CN110849692A - Full-automatic slice-making and dyeing equipment and full-automatic slice-making and dyeing method - Google Patents
Full-automatic slice-making and dyeing equipment and full-automatic slice-making and dyeing method Download PDFInfo
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- CN110849692A CN110849692A CN201911321878.4A CN201911321878A CN110849692A CN 110849692 A CN110849692 A CN 110849692A CN 201911321878 A CN201911321878 A CN 201911321878A CN 110849692 A CN110849692 A CN 110849692A
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- 238000004043 dyeing Methods 0.000 title claims abstract description 149
- 238000000034 method Methods 0.000 title claims abstract description 30
- 239000007788 liquid Substances 0.000 claims abstract description 78
- 230000005540 biological transmission Effects 0.000 claims description 45
- 238000010186 staining Methods 0.000 claims description 23
- 238000001802 infusion Methods 0.000 claims description 19
- 239000012192 staining solution Substances 0.000 claims description 18
- 238000002347 injection Methods 0.000 claims description 15
- 239000007924 injection Substances 0.000 claims description 15
- 238000002360 preparation method Methods 0.000 claims description 13
- 238000012360 testing method Methods 0.000 claims description 8
- 239000011248 coating agent Substances 0.000 claims description 7
- 238000000576 coating method Methods 0.000 claims description 7
- 238000005070 sampling Methods 0.000 claims description 7
- 230000003075 superhydrophobic effect Effects 0.000 claims description 7
- 230000002159 abnormal effect Effects 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 6
- 238000007447 staining method Methods 0.000 claims 1
- 230000008569 process Effects 0.000 abstract description 19
- 230000010354 integration Effects 0.000 abstract description 4
- 239000000523 sample Substances 0.000 description 165
- 238000001514 detection method Methods 0.000 description 11
- 239000000463 material Substances 0.000 description 7
- 230000001360 synchronised effect Effects 0.000 description 7
- 239000011521 glass Substances 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 5
- 238000004140 cleaning Methods 0.000 description 4
- 239000000975 dye Substances 0.000 description 4
- 230000002452 interceptive effect Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000004044 response Effects 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 3
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- 230000001133 acceleration Effects 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 2
- 229910052782 aluminium Inorganic materials 0.000 description 2
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- 239000003814 drug Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/28—Preparing specimens for investigation including physical details of (bio-)chemical methods covered elsewhere, e.g. G01N33/50, C12Q
- G01N1/30—Staining; Impregnating ; Fixation; Dehydration; Multistep processes for preparing samples of tissue, cell or nucleic acid material and the like for analysis
- G01N1/31—Apparatus therefor
- G01N1/312—Apparatus therefor for samples mounted on planar substrates
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- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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Abstract
The invention relates to full-automatic film-making and dyeing equipment, which comprises a driving structure and a sample adding structure, wherein the sample adding structure comprises a mechanical arm and a liquid supply part, and the driving structure drives the mechanical arm to move; the mechanical arm comprises a sheet making arm and a dyeing arm, and the dyeing arm and/or the sheet making arm is communicated with the liquid supply part; the piece making arm is movably connected with a sample adding needle, the tail end of the piece making arm is provided with a clamping position, the sample adding needle penetrates through the clamping position, and the tail end of the sample adding needle is detachably connected with the suction head; the below of screens still is equipped with the suction head sensor, the suction head sensor with it is fixed to make the piece arm connect, the suction head sensor detects the end of application of sample needle with the suction head is dismantled or is separated, the screens makes the suction head with the end of application of sample needle breaks away from. The invention accurately controls the advancing and positioning of the mechanical arm, so that the tabletting process is automated and precise, and meanwhile, the equipment has simple structure and high integration level.
Description
Technical Field
The invention belongs to the technical field of biological cell dyeing, and particularly relates to full-automatic slice-making dyeing equipment and a full-automatic slice-making dyeing method.
Background
Dyeing is an important process in the scientific research process in the biological field, and in order to realize the slide production and the microscopic observation after dyeing of cell sample liquid and the like in batches, the prior art provides automatic slide production and dyeing equipment to realize an automatic production process so as to improve the working efficiency. Generally, the device comprises a driving motor and a mechanical arm, wherein the mechanical arm is driven by the driving motor to move in a horizontal plane, a sample adding needle which moves up and down is connected to the mechanical arm, the tail end of the sample adding needle is detachably connected with a suction head, and the cell sample liquid in a test tube is sucked by the suction head and then is dripped onto a slide through the sample adding needle of the mechanical arm; and then sucking the staining solution through a mechanical arm and dripping the staining solution on the slide to finish the process of slide preparation and staining. In order to detect whether the suction head is connected with the sample adding needle, the prior art also provides a detection mechanism on the film making and dyeing equipment, the detection mechanism is usually arranged between the suction head and the test tube, for example, the detection mechanism is an infrared detector formed by a pair of detection stand columns arranged between the suction head and the test tube, and a detection channel is formed between the detection stand columns. However, when the mechanical arm moves in the detection channel, the detection channel can detect the suction head, if the range of the movement of the mechanical arm exceeds the detection channel, the detection channel cannot be used for detecting the suction head, especially if the suction head falls off above a slide or in the moving stroke of the mechanical arm, the detection channel cannot detect, the automation efficiency of the equipment is not high, the stability is too low, the convenience is not enough in use, and the integration degree of the equipment is low.
Particularly, in practical use, the mechanical arm usually needs to move for a long distance or needs to be repeatedly reset and other steps to move and position, and the working efficiency is low; the cell sample liquid or the staining solution sucked by the mechanical arm is easy to leak due to the fact that the mechanical arm is easy to shake when driven by the motor to move and the equipment is not stable in operation; in particular, the apparatus used in the prior art generally can use only one staining solution during staining, and cannot frequently replace other staining solutions, or even if the staining solution can be replaced, the tip for sucking the staining solution needs to be manually cleaned or replaced, so the process of preparing the slide and staining cannot be completely independently completed by the apparatus, and the automation degree is not high.
In conclusion, the equipment for automatic film production and dyeing provided by the prior art has more problems and cannot meet the technical requirements of current social automation and high efficiency.
Disclosure of Invention
The invention aims to provide a full-automatic slice-making and dyeing device and a full-automatic slice-making and dyeing method, which are enabled.
In order to achieve the technical purpose, the invention provides the following technical scheme:
a full-automatic slice-making and dyeing device comprises a workbench, a driving structure and a sample-adding structure, wherein the driving structure and the sample-adding structure are connected with the workbench, the sample-adding structure comprises a mechanical arm and a liquid supply part, and the driving structure drives the mechanical arm to move; the mechanical arm comprises a sheet making arm and a dyeing arm, and the dyeing arm and/or the sheet making arm is communicated with the liquid supply part; the piece making arm is movably connected with a sample adding needle, the tail end of the piece making arm is provided with a clamping position, the sample adding needle penetrates through the clamping position, and the tail end of the sample adding needle is detachably connected with the suction head; the below of screens still is equipped with the suction head sensor, the suction head sensor with it is fixed to make the piece arm connect, the suction head sensor detects the end of application of sample needle with the suction head is dismantled or is separated, application of sample needle rebound extremely the terminal suction head of application of sample needle supports and leans on during the screens, the screens makes the suction head with the end of application of sample needle breaks away from.
The scheme drives the sheet making arm to move above the sample liquid through the driving structure, absorbs the sample liquid by using a suction head at the tail end of the sample adding needle, drives the sheet making arm to move above the slide through the driving structure, and dropwise adds the sample liquid onto the slide; therefore, the mechanical arm can be controlled to advance accurately and positioned conveniently, and the sheet making process is automated and precise; when the liquid supply part is communicated with the slide making arm, a liquid medicament for making a slide can be conveyed to the sample adding needle and dripped onto a slide, and when the liquid supply part is communicated with the dyeing arm, a dyeing agent for dyeing can be conveyed to a part for dyeing to dye sample liquid, so that the device has a simple structure and high integration level; in the process of moving the sheet making arm, the suction head sensor can detect the suction head, so that the phenomenon that the suction head falls off from the tail end of the sample adding needle in the moving process and the sheet making process cannot be finished is avoided, and the working performance of equipment is stable; at the rebound during the application of sample needle, the end of application of sample needle can pass through the screens and suction head and screens support to lean on, with the help of the effect of supporting of screens and suction head, make when continuing the rebound application of sample needle the suction head breaks away from with the end of application of sample needle, need not can drop the suction head is automatic with the help of other appurtenance, makes equipment structure succinct more, has improved automatic work efficiency.
Preferably, the driving structure includes:
the sliding rail part is arranged at the top of the workbench; the sliding rail part comprises an X-direction sliding rail and a Y-direction guiding part, and a sliding part moving along the X-direction sliding rail is arranged on the X-direction sliding rail; the Y guide part is fixedly connected with the sliding part and moves along the X direction along with the sliding part;
the transmission part comprises an X-direction transmission part and a Y-direction transmission part; the transmission part is fixed with the workbench; the X-direction transmission part is connected with the sliding part and drives the Y guide part to move along the X direction;
the sample addition structure comprises:
the mechanical arm comprises a piece making arm and a dyeing arm, and the piece making arm and the dyeing arm are fixedly connected with the Y-shaped guide part; the Y-direction transmission part drives the sheet making arm to move along the Y direction; the sheet making arm comprises a sample adding needle, and the sample adding needle moves up and down along the sheet making arm; the dyeing arm comprises a dyeing needle, and the dyeing needle moves up and down along the dyeing arm; the slide making arm is used for sucking a sample liquid and coating the sample liquid on a slide, and the staining arm is used for dropwise adding a staining solution on the slide;
and the liquid supply part is communicated with the dyeing arm and conveys the dyeing liquid to the dyeing arm.
The full-automatic slide-making and dyeing equipment drives the Y guide part through the transmission part to enable the mechanical arm to move in the X direction, and drives the slide-making arm to move in the Y direction through the Y-direction transmission part, so that the mechanical arm can move in the working plane in the front, back, left and right directions, the sample adding needle can move to the sample liquid, then the sample liquid is sucked and moved to the upper part of a slide, and meanwhile, the sample adding needle can move up and down, and the position can be adjusted to enable the sample adding needle to be close to the slide; therefore, this scheme can be convenient for advancing and fix a position of accurate control arm, makes film-making process automation, precision, and equipment structure is simple, the integrated level is high simultaneously.
Preferably, the X-direction slide rail includes a first X-direction slide rail and a second X-direction slide rail, and the first X-direction slide rail and the second X-direction slide rail are arranged in parallel; and a first sliding part and a second sliding part which move along the X-direction sliding rail are respectively arranged on the first X-direction sliding rail and the second X-direction sliding rail. This drive structure drives first slider at X to removing to transmission portion with the help of X, drives the arm at X rebound to through setting up two slide rails, effectively reduce the shake of arm, guarantee that the transmission process is steady.
Preferably, the Y-guide part includes a first support plate and a Y-slide rail, two ends of the first support plate are respectively connected and fixed with the first sliding part and the second sliding part, the Y-slide rail is disposed on the first support plate, and a third sliding part moving along the Y-slide rail is disposed on the Y-slide rail; the upper part of the film making arm is connected with the third sliding part, and the upper part of the dyeing arm is connected with the first supporting plate.
More preferably, the X-direction transmission part is connected with the first sliding part to drive the first sliding part to move; the Y-direction transmission part is fixed with the first supporting plate and connected with the third sliding part to drive the third sliding part to move.
More preferably, the driving structure further comprises a first side plate, a second side plate and a fixed folded plate, the first side plate and the second side plate are respectively arranged on two sides of the workbench, and two ends of the fixed folded plate are respectively connected and fixed with the first side plate and the second side plate; the second X-direction slide rail is fixed on the fixed folded plate.
More preferably, the workbench, the first support plate, the second support plate, the first side plate, the second side plate and the fixing folded plate are made of an aviation aluminum material 7075. Due to the adoption of light materials, the driving structure is firm and durable, is not easy to deform, ensures the balance degree of the slide rail, and further ensures accurate positioning.
Preferably, the Y-direction transmission part comprises a Y-direction synchronous belt and a Y-direction power piece, the Y-direction power piece comprises a stepping motor and an encoder, and the encoder is connected with the stepping motor; and the output end of the stepping motor is in transmission connection with the Y-direction synchronous belt. The encoder can solve the problem that the positioning of the stepping motor is inaccurate due to the fact that steps are lost, accumulated errors can not be generated by the encoder, and resetting is not needed repeatedly, so that the instrument can accurately and efficiently run, the running time of the stepping motor is saved, the working efficiency is improved, and electric energy is saved. In addition, the stepping motor with the encoder can be connected with operation control software, and the motion of the mechanical arm is smoother by using smoother acceleration and deceleration algorithm control.
Preferably, the X-direction transmission part comprises an X-direction synchronous belt and an X-direction power piece, the X-direction power piece comprises a stepping motor and an encoder, and the encoder is connected with the stepping motor; and the output end of the X-direction power piece is in transmission connection with the X-direction synchronous belt. The encoder can effectively reduce accumulated errors, avoid the problem of inaccurate positioning, avoid the step of resetting the original point before positioning, and improve the operation efficiency of equipment
More preferably, the Y-direction transmission part is disposed below the first support plate; the X-direction sliding rail is arranged on the second supporting plate, and the X-direction transmission part is arranged below the second supporting plate.
Preferably, the ends of the sample application needle and/or the dyeing needle are coated with a super-hydrophobic coating. When the sample preparation device is used, the tail end of a sample preparation needle is detachably connected with a suction head, after the sample preparation needle is connected with the suction head, the suction head absorbs cell sample liquid by moving the sample preparation needle up and down, the slide preparation arm is moved in the X direction and the Y direction, so that the sample preparation needle moves to a slide preparation position, the sample preparation needle is moved up and down to dropwise add the sample liquid onto a slide, and then the slide preparation arm is moved to the upper part of a suction head collection box in the X direction and the Y direction to separate the suction head; after the suction head is separated, the sheet making arm can be moved into the cleaning groove, and the end of the sample adding needle can be quickly removed due to the fact that the surface of the sample adding needle is coated with the super-hydrophobic coating. Because the tail end of the sample adding needle and/or the dyeing needle is subjected to super-hydrophobic treatment, the phenomenon of bead hanging or dripping is not easy to occur in use.
Preferably, the dyeing needles are arranged along the Y direction; the dyeing needle is communicated with the liquid supply part. The liquid supply part simultaneously conveys the dyeing liquid to the dyeing needles which are arranged side by side, and the dyeing needles simultaneously drop on the surface of the glass slide, so that the working efficiency is improved.
More preferably, the liquid supply part comprises an injection module and a liquid conveying pipe; the injection module comprises a plurality of injection pumps which are connected with the infusion tubes, and the infusion tubes are respectively communicated with the sample adding needle and/or the dyeing needle; the tail end of the infusion tube extends out of the tail end of the sample adding needle/the dyeing needle respectively. Different staining solutions are respectively stored in the injection modules, are conveyed to the tail ends of the sample adding needle/the staining needle through different infusion tubes under the control of an injection pump, and are dripped onto the glass slide for staining. The equipment can be used for simultaneously carrying out multiple dyeing without repeatedly cleaning the equipment, and the working efficiency of the equipment is obviously improved.
More preferably, be equipped with on the workstation and pull the formula tank chain, the transfer line is accomodate in the formula tank chain of pulling to make the transfer line carry out the removal of minizone with the mechanical arm.
Preferably, the full-automatic sheet-making and dyeing equipment further comprises a sample stage and a sample stage, wherein the sample stage and the sample stage are respectively detachably connected with the workbench; the sample table is provided with a plurality of placing holes for placing test tubes; a plurality of rows of placing grooves for placing glass slides are arranged on the sample table, and the number of the rows of placing grooves is consistent with the number of the dyeing needles in the Y direction; a test tube filled with sample liquid is arranged on the sample platform; the slide is placed on the sample table, so that the moving range and distance of the slide making arm and the dyeing arm are reduced, and the working efficiency is improved; meanwhile, the number of the rows of the placing grooves is consistent with the number of the dyeing needles in the Y direction, so that the dyeing arm can be prevented from moving in the Y direction, the moving distance of the dyeing arm is reduced, and the dyeing efficiency is improved. Simultaneously, sample platform and sample platform are detachably connected, can greatly make things convenient for getting of consumptive material to put.
As a specific embodiment, the number of the dyeing needles in the Y direction is 4, the dyeing arm comprises a fixing clip, and the dyeing needles are fixedly connected with the fixing clip; the fixing clip is connected with the tail end of the dyeing arm; the arrangement grooves are 4 rows in total, so that the equipment can slice and stain 4-24 slides at a time, and the whole process only needs 45 minutes.
Preferably, the full-automatic slide-making and dyeing equipment further comprises a sucker collecting box, wherein the sucker collecting box and the sample platform are arranged on one side of the workbench; the sample table is arranged on the other side of the workbench. The sucker collecting box can store fallen suckers.
Preferably, the sheeting arms and staining arms are arranged on opposite sides of the first support sheet. The sample rack for placing the sample liquid and the slide below the dyeing arm can be conveniently arranged below the film making arm, so that the moving distance of the mechanical arm is reduced, and the working efficiency is improved.
As an embodiment, the transmission part is connected with an intelligent management terminal, and the intelligent management terminal comprises but is not limited to a human-computer interactive display screen, so that the operation of the equipment is realized through a human-computer interactive process. And the intelligent management terminal receives feedback information of the sucker sensor and/or the driving structure through preset software and programs and indicates the driving structure to execute according to instructions.
The invention also provides a full-automatic film-making and dyeing method, which uses the full-automatic film-making and dyeing equipment and comprises the following steps:
resetting: after the sheet making arm inserts the suction head at the tail end of the sample adding needle, the sample adding needle is driven to move upwards to a preset position;
a sampling step: after the driving structure drives the sheet making arm to move to the position above the sample liquid, the suction head sensor detects a suction head, when the suction head sensor does not detect the suction head, abnormal state processing is carried out, and when the suction head sensor detects the suction head, the sample adding needle moves downwards to suck the sample liquid through the suction head;
a tabletting step: the driving structure drives the slide making arm to drop the sample liquid onto the slide to complete slide making;
and (3) dyeing: after the slide preparation step is executed, the liquid supply part conveys the staining solution to the staining needle, the driving structure drives the staining arm to move, and the staining needle drops the staining solution onto the slide;
a step of removing the suction head: after the sheet making step is executed, the sample adding needle moves upwards to the preset position; and moving the sheet making arm to the upper part of the suction head collecting box, continuing to move the sample adding needle upwards to enable the suction head to be abutted against the clamping position until the clamping position enables the suction head to be separated from the sample adding needle, and enabling the suction head to fall into the suction head collecting box.
It should be noted that the preset position according to the present invention can be determined by: the upper portion of system piece arm sets up reset sensor, the application of sample needle is connected fixedly with the response piece, reciprocates when the application of sample needle and drives the response piece reciprocates, the response piece removes to when reset sensor department, reset sensor detects the response piece, the application of sample needle stop to remove, reachs preset the position. In one embodiment, the reset sensor may be connected to an intelligent management terminal, and feeds back information to the intelligent management terminal.
The device for removing the suction head can be integrated on the film-making arm, so that the movement of the mechanical arm is reduced in the suction head removing process, and the occupied space of equipment is also reduced; the method improves the operation accuracy and improves the efficiency of slice making and dyeing.
Preferably, the sampling step further comprises: the sample adding needle moves to a preset position, the suction head sensor detects the suction head, when the suction head sensor does not detect the suction head, abnormal state processing is carried out, and when the suction head sensor detects the suction head, the sheet making step is executed. In the step of whole sample and film-making, the suction head sensor homoenergetic detects this state of suction head whether to connect to the application of sample needle end, guarantees at the in-process of sample and film-making, and the suction head that has sample liquid can not drop, has promoted the stability of film-making technology.
Drawings
Fig. 1 is a side view of a fully automatic slide-making and dyeing apparatus of example 1;
FIG. 2 is a rear view of the fully automatic slide-making and dyeing apparatus of example 1;
FIG. 3 is a schematic view showing a disassembled structure of the fully automatic slide-making and dyeing apparatus according to example 1;
FIG. 4 is a schematic view of a driving structure of the fully automatic slide-making and dyeing apparatus according to embodiment 1;
FIG. 5 is a partial structural view of a second supporting plate of the fully automatic slice-making and dyeing apparatus according to embodiment 1;
FIG. 6 is a schematic view showing the structure of a liquid supply section of the fully automatic slide-making and dyeing apparatus according to example 1;
FIG. 7 is a schematic diagram showing the structure of a slide-making arm of the fully automatic slide-making and dyeing apparatus according to example 1;
fig. 8 is a schematic structural diagram of a dyeing arm of the full-automatic slice-making and dyeing apparatus according to embodiment 1.
Detailed Description
The technical solution of the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.
Example 1
Referring to fig. 1 to 8, a full-automatic slide-making and dyeing apparatus includes a workbench 100, a driving structure and a sample-adding structure, the driving structure and the sample-adding structure are connected to the workbench 100, the sample-adding structure includes a mechanical arm and a liquid supply portion, and the driving structure drives the mechanical arm to move; the mechanical arm comprises a sheet making arm 300 and a dyeing arm 400, and the dyeing arm 400 and/or the sheet making arm 300 are/is communicated with the liquid supply part; the piece making arm 300 is movably connected with a sample adding needle 310, the tail end of the piece making arm is provided with a clamping position 320, the sample adding needle 310 penetrates through the clamping position 320, and the tail end of the sample adding needle 310 is used for being detachably connected with a suction head; the below of screens 320 still is equipped with suction head sensor 330, suction head sensor 330 with it is fixed to make the piece arm connect, suction head sensor 330 detects the end of application of sample needle 310 with the suction head is dismantled or is separated, application of sample needle 310 rebound extremely the suction head at application of sample needle 310 supports when screens 320, screens 320 makes the suction head with application of sample needle 310's end breaks away from.
In the scheme, the driving structure drives the sheet making arm to move to the position above the sample liquid, the suction head at the tail end of the sample adding needle 310 is used for sucking the sample liquid, the driving structure drives the sheet making arm to move to the position above the slide, and the sample liquid is dripped onto the slide; therefore, the mechanical arm can be controlled to advance accurately and positioned conveniently, and the sheet making process is automated and precise; when the liquid supply part is communicated with the slide making arm, a liquid medicament for making a slide can be conveyed to the sample adding needle 310 and dripped onto a slide, and when the liquid supply part is communicated with the dyeing arm, a dyeing agent for dyeing can be conveyed to a component for dyeing to dye sample liquid, so that the device is simple in structure and high in integration level; in the process of moving the sheet making arm, the sucker sensor 330 can detect the sucker, so that the sucker is prevented from falling off from the tail end of the sample adding needle 310 in the moving process and the sheet making process cannot be finished, and the working performance of the equipment is stable; when the sample adding needle 310 moves upwards, the end of the sample adding needle 310 can be abutted by the clamping part 320 and the suction head is abutted against the clamping part 320, and the suction head is separated from the end of the sample adding needle 310 under the abutting action of the clamping part 320 and the suction head when the sample adding needle 310 continues to move upwards, so that the suction head can automatically fall off without other auxiliary tools, the equipment structure is simpler, and the automatic working efficiency is improved.
The driving structure includes:
a slide rail part disposed on the top of the work table 100; the sliding rail part comprises an X-direction sliding rail and a Y-direction guiding part, and a sliding part moving along the X-direction sliding rail is arranged on the X-direction sliding rail; the Y guide part is fixedly connected with the sliding part and moves along the X direction along with the sliding part;
the transmission part comprises an X-direction transmission part and a Y-direction transmission part; the transmission part is fixed with the workbench 100; the X-direction transmission part is connected with the sliding part and drives the Y guide part to move along the X direction;
the sample addition structure comprises:
a robotic arm comprising a film making arm 300 and a dyeing arm 400, the film making arm 300 and the dyeing arm 400 being fixedly connected to the Y guide; the Y-direction transmission part drives the sheet making arm 300 to move along the Y direction; the piece making arm 300 comprises a sample adding needle 310, and the sample adding needle 310 moves up and down along the piece making arm 300; the dyeing arm 400 comprises a dyeing needle which moves up and down along the dyeing arm 400; the slide making arm 300 is used for sucking a sample liquid and coating the sample liquid on a slide, and the staining arm 400 is used for dropwise adding a staining solution on the slide;
a liquid supply part communicating with the dyeing arm 400, the liquid supply part delivering the dyeing liquid to the dyeing arm 400.
The ends of the sample application needle 310 and the dyeing needle are coated with a super-hydrophobic coating. In use, the tail end of the sample adding needle 310 is detachably connected with the suction head, after the sample adding needle 310 is connected with the suction head, the suction head absorbs cell sample liquid by moving the sample adding needle 310 up and down, then the slide making arm is moved in the X direction and the Y direction, so that the sample adding needle 310 moves the slide making position, then the sample liquid is dripped onto a slide by moving the sample adding needle 310 up and down, and then the slide making arm is moved to the upper part of the suction head collecting box in the X direction and the Y direction, so that the suction head is separated; after the suction head is detached, the sheet making arm can be moved to a cleaning groove, and the end of the sample adding needle 310 can be quickly cleaned because the surface of the sample adding needle 310 is coated with a super-hydrophobic coating. Because the tail ends of the sampling needle and the dyeing needle are subjected to super-hydrophobic treatment, the phenomenon of bead hanging or liquid dropping is not easy to cause in use.
The dyeing needles are arranged along the Y direction; the dyeing needle is communicated with the liquid supply part. The liquid supply part simultaneously conveys the dyeing liquid to the dyeing needles which are arranged side by side, and the dyeing needles simultaneously drop on the surface of the glass slide, so that the working efficiency is improved.
The liquid supply part comprises an injection module 500 and an infusion tube; the injection module 500 comprises a plurality of injection pumps 530, the injection pumps 530 are connected with the infusion tubes, and the infusion tubes are respectively communicated with the sample adding needle 310 and/or the dyeing needle; the tail ends of the infusion tubes respectively extend out of the tail ends of the sample adding needle 310/the dyeing needle. Different staining solutions are stored in the injection modules respectively, are conveyed to the tail ends of the sample adding needle 310/the staining needle through different infusion tubes under the control of an injection pump 530, and are dripped onto a slide for staining. The equipment can be used for simultaneously carrying out multiple dyeing without repeatedly cleaning the equipment, and the working efficiency of the equipment is obviously improved.
The workbench 100 is provided with a dragging type tank chain 510, and the infusion tube is accommodated in the dragging type tank chain, so that the infusion tube can move in a small range along with the mechanical arm.
The full-automatic sheet-making and dyeing equipment further comprises a sample table and a sample table, wherein the sample table and the sample table are respectively detachably connected with the workbench 100; the sample table is provided with a plurality of placing holes for placing test tubes; a plurality of rows of placing grooves for placing glass slides are arranged on the sample table, and the number of the rows of placing grooves is consistent with the number of the dyeing needles in the Y direction; a test tube filled with sample liquid is arranged on the sample platform; the slide is placed on the sample table, so that the moving range and distance of the slide making arm 300 and the staining arm 400 are reduced, and the working efficiency is improved; meanwhile, the number of rows of the placing grooves is consistent with the number of the dyeing needles in the Y direction, so that the dyeing arm 400 can be prevented from moving in the Y direction, the moving distance of the dyeing arm 400 is reduced, and the dyeing efficiency is improved. Simultaneously, sample platform and sample platform are detachably connected, can greatly make things convenient for getting of consumptive material to put.
The number of the dyeing needles is 4 in the Y direction, the dyeing arm 400 comprises a fixing clip 420, and the dyeing needles 430 are fixedly connected with the fixing clip 420; the fixing clip is connected to the end of the dyeing arm 400; the arrangement grooves are 4 rows in total, so that the equipment can slice and stain 4-24 slides at a time, and the whole process only needs 45 minutes. Specifically, the staining arm 400 further includes a fixing needle 410, the infusion tube is disposed in the fixing needle 410, and the end of the fixing needle 410 is fixed to the fixing clip 420. The infusion tube is arranged in the dyeing needle 430, and the tail end of the infusion tube extends out of the tail end of the dyeing needle 430.
The tail end of the sample adding needle 310 is detachably connected with a suction head; the full-automatic slide-making and dyeing equipment further comprises a suction head collecting box, wherein the suction head collecting box and the sample platform are arranged on one side of the workbench 100; the sample stage is disposed at the other side of the working stage 100. The sucker collecting box can store fallen suckers.
The X-direction slide rail comprises a first X-direction slide rail 111 and a second X-direction slide rail 112, and the first X-direction slide rail 111 and the second X-direction slide rail 112 are arranged in parallel; the first X-direction slide rail 111 and the second X-direction slide rail 112 are respectively provided with a first sliding part and a second sliding part 123 moving along the X-direction slide rail. This drive structure drives first slider at X to removing to transmission portion with the help of X, drives the arm at X rebound to through setting up two slide rails, effectively reduce the shake of arm, guarantee that the transmission process is steady.
Both ends of the Y guide are fixed to the first slider and the second slider 123, respectively; the Y-direction guide part comprises a first supporting plate 121 and a Y-direction slide rail, the Y-direction slide rail is arranged on the first supporting plate 121, and a third sliding part which moves along the Y-direction slide rail is arranged on the Y-direction slide rail; the upper portion of the film forming arm 300 is connected to the third slider, and the upper portion of the dyeing arm 400 is connected to the first support plate 121.
The X-direction transmission part is connected with the first sliding part and drives the first sliding part to move; the Y-direction transmission part is fixed to the first support plate 121, connected to the third slider, and drives the third slider to move.
The driving structure further comprises a first side plate 102, a second side plate 103 and a fixed folded plate 101, wherein the first side plate 102 and the second side plate 103 are respectively arranged at two sides of the workbench 100, and two ends of the fixed folded plate 101 are respectively connected and fixed with the first side plate 102 and the second side plate 103; the second X-slide 112 is fixed to the fixed flap 101.
The material of the workbench 100, the first support plate 121, the second support plate 140, the first side plate 102, the second side plate 103 and the fixing flap 101 is an aviation aluminum material 7075. Due to the adoption of light materials, the driving structure is firm and durable, is not easy to deform, ensures the balance degree of the slide rail, and further ensures accurate positioning.
The two ends of the first supporting plate 121 are respectively connected and fixed with the first sliding member and the second sliding member 123.
The Y-direction transmission part includes a Y-direction synchronous belt 131 and a second stepping motor 132 with an encoder; the output end of the second stepping motor 132 is connected to the Y-direction timing belt 131. The encoder can solve the problem that the positioning of the stepping motor is inaccurate due to the fact that steps are lost, accumulated errors can not be generated by the encoder, and resetting is not needed repeatedly, so that the instrument can accurately and efficiently run, the running time of the stepping motor is saved, the working efficiency is improved, and electric energy is saved. In addition, the stepping motor with the encoder can be connected with operation control software, and the motion of the mechanical arm is smoother by using smoother acceleration and deceleration algorithm control.
The X-direction transmission part comprises an X-direction synchronous belt 151 and a second stepping motor with an encoder, and the output end of the second stepping motor 152 is in transmission connection with the X-direction synchronous belt 151. The encoder can effectively reduce accumulated errors, avoid the problem of inaccurate positioning, avoid the step of resetting the original point before positioning, and improve the operation efficiency of equipment
The Y-direction transmission part is disposed below the first support plate 121; the X-direction sliding rail is arranged on the second supporting plate 140, and the X-direction transmission part is arranged below the second supporting plate 140.
The sheeting arm 300 and the dyeing arm 400 are arranged on both sides of the first support plate 121. The arrangement is convenient for arranging the sample rack for placing the sample liquid below the film making arm 300 and placing the slide below the dyeing arm 400, the moving distance of the mechanical arm is reduced, and the working efficiency is improved.
The transmission part is connected with an intelligent management terminal, and the intelligent management terminal comprises but is not limited to a man-machine interactive display screen, so that the operation of the equipment is realized through a man-machine interactive process. And the intelligent management terminal receives feedback information of the sucker sensor and/or the driving structure through preset software and programs and indicates the driving structure to execute according to instructions.
In use, firstly, the suction head is inserted at the tail end of the sample adding needle 310, the sample adding needle 310 sucks cell sample liquid from a centrifugal tube of a sample platform by moving the sheet making arm, and then the sheet making arm is moved to the upper part of the sample platform in a front-back and left-right manner; moving the sample adding needle 310 of the slide making arm up and down, moving the sample adding needle 310 to a proper position, and dripping cell sample liquid onto a slide; moving the sheet making arm to the sucker collecting box to drop the sucker, inserting the sucker again, repeating the steps, and dripping different sample liquids; the staining solution is regulated and controlled by the injection pump 530 so as to be respectively delivered to the side-by-side staining needles, and the cell sample solution on the slide is stained by moving the staining arm left and right.
The full-automatic slide-making and dyeing equipment provided by the invention drives the Y guide part through the transmission part to enable the mechanical arm to move in the X direction, and drives the slide-making arm 300 to move in the Y direction through the Y-direction transmission part, so that the mechanical arm can move front and back, left and right in a working plane, the sample adding needle 310 can move to the sample liquid and then absorb the sample liquid and move to the upper part of a slide, and meanwhile, the sample adding needle 310 can move up and down, so that the position can be adjusted to enable the sample adding needle 310 to approach the slide; therefore, this scheme can be convenient for advancing and fix a position of accurate control arm, makes film-making process automation, precision, and equipment structure is simple, the integrated level is high simultaneously.
Example 2
A full-automatic slide-making and dyeing method using the full-automatic slide-making and dyeing apparatus of embodiment 1, comprising:
resetting: after the sheet making arm inserts the suction head at the tail end of the sample adding needle, the sample adding needle is driven to move upwards to a preset position;
a sampling step: after the driving structure drives the film making arm to move to the upper part of the sample liquid, the sucker sensor detects the sucker, and when the sucker sensor does not detect the sucker, abnormal state processing is carried out, for example, an alarm is sent out to remind that the sucker falls; when the suction head sensor detects the suction head, the sample adding needle moves downwards to absorb sample liquid through the suction head;
a tabletting step: the driving structure drives the slide making arm to drop the sample liquid onto the slide to complete slide making;
and (3) dyeing: after the slide preparation step is executed, the liquid supply part conveys the staining solution to the staining needle, the driving structure drives the staining arm to move, and the staining needle drops the staining solution onto the slide;
a step of removing the suction head: after the sheet making step is executed, the sample adding needle moves upwards to the preset position; and moving the sheet making arm to the upper part of the suction head collecting box, continuing to move the sample adding needle upwards to enable the suction head to be abutted against the clamping position until the clamping position enables the suction head to be separated from the sample adding needle, and enabling the suction head to fall into the suction head collecting box.
The preset position can be determined by the following mode: referring to fig. 7, a reset sensor 340 is disposed above the sheet making arm, the sample feeding needle is fixedly connected to the sensing sheet, when the sample feeding needle moves up and down to drive the sensing sheet to move up and down, and the sensing sheet moves to the position of the reset sensor 340, the reset sensor 340 detects the sensing sheet, and the sample feeding needle stops moving to reach the preset position. The reset sensor 340 may be connected to the intelligent management terminal, and feeds back information to the intelligent management terminal.
The sampling step further comprises: the sample adding needle moves to a preset position, the suction head sensor detects the suction head, when the suction head sensor does not detect the suction head, abnormal state processing is carried out, and when the suction head sensor detects the suction head, the sheet making step is executed.
The device for removing the suction head can be integrated on the film-making arm, so that the movement of the mechanical arm is reduced in the suction head removing process, and the occupied space of equipment is also reduced; the method improves the operation accuracy and improves the efficiency of slice making and dyeing. In the step of whole sample and film-making, the suction head sensor homoenergetic detects this state of suction head whether to connect to the application of sample needle end, guarantees at the in-process of sample and film-making, and the suction head that has sample liquid can not drop, has promoted the stability of film-making technology.
Variations and modifications to the above-described embodiments may occur to those skilled in the art, which fall within the scope and spirit of the above description. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and variations of the present invention should fall within the scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.
Claims (10)
1. The full-automatic film-making and dyeing equipment is characterized by comprising a workbench, a driving structure and a sample adding structure, wherein the driving structure and the sample adding structure are connected with the workbench, the sample adding structure comprises a mechanical arm and a liquid supply part, and the driving structure drives the mechanical arm to move; the mechanical arm comprises a sheet making arm and a dyeing arm, and the dyeing arm and/or the sheet making arm is communicated with the liquid supply part; the piece making arm is movably connected with a sample adding needle, the tail end of the piece making arm is provided with a clamping position, the sample adding needle penetrates through the clamping position, and the tail end of the sample adding needle is detachably connected with the suction head; the below of screens still is equipped with the suction head sensor, the suction head sensor with it is fixed to make the piece arm connect, the suction head sensor detects the end of application of sample needle with the suction head is dismantled or is separated, application of sample needle rebound extremely the terminal suction head of application of sample needle supports and leans on during the screens, the screens makes the suction head with the end of application of sample needle breaks away from.
2. The fully automatic tableting and dyeing apparatus as claimed in claim 1, wherein the drive arrangement comprises:
the sliding rail part is arranged at the top of the workbench; the sliding rail part comprises an X-direction sliding rail and a Y-direction guiding part, and a sliding part moving along the X-direction sliding rail is arranged on the X-direction sliding rail; the Y guide part is fixedly connected with the sliding part and moves along the X direction along with the sliding part;
the transmission part comprises an X-direction transmission part and a Y-direction transmission part; the transmission part is fixed with the workbench; the X-direction transmission part is connected with the sliding part and drives the Y guide part to move along the X direction;
the sample addition structure comprises:
the mechanical arm comprises a piece making arm and a dyeing arm, and the piece making arm and the dyeing arm are fixedly connected with the Y-shaped guide part; the Y-direction transmission part drives the sheet making arm to move along the Y direction; the sheet making arm comprises a sample adding needle, and the sample adding needle moves up and down along the sheet making arm; the dyeing arm comprises a dyeing needle, and the dyeing needle moves up and down along the dyeing arm;
and the liquid supply part is communicated with the dyeing arm and conveys the dyeing liquid to the dyeing arm.
3. The full-automatic sheet-making and dyeing equipment according to claim 2, wherein the X-direction slide rail comprises a first X-direction slide rail and a second X-direction slide rail, and the first X-direction slide rail and the second X-direction slide rail are arranged in parallel; a first sliding part and a second sliding part which move along the X-direction sliding rail are respectively arranged on the first X-direction sliding rail and the second X-direction sliding rail; the Y-shaped guide part comprises a first supporting plate and a Y-shaped sliding rail, and two ends of the first supporting plate are respectively fixed with the first sliding part and the second sliding part; the Y-direction sliding rail is arranged on the first supporting plate, and a third sliding part which moves along the Y-direction sliding rail is arranged on the Y-direction sliding rail; the upper part of the film making arm is connected with the third sliding part, and the upper part of the dyeing arm is connected with the first supporting plate; the X-direction transmission part is connected with the first sliding part and drives the first sliding part to move; the Y-direction transmission part is fixed with the first supporting plate and connected with the third sliding part to drive the third sliding part to move.
4. The full-automatic slice-making and dyeing equipment according to claim 3, wherein the driving structure further comprises a first side plate, a second side plate and a fixed folded plate, the first side plate and the second side plate are respectively arranged at two sides of the workbench, and two ends of the fixed folded plate are respectively connected and fixed with the first side plate and the second side plate; the second X-direction slide rail is fixed on the fixed folded plate.
5. The full-automatic sheet-making and dyeing apparatus according to claim 1, wherein the dyeing needle is plural, and the dyeing needles are arranged in a Y direction; the dyeing needle is communicated with the liquid supply part; the full-automatic sheet-making and dyeing equipment further comprises a sample table and a sample table, wherein the sample table and the sample table are respectively detachably connected with the workbench; the sample table is provided with a plurality of placing holes for placing test tubes; and a plurality of rows of placing grooves for placing the slide are arranged on the sample table, and the number of the rows of the placing grooves is consistent with the number of the dyeing needles in the Y direction.
6. The full-automatic tableting and dyeing equipment according to claim 1, wherein the liquid supply part comprises an injection module and an infusion tube; the injection module comprises a plurality of injection pumps which are connected with the infusion tubes, and the infusion tubes are respectively communicated with the sample adding needle and/or the dyeing needle; the tail end of the infusion tube extends out of the tail end of the sample adding needle/the dyeing needle respectively; the working table is provided with a dragging type tank chain, and the infusion tube is accommodated in the dragging type tank chain.
7. The full-automatic sheet-making and dyeing equipment according to claim 1, wherein the end of the sample-adding needle and/or the dyeing needle is coated with a super-hydrophobic coating.
8. The full-automatic sheet-making and dyeing equipment according to any one of claims 1 to 7, wherein the dyeing arm comprises a fixing clip, and the dyeing needle is fixedly connected with the fixing clip; the fixing clip is connected with the tail end of the dyeing arm.
9. A full-automatic slice-making and dyeing method, characterized in that the full-automatic slice-making and dyeing apparatus of any one of claims 1 to 8 is used, comprising:
resetting: after the sheet making arm inserts the suction head at the tail end of the sample adding needle, the sample adding needle is driven to move upwards to a preset position;
a sampling step: after the driving structure drives the sheet making arm to move to the position above the sample liquid, the suction head sensor detects a suction head, when the suction head sensor does not detect the suction head, abnormal state processing is carried out, and when the suction head sensor detects the suction head, the sample adding needle moves downwards to suck the sample liquid through the suction head;
a tabletting step: the driving structure drives the slide making arm to drop the sample liquid onto the slide to complete slide making;
and (3) dyeing: after the slide preparation step is executed, the liquid supply part conveys the staining solution to the staining needle, the driving structure drives the staining arm to move, and the staining needle drops the staining solution onto the slide;
a step of removing the suction head: after the sheet making step is executed, the sample adding needle moves upwards to the preset position; and moving the sheet making arm to the upper part of the suction head collecting box, continuing to move the sample adding needle upwards to enable the suction head to be abutted against the clamping position until the clamping position enables the suction head to be separated from the sample adding needle, and enabling the suction head to fall into the suction head collecting box.
10. The fully automated slide staining method of claim 1 wherein the sampling step further comprises: the sample adding needle moves to a preset position, the suction head sensor detects the suction head, when the suction head sensor does not detect the suction head, abnormal state processing is carried out, and when the suction head sensor detects the suction head, the sheet making step is executed.
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| CN113075006A (en) * | 2021-03-19 | 2021-07-06 | 深圳市鹏一医疗仪器有限公司 | Drop dyeing and piece making dyeing all-in-one machine capable of achieving direct wet sealing |
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| CN110849692B (en) | 2024-03-15 |
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