CN221209032U - Glass slide classification system - Google Patents

Abstract

The utility model discloses a glass slide classification system, which relates to the technical field of automated equipment in pathology inspection laboratories, and the scheme comprises the following steps: the device comprises a storage mechanism for storing glass slides, a feeding mechanism for sequentially conveying and feeding the glass slides in the storage mechanism, an access mechanism for empty tray feeding or classified glass slide tray discharging, a tray buffer mechanism, a tray conveying mechanism, a glass slide conveying mechanism, a machine vision mechanism and a controller, wherein the controller is respectively and electrically connected with the storage mechanism, the feeding mechanism, the tray access mechanism, the tray buffer mechanism, the tray conveying mechanism, the glass slide conveying mechanism and the machine vision mechanism and is used for generating classifying and slicing quality information of the glass slides and controlling the mechanisms to finish classifying and loading the glass slides; the utility model can realize pathological section quality detection and automatic classification of the glass slides, does not need manual detection, sorting and dishing, and improves the working efficiency.

Description

Glass slide classification system

Technical Field

The utility model relates to the technical field of automated equipment in pathology inspection laboratories, in particular to a glass slide classification system.

Background

Slides are used to carry cells or pathological tissue sections viewed under a microscope, and are widely used for medical examination and clinical diagnosis of diseases. After the slides carrying the cells or pathological tissue sections are finished to be sliced, the sorted slides are required to be sorted according to preset rules (such as according to subfunctions, disease types, readers and the like), and the sorted slides are usually placed in a slide tray in order and then are delivered to a inspector or a pathologist for microscopic observation. The existing classification work relies on the manual work to classify according to the serial numbers on each glass slide and put the glass slide in the glass slide tray, so that the speed is low, the efficiency is low, and the error risk is easily increased due to visual fatigue. Under the background, the applicant aims to research a slide classifying system, so that automatic classification of slides is realized, and the working efficiency is improved.

Disclosure of utility model

The utility model aims to realize automatic classification of glass slides, and the manual classification and dishing are not needed, so that the working efficiency is improved.

In order to achieve the above purpose, the technical scheme adopted by the utility model is as follows:

a slide sorting system, comprising:

a storage mechanism for storing the slide glass;

the loading mechanism sequentially conveys and loads the glass slides in the storage mechanism;

the slide glass conveying mechanism is used for grabbing the slide glass on the feeding mechanism and matching with the tray conveying mechanism to convey the slide glass to the tray;

the tray storing and taking mechanism is used for empty tray feeding or classified slide tray loading and unloading;

The tray caching mechanism is used for vertically placing the empty trays in sequence;

the tray conveying mechanism can take the tray out of or put the tray into the tray cache area and is used for conveying the tray between the tray access mechanism and the tray cache mechanism;

The machine vision mechanism sequentially photographs the glass slides transmitted by the feeding mechanism, acquires the serial number information and pathological section images of the glass slides, and generates glass slide classification information and pathological section quality information after being processed by the controller;

and the controller is electrically connected with the storage mechanism, the feeding mechanism, the tray access mechanism, the tray caching mechanism, the tray conveying mechanism, the glass slide conveying mechanism and the machine vision mechanism respectively and is used for generating classification and slicing quality information of glass slides and controlling the mechanisms to finish classification and dishing of the glass slides.

Further, the storage mechanism comprises a first motor, a rotating frame, a glass slide frame, a pushing mechanism and a pushing block, the rotating frame is driven by the first motor to rotate, a material frame groove is vertically formed in the rotating frame, a clamping block is hinged to the lower end of the material frame groove, the glass slide frame is placed in the material frame groove, the clamping block is clamped at the lower end of the glass slide frame, the pushing mechanism pushes the pushing block to move up and down, and the pushing block is matched with the clamping block.

Further, feed mechanism includes supporting shoe, first Z axle module, push rod, release module, transport piece and transport the module, the supporting shoe is located storage mechanism's below, first Z axle module drive supporting shoe moves along Z axle round trip, release module drive push rod round trip to move, transport the module drive and transport the piece and remove, supporting shoe, push rod and transport the piece and mutually support.

Further, the tray access mechanism comprises a tray bin, a jacking block, a jacking module, a clamping strip, a chuck module, a telescopic rod module and a driving plate module, wherein the jacking block is positioned at the lower end of the tray bin, the jacking module drives the jacking block to reciprocate up and down, the middle part of the clamping strip is hinged to the side face of the tray bin, the chuck module drives the lower end of the clamping strip to reciprocate, a hook block is fixedly arranged on the inner side of the upper end of the clamping strip, a tray outlet is formed in the lower portion of the back of the tray bin, and the driving plate module drives the telescopic rod module to dial the tray out of the tray outlet.

Further, the side surface of the tray buffer mechanism is sequentially and vertically provided with a plurality of groups of tray grid grooves.

Further, the tray conveying mechanism comprises a second Z-axis module, a support frame, sliding rails, sliding plates, a tensioning module, a belt assembly, a belt driving module and a photoelectric sensor, wherein the second Z-axis module drives the support frame to move back and forth along the Z axis, the sliding rails are arranged on the support frame in parallel, the sliding plates are symmetrically placed on the sliding rails, the belt assembly is respectively arranged on the sliding plates, the tensioning module simultaneously drives the sliding plates to be separated or folded on the sliding rails, the belt driving module simultaneously drives the belt assembly to rotate, and the photoelectric sensor is respectively arranged at two ends of the belt assembly.

Further, the glass slide conveying mechanism comprises a third Z-axis module, a manipulator and a sucker assembly, wherein the third Z-axis module drives the manipulator to reciprocate along a Z axis, and the manipulator drives the sucker assembly to move.

Further, the manipulator includes third motor, first arm, first wheel, first belt, center pin, second arm, second wheel, second belt, third motor drives first arm and first wheel simultaneously and rotates, the center pin joint is on first arm, and the one end and the second arm fixed connection of center pin, first belt sets up on center pin and first wheel, the second wheel pin joint is on the second arm, the second belt sets up on center pin and second wheel, sucking disc subassembly and second wheel fixed connection.

Further, the machine vision mechanism comprises an industrial camera and a light source, wherein the industrial camera is positioned above the feeding mechanism, and the light source is positioned at the side edge of the industrial camera.

The beneficial effects of the utility model are as follows: according to the utility model, the glass slides to be classified are placed in the storage mechanism, the glass slides in the storage mechanism are sequentially taken out through the feeding mechanism, in the process of taking out, the glass slides transmitted by the feeding mechanism are sequentially photographed through the machine vision mechanism, the glass slide numbers and pathological section image information are obtained, the glass slide classification information and the pathological section quality information are generated after being processed by the controller, the feeding mechanism, the tray storing and taking mechanism, the tray caching mechanism, the tray conveying mechanism and the glass slide conveying mechanism are correspondingly controlled to work, specifically, the controller controls the tray conveying mechanism to work, the tray with a designated layer on the tray caching mechanism is pulled out, the glass slides on the feeding mechanism are grasped by the glass slide conveying mechanism, the glass slides are loaded in a vacancy designated by the pulled-out tray, the tray conveying mechanism reinserts the tray into the tray caching mechanism, and repeats the steps, so that the glass slides with the same type are loaded on the same tray, and after the tray is completely classified, the tray is taken out from the tray caching mechanism and is sent into the tray storing mechanism, and is unloaded, and the glass slides are easily and automatically loaded in the tray storing mechanism.

Drawings

FIG. 1 is a schematic view of the overall structure of the present utility model;

FIG. 2 is a schematic diagram of the structure of the storage mechanism, the feeding mechanism and the machine vision mechanism of the present utility model;

FIG. 3 is a schematic diagram of the storage mechanism of the present utility model;

FIG. 4 is a schematic diagram of the pushing module and the transferring module according to the present utility model;

FIG. 5 is a schematic view of the structure of the slide transport mechanism of the present utility model;

FIG. 6 is a schematic view of the structure of the manipulator of the present utility model;

fig. 7 is a schematic structural view of the tray conveying mechanism of the present utility model;

Fig. 8 is a partial schematic structural view of the tray conveyance mechanism of the present utility model;

FIG. 9 is a schematic view of the structure of the tray buffer mechanism of the present utility model;

FIG. 10 is a schematic view of the structure of the tray access mechanism of the present utility model;

FIG. 11 is a schematic view of a portion of the structure of the tray caching mechanism of the present utility model;

fig. 12 is a schematic structural view of the chuck module and the chuck module according to the present utility model.

The reference numerals are:

A storage mechanism 1, a first motor 11, a rotating frame 12, a slide frame 13, a pushing mechanism 14, a pushing block 15, a clamping block 16,

The feeding mechanism 2, the supporting block 21, the first Z-axis module 22, the push rod 23, the pushing module 24, the transferring block 25 and the transferring module 26,

A machine vision mechanism 3, an industrial camera 31, a light source 32,

Slide transfer mechanism 4, third Z-axis module 41, robot 42, third motor 421, first arm 422, first wheel 423, first belt 424, central shaft 425, second arm 426, second wheel 427, second belt 428, suction cup assembly 43,

The tray conveying mechanism 5, the second Z-axis module 51, the supporting frame 52, the sliding rail 53, the sliding plate 54, the tensioning module 55, the belt assembly 56, the belt driving module 57 and the photoelectric sensor 58,

A tray buffer mechanism 6, a tray gate groove 61,

The tray storing and taking mechanism 7, the tray bin 71, the tray outlet 711, the jacking block 72, the jacking module 73, the clamping strip 74, the hooking block 741, the chuck module 75, the telescopic rod module 76, the telescopic rod 761 and the driving plate module 77;

Detailed Description

The utility model will be further described with reference to the accompanying drawings, in which the Z axis is the axis perpendicular to the horizontal plane.

A slide sorting system as shown in fig. 1 to 12, comprising: a controller, a tissue block vision mechanism, a storage mechanism 1, a feeding mechanism 2, a machine vision mechanism 3, a slide conveying mechanism 4, a tray conveying mechanism 5, a tray caching mechanism 6 and a tray access mechanism 7.

The storage mechanism 1 is used for storing the glass slide; the feeding mechanism 2 is used for sequentially conveying and feeding the glass slides in the storage mechanism 1; the machine vision mechanism 3 is used for photographing the glass slides on the feeding mechanism 2 in sequence, transmitting the image information to the controller for analysis and processing, generating glass slide classification information and pathological section quality information after the controller receives the image information, and respectively controlling the storage mechanism 1, the feeding mechanism 2, the tray access mechanism 7, the tray cache mechanism 6, the tray transmission mechanism 5 and the glass slide transmission mechanism 4 to work; the slide conveying mechanism 4 is used for grabbing the slide on the feeding mechanism 2 and conveying the slide into the designated empty space of the tray; the tray conveying mechanism 5 can take the tray out of or put the tray into the tray buffering mechanism for conveying the tray between the tray access mechanism 7 and the tray buffering mechanism 6; the tray caching mechanism 6 is used for caching empty trays or trays which are already loaded with trays; the tray storing and taking mechanism 7 is used for empty tray feeding or tray discharging.

The storage mechanism 1 comprises a first motor 11, a rotating frame 12, a slide glass frame 13, a pushing mechanism 14 and a pushing block 15, wherein the rotating frame 12 is driven by the first motor 11 to rotate, a material frame groove is vertically formed in the rotating frame 12, a clamping block 16 is hinged to the lower end of the material frame groove, the slide glass frame 13 is placed in the material frame groove, the clamping block 16 is clamped at the lower end of the slide glass frame 13, the pushing mechanism 14 pushes the pushing block 15 to move up and down, and the pushing block 15 and the clamping block 16 are matched with each other; the material rest grooves are provided with a plurality of groups, and after the glass slide in one group of material rest grooves is completely loaded, the first motor 11 drives the rotary frame 12 to rotate, so that the next group of material rest grooves rotate above the loading mechanism 2, and the continuous unloading is convenient.

The feeding mechanism 2 comprises a supporting block 21, a first Z-axis module 22, a push rod 23, a pushing-out module 24, a transferring block 25 and a transferring module 26, wherein the supporting block 21 is located below the storage mechanism 1, the first Z-axis module 22 drives the supporting block 21 to reciprocate along the Z axis, the pushing-out module 24 drives the push rod 23 to reciprocate, and the transferring module 26 drives the transferring block 25 to move, and the supporting block 21, the push rod 23 and the transferring block 25 are mutually matched.

The slide rack 13 is provided with slides to be classified, the slide rack 13 is placed in the rack groove, the lower end of the slide rack 13 is clamped by the upper end of the clamping block 16, when slides are required to be loaded, the first Z-axis module 22 drives the supporting block 21 to move upwards to the lower end of the rack groove, the pushing mechanism 14 pushes the pushing block 15 to move upwards, the clamping block 16 is pushed by the pushing block 15 to rotate, the upper end of the clamping block 16 slides out of the side surface of the lower end of the slide rack 13, the slide rack 13 falls onto the supporting block 21 under the action of gravity, then the first Z-axis module 22 drives the supporting block 21 to move to the front of the push rod 23, the push rod 23 is driven by the push-out module 24 to push out the slide at the lowest layer onto the transfer block 25, the transfer block 25 is driven by the transfer module 26 to move, the transfer block 25 is enabled to move into the working range of the slide conveying mechanism 4, and the slide conveying mechanism 4 is facilitated to absorb the slides.

The machine vision mechanism 3 comprises an industrial camera 31 and a light source 32, the industrial camera 31 is positioned above the feeding mechanism 2, the light source 32 is positioned at the side edge of the industrial camera 31, and the light source 32 is used for providing proper illumination so as to be beneficial to the industrial camera 31 to shoot clear slide images; the industrial camera 31 photographs the slide glass on the transfer block 25, transmits the image information to the controller for analysis and processing, generates slide glass classification information and pathological section quality information after the controller receives the image information, and respectively controls the operation of the storage mechanism 1, the feeding mechanism 2, the tray access mechanism 7, the tray buffer mechanism 6, the tray transmission mechanism 5 and the slide glass transmission mechanism 4 to match the slide glass with the tray of the appointed layer on the tray buffer mechanism 6.

The glass slide conveying mechanism 4 comprises a third Z-axis module 41, a manipulator 42 and a sucker assembly 43, the manipulator 42 is driven by the third Z-axis module 41 to reciprocate along the Z axis, the sucker assembly 43 is driven by the manipulator 42 to reciprocate, and the manipulator 42 is driven by the third Z-axis module 41 to reciprocate along the Z axis, so that classification and dishing of glass slides are facilitated by matching with the tray conveying mechanism 5.

The manipulator 42 includes a third motor 421, a first arm 422, a first wheel 423, a first belt 424, a central shaft 425, a second arm 426, a second wheel 427, and a second belt 428, where the third motor 421 drives the first arm 422 and the first wheel 423 simultaneously, the central shaft 425 is pivoted on the first arm 422, one end of the central shaft 425 is fixedly connected with the second arm 426, the first belt 424 is disposed on the central shaft 425 and the first wheel 423, the second wheel 427 is pivoted on the second arm 426, the second belt 428 is disposed on the central shaft 425 and the second wheel 427, and the suction cup assembly 43 is fixedly connected with the second wheel 427.

The third motor 421 drives the first arm 422 to rotate, and simultaneously, the first wheel 423 also rotates together, the first wheel 423 drives the first belt 424 to rotate, the first belt 424 drives the central shaft 425 to rotate, and when the central shaft 425 rotates, the second arm 426 and the second belt 428 are driven to simultaneously rotate, the second belt 428 rotates to drive the second wheel 427 to rotate, and the second wheel 427 rotates to drive the sucking disc assembly 43 to rotate, so that the first arm 422, the second arm 426 and the sucking disc assembly 43 are linked, and the glass slide is sucked and moved conveniently.

The tray conveying mechanism 5 comprises a second Z-axis module 51, a supporting frame 52, sliding rails 53, sliding plates 54, a tensioning module 55, a belt assembly 56, a belt driving module 57 and a photoelectric sensor 58, wherein the second Z-axis module 51 drives the supporting frame 52 to reciprocate along the Z-axis, the sliding rails 53 are arranged on the supporting frame 52 in parallel, the sliding plates 54 are symmetrically arranged on the sliding rails 53, the sliding plates 54 are mutually perpendicular to the sliding rails 53, the belt assembly 56 is respectively arranged on the sliding plates 54, the tensioning module 55 drives the sliding plates 54 to be mutually separated or folded on the sliding rails 53 at the same time, the belt driving module 57 drives the belt assembly 56 to rotate at the same time, and the photoelectric sensor 58 is respectively arranged at two ends of the belt assembly 56.

The side surface of the tray buffer mechanism 6 is sequentially and vertically provided with a plurality of groups of tray grid grooves 61, when a glass slide is required to be mounted on a designated tray, the tensioning module 55 simultaneously drives the sliding plates 54 to be mutually separated on the sliding rails 53, the second Z-axis module 51 drives the supporting frame 52 to move along the Z axis, so that the supporting frame 52 drives the belt assemblies 56 to move to two sides of the corresponding tray, the tensioning module 55 simultaneously drives the sliding plates 54 to be mutually folded, so that the belt assemblies 56 are tightly attached to two side surfaces of the tray, and the belt driving module 57 simultaneously drives the belt assemblies 56 to rotate, so that the tray is taken out from the tray grid grooves 61; the third Z-axis module 41 drives the manipulator 42 to move along the Z-axis, meanwhile, the manipulator 42 is matched with the sucker assembly 43 to suck and convey the glass slide on the transfer block 25 into a designated space of the tray, the belt driving module 57 drives the belt assembly 56 to reversely rotate at the same time, so that the tray is reinserted into the tray gate groove 61, and the tensioning module 55 drives the sliding plates 54 to mutually separate on the sliding rails 53, so that the belt assembly 56 is separated from two side surfaces of the tray, and the sorting and dishing of the glass slide are realized.

The tray access mechanism 7 comprises a tray bin 71, a jacking block 72, a jacking module 73, a clamping strip 74, a chuck module 75, a telescopic rod module 76 and a driving plate module 77, wherein the jacking block 72 is located at the lower end of the tray bin 71, the jacking module 73 drives the jacking block 72 to reciprocate up and down, the middle part of the clamping strip 74 is hinged to the side face of the tray bin 71, the chuck module 75 drives the lower end of the clamping strip 74 to reciprocate, a hook block 741 is fixedly arranged on the inner side of the upper end of the clamping strip 74, a tray outlet 711 is formed in the lower portion of the back of the tray bin 71, the driving plate module 77 drives the telescopic rod module 76 to pull out the tray from the tray outlet 711, and a telescopic rod 761 capable of telescoping up and down is arranged on the telescopic rod module 76.

When empty trays are fed, the second Z-axis module 51 drives the supporting frame 52 to sequentially move from top to bottom along the Z-axis, the trays in the tray grid grooves 61 are sequentially detected by the photoelectric sensor 58, whether the trays exist in the tray grid grooves 61 or not is detected, and a detection result is sent to the controller.

When empty trays are loaded, the empty trays are stacked and placed in the tray bin 71, the jacking module 73 drives the jacking block 72 to move upwards, all the stacked empty trays are jacked upwards, then the jacking module 73 drives the jacking block 72 to move downwards, one layer of empty trays are moved downwards, meanwhile, the chuck module 75 drives the lower ends of the clamping strips 74 to move outwards, as the middle parts of the clamping strips 74 are hinged to the side surfaces of the tray bin 71, hook blocks 741 on the inner sides of the upper ends of the clamping strips 74 are clamped at the lower ends of the last empty trays from the lowest, then the jacking module 73 drives the jacking block 72 to move downwards, the lowest empty tray is driven to move downwards to the lowest end of the tray bin 71, meanwhile, the telescopic rod module 76 drives the telescopic rod 761 to extend and clamp in a stirring groove at the bottom end of the tray, the driving plate module 77 drives the telescopic rod module 76 to stir out the tray from the tray outlet 711, a part of the empty tray is exposed out of the tray outlet 711, and then the empty tray is taken out, moved and inserted into a corresponding grid 61 on the side surface of the tray buffer mechanism 6 through the tray conveying mechanism 5, so that the empty trays can be loaded.

When the trays subjected to sorting and loading are required to be fed, the jacking block 72 is driven to move upwards, all the trays are jacked upwards, the chuck module 75 drives the lower ends of the clamping bars 74 to move outwards, the hooking blocks 741 at the inner sides of the upper ends of the clamping bars 74 are clamped at the lower ends of the lowermost trays, then the jacking module 73 drives the jacking block 72 to move downwards to the bottommost ends of the tray bins 71, then the trays subjected to sorting and loading are taken out of the tray grid grooves 61, moved and inserted into the tray outlet 711 through the tray conveying mechanism 5, the telescopic rod module 76 drives the telescopic rod 761 to extend upwards, the driving plate module 77 drives the telescopic rod module 76 to move backwards, the trays are pulled back into the tray bins 71 from the tray outlet 761 through the telescopic rod 761, then the jacking module 73 drives the jacking block 72 to move upwards, the trays at the bottommost ends are jacked again, the lower ends of the chuck module 75 drives the lower ends of the clamping bars 74 to move inwards, the hooking blocks 741 at the inner sides of the upper ends of the clamping bars 74 are separated from the lower ends of the trays, and the trays are simultaneously stacked with the trays at the bottommost, and the trays are stacked mutually, and the trays are stacked.

The working principle of the utility model is as follows:

The slide rack 13 is loaded with slides to be classified, the slide rack 13 is placed in a rack groove, the lower end of the slide rack 13 is clamped by the upper end of a clamping block 16, when slides are loaded, a first Z-axis module 22 drives a supporting block 21 to move upwards to the lower end of the rack groove, a pushing mechanism 14 pushes a pushing block 15 to move upwards, the clamping block 16 is pushed by the pushing block 15 to rotate, the upper end of the clamping block 16 slides out of the side surface of the lower end of the slide rack 13, the slide rack 13 falls onto the supporting block 21 under the action of gravity, then the first Z-axis module 22 drives the supporting block 21 to move downwards to drive the slide rack 13 to move to the front of a push rod 23, a push rod 23 is driven by a push module 24 to push the slide at the lowest layer out onto a transfer block 25, an industrial camera 31 photographs the slides on the transfer block 25, and image information is transmitted to a controller, and after the controller receives the image information, slide classification information and pathological section quality information are generated.

The controller respectively controls the storage mechanism 1, the feeding mechanism 2, the tray access mechanism 7, the tray buffer mechanism 6, the tray conveying mechanism 5 and the slide conveying mechanism 4 to work, and the slides are matched with the trays of the appointed layers on the tray buffer mechanism 6.

The transfer module 26 drives the transfer block 25 to move, so that the transfer block 25 moves into the working range of the slide conveying mechanism 4, and the slide conveying mechanism 4 is facilitated to absorb.

The tensioning modules 55 simultaneously drive the sliding plates 54 to be mutually separated on the sliding rails 53, the second Z-axis module 51 drives the supporting frame 52 to move along the Z axis, so that the supporting frame 52 drives the belt assemblies 56 to move to two sides of the corresponding tray, the tensioning modules 55 simultaneously drive the sliding plates 54 to be mutually folded, so that the belt assemblies 56 are tightly attached to two side surfaces of the tray, and the belt driving modules 57 simultaneously drive the belt assemblies 56 to rotate, so that the tray is taken out from the tray grid grooves 61; the third Z-axis module 41 drives the manipulator 42 to move along the Z-axis, meanwhile, the manipulator 42 is matched with the sucker assembly 43 to suck and convey the glass slide on the transfer block 25 into a designated vacancy on the tray, the belt driving module 57 drives the belt assembly 56 to reversely rotate at the same time, so that the tray is reinserted into the tray gate groove 61, and the tensioning module 55 drives the sliding plates 54 to mutually separate on the sliding rails 53, so that the belt assembly 56 is separated from two side surfaces of the tray, and the sorting and dishing of the glass slide are realized.

When the tray for sorting and loading is ready for discharging, the jacking module 73 drives the jacking block 72 to move upwards, the chuck module 75 drives the lower ends of the clamping bars 74 to move outwards, the hooking blocks 741 at the inner sides of the upper ends of the clamping bars 74 are clamped at the lower ends of the tray at the bottommost ends, the jacking module 73 drives the jacking block 72 to move downwards to the bottommost ends of the tray bins 71, then the tray conveying mechanism 5 takes out, moves and inserts the tray for sorting and loading from the tray grid grooves 61 into the tray outlet 711, the telescopic rod module 76 drives the telescopic rod 761 to extend upwards, the driving plate module 77 drives the telescopic rod module 76 to move backwards, the tray is pulled back into the tray bins 71 from the tray outlet 711 through the telescopic rod 761, then the jacking module 73 drives the jacking block 72 to move upwards, the tray at the bottommost ends is jacked again, the lower ends of the chuck module 75 drives the inner sides of the lower ends of the clamping bars 74 to move inwards, the hooking blocks 741 at the inner sides of the upper ends of the clamping bars 74 are separated from the lower ends of the tray ends, and the tray at the same time, the upper tray and the tray at the bottommost ends are stacked with the tray at the bottom ends, and the tray is stacked with the tray at the bottom end, so that the tray can be subjected to loading and unloading operation is completed.

The above disclosure is only a preferred embodiment of the present utility model, and the scope of the present utility model is not limited thereto, so that the present utility model is not limited to the above embodiments, and any modifications, equivalents and modifications made to the above embodiments according to the technical principles of the present utility model are still within the scope of the present utility model.

Claims (9)

1. A slide sorting system, comprising:

a storage mechanism for storing the slide glass;

the loading mechanism sequentially conveys and loads the glass slides in the storage mechanism;

the slide glass conveying mechanism is used for grabbing the slide glass on the feeding mechanism and matching with the tray conveying mechanism to convey the slide glass to the tray;

the tray storing and taking mechanism is used for empty tray feeding or classified slide tray loading and unloading;

The tray caching mechanism is used for vertically placing the empty trays in sequence;

the tray conveying mechanism can take the tray out of or put the tray into the tray cache area and is used for conveying the tray between the tray access mechanism and the tray cache mechanism;

The machine vision mechanism sequentially photographs the glass slides transmitted by the feeding mechanism, acquires the serial number information and pathological section images of the glass slides, and generates glass slide classification information and pathological section quality information after being processed by the controller;

and the controller is electrically connected with the storage mechanism, the feeding mechanism, the tray access mechanism, the tray caching mechanism, the tray conveying mechanism, the glass slide conveying mechanism and the machine vision mechanism respectively and is used for generating classification and slicing quality information of glass slides and controlling the mechanisms to finish classification and dishing of the glass slides.

2. A slide sorting system according to claim 1, wherein: the storage mechanism comprises a first motor, a rotating frame, a glass slide frame, a pushing mechanism and a pushing block, wherein the rotating frame is driven by the first motor to rotate, a material frame groove is vertically formed in the rotating frame, a clamping block is hinged to the lower end of the material frame groove, the glass slide frame is placed in the material frame groove, the clamping block is clamped at the lower end of the glass slide frame, the pushing mechanism pushes the pushing block to move up and down, and the pushing block is matched with the clamping block.

3. A slide sorting system according to claim 1, wherein: the feeding mechanism comprises a supporting block, a first Z-axis module, a push rod, a pushing-out module, a transferring block and a transferring module, wherein the supporting block is located below the storage mechanism, the first Z-axis module drives the supporting block to move back and forth along the Z axis, the pushing-out module drives the push rod to move back and forth, the transferring module drives the transferring block to move, and the supporting block, the push rod and the transferring block are mutually matched.

4. A slide sorting system according to claim 1, wherein: the tray access mechanism comprises a tray bin, a jacking block, a clamping strip, a chuck module, a telescopic rod module and a driving plate module, wherein the jacking block is positioned at the lower end of the tray bin, the jacking block is driven by the jacking module to reciprocate up and down, the middle part of the clamping strip is hinged to the side face of the tray bin, the lower end of the clamping strip is driven by the chuck module to reciprocate, a hook block is fixedly arranged on the inner side of the upper end of the clamping strip, a tray outlet is formed in the lower portion of the back face of the tray bin, and the tray is pulled out from the tray outlet by the telescopic rod module.

5. A slide sorting system according to claim 1, wherein: the side surface of the tray cache mechanism is sequentially and vertically provided with a plurality of groups of tray grid grooves.

6. A slide sorting system according to claim 1, wherein: the tray conveying mechanism comprises a second Z-axis module, a supporting frame, sliding rails, sliding plates, tensioning modules, belt assemblies, belt driving modules and photoelectric sensors, wherein the second Z-axis module drives the supporting frame to move back and forth along the Z axis, the sliding rails are arranged on the supporting frame in parallel, the sliding plates are symmetrically placed on the sliding rails, the belt assemblies are respectively arranged on the sliding plates, the tensioning modules simultaneously drive the sliding plates to be separated from each other or folded on the sliding rails, the belt driving modules simultaneously drive the belt assemblies to rotate, and the photoelectric sensors are respectively arranged at two ends of the belt assemblies.

7. A slide sorting system according to claim 1, wherein: the glass slide conveying mechanism comprises a third Z-axis module, a manipulator and a sucker assembly, wherein the third Z-axis module drives the manipulator to reciprocate along a Z axis, and the manipulator drives the sucker assembly to move.

8. A slide sorting system according to claim 7, wherein: the manipulator includes third motor, first arm, first wheel, first belt, center pin, second arm, second wheel, second belt, third motor drives first arm and first wheel simultaneously and rotates, the center pin joint is on first arm, and the one end and the second arm fixed connection of center pin, first belt sets up on center pin and first wheel, the second wheel pin joint is on the second arm, the second belt sets up on center pin and second wheel, sucking disc subassembly and second wheel fixed connection.

9. A slide sorting system according to any one of claims 1 to 8, wherein: the machine vision mechanism comprises an industrial camera and a light source, wherein the industrial camera is positioned above the feeding mechanism, and the light source is positioned at the side edge of the industrial camera.