CN211978482U - Full-automatic dyeing workbench with positioning detection function - Google Patents
Full-automatic dyeing workbench with positioning detection function Download PDFInfo
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- CN211978482U CN211978482U CN201921947675.1U CN201921947675U CN211978482U CN 211978482 U CN211978482 U CN 211978482U CN 201921947675 U CN201921947675 U CN 201921947675U CN 211978482 U CN211978482 U CN 211978482U
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Abstract
The utility model provides a full-automatic dyeing worktable with positioning detection function, which comprises a dyeing area, an operating area, XYZ mechanical motion arms and a positioning detection device; the operating area is provided with a plurality of loading and unloading drawers which are arranged side by side and can be pushed and pulled outwards; the staining area is used for staining the section which is transferred from the loading and unloading pump and is to be stained and is arranged on the slide carrier; an XYZ mechanical motion arm is arranged above the staining area and the operating area, and can realize the movement of the section arranged on the slide carrier between the staining area and the operating area; the positioning detection device is used for determining whether the loading and unloading drawer is provided with a section arranged on the slide carrier or not and whether the loading and unloading drawer is accurately closed in the running process or not. In the daily working process, an operator generally only needs to pull out the loading drawer to load the slide carrier, and the mechanical arm can fully automatically complete the whole dyeing process; meanwhile, the loading and unloading drawer is positioned and detected, so that the full-automatic operation is smoother.
Description
Technical Field
The utility model relates to the technical field of medical equipment, concretely relates to take full-automatic dyeing workstation of location detection function.
Background
Staining tissue section cells by a staining technique to observe and judge whether the tissue cells of a subject have lesions or judge the lesion degree is a widely applied technique in current pathological diagnosis. With the rapid development of science and technology, the tissue section is dyed by using a full-automatic pathological staining machine to gradually replace the artificial staining.
Present full-automatic pathological section stainer generally adopts the mode of many jars dip-dyeing, adopts a plurality of staining jars to hold the required different reagents of dyeing promptly, carries out the dip-dyeing through removing the slide carrier to holding in the staining jar that different staining reagents correspond and realizes the dyeing, and traditional staining jar in use has following problem: in the using process of the reagent in the dyeing machine, the reagent in the dyeing tank is always open in the air, and the reagent dimethylbenzene commonly used in dyeing is a toxic substance with certain volatility and is always exposed in the air, so that the quality of the dyeing solution is influenced, and potential safety hazards exist.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome prior art's not enough, provide an isolated reagent and can accomplish the full-automatic dyeing workstation for pathological section dyeing machine of dyeing flow automatically, this full-automatic dyeing machine workstation still has the location and detects the function for the arm can remove the slide carrier more accurately.
The purpose of the utility model is realized through the following technical scheme:
a full-automatic dyeing worktable with a positioning detection function comprises a dyeing area, an operation area, an XYZ mechanical motion arm and a positioning detection device;
the operating area is provided with a plurality of loading and unloading drawers which are arranged side by side and can be pushed and pulled outwards; the loading and unloading drawer is used for loading the section to be dyed and placed on the slide carrier or unloading the section which is dyed and placed on the slide carrier;
the staining area is used for staining the section which is transferred from the loading and unloading drawer and is to be stained and is placed on the slide carrier; an XYZ mechanical motion arm is arranged above the dyeing area and the operation area and consists of an X-axis mechanical arm, a Y-axis mechanical arm and a Z-axis mechanical arm, and the mechanical arms can grab the slide carrier and move the slide carrier between different work areas of the workbench of the dyeing machine through the cooperative work of the three mechanical arms;
the workbench also comprises a positioning detection device which can detect whether the loading and unloading drawer is correctly closed or not and whether a slide carrier containing slices exists in the loading and unloading drawer or not.
In the daily working process, an operator opens the loading and unloading drawer, puts a slide carrier to be dyed into the loading and unloading drawer, then closes the loading and unloading drawer, the XYZ mechanical movement arm in the working table can grab the slide carrier, transfers the slide carrier to a dyeing area from the loading and unloading drawer for dyeing, and transfers the slide carrier back to the loading and unloading drawer after the slide carrier is finished. In the whole process, an operator only needs to load, unload, load and unload the extractor, the workbench can fully automatically complete the dyeing process, the operator can not contact with the dyeing reagent, the harm caused by volatile toxic substances is greatly reduced, and meanwhile, the dye is better stored due to the closed structure of the workbench.
As a further optimization scheme of the utility model, the section is arranged in the loading and unloading through the slide carrier and is taken out in, location detection device is taken out whether accurate device a of closing including being used for detecting the loading and unloading to and whether there is the device B of slide carrier in detecting the loading and unloading are taken out.
As a further optimization scheme of the utility model, the operation area further comprises an operation area frame, the operation area frame is a plurality of loading and unloading drawer installation frames which are arranged side by side, and each loading and unloading drawer installation frame is correspondingly provided with one loading and unloading drawer;
the operation area frame is provided with an operation area bottom supporting plate and an operation area frame rear end limiting plate, the operation area bottom supporting plate is provided with a slide rail, the loading and unloading drawer is in a cuboid shape and comprises a loading and unloading drawer front baffle, a loading and unloading drawer side baffle, a loading and unloading drawer rear baffle and a loading and unloading drawer bottom plate, and a slide block matched with the slide rail is arranged on the loading and unloading drawer bottom plate, so that the loading and unloading drawer can realize reciprocating push-pull movement.
Since it is often not possible to ensure that each loading drawer completely enters the operating area when the loading drawer is closed, but the positioning of the XYZ mechanical motion arm for each loading drawer is preset in advance, a deviation in the actual position of the loading drawer will directly result in that the gripper cannot accurately grip the slide carrier, and even if it grips, it will easily drop because it is not completely positioned during the movement of the slide carrier, so that it is necessary for the fully automatic dyeing machine to be equipped with a closure confirmation device to ensure that the loading drawer is completely closed;
in order to solve the problems, the assembling and disassembling drawer installation frame, namely the magnet frame is arranged on the upper portion of the front side of the operation area frame, the assembling and disassembling drawer magnetic plate is arranged on the upper portion of the baffle plate before the assembling and disassembling drawer, the assembling and disassembling drawer and the magnet plate correspond to each other in position and are magnetically attracted when the assembling and disassembling drawer is closed, the closed state of the assembling and disassembling drawer can be fixed, and the position is prevented from being changed randomly after the assembling and disassembling drawer is.
As a further optimization scheme of the utility model, the device a comprises a limit baffle, a positioning shading sheet, a closed state detection groove and a first detection circuit board;
the device A comprises limiting baffle plates arranged on two sides of the front end of the loading and unloading drawer mounting frame, a positioning shading sheet arranged on the rear end of the loading and unloading drawer, a closed state detection groove arranged on the limiting plate at the rear end of the frame in the operation area, and a first detection circuit board arranged on the front side of the dyeing area.
Specifically, the left side and the right side of the front end of the mounting frame of the assembling and disassembling drawer are provided with limit baffles, and the left and the right displacement of the assembling and disassembling drawer can be limited when the assembling and disassembling drawer is closed; the outer side wall of the rear end of the loading and unloading drawer is also provided with a horizontally placed plane positioning shading sheet, a closed state detection groove is arranged on a limiting plate at the rear end of the operating area frame at a corresponding position, and a first detection circuit board is arranged on the front side of the dyeing area; after the loading and unloading drawer is closed, the horizontally arranged positioning shading sheet can be inserted into and penetrate through the detection groove, so that infrared light emitted by the infrared geminate transistors on the detection plate is shielded, when the loading and unloading drawer is not normally closed, the shading sheet cannot shield the infrared light, and the control circuit board can detect whether the loading and unloading drawer is closed or not through processing signals.
As a further optimization scheme of the utility model, the device B comprises a slide carrier in-place detection groove and a second detection circuit board;
specifically, a slide carrier detection groove is formed in a limiting plate at the rear end of the operation area frame, a second detection circuit board is arranged on the front side of the dyeing area, when a slide carrier with a section is placed in the loading and unloading drawer, the section can shield infrared light emitted by an infrared pair tube on the detection plate, and when the slide carrier in the loading and unloading drawer is not provided with the section, the infrared light cannot be shielded. The slide carrier in-place detection groove and the closed state detection groove are staggered, so that the detection effect of the infrared pair tube sensor is prevented from being influenced.
The first detection circuit board and the second detection circuit board are both arranged on a detection circuit on the front side of the dyeing area and are respectively used as control circuits of the device A and the device B.
The following brief description is about the matching principle of the infrared pair tube and the shading sheet: the infrared pair tube is a correlation structure, and consists of an infrared transmitting tube and an infrared receiving tube which are matched for use. The transmitting tube emits infrared light, the receiving tube receives the transmitted infrared light, and if the shading sheet is arranged between the infrared pair tubes and sheltered, the receiving tube cannot receive the infrared pair tubes, and the light emitted by the infrared transmitting tube can generate the change of an electric signal. The control circuit board can judge whether the loading and unloading drawer is correctly closed or not according to the detected electric signal and judge whether a slide carrier with a slice is arranged in the detection loading and unloading drawer or not.
As the utility model discloses a further optimization scheme, owing to load and unload and take out the slide carrier frame of only placing before the dyeing or after the dyeing to do not hold reagent, so load and unload and take out and to respectively open on controlling the side shield and have a groove, can reduce the reagent pollution loading and unloading that the slide carrier frame carried like this and take out the inner wall, the washing of being convenient for.
As a further optimization scheme of the utility model, the motion principle of XYZ mechanical motion arm is as follows:
the X-axis mechanical arm comprises a vertically placed shaft supporting plate, the shaft supporting plate is arranged along the X-axis direction, a vertical supporting leg is arranged at the bottom of the shaft supporting plate, and the lower end of the supporting leg is fixedly connected with the workbench base; an X-axis driving wheel shaft and an X-axis driven wheel shaft driven by a stepping motor are sequentially arranged on the upper portion of the shaft support plate along the X-axis direction and are driven by a belt, sliding rails are arranged on the upper end face and the lower end face of the shaft support plate, the upper end and the lower end of the shaft support plate are nested by an X-axis sliding block together, and therefore the X-axis sliding block can reciprocate along the sliding rails in the X-axis direction under the driving of the belt;
the motion modes of the Y-axis mechanical arm and the Z-axis mechanical arm are consistent, each mechanical arm is driven by a stepping motor, and the corresponding driving wheel, the corresponding driven wheel, the corresponding belt, the corresponding sliding track and the corresponding sliding block are also arranged.
The connection mode of triaxial arm does, Y axle arm is fixed on X axle slider, Z axle arm is fixed on Y axle slider to realize triaxial all the time mutually perpendicular's location form, the fixed mode can be through installation locating hole screw bolt connection, also can weld an organic whole.
As a further optimization scheme of the utility model, the lower part of the X-axis slide block is provided with an X-axis motion positioning shading sheet, and two sides of the shaft support plate are provided with X-axis limiting infrared geminate transistors; the X-axis motion positioning shading sheet and the X-axis limiting infrared geminate transistors are distributed along the X axis, infrared light emitted by the X-axis limiting infrared geminate transistors is mainly shaded by the X-axis motion positioning shading sheet, so that an electric signal is generated, the motion of an X-axis driving wheel shaft, an X-axis driven wheel shaft and a belt is controlled, and an X-axis sliding block is driven to move to a specified position;
the Y-axis sliding block and the Z-axis sliding block are positioned on the same principle, and are provided with respective shading sheets and limiting infrared geminate transistors.
As a further optimization scheme of the utility model, a slide rack gripper with a downward opening is fixed on the Z-axis slide block, and the slide rack gripper is driven to move in the Z-axis direction when the Z-axis slide block moves; during actual grabbing, the slide carrier gripper realizes the movement of the slide carrier among the working areas by means of the displacement of the Z-axis mechanical arm in height and the plane displacement of the X-axis and the Y-axis.
As a further optimization scheme of the utility model, the centre gripping mode of slide carrier tongs can be at both ends setting up the lug, matches the location with the hangers at slide carrier both ends to snatch the slide carrier smoothly.
As the utility model discloses a further optimization scheme, the workstation still includes the workstation frame, the dyeing district with the operation area is all placed in the frame, and the frame includes workstation base, left side support board, right side support board and joint support frame, and respective connected mode does, vertical left side support board and the right side support board that is parallel to each other that is provided with on the workstation base, the horizontal joint support frame of fixedly connected with between two backup pads, thereby increase the whole steadiness of workstation frame.
And a slice sealing machine interface is arranged on the left supporting plate and is used for leading the dyed slices to a slice sealing machine.
As a further optimization scheme of the utility model, a reserved sealing machine interface is arranged on a left support plate of the workbench frame, and the left support plate is used as an inlet and an outlet of a sealing machine when sealing treatment is carried out after dyeing is finished; the left support plate is also provided with a reserved X-axis mechanical arm movement extension opening, because when the slide carrier is transported to the mounting machine, the X-axis also needs to be extended.
Compared with the prior art, the utility model discloses possess following advantage and beneficial effect:
in the daily working process, an operator generally only needs to pull out the loading drawer to load the slide carrier, and the XYZ mechanical motion arm in the dyeing workbench can grab the slide carrier, so that the slide carrier can move among different working areas, and the whole dyeing process can be completed fully automatically;
when snatching the slide carrier automatically, can also take out to loading and unloading and carry out location detection for full-automatic operation is safer.
Drawings
FIG. 1 is a schematic structural view of a dyeing workbench of the present invention;
FIG. 2 is a schematic view of the dyeing region of the present invention;
FIG. 3 is a schematic view of the structure of the operation area of the present invention;
FIG. 4 is a schematic view of the framework structure of the operation area of the present invention;
FIG. 5 is a schematic view of the loading and unloading drawer structure of the present invention;
fig. 6 is a schematic structural view of the XYZ mechanical motion arm of the present invention;
fig. 7 is a schematic structural view of the X-axis robot arm of the present invention;
fig. 8 is a rear view of the X-axis robot arm of the present invention;
fig. 9 is a schematic structural view of the Y-axis robot arm of the present invention;
fig. 10 is a schematic structural view of the Z-axis mechanical arm of the present invention;
FIG. 11 is a schematic structural view of a workbench frame of the present invention;
reference numerals: 1-a staining zone; 11-dyeing tank; 12-a fixing hole is arranged at the right side of the dyeing area; 13-a detection circuit; 14-mounting a fixing hole at the bottom of the dyeing area; 15-a fixing hole is arranged at the left side of the dyeing area; 2-an operating zone; 21-operating area framework; 211-load and unload drawer mounting frame; 212-operating area bottom support plate; 213-magnet holder; 214-a limit stop; 215-slide carrier in position detection slot; 216-off status detection tank; 217-operation area frame rear end limiting plate; 218-a slide rail; 22-assembling and disassembling the drawer; 221-assembling and disassembling the magnet extraction plate; 222-a groove; 223-positioning a shading sheet; 224-loading and unloading the pumping side baffle; 225-loading and unloading the front pumping baffle; 226-mounting and dismounting the drawer and installing the fixing hole; 227-loading and unloading the pumping plate; 228-loading and unloading the extraction rear baffle; 3-XYZ mechanical motion arm; 31-X axis robotic arm; 310-X axis feet; 311-X axis drive axle; 312-X axis driven axle; 313-control panel mounting baffle; 314-an axle support plate; 315-X shaft connecting drag chain; 316-X axis slide; 317-X axis movement positioning shading sheet; 318-X axis limit infrared geminate transistors; 319-Y axis mechanical arm mounting positions; a 32-Y axis robotic arm; 321-Y axis slide block; 322-Y shaft connecting drag chain; 323-Y axis movement positioning shading sheet; 324-Y axis limit infrared geminate transistors; a 33-Z axis robotic arm; 331-Z axis motion positioning shading sheet; 332-Z axis limit infrared geminate transistors; 333-slide carrier gripper; 334-Z axis slide; 335-a bump; 4-a table frame; 41-left support plate; 411-reserving a sealing machine interface; the 412-X axis robotic arm moves to extend the outlet; 42-right support plate; 43-a table base; 431-wire chase; 44-connecting the support frame.
Detailed Description
The following describes the present invention with reference to the accompanying drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. In addition, the technical features related to the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1-11, a fully automatic dyeing workbench with positioning detection function comprises a dyeing area 1, an operation area 2, an XYZ mechanical motion arm 3 and a positioning detection device (not shown in the figure);
6 dyeing tanks 11 are placed in the dyeing area 1, and the dyeing tanks 11 are fixed on the dyeing area 1 through flanges and used for dyeing the section to be dyed;
the operating area 2 is close to the outer side of the workbench, so that the operation of workers is facilitated, 6 loading and unloading drawers 22 are arranged in the operating area 2 side by side, the loading and unloading drawers 22 are of an open structure and are used for loading slices to be dyed and placed on a slide carrier or unloading the slices which are dyed and placed on the slide carrier, and the loading and unloading drawers can be pushed and pulled outwards;
the operation area 2 further comprises an operation area frame 21, the operation area frame 21 is a plurality of loading and unloading drawer mounting frames 211 which are arranged side by side, and each loading and unloading drawer mounting frame 211 is correspondingly provided with one loading and unloading drawer 22;
the operation area frame 21 is provided with an operation area bottom end support plate 212 and an operation area frame rear end limiting plate 217, the operation area bottom end support plate 212 is fixedly provided with a slide rail 218, the assembling and disassembling drawer 22 is in a cuboid shape and comprises an assembling and disassembling drawer front baffle 225, an assembling and disassembling drawer side baffle 224, an assembling and disassembling drawer rear baffle 228 and an assembling and disassembling drawer bottom plate 227, the assembling and disassembling drawer bottom plate 227 is connected with a slide block (not shown in the figure) through an assembling and disassembling drawer mounting fixing hole 226, the slide block is sleeved and embedded on the slide rail 218, and meanwhile, the front wall of the workbench is provided with a through groove for avoiding, so that the reciprocating push-pull;
it should also be added that the loading and unloading drawer 22 is an open structure for placing the slide carriers, and the specific placement manner is that two grooves 222 are provided at the upper ends of the two side walls of the loading and unloading drawer 22, and the slide carriers are placed on the grooves 222, and the shape is an inverted trapezoid, which can reduce the shaking of the special slide carriers therein and also can reduce the possibility that the mechanical arm cannot grab the slide carriers due to random placement; to increase the stability of the rack, the width of the groove 222 should be larger than the width of the slide carrier, so as to ensure that the slide carrier is smoothly placed into the loading drawer 22, and a plurality of slides are vertically placed inside the slide carrier;
the XYZ mechanical motion arm 3 is arranged above the dyeing area 1 and the operation area 2, the XYZ mechanical motion arm 3 consists of an X-axis mechanical arm 31, a Y-axis mechanical arm 32 and a Z-axis mechanical arm 33, and the mechanical arms can grab a slide carrier and move the slide carrier between the dyeing area 1 and the operation area 2 of the dyeing machine workbench through the cooperative work of the three mechanical arms;
the station also includes a positioning detection device for detecting whether the slide 22 is properly closed and whether there is a slide carrier holding a slide in the slide.
In this embodiment, the positioning detection device includes a device a (not shown) for detecting whether the loading drawer is accurately closed, and a device B (not shown) for detecting whether there is a slide carrier with a slide mounted therein.
In this embodiment, the apparatus a includes a limit baffle 214, a positioning light shielding sheet 223, a closed state detection groove 216, and a first detection circuit board (not shown in the figure);
the device A comprises limit baffles 214 arranged on two sides of the front end of a mounting frame 211 of the loading and unloading drawer, a positioning shading sheet 223 arranged on the rear end of the loading and unloading drawer 22, a closed state detection groove 216 arranged on a limit plate 217 on the rear end of a frame of an operation area, and a first detection circuit board arranged on the front side of the dyeing area 1. Specifically, the left and right sides of the front end of the mounting frame 211 are provided with limit baffles 214, which can limit the left and right displacement when the mounting frame 22 is closed; the outer side wall of the loading and unloading drawer rear baffle 228 is also provided with a horizontally protruding plane positioning shading sheet 223, the operation area frame rear end limiting plate 217 is provided with a closed state detection groove 216 at a corresponding position, and the front side of the dyeing area 1 is provided with a first detection circuit board; after the assembling and disassembling drawer 22 is closed, the positioning light shielding piece 223 is inserted into and penetrates through the closed state detection groove 216 with the corresponding size, so that infrared light (not shown in the figure) of the correlation type infrared pair tube on the detection plate is shielded; when the drawer is not normally closed, the positioning light-shielding sheet 223 cannot shield infrared light, so that the signal is processed by the control circuit board, and whether the loading and unloading drawer 22 is correctly closed can be detected.
In this embodiment, the apparatus B includes a slide carrier seating test slot 215 and a second test circuit board (not shown);
specifically, a slide carrier positioning detection groove 215 is arranged on a limiting plate 217 at the rear end of the operation area frame 21, a second detection circuit board is arranged on the front side of the dyeing area 1, and by means of the correlation type infrared pair tubes, when a slide carrier filled with a slide exists, the infrared light emitted by the emission tube is shielded by the slide in the slide carrier, so that a corresponding electric signal is generated, and the slide carrier filled with the slide is judged to be placed in the loading and unloading drawer; the slide carrier seating detection slot 215 and the closed position detection slot 216 should be offset from each other to avoid affecting the detection of the infrared pair sensor.
The loading and unloading baffle 228 is positioned away from the irradiation position of the limiting infrared pair tubes, so as to avoid influencing the operation of the correlation type limiting infrared pair tubes.
The first detection circuit board and the second detection circuit board are both arranged on a detection circuit 13 on the front side of the dyeing area 1 and are respectively used as control circuits of the device A and the device B.
In this embodiment, since the loading and unloading drawer 22 only holds the slide carriers before or after the staining and does not hold the reagent, a groove is formed in the middle of the loading and unloading drawer side baffle 224 of the loading and unloading drawer 22, which can reduce the contamination of the loading and unloading drawer inner wall by the reagent carried by the slide carriers and is convenient for cleaning.
In this embodiment, the motion principle of the XYZ mechanical motion arm 3 is as follows:
the X-axis mechanical arm 31 comprises a shaft support plate 314 which is vertically placed, the shaft support plate 314 is arranged along the X-axis direction, a vertical X-axis supporting leg 310 is arranged at the bottom, and the lower end of the X-axis supporting leg 310 is fixedly connected with the bottom of the workbench; an X-axis driving wheel shaft 311 and an X-axis driven wheel shaft 312 driven by a stepping motor (not shown in the figure) are sequentially arranged on the upper portion of the shaft supporting plate 314 along the X-axis direction and are driven by a belt, sliding rails (not shown in the figure) are arranged on the upper end face and the lower end face of the shaft supporting plate 314, the upper end and the lower end of the shaft supporting plate 314 are nested by an X-axis sliding block 316, and therefore the X-axis sliding block 316 can reciprocate along the sliding rails in the X-axis direction under the driving of the belt;
the movement modes of the Y-axis mechanical arm 32 and the Z-axis mechanical arm 33 are the same, each mechanical arm is driven by a stepping motor, and the Y-axis mechanical arm is also provided with a Y-axis sliding block 321 and a Z-axis sliding block 334, and is also provided with a corresponding driving wheel, a corresponding driven wheel, a corresponding belt and a corresponding sliding track.
The three-axis mechanical arm is connected in a manner that the Y-axis mechanical arm 32 is fixed on the X-axis sliding block 316, and the Z-axis mechanical arm 33 is fixed on the Y-axis sliding block 321, so that the three axes are always perpendicular to each other in positioning; when the X-axis sliding block 316 moves, the Y-axis mechanical arm 32 is driven to move in the X-axis direction, the Z-axis mechanical arm 33 is fixed on the Y-axis sliding block 321, and when the Y-axis sliding block 321 moves, the Z-axis mechanical arm 33 is driven to move in the Y-axis direction;
taking the connection mode of the X-axis mechanical arm 31 and the Y-axis mechanical arm 32 as an example, a Y-axis mechanical arm mounting position 319 is arranged on the side surface of the X-axis sliding block 316, and is connected with the Y-axis mechanical arm 32 through a hole position on the side surface by using a bolt; the same applies to the connection between the Y-axis robot 32 and the Z-axis robot 33.
In addition, the X-axis mechanical arm 31 further includes an X-axis connecting drag chain 315, one end of the X-axis connecting drag chain 315 is fixed on the axis supporting plate 314, and the other end is fixed on the X-axis sliding block 316 to move along with the X-axis sliding block 316; the X-axis connecting wire drag chain 315 is mainly used for placing motor control wires and infrared pair tube signal wires used by the Y-axis mechanical arm 32 and the Z-axis mechanical arm 33 which move together with the X-axis sliding block 316; the Y-axis robot 32 is also provided with a Y-axis connecting drag chain 322 for storing a motor control line and an infrared pair transistor signal line for the Z-axis robot 33 which needs to move together with the Y-axis slider 321.
It is necessary to supplement that the back of the shaft supporting plate 314 is provided with a control panel mounting baffle 313 attached to the back, the control panel mounting baffle 313 is positioned below the belt and the X-axis connecting drag chain 315, and has two main functions, namely, the control panel mounting baffle is used for bearing the X-axis connecting drag chain 315; and secondly, the control circuit board related to the full-automatic dyeing machine can be fixedly installed through an electrical installation hole (not shown in the figure) reserved on the board surface.
In this embodiment, the lower portion of the movable end of the X-axis connecting drag chain 315, that is, the end fixed to the X-axis slider 316, is provided with an X-axis movement positioning shade 317, and two sides of the axis support plate 314 are provided with X-axis limiting infrared geminate transistors 318; the X-axis motion positioning shading sheet 317 and the X-axis limiting infrared pair tube 318 are arranged along the X axis, infrared light emitted by the X-axis limiting infrared pair tube 318 is mainly shaded by the X-axis motion positioning shading sheet 317, so that an electric signal is generated, the motion of the X-axis driving wheel shaft 311, the X-axis driven wheel shaft 312 and the belt is controlled, and the X-axis sliding block 316 is driven to move to a specified position;
the positioning principle of the Y-axis slider 321 and the Z-axis slider 334 is the same, and both are provided with respective light-shielding sheets and limiting infrared pair tubes, such as a Y-axis motion positioning light-shielding sheet 323 and a Y-axis limiting infrared pair tube 324 shown in fig. 9; the Z-axis motion positioning gobos 331 and the Z-axis limiting infrared pair tubes 332 are shown in fig. 10.
In this embodiment, a slide carrier gripper 333 with a downward opening is fixed on the Z-axis slider 334, and when the Z-axis slider 334 moves, the slide carrier gripper 333 is driven to move in the Z-axis direction; during actual gripping, the slide carrier gripper 333 moves between the operation area 2 and the staining area 1 by means of the displacement of the Z-axis mechanical arm 33 in height and the planar positioning of the X-axis and the Y-axis.
In this embodiment, the workbench further includes a workbench frame 4 with an open structure, which includes a workbench base 43, a left support plate 41, a right support plate 42 and a connecting support frame 44, wherein the workbench base 43 is vertically provided with the left support plate 41 and the right support plate 42 which are parallel to each other, and a transverse connecting support frame 44 is fixedly provided between the two support plates, so as to increase the overall stability of the workbench frame 4; the dyeing area 1 and the operation area 2 are sequentially arranged on the workbench frame 4 from inside to outside.
The whole dyeing area 1 is fixed on a base 43 of the workbench through a fixing hole 14 arranged at the bottom of the dyeing area; a fixing hole 15 is arranged on the left side of the dyeing area and is fixed on a right side supporting plate 42 of the workbench; a fixing hole 12 is arranged on the right side of the dyeing area and fixed on a left supporting plate 41 of the workbench; the same applies to the connection of the operating field frame 21.
In this embodiment, specifically referring to fig. 11, a reserved sealing machine interface 411 is arranged on the left support plate 41 of the workbench frame 4, and is used as an entrance and an exit of a sealing machine when sealing processing is performed after dyeing is completed; a reserved X-axis robot motion extension 412 is also provided on the left support plate 41 because the X-axis robot 31 also needs to be extended when transporting the slide carriers to the coverslipper.
The table base 43 is also provided with a plurality of wire slots 431 for passing cables and the like of various circuits.
In the whole process, an operator only needs to load or unload the slide carrier, the slide carrier gripper 333 in the workbench can complete the whole dyeing step, and the process does not need to directly contact with a dyeing reagent, so that the dyeing method is safer, the labor cost is greatly saved, and the operation is simplified;
in order to avoid incomplete and accurate position when the loading and unloading drawer 22 is manually closed, the equipment is also provided with a positioning detection device which can detect whether the loading and unloading drawer 22 is correctly closed or not and detect whether a slide carrier containing slices exists in the operation area 2 or not, thereby ensuring the normal work of the slide carrier gripper 333.
The above embodiments of the present invention are merely examples for clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. The utility model provides a take full-automatic dyeing workstation of location detection function which characterized in that: comprises a dyeing area (1), an operation area (2), an XYZ mechanical motion arm (3) and a positioning detection device; the operating area (2) is provided with a plurality of loading and unloading drawers (22) which are arranged side by side and can be pushed and pulled outwards; the loading and unloading drawer (22) is used for loading the section to be dyed and placed on the slide carrier or unloading the section which is dyed and placed on the slide carrier; the staining area (1) is used for staining the section which is transferred from the loading and unloading drawer (22) and is to be stained and is placed on the slide carrier; an XYZ mechanical motion arm (3) is arranged above the staining area (1) and the operation area (2), and the XYZ mechanical motion arm (3) can realize the movement of the section placed on the slide carrier between the staining area (1) and the operation area (2); the positioning detection device is used for detecting whether the slide carrier with the section is arranged in the loading and unloading drawer (22) or not and whether the loading and unloading drawer (22) is closed correctly or not.
2. The full-automatic dyeing workbench with positioning detection function according to claim 1, characterized in that: the slide is placed in the loading drawer (22) by means of a slide carrier, and the positioning detection device comprises a device A for detecting whether the loading drawer (22) is correctly closed and a device B for detecting whether the slide carrier is in the loading drawer (22).
3. The full-automatic dyeing workbench with positioning detection function according to claim 1, characterized in that: the operation area (2) comprises an operation area frame (21), the operation area frame (21) is a plurality of loading and unloading drawer mounting frames (211) which are arranged side by side, and each loading and unloading drawer mounting frame (211) is correspondingly provided with one loading and unloading drawer (22); the operation area frame (21) is provided with an operation area bottom supporting plate (212) and an operation area frame rear end limiting plate (217), the bottom supporting plate is provided with a slide rail (218), the assembling and disassembling drawer (22) is in a cuboid shape and comprises an assembling and disassembling drawer front baffle (225), an assembling and disassembling drawer side baffle (224), an assembling and disassembling drawer rear baffle (228) and an assembling and disassembling drawer bottom plate (227), and a slide block matched with the slide rail (218) is arranged on the assembling and disassembling drawer bottom plate (227); the magnet frame (213) is arranged on the upper portion of the front side of the assembling and disassembling drawer mounting frame (211), the assembling and disassembling drawer magnetic plate (221) is arranged on the upper portion of the assembling and disassembling drawer front baffle (225), and the assembling and disassembling drawer (22) corresponds to each other in position when closed and is magnetically attracted.
4. The full-automatic dyeing workbench with positioning detection function according to claim 2, characterized in that: the device A comprises limiting baffles (214) arranged on two sides of the front end of a mounting frame (211) of the loading and unloading drawer, a positioning shading sheet (223) arranged on the rear end of the loading and unloading drawer (22), a closed state detection groove (216) arranged on a limiting plate (217) on the rear end of a frame of an operation area, and a first detection circuit board arranged on the front side of a dyeing area (1).
5. The full-automatic dyeing workbench with positioning detection function according to claim 2, characterized in that: the device B comprises a slide carrier in-position detection groove (215) arranged on a limiting plate (217) at the rear end of the frame of the operation area and a second detection circuit board arranged on the front side of the dyeing area (1).
6. The full-automatic dyeing workbench with positioning detection function according to claim 3, characterized in that: the left baffle and the right baffle of the loading and unloading drawer (22) are respectively provided with a groove.
7. The full-automatic dyeing workbench with positioning detection function according to claim 1, characterized in that: the XYZ mechanical motion arm (3) is composed of an X-axis mechanical arm (31), a Y-axis mechanical arm (32) and a Z-axis mechanical arm (33), wherein the X-axis mechanical arm (31) comprises a vertically placed shaft supporting plate (314), an X-axis driving wheel shaft (311) and an X-axis driven wheel shaft (312) are sequentially arranged on the upper portion of the shaft supporting plate (314) along the X-axis direction and are driven by a belt, sliding tracks are arranged on the upper end face and the lower end face of the shaft supporting plate (314), an X-axis sliding block (316) is connected to the shaft supporting plate (314) through the upper end and the lower end, and the X-axis sliding block (316) is driven by the belt to reciprocate along the; the Y-axis mechanical arm (32) and the Z-axis mechanical arm (33) are also provided with a driving wheel, a driven wheel, a belt, a sliding track and a sliding block which correspond to each other, and the motion principle is the same as that of the X-axis mechanical arm (31).
8. The full-automatic dyeing workbench with positioning detection function according to claim 7, characterized in that: the lower part of the X-axis sliding block (316) is connected with an X-axis motion positioning shading sheet (317), X-axis limiting infrared geminate transistors (318) are arranged on two sides of the axis supporting plate (314), and the X-axis motion positioning shading sheet (317) is matched with electric signals generated by the X-axis limiting infrared geminate transistors (318); the Y-axis sliding block (321) and the Z-axis sliding block (334) are also provided with corresponding shading sheets and limiting infrared geminate transistors, and the positioning principle is the same as that of the X-axis mechanical arm (31).
9. The full-automatic dyeing workbench with positioning detection function according to claim 8, characterized in that: a slide carrier gripper (333) is fixed on the Z-axis slide block (334), and the slide carrier gripper (333) moves along the Z-axis direction.
10. The full-automatic dyeing workbench with positioning detection function according to claim 1, characterized in that: the workbench further comprises a workbench frame (4), the bottom of the workbench frame is a workbench base (43), a left supporting plate (41) and a right supporting plate (42) which are parallel to each other are vertically arranged on the workbench base (43), and a transverse connecting supporting frame (44) is fixedly connected between the two supporting plates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921947675.1U CN211978482U (en) | 2019-11-12 | 2019-11-12 | Full-automatic dyeing workbench with positioning detection function |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921947675.1U CN211978482U (en) | 2019-11-12 | 2019-11-12 | Full-automatic dyeing workbench with positioning detection function |
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| Publication Number | Publication Date |
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| CN211978482U true CN211978482U (en) | 2020-11-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921947675.1U Active CN211978482U (en) | 2019-11-12 | 2019-11-12 | Full-automatic dyeing workbench with positioning detection function |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116358975A (en) * | 2023-04-14 | 2023-06-30 | 中国人民解放军总医院第三医学中心 | Portable pathology slide automatic sealing machine |
-
2019
- 2019-11-12 CN CN201921947675.1U patent/CN211978482U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116358975A (en) * | 2023-04-14 | 2023-06-30 | 中国人民解放军总医院第三医学中心 | Portable pathology slide automatic sealing machine |
| CN116358975B (en) * | 2023-04-14 | 2024-03-19 | 中国人民解放军总医院第三医学中心 | Portable pathology slide automatic sealing machine |
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Effective date of registration: 20230103 Address after: Room 425-433, Building H6, No. 39, Ruihe Road, Huangpu District, Guangzhou, Guangdong 510530 Patentee after: GUANGZHOU LABSIM BIOTECH Co.,Ltd. Address before: Room 1208, science and technology incubator, No. 36, Sipingshan Road, New District, Zhenjiang City, Jiangsu Province, 212000 Patentee before: Zhenjiang LANBO Medical Equipment Co.,Ltd. |