CN110849692B - Full-automatic film-making dyeing equipment and full-automatic film-making dyeing method - Google Patents
Full-automatic film-making dyeing equipment and full-automatic film-making dyeing method Download PDFInfo
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- CN110849692B CN110849692B CN201911321878.4A CN201911321878A CN110849692B CN 110849692 B CN110849692 B CN 110849692B CN 201911321878 A CN201911321878 A CN 201911321878A CN 110849692 B CN110849692 B CN 110849692B
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- 238000004043 dyeing Methods 0.000 title claims abstract description 136
- 238000000034 method Methods 0.000 title abstract description 29
- 239000007788 liquid Substances 0.000 claims abstract description 86
- 238000002360 preparation method Methods 0.000 claims abstract description 13
- 230000005540 biological transmission Effects 0.000 claims description 46
- 238000010186 staining Methods 0.000 claims description 39
- 238000001802 infusion Methods 0.000 claims description 22
- 238000002347 injection Methods 0.000 claims description 19
- 239000007924 injection Substances 0.000 claims description 19
- 239000011521 glass Substances 0.000 claims description 14
- 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
- 238000012545 processing Methods 0.000 claims description 7
- 230000003075 superhydrophobic effect Effects 0.000 claims description 7
- 230000002159 abnormal effect Effects 0.000 claims description 6
- 238000005070 sampling Methods 0.000 claims description 6
- 238000004519 manufacturing process Methods 0.000 claims description 4
- 238000007447 staining method Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 abstract description 20
- 230000010354 integration Effects 0.000 abstract description 4
- 239000000523 sample Substances 0.000 description 171
- 238000001514 detection method Methods 0.000 description 11
- 239000012192 staining solution Substances 0.000 description 9
- 230000001360 synchronised effect Effects 0.000 description 8
- 239000000975 dye Substances 0.000 description 5
- 239000000463 material Substances 0.000 description 5
- 230000004044 response Effects 0.000 description 4
- 238000004140 cleaning Methods 0.000 description 3
- 239000003814 drug Substances 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000009471 action 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
- 239000011324 bead Substances 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 239000003562 lightweight material Substances 0.000 description 2
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- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000012488 sample solution Substances 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
Classifications
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
Abstract
The invention relates to full-automatic film-making 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 slice making arm and a dyeing arm, and the dyeing arm and/or the slice making arm are/is communicated with the liquid supply part; the sample preparation arm is movably connected with a sample adding needle, the tail end of the sample preparation 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 suction head sensor is connected and fixed with the slide making arm, the suction head sensor detects that the tail end of the sample adding needle is detached or separated from the suction head, and the suction head is separated from the tail end of the sample adding needle by the clamping position. The invention precisely controls the travel of the mechanical arm and positions the mechanical arm, so that the flaking process is automatic 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 staining, and particularly relates to full-automatic slide-making staining equipment and a full-automatic slide-making staining method.
Background
Dyeing is an important process in the scientific research process of the biological field, and in order to realize microscopic observation after the cell sample liquid and the like are flaked and dyed in batches, the prior art already provides an automatic flaking and dyeing device 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 driving motor drives the mechanical arm 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 after the suction head sucks cell sample liquid in a test tube, the cell sample liquid is dripped onto a glass slide through the sample adding needle of the mechanical arm; and then sucking the dyeing liquid drop to the glass slide through a mechanical arm, and finishing the process of tabletting and dyeing. In order to detect whether the suction head is connected to the sample application needle, the prior art also provides a detection mechanism on the slide staining apparatus, the detection mechanism is typically disposed between the suction head and the test tube, for example, the detection mechanism is an infrared detector formed by a pair of detection posts disposed between the suction head and the test tube, and a detection channel is formed between the detection posts. However, when the mechanical arm moves in the detection channel, the detection channel can detect the suction head, if the moving range 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 suction head, the automation efficiency of the equipment is low, the stability is low, the use is inconvenient, and the integration degree of the equipment is low.
Particularly, in actual use, the mechanical arm usually needs to move a longer distance or needs to repeatedly reset and the like to move and position, so that the working efficiency is low; because the mechanical arm is easy to vibrate when being driven by a motor to move, the equipment is not stable to operate, and the cell sample liquid or the staining liquid sucked by the mechanical arm is easy to leak; in particular, in the prior art, only one type of staining solution can be generally used in the staining process, other staining solutions cannot be frequently replaced, or even if the staining solution can be replaced, the suction head for sucking the staining solution needs to be manually cleaned or replaced, so that the process of flaking and staining cannot be completely and independently completed by the equipment, and the degree of automation is not high.
In summary, the automatic film-making and dyeing equipment provided by the prior art has more problems, and can not meet the technical requirements of automation and high efficiency of the current society.
Disclosure of Invention
The invention aims to provide full-automatic film-making dyeing equipment and a full-automatic film-making dyeing method, so that the full-automatic film-making dyeing equipment and the full-automatic film-making dyeing method can be used.
In order to achieve the technical purpose, the invention provides the following technical scheme:
the full-automatic film-making dyeing equipment 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 slice making arm and a dyeing arm, and the dyeing arm and/or the slice making arm are/is communicated with the liquid supply part; the sample preparation arm is movably connected with a sample adding needle, the tail end of the sample preparation 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 suction head sensor is connected and fixed with the slice producing arm, the suction head sensor detects that the tail end of the sample adding needle is detached or separated from the suction head, and the sample adding needle moves upwards to the position when the suction head at the tail end of the sample adding needle abuts against the clamping position, and the clamping position enables the suction head to be separated from the tail end of the sample adding needle.
According to the scheme, the slide making arm is driven to move to the upper side of the sample liquid through the driving structure, the sample liquid is sucked by the suction head at the tail end of the sample adding needle, the slide making arm is driven to move to the upper side of the glass slide through the driving structure, and the sample liquid is added to the glass slide; therefore, the technical scheme can be convenient for accurately controlling the advancing of the mechanical arm and positioning, so that the flaking process is automatic and precise; the liquid supply part is communicated with the slide preparation arm, can convey liquid medicament for preparing the slide to the sample adding needle and drop the sample adding needle onto a slide, and can convey a dyeing agent for dyeing to a part for dyeing to dye a sample liquid when the liquid supply part is communicated with the dyeing arm, so that the device has a simple structure and high integration level; in the process of moving the slide making arm, the suction head sensor can detect the suction head, so that the suction head is prevented from falling off from the tail end of the sample adding needle in the moving process, the slide making process can not be completed, and the working performance of equipment is stable; when upwards moving the sample adding needle, the tail end of the sample adding needle can be abutted against the clamping position through the clamping position, and the abutting action of the clamping position and the suction head is utilized to separate the suction head from the tail end of the sample adding needle when the sample adding needle is continuously upwards moved, so that the suction head can be automatically separated without other auxiliary tools, the equipment structure is simpler, and the automatic working efficiency is improved.
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 piece 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 piece and moves along the X direction along with the sliding piece;
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 piece and drives the Y-direction guiding part to move along the X direction;
the sample adding structure comprises:
the mechanical arm comprises a slice making arm and a dyeing arm, and the slice making arm and the dyeing arm are fixedly connected with the Y guide part; the Y-direction transmission part drives the slide-making arm to move along the Y direction; the sample preparation arm comprises a sample adding needle which moves up and down along the sample preparation arm; the dyeing arm comprises a dyeing needle which moves up and down along the dyeing arm; the slide preparation arm is used for sucking the sample liquid and coating the sample liquid on a slide, and the staining arm is used for dripping the staining liquid on the slide;
and the liquid supply part is communicated with the dyeing arm and is used for conveying the dyeing liquid to the dyeing arm.
According to the full-automatic slide-making and dyeing equipment, the Y guide part is driven by the transmission part to enable the mechanical arm to move in the X direction, the slide-making arm is driven by the Y-direction transmission part to move in the Y direction, the mechanical arm can move back and forth and left and right in the working plane, the sample adding needle can move to sample liquid and then absorb the sample liquid and move above a slide, and meanwhile the sample adding needle can move up and down, so that the position adjustment is facilitated, and the sample adding needle is close to the slide; therefore, this scheme can be convenient for accurate control arm advance and fix a position, makes film-making process automation, accurate, equipment structure is simple simultaneously, the integrated level is high.
Preferably, the X-direction sliding rail comprises a first X-direction sliding rail and a second X-direction sliding rail, and the first X-direction sliding rail and the second X-direction sliding rail are arranged in parallel; the first X-direction sliding rail and the second X-direction sliding rail are respectively provided with a first sliding piece and a second sliding piece which move along the X-direction sliding rail. The driving structure drives the first sliding part to move in the X direction by virtue of the X-direction transmission part, so as to drive the mechanical arm to move in the X direction, and the shake of the mechanical arm is effectively reduced by arranging two sliding rails, so that the stable transmission process is ensured.
Preferably, the Y guide part comprises a first support plate and a Y-direction sliding rail, two ends of the first support plate are respectively connected and fixed with the first sliding piece and the second sliding piece, the Y-direction sliding rail is arranged on the first support plate, and a third sliding piece moving along the Y-direction sliding rail is arranged on the Y-direction sliding rail; the upper portion of the film-making arm is connected with the third sliding piece, and the upper portion 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 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 piece to drive the third sliding piece to move.
More preferably, the driving structure further comprises a first side plate, a second side plate and a fixing folded plate, wherein the first side plate and the second side plate are respectively arranged at two sides of the workbench, and two ends of the fixing folded plate are respectively connected and fixed with the first side plate and the second side plate; the second X-direction sliding rail is fixed on the fixed folded plate.
More preferably, the material of the working table, the first support plate, the second support plate, the first side plate, the second side plate, and the fixing flap is an aviation aluminum 7075. Due to the fact that the light-weight material is adopted, the driving structure is firm and durable and is not easy to deform, the balance degree of the sliding rail is guaranteed, and further positioning accuracy is guaranteed.
Preferably, the Y-direction transmission part comprises a Y-direction synchronous belt and a Y-direction power piece, wherein 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 stepping motor is inaccurate in positioning due to step loss, accumulated errors cannot be generated when the encoder is used, and repeated resetting is not needed, so that the instrument can accurately and efficiently operate, the operation time of the stepping motor is saved, the working efficiency is improved, and the electric energy is saved. In addition, the stepping motor with the encoder can be connected with operation control software, and the movement of the mechanical arm is smoother through the control of a smoother acceleration and deceleration algorithm.
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; 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, and avoid the step of origin resetting before positioning, thereby improving the running efficiency of the 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 tip of the sample addition needle and/or the staining needle is coated with a superhydrophobic coating. In use, the tail end of the sample adding needle is detachably connected with the suction head, after the sample adding needle is connected with the suction head, the suction head is enabled to absorb cell sample liquid by moving the sample adding needle up and down, then the slide making arm is moved in the X direction and the Y direction, so that the sample adding needle is enabled to move to slide making position, then the sample adding needle is moved up and down to drop sample liquid onto a slide, 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, and the suction head is separated; after the suction head is separated, the slice-making arm can be moved into the cleaning tank, and the tail end of the sample-adding needle can be quickly coated due to the super-hydrophobic coating on the surface of the sample-adding needle. 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 liquid dripping is not easy to occur in use.
Preferably, the dyeing needles are a plurality of, and 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 parallel dyeing needles, and the dyeing needles are simultaneously dripped 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 an infusion tube; the injection module comprises injection pumps, the injection pumps are connected with the infusion tubes, the number of the injection modules is multiple, and the infusion tubes are respectively communicated with the sample adding needle and/or the dyeing needle; the tail ends of the infusion tubes respectively extend out from the tail ends of the sample adding needle/dyeing needle. Different staining solutions are respectively stored in the injection module, are conveyed to the tail end of the sample adding needle/staining needle through different infusion tubes under the control of an injection pump, and are then dripped onto a glass slide for staining. The device can simultaneously carry out various dyeings without repeatedly cleaning the device, thereby obviously improving the working efficiency of the device.
More preferably, a dragging tank chain is arranged on the workbench, and the infusion tube is contained in the dragging tank chain, so that the infusion tube can move in a small range along with the mechanical arm.
Preferably, the full-automatic slide-making 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 mounting holes for mounting test tubes; a plurality of rows of placing grooves for placing slides are arranged on the sample table, and the number of the placing grooves is consistent with the number of the dyeing needles in the Y direction; a test tube containing sample liquid is placed on the sample table; the slide is placed on the sample table, so that the moving range and the 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 arrangement grooves is consistent with the number of the dyeing needles in the Y direction, so that the movement of the dyeing arm in the Y direction can be avoided, the movement distance of the dyeing arm is reduced, and the dyeing efficiency is improved. Simultaneously, sample platform and sample platform are detachably and connect, can greatly make things convenient for getting of consumptive material to put.
As a specific embodiment, the number of the dyeing needles is 4 in the Y direction, the dyeing arms comprise fixing cards, and the dyeing needles are fixedly connected with the fixing cards; the fixing card is connected with the tail end of the dyeing arm; the placement slots are 4 rows in total, thus enabling the apparatus of the present invention to slide and stain 4-24 slides at a time, requiring only 45 minutes for the overall process.
Preferably, the full-automatic slide-making and dyeing equipment further comprises a suction head collecting box, wherein the suction head collecting box and the sample table are arranged on one side of the workbench; the sample platform is arranged on the other side of the workbench. The suction head collecting box can be used for collecting the fallen suction heads.
Preferably, the slide making arm and the dyeing arm are respectively arranged on both sides of the first support plate. The setting can be convenient for set up the sample frame of laying the sample liquid in the below of film-making arm and be in the below of dyeing arm lays the slide, reduces the travel distance of arm, improves work efficiency.
As an implementation mode, the transmission part is connected with an intelligent management terminal, and the intelligent management terminal comprises, but is not limited to, a man-machine interaction display screen, so that the equipment is operated through a man-machine interaction process. The intelligent management terminal receives feedback information of the suction head sensor and/or the driving structure through preset software and program and instructs the driving structure to execute according to the instruction.
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: the slice making arm drives the sample adding needle to move upwards to a preset position after inserting a suction head at the tail end of the sample adding needle;
sampling: after the driving structure drives the slice making arm to move to the upper part of the sample liquid, 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 sample adding needle moves downwards to suck the sample liquid through the suction head;
and (3) tabletting: the driving structure drives the slide making arm to drop the sample liquid onto the slide to finish slide making;
dyeing: after the step of flaking is carried out, the liquid supply part conveys the staining liquid to the staining needle, the driving structure drives the staining arm to move, and the staining needle adds staining liquid drops onto a glass slide;
a suction head removing step: after the step of preparing the sample, the sample adding needle moves upwards to the preset position; and moving the slide making arm to the upper part of the suction head collecting box, and continuing to move the sample adding needle upwards to enable the suction head to be abutted to the clamping position until the clamping position breaks away the suction head from the sample adding needle, wherein the suction head falls into the suction head collecting box.
It should be noted that, the preset position according to the present invention may be determined in such a way that: the top of film-making arm sets up reset sensor, the application of sample needle is connected fixedly with the response piece, and the needle reciprocates and drives when the application of sample the response piece reciprocates, the response piece moves to reset sensor department time, reset sensor detects the response piece, the needle of application of sample stops removing, reaches preset position. As an implementation manner, the reset sensor may be connected to an intelligent management terminal, and feedback information to the intelligent management terminal.
According to the scheme, the suction head removing device can be integrated on the slice 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 reduced; the method improves the operation accuracy and the efficiency of slice production 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, abnormal state processing is carried out when the suction head sensor does not detect the suction head, and the step of producing the sample is carried out when the suction head sensor detects the suction head. In the step of whole sample and film-making, whether suction head sensor can detect this state of suction head is connected to the application of sample needle end, guarantees at the in-process of sample and film-making that the suction head that has the sample liquid can not drop, has promoted the stability of film-making technology.
Drawings
FIG. 1 is a side view of the fully automated slide-making and staining apparatus of example 1;
FIG. 2 is a rear view of the fully automated slide-making and staining apparatus of example 1;
fig. 3 is a schematic diagram of a split structure of the fully automatic slide-making and dyeing apparatus of example 1;
fig. 4 is a schematic diagram of a driving structure of the fully automatic slide-making and dyeing apparatus of embodiment 1;
fig. 5 is a schematic view showing a partial structure of a second support plate of the fully automatic slide-making and dyeing apparatus of embodiment 1;
fig. 6 is a schematic view of the structure of the liquid supply part of the fully automatic slide-making and dyeing apparatus of example 1;
fig. 7 is a schematic view of a tablet arm structure of the fully automatic tablet dyeing apparatus of embodiment 1;
fig. 8 is a schematic view of the structure of a dyeing arm of the full-automatic slide-making dyeing apparatus of example 1.
Detailed Description
The technical scheme of the 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 dyeing device comprises a workbench 100, a driving structure and a sample adding structure, wherein the driving structure and the sample adding structure are connected with the workbench 100, 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 slice preparing arm 300 and a dyeing arm 400, and the dyeing arm 400 and/or the slice preparing arm 300 are/is communicated with the liquid supplying part; the sample adding needle 310 is movably connected to the sample preparing arm 300, a clamping position 320 is arranged at the tail end of the sample preparing arm, the sample adding needle 310 penetrates through the clamping position 320, and the tail end of the sample adding needle 310 is detachably connected with the suction head; the lower part of the clamping position 320 is also provided with a suction head sensor 330, the suction head sensor 330 is fixedly connected with the tablet producing arm, the suction head sensor 330 detects that the tail end of the sample adding needle 310 is detached or separated from the suction head, and when the sample adding needle 310 moves upwards to the position that the suction head at the tail end of the sample adding needle 310 abuts against the clamping position 320, the clamping position 320 enables the suction head to be separated from the tail end of the sample adding needle 310.
According to the scheme, the slide making arm is driven to move to the upper side of the sample liquid through the driving structure, the sample liquid is sucked by the suction head at the tail end of the sample adding needle 310, the slide making arm is driven to move to the upper side of the glass slide through the driving structure, and the sample liquid is dripped on the glass slide; therefore, the technical scheme can be convenient for accurately controlling the advancing of the mechanical arm and positioning, so that the flaking process is automatic and precise; the liquid supply part is communicated with the slide preparation arm, can convey the liquid medicament for preparing the slide to the sample adding needle 310 and drop the liquid medicament onto a slide, and the liquid supply part is communicated with the dyeing arm, can convey the dyeing agent for dyeing to a part for dyeing to dye the sample liquid, and has simple equipment structure and high integration level; during the process of moving the slide making arm, the suction head sensor 330 can detect the suction head, so as to avoid that the suction head falls off from the tail end of the sample adding needle 310 during the moving process and cannot complete the slide making process, thus stabilizing the working performance of equipment; when the sample adding needle 310 is moved upwards, the tail end of the sample adding needle 310 can be abutted against the clamping position 320 by the clamping position 320, and the abutting action of the clamping position 320 and the suction head is utilized to separate the suction head from the tail end of the sample adding needle 310 when the sample adding needle 310 is continuously moved upwards, so that the suction head can be automatically separated without other auxiliary tools, the equipment structure is simpler, and the automatic working efficiency is improved.
The driving structure includes:
a slide rail portion provided at a top of the table 100; the sliding rail part comprises an X-direction sliding rail and a Y-direction guiding part, and a sliding piece 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 piece and moves along the X direction along with the sliding piece;
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 piece and drives the Y-direction guiding part to move along the X direction;
the sample adding structure comprises:
the mechanical arm comprises a slice making arm 300 and a dyeing arm 400, and the slice making arm 300 and the dyeing arm 400 are fixedly connected with the Y guide part; the Y-direction transmission part drives the slide making arm 300 to move along the Y direction; the slide arm 300 includes a loading needle 310, and the loading needle 310 moves up and down along the slide arm 300; the dyeing arm 400 includes a dyeing needle that moves up and down along the dyeing arm 400; the slide-making arm 300 is used for sucking the sample liquid and coating the sample liquid on the slide, and the staining arm 400 is used for dripping the staining solution on the slide;
and a liquid supply part which communicates with the dyeing arm 400 and conveys the dyeing liquid to the dyeing arm 400.
The tip of the loading needle 310 and the dyeing needle are coated with a superhydrophobic 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 is enabled to absorb 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 is enabled to move to slide, then the sample adding needle 310 is moved up and down to drop the sample onto a slide, 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 tip is detached, the slide arm may be moved into the wash bowl, and the tip of the loading needle 310 may be rapidly washed since the surface of the loading needle 310 is coated with a superhydrophobic coating. Because the tail ends of the sample adding needle and the dyeing needle are subjected to super-hydrophobic treatment, the phenomenon of bead hanging or liquid dripping is not easy to occur in use.
The dyeing needles are arranged in the Y direction; the dyeing needle is communicated with the liquid supply part. The liquid supply part simultaneously conveys the dyeing liquid to the parallel dyeing needles, and the dyeing needles are simultaneously dripped 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, wherein 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 ends of the infusion tube extend from the ends of the loading needle 310/staining needle, respectively. Different staining solutions are respectively stored in the injection module, and are conveyed to the tail end of the sample adding needle 310/the tail end of the staining needle through different infusion tubes under the control of the injection pump 530, and then are dripped on a glass slide for staining. The device can simultaneously carry out various dyeings without repeatedly cleaning the device, thereby obviously improving the working efficiency of the device.
The workbench 100 is provided with a dragging tank chain 510, and the infusion tube is accommodated in the dragging tank chain, so that the infusion tube can move in a small range along with the mechanical arm.
The full-automatic film-making 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 mounting holes for mounting test tubes; a plurality of rows of placing grooves for placing slides are arranged on the sample table, and the number of the placing grooves is consistent with the number of the dyeing needles in the Y direction; a test tube containing sample liquid is placed on the sample table; the slide is placed on the sample table, so that the moving range and distance of the slide making arm 300 and the dyeing arm 400 are reduced, and the working efficiency is improved; meanwhile, the number of the rows of the arrangement grooves is consistent with the number of the dyeing needles in the Y direction, so that the movement of the dyeing arm 400 in the Y direction can be avoided, the movement distance of the dyeing arm 400 is reduced, and the dyeing efficiency is improved. Simultaneously, sample platform and sample platform are detachably and connect, 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 card 420, and the dyeing needles 430 are fixedly connected with the fixing card 420; the fixing clip is connected with the tail end of the dyeing arm 400; the placement slots are 4 rows in total, thus enabling the apparatus of the present invention to slide and stain 4-24 slides at a time, requiring only 45 minutes for the overall process. Specifically, the dyeing 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 dyeing equipment further comprises a suction head collecting box, wherein the suction head collecting box and the sample table are arranged on one side of the workbench 100; the sample stage is disposed on the other side of the stage 100. The suction head collecting box can be used for collecting the fallen suction heads.
The X-direction sliding rail comprises a first X-direction sliding rail 111 and a second X-direction sliding rail 112, and the first X-direction sliding rail 111 and the second X-direction sliding rail 112 are arranged in parallel; the first X-direction sliding rail 111 and the second X-direction sliding rail 112 are respectively provided with a first sliding member and a second sliding member 123 that move along the X-direction sliding rail. The driving structure drives the first sliding part to move in the X direction by virtue of the X-direction transmission part, so as to drive the mechanical arm to move in the X direction, and the shake of the mechanical arm is effectively reduced by arranging two sliding rails, so that the stable transmission process is ensured.
Both ends of the Y guide part are respectively fixed with the first and second sliding parts 123; the Y guide part comprises a first support plate 121 and a Y-direction sliding rail, the Y-direction sliding rail is arranged on the first support plate 121, and a third sliding piece moving along the Y-direction sliding rail is arranged on the Y-direction sliding rail; the upper portion of the tablet arm 300 is connected to the third slider, and the upper portion of the dye arm 400 is connected to the first support plate 121.
The X-direction transmission part is connected with the first sliding piece and drives the first sliding piece to move; the Y-direction transmission part is fixed to the first support plate 121 and connected to the third sliding member, and drives the third sliding member 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-direction slide rail 112 is fixed to the fixed flap 101.
The materials 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 are aluminum materials 7075 for aviation. Due to the fact that the light-weight material is adopted, the driving structure is firm and durable and is not easy to deform, the balance degree of the sliding rail is guaranteed, and further positioning accuracy is guaranteed.
The two ends of the first support plate 121 are respectively connected and fixed with the first sliding member and the second sliding member 123.
The Y-direction transmission part comprises a Y-direction synchronous belt 131 and a second stepping motor 132 with an encoder; the output end of the second stepper motor 132 is in transmission connection with the Y-direction synchronous belt 131. The encoder can solve the problem that the stepping motor is inaccurate in positioning due to step loss, accumulated errors cannot be generated when the encoder is used, and repeated resetting is not needed, so that the instrument can accurately and efficiently operate, the operation time of the stepping motor is saved, the working efficiency is improved, and the electric energy is saved. In addition, the stepping motor with the encoder can be connected with operation control software, and the movement of the mechanical arm is smoother through the control of a smoother acceleration and deceleration algorithm.
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, and avoid the step of origin resetting before positioning, thereby improving the running efficiency of the equipment
The Y-direction transmission part is arranged below the first support plate 121; the device further comprises a second support plate 140, the X-direction sliding rail is arranged on the second support plate 140, and the X-direction transmission part is arranged below the second support plate 140.
The slide making arm 300 and the dyeing arm 400 are respectively arranged at both sides of the first support plate 121. The arrangement can facilitate the setting of a sample rack for placing sample liquid below the slide-making arm 300 and the setting of a slide below the staining arm 400, thereby reducing the moving distance of the mechanical arm and improving the working efficiency.
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 equipment operation is performed through a man-machine interactive process. The intelligent management terminal receives feedback information of the suction head sensor and/or the driving structure through preset software and program and instructs the driving structure to execute according to the instruction.
During use, firstly, a suction head is inserted into the tail end of the sample adding needle 310, the sample adding needle 310 sucks cell sample liquid from the centrifuge tube of the sample platform by moving the sample preparing arm, and then the sample preparing arm is moved back and forth and left and right to the upper part of the sample platform; by moving the loading needle 310 of the slide making arm up and down, moving the loading needle 310 to a proper position, and dripping the cell sample onto the slide; then moving the slice making arm into the suction head collecting box to drop the suction head, re-inserting the suction head, repeating the steps, and dripping different sample liquids; the staining solution is regulated and controlled by the injection pump 530, so that the staining solution is respectively delivered to the side-by-side staining needles, and the cell sample solution on the glass slide is stained by moving the staining arm left and right.
According to the full-automatic slide-making and dyeing equipment provided by the invention, the Y guide part is driven by the transmission part to enable the mechanical arm to move in the X direction, and the slide-making arm 300 is driven by the Y-direction transmission part to move in the Y direction, so that the mechanical arm can move back and forth and left and right in a working plane, the sample adding needle 310 can be moved to sample liquid and then absorb the sample liquid and move above a slide, and meanwhile, the sample adding needle 310 can be moved up and down, so that the position adjustment is more beneficial to enabling the sample adding needle 310 to be close to the slide; therefore, this scheme can be convenient for accurate control arm advance and fix a position, makes film-making process automation, accurate, equipment structure is simple simultaneously, the integrated level is high.
Example 2
A full-automatic slide staining method using the full-automatic slide staining apparatus of embodiment 1, comprising:
resetting: the slice making arm drives the sample adding needle to move upwards to a preset position after inserting a suction head at the tail end of the sample adding needle;
sampling: after the driving structure drives the slice making arm to move to the upper part of the sample liquid, the suction head sensor detects the suction head, and when the suction head sensor does not detect the suction head, abnormal state processing is carried out, for example, an alarm is sent to remind that the suction head falls; when the suction head sensor detects the suction head, the sample adding needle moves downwards to suck the sample liquid through the suction head;
and (3) tabletting: the driving structure drives the slide making arm to drop the sample liquid onto the slide to finish slide making;
dyeing: after the step of flaking is carried out, the liquid supply part conveys the staining liquid to the staining needle, the driving structure drives the staining arm to move, and the staining needle adds staining liquid drops onto a glass slide;
a suction head removing step: after the step of preparing the sample, the sample adding needle moves upwards to the preset position; and moving the slide making arm to the upper part of the suction head collecting box, and continuing to move the sample adding needle upwards to enable the suction head to be abutted to the clamping position until the clamping position breaks away the suction head from the sample adding needle, wherein the suction head falls into the suction head collecting box.
The preset position may be determined by: referring to fig. 7, a reset sensor 340 is disposed above the slide-making arm, the sample-adding needle is connected and fixed with the sensing piece, when the sample-adding needle moves up and down to drive the sensing piece to move up and down, the sensing piece moves to the reset sensor 340, the reset sensor 340 detects the sensing piece, and the sample-adding needle stops moving to reach the preset position. The reset sensor 340 may be connected to an intelligent management terminal, and feedback 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, abnormal state processing is carried out when the suction head sensor does not detect the suction head, and the step of producing the sample is carried out when the suction head sensor detects the suction head.
According to the scheme, the suction head removing device can be integrated on the slice 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 reduced; the method improves the operation accuracy and the efficiency of slice production and dyeing. In the step of whole sample and film-making, whether suction head sensor can detect this state of suction head is connected to the application of sample needle end, guarantees at the in-process of sample and film-making that the suction head that has the sample liquid can not drop, has promoted the stability of film-making technology.
Variations and modifications to the above would be obvious to persons skilled in the art to which the invention pertains from the foregoing description and teachings. Therefore, the invention is not limited to the specific embodiments disclosed and described above, but some modifications and changes of the invention should be also included in the scope of the claims of the invention. In addition, although specific terms are used in the present specification, these terms are for convenience of description only and do not limit the present invention in any way.
Claims (9)
1. The full-automatic film-making 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 slice making arm and a dyeing arm, and the dyeing arm and/or the slice making arm are/is communicated with the liquid supply part; the sample preparation arm is movably connected with a sample adding needle, the tail end of the sample preparation 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; a suction head sensor is arranged below the clamping position and fixedly connected with the slice producing arm, the suction head sensor detects that the tail end of the sample adding needle is detached or separated from the suction head, and when the sample adding needle moves upwards to the position that the suction head at the tail end of the sample adding needle abuts against the clamping position, the clamping position enables the suction head to be separated from the tail end of the sample adding needle;
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 piece 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 piece and moves along the X direction along with the sliding piece;
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 piece and drives the Y-direction guiding part to move along the X direction;
the sample adding structure comprises:
the mechanical arm comprises a slice making arm and a dyeing arm, and the slice making arm and the dyeing arm are fixedly connected with the Y guide part; the Y-direction transmission part drives the slide-making arm to move along the Y direction; the sample preparation arm comprises a sample adding needle which moves up and down along the sample preparation arm; the dyeing arm comprises a dyeing needle which moves up and down along the dyeing arm; the Y guide part comprises a first supporting plate; the slice making arm and the dyeing arm are respectively arranged at two sides of the first supporting plate;
and the liquid supply part is communicated with the dyeing arm and is used for conveying the dyeing liquid to the dyeing arm.
2. The fully automatic slide and dye production equipment of claim 1, 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; the first X-direction sliding rail and the second X-direction sliding rail are respectively provided with a first sliding piece and a second sliding piece which move along the X-direction sliding rail; the Y guide part comprises a first support plate and a Y-direction sliding rail, and two ends of the first support plate are respectively fixed with the first sliding piece and the second sliding piece; the Y-direction sliding rail is arranged on the first supporting plate, and a third sliding piece moving along the Y-direction sliding rail is arranged on the Y-direction sliding rail; the upper part of the slice producing arm is connected with the third sliding piece, 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 piece and drives the first sliding piece to move; the Y-direction transmission part is fixed with the first supporting plate and connected with the third sliding piece to drive the third sliding piece to move.
3. The full-automatic slide-making and dyeing equipment according to claim 2, 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 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 sliding rail is fixed on the fixed folded plate.
4. The fully automatic slide-making and dyeing apparatus according to claim 1, wherein the plurality of dyeing needles are arranged in the Y direction; the dyeing needle is communicated with the liquid supply part; the full-automatic film-making dyeing equipment further comprises a sample table and a sample table, wherein the sample table and the sample table are detachably connected with the workbench respectively; the sample table is provided with a plurality of mounting holes for mounting test tubes; the sample table is provided with a plurality of rows of placing grooves for placing slides, and the number of the rows of placing grooves is consistent with that of the dyeing needles in the Y direction.
5. The fully automatic slide-making and dyeing apparatus according to claim 1, wherein the liquid supply part comprises an injection module and an infusion tube; the injection module comprises injection pumps, the injection pumps are connected with the infusion tubes, the number of the injection modules is multiple, and the infusion tubes are respectively communicated with the sample adding needle and/or the dyeing needle; the tail ends of the infusion tubes respectively extend out from the tail ends of the sample adding needle/dyeing needle; the workbench is provided with a dragging type tank chain, and the infusion tube is contained in the dragging type tank chain.
6. A fully automatic slide-making and staining apparatus according to claim 1 wherein the tip of the loading needle and/or staining needle is coated with a superhydrophobic coating.
7. The full-automatic slide-making and dyeing equipment according to any one of claims 1 to 6, wherein the dyeing arm comprises a fixing card, and the dyeing needle is fixedly connected with the fixing card; the fixing card is connected with the tail end of the dyeing arm.
8. A fully automatic slide staining method, characterized in that the fully automatic slide staining apparatus of any of claims 1 to 7 is used, comprising:
resetting: the slice making arm drives the sample adding needle to move upwards to a preset position after inserting a suction head at the tail end of the sample adding needle;
sampling: after the driving structure drives the slice making arm to move to the upper part of the sample liquid, 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 sample adding needle moves downwards to suck the sample liquid through the suction head;
and (3) tabletting: the driving structure drives the slide making arm to drop the sample liquid onto the slide to finish slide making;
dyeing: after the step of flaking is carried out, the liquid supply part conveys the staining liquid to the staining needle, the driving structure drives the staining arm to move, and the staining needle adds staining liquid drops onto a glass slide;
a suction head removing step: after the step of preparing the sample, the sample adding needle moves upwards to the preset position; and moving the slide making arm to the upper part of the suction head collecting box, and continuing to move the sample adding needle upwards to enable the suction head to be abutted to the clamping position until the clamping position breaks away the suction head from the sample adding needle, wherein the suction head falls into the suction head collecting box.
9. The fully automated slide-processing staining method of claim 8, wherein the sampling step further comprises: the sample adding needle moves to a preset position, the suction head sensor detects the suction head, abnormal state processing is carried out when the suction head sensor does not detect the suction head, and the step of producing the sample is carried out when the suction head sensor detects the suction head.
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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 |
| CN115950714B (en) * | 2022-12-27 | 2023-07-25 | 武汉中纪生物科技有限公司 | Pipetting dyeing head withdrawing device |
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