CN114012753B - Throat swab sampling robot - Google Patents
Throat swab sampling robot Download PDFInfo
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- CN114012753B CN114012753B CN202111371644.8A CN202111371644A CN114012753B CN 114012753 B CN114012753 B CN 114012753B CN 202111371644 A CN202111371644 A CN 202111371644A CN 114012753 B CN114012753 B CN 114012753B
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- driving device
- throat swab
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- friction wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- 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
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- 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
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- 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
Abstract
The application relates to the technical field of throat swab sampling and discloses a throat swab sampling robot which comprises a base, a three-dimensional translation driving device, a parallel device and a throat swab holder, wherein the three-dimensional translation driving device, the parallel device and the throat swab holder are arranged above the base; the parallel device comprises a fixed platform, a movable platform and a parallel mechanism, wherein the fixed platform is arranged on the three-dimensional translation driving device, the parallel mechanism comprises a driving device arranged on the fixed platform and six branched chains, the branched chains comprise spline shafts, hook hinges, support columns and spherical hinges which are sequentially arranged, the driving device is connected with and drives the spline shafts to reciprocate, and the spherical hinges are connected with the movable platform; the throat swab holder is fixed on the movable platform and is used for fixing a throat swab. The pharyngeal swab sampling robot has the outstanding advantages in the aspects of stability, safety and feasibility, all parts are coordinated in action, good in synchronism, flexible in air posture adjustment, stable in operation and free of accumulated errors.
Description
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 in surgical operations, rehabilitation, nursing, and services in research in the medical field. The new coronal pneumonia epidemic situation has high infectivity, when the nucleic acid detection is carried out, medical gloves are generally worn by hands of medical staff, the secretion is dipped from the throat of a human body by using a swab cotton swab for detection, and the medical staff is exposed to the risk of being infected.
The study of using robot to assist in sampling throat swab is carried out once, however, for the study of throat swab sampling robots, most of home and abroad are concentrated on serial robots, namely, multi-axis mechanical arms or rectangular coordinate robots are adopted for sampling, and the structure has the defects of poor structural rigidity, low position precision and the like, is large in plunge, inflexible in movement, is unfavorable for being used in a narrow sampling space, and causes that an end effector cannot be suitable for a person to be collected in time. Especially when the swab is fed forward and extends into the throat of the person to be collected, the feeding speed is high, the position accuracy is low due to abrupt stroke, and therefore the problem that 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 generated.
It is seen that there is a need for further improvements and enhancements in the art.
Disclosure of Invention
The invention provides a throat 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 throat swab sampling robot which comprises a base, a three-dimensional translation driving device, a parallel device and a throat swab holder, wherein the three-dimensional translation driving device, the parallel device and the throat swab holder are arranged above the base;
the parallel device comprises a fixed platform, a movable platform and a parallel mechanism, wherein the fixed platform is arranged on the three-dimensional translation driving device, the parallel mechanism comprises a driving device arranged on the fixed platform and six branched chains, the branched chains comprise spline shafts, hook hinges, support columns and spherical hinges which are sequentially arranged, the driving device is connected with and drives the spline shafts to reciprocate, and the spherical hinges are connected with the movable platform;
the throat swab holder is fixed on the movable platform and is used for fixing a throat swab.
As a preferred embodiment of the throat swab sampling robot, the parallel mechanism further comprises a driving device, wherein the driving device comprises a first driving piece and a ball screw connected with the first driving piece, and the spline shaft is connected with the ball screw through a guide nut.
As an optimal implementation mode of the throat swab sampling robot, the fixed platform is provided with the guide sleeve, the inner side of the spline shaft is sleeved on the ball screw, the outer side of the spline shaft is sleeved on the guide sleeve, and the ball screw drives the spline shaft to reciprocate linearly along the guide sleeve.
As a preferred embodiment of the throat swab sampling robot, the throat swab sampling robot further comprises an inserting device, wherein the inserting 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 throat swab holder to reciprocate.
As a preferred embodiment of the throat swab sampling robot, the feeding mechanism comprises a second driving piece and a friction wheel mechanism, the second driving piece is mounted on the box body, the friction wheel mechanism comprises a first friction wheel and a second friction wheel, the first friction wheel is connected with the second driving piece, and the throat swab holder is clamped between the first friction wheel and the second friction wheel.
As a preferred embodiment of the throat swab sampling robot, the feeding mechanism further comprises a transmission gear mechanism, the transmission gear mechanism comprises a driving gear, a driven gear, a first transmission shaft and a second transmission shaft, the first transmission shaft is connected with an output shaft of the second driving part through a coupler, the driving gear and the first friction wheel are arranged on the first transmission shaft, the second friction wheel and the driven gear are arranged on the second transmission shaft, the driving gear and the driven gear are in meshed transmission, and the driven gear can drive the second transmission shaft and the second friction wheel to rotate.
As a preferred embodiment of the throat swab sampling robot, the three-dimensional translation driving device comprises an X-direction translation driving device, a Y-direction translation driving device and a Z-direction lifting driving device, wherein the Y-direction translation driving device is arranged on the base, the parallel device is arranged on the X-direction translation driving device, the X-direction driving device is used for driving the parallel device to do reciprocating rectilinear motion along the X-axis direction, the Z-direction lifting driving device is used for driving the X-direction translation driving device and the parallel device to do reciprocating rectilinear motion along the Z-axis direction, and the Y-direction translation driving device is used for driving the Z-direction lifting driving device, the X-direction translation driving device and the parallel device to do reciprocating rectilinear motion along the Y-axis direction.
As a preferred embodiment of the throat swab sampling robot, the Y-direction translation driving device comprises a guide rail which is arranged on the base and extends along the Y-axis direction, and a Y-direction translation mechanism which moves along the guide rail, wherein the Y-direction translation mechanism comprises a Y-direction driving piece, a Y-direction gear rack transmission piece and a Y-direction sliding block which is provided with the Y-direction driving piece and the Y-direction gear rack transmission piece, and the Y-direction sliding block can move along the guide rail.
As a preferred embodiment of the throat swab sampling robot, the Z-direction lifting driving device comprises a support frame extending along the Z-axis direction and a Z-direction lifting mechanism driving the X-direction translation driving device to lift along the support frame, wherein the Z-direction lifting mechanism comprises a Z-direction driving piece, a Z-direction gear rack driving piece and a Z-direction sliding block provided with the Z-direction driving piece and the Z-direction gear rack driving piece, and the Z-direction sliding block can lift along the support frame.
As a preferred embodiment of the throat swab sampling robot, the X-direction translation driving device comprises a cross beam arranged on the Z-direction sliding block and an X-direction moving mechanism capable of moving back and forth along the cross beam, wherein the X-direction moving mechanism comprises an X-direction driving piece and a belt transmission piece connected with the X-direction driving piece, the fixed platform is arranged on the belt transmission piece, and the belt transmission piece can drive the fixed platform to move back and forth along the X direction.
By adopting the technical scheme, the invention has the following beneficial effects:
1. compared with a manual collection mode, the throat swab sampling robot can reduce the risk of infection of medical workers, improve the detection efficiency and quality, and play an important role in the large-scale swab collection. The throat swab sampling robot adopts the manipulator which is used by combining a serial mechanism and a parallel mechanism, and has the advantages of simple integral 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 execution requirements of various complex actions. The parallel mechanism is characterized in that the parallel mechanism is used for adjusting local positions and angles in a narrow oral cavity, so that the parallel mechanism can adapt to the throat of a person to be collected, and particularly, the throat 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 the experience of the throat swab collecting process 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 compared with a mode of moving parts such as a guide rail sliding block, the spline shaft has a simple and compact structure, and is beneficial to miniaturization of the whole machine. The invention has outstanding advantages in the aspects of stability, safety and feasibility, and all parts have coordinated actions, good synchronism, flexible air posture adjustment, stable operation and no accumulated error.
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 beneficial to ensuring the motion precision of the parallel mechanism.
Further, through setting up the guide sleeve at fixed platform, the integral key shaft can be along guide sleeve reciprocating rectilinear motion, avoids the integral key shaft to be relative to fixed platform's irregular rotation, influences parallel device's precision.
3. The throat swab sampling robot further comprises an insertion device, and feeding actions of the throat swab are completed by the aid of the insertion device. Because the posture adjustment of the parallel device takes a long time, if the drawing action is also completed by the parallel device, the collection efficiency is lower. After the oral cavity suitability of the collected person is finished through the parallel device, the feeding mechanism of the inserting device drives the pharyngeal swab holder to finish the final inserting and extracting actions, so that the collecting efficiency can be improved. Furthermore, the feeding mechanism can complete clamping action by utilizing the friction wheel mechanism, and simultaneously complete feeding and returning actions by utilizing rotation of the friction wheel, so that the feeding mechanism is simple and reliable in structure.
4. The throat swab sampling robot comprises an X-direction translation driving device, a Y-direction translation driving device and a Z-direction lifting driving device, wherein a gear rack transmission piece with better rigidity is adopted for the load of the Y-direction translation driving device and the Z-direction translation driving device, the load of the X-direction translation driving device is smaller than that of the Y-direction translation driving device and the Z-direction translation driving device, and the load of the Y-direction translation driving device and the Z-direction translation driving device is reduced, so that the X-direction translation driving device adopts a belt transmission piece, the stable transmission of the three-dimensional translation driving device is ensured, and the weight of the whole machine can be reduced.
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 present application and do not constitute a limitation on the invention. In the drawings:
fig. 1 is a schematic structural diagram of a throat swab sampling robot according to an embodiment of the present invention;
fig. 2 is a side view of a throat swab sampling robot provided by an embodiment of the present invention;
FIG. 3 is a cross-sectional view of a parallel device according to an embodiment of the present invention;
FIG. 4 is a cross-sectional view of a Y-direction translational drive apparatus provided by an embodiment of the present invention;
FIG. 5 is a cross-sectional view of a Z-direction lifting drive device provided by an embodiment of the invention;
FIG. 6 is a cross-sectional view of an X-direction translational drive apparatus according to an embodiment of the present invention;
fig. 7 is a cross-sectional view of an insertion device according to an embodiment of the present invention.
Wherein, the liquid crystal display device comprises a liquid crystal display device,
1. a base;
2-Y direction translation driving device; 21-a first rack guide rail; 22-Y direction translation mechanism; 221-a second motor; 222-a first gear; 223-a first slider; 224-a first slider plate 224;
3-Z direction lifting driving device; 31-a supporting frame; 311-a first support frame; 312-a second support frame; 313-a second rack rail; 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; 42-X direction translation mechanism; 421-fourth motor; 422-pulleys; 423-synchronous belt; 424-slider guide rail; 425-a third slider;
a 5-parallel arrangement; 51-fixing a platform; 511-a motor mounting plate; 512-guide sleeve; 513-linear bearings; 52-a movable platform; 521-a box mounting plate; 522-spherical hinge support; 53-parallel mechanism; 531-a first motor; 532-ball screw; 533-spline shaft; 534-hook hinge; 535-struts; 536-ball pivot;
6-an insertion device; 61-a box body; 611-upper box and 612-lower box; 62-a feed mechanism; 621-a fifth motor; 622-a drive gear; 623-a driven gear; 624-a first friction wheel; 625-a second friction wheel; 626-a first drive shaft; 627-a second drive shaft;
7-pharyngeal swab holder.
Detailed Description
In order to more clearly illustrate the general concepts of the present application, a detailed description is provided below by way of example in connection 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 described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.
In addition, in the description of the present invention, it should be understood that the terms "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; the device can be mechanically connected, electrically connected and communicated; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means 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 present invention. In this specification, schematic representations of the above terms are not necessarily directed 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 throat swab sampling robot, as shown in fig. 1-2, in one embodiment, the throat swab sampling robot comprises a base 1, a three-dimensional translation driving device arranged above the base 1, a parallel device 5 and a throat 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. 2-3, the parallel device 5 employs a Stewart parallel platform, which includes a fixed platform 51, a movable platform 52, and a parallel mechanism 53. The fixed platform 51 is provided in the three-dimensional translational driving device and is driven by the three-dimensional driving device to move in the three-dimensional direction. The pharyngeal swab holder 7 is fixed to the movable platform 52. The parallel mechanism 53 includes a driving device provided on the fixed platform 51 and 6 branched chains, each of which is composed of a spline shaft 533, a hook hinge 534, a strut 535, and a spherical hinge 536. The driving device is connected with and drives the spline shaft 533 to reciprocate, and the spherical hinge 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 in a pair-by-pair mode, the first motors 531 are circumferentially and uniformly distributed on the annular motor mounting plate 511 along the Y-axis direction, the ball screw 532 is sequentially provided with a coupler, a bearing and a guide nut, and output shafts of the first motors 531 are connected with the ball screw 532 through the coupler. The ball screw 532 is fitted into a spline shaft 533, and the guide sleeve 512 is mounted on the fixed platform 51, and the spline shaft 533 is fitted to a linear bearing 513 mounted in the guide sleeve 512. The first driving part is used as a 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 ball screw rotates back and forth along the Y-axis direction, so that the parallel mechanism 53 moves. The movable platform 52 comprises a box 61 mounting plate 521 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 throat swab retainer 7 during throat swab sampling.
As shown in fig. 1, the three-dimensional translational driving device comprises an X-directional translational driving device 4, a Y-directional translational driving device 2 and a Z-directional lifting driving device 3, wherein the Y-directional translational driving device 2 is arranged on the base 1, the parallel device 5 is arranged on the X-directional translational driving device 4, the X-directional driving device is used for driving the parallel device 5 to do reciprocating rectilinear motion along the X-axis direction, the Z-directional lifting driving device 3 is used for driving the X-directional translational driving device 4 and the parallel device 5 to do reciprocating rectilinear motion along the Z-axis direction together, and the Y-directional translational driving device 2 is used for driving the Z-directional lifting driving device 3, the X-directional translational driving device 4 and the parallel device 5 to do reciprocating rectilinear motion along the Y-axis direction together.
As shown in fig. 1 and 4, the Y-direction translational 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 translational mechanism 22 that reciprocates linearly in the Y-axis direction.
As shown in fig. 1 and 5, the Z-direction lifting driving device 3 includes a support frame 31 extending along the Z-axis, the support frame 31 includes a support frame 311 and a second support frame 312 that are disposed in parallel, the support frame 31 and the second support 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 that 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 used for driving the slider to reciprocate in a linear direction 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 rail is fixed on the top end surface of the base 1 and is paved along the Y-axis direction, and for ensuring 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 arranged on the transmission shaft, and a lock nut is arranged between the deep groove ball bearing and the first gear 222. The second motor 221 drives the gear to rotate and move along the Y-axis direction under the action of the rack guide rail, so that the Z-direction lifting driving device 3 is driven to synchronously move along the Y-axis direction through the support frame 311 and the second support frame 312.
In one embodiment, as shown in fig. 1 and 5, the Z-direction lifting 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 313 is fixed on the second support frame 312, the upper end face of the support frame 311 is paved along the Z-axis direction, the sliding block plate is fixed on the second rack guide 313 of the second support frame 312, the third motor 321 is fixed on the second sliding block 323 plate through a motor bracket, the output shaft of the third motor 321 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 bearing and the gear. The third motor 321 drives the gear to rotate and moves the cross member 41 in the Z-axis direction by the rack rail.
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 rail 424, a third slider 425, and a fixed stage 51 mounted on the third slider 425. The fourth motor 421 is mounted on the horizontal motor holder of the cross beam 41 in the Y-axis direction, and is connected to a transmission shaft on which the pulley 422 is mounted through a coupling, and a bearing, a key, the pulley 422, and a sleeve are sequentially mounted on the transmission shaft. The pulley 422 is keyed to be mounted to the drive shaft. The fourth motor 421 rotates the belt wheel 422, so that the synchronous belt 423 matched with the belt wheel 422 moves to drive the third sliding block 425, namely the fixed platform 51, to realize the left-right reciprocating motion of the parallel device 5 along the X-axis direction on the sliding block guide rail 424.
Embodiment two:
as shown in fig. 2 and 7, the throat swab sampling robot in the present embodiment further includes an insertion device 6, and the insertion and extraction of the throat swab is performed by the insertion device 6. The inserting device 6 includes a case 61 mounted on the moving platform 52, a feeding mechanism 62 disposed on the case 61, the case 61 includes an upper case 611 and a lower case 612, a cavity is disposed between the upper case 612 and the lower case 612, the lower case 612 is mounted on the upper case 611, and the upper case 611 is fixed on the moving platform 52. The feeding mechanism 62 comprises a fifth motor 621 and a friction wheel mechanism, the fifth motor 621 is arranged 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 arranged in the cavity through a coupler, and an end cover, a bearing and a sleeve for realizing axial positioning of the transmission shaft are sequentially arranged on the 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 with 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 pharyngeal swab holder 7 is clamped between the first friction wheel 624 and the second friction wheel 625.
As shown in fig. 7, in one embodiment, the feeding mechanism 62 further includes a transmission gear mechanism, where 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 an 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 meshed 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 holder matched with the friction wheel realizes linear reciprocating motion along the Y-axis direction, so that pharyngeal swab sampling work is carried out.
The first, second, third, fourth and fifth motors 621 are all gear motors, and each motor is an integrated structure with a gear reducer. The first, second, third, fourth, and fifth motors 621 are all controlled by a computer control system.
The invention can be realized by adopting or referring to the prior art at the places which are not described in the invention.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments.
The foregoing is merely exemplary of the present invention and is not intended to limit the present invention. Various modifications and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are to be included in the scope of the claims of the present invention.
Claims (9)
1. The throat swab sampling robot is characterized by comprising a base, a three-dimensional translation driving device, a parallel device and a throat swab holder, wherein the three-dimensional translation driving device, the parallel device and the throat swab holder are arranged above the base;
the parallel device comprises a fixed platform, a movable platform and a parallel mechanism, wherein the fixed platform is arranged on the three-dimensional translation driving device, the parallel mechanism comprises a driving device arranged on the fixed platform and six branched chains, the branched chains comprise spline shafts, hook hinges, support columns and spherical hinges which are sequentially arranged, the driving device is connected with and drives the spline shafts to reciprocate, and the spherical hinges are connected with the movable platform;
the device also comprises an inserting device, wherein the inserting device comprises a box body arranged on the movable platform and a feeding mechanism arranged in the box body; the feeding mechanism comprises a second driving piece and a friction wheel mechanism, and the friction wheel mechanism comprises a first friction wheel and a second friction wheel;
the feeding mechanism also comprises a transmission gear mechanism, the transmission gear mechanism comprises a driving gear, a driven gear, a first transmission shaft and a second transmission shaft, the first transmission shaft is connected with an output shaft of the second driving piece through a coupling, the driving gear and the first friction wheel are arranged on the first transmission shaft, the second friction wheel and the driven gear are arranged on the second transmission shaft, the driving gear and the driven gear are meshed for transmission, the driven gear can drive the second transmission shaft and the second friction wheel to rotate,
the throat swab holder is fixed on the movable platform and is used for fixing a throat swab.
2. The throat swab sampling robot of claim 1, wherein the driving device comprises a first driving element, a ball screw coupled to the first driving element, and wherein the spline shaft is coupled to the ball screw by a guide nut.
3. The throat swab sampling robot according to claim 2, wherein the fixed platform is provided with a guide sleeve, the ball screw is sleeved on the inner side of the spline shaft, the guide sleeve is sleeved on the outer side of the spline shaft, and the ball screw drives the spline shaft to reciprocate linearly along the guide sleeve.
4. A throat swab sampling robot according to any one of claims 1 to 3, wherein the feeding mechanism is capable of gripping and driving the throat swab holder to reciprocate.
5. The throat swab sampling robot of claim 4, wherein the second drive member is mounted to the housing, the first friction wheel is coupled to the second drive member, and the throat swab holder is clamped between the first friction wheel and the second friction wheel.
6. The throat swab sampling robot according to claim 1, wherein the three-dimensional translational driving device comprises an X-direction translational driving device, a Y-direction translational driving device and a Z-direction lifting driving device, wherein the Y-direction translational driving device is arranged on the base, the parallel device is arranged on the X-direction translational driving device, the X-direction driving device is used for driving the parallel device to reciprocate linearly along the X-axis direction, the Z-direction lifting driving device is used for driving the X-direction translational driving device and the parallel device to reciprocate along the Z-axis direction, and the Y-direction translational driving device is used for driving the Z-direction lifting driving device, the X-direction translational driving device and the parallel device to reciprocate linearly along the Y-axis direction.
7. The throat swab sampling robot of claim 6, wherein the Y-translation driving device comprises a guide rail provided on the base and extending in a Y-axis direction, and a Y-translation mechanism moving along the guide rail, wherein the Y-translation mechanism comprises a Y-drive, a Y-rack and pinion, and a Y-slider mounted with the Y-drive and the Y-rack and pinion, and the Y-slider is movable along the guide rail.
8. The throat swab sampling robot of claim 6, wherein the Z-direction lifting drive comprises a support frame extending along the Z-axis direction and a Z-direction lifting mechanism driving the X-direction translation drive to lift along the support frame, wherein the Z-direction lifting mechanism comprises a Z-direction drive member, a Z-direction rack and pinion drive member, and a Z-direction slide block provided with the Z-direction drive member and the Z-direction rack and pinion drive member, and the Z-direction slide block can lift along the support frame.
9. The throat swab sampling robot according to claim 7 or 8, wherein the X-direction translation driving device comprises a cross beam arranged on the Z-direction sliding block and an X-direction moving mechanism moving reciprocally along the cross beam, wherein the X-direction moving mechanism comprises an X-direction driving element and a belt driving element connected with the X-direction driving element, the fixed platform is arranged on the belt driving element, and the belt driving element can drive the fixed platform to move reciprocally along the X-direction.
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 CN114012753A (en) | 2022-02-08 |
| CN114012753B true CN114012753B (en) | 2023-04-25 |
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| CN105465317B (en) * | 2016-01-08 | 2016-10-05 | 上海卓步电气技术有限公司 | Parallel-moving type friction drive 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 |
| CN111376276B (en) * | 2020-03-13 | 2023-12-05 | 苏州点合医疗科技有限公司 | Split teleoperation automatic respiratory tract specimen collection robot |
| WO2021221566A1 (en) * | 2020-04-28 | 2021-11-04 | Biobot Surgical Pte Ltd | System and method for nasopharyngeal sample collection |
| CN111631759B (en) * | 2020-06-10 | 2024-01-30 | 苏州点合医疗科技有限公司 | Touch automatic protection type nasopharynx swab specimen collection robot |
| CN112716535B (en) * | 2021-01-29 | 2023-05-16 | 山东理工大学 | Rope drives throat swab 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 |
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