CN113075007A - Single-shaft moving mechanism and full-automatic immunohistochemical dyeing machine - Google Patents
Single-shaft moving mechanism and full-automatic immunohistochemical dyeing machine Download PDFInfo
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- CN113075007A CN113075007A CN202110622464.6A CN202110622464A CN113075007A CN 113075007 A CN113075007 A CN 113075007A CN 202110622464 A CN202110622464 A CN 202110622464A CN 113075007 A CN113075007 A CN 113075007A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 154
- 238000004043 dyeing Methods 0.000 title claims abstract description 14
- 230000002055 immunohistochemical effect Effects 0.000 title claims abstract description 9
- 238000001514 detection method Methods 0.000 claims abstract description 12
- 230000009471 action Effects 0.000 claims description 12
- 230000006835 compression Effects 0.000 claims description 10
- 238000007906 compression Methods 0.000 claims description 10
- 230000033001 locomotion Effects 0.000 claims description 10
- 238000011532 immunohistochemical staining Methods 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 2
- 239000000523 sample Substances 0.000 description 22
- 239000007788 liquid Substances 0.000 description 6
- 230000006698 induction Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 239000003153 chemical reaction reagent Substances 0.000 description 3
- 230000001846 repelling effect Effects 0.000 description 3
- 239000007921 spray Substances 0.000 description 3
- 239000000427 antigen Substances 0.000 description 2
- 102000036639 antigens Human genes 0.000 description 2
- 108091007433 antigens Proteins 0.000 description 2
- 238000013459 approach Methods 0.000 description 2
- 239000012472 biological sample Substances 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000007605 air drying Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- -1 deparaffinization Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000007901 in situ hybridization Methods 0.000 description 1
- 238000000338 in vitro Methods 0.000 description 1
- 238000011534 incubation Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000010827 pathological analysis Methods 0.000 description 1
- 230000001575 pathological effect Effects 0.000 description 1
- 238000002203 pretreatment Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
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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
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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
- G01N2001/317—Apparatus therefor spraying liquids onto surfaces
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- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
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- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
The application discloses a single-shaft moving mechanism and a full-automatic immunohistochemical dyeing machine, which comprise a fixedly arranged casing, wherein an upper shaft moving mechanism is arranged on the casing, the upper shaft moving mechanism comprises an upper sliding block moving along the X-axis direction, an upper guide mechanism guiding the upper sliding block to move is arranged on the casing, and an upper driving mechanism driving the upper sliding block to move along the X-axis is arranged on the casing; an upper limiting mechanism for limiting the moving position of the upper slide block is arranged on the shell and comprises a limiting block, and a position adjusting driving mechanism for driving the limiting block to move and adjusting the position of the limiting block along the X-axis direction is arranged on the limiting block; a detection mechanism for detecting the moving distance of the limiting block along the X axis is arranged on the shell; an automatic connecting mechanism is arranged between the limiting block and the upper sliding block, and after the automatic connecting mechanism is started, the position between the limiting block and the upper sliding block is kept relatively stable. This application has the effect that realizes the application of sample needle fast and remove to accurate position along X axle direction.
Description
Technical Field
The application relates to the technical field of medical equipment, in particular to a single-shaft moving mechanism and a full-automatic immunohistochemical dyeing machine.
Background
The pathological or in vitro diagnostic fields, such as immunohistochemical staining, fluorescence in situ hybridization, require pre-treatment of the biological sample, such as deparaffinization, antigen retrieval, antigen-antibody reaction or incubation of the biological sample. At present, the processes of dewaxing and antigen retrieval of immunohistochemical staining machines appearing on the market cannot be automatically carried out, and only the traditional manual operation can be adopted. The manual operation has the following problems: 1. the method is easily influenced by subjective operation of people, and the consistency is difficult to control, so that misdiagnosis occurs in pathological diagnosis; 2. the process is complex, the time of the whole process is too long, generally more than 3 hours, and the manual work intensity is high; 3. the standardized operation can not be realized, and the standardized process is difficult to execute.
The chinese utility model patent with the publication number of CN208705146U discloses a full-automatic immunohistochemical dyeing machine, which comprises a casing, and a mechanical arm assembly, a temperature control assembly, a cleaning bottle assembly, a reagent bottle assembly and a liquid path assembly which are arranged in the casing; the temperature control assembly comprises a water receiving tank and a plurality of temperature control units arranged in a matrix form in the water receiving tank, and each temperature control unit comprises a heating module, a base and a temperature control module; the mechanical arm assembly comprises a three-dimensional transmission mechanism, a sample adding mechanism and a spraying and air drying mechanism, wherein the three-dimensional transmission mechanism drives the sample adding mechanism to realize three-axis movement; the liquid path component comprises a sample adding liquid path, a spraying liquid path and a liquid discharging liquid path.
The above prior art solutions have the following drawbacks: the mechanical arm component firstly moves the sample adding needle to an accurate position along the X-axis direction, and then sequentially moves along the Y-axis direction and the Z-axis direction, and the time for the sample adding needle to move to the accurate position along the X-axis direction is longer, so that the time for one moving period of the whole mechanical arm component is longer.
Disclosure of Invention
The utility model aims at providing a unipolar moving mechanism and full-automatic immunohistochemical dyeing machine, it has the effect that realizes the application of sample needle fast and remove to the accurate position along the X axle direction.
The technical purpose of the application is realized by the following technical scheme:
a single-shaft moving mechanism comprises a fixedly arranged machine shell, wherein an upper shaft moving mechanism is arranged on the machine shell and comprises an upper sliding block moving along the X-axis direction, an upper guide mechanism for guiding the upper sliding block to move is arranged on the machine shell, and an upper driving mechanism for driving the upper sliding block to move along the X-axis is arranged on the machine shell;
the shell is provided with an upper limiting mechanism for limiting the moving position of the upper sliding block, the upper limiting mechanism comprises a limiting block, the limiting block is provided with a position adjusting driving mechanism for driving the limiting block to move and adjusting the position of the limiting block along the X-axis direction, and the position of the limiting block is kept stable when the position adjusting driving mechanism stops driving the limiting block; a detection mechanism for detecting the moving distance of the limiting block along the X axis is arranged on the shell;
an automatic connecting mechanism is arranged between the limiting block and the upper sliding block, and after the automatic connecting mechanism is started, the position between the limiting block and the upper sliding block is kept relatively stable.
By adopting the technical scheme, the upper shaft moving mechanism can drive the sample adding needle to move along the X-axis direction, when the sample adding needle needs to be driven to move along the X-axis direction, the upper limiting mechanism firstly drives the limiting block to move to a corresponding position, the moving distance of the limiting block is judged by the detection mechanism, the limiting block is in a stable state after the limiting block is moved to an accurate position, the upper driving mechanism is used for driving the upper sliding block to move, when the upper sliding block moves to be in contact with the limiting block, the moving distance of the upper sliding block is an accurate moving distance, and the limiting block is positioned on one side of the upper sliding block along the sliding direction of the upper sliding block;
when the upper sliding block needs to move towards the direction of the limiting block, the limiting block is moved to an accurate position, and then the upper sliding block is moved; when the upper sliding block needs to move away from the limiting block, the upper sliding block is moved to a fixed position after being moved for a distance larger than the moving distance, and then the upper sliding block is moved towards the limiting block until the upper sliding block is abutted against the limiting block;
when the upper sliding block is contacted with the limiting block, the upper sliding block is connected by the automatic connecting mechanism, and the relative stability of the position of the upper sliding block is kept;
through the displacement distance of adjustment stopper, make the stopper position accurate back, just enable the position accuracy after the top slide removed, the position of stopper can realize the adjustment according to the measuring result of detection mechanism along X axle direction reciprocating motion, and the top slide only need move to with the stopper after, just can realize the top slide and remove fixed distance along X axle direction.
The application is further configured to: the position adjusting driving mechanism comprises a position adjusting motor, an output shaft of the position adjusting motor is connected with a worm and gear assembly, and a position adjusting driving wheel is coaxially fixed on the output shaft of the worm and gear assembly;
the position adjusting driving mechanism comprises a position adjusting driven wheel fixed on the shell, and the outer sides of the position adjusting driven wheel and the position adjusting driving wheel are connected with a position adjusting driving belt fixed with a limiting block in a pressing mode.
Through adopting above-mentioned technical scheme, the positioning motor drives the positioning worm and rotates, and the positioning worm drives behind the transmission power of worm gear subassembly, drives the positioning action wheel and rotates, and worm gear subassembly has good auto-lock performance, is in stable state after guaranteeing the positioning action wheel stall, and the rotation of positioning action wheel drives the positioning from the driving wheel rotation through the positioning driving band, and the removal of positioning driving band drives the stopper and removes.
The application is further configured to: the automatic connecting mechanism comprises a hard magnet fixed on the upper sliding block and a variable frequency magnet fixed on the limiting block.
By adopting the technical scheme, when the upper sliding block moves towards the direction of the limiting block, the hard magnet and the variable frequency magnet repel each other, at the moment, the upper sliding block can move at a higher speed, and when the upper sliding block is close to the limiting block, the repelling acting force between the hard magnet and the variable frequency magnet can decelerate the upper sliding block; and then the direction of the magnetic induction line of the variable-frequency magnet is changed, the variable-frequency magnet and the hard magnet attract each other, the attraction between the hard magnet and the variable-frequency magnet is realized, and the automatic connection between the upper sliding block and the limiting block is realized.
The application is further configured to: and a buffer mechanism is arranged between the limiting block and the upper sliding block and comprises a compression spring fixed on the limiting block.
Through adopting above-mentioned technical scheme, when the top shoe was close to with the stopper, the top shoe can further compress compression spring to the striking that produces when reducing the top shoe and the stopper contact.
The application is further configured to: go up actuating mechanism and include driving motor, the output of going up driving motor is connected with the last action wheel of being connected with the casing rotation, rotate on the casing and be connected with from the driving wheel, go up actuating mechanism and locate the action wheel and go up the last driving band from the driving wheel outside including the cover, go up driving band and last slider fixed connection.
By adopting the technical scheme, the upper driving motor drives the upper driving wheel to rotate, the upper driving wheel drives the upper driven wheel to rotate through the upper driving belt, and the upper driving belt drives the upper sliding block to move.
The application is further configured to: the upper guide mechanism comprises two fixed guide rails which are fixed on the machine shell and are parallel to each other, and the upper sliding block is connected with the two fixed guide rails in a sliding manner.
Through adopting above-mentioned technical scheme, stability when two fixed guide can improve the top shoe and remove.
A full-automatic immunohistochemical dyeing machine comprises a dyeing machine body, a single-shaft moving mechanism and a middle shaft moving mechanism connected to an upper sliding block, wherein the middle shaft moving mechanism comprises a middle sliding block moving along the Y-axis direction;
including lower shaft moving mechanism, lower shaft moving mechanism includes the lower driving motor who fixes with the upper sliding block, driving motor's output shaft has the underdrive pole down, sliding connection has the lower gear on the underdrive pole, along circumference relatively stable between lower gear and the underdrive pole, drive gear synchronous motion down when well slider removes, the meshing has down with well slider sliding connection's lower pole of acting on the lower gear, the direction of acting as pole and well slider relative slip is followed Z axle direction down, it is connected with the application of sample needle on the pole to act as down.
By adopting the technical scheme, the upper sliding block drives the middle shaft moving mechanism and the lower shaft moving mechanism to move along the X-axis direction when moving, and the sample adding needle moves along the X-axis direction at the moment;
the middle shaft moving mechanism drives the middle sliding block to move along the Y-axis direction, and simultaneously drives the lower gear and the lower actuating rod to synchronously move, and at the moment, the sample adding needle moves along the Y-axis direction;
the lower gear slides along the lower driving rod, drives the gear rotation down when the lower driving motor drives the lower driving rod to rotate, and the lower gear rotation drives down and makes the pole remove along Z axle direction, makes the pole remove down and drives the application of sample needle and remove along Z axle direction.
The application is further configured to: the middle shaft moving mechanism comprises a middle driving motor, the output end of the middle driving motor is connected with a middle driving wheel which is rotatably connected with an upper sliding block, a middle driven wheel is rotatably connected with the upper sliding block, the middle shaft moving mechanism comprises a middle driving belt which is sleeved on the outer sides of the middle driving wheel and the middle driven wheel, a middle sliding block is fixedly connected onto the middle driving belt, and the middle sliding block is slidably connected with the upper sliding block along the Y-axis direction.
By adopting the technical scheme, the middle driving motor drives the middle driving wheel to rotate, the middle driving wheel drives the middle driven wheel to rotate through the middle driving belt, and the middle driving belt drives the middle sliding block to slide.
In summary, the present application includes at least one of the following benefits:
1. the upper shaft moving mechanism can drive the sample adding needle to move along the X-axis direction, when the sample adding needle needs to be driven to move along the X-axis direction, the upper limiting mechanism firstly drives the limiting block to move to a corresponding position, the moving distance of the limiting block is judged through the detection mechanism, the limiting block is in a stable state after being moved to an accurate position, the upper driving mechanism is used for driving the upper sliding block to move, when the upper sliding block moves to be in contact with the limiting block, the moving distance of the upper sliding block is an accurate moving distance, and the limiting block is positioned on one side of the upper sliding block along the sliding direction of the upper sliding block;
when the upper sliding block needs to move towards the direction of the limiting block, the limiting block is moved to an accurate position, and then the upper sliding block is moved; when the upper sliding block needs to move away from the limiting block, the upper sliding block is moved to a fixed position after being moved for a distance larger than the moving distance, and then the upper sliding block is moved towards the limiting block until the upper sliding block is abutted against the limiting block;
when the upper sliding block is contacted with the limiting block, the upper sliding block is connected by the automatic connecting mechanism, and the relative stability of the position of the upper sliding block is kept;
the position of the limiting block can be adjusted by reciprocating along the X-axis direction according to the measuring result of the detection mechanism, and the upper sliding block can move for a fixed distance along the X-axis direction only after being moved to be in contact with the limiting block;
2. when the upper sliding block moves towards the direction of the limiting block, the hard magnet and the variable frequency magnet repel each other, the upper sliding block can move at a higher speed, and when the upper sliding block is close to the limiting block, the repelling acting force between the hard magnet and the variable frequency magnet can decelerate the upper sliding block; then changing the direction of the magnetic induction line of the variable-frequency magnet, and attracting the variable-frequency magnet and the hard magnet to each other to realize attraction between the hard magnet and the variable-frequency magnet, thereby realizing automatic connection between the upper sliding block and the limiting block;
3. when the upper sliding block moves, the middle shaft moving mechanism and the lower shaft moving mechanism are driven to move along the X-axis direction, and at the moment, the sample adding needle moves along the X-axis direction;
the middle shaft moving mechanism drives the middle sliding block to move along the Y-axis direction, and simultaneously drives the lower gear and the lower actuating rod to synchronously move, and at the moment, the sample adding needle moves along the Y-axis direction;
the lower gear slides along the lower driving rod, drives the gear rotation down when the lower driving motor drives the lower driving rod to rotate, and the lower gear rotation drives down and makes the pole remove along Z axle direction, makes the pole remove down and drives the application of sample needle and remove along Z axle direction.
Drawings
FIG. 1 is a schematic view of the overall structure of the embodiment;
FIG. 2 is a schematic structural view showing the relationship between the upper shaft moving mechanism and the upper positioning mechanism in the embodiment;
FIG. 3 is a schematic structural view showing an upper shaft moving mechanism in the embodiment;
FIG. 4 is a schematic structural view showing an upper limit mechanism in the embodiment;
FIG. 5 is a schematic structural diagram showing a positioning drive mechanism in the embodiment;
fig. 6 is a schematic structural view showing the middle shaft moving mechanism and the lower shaft moving mechanism in the embodiment.
In the figure, 1, an upper shaft moving mechanism; 11. an upper slide block; 12. an upper guide mechanism; 13. an upper drive mechanism; 131. an upper drive motor; 132. an upper driving wheel; 133. an upper driven wheel; 134. an upper drive belt; 2. a middle shaft moving mechanism; 21. a middle slide block; 22. a middle driving motor; 23. a middle driving wheel; 24. a middle driven wheel; 25. a medium drive belt; 26. a middle shell; 3. a lower shaft moving mechanism; 31. a lower drive motor; 32. a lower drive rod; 33. a lower gear; 34. a lower actuating rod; 4. an upper limit mechanism; 41. a limiting block; 411. an inner block; 412. an outer block; 413. connecting blocks; 42. a positioning driving mechanism; 421. a positioning motor; 422. a worm gear assembly; 423. a position adjusting driving wheel; 424. a position-adjusting driven wheel; 425. a positioning driving belt; 5. a housing; 6. an automatic connection mechanism; 61. hard magnet; 62. a variable frequency magnet; 7. a buffer mechanism; 71. compressing the spring.
Detailed Description
The present application is described in further detail below with reference to the attached drawings.
Examples
Referring to fig. 1, for this application, a full-automatic immunohistochemical dyeing machine with a single-shaft moving mechanism is disclosed, which comprises a dyeing machine body, wherein a machine shell 5 is fixedly arranged on the dyeing machine body, the dyeing machine body comprises a reagent bottle positioned in the machine shell 5, a cleaning assembly for washing the reagent bottle, and a temperature control assembly for controlling the temperature of an inner cavity of the machine shell 5. An upper shaft moving mechanism 1, a middle shaft moving mechanism 2 and a lower shaft moving mechanism 3 are arranged in the machine shell 5, and the upper shaft moving mechanism 1 drives the middle shaft moving mechanism 2 and the lower shaft moving mechanism 3 to move along the X-axis direction. The middle shaft moving mechanism 2 drives the lower shaft moving mechanism 3 to move along the Y-axis direction, a spray pipe is fixedly connected to the lower shaft moving mechanism 3, the spray pipe is not shown in the attached drawing, the lower shaft moving mechanism 3 drives the spray pipe to move along the Z-axis direction, and the middle shaft moving mechanism 2 and the lower shaft moving mechanism 3 are both existing moving mechanisms. The X, Y and Z axes are perpendicular to each other.
Referring to fig. 2 and 3, the upper shaft moving mechanism 1 includes an upper guide mechanism 12 disposed on the casing 5, the upper guide mechanism 12 includes two parallel fixed guide rails fixed on the casing 5, the length direction of the fixed guide rails is along the X-axis direction, and an upper slider 11 is slidably connected to the two fixed guide rails.
Referring to fig. 3, the housing 5 is provided with an upper driving mechanism 13 for driving the upper slider 11 to move along the X-axis. Go up actuating mechanism 13 and include driving motor 131, the output of going up driving motor 131 is connected with the last action wheel 132 of being connected with the casing 5 rotation, go up action wheel 132 axis along the Y axle direction, the last driven wheel 133 that is connected with of rotating on the casing 5, it is located the both ends of fixed guide rail length direction respectively to go up driven wheel 133 and last action wheel 132, go up actuating mechanism 13 and including the upper drive belt 134 of cover locating the last action wheel 132 and the outside of last driven wheel 133, the medial surface of upper drive belt 134 compresses tightly with the outside of last action wheel 132 and last driven wheel 133 and is connected, upper drive belt 134 and last slider 11 fixed connection, it slides along fixed guide rail length direction to drive slider 11 when upper drive belt 134 removes.
The upper driving motor 131 drives the upper driving wheel 132 to rotate, the upper driving wheel 132 drives the upper driven wheel 133 to rotate through the upper driving belt 134, and the upper driving belt 134 drives the upper sliding block 11 to move.
Referring to fig. 2 and 3, an upper limiting mechanism 4 for limiting the moving position of the upper sliding block 11 is arranged on the casing 5, and the upper limiting mechanism 4 comprises a limiting block 41 connected with the two fixed guide rails in a sliding manner.
Referring to fig. 3 and 4, the limiting block 41 includes an inner block 411 and an outer block 412 respectively connected to the two fixed rails, two end faces of the inner block 411 and the outer block 412 along the length direction of the fixed rails are flush with each other, the limiting block 41 includes a connecting block 413 located between the inner block 411 and the outer block 412 and fixedly connected to the inner block 411 and the outer block 412, and the connecting block 413 is located at a middle portion of the inner block 411 along the length direction of the fixed rails.
The position adjusting driving mechanism 42 is disposed on the position limiting block 41 to drive the position limiting block 41 to move and adjust the position of the position limiting block 41 along the X-axis direction, and the position adjusting driving mechanism 42 keeps the position of the position limiting block 41 stable when stopping driving the position limiting block 41.
Referring to fig. 3 and 5, the positioning driving mechanism 42 includes a positioning motor 421, the positioning motor 421 is fixed on the casing 5, an output shaft of the positioning motor 421 is connected with a worm and gear assembly 422, the worm and gear assembly 422 includes a positioning worm coaxially and fixedly connected with the output shaft of the positioning motor 421, an axis of the positioning worm is along a length direction of the fixed guide rail, the positioning worm is rotatably connected with the casing 5, a positioning worm wheel is engaged with the positioning worm, an output shaft rotating with the casing 5 is penetrated through the positioning worm wheel, a positioning driving wheel 423 is coaxially fixed on the output shaft of the worm and gear assembly 422, and an axis of the positioning driving wheel 423 is along a Y axis direction.
The positioning driving mechanism 42 includes a positioning driven wheel 424 fixed on the housing 5, the positioning driven wheel 424 and the positioning driving wheel 423 are respectively located at two ends of the fixed guide rail in the length direction, a positioning driving belt 425 fixed with the limiting block 41 is connected to the outer sides of the positioning driven wheel 424 and the positioning driving wheel 423 in a pressing manner, and the positioning driving belt 425 is a belt.
In another embodiment, the positioning driven pulley 424 and the positioning driving pulley 423 are sprockets, the positioning driving belt 425 is a chain, and the positioning driving pulley 423 drives the positioning driven pulley 424 to rotate synchronously via the positioning driving belt 425.
The positioning motor 421 drives the positioning worm to rotate, the positioning worm drives the worm gear assembly 422 to transmit power, and then drives the positioning driving wheel 423 to rotate, the worm gear assembly 422 has good self-locking performance, and it is ensured that the positioning driving wheel 423 is in a stable state after stopping rotation, the rotation of the positioning driving wheel 423 drives the positioning driven wheel 424 to rotate through the positioning driving belt 425, the movement of the positioning driving belt 425 drives the limiting block 41 to move, and when the positioning driving belt 425 stops moving, the limiting block 41 can keep the relative position between the limiting block 41 and the fixed guide rail stable.
Referring to fig. 3 and 4, an automatic connecting mechanism 6 is disposed between the stopper 41 and the upper slider 11, and the automatic connecting mechanism 6 keeps the position between the stopper 41 and the upper slider 11 relatively stable after being activated.
The automatic connecting mechanism 6 comprises a hard magnet 61 fixed on the upper sliding block 11, the hard magnet 61 is a magnet with a permanent magnetic induction line direction, the automatic connecting mechanism 6 comprises a variable frequency magnet 62 fixed on the limiting block 41, the variable frequency magnet 62 is an electromagnet, and the magnetic induction line direction of the variable frequency magnet 62 can be changed to realize mutual attraction or mutual repulsion between the variable frequency magnet 62 and the hard magnet 61.
When the upper sliding block 11 moves towards the direction of the limiting block 41, the hard magnet 61 and the variable frequency magnet 62 repel each other, at this time, the upper sliding block 11 can move at a relatively high speed, and when the upper sliding block 11 approaches the limiting block 41, the repelling acting force between the hard magnet 61 and the variable frequency magnet 62 can decelerate the upper sliding block 11; then, the direction of the magnetic induction line of the variable-frequency magnet 62 is changed, the variable-frequency magnet 62 and the hard magnet 61 attract each other, and the hard magnet 61 and the variable-frequency magnet 62 are attracted, so that the upper slide block 11 and the limiting block 41 are automatically connected, and the attraction between the hard magnet 61 and the variable-frequency magnet 62 can keep the stable connection between the upper slide block 11 and the limiting block 41 because the acting force of the upper slide block 11 along the X-axis direction is relatively small.
Be provided with buffer gear 7 between stopper 41 and the last slider 11, buffer gear 7 is including being fixed in compression spring 71 on connecting block 413, compression spring 71 is located between last slider 11 and the stopper 41, compression spring 71 is provided with two along the Y axle direction interval, all wear to be equipped with in compression spring 71 with connecting block 413 fixed connection's guide arm, the terminal surface of guide arm orientation last slider 11 and the terminal surface parallel and level of interior piece 411 orientation last slider 11, the guide arm can reduce compression spring 71 along its radial direction's deformation, improve the stability that compression spring 71 used.
When the upper slider 11 approaches the stopper 41, the upper slider 11 is pressed against the inner block 411, the outer block 412 and the guide rod, and the upper slider 11 compresses the compression spring 71, thereby reducing the impact generated when the upper slider 11 contacts the stopper 41.
The casing 5 is provided with a detection mechanism for detecting the moving distance of the limiting block 41 along the X axis, the detection mechanism is an existing grating ruler, and the detection mechanism is not shown in the attached drawings.
Referring to fig. 3 and 6, the middle shaft moving mechanism 2 includes a middle driving motor 22, an output end of the middle driving motor 22 is connected with a middle driving wheel 23 rotatably connected with the upper sliding block 11, a middle shell 26 is fixedly connected to the upper sliding block 11, a middle driven wheel 24 is rotatably connected to the middle shell 26, and the middle driven wheel 24 and the middle driving wheel 23 are arranged at intervals along the Y-axis direction. The middle shaft moving mechanism 2 comprises a middle driving belt 25 sleeved outside the middle driving wheel 23 and the middle driven wheel 24, a middle sliding block 21 is fixedly connected to the middle driving belt 25, the middle sliding block 21 is in sliding connection with the middle shell 26 through a guide rail, and the middle sliding block 21 is in sliding connection with the upper sliding block 11 along the Y-axis direction.
The lower shaft moving mechanism 3 comprises a lower driving motor 31 fixed with the upper slide block 11, an output shaft of the lower driving motor 31 is connected with a lower driving rod 32, the lower driving rod 32 is a prismatic rod with a square cross section, a lower gear 33 is connected on the lower driving rod 32 in a sliding manner, and the lower gear 33 and the lower driving rod 32 are relatively stable along the circumferential direction.
The middle sliding block 21 is fixedly provided with U-shaped blocks positioned at two sides of the lower gear 33 along the Y-axis direction, and the middle sliding block 21 drives the lower gear 33 to synchronously move when moving. The lower gear 33 is engaged with a lower actuating rod 34 which is connected with the middle slide block 21 in a sliding manner, the lower actuating rod 34 is a rack, the lower actuating rod 34 and the middle slide block 21 slide relatively along the Z-axis direction, and the lower actuating rod 34 is connected with a sample adding needle.
The implementation principle of the above embodiment is as follows:
the upper shaft moving mechanism 1 can drive the sample adding needle to move along the X-axis direction, the middle shaft moving mechanism 2 can drive the sample adding needle to move along the Y-axis direction, and the lower shaft moving mechanism 3 can drive the sample adding needle to move along the Z-axis direction;
when the sample adding needle needs to be driven to move along the X-axis direction, the upper limiting mechanism 4 firstly drives the limiting block 41 to move to a corresponding position, the moving distance of the limiting block 41 is judged through the detection mechanism, at the moment, the limiting block 41 is in a stable state, then the upper driving mechanism 13 is used for driving the upper sliding block 11 to move, when the upper sliding block 11 moves to be in contact with the limiting block 41, the moving distance of the upper sliding block 11 is an accurate moving distance, and the limiting block 41 is positioned on one side of the upper sliding block 11 along the sliding direction;
when the upper sliding block 11 needs to move towards the direction of the limiting block 41, the limiting block 41 is moved to an accurate position, and then the upper sliding block 11 is moved; when the upper sliding block 11 needs to move away from the limiting block 41, the upper sliding block 11 is moved to a position where the limiting block 41 is fixed after the upper sliding block 11 is moved to a distance greater than the distance to be moved, and then the upper sliding block 11 is moved towards the limiting block 41 until the upper sliding block is abutted against the limiting block 41;
when the upper sliding block 11 is contacted with the limiting block 41, the automatic connecting mechanism 6 connects the upper sliding block and keeps the relative stability of the position of the upper sliding block;
by adjusting the moving distance of the limiting block 41, after the position of the limiting block 41 is accurate, the position of the upper sliding block 11 after moving is accurate, the position of the limiting block 41 can be adjusted by reciprocating along the X-axis direction according to the measurement result of the detection mechanism, and the upper sliding block 11 can move for a fixed distance along the X-axis direction only after moving to abut against the limiting block 41;
when the position-adjusting driving wheel 423 stops rotating, the friction between the position-adjusting driving belt 425 and the position-adjusting driving wheel 423 is static friction, when the upper sliding block 11 contacts the limiting block 41, and when the acting force applied to the limiting block 41 is too large, the limiting block 41 can drive the position-adjusting driving belt 425 to move relatively, so that the position-adjusting driving belt 425 and the position-adjusting driving wheel 423 slide relatively, and the limiting block 41 is prevented from being impacted too much.
The present embodiment is only for explaining the present application, and it is not limited to the present application, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present application.
Claims (8)
1. The utility model provides a unipolar moving mechanism, is including fixed casing (5) that sets up, be provided with upper shaft moving mechanism (1) on casing (5), its characterized in that: the upper shaft moving mechanism (1) comprises an upper sliding block (11) moving along the X-axis direction, an upper guide mechanism (12) for guiding the upper sliding block (11) to move is arranged on the machine shell (5), and an upper driving mechanism (13) for driving the upper sliding block (11) to move along the X-axis is arranged on the machine shell (5);
the machine shell (5) is provided with an upper limiting mechanism (4) for limiting the moving position of the upper sliding block (11), the upper limiting mechanism (4) comprises a limiting block (41), the limiting block (41) is provided with a position adjusting driving mechanism (42) for driving the limiting block (41) to move and adjusting the position of the limiting block (41) along the X-axis direction, and the position of the limiting block (41) is kept stable when the position adjusting driving mechanism (42) stops driving the limiting block (41); a detection mechanism for detecting the moving distance of the limiting block (41) along the X axis is arranged on the shell (5);
an automatic connecting mechanism (6) is arranged between the limiting block (41) and the upper sliding block (11), and the position between the limiting block (41) and the upper sliding block (11) is kept relatively stable after the automatic connecting mechanism (6) is started.
2. The single-axis movement mechanism of claim 1, wherein: the position adjusting driving mechanism (42) comprises a position adjusting motor (421), an output shaft of the position adjusting motor (421) is connected with a worm and gear assembly (422), and a position adjusting driving wheel (423) is coaxially fixed on an output shaft of the worm and gear assembly (422);
the position adjusting driving mechanism (42) comprises a position adjusting driven wheel (424) fixed on the machine shell (5), and the outer sides of the position adjusting driven wheel (424) and the position adjusting driving wheel (423) are connected with a position adjusting driving belt (425) fixed with the limiting block (41) in a pressing mode.
3. The single-axis movement mechanism of claim 1, wherein: the automatic connecting mechanism (6) comprises a hard magnet (61) fixed on the upper sliding block (11) and a variable frequency magnet (62) fixed on the limiting block (41).
4. The single-axis movement mechanism of claim 1, wherein: a buffer mechanism (7) is arranged between the limiting block (41) and the upper sliding block (11), and the buffer mechanism (7) comprises a compression spring (71) fixed on the limiting block (41).
5. The single-axis movement mechanism of claim 1, wherein: go up actuating mechanism (13) and include driving motor (131), the output of going up driving motor (131) is connected with last action wheel (132) of being connected with casing (5) rotation, it is connected with from driving wheel (133) to rotate on casing (5), go up actuating mechanism (13) and locate last action wheel (132) and go up last driving band (134) from the driving wheel (133) outside including the cover, go up driving band (134) and last slider (11) fixed connection.
6. The single-axis movement mechanism of claim 1, wherein: the upper guide mechanism (12) comprises two parallel fixed guide rails fixed on the shell (5), and the upper sliding block (11) is connected with the two fixed guide rails in a sliding manner.
7. The utility model provides a full-automatic immunohistochemical dyeing machine, includes the dyeing machine body, its characterized in that: the single-shaft moving mechanism comprises a middle shaft moving mechanism (2) connected to an upper sliding block (11), wherein the middle shaft moving mechanism (2) comprises a middle sliding block (21) moving along the Y-axis direction;
including lower axle moving mechanism (3), lower axle moving mechanism (3) include with lower driving motor (31) that slider (11) is fixed down, the output shaft of lower driving motor (31) has lower actuating lever (32), sliding connection has lower gear (33) on lower actuating lever (32), along circumference relatively stable between lower gear (33) and lower actuating lever (32), drive lower gear (33) synchronous motion when well slider (21) remove, the meshing has down with well slider (21) sliding connection's lower actuating lever (34) on lower gear (33), actuating lever (34) and well slider (21) relative slip's direction is along the Z axle direction down, be connected with the application of sample needle on actuating lever (34) down.
8. The full-automatic immunohistochemical staining machine of claim 7, wherein: the middle shaft moving mechanism (2) comprises a middle driving motor (22), the output end of the middle driving motor (22) is connected with a middle driving wheel (23) rotatably connected with an upper sliding block (11), a middle driven wheel (24) is rotatably connected to the upper sliding block (11), the middle shaft moving mechanism (2) comprises a middle driving belt (25) sleeved on the outer side of the middle driving wheel (23) and the middle driven wheel (24), a middle sliding block (21) is fixedly connected to the middle driving belt (25), and the middle sliding block (21) is in sliding connection with the upper sliding block (11) along the Y-axis direction.
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