plate, and a limiting clamping groove matched with the dyeing assembly is formed in the inner side surface of the U-shaped clamping plate;

the turnover manipulator comprises a base fixedly connected to the bottom plate, an L-shaped bracket driven by a power source is arranged on a guide rail of the base in a sliding manner, a rotating hand driven by a rotating motor III is arranged at the upper end of the L-shaped bracket, the height of the rotating hand is consistent with that of the U-shaped clamping plate, and a positioning groove matched with the short side of the dyeing assembly is formed in the rotating hand;

The cover plate unit comprises a cover plate conveying mechanism connected with the dyeing unit, a dyeing tank unloading position, an ethanol flushing position, a loose oil drop adding position and a cover plate position are sequentially arranged from the inlet end of the cover plate conveying mechanism to the outlet end of the cover plate conveying mechanism, a dyeing tank unloading manipulator is arranged at the dyeing tank unloading position, and a recovery barrel is arranged below the dyeing tank unloading manipulator; the two sides of the ethanol flushing position are respectively provided with a flushing manipulator and an ethanol flushing head, a clamping arm of the flushing manipulator reciprocates between the ethanol flushing head and the ethanol flushing position, and a fan is arranged above the ethanol flushing head; a dripping head is arranged at the corresponding position of the pine node oil drop; the cover plate position is provided with a cover plate manipulator, and one side of the cover plate manipulator is provided with a cover plate box;

the dyeing tank unloading manipulator comprises a longitudinal plate erected above a bottom plate T, a sliding seat driven by a horizontal air cylinder is arranged on a longitudinal guide rail of the longitudinal plate, a lifting seat III driven by a lifting air cylinder IV is arranged on the sliding seat in a sliding manner, a clamping seat driven by a rotating motor IV is arranged at the bottom of a vertical column fixedly connected to the lifting seat III, and an arc clamping plate II driven by the clamping air cylinder is arranged on the clamping seat;

The cover plate manipulator comprises a mounting vertical plate, wherein the mounting vertical plate is provided with a lifting block driven by an air cylinder in a sliding manner, the lifting block is provided with a rotating shaft driven by a rotating air cylinder, and a horizontal arm at the top of the rotating shaft is provided with a negative pressure sucker II;

the flushing manipulator comprises a vertical plate fixedly connected to the bottom of the bottom plate T, a lifting block driven by a linear air cylinder is arranged on a vertical guide rail of the vertical plate in a sliding mode, a stand column at the top of the lifting block extends upwards out of the bottom plate T, a clamping seat moving backwards along the Y direction is arranged on a mounting plate at the top of the stand column in a sliding mode, a clamping air cylinder is arranged on the clamping seat, and a clamping arm is fixedly connected to a clamping head of the clamping air cylinder;

the slide glass recovery mechanism is arranged on the other side of the microscope, and the mechanical gripper horizontally reciprocates between the microscope and the slide glass recovery mechanism;