CN114012753A - Pharynx swab sampling robot - Google Patents

Pharynx swab sampling robot Download PDF

Info

Publication number
CN114012753A
CN114012753A CN202111371644.8A CN202111371644A CN114012753A CN 114012753 A CN114012753 A CN 114012753A CN 202111371644 A CN202111371644 A CN 202111371644A CN 114012753 A CN114012753 A CN 114012753A
Authority
CN
China
Prior art keywords
driving device
driving
parallel
friction wheel
sampling robot
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202111371644.8A
Other languages
Chinese (zh)
Other versions
CN114012753B (en
Inventor
田和强
田斌
孟德宝
安金昌
庞博
马洪强
刘军强
宋超
张明辉
石侃
张海强
陈修龙
姚燕安
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shandong University of Science and Technology
Original Assignee
Shandong University of Science and Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shandong University of Science and Technology filed Critical Shandong University of Science and Technology
Priority to CN202111371644.8A priority Critical patent/CN114012753B/en
Publication of CN114012753A publication Critical patent/CN114012753A/en
Application granted granted Critical
Publication of CN114012753B publication Critical patent/CN114012753B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
    • Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)

Abstract

The application relates to the technical field of pharynx swab sampling, and discloses a pharynx swab sampling robot which comprises a base, a three-dimensional translation driving device, a parallel device and a pharynx swab retainer, wherein the three-dimensional translation driving device, the parallel device and the pharynx swab retainer are arranged above the base; the parallel device comprises a fixed platform, a movable platform and a parallel mechanism, the fixed platform is arranged on the three-dimensional translation driving device, the parallel mechanism comprises a driving device and six branched chains, the driving device and the six branched chains are arranged on the fixed platform, the branched chains comprise a spline shaft, a hook hinge, a support and a spherical hinge, the spline shaft, the hook hinge, the support and the spherical hinge are sequentially arranged, the driving device is connected with and drives the spline shaft to reciprocate, and the spherical hinge is connected with the movable platform; the pharynx swab holder is fixed in move the platform, the pharynx swab holder is used for fixed pharynx swab. The pharynx swab sampling robot has the advantages of being outstanding in stability, safety and feasibility, coordinating in actions of all parts, good in synchronism, flexible in aerial posture adjustment, stable in operation and free of accumulated errors.

Description

Pharynx swab sampling robot
Technical Field
The invention belongs to the technical field of throat swab sampling, and particularly relates to a throat swab sampling robot.
Background
In recent years, robot assistance systems have been widely used in the medical field, and robots are mainly used for surgical operations, rehabilitation, nursing care, and services in research in the medical field. The new coronary pneumonia epidemic situation is high in infectivity, when nucleic acid detection is carried out, medical gloves are generally worn by hands of medical workers, secretions are dipped from the throat of a human body by using swab cotton swabs for detection, and the medical workers are exposed to infected risks.
Utilize the supplementary research of carrying out the sampling of pharynx swab of robot to lift a hot tide, however, to the research of pharynx swab sampling robot, domestic and abroad mostly concentrates on tandem type robot, adopts multiaxis arm or rectangular coordinate type robot to sample promptly, and there are structural rigidity difference, position precision low grade shortcoming in this kind of structure, and it is big to advance suddenly, and the motion is inflexible, is unfavorable for using in the narrow and small sampling space, leads to end effector can not in time adapt to by the person of gathering. Particularly, when the swab is fed forward to extend into the throat of the person to be collected, the problem that the feeding speed is high and the stroke is suddenly changed, so that the position accuracy is low, and the person to be collected is easily stabbed is raised. Compared with a serial manipulator, the parallel manipulator has the defects of limited working space, complex singular behavior and the like, and the problem of low acquisition efficiency is caused.
It will thus be seen that the prior art is susceptible to further improvements and enhancements.
Disclosure of Invention
The invention provides a pharynx swab sampling robot, which aims to solve at least one technical problem of the technical problems.
The technical scheme adopted by the invention is as follows:
the invention provides a pharynx swab sampling robot, which comprises a base, a three-dimensional translation driving device, a parallel device and a pharynx swab retainer, wherein the three-dimensional translation driving device, the parallel device and the pharynx swab retainer are arranged above the base;
the parallel device comprises a fixed platform, a movable platform and a parallel mechanism, the fixed platform is arranged on the three-dimensional translation driving device, the parallel mechanism comprises a driving device and six branched chains, the driving device and the six branched chains are arranged on the fixed platform, the branched chains comprise a spline shaft, a hook hinge, a support and a spherical hinge, the spline shaft, the hook hinge, the support and the spherical hinge are sequentially arranged, the driving device is connected with and drives the spline shaft to reciprocate, and the spherical hinge is connected with the movable platform;
the pharynx swab holder is fixed in move the platform, the pharynx swab holder is used for fixed pharynx swab.
In a preferred embodiment of the pharyngeal swab sampling robot according to the present invention, the parallel mechanism further includes a driving device, the driving device includes a first driving member and a ball screw connected to the first driving member, and the spline shaft is connected to the ball screw through a guide nut.
In a preferred embodiment of the pharyngeal swab sampling robot according to the present invention, the fixed platform is provided with a guide sleeve, the ball screw is sleeved inside the spline shaft, the guide sleeve is sleeved outside the spline shaft, and the ball screw drives the spline shaft to perform a reciprocating linear motion along the guide sleeve.
In a preferred embodiment of the pharyngeal swab sampling robot, the pharyngeal swab sampling robot further comprises an insertion device, the insertion device comprises a box body mounted on the movable platform and a feeding mechanism arranged in the box body, and the feeding mechanism can clamp and drive the pharyngeal swab holder to reciprocate.
In a preferred embodiment of the pharyngeal swab sampling robot, the feeding mechanism includes a second driving member and a friction wheel mechanism, the second driving member is mounted on the box body, the friction wheel mechanism includes a first friction wheel and a second friction wheel, the first friction wheel is connected with the second driving member, and the pharyngeal swab holder is clamped between the first friction wheel and the second friction wheel.
As a preferred embodiment of the pharyngeal swab sampling robot, the feeding mechanism further includes a transmission gear mechanism, the transmission gear mechanism includes a driving gear, a driven gear, a first transmission shaft and a second transmission shaft, the first transmission shaft is connected to an output shaft of the second driving member through a coupling, the driving gear and the first friction wheel are disposed on the first transmission shaft, the second friction wheel and the driven gear are disposed on the second transmission shaft, the driving gear and the driven gear are in meshing transmission, and the driven gear can drive the second transmission shaft and the second friction wheel to rotate.
As a preferred embodiment of the pharyngeal swab sampling robot in the present invention, the three-dimensional translation driving device includes an X-direction translation driving device, a Y-direction translation driving device, and a Z-direction elevation driving device, the Y-direction translation driving device is disposed on the base, the parallel device is disposed on the X-direction translation driving device, the X-direction driving device is configured to drive the parallel device to perform a reciprocating linear motion along an X-axis direction, the Z-direction elevation driving device is configured to drive the X-direction translation driving device and the parallel device to perform a reciprocating elevation motion along a Z-axis direction, and the Y-direction translation driving device is configured to drive the Z-direction elevation driving device, the X-direction translation driving device, and the parallel device to perform a reciprocating linear motion along a Y-axis direction.
In a preferred embodiment of the pharyngeal swab sampling robot according to the present invention, the Y-direction translation driving device includes a guide rail provided on the base and extending in a Y-axis direction, and a Y-direction translation mechanism moving along the guide rail, the Y-direction translation mechanism includes a Y-direction driving member, a Y-direction rack-and-pinion transmission member, and a Y-direction slider on which the Y-direction driving member and the Y-direction rack-and-pinion transmission member are mounted, and the Y-direction slider is movable along the guide rail.
As a preferred embodiment of the pharyngeal swab sampling robot, the Z-direction lifting driving device includes a support frame extending along the Z-axis direction and a Z-direction lifting mechanism for driving the X-direction translation driving device to lift along the support frame, the Z-direction lifting mechanism includes a Z-direction driving member, a Z-direction rack-and-pinion transmission member, and a Z-direction slider for mounting the Z-direction driving member and the Z-direction rack-and-pinion transmission member, and the Z-direction slider can lift along the support frame.
In a preferred embodiment of the pharyngeal swab sampling robot according to the present invention, the X-direction translation driving device includes a beam disposed on the Z-direction slider and an X-direction moving mechanism reciprocating along the beam, the X-direction moving mechanism includes an X-direction driving member and a belt transmission member connected to the X-direction driving member, the fixed platform is disposed on the belt transmission member, and the belt transmission member can drive the fixed platform to reciprocate along the X-direction.
Due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. compared with a manual collection mode, the pharynx swab sampling robot disclosed by the invention can reduce the risk of infection of medical workers, improve the detection efficiency and quality, and play an important role in large-scale swab collection. The throat swab sampling robot provided by the invention adopts the manipulator which is combined by the serial mechanism and the parallel mechanism, and has the advantages of simple overall structure and compact and reasonable layout. The three-dimensional translation driving device drives the parallel device to move to form three degrees of freedom, and the parallel device stretches and swings to form six degrees of freedom, so that the sampling robot has nine degrees of freedom and can meet the requirements of execution of various complex actions. The serial translation driving device is large in movement stroke, large-scale posture adjustment of the robot actuating mechanism is facilitated according to the head position of a person to be collected, after the initial position is determined, the characteristics of high execution precision of the parallel mechanism and flexibility in aerial posture adjustment are utilized, the local position and angle of the actuating mechanism are adjusted in a narrow oral cavity, the actuating mechanism can adapt to the throat part of the person to be collected, particularly, the throat part of the person to be sampled can be prevented from being damaged due to the fact that the mechanism in the inserting direction of the throat swab protrudes, and experience in the collecting process of the throat swab is improved. The parallel device comprises a fixed platform, a movable platform and a parallel mechanism, wherein a branched chain of the parallel mechanism adopts a driving mode that a spline shaft is connected with a driving device, and the spline shaft is simple and compact in structure compared with a mode of moving parts such as a guide rail sliding block and the like, so that the miniaturization of the whole machine is facilitated. The invention has outstanding advantages in the aspects of stability, safety and feasibility, and all parts are coordinated in action, good in synchronism, flexible in air attitude adjustment, stable in operation and free of accumulated errors.
2. According to the throat swab sampling robot, the first driving piece is connected with the ball screw to convert rotary motion into linear motion, so that the spline shaft is driven to move, and the ball screw has the characteristics of high precision and high efficiency, and is favorable for ensuring the motion precision of the parallel mechanism.
Furthermore, the guide sleeve is arranged on the fixed platform, the spline shaft can do reciprocating linear motion along the guide sleeve, and the influence on the precision of the parallel device caused by the irregular rotation of the spline shaft relative to the fixed platform is avoided.
3. The pharynx swab sampling robot further comprises an insertion device, and the feeding action of the pharynx swab is completed by the insertion device. Because the parallel device posture adjustment consumes a long time, if the extracted action is also required to be completed by the parallel device, the acquisition efficiency is low. After the parallel device completes the oral cavity adaptability of the collected person, the feeding mechanism of the inserting device drives the pharynx swab retainer to complete the final inserting and extracting actions, and the collecting efficiency can be improved. Furthermore, the feeding mechanism can complete the clamping action by using the friction wheel mechanism, and simultaneously complete the feeding and withdrawing action by using the rotation of the friction wheel, and the structure is simple and reliable.
4. The pharynx swab sampling robot of the invention, three-dimensional translation actuating device include X to translate actuating device, Y to translate actuating device and Z to lift the actuating device, because the load of Y to, Z to translate the actuating device is great, use the rack and pinion drive medium with better rigidity, and for the load of the X to translate the actuating device is relatively Y to, Z to translate the actuating device is smaller, and in order to lighten Y to, Z to translate the load of the actuating device, X to translate the actuating device and use the driving medium, thus has already guaranteed the stable transmission of the three-dimensional translation actuating device, can lighten the weight of the complete machine at the same time.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic structural diagram of a pharyngeal swab sampling robot according to an embodiment of the present invention;
FIG. 2 is a side view of a pharyngeal swab sampling robot provided in accordance with an embodiment of the present invention;
FIG. 3 is a cross-sectional view of a shunt device according to an embodiment of the present invention;
FIG. 4 is a cross-sectional view of a Y-axis translation actuator according to an embodiment of the present invention;
fig. 5 is a cross-sectional view of a Z-direction elevating driving device provided in an embodiment of the present invention;
FIG. 6 is a cross-sectional view of an X-direction translation drive apparatus provided in accordance with an embodiment of the present invention;
fig. 7 is a cross-sectional view of an insertion device provided in an embodiment of the present invention.
Wherein the content of the first and second substances,
1. a base;
2-Y direction translation driving device; 21-a first rack guide; a 22-Y direction translation mechanism; 221-a second motor; 222-a first gear; 223-a first slider; 224-first slider plate 224;
a 3-Z direction lifting driving device; 31-a support frame; 311-a first support frame; 312-a second support; 313-a second rack guide; a 32-Z direction lifting mechanism; 321-a third motor; 322-a second gear; 323-a second slider; 324-a second slider plate;
4-X direction translation driving device; 41-a cross beam; a 42-X direction translation mechanism; 421-a fourth motor; 422-belt wheel; 423-synchronous belt; 424-slider guide; 425-a third slide;
5-a parallel arrangement; 51-fixed platform; 511-motor mounting plate; 512-a guide sleeve; 513-linear bearings; 52-moving the platform; 521-a box mounting plate; 522-spherical hinge support; 53-parallel mechanism; 531 — first motor; 532-ball screw; 533-spline shaft; 534-Hooke hinge; 535-strut; 536-spherical hinge;
6-insertion device; 61-a box body; 611-upper box body and 612-lower box body; 62-a feeding mechanism; 621-a fifth motor; 622-driving gear; 623-driven gear; 624-a first friction wheel; 625-a second friction wheel; 626-first transmission shaft; 627-a second transmission shaft;
7-pharyngeal swab holder.
Detailed Description
In order to more clearly explain the overall concept of the present application, the following detailed description is given by way of example in conjunction with the accompanying drawings.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
In addition, in the description of the present invention, it is to be understood that the terms "top," "bottom," "inner," "outer," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus are not to be construed as limiting the present invention.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; the connection can be mechanical connection, electrical connection or communication; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The invention provides a pharynx swab sampling robot, as shown in fig. 1-2, in one embodiment, the pharynx swab sampling robot comprises a base 1, a three-dimensional translation driving device arranged above the base 1, a parallel device 5 and a pharynx swab holder 7. The three-dimensional translation driving device comprises an X-direction translation driving device 4, a Y-direction translation driving device 2 and a Z-direction lifting driving device 3.
As shown in fig. 2 to 3, the parallel device 5 adopts a Stewart parallel platform, and the Stewart parallel platform comprises a fixed platform 51, a movable platform 52 and a parallel mechanism 53. The fixed platform 51 is provided in the three-dimensional translation driving device and is driven by the three-dimensional translation driving device to move in the three-dimensional direction. The throat swab holder 7 is fixed to the moving platform 52. The parallel mechanism 53 comprises a driving device arranged on the fixed platform 51 and 6 branched chains, and each branched chain consists of a spline shaft 533, a Hooke hinge 534, a support 535 and a spherical hinge 536. The driving device is connected with and drives the spline shaft 533 to reciprocate, and the ball joint 536 is connected with the movable platform 52. The fixed platform 51 is provided with an annular motor mounting plate 511, and the annular motor mounting plate 511 is fixed on the fixed platform 51 through a platform connecting bracket. The driving device comprises first motors 531 which are arranged two by two and adjacent to each other, each first motor 531 is circumferentially and uniformly distributed on the annular motor mounting plate 511 along the Y-axis direction, a ball screw 532 is sequentially provided with a coupler, a bearing and a guide nut, and an output shaft of each first motor 531 is connected with the ball screw 532 through the coupler. The ball screw 532 is fitted in a spline shaft 533, a guide sleeve 512 is mounted on the fixed platform 51, and the spline shaft 533 is fitted with a linear bearing 513 mounted in the guide sleeve 512. The first driving part is adopted as the power part of the parallel mechanism, and compared with driving elements such as a hydraulic cylinder, an electric cylinder and the like, the linear motor has better dynamic performance. The first motor 531 rotates to drive the ball screw 532 to rotate, and the spline shaft 533 engaged with the first motor moves back and forth in the Y-axis direction, thereby moving the parallel mechanism 53. The movable platform 52 comprises a mounting plate 521 of the box body 61 and a spherical hinge 536 support 522, the spherical hinge 536 is matched with the spherical hinge 536 support 522, and the parallel mechanism 53 moves to drive the movable platform 52 to move so as to adjust the position of the pharynx swab holder 7 during sampling of the pharynx swab.
As shown in fig. 1, the three-dimensional translation driving device includes an X-direction translation driving device 4, a Y-direction translation driving device 2, and a Z-direction lifting driving device 3, the Y-direction translation driving device 2 is disposed on the base 1, the parallel device 5 is disposed on the X-direction translation driving device 4, the X-direction driving device is configured to drive the parallel device 5 to perform reciprocating linear motion along the X-axis direction, the Z-direction lifting driving device 3 is configured to drive the X-direction translation driving device 4 and the parallel device 5 to perform reciprocating lifting motion along the Z-axis direction, and the Y-direction translation driving device 2 is configured to drive the Z-direction lifting driving device 3, the X-direction translation driving device 4, and the parallel device 5 to perform reciprocating linear motion along the Y-axis direction.
As shown in fig. 1 and 4, the Y-direction translation drive device 2 includes a first rack rail 21 mounted on the base 1 and extending in the Y-axis direction, and a Y-direction translation mechanism 22 linearly reciprocating in the Y-axis direction.
As shown in fig. 1 and 5, the Z-direction lifting driving device 3 includes a supporting frame 31 extending along Z, the supporting frame 31 includes a supporting frame 311 and a second supporting frame 312 which are arranged in parallel, the supporting frame 31 and the second supporting frame 312 are provided with a second rack guide 313, and the Z-direction lifting driving device 3 further includes a Z-direction lifting mechanism 32 which drives the X-direction translation driving device 4 to lift along the Z-axis direction.
As shown in fig. 1 and 6, the X-direction translation driving device 4 includes a beam 41 and an X-direction translation mechanism 42, two ends of the beam 41 are respectively disposed on the first linkage frame and the second linkage frame, and the X-direction translation driving mechanism is configured to drive the slider to perform a reciprocating linear motion along the X-axis direction.
In one embodiment, as shown in fig. 1 and 4, the Y-direction translation mechanism 22 includes a second motor 221, a first gear 222, a first slider 223, and a first slider plate 224 mounted on the slider. The rack guide rails are fixed on the top end face of the base 1 and laid along the Y-axis direction, and in order to ensure stability, the Y-direction translation driving device 2 is provided with two first rack guide rails 21 which are arranged in parallel. The second motor 221 is provided on one of the first rack rails 21. The second motor 221 is fixed on the first slider plate 224 through a motor bracket, an output shaft of the second motor 221 is connected with a transmission shaft through a coupler, a deep groove ball bearing and a gear are mounted on the transmission shaft, and a lock nut is arranged between the deep groove ball bearing and the first gear 222 for separation. The second motor 221 drives the gear to rotate and moves along the Y-axis direction under the action of the rack guide rail, so that the Z-direction lifting driving device 3 is driven by the supporting frame 311 and the second supporting frame 312 to move synchronously along the Y-axis direction.
In one embodiment, as shown in fig. 1 and 5, the Z-direction elevating mechanism 32 includes a third motor 321, a second gear 322, a second slider 323, and a second slider plate 324. The second rack guide rail 313 is fixed on the second support frame 312, the upper end face of the support frame 311 is laid along the Z-axis direction, the slider plate is fixed on the second rack guide rail 313 of the second support frame 312, the third motor 321 is fixed on the second slider 323 plate through the motor support, the output shaft of the third motor 321 is connected with the transmission shaft through the coupler, the transmission shaft is provided with the deep groove ball bearing and the gear, and the bearing and the gear are separated by the lock nut. The third motor 321 drives the gear to rotate and moves the cross beam 41 in the Z-axis direction by the rack guide.
In one embodiment, as shown in fig. 1 and 6, the X-direction driving mechanism includes a fourth motor 421, a pulley 422 driven by the fourth motor 421, a timing belt 423, a slider guide 424, a third slider 425, and a stationary platen 51 attached to the third slider 425. The fourth motor 421 is installed on the horizontal motor holder of the beam 41 along the Y-axis direction, and is connected to the transmission shaft with the pulley 422 through a coupling, and the transmission shaft is sequentially installed with a bearing, a key, the pulley 422, and a sleeve. The pulley 422 is positioned and mounted on the drive shaft by a key. The fourth motor 421 rotates to rotate the pulley 422, so as to move the timing belt 423 engaged with the pulley 422, and drive the third slider 425, i.e., the fixed platform 51, to reciprocate the parallel device 5 left and right along the X-axis direction on the slider guide rail 424.
Example two:
as shown in fig. 2 and 7, the pharyngeal swab sampling robot in this embodiment further includes an insertion device 6, and the insertion and extraction of the pharyngeal swab is performed by the insertion device 6. The inserting device 6 comprises a box body 61 mounted on the movable platform 52 and a feeding mechanism 62 arranged on the box body 61, the box body 61 comprises an upper box body 611 and a lower box body 612, a cavity is arranged between the upper box body 612 and the lower box body 612, the lower box body 612 is mounted on the upper box body 611, and the upper box body 611 is fixed on the movable platform 52. The feeding mechanism 62 comprises a fifth motor 621 and a friction wheel mechanism, the fifth motor 621 is mounted on the outer side wall of the cavity along the X-axis direction, an output shaft of the fifth motor 621 is connected with a transmission shaft mounted in the cavity through a coupler, and the shaft is sequentially provided with an end cover, a bearing and a sleeve for realizing axial positioning of the transmission shaft. The friction wheel mechanism includes a first friction wheel 624 and a second friction wheel 625.
In one embodiment, the connecting shaft of the fifth motor 621 is connected to the first friction wheel 624 through the connecting shaft, and the first friction wheel 624 and the second friction wheel 625 are directly contacted and pressed to generate friction force to realize power transmission, so that the first friction wheel 624 drives the second friction wheel 625 to rotate, and the throat swab holder 7 is clamped between the first friction wheel 624 and the second friction wheel 625.
As shown in fig. 7, in an embodiment, the feeding mechanism 62 further includes a transmission gear mechanism, the transmission gear mechanism includes a driving gear 622, a driven gear 623, a first transmission shaft 626 and a second transmission shaft 627, the first transmission shaft 626 is connected to the output shaft of the fifth motor 621 through a coupling, the driving gear 622 and the first friction wheel 624 are disposed on the first transmission shaft 626, the second friction wheel 625 and the driven gear 623 are disposed on the second transmission shaft 627, the driving gear 622 and the driven gear 623 are in meshing transmission, and the driven gear 623 can drive the second transmission shaft 627 to rotate so as to drive the second friction wheel 625 to rotate. The swab retainer matched with the friction wheel realizes linear reciprocating motion along the Y-axis direction, so that pharynx swab sampling work is performed.
It should be noted that the first, second, third, fourth, and fifth motors 621 are speed reduction motors, and each motor is an integrated structure with a speed reducer. The first, second, third, fourth and fifth motors 621 are all controlled by a computer control system.
The method can be realized by adopting or referring to the prior art in places which are not described in the invention.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments.
The above description is only an example of the present invention, and is not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims (10)

1. A pharynx swab sampling robot is characterized by comprising a base, a three-dimensional translation driving device, a parallel device and a pharynx swab retainer, wherein the three-dimensional translation driving device, the parallel device and the pharynx swab retainer are arranged above the base;
the parallel device comprises a fixed platform, a movable platform and a parallel mechanism, the fixed platform is arranged on the three-dimensional translation driving device, the parallel mechanism comprises a driving device and six branched chains, the driving device and the six branched chains are arranged on the fixed platform, the branched chains comprise a spline shaft, a hook hinge, a support and a spherical hinge, the spline shaft, the hook hinge, the support and the spherical hinge are sequentially arranged, the driving device is connected with and drives the spline shaft to reciprocate, and the spherical hinge is connected with the movable platform;
the pharynx swab holder is fixed in move the platform, the pharynx swab holder is used for fixed pharynx swab.
2. A pharyngeal swab sampling robot according to claim 1, wherein the driving means includes a first driving member, a ball screw connected to the first driving member, and the spline shaft is connected to the ball screw through a lead nut.
3. The pharyngeal swab sampling robot as claimed in claim 2, wherein the fixed platform is provided with a guiding sleeve, the ball screw is sleeved inside the spline shaft, the guiding sleeve is sleeved outside the spline shaft, and the ball screw drives the spline shaft to perform reciprocating linear motion along the guiding sleeve.
4. A pharyngeal swab sampling robot according to any one of the claims 1 to 3, characterized by further comprising an insertion device, wherein the insertion device comprises a box body arranged on the movable platform and a feeding mechanism arranged in the box body, and the feeding mechanism can clamp and drive the pharyngeal swab holder to reciprocate.
5. A pharyngeal swab sampling robot according to claim 4, wherein the feeding mechanism includes a second driving member and a friction wheel mechanism, the second driving member is mounted to the housing, the friction wheel mechanism includes a first friction wheel and a second friction wheel, the first friction wheel is connected to the second driving member, and the pharyngeal swab holder is held between the first friction wheel and the second friction wheel.
6. A pharyngeal swab sampling robot according to claim 5, wherein the feeding mechanism further includes a transmission gear mechanism, the transmission gear mechanism includes a driving gear, a driven gear, a first transmission shaft and a second transmission shaft, the first transmission shaft is coupled to an output shaft of the second driving member through a coupling, the driving gear and the first friction wheel are disposed on the first transmission shaft, the second friction wheel and the driven gear are disposed on the second transmission shaft, the driving gear and the driven gear are in meshing transmission, and the driven gear can drive the second transmission shaft and the second friction wheel to rotate.
7. A pharyngeal swab sampling robot as recited in claim 1, wherein the three-dimensional translation driving device includes an X-direction translation driving device, a Y-direction translation driving device and a Z-direction lifting driving device, the Y-direction translation driving device is disposed on the base, the parallel device is disposed on the X-direction translation driving device, the X-direction driving device is configured to drive the parallel device to perform a reciprocating linear motion along an X-axis direction, the Z-direction lifting driving device is configured to drive the X-direction translation driving device and the parallel device to perform a reciprocating lifting motion along a Z-axis direction, and the Y-direction translation driving device is configured to drive the Z-direction lifting driving device, the X-direction translation driving device and the parallel device to perform a reciprocating linear motion along a Y-axis direction.
8. A pharyngeal swab sampling robot according to claim 7, wherein the Y-direction translation driving device includes a guide rail provided to the base and extending in a Y-axis direction, and a Y-direction translation mechanism moving along the guide rail, the Y-direction translation mechanism includes a Y-direction driving member, a Y-direction rack-and-pinion transmission member, and a Y-direction slider mounting the Y-direction driving member and the Y-direction rack-and-pinion transmission member, the Y-direction slider being capable of moving along the guide rail.
9. A pharyngeal swab sampling robot as recited in claim 7, wherein the Z-direction elevating drive device includes a support frame extending along the Z-axis direction and a Z-direction elevating mechanism for driving the X-direction translation drive device to elevate along the support frame, the Z-direction elevating mechanism includes a Z-direction driving member and a Z-direction rack-and-pinion transmission member and a Z-direction slider for mounting the Z-direction driving member and the Z-direction rack-and-pinion transmission member, the Z-direction slider being capable of elevating along the support frame.
10. A pharyngeal swab sampling robot according to claim 8 or 9, wherein the X-direction translation driving device includes a beam disposed on the Z-direction slider and an X-direction moving mechanism reciprocally moving along the beam, the X-direction moving mechanism includes an X-direction driving member and a belt transmission member connected to the X-direction driving member, the fixed platform is disposed on the belt transmission member, and the belt transmission member is capable of driving the fixed platform to reciprocally move along the X-direction.
CN202111371644.8A 2021-11-18 2021-11-18 Throat swab sampling robot Active CN114012753B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111371644.8A CN114012753B (en) 2021-11-18 2021-11-18 Throat swab sampling robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111371644.8A CN114012753B (en) 2021-11-18 2021-11-18 Throat swab sampling robot

Publications (2)

Publication Number Publication Date
CN114012753A true CN114012753A (en) 2022-02-08
CN114012753B CN114012753B (en) 2023-04-25

Family

ID=80065313

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111371644.8A Active CN114012753B (en) 2021-11-18 2021-11-18 Throat swab sampling robot

Country Status (1)

Country Link
CN (1) CN114012753B (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115778436A (en) * 2022-11-21 2023-03-14 广州医科大学附属第一医院（广州呼吸中心） Throat swab sampling device and control method

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103624774A (en) * 2013-12-17 2014-03-12 哈尔滨工程大学 Six-degree-of-freedom series-parallel connection robot
CN105465317A (en) * 2016-01-08 2016-04-06 上海卓步电气技术有限公司 Translation type friction driving device
CN206048199U (en) * 2016-09-12 2017-03-29 苏州迈客荣自动化技术有限公司 A kind of six-degree-of-freedom parallel robot
CN111376276A (en) * 2020-03-13 2020-07-07 苏州点合医疗科技有限公司 Split type teleoperation automatic respiratory track sample collection robot
CN111631759A (en) * 2020-06-10 2020-09-08 苏州点合医疗科技有限公司 Touch automatic protection type nasopharynx swab specimen collecting robot
CN112716535A (en) * 2021-01-29 2021-04-30 山东理工大学 Rope drives pharynx and wipes away sub-robot
CN113580104A (en) * 2021-07-29 2021-11-02 苏州芯尔贝机器人科技有限公司 Posture adjusting device based on 6-PSS parallel mechanism
WO2021221566A1 (en) * 2020-04-28 2021-11-04 Biobot Surgical Pte Ltd System and method for nasopharyngeal sample collection

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103624774A (en) * 2013-12-17 2014-03-12 哈尔滨工程大学 Six-degree-of-freedom series-parallel connection robot
CN105465317A (en) * 2016-01-08 2016-04-06 上海卓步电气技术有限公司 Translation type friction driving device
CN206048199U (en) * 2016-09-12 2017-03-29 苏州迈客荣自动化技术有限公司 A kind of six-degree-of-freedom parallel robot
CN111376276A (en) * 2020-03-13 2020-07-07 苏州点合医疗科技有限公司 Split type teleoperation automatic respiratory track sample collection robot
WO2021221566A1 (en) * 2020-04-28 2021-11-04 Biobot Surgical Pte Ltd System and method for nasopharyngeal sample collection
CN111631759A (en) * 2020-06-10 2020-09-08 苏州点合医疗科技有限公司 Touch automatic protection type nasopharynx swab specimen collecting robot
CN112716535A (en) * 2021-01-29 2021-04-30 山东理工大学 Rope drives pharynx and wipes away sub-robot
CN113580104A (en) * 2021-07-29 2021-11-02 苏州芯尔贝机器人科技有限公司 Posture adjusting device based on 6-PSS parallel mechanism

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115778436A (en) * 2022-11-21 2023-03-14 广州医科大学附属第一医院（广州呼吸中心） Throat swab sampling device and control method
CN115778436B (en) * 2022-11-21 2023-10-20 广州医科大学附属第一医院（广州呼吸中心） Throat swab sampling device and control method

Also Published As

Publication number Publication date
CN114012753B (en) 2023-04-25

Similar Documents

Publication Publication Date Title
CN109987167B (en) High-adaptability robot general motion platform for nuclear-involved complex environment
CN101209551A (en) Glass substrate transferring robot
CN102283765A (en) Rectangular coordinate and joint type combined traditional Chinese massage robot
CN111166471B (en) Three-axis intersection type active and passive hybrid surgical endoscope holding arm
CN201357411Y (en) Barrier-free constant-speed crawling robot
CN114012753A (en) Pharynx swab sampling robot
CN201701439U (en) Rectangular coordinate type and articulated type combined Chinese traditional massage robot
CN213320147U (en) Linear high-speed carrying manipulator
CN213622245U (en) Blue membrane chip high-speed separation device
CN111442942B (en) Serial-type segment assembling robot test device and simulation assembling method
CN110774258A (en) Automatic follow ration powder charge robot
CN111571346A (en) Multipurpose interior wall processing robot
WO2016106681A1 (en) Numerical control machine and automatic tool-changing device thereof
CN114303958B (en) Interval-adjustable double-jaw milking robot based on parallel-serial mechanism
CN211517538U (en) Gear rack lifting type joint mechanical arm
CN216299295U (en) Mechanical arm with multiple degrees of freedom
CN105082114A (en) Robot
CN112428257B (en) Six-degree-of-freedom parallel mechanism with compound driving branched chain
CN215281966U (en) Multi-posture conversion truss clamping manipulator compatible with two engine cylinder bodies
CN210284436U (en) Series-parallel hybrid arm/leg mechanism for bionic robot forelimb mechanical system
CN113580125A (en) Mechanical arm with multiple degrees of freedom
CN221314269U (en) Operation robot with turntable
CN221027240U (en) Truss manipulator type lifting equipment
CN101486187A (en) Barrier-free constant speed creeping robot
CN216328317U (en) Triaxial mechanical arm device

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant