CN215046777U - Chip taking and placing manipulator - Google Patents

Abstract

The utility model discloses a chip taking and placing mechanical arm, which comprises a chip taking and placing mechanism and an angle adjusting mechanism, wherein the chip taking and placing mechanism is configured to be used for taking a glass slide out of a supporting element and placing the glass slide on the supporting element, and the chip taking and placing mechanism comprises a chip taking part and a chip placing part; the angle adjusting mechanism is configured to be capable of adjusting the rotation angle of the sheet taking part and the sheet placing part. The utility model discloses in, get and put a piece manipulator including getting and putting piece mechanism and angle adjustment mechanism, be favorable to taking out the slide glass from the support element to and place the slide glass on the support element, be favorable to realizing operating in batches, improve work efficiency. Because the slide glass does not need to be taken or placed manually, the damage and the pollution to the slide glass are avoided.

Description

Chip taking and placing manipulator

Technical Field

The utility model particularly relates to a get piece manipulator.

Background

Pathological examination is a pathomorphological method for examining pathological changes in organs, tissues or cells of the body. In order to study the disease process of organs, tissues or cells, some kind of pathological morphological examination method can be used to examine the pathological changes of them, study the cause, pathogenesis and the process of pathological changes, and finally make pathological diagnosis. The pathological morphology examination method comprises observing pathological changes of a general specimen, cutting pathological tissues with a certain size, placing the pathological tissues on a glass slide, and observing the pathological tissues with a microscope to further examine pathological changes.

The digital section system can rapidly scan the whole glass slide in a full-information and all-round way, so that the traditional materialized glass slide becomes a new generation of digital pathological section, and the digital section system is an epoch-making revolution for realizing pathological diagnosis technology. The system can separate a pathologist from a microscope, solve pathological diagnosis through a network at any time and any place, realize global online synchronous remote consultation or offline remote consultation, and has great significance for time and space alternation and transmission advantages of diagnosis value equal to that of microscope observation due to the fact that full-section information is provided. And multilayer three-dimensional reconstruction of pathological sections and management digitization of the pathological sections are also realized. The system can be widely used for pathological clinical diagnosis, pathological teaching, histological cell imaging, fluorescence analysis and immunohistochemical digital imaging. The slices are scanned into digital slices, so that the digital slices are convenient to store and transmit; just like scanning the common developed photo into a digital photo, the photo can be read and examined on a computer without singly observing the photo by using a microscope.

The existing digital pathological section scanner generally takes a slide glass manually and places the slide glass on an objective table for scanning of the scanner, and then takes the slide glass out of the objective table after scanning is finished, so that the working efficiency is low, and time and labor are wasted. And because the slide glass loaded with the slices has the characteristics of fragility, smoothness, thinness and the like, the slide glass is inconvenient to take manually and needs to be taken or put with great care.

SUMMERY OF THE UTILITY MODEL

To the above situation, for overcoming prior art's defect, the utility model provides a get piece manipulator.

In order to achieve the above object, the present invention provides the following technical solutions:

a chip taking and placing mechanical arm comprises a chip taking and placing mechanism and an angle adjusting mechanism, wherein the chip taking and placing mechanism is configured to be used for taking a glass slide out of a supporting element and placing the glass slide on the supporting element, and the chip taking and placing mechanism comprises a chip taking part and a chip placing part; the angle adjusting mechanism is configured to be capable of adjusting the rotation angle of the sheet taking part and the sheet placing part.

Furthermore, get a piece mechanism and include the connecting rod, get a piece part and put a piece part and all be connected with the connecting rod.

Further, the sheet taking part and the sheet placing part are perpendicular to each other.

Further, a slide taking part is arranged at the front part of the connecting rod and is configured to be capable of hooking the slide glass to enable the slide glass to be separated from the supporting element.

Further, a slide placing part is arranged at the rear part of the connecting rod and is configured to push the slide to move so as to place the slide on the supporting element.

Further, the angle adjusting mechanism comprises a first power device and a first power transmission device, the first power device is connected with the first power transmission device, the first power device is configured to provide power for adjusting the angle, and the first power transmission device is configured to transmit the power to the pick-and-place mechanism.

Furthermore, the first power transmission device comprises a first driving wheel, a second driving wheel and a first driving belt, the first driving wheel and the second driving wheel are respectively connected with the first driving belt, the first driving wheel is connected with the first power device, and the second driving wheel is connected with the connecting rod.

Further, the angle adjusting mechanism further comprises an angle adjusting component, the angle adjusting component comprises a swinging piece and a blocking piece, and the blocking piece can limit the rotating angle of the swinging piece.

Further, the swinging piece comprises a first swinging piece and a second swinging piece, the first swinging piece comprises a first swinging arm and a second swinging arm, and the second swinging arm is connected with a first switch.

Further, the blocking part comprises a fixed blocking part and a fitting part, and the fitting part is a sensor.

The utility model has the advantages that:

(1) the utility model discloses in, get and put a piece manipulator including getting and putting piece mechanism and angle adjustment mechanism, be favorable to taking out the slide glass from the support element to and place the slide glass on the support element, be favorable to realizing operating in batches, improve work efficiency. Because the slide glass does not need to be taken or placed manually, the damage and the pollution to the slide glass are avoided.

(2) The utility model provides an angle adjustment mechanism includes power device, power transmission device, swing piece and blocks the piece etc. can accurately adjust and get piece part and put piece part pivoted angle, avoids getting piece part and putting piece part mutual interference, can realize getting the piece smoothly and put the piece.

(3) The utility model provides a get piece part and put piece part integration on the connecting rod, compact structure gets piece part and puts piece part interval certain distance moreover, gets piece part and puts the direction of piece part different (get piece part and put piece part mutually perpendicular), can avoid getting piece part and putting piece part interact like this.

Drawings

Fig. 1 is a schematic structural diagram of a pick-and-place robot.

Fig. 2 is a schematic structural view of a side surface of the pick-and-place robot.

Figure 3 is an exploded view of a pick-and-place robot.

Fig. 4 is a schematic view of the pick-and-place robot combined with the x-axis moving mechanism (the first storage slot and some connecting parts are hidden to show the x-axis moving mechanism).

Figure 5 is an exploded view of the slide staging mechanism.

Fig. 6 is a schematic view of the x-axis moving mechanism (some parts are hidden to show the x-axis moving mechanism).

Fig. 7 is an exploded view of the x-axis movement mechanism.

Fig. 8 is a schematic view of the structure of the device for taking and placing the sheet.

Figure 9 is a schematic view of the apparatus for picking and placing slides (the slide staging mechanism is hidden to show the y-axis movement mechanism).

FIG. 10 is a side view of the device for removing and placing slides (the slide staging mechanism is hidden to show the y-axis movement mechanism).

Fig. 11 is a schematic view of the rear side of the device for picking and placing sheets.

Fig. 12 is a schematic view of the rear side of the device for taking and placing sheets (some fixing parts are hidden in order to show the connecting structure of the second sliding bracket).

FIG. 13 is a schematic view of a magazine.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments provided in the present application without any inventive step are within the scope of protection of the present application.

Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the specification. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of ordinary skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments without conflict.

Unless defined otherwise, technical or scientific terms referred to herein shall have the ordinary meaning as understood by those of ordinary skill in the art to which this application belongs. Reference to "a," "an," "the," and similar words throughout this application are not to be construed as limiting in number, and may refer to the singular or the plural. The present application is directed to the use of the terms "including," "comprising," "having," and any variations thereof, which are intended to cover non-exclusive inclusions; reference to "connected," "coupled," and the like in this application is not intended to be limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. Reference herein to "a plurality" means greater than or equal to two. "and/or" describes an association relationship of associated objects, meaning that three relationships may exist, for example, "A and/or B" may mean: a exists alone, A and B exist simultaneously, and B exists alone. Reference herein to the terms "first," "second," "third," and the like, are merely to distinguish similar objects and do not denote a particular ordering for the objects.

Example 1, see figures 1-11.

As shown in fig. 1-12, an apparatus for taking and placing a slide includes a slide taking and placing robot including a slide taking and placing mechanism configured to be able to take out and place a slide b (or to be able to take out a slide from a support member and place a slide on a support member), for example, the slide taking and placing mechanism is able to take out a slide b (with a slide loaded thereon) from a certain position (or a certain support member) and to place a slide b at a certain position (or a certain support member). The piece taking and placing mechanism comprises a piece taking part and a piece placing part.

In some preferred modes, as shown in fig. 1 to 3, the sheet taking and placing mechanism comprises a connecting rod 2c, and a sheet taking part 3c and a sheet placing part 4c are arranged on the connecting rod 2 c. In some preferred modes, the sheet taking part 3c and the sheet placing part 4c are spaced at a certain distance, and the distance is larger than the length of the glass slide, so that the sheet taking and the sheet placing are not influenced, and the mutual influence of the sheet taking part and the sheet placing part is avoided.

In some preferred forms, as shown in fig. 1-2, a take-off member 3c is provided at the forward end of the linkage 2c and is configured to be able to hook a slide off the support element. The slide taking part 3c is perpendicular to the connecting rod 2c, the slide taking part 3c and the connecting rod 2c form an L shape, the slide b can be hooked, and then the slide b is moved to be away from the original position (a slide storage bin is shown in fig. 13, the slide b is stored in the slide storage bin, the slide storage bin comprises a slide storage groove, a guide structure 4 and a hand-grasping part 5) and enters another position (can be a slide temporary storage area), or the slide taking part 3c hooks the slide b to be away from the objective table and enter the slide temporary storage area.

In some preferred forms, as shown in fig. 1-2, a slide placement member 4c is provided at the rear of the link 2c and is configured to push the slide to move to place the slide on the support element. In some preferred embodiments, the slide placing part 4c is perpendicular to the connecting rod 2c, and the slide placing part 4c and the connecting rod 2c form an "L" shape, which can push the slide b, and further move the slide b to move the slide b from the original position (which may be a temporary slide storage area) to another position (which may be a slide stage), or move the slide b from the temporary slide storage area to the slide storage bin.

In some preferred forms, the pick-up section 3c and the drop-off section 4c are perpendicular to each other, as shown in fig. 2. Set up like this for get piece part and put piece in-process each other not influencing, can guarantee to get the piece and put going on smoothly of piece. When the plane where the sheet taking part 3c and the connecting rod 2c are located is a horizontal plane, the sheet placing part 4c is vertical to the horizontal plane, and when the sheet placing part 4c and the connecting rod 2c are located in the horizontal plane, the sheet taking part 3c is vertical to the horizontal plane.

In some preferred forms, the pick-and-place manipulator further includes an angle adjusting mechanism, and the angle adjusting mechanism is configured to adjust the rotation angles of the pick-and-place part 3c and the place-and-place part 4c, so as to avoid the mutual interference between the pick-and-place part and enable the pick-and-place part to smoothly achieve pick-and-place.

In some preferred modes, the angle adjusting mechanism comprises a first power device and a first power transmission device, the first power device is connected with the first power transmission device, the first power device is configured to provide power for adjusting the angle, and the first power transmission device is configured to transmit the power to the pick-and-place mechanism so as to change the rotating angle of the pick-and-place mechanism.

In some preferred forms, the first power means may be any means capable of providing power, such as a motor, or may be a handle that can be swung, by which the power is provided. In this embodiment, as shown in fig. 1 to 3, the power device employs a first motor 6c, and the first motor 6c is mounted on a first fixing plate 7c and can provide power to rotate the pick-and-place mechanism. In some preferred forms, as shown in fig. 8-9, the connection wires of the first motor 6c are received in a first storage slot 71 c.

In some preferred forms, as shown in fig. 1-3, the first power transmission device comprises a transmission wheel and a first transmission belt 8c, and in some preferred forms, the transmission wheel comprises a first transmission wheel 9c and a second transmission wheel 10c, the first transmission wheel 9c is connected with the first power device, and the second transmission wheel 10c is connected with the connecting rod 2 c. If the first power device is started, the first motor rotates, the first driving wheel 9c rotates, the second driving wheel 10c rotates, the connecting rod 2c rotates for a certain angle, and the sheet taking part 3c and the sheet placing part 4c rotate for a certain angle, so that the sheet taking and placing are facilitated.

In some preferred modes, the angle adjusting mechanism further comprises an angle adjusting component, the angle adjusting component comprises a swinging part and a blocking part, in some preferred modes, as shown in fig. 1 to 3, the swinging part comprises a first swinging part and a second swinging part 12c, the first swinging part is connected with the second swinging part 12c, in some preferred modes, the first swinging part comprises swinging arms (namely a first swinging arm 13c and a second swinging arm 114c), as shown in fig. 3, the first swinging arm 13c and the second swinging arm 114c are respectively positioned at two ends of the swinging part, a first abdicating structure 15c is arranged in the middle of the first swinging part, a second abdicating structure 16c is arranged in the middle of the second swinging part 12c, in some preferred modes, the first abdicating structure 15c and the second abdicating structure 16c are both inwards cambered surfaces, in some preferred modes, connecting holes are respectively arranged on the first swinging part and the second swinging part 12c, the first swinging piece is connected with the second swinging piece 12c through a bolt, after the first swinging piece is connected with the second swinging piece 12c, the first abdicating structure 15c and the second abdicating structure 16c can allow the first driving wheel 9c to pass through the swinging piece, in some preferable modes, the first swinging piece is provided with a connecting through hole, the first driving wheel 9c is also provided with a connecting hole matched with the connecting through hole, a fastening piece can be adopted to connect the first swinging piece with the first driving wheel 9c, and when the first driving wheel 9c rotates, the first swinging piece can rotate along with the first swinging piece. In some preferred forms, a first switch 14c is provided on at least one oscillating arm of the first oscillating member, said first switch being a sensor switch capable of cooperating with a sensor to control the first motor to be switched off. In the present embodiment, as shown in fig. 1, the sensor switch 14c is connected to the second swing arm 114 c.

In some preferred modes, as shown in fig. 1 to 3, the blocking member is mounted on the first fixing plate 7c, in some preferred modes, the blocking member includes two fixed blocking members (a first fixed blocking member 17c and a second fixed blocking member 18c), in some preferred modes, the two fixed blocking members are connected to the first fixing plate 7c, and the two fixed blocking members are in a vertical line and are spaced apart. The first swing arm 13c is swingable between two fixed stoppers, which limit the swing of the first swing arm 13 c.

In some preferred forms, the blocking member further includes a fitting member configured to be capable of fitting with the fixed blocking member to further limit the swing of the swing arm. In some preferred modes, the number of the matching pieces may be the same as the number of the fixing stoppers, or the number of the matching pieces is larger than the number of the fixing stoppers, in the embodiment, as shown in fig. 1 to 3, the matching pieces include a first matching piece 50c and a second matching piece 51c, in some preferred modes, the first matching piece 50c and the second matching piece 51c are mounted on the first fixing plate 7c, in some preferred modes, as shown in fig. 1, the two matching pieces are respectively arranged opposite to the two fixing stoppers, and the first matching piece 50c and the first fixing stopper 17c are symmetrical with respect to the center of the first driving wheel 9 c; likewise, the second fitting member 51c and the second fixing stopper 18c are centrosymmetric with respect to the first drive wheel 9 c; further, a straight line where the first fixed stopper 17c and the first fitting 50c are located is L1, a straight line where the second fixed stopper 18c and the second fitting 51c are located is L2, and the straight lines L1 and L2 are perpendicular to each other, so that the swing arm can swing within a certain angle (90 degrees).

In some preferred manners, the first fitting element 50c and the second fitting element 51c may be sensors, the sensors can be connected to the first motor, in some preferred manners, as shown in fig. 1, the first switch 14c is connected to the end of the second swing arm, in a specific implementation, the first switch 14c may be a photoelectric sensor switch, the second fitting element 51c may be a photoelectric sensor, and the first switch 14c and the sensors are matched with each other to stop the motor from rotating. In the present application, the photosensor switch and the photosensor are conventional components in the prior art, and the present invention does not improve the structures and principles of the photosensor switch and the photosensor. In this embodiment, as shown in fig. 1 to 3, a U-shaped notch is formed on the sensor, the first switch 14c can pass through the U-shaped notch, and when the first switch 14c moves to the U-shaped notch, the first switch cooperates with the sensor to stop the rotation of the first motor. When the first swing arm 13c is swung by the first fixed stopper 17c to the first fixed stopper 18c, the second swing arm 114c swings therewith, so that the first switch is located in the sensor U-shaped recess, stopping the rotation of the first motor. The first swing arm 13c cannot swing clockwise, and at this time, the first swing arm 13c swings 90 degrees, and accordingly, the link rotates 90 degrees clockwise, and at this time, the sheet taking component 3c changes from the vertical state to the horizontal state, and the sheet placing component 4c changes from the horizontal state to the vertical state. When the first motor rotates reversely, the first driving wheel 9c rotates, the first swing arm 13c rotates counterclockwise, and finally, the first swing arm 13c swings to the first fixed stop 17c from the second fixed stop 18c, the first switch is located in the U-shaped recess of the first fitting 50c, the second swing arm 114c cannot swing counterclockwise continuously, at this time, the first swing arm 13c and the second swing arm 114c both swing 90 degrees, accordingly, the connecting rod rotates 90 degrees, at this time, the sheet taking component 3c is changed from the horizontal state to the vertical state, and the sheet placing component 4c is changed from the vertical state to the horizontal state.

In some preferred forms, the device for accessing and placing slides further includes a slide staging mechanism, as shown in fig. 4-5, including a staging slot 18c, the staging slot 18c being mounted to the holder 70 c. In some preferred modes, the temporary storage groove 18c is internally provided with a supporting step 19c which can support the slide glass, in some preferred modes, the upper end of the temporary storage groove 18c is provided with a slice protecting piece 20c, and the slice protecting piece 20c is in a 7 shape and can prevent the slice from being separated from the temporary storage groove 18 c; of course, a plurality of temporary storage tanks 18c may be provided as necessary. In some preferred forms, as shown in fig. 5, the entrance end of the staging slot 18c is provided with a guide surface 21c, and in some preferred forms, the guide surface 21c is curved to facilitate staging of slides.

In some preferred forms, the device for taking and placing the slide further comprises a moving mechanism, the moving mechanism comprises an x-axis moving mechanism and a y-axis moving mechanism, and the x-axis moving mechanism is configured to enable the slide taking and placing manipulator to move along the x-axis (i.e. the slide taking and placing mechanism extends or retracts) so as to take out the slide b or place the slide b.

The y-axis movement mechanism is configured to move the pick-and-place robot along the y-axis to select a different pick or place position (i.e., the pick-and-place mechanism moves left or right to a different staging slot 18c to facilitate placing a slide b in a different staging slot 18c or placing a slide b in a different staging slot 18c in the stage to facilitate scanning of the section).

In some preferred modes, as shown in fig. 4, the x-axis moving mechanism comprises a second power device, a second power transmission device, a first sliding mechanism and a mounting seat 60c, and in some preferred modes, the second power device can be any device capable of providing power, such as a motor, and can also be a handle capable of being shaken, and the power is provided by shaking the handle. In the present embodiment, as shown in fig. 4,6,7,10 and 12, the second power device employs the second motor 22c, the second motor 22c is mounted on the second fixing plate 23c, and the second fixing plate 23c is fixed on the mounting base 60c, and can provide power to move the pick-and-place robot in the x-axis direction. In some preferred forms, the connection line of the second motor is received in the second electrical storage slot.

In some preferred modes, as shown in fig. 4,6 and 7, the second power transmission device comprises a third transmission wheel 25c, a fourth transmission wheel 26c and a second transmission belt 27c, and the second transmission belt 27c is connected with the third transmission wheel 25c and the fourth transmission wheel 26 c; the third transmission wheel 25c (as a driving wheel) is connected with the second motor 22c, the fourth transmission wheel 26c (as a driven wheel) is fixedly connected with the mounting base 60c, the second motor 22c is started, the second motor 22c rotates, the third transmission wheel 25c rotates, and the fourth transmission wheel 26c rotates accordingly.

In some preferred modes, as shown in fig. 4,6 and 7, the first sliding mechanism comprises a first sliding block 28c, a first sliding rail 29c and a sliding bracket; the first slide rail 29c is fixedly installed on the installation seat 60c, the first slide block 28c is matched with the first slide rail 29c, and the first slide block 28c can move on the first slide rail 29 c; in some preferred forms, a sliding bracket is connected to the second belt, the sliding bracket is also connected to the first slider 28c, and the movement of the sliding bracket can drive the first slider 28c to move. In some preferred forms, as shown in fig. 4, 6-7, the sliding bracket includes a first connecting section 30c, a second connecting section 31c, and a third connecting section 32 c; the first connecting section 30c is connected with the second transmission belt 27c, the second connecting section 31c is connected with the sliding block, the second connecting section 31c is further connected with the first fixing plate 7c, the second connecting section 31c is further connected with the first wire storage groove 71c, and the third connecting section 32c is connected with the taking and placing mechanism. When the second motor rotates, the third driving wheel 25c rotates, the second driving belt 27c moves, the fourth driving wheel 26c rotates accordingly, the sliding support connected to the second driving belt 27c moves along with the second driving belt 27c, the slide taking and placing mechanism, the angle adjusting mechanism and the first storage slot 71c connected to the sliding support can move along with the sliding support, and the slide taking and placing mechanism can move along the x axis, so that the slide b can be taken out or placed conveniently.

In some preferred manners, the x-axis moving mechanism further includes a limiting structure, and the limiting structure includes a limiting plate 113c capable of limiting the wafer taking and placing manipulator to move along the x-axis. In another preferred embodiment, the limit structure includes a second switch 111c and a second sensor 112c, and the second switch 111c and the second sensor 112c cooperate with each other to stop the movement of the wafer pick-up robot, and further, to control the forward or backward movement position of the robot, thereby limiting the forward or backward movement range of the robot. In other preferred modes, the limiting structure comprises the limiting plate 113c, and also comprises a switch and a sensor. In this embodiment, as shown in fig. 4,6, and 7, the limiting structure includes a limiting plate 113c, a second switch 111c, and a second sensor 112c, where the limiting plate is located at the front end of the slide rail, and can limit the range of forward movement of the slider. The second sensor 112c is arranged at the rear end of the mounting base 60, the second sensor is connected with the second motor, the second switch 111c is arranged at the rear end of the first sliding support, and when the second switch 111c moves to the second sensor 112c, the second motor can be turned off, so that the manipulator can be prevented from moving continuously, and the backward movement range of the chip taking and placing manipulator is limited. Likewise, the second sensor 112c may be a photosensor and the second switch 111c may be a photosensor switch. Photoelectric sensor switch, photoelectric sensor all are conventional part among the prior art, and this application does not improve photoelectric sensor switch and photoelectric sensor's structure and principle.

In some preferred forms, the moving mechanism further includes a y-axis moving mechanism configured to move the pick-and-place robot along the y-axis to select different pick-and-place positions or different place positions (i.e., the pick-and-place robot can move left or right to different temporary storage slots 18c to place the slide b in the different temporary storage slot 18c or to place the slide b in the different temporary storage slot 18c in the stage to scan the slide).

In some preferred modes, as shown in fig. 8-12, the y-axis moving mechanism comprises a third power device, a third power transmission device, a second sliding mechanism and a fixed seat 70c, and in some preferred modes, the third power device can be any device capable of providing power, such as a motor, and can also be a handle capable of being shaken, and the power is provided by shaking the handle. In the present embodiment, as shown in fig. 8, the third power unit uses the third motor 33c to supply power to move the chip pick-up robot and the x-axis moving mechanism in the y-axis direction. The connection line of the third motor 6c is housed in the third storage slot.

In some preferred forms, as shown in fig. 8-12, the third power transmission means comprises a fifth transmission wheel 36c, a sixth transmission wheel 37c, a third transmission belt 38c, the third transmission belt 38c being connected to the fifth transmission wheel 36c and the sixth transmission wheel 37 c; a fifth driving wheel 36c (as a driving wheel) is connected to the third motor 33c, and a sixth driving wheel 37c (as a driven wheel) is mounted on the holder 70 c. The third motor 33c is activated, the third motor 33c rotates, the fifth drive wheel 36c rotates, and the sixth drive wheel 37c rotates.

In some preferred forms, as shown in fig. 8-12, the second sliding mechanism includes a second slider 39c, a second slide rail 40c, and a second slide bracket; the second slide block 39c is matched with the second slide rail 40c, and the second slide block 39c can move on the second slide rail 40 c; the second sliding support is connected with the third transmission belt, the second sliding support is further connected with the second fixing plate 23c and the mounting seat 60c, and the mounting seat is connected with the second sliding block. When the third motor 33c rotates, the fifth driving wheel 36c rotates, the third driving belt moves, the second sliding bracket moves, the second fixing plate 23c and the mounting seat 60c connected with the second sliding bracket move, and the second slider moves, so that the chip taking and placing manipulator and the y-axis moving mechanism connected to the mounting seat also move along with the movement of the mounting seat.

In some preferred forms, as shown in fig. 12, the second sliding bracket structure includes a first connecting portion 80c, a second connecting portion 81 c; the first connecting portion 80c is connected to the third belt, and the second connecting portion 81c is connected to the second fixing plate 23c and the mounting seat 60 c.

In some preferred modes, the y-axis moving mechanism also comprises a limiting structure, the limiting structure comprises a limiting part and can limit the moving range of the y-axis moving mechanism, in other preferred modes, the limiting structure comprises a switch and a sensor, the switch 111c is matched with the sensor to stop the third motor and stop the y-axis moving mechanism, and further, the position of the manipulator moving leftwards or rightwards can be limited, and the moving range of the manipulator moving leftwards and rightwards is limited. In some other preferred modes, the limiting structure comprises the limiting part, and also comprises the switch and the sensor. In this embodiment, as shown in fig. 9 to 10, the limiting structure includes a first limiting member 114c, a second limiting member 120c, a third switch 115c, a third sensor 116c, and a fourth sensor 117 c. The first position-limiting member 114c is located at one side of the slide rail, and the second position-limiting member 120c is located at one end of the slide rail, both of which can limit the range of the slide block moving left and right. The third switch is connected to the first fixing plate 7c, the third sensor 116c and the fourth sensor 117c are fixedly connected to the mounting plate 118c, and the third sensor 116c and the fourth sensor 117c are spaced apart from each other. When the third switch 115c moves to the third sensor 116c or the fourth sensor 117c, the third motor can be turned off, and the y-axis moving mechanism can be prevented from moving continuously, thereby limiting the range of the wafer taking and placing manipulator moving to the left and right. Similarly, the third sensor 116c and the fourth sensor 117c may be photosensors, and the third switch 115c may be a photosensor switch. Photoelectric sensor switch, photoelectric sensor all are conventional part among the prior art, and this application does not improve photoelectric sensor switch and photoelectric sensor's structure and principle.

The working process of the device for taking and placing the sheets is as follows:

(1) get and put piece mechanism and get the in-process of piece from storing up the piece storehouse:

selecting an empty temporary storage groove 18c by using a y-axis moving mechanism, and enabling the chip taking and placing manipulator to be located at the empty temporary storage groove 18 c;

the angle of the slide taking part is adjusted by using the angle adjusting mechanism, so that the slide taking part is positioned in a horizontal position, the slide placing part is positioned in a vertical position (if the initial position is reached, the slide taking part is positioned in the horizontal position, the angle adjustment is not needed), the second motor is started, the slide taking manipulator can move forwards along the x axis, the connecting rod can extend out to the slide storage bin, when the slide taking part is positioned in the front of the slide (the slide taking part exceeds the front end of the slide), the second motor stops moving, the angle of the slide taking part is adjusted, the slide taking part is positioned in the vertical position, the slide placing part is positioned in the horizontal position, the slide taking part can hook the front end of the slide b in the slide storage bin, then the second motor is started, the manipulator moves backwards along the x axis, the slide b is hooked back to the temporary storage groove 18c of the temporary storage mechanism of the slide b, and the second motor is closed, the movement is stopped.

(2) When the slide b needs to be placed on the objective table for scanning by the scanning device; the procedure for placing the slide b on the stage was:

use angle adjustment mechanism to adjust the angle of getting piece part, make and get piece part and be located the horizontal position, it is located vertical position to put piece part (if during initial position, it is located horizontal position to get piece part, it is located vertical position to put piece part, just need not to carry out angle regulation), start the second motor, make and get piece manipulator and move forward along the x axle, it is pushing away the slide glass b that is located in the groove 18c of keeping in to put piece part, move forward along the x axle, put slide glass b to the objective table, then, make the motor reversal, it moves backward along the x axle to get piece manipulator, it gets piece manipulator and gets home position (initial position promptly), the second motor is closed, stop moving.

(3) Similarly, when the section on the stage is scanned, the slide b needs to be taken out of the stage, and the process of taking out the slide b is as follows:

selecting an empty temporary storage groove 18c by using a y-axis moving mechanism, and enabling the chip taking and placing manipulator to be located at the empty temporary storage groove 18 c;

because the piece taking manipulator is located the initial position, at this moment, the piece taking component is located the horizontal position, the piece placing component is located the vertical position, so, can directly start the second motor, make the piece taking mechanism can move along the x axle forward, the connecting rod can stretch out to the objective table, when the piece taking component is located the slide front portion (get the front end that the piece component surpassed the slide), the second motor stops moving, adjust the angle of getting the piece component, make the piece taking component be located the vertical position, the piece placing component is located the horizontal position, the piece taking component can catch the front end of slide b in the storage bin, then start the second motor, make the manipulator move along the x axle backward, hook slide b back to slide b in the temporary storage groove 18c of the temporary storage mechanism of slide b, the second motor is closed, stop moving.

(4) After the section on the slide b is scanned, it is placed in the temporary storage slot 18c, and then the scanned section needs to be replaced into the slide storage bin, then the process of replacing the slide in the scanned temporary storage slot 18c into the slide storage bin is as follows:

use angle adjustment mechanism to adjust the angle of getting piece part, make to get piece part and be located the horizontal position, it is located vertical position to put piece part (if during initial position, it is located horizontal position to get piece part, it is located vertical position to put piece part, just need not to carry out angle regulation), start the second motor, make to get and put piece manipulator and move forward along the x axle, it pushes away slide glass b that is located temporary storage tank 18c to put piece part, move forward along the x axle, put slide glass b to the storage silo, then, make the motor reversal, it moves backward along the x axle to get to put piece manipulator, it gets piece manipulator and gets home position (initial position promptly), the second motor is closed, stop moving.

It should be understood by those skilled in the art that various features of the above-described embodiments can be combined in any combination, and for the sake of brevity, all possible combinations of features in the above-described embodiments are not described in detail, but rather, all combinations of features which are not inconsistent with each other should be construed as being within the scope of the present disclosure.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the utility model. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application.

Claims (10)

1. A slice taking and placing mechanical arm is characterized by comprising a slice taking and placing mechanism and an angle adjusting mechanism, wherein the slice taking and placing mechanism is configured to be used for taking a glass slide out of a supporting element and placing the glass slide on the supporting element, and the slice taking and placing mechanism comprises a slice taking part and a slice placing part; the angle adjusting mechanism is configured to be capable of adjusting the rotation angle of the sheet taking part and the sheet placing part.

2. The manipulator of claim 1, wherein the pick-and-place mechanism includes a connecting rod, and the pick-and-place member and the placing member are both connected to the connecting rod.

3. The pick-and-place manipulator of claim 1, wherein the pick-and-place member is substantially perpendicular to the pick-and-place member.

4. A pick-and-place robot as claimed in claim 2, wherein the pick-and-place member is disposed at a front portion of the linkage and is configured to hook the slide away from the support member.

5. The pick-and-place robot of claim 2, wherein the pick-and-place member is disposed at a rear portion of the linkage and is configured to move the slide to place the slide on the support member.

6. A pick-and-place manipulator according to claim 1, wherein the angle adjustment mechanism comprises a first power means and a first power transmission means, the first power means being connected to the first power transmission means, the first power means being configured to provide power for the adjustment of the angle, the first power transmission means being configured to transmit power to the pick-and-place mechanism.

7. The wafer picking and placing manipulator according to claim 6, wherein the first power transmission device comprises a first transmission wheel, a second transmission wheel and a first transmission belt, the first transmission wheel and the second transmission wheel are respectively connected with the first transmission belt, the first transmission wheel is connected with the first power device, and the second transmission wheel is connected with the connecting rod.

8. The wafer pick-and-place manipulator according to claim 1, wherein the angle adjustment mechanism further comprises an angle adjustment component, the angle adjustment component comprising a swinging member and a blocking member, the blocking member being capable of limiting the rotation of the swinging member.

9. The pick-and-place robot of claim 8, wherein the swinging member comprises a first swinging member and a second swinging member, the first swinging member comprises a first swinging arm and a second swinging arm, and the second swinging arm is connected with the first switch.

10. A pick-and-place robot as claimed in claim 8, wherein the blocking member comprises a fixed blocking member and a mating member, the mating member being a sensor.

Images