CN111531559B - Pathological section convenient to management and grabbing device thereof - Google Patents
Pathological section convenient to management and grabbing device thereof Download PDFInfo
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- CN111531559B CN111531559B CN202010376772.0A CN202010376772A CN111531559B CN 111531559 B CN111531559 B CN 111531559B CN 202010376772 A CN202010376772 A CN 202010376772A CN 111531559 B CN111531559 B CN 111531559B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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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
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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
- G01N1/02—Devices for withdrawing samples
- G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
- G01N1/06—Devices for withdrawing samples in the solid state, e.g. by cutting providing a thin slice, e.g. microtome
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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
- G01N1/286—Preparing specimens for investigation including physical details of (bio-)chemical methods covered elsewhere, e.g. G01N33/50, C12Q involving mechanical work, e.g. chopping, disintegrating, compacting, homogenising
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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
- G01N1/286—Preparing specimens for investigation including physical details of (bio-)chemical methods covered elsewhere, e.g. G01N33/50, C12Q involving mechanical work, e.g. chopping, disintegrating, compacting, homogenising
- G01N2001/2873—Cutting or cleaving
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- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
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- Pathology (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
The invention discloses a pathological section convenient for management and a gripping device thereof, comprising: the expansion mechanism comprises a plurality of expansion claws and a connecting plate, the connecting plate is movably provided with the expansion claws, each expansion claw comprises a first expansion block and a second expansion block, the telescopic arm comprises an upright post, a cross arm and a base, the upright post is connected with the cross arm through a cross arm slide rail, the cross arm slide rail is arranged on the outer surface of the cross arm, and the path of the cross arm slide rail is parallel to the axial path of the cross arm; the pathological section is characterized in that the cross arm is movably connected to the base, can rotate around the axis of the cross arm, is fixedly connected with the connecting plate, and is fixedly positioned on the side of the connecting plate without the expansion claw.
Description
Technical Field
The invention relates to the field of pathological experiments, in particular to a pathological section convenient to manage and a gripping device thereof.
Background
The pathology arises as the human beings explore and recognize their own diseases. Its development is bound by the natural ability of human beings to recognize. Modern pathology takes up recent research and results in molecular biology today, allowing observation of pathology from the organ, cellular level, to subcellular, protein expression and genetic changes. This not only makes the pathological study more intensive, but also makes the pathological study methods penetrate into various basic disciplines, clinical medicine, preventive medicine, pharmacy, etc. If the change of a certain gene is accompanied by the abnormality of protein expression and protein function, the morphological change can occur; conversely, whether a morphological abnormality is an abnormality or a change in expression of a gene(s). In clinical medicine, the identification and explanation of some symptoms and signs, the discovery and prevention of new disease species, the screening of sensitive drugs, the development of new drugs, toxic and side effects and the like can not be separated from the identification and explanation of the pathology. Thus, pathology also plays an important role in medical science research.
The pathological section is one kind of pathological specimen, and is prepared through treating the pathological tissue or organ with various chemicals and embedding method to make it fixed and hardened, cutting into thin sheet in microtome, adhering to glass sheet, and dyeing with different colors for examination under microscope to observe pathological change and make pathological diagnosis.
The pathological sections made of the same tissue section are more in number, difficult to classify and summarize, high in error rate and low in efficiency only depending on visual identification, the width of the opening of the pathological section is distinguished according to a certain characteristic, and the width of the opening is measured and sequenced through the grabbing device matched with the pathological section, so that the accuracy of classifying and sequencing the pathological sections is improved.
Disclosure of Invention
The invention overcomes the defects of the prior art and provides a pathological section convenient to manage and a gripping device thereof.
In order to achieve the purpose, the invention adopts the technical scheme that: a pathological section and grabbing device thereof convenient to management includes: the expansion mechanism comprises a plurality of expansion claws and a connecting plate, the connecting plate is movably provided with the plurality of expansion claws, and each expansion claw comprises a first expansion block and a second expansion block; the telescopic arm consists of an upright post, a cross arm and a base, the upright post is connected with the cross arm through a cross arm slide rail, the cross arm slide rail is arranged on the outer surface of the cross arm, and the path of the cross arm slide rail is parallel to the axial path of the cross arm; the cross arm is movably connected to the base and can rotate around the axis of the cross arm; the telescopic arm is fixedly connected with the connecting plate, and the fixed position of the telescopic arm and the fixed position of the connecting plate is located on the side, without the expansion claw, of the connecting plate.
In a preferred embodiment of the present invention, the expansion claw and the connecting plate are connected by an expansion slide rail, and the first expansion block and the second expansion block slide in a mirror image manner within the range of the expansion slide rail.
In a preferred embodiment of the present invention, two surfaces of the first expansion block and the second expansion block which are farthest away from each other are perpendicular to the expansion sliding rail path.
In a preferred embodiment of the present invention, a distance sensor is disposed between the first and second expansion claws.
In a preferred embodiment of the present invention, a limiting plate is connected to the connecting plate, and a length direction of the limiting plate is parallel to an arrangement direction of the plurality of expansion claws.
In a preferred embodiment of the present invention, the limiting plate and the connecting plate are connected by a hinge.
In a preferred embodiment of the present invention, the limiting plate is provided with a plurality of baffles, and the baffles are arranged on the limiting plate at equal intervals.
In a preferred embodiment of the invention, the distance between every two expansion claws is consistent with the distance between the baffle plates.
In a preferred embodiment of the present invention, the baffle is provided with a slope.
The invention also provides a pathological section adapted to the pathological section gripping device, which is characterized in that: the pathological section is provided with an opening which penetrates through the thickness direction of the pathological section, the opening is a semi-surrounding structure positioned on the edge of the pathological section, the two edges of the width of the opening are parallel, and the widths of the openings of the pathological sections are different.
In a preferred embodiment of the present invention, the width of the pathological section slit represents the difference of the characteristics of the pathological section.
In a preferred embodiment of the present invention, the thickness of the pathological section is consistent with the distance between the baffles.
The invention also provides a use method of the pathological section grabbing device, which is characterized by comprising the following steps of:
A. placing a plurality of pathological sections into the limiting plate, wherein the pathological sections sequentially slide into the space between the baffles from the slope; the expansion claws correspondingly extend into the pathological section openings one by one, and the first expansion block and the second expansion block slide in the opposite direction until the expansion claws abut against two edges of the width of the opening;
B. the distance sensors in the expansion claws are sequenced from large to small according to the moving distances of the two expansion blocks;
C. the telescopic arm rotates to send the pathological sections into the storage device according to the size sequence.
The invention solves the defects in the background technology, and has the following beneficial effects:
(1) according to the invention, the opening of the pathological section is grabbed by the expanding mechanism, so that the error rate of manual operation is reduced, and the plurality of expanding claws are arranged on the connecting plate of the expanding mechanism, so that the device can grab a plurality of pathological sections at one time, and the collection efficiency of the pathological sections is improved.
(2) The size difference of the width of the opening of the pathological section reflects the characteristic difference of the pathological section, the pathological characteristics which are difficult to measure by the pathological section are reflected by the intuitive width of the opening, and the width of the opening is sequenced by the distance sensor between the first expansion claw and the second expansion claw in the device, so that the basis for the classified collection and management of the pathological section is provided.
(3) The telescopic arm is fixedly connected with the connecting plate, and can move up and down and circumferentially, so that the expansion claws on the connecting plate can sequentially place corresponding pathological sections at the designated positions according to the size sequence of the openings, and meanwhile, the fixed positions of the telescopic arm and the connecting plate are positioned on the side of the connecting plate without the expansion claws, and the influence of the telescopic arm on the placement positions of the expansion claws is avoided.
(4) According to the invention, the first expansion block and the second expansion block slide like images within the range of the expansion slide rail, and the two surfaces which are farthest away from each other are parallel, so that the first expansion block and the second expansion block can respectively act on two edges of the width of a pathological section gap;
meanwhile, the existence of the limiting plate enables the central line of the width of the pathological section opening to be consistent with the central line of the expansion claw, and the first expansion block and the second expansion block can simultaneously act on two edges of the width of the opening;
the expansion slide rail and the limiting plate cooperate to ensure that the success rate of the expansion grabbing of the device is ensured.
(5) According to the invention, the plurality of baffles on the limiting plate are arranged at equal intervals, the interval between adjacent baffles is consistent with the thickness of pathological sections, the slopes are arranged at the upper parts of the baffles, so that the pathological sections can sequentially enter the gaps of the baffles along the slopes, the baffles can arrange the pathological sections, the width center lines of openings of the pathological sections are kept on the same plane, and the grabbing success rate can be improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts;
FIG. 1 is a perspective block diagram of a preferred embodiment of the present invention;
FIG. 2 is a side view of a preferred embodiment of the present invention;
FIG. 3 is a perspective block diagram of a preferred embodiment of the present invention;
FIG. 4 is a pathological section of a preferred embodiment of the present invention;
in the figure: 11. a first expansion block; 12. a second expansion block; 13. a column; 14. a connecting plate; 15. a cross arm; 16. a baffle plate; 17. a base; 18. a hinge; 19. a limiting plate; 3. pathological section; 32. a tissue sheet.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Reference in the specification to "an embodiment," "one embodiment," "some embodiments," or "other embodiments" means that a particular feature, structure, or characteristic described in connection with the embodiments is included in at least some embodiments, but not necessarily all embodiments. The various appearances of "an embodiment," "one embodiment," or "some embodiments" are not necessarily all referring to the same embodiments. If the specification states a component, feature, structure, or characteristic "may", "might", or "could" be included, that particular component, feature, structure, or characteristic is not required to be included. If the specification or claim refers to "a" or "an" element, that does not mean there is only one of the element. If the specification or claim refers to "a further" element, that does not preclude there being more than one of the further element.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be taken as limiting the scope of the present invention.
In the description of the present invention, unless otherwise specified the use of the ordinal adjectives "first", "second", and "third", etc., to describe a common object, merely indicate that different instances of like objects are being referred to, and are not intended to imply that the objects so described must be in a given sequence, either temporally, spatially, in ranking, or in any other manner. In the description of the invention, the meaning of "a plurality" is two or more unless otherwise specified.
A device for gripping a pathological section 3 as shown in fig. 1, comprising: the expansion mechanism comprises a plurality of expansion claws and a connecting plate 14, the connecting plate 14 is movably provided with the expansion claws, the expansion claws comprise a first expansion block 11 and a second expansion block 12, the telescopic arm comprises an upright column 13, a cross arm 15 and a base 17, the upright column 13 is connected with the cross arm 15 through a cross arm 15 slide rail, the cross arm 15 slide rail is arranged on the outer surface of the cross arm 15, and the path of the cross arm 15 slide rail is parallel to the axial path of the cross arm 15; the cross arm 15 is movably connected to the base 17, the cross arm 15 can rotate around the axis of the cross arm 15, the telescopic arm is fixedly connected with the connecting plate 14, the fixed positions of the telescopic arm and the connecting plate 14 are on the side of the connecting plate 14 without expansion claws, it should be noted that the connecting plate 14 is provided with a plurality of expansion claws, a plurality of pathological sections 3 can be grabbed simultaneously, the pathological sections 3 are a group of pathological sections 3 cut from the same tissue, the width of the pathological sections 3 is limited, the width of the openings of the pathological sections 3 in the group is different and is sequentially increased, the number of the expansion claws is consistent with the number of the pathological sections 3, the storage and management of the pathological sections 3 in the group are convenient to realize, the main body of the telescopic arm is composed of the upright column 13 and the cross arm 15, the upright column 13 moves in a cross arm 15 slide rail on the cross arm 15, and the up, the cross arm 15 is movably connected with the base 17, the rotation of the cross arm 15 relative to the base 17 realizes the circumferential movement of the device, the telescopic arm enables the placement position of the device to be flexible, and the device can adapt to more various storage devices; the plurality of the hierarchical partition plates are arranged in parallel, and the intervals between the adjacent hierarchical partition plates are the same; the group-level partition plates are perpendicular to the level partition plates, the group-level partition plates are arranged at equal intervals, and the same number of sheet-level partition plates are arranged between every two adjacent group-level partition plates; the piece-level partition plates are perpendicular to the level partition plates, the piece-level partition plates are arranged at equal intervals, and the minimum interval between every two adjacent piece-level partition plates is consistent with the thickness of the pathological section 3.
It should be noted that, from the above embodiment of the receiving device, it should be appreciated that the connecting plate 14 is not necessarily a straight plate as shown in fig. 1, and the connecting plate 14 may also be an arc-shaped plate, and may also be changed into other shapes according to the shape of the receiving device.
It should be further noted that, as shown in fig. 1, in the gripping device for pathological section 3, the fixed positions of the telescopic arm and the connecting plate 14 are located at the back of the connecting plate 14 where the expanding claw is located, and the telescopic arm and the connecting plate 14 can also be fixedly connected on other faces as long as the telescopic arm is ensured not to affect the gripping and placing of pathological section 3, and at the same time, the opening and closing range of the limiting plate 19 is avoided.
As shown in fig. 1, the expansion claw is connected to the connecting plate 14 through an expansion sliding rail, the first expansion block 11 and the second expansion block 12 slide in a mirror image manner within the range of the expansion sliding rail, the mirror image sliding is a necessary condition for stably grabbing a plurality of pathological sections 3 by the expansion claw, but not a sufficient condition, and the stable grabbing of the expansion claw is further required on the premise that the central positions of the openings of the plurality of pathological sections 3 are kept on the same straight line, the central positions of the first expansion block 11 and the second expansion block 12 are also kept on the same straight line, and the distance between the two edges of the opening width of the first expansion block 11 and the width of the second expansion block 12 and the pathological sections 3 are always kept consistent.
As shown in fig. 1, two surfaces of the first expansion block 11 farthest from the second expansion block 12 are perpendicular to the expansion slide rail path, so that the expansion blocks can stably and reliably grasp the pathological section 3, and the pathological section 3 cannot laterally slide and separate from the two expansion blocks.
In a preferred embodiment of the present invention, a distance sensor is disposed between the first expansion claw block and the second expansion claw block 12, it should be noted that the distance sensor can measure a relative position relationship between the two expansion claws and also can measure a displacement distance of the expansion claws on the slide rail, a single data obtained by the distance sensor is not a final value required by the present invention, and the present invention requires a plurality of distance sensors to obtain comparison data of the data, so as to arrange the pathological section 3 according to the comparison data.
As shown in fig. 1 a pathological section 3's grabbing device is connected with limiting plate 19 on connecting plate 14, 19 length direction of limiting plate and a plurality of expansion claw are arranged the direction and are parallel, and limiting plate 19 arranges 3 edges of pathological section on a straight line, provides the external condition for the position of 3 openings of pathological section, and it needs to explain that, 3 edges of pathological section neatly do not mean the neatly of opening central line, and the prerequisite is that the change of opening cutting size is with the opening central line as the benchmark, the 3 cutting device of pathological section that this embodiment is preferred, include: the detection box is internally provided with a detection instrument, the detection box is provided with an inlet and an outlet of a pathological section 3, the inlet and the outlet are not on the same plane, the detection box is connected with a cutting mechanism, the cutting mechanism and the outlet are on the same surface of the detection box, and the outlet can enable the pathological section 3 to directly enter the cutting mechanism from the detection box; the cutting mechanism comprises a cutting plate and a placing groove, the cutting plate is divided into a first cutting plate and a second cutting plate, the first cutting plate and the second cutting plate are respectively movably connected with the detection box, and the cutting plate is edged towards one edge of the placing groove.
In the embodiment of the cutting device, the first cutting plate and the second cutting plate are respectively connected with the detection box through sliding rails, the respective L-shaped long edges of the first cutting plate and the second cutting plate are connected with the detection box, the L-shaped long edges of the first cutting plate and the second cutting plate are parallel, the outer surface of the L-shaped short edge of the first cutting plate is attached to the inner surface of the L-shaped short edge of the second cutting plate, the placement groove is in smooth transition with the upper outlet of the detection box, a telescopic column is arranged on the placement groove, the telescopic column is located in a closed space defined by the first cutting plate and the second cutting plate, the telescopic column can be lowered below the placement surface of the placement groove, and the maximum distance of the first cutting plate and the second cutting plate which are in back-to-back sliding is smaller than the inner diameter of the placement groove; the minimum distance between the first cutting plate and the second cutting plate achieved through relative sliding is larger than the outer diameter of the telescopic column.
The adjusting method of the embodiment of the cutting device is characterized in that an ultrasonic image of a pathological section 3 is obtained through an ultrasonic detector, and the image is subjected to binarization processing by using a threshold value method, and the adjusting method comprises the following steps: A. obtaining the total gray value of the binary image of each pathological section 3 through an ultrasonic detector; B. sequencing the plurality of pathological sections 3 from large to small according to the total gray value, and placing the pathological sections 3 into a placing groove after all the pathological sections are detected; C. let the number of pathological sections 3 be x, the cutting board movable distance be y, the difference of the 3 serial numbers of the pathological sections of placing the standing groove in sequence be n, and the cutting board needs to adjust the distance to be n x (y/x) after the cutting board cuts a pathological section 3. The embodiment of the cutting device also provides a classification method, the threshold value adopts a middle value of the line definition degree of the pathological section 3, and the clearer the line of the pathological section 3 is, the higher the corresponding total gray value of the binary image is.
As shown in figure 3, the pathological section 3 grabbing device is characterized in that the limiting plate 19 is connected with the connecting plate 14 through the hinge 18, and the limiting block can turn over when the pathological section 3 is placed on the expansion claw, so that the process of placing is prevented from being influenced.
As shown in fig. 1, a pathological section 3's grabbing device, be provided with a plurality of baffles 16 on the limiting plate 19, baffle 16 is in equidistant arranging on the limiting plate 19, two liang of intervals of expansion claw with the 16 intervals of baffle are unanimous, 3 thickness of pathological section with the 16 intervals of baffle are unanimous, ensure that only can fall into a pathological section 3 in the clearance, and the expansion claw that the clearance corresponds simultaneously can accurately grasp a pathological section 3, guarantees the use success rate of device, be provided with the slope on the baffle 16, can make things convenient for pathological section 3's the income of sliding into for pathological section 3 can not blocked by 16 thicknesses of baffle and can't fall into in the 16 interval spaces of baffle.
A pathological section 3 convenient to manage, as shown in fig. 4, is characterized in that: the pathological section 3 is provided with an opening, the opening penetrates through the thickness direction of the pathological section 3, the opening is a semi-surrounding structure positioned at the edge of the pathological section 3, the width of the opening is parallel to the width of two edges, the width of the openings of a plurality of pathological sections 3 is different, it needs to be pointed out that the width of the opening of the pathological section 3 reflects the difference of the density characteristics of the lines of the pathological section 3, and the width of the opening of the pathological section 3 can be further distinguished through the gas characteristics of the lines of the pathological section 3.
The invention also provides a use method of the pathological section 3 grabbing device, which is characterized by comprising the following steps of:
A. placing a plurality of pathological sections 3 into the limiting plate 19, and sliding the pathological sections 3 into the space between the baffles 16 from the slope in sequence; the expansion claws correspondingly extend into the openings of the pathological section 3 one by one, and the first expansion block 11 and the second expansion block 12 slide back to back until the expansion claws abut against two edges of the width of the opening;
B. the distance sensors in the expansion claws are sequenced from large to small according to the moving distances of the two expansion blocks;
C. the telescopic arm rotates to send the pathological sections 3 into the storage device according to the size sequence.
According to the invention, the opening of the pathological section 3 is grabbed by the expanding mechanism, so that the error rate of manual operation is reduced, and the connecting plate 14 of the expanding mechanism is provided with the plurality of expanding claws, so that the device can grab a plurality of pathological sections 3 at one time, and the collection efficiency of the pathological sections 3 is improved.
The difference of the width of the opening of the pathological section 3 in the invention represents the characteristic difference of the pathological section 3, the pathological characteristics which are difficult to measure by the pathological section 3 are represented by the intuitive width of the opening, and the width of the opening is sequenced by the distance sensor between the first expansion claw and the second expansion claw in the device, thereby providing the basis for the classified collection and management of the pathological section 3.
According to the invention, the telescopic arm is fixedly connected with the connecting plate 14 and can move up and down and circumferentially, so that the expansion claws on the connecting plate 14 can sequentially place the corresponding pathological sections 3 at the designated positions according to the size sequence of the openings, and meanwhile, the fixed positions of the telescopic arm and the connecting plate 14 are positioned on the side of the connecting plate 14 without the expansion claws, so that the influence of the telescopic arm on the placement positions of the expansion claws is avoided.
According to the invention, the first expansion block 11 and the second expansion block 12 slide like images within the range of the expansion slide rail, and the two surfaces which are farthest away from each other are parallel, so that the first expansion block and the second expansion block 12 can respectively act on the two edges of the width of the opening of the pathological section 3; meanwhile, the existence of the limiting plate 19 enables the central line of the width of the opening of the pathological section 3 to be consistent with the central line of the expansion claw, and guarantees that the first expansion block 11 and the second expansion block 12 can act on two edges of the width of the opening simultaneously; the expansion slide rail and the limiting plate 19 cooperate, so that the success rate of the expansion grabbing of the device is guaranteed.
According to the invention, the baffles 16 on the limiting plate 19 are arranged at equal intervals, the interval between the adjacent baffles 16 is consistent with the thickness of the pathological section 3, the slopes are arranged at the upper parts of the baffles 16, so that the pathological sections 3 can sequentially enter the gaps between the baffles 16 along the slopes, the baffles 16 can play a role in arranging the pathological sections 3, the width center lines of the openings of the pathological sections 3 are kept on the same plane, and the grabbing success rate can be improved.
When the invention is used, a plurality of pathological sections 3 are placed in the limiting plate 19, and the pathological sections 3 respectively slide into the space between the baffles 16 along the slope; the expansion claws correspondingly extend into the openings of the pathological section 3 one by one, and the first expansion block 11 and the second expansion block 12 slide back to back until the expansion claws collide with the two edges of the width of the opening; the distance sensors in the expansion claws are sequenced from large to small according to the moving distances of the two expansion blocks; the telescopic arm rotates to send the pathological sections 3 into the storage device according to the size sequence.
In light of the foregoing description of the preferred embodiment of the present invention, it is to be understood that various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (5)
1. A pathological section gripping device, comprising: expansion mechanism and connect expansion mechanism's flexible arm, its characterized in that: the expansion mechanism consists of a plurality of expansion claws and a connecting plate, the connecting plate is movably provided with the plurality of expansion claws, and the expansion claws comprise a first expansion block and a second expansion block;
the telescopic arm consists of an upright post, a cross arm and a base, the upright post is connected with the cross arm through a cross arm slide rail, the cross arm slide rail is arranged on the outer surface of the cross arm, and the path of the cross arm slide rail is parallel to the axial path of the cross arm; the cross arm is movably connected to the base and can rotate around the axis of the cross arm;
the telescopic arm is fixedly connected with the connecting plate, and the fixed position of the telescopic arm and the connecting plate is positioned on one surface of the connecting plate without the expansion claw;
the expansion claw is connected with the connecting plate through an expansion sliding rail, and the first expansion block and the second expansion block slide in an image within the range of the expansion sliding rail;
the two surfaces of the first expansion block, which are farthest away from the second expansion block, are perpendicular to the expansion path of the expansion slide rail;
and a distance sensor is arranged between the first expansion block and the second expansion block.
2. The pathological section gripping device according to claim 1, wherein: the connecting plate is connected with a limiting plate, and the length direction of the limiting plate is parallel to the arrangement direction of the expansion claws.
3. The pathological section gripping device according to claim 2, wherein: the limiting plate is provided with a plurality of baffles which are arranged on the limiting plate at equal intervals.
4. The pathological section gripping device according to claim 3, wherein: the distance between every two expansion claws is consistent with that between the baffle plates.
5. The method for using the pathological section gripping device as claimed in claim 4, wherein the method comprises the following steps: A. placing a plurality of pathological sections into the limiting plate, wherein the pathological sections sequentially slide into the space between the baffles; the expansion claws correspondingly extend into the openings of the pathological sections one by one, and the first expansion block and the second expansion block slide in the opposite direction until the first expansion block and the second expansion block abut against two edges of the width of the openings;
B. the distance sensors in the expansion claws are sequenced from large to small according to the moving distances of the two expansion blocks;
C. the telescopic arm rotates to send the pathological sections into the storage device according to the size sequence.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010376772.0A CN111531559B (en) | 2020-05-07 | 2020-05-07 | Pathological section convenient to management and grabbing device thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010376772.0A CN111531559B (en) | 2020-05-07 | 2020-05-07 | Pathological section convenient to management and grabbing device thereof |
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| CN111531559A CN111531559A (en) | 2020-08-14 |
| CN111531559B true CN111531559B (en) | 2021-03-12 |
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