CN114102613A - Modularization nose oropharynx swab sampling robot - Google Patents

Abstract

The invention relates to the field of medical robots, in particular to a modular nasooropharyngeal swab sampling robot. The device comprises an operating platform, and a sampling mechanical arm, an isolation sleeve mounting station, a swab preparing station, a swab breaking and bottling station, a test tube transferring station, an isolation sleeve dismounting station and a sampling window module which are arranged on the operating platform; a sampling tool is arranged at the execution tail end of the sampling mechanical arm; the isolation sleeve mounting station is used for mounting an isolation sleeve on the outer side of the sampling tool; the swab preparation station is used for removing a packaging bag outside the swab; the swab breaking and bottling station is used for breaking the sampled swab and bottling the broken swab; the test tube transfer station is used for transferring a test tube which is empty or is filled with a nasopharyngeal swab sample; the isolation sleeve dismounting station is used for dismounting the isolation sleeve outside the sampling tool; the sampling window module is used for carrying out nasopharyngeal swab sample collection on the subject. The invention realizes the isolation protection of the sampling process relative to medical personnel, avoids the cross infection among testees and ensures the sampling quality.

Description

Modularization nose oropharynx swab sampling robot

Technical Field

The invention relates to the field of medical robots, in particular to a modular nasooropharyngeal swab sampling robot.

Background

Nucleic acid detection is an important means for accurate diagnosis of the new coronavirus, and the acquisition of a biological sample of the respiratory tract of a patient is a first step. Nasopharynx swab is the main means that biological sample gathered, and at the in-process of sampling, medical staff exists the risk of being infected, moreover because the sampling process is not standard, and long-time nucleic acid testing work and high temperature weather all can make medical staff excessively tired, influence medical staff's health and sampling effect.

The robot technology applied to nasopharynx swab sampling is expected to overcome the problems, and in the normalized prevention and control stage, the number of the collected people is large, and higher requirements are provided for the sampling efficiency. In order to achieve the same or even better sampling effect than that of medical staff, all links such as isolation protection, sample collection, sample storage, sample transportation and the like need to be fully considered. The existing sampling devices and instruments do not realize the complete isolation of medical care personnel from biological samples from the whole sampling process, and are difficult to ensure that swabs are prevented from being polluted. Equipment which meets the requirements of normalized prevention and control and is suitable for large-scale collection of nasopharyngeal swab samples is urgently needed.

Disclosure of Invention

In view of the above problems, it is an object of the present invention to provide a modular nasooropharyngeal swab sampling robot.

In order to achieve the purpose, the invention adopts the following technical scheme:

a modular nasooropharynx swab sampling robot comprises an operating platform, and a sampling mechanical arm, an isolation sleeve mounting station, a swab preparing station, a swab breaking and bottling station, a test tube transferring station, an isolation sleeve disassembling station, a sampling window module and an information input module which are arranged on the operating platform; the information input module is used for recording and storing the identity information of the patient and the nasopharyngeal sample detection information;

the swab preparation station is used for stripping a packaging bag outside the swab; the execution end of the sampling mechanical arm is provided with a sampling tool, and the sampling tool is used for picking and releasing a swab; the isolation sleeve mounting station is used for mounting an isolation sleeve on the outer side of the sampling tool; the sampling window module is used for the sampling mechanical arm to collect nasopharyngeal swab samples of the testee; the swab breaking and bottling station is used for breaking the sampled swab after the sampled swab is loaded into a test tube; the test tube transfer station is used for transferring a test tube which is empty or is filled with a nasopharyngeal swab sample; the isolation sleeve dismounting station is used for dismounting the isolation sleeve outside the sampling tool.

The sampling tool comprises a shell, and a swab clamping device, a sampling force control device, a pneumatic clamping jaw and an adapter which are arranged in the shell, wherein the adapter is connected with the sampling mechanical arm; the adapter is provided with a sampling force control device, a pneumatic clamping jaw and an oral cavity identification camera, and the oral cavity identification camera is positioned on the outer side of the shell;

the swab clamping device comprises a right opening and closing piece, a left opening and closing piece and two chucks, wherein the right opening and closing piece and the left opening and closing piece are hinged to two sides of the sampling force control device through hinge shafts, return springs are sleeved on the hinge shafts, and the right opening and closing piece and the left opening and closing piece are in a closed state under the elastic force of the return springs;

the two chucks are connected with the output end of the pneumatic clamping jaw and are respectively positioned on the outer sides of the right opening-closing piece and the left opening-closing piece; the pneumatic clamping jaws drive the two chucks to be closed, and then the two chucks push the right opening and closing piece and the left opening and closing piece to be opened.

The sampling force control device comprises a front cover, an outer layer sliding part, a force sensor, a middle supporting part, a sleeve, a spring and a supporting part, wherein the supporting part is connected with the adapter part, one end of the force sensor is connected with the supporting part, and the other end of the force sensor is connected with the middle supporting part;

the middle supporting piece is of a hollow structure, and a sleeve and a spring are accommodated in the cavity; the outer sliding part is sleeved outside the middle supporting part in an axially sliding manner; the front cover is arranged at the end part of the outer layer sliding piece and is abutted against the spring; the outer sliding part is axially limited by shaft shoulders arranged on the front cover and the middle supporting part;

the hinge shaft is disposed at the bottom of the outer sliding member.

The sampling mechanical arm comprises a chassis, an upright post, a mechanical arm front end flange, a mechanical arm base flange, a six-degree-of-freedom mechanical arm, a lifting upright post, an RGB-D camera and a wide-angle camera, wherein the chassis is connected with the operating platform in a sliding manner, the lower end of the upright post is connected with the chassis, and the upper end of the upright post is provided with the mechanical arm base flange; the six-degree-of-freedom mechanical arm is arranged on a mechanical arm base flange, the execution tail end of the six-degree-of-freedom mechanical arm is provided with a mechanical arm front end flange, and the sampling tool is arranged on the mechanical arm front end flange; the lifting upright post is arranged on the upright post, and the RGB-D camera and the wide-angle camera are arranged at the top end of the lifting upright post.

The isolation sleeve mounting station comprises a mounting frame, isolation sleeve buckles, buckle boxes, a movable bottom plate, a jacking cylinder and buckle releasing mechanisms, wherein the mounting frame is circumferentially provided with a plurality of buckle boxes, and each buckle box is internally provided with the buckle releasing mechanism and a plurality of isolation sleeve buckles positioned above the buckle releasing mechanism; the movable bottom plate is arranged below the buckle box and connected with the buckle releasing mechanism; the jacking cylinder is arranged on the mounting frame, and the output end of the jacking cylinder is connected with the movable bottom plate;

the buckle releasing mechanism comprises a vertical ejector rod, a bent ejector rod, a movable block, a buckle positioning spring and a pull rod, a sliding groove is formed in one side of the buckle box along the vertical direction, and a buckle releasing port is formed in the upper end of the sliding groove; the movable block is connected with the sliding groove in a sliding mode and is used for supporting a plurality of isolating sleeve buckles; the inner wall of the buckle box is provided with a guide groove along the vertical direction, the vertical ejector rod and the bent ejector rod are respectively in sliding fit with the guide groove, and the vertical ejector rod is positioned on the outer side of the bent ejector rod; the lower ends of the vertical ejector rod and the bent ejector rod are connected with the movable bottom plate through pull rods, and the vertical ejector rod is used for limiting the isolation sleeve buckle to be separated from the buckle release port; the bent ejector rod is used for pressing the isolation sleeve buckles and the movable block except the uppermost isolation sleeve buckle;

the buckle positioning spring is accommodated in the buckle box, the lower end of the buckle positioning spring is abutted against the buckle box, the upper end of the buckle positioning spring is abutted against the movable block, and the isolation sleeve buckle positioned on the uppermost layer is positioned in the buckle release opening through the buckle positioning spring.

The swab preparation station comprises a swab box, a two-dimensional moving platform, a swab sucker, pneumatic scissors, a pneumatic clamping jaw, a lifting pneumatic clamping jaw, a support and a lifting pneumatic sliding table, wherein the swab sucker is arranged on the two-dimensional moving platform and used for picking up swabs in the swab box; the pneumatic scissors, the pneumatic clamping jaw and the lifting pneumatic sliding table are sequentially arranged on the bracket from top to bottom, and the lifting pneumatic clamping jaw is arranged on the lifting pneumatic sliding table;

the pneumatic scissors are used for cutting off the packaging bag outside the swab;

the inner side of the pneumatic clamping jaw is provided with a groove, and the pneumatic clamping jaw is used for clamping a packaging bag on the outer side of the swab;

the lifting pneumatic clamping jaw is used for clamping the swab and the outer packaging bag; pneumatic slip table drive pneumatic clamping jaw of lift upwards removes, and pneumatic clamping jaw of lift drives swab and the same upward movement of outside wrapping bag to make the swab stretch out in by the outside wrapping bag.

The swab breaking and bottling station comprises a pneumatic clamping mechanism, a test tube base and a fixed bottom plate, wherein the fixed bottom plate is connected with the operating platform; the pneumatic clamping mechanism and the test tube base are arranged on the fixed bottom plate, and the test tube base is used for placing a test tube; the lateral part of test tube base is equipped with the opening, pneumatic clamping mechanism's execution end stretches into from this opening to control the test tube.

The test tube transferring station comprises a four-degree-of-freedom transferring mechanical arm, a test tube clamping mechanism, a mounting base and a test tube rack, wherein the mounting base is arranged on the operating platform; the four-degree-of-freedom transfer mechanical arm is arranged on the mounting base, and the execution tail end of the four-degree-of-freedom transfer mechanical arm is connected with the test tube clamping mechanism; the test tube rack is arranged in an isolation box arranged on the operating platform; the four-degree-of-freedom transfer mechanical arm is used for placing empty test tubes and collecting samples.

The isolation sleeve dismounting station comprises a waste isolation sleeve collecting box and at least two groups of sucker mechanisms arranged on two sides of the waste isolation sleeve collecting box;

the sucker mechanism comprises a negative sucker, a sucker supporting rod and a pneumatic sliding table, wherein the pneumatic sliding table is arranged on the operating platform, one end of the sucker supporting rod is connected with the pneumatic sliding table, and the other end of the sucker supporting rod is connected with the negative sucker; after the negative pressure sucker adsorbs the isolation sleeve, the negative pressure sucker moves backwards through the pneumatic sliding table, so that the isolation sleeve is separated from the sampling tool.

The sampling window module comprises a sampling window, an isolation plate, a display screen, a chin rest, a support piece, a switching piece and a lifting cylinder, wherein the lifting cylinder is arranged on the operating platform, the output end of the lifting cylinder is connected with the support piece through the switching piece, and the support piece extends out of the sampling window; the chin rest is arranged on the support piece; the display screen is connected with the adapter through the bracket.

The invention has the advantages and positive effects that:

according to the invention, through the design of the automatic sampling flow connection device, the isolation protection of the sampling process relative to medical personnel can be realized, the cross infection among subjects is avoided, and the sampling quality is ensured.

The invention simulates manual sampling process in connection with the sampling process, and multiple processes can be developed in parallel, thereby shortening sampling time and improving sampling efficiency.

The invention adopts the annular arrangement form of multiple sampling windows, and the mechanical arms for dispatching the test tubes are shared among a plurality of sampling stations, thereby reducing the production cost and simultaneously reducing the occupied space.

The mobile platform can be integrally arranged on the mobile platform, multi-person simultaneous sampling can be realized through module combination, the vehicle-mounted mode is also favorable for flow detection, and the practicability of the mobile platform is greatly improved.

According to the invention, the height of the oral cavity is visually identified, so that the automatic adjustment of the height of the chin rest is realized, the comfort and stability in the sampling process are increased, and the sampling efficiency is improved.

Drawings

FIG. 1 is a perspective view of a modular naso-oropharyngeal swab sampling robot of the present invention;

FIG. 2 is a top view of the modular nasooropharyngeal swab sampling robot of the present invention;

FIG. 3 is a schematic view of a sampling tool according to the present invention;

FIG. 4 is a schematic view of the swab holder of the present invention;

FIG. 5 is a schematic structural diagram of a sampling force control device according to the present invention;

FIG. 6 is a schematic view of the swab holder and the sampling force controller of the present invention;

FIG. 7 is a schematic view of the sampling robot of the present invention;

FIG. 8 is a schematic structural view of a spacer sleeve mounting station according to the present invention;

FIG. 9 is a schematic structural view of the buckle release mechanism of the present invention;

FIG. 10 is a schematic view of the buckle box according to the present invention;

FIG. 11 is a schematic view of a swab preparation station of the present invention;

FIG. 12 is a schematic structural view of a swab breaking-off and bottling station according to the present invention;

FIG. 13 is a schematic structural view of a test tube transfer station according to the present invention;

FIG. 14 is a schematic structural view of a spacer sleeve removal station according to the present invention;

fig. 15 is a schematic structural diagram of a sampling window module according to the present invention.

In the figure: 1 is a sampling tool, 101 is a swab, 102 is a swab holding device, 1021 is a right-side opening element, 1022 is a left-side opening element, 1023 is a collet, 103 is a sampling force control device, 1031 is a front cover, 1032 is an outer-layer slider, 1033 is a force sensor, 1034 is an intermediate support, 1035 is a sleeve, 1036 is a spring, 1037 is a support, 1038 is a return spring, 104 is a pneumatic clamping jaw, 105 is a housing, 106 is an oral cavity recognition camera, 107 is an adapter, 2 is a sampling mechanical arm, 201 is a chassis, 202 is a column, 203 is a mechanical arm front end flange, 204 is a mechanical arm base flange, 205 is a six-degree-of-freedom mechanical arm, 206 is a lifting column, 207 is an RGB-D camera, 208 is a wide-angle camera, 3 is an isolation sleeve mounting station, 301 is a mounting frame, 302 is an isolation sleeve buckle, 303 is a buckle box, 3031 is a vertical ejector pin, 3032 is a chute, 3033 is a curved ejector pin, 3034 is a movable block, 3035 a clip positioning spring, 3036 a pull rod, 3037 a clip housing, 3038 a clip release port, 304 a movable bottom plate, 305 a jacking cylinder, 4 a swab preparation station, 401 a swab box, 402 a swab sucker, 403 a longitudinal pneumatic sliding table, 404 a transverse pneumatic sliding table, 405 pneumatic scissors, 406 a pneumatic clamping jaw, 407 a lifting pneumatic clamping jaw, 408 a support, 409 a lifting pneumatic sliding table, 5 a swab breaking and bottling station, 501 a test tube, 502 a pneumatic clamping mechanism, 503 a test tube base, 504 a fixed bottom plate, 6 a test tube transfer station, 601 a four-degree-of-freedom transfer robot arm, 602 a test tube clamping mechanism, 603 a mounting base, 604 a test tube rack, 605 an isolation plate, 7 an isolation sleeve dismounting station, 701 a negative pressure sucker, 702 a sucker support rod, 703 a pneumatic sliding table, 704 a waste isolation sleeve collection box, 8 a sampling window module, 801 is an isolation plate, 802 is a display screen, 803 is a chin rest, 804 is a support piece, 805 is an adapter piece, 806 is a lifting cylinder, and 9 is an information recording module.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1-2, the modular nasooropharyngeal swab sampling robot provided by the invention comprises an operating platform, and a sampling mechanical arm 2, an isolation sleeve mounting station 3, a swab preparing station 4, a swab breaking and bottling station 5, a test tube transferring station 6, an isolation sleeve disassembling station 7 and a sampling window module 8 which are arranged on the operating platform; the swab preparation station 4 is used for removing a packaging bag outside the swab 101; the execution end of the sampling mechanical arm 2 is provided with a sampling tool 1, and the sampling tool 1 is used for picking and releasing a swab 101; the isolation sleeve mounting station 3 is used for mounting an isolation sleeve on the outer side of the sampling tool 1; the sampling window module 8 is used for the sampling mechanical arm 2 to collect nasopharyngeal swab samples of the testee; the swab breaking and bottling station 5 is used for loading the sampled swab 101 into a test tube and breaking the swab; the test tube transferring station 6 is used for transferring a test tube which is empty or is filled with a nasopharyngeal swab sample; the spacer sleeve dismounting station 7 is used for dismounting the spacer sleeve outside the sampling tool 1.

On the basis of the above embodiment, as shown in fig. 1, the modular nasooropharyngeal swab sampling robot provided by the present invention further includes an information entry module 9, and the information entry module 9 is used for recording and storing the identity and detection information of the patient.

As shown in fig. 3, in the embodiment of the present invention, the sampling tool 1 comprises a housing 105, and a swab holding device 102, a sampling force control device 103, a pneumatic clamping jaw 104 and an adaptor 107 which are arranged in the housing 105, wherein the adaptor 107 is connected to the sampling robot arm 2; the adaptor 107 is provided with a sampling force control device 103, a pneumatic clamping jaw 104 and an oral cavity recognition camera 106, and the oral cavity recognition camera 106 is positioned on the outer side of the shell 105;

as shown in fig. 5, in the embodiment of the present invention, the sampling force control device 103 includes a front cover 1031, an outer sliding member 1032, a force sensor 1033, an intermediate supporting member 1034, a sleeve 1035, a spring 1036, and a supporting member 1037, wherein the supporting member 1037 is connected to the adapting member 107, one end of the force sensor 1033 is connected to the supporting member 1037, and the other end is connected to the intermediate supporting member 1034; the intermediate support 1034 is a hollow structure with a sleeve 1035 and a spring 1036 housed within the cavity; the outer layer sliding element 1032 is axially slidably sleeved outside the intermediate supporting element 1034; a front cover 1031 provided at an end of the outer layer slider 1032 and abutting against the spring 1036; the outer slide 1032 is axially retained by shoulders provided on the front cover 1031 and the intermediate support 1034.

As shown in fig. 4 and 5, in the embodiment of the present invention, the swab holding device 102 comprises a right opening element 1021, a left opening element 1022 and two clamping heads 1023, wherein the right opening element 1021 and the left opening element 1022 are hinged to two sides of the bottom of the outer sliding element 1032 by a hinge shaft, a return spring 1038 is sleeved on the hinge shaft, and the right opening element 1021 and the left opening element 1022 are in a closed state under the elastic force of the return spring 1038; the two clamping heads 1023 are connected to the output end of the pneumatic clamping jaw 1024 and are respectively positioned at the outer sides of the right opening piece 1021 and the left opening piece 1022; the pneumatic clamping jaws 1024 drive the two clamping heads 1023 to be closed, and then the two clamping heads 1023 push the lower ends of the right opening piece 1021 and the left opening piece 1022 to enable the two clamping heads to rotate, so that the upper ends of the right opening piece 1021 and the left opening piece 1022 are opened, and releasing action is achieved.

The sampling tool 1 realizes the oral position recognition through the oral recognition camera 106, and the swab clamping device 102 can be driven by the pneumatic clamping jaw 104 to complete the opening and closing actions, so as to realize the grabbing and putting down of the swab 101.

As shown in fig. 7, in the embodiment of the present invention, the sampling mechanical arm 2 includes a chassis 201, a column 202, a mechanical arm front end flange 203, a mechanical arm base flange 204, a six-degree-of-freedom mechanical arm 205, a lifting column 206, an RGB-D camera 207, and a wide-angle camera 208, where the chassis 201 is connected with the operation platform in a sliding manner, the lower end of the column 202 is connected with the chassis 201, and the upper end is provided with the mechanical arm base flange 204; the six-degree-of-freedom mechanical arm 205 is arranged on the mechanical arm base flange 204, the execution tail end of the six-degree-of-freedom mechanical arm is provided with a mechanical arm front end flange 203, and the adapter 107 of the sampling tool 1 is connected with the mechanical arm front end flange 203; the lifting upright column 206 is arranged at the rear end of the upright column 202, the RGB-D camera 207 and the wide-angle camera 208 are arranged at the top end of the lifting upright column 206, the RGB-D camera 207 and the wide-angle camera 208 are fixed, and the lifting upright column 206 is used for realizing the up-and-down translation of the two cameras.

As shown in fig. 8, in the embodiment of the present invention, the isolation sleeve installation station 3 includes a mounting frame 301, an isolation sleeve fastener 302, a fastener box 303, a movable bottom plate 304, a jacking cylinder 305, and a fastener release mechanism, where the mounting frame 301 is circumferentially provided with a plurality of fastener boxes 303, and each fastener box 303 is internally provided with the fastener release mechanism and a plurality of isolation sleeve fasteners 302 located above the fastener release mechanism; the jacking cylinder 305 is arranged on the mounting frame 301, and the output end is connected with the movable bottom plate 304, and the movable bottom plate 304 is connected with the buckle releasing mechanism.

As shown in fig. 9 to 10, in the embodiment of the present invention, the buckle releasing mechanism includes a vertical top rod 3031, a curved top rod 3033, a movable block 3034, a buckle positioning spring 3035 and a pull rod 3036, wherein a sliding slot 3032 is provided at one side of the buckle box 303 in the vertical direction, and a buckle releasing port 3038 is provided at an upper end of the sliding slot 3032; the movable block 3034 is in sliding connection with the sliding chute 3032, and the movable block 3034 is used for supporting the plurality of isolation sleeve buckles 302; a guide groove is formed in the inner wall of the buckle box 303 along the vertical direction, the vertical ejector rod 3031 and the curved ejector rod 3033 are in sliding fit with the guide groove respectively, and the vertical ejector rod 3031 is located on the outer side of the curved ejector rod 3033; the lower ends of the vertical ejector rod 3031 and the bent ejector rod 3033 are connected with a pull rod 3036, the pull rod 3036 is connected with the movable bottom plate 304, and the vertical ejector rod 3031 is used for limiting the isolating sleeve buckle 302 to be separated from the buckle release port 3038; the curved mandril 3033 is used for pressing the isolation sleeve buckle 302 and the movable block 3034 except the uppermost isolation sleeve. The buckle positioning spring 3035 is accommodated in the buckle box 303, the lower end of the buckle positioning spring is abutted against the buckle box 303, the upper end of the buckle positioning spring is abutted against the movable block 3034, and the isolation sleeve buckle 302 positioned at the uppermost layer is positioned in the buckle release port 3038 by the buckle positioning spring 3035. The upper end of the buckle box 303 is provided with a buckle housing 3037, and the buckle housing 3037 is provided with a T-shaped notch for isolating the inlet of the sleeve buckle 302.

In this embodiment, the mounting frame 301 is made of an aluminum profile, and the four buckle boxes 303 are fixed to the mounting frame 301 by bolts. The four corners of the isolation sleeve are fixed by isolation sleeve buckles 302, and the isolation sleeve buckles 302 are loaded in a buckle box 303. In use, the plurality of cage latches 302 are manually pushed vertically into the latch box 303 from the T-shaped notch on the latch housing 3037, and the latch positioning spring 3035 provides a continuous upward pushing force to the movable block 3034, so that the cage latches 3032 are located in the designated channel. At this time, the vertical push rod 3031 is in an extending state, and the isolation sleeve clamp 3032 is limited by the vertical push rod 3031, so that the isolation sleeve clamp cannot be separated from the clamp box.

When the isolation sleeve mounting station 3 works, the jacking cylinder 305 drives the movable bottom plate 304 to move downwards, so that the pull rod 3036 pulls the vertical push rod 3031 and the bent push rod 3033 to move downwards, the vertical push rod 3031 eliminates the limitation on the isolation sleeve buckle 302 positioned on the uppermost layer, the isolation sleeve buckle 302 positioned on the uppermost layer in the buckle box 303 is released, the isolation sleeve buckle 302 is separated from the buckle box 303, and the separation of the whole isolation sleeve is completed. At this time, the bending mandril 3033 presses the isolation sleeve buckles 302 and the movable block 3034 except the isolation sleeve buckles 302 positioned at the uppermost layer to move downwards, so that the rest isolation sleeve buckles 302 are prevented from being pulled out of the buckle release ports 3038. After the upper movable isolation sleeve buckle 302 is separated, the lower isolation sleeve buckle 302 reaches the position of the buckle release opening 3038 under the action of the buckle positioning spring 3035, so that the isolation sleeve buckle 302 is continuously released.

As shown in fig. 11, in an embodiment of the present invention, the swab preparation station 4 comprises a swab box 401, a two-dimensional moving platform, a swab chuck 402, pneumatic scissors 405, a pneumatic gripper 406, an elevating pneumatic gripper 407, a support 408, and an elevating pneumatic slide 409, wherein the swab chuck 402 is disposed on the two-dimensional moving platform for picking up a swab 101 in the swab box 401; the pneumatic scissors 405, the pneumatic clamping jaw 406 and the lifting pneumatic sliding table 409 are sequentially arranged on the bracket 408 from top to bottom, and the lifting pneumatic clamping jaw 407 is arranged on the lifting pneumatic sliding table 409; pneumatic scissors 405 are used to cut open the package outside the swab 101; the inner side of the pneumatic clamping jaw 406 is provided with a groove, the pneumatic clamping jaw 406 is used for clamping the packaging bag outside the swab 101, and the groove inside the pneumatic clamping jaw 406 cannot clamp the swab 101 in the packaging bag; the lifting pneumatic clamping jaw 407 is used for clamping the swab 101 and the outer packaging bag, and the inner side surface of the lifting pneumatic clamping jaw 407 is a plane, so that the swab 101 and the outer packaging bag can be clamped simultaneously; the lifting pneumatic sliding table 409 drives the lifting pneumatic clamping jaw 407 to move upwards, and the lifting pneumatic clamping jaw 407 drives the swab 101 and the outer packaging bag to move upwards together; since the pneumatic gripper 406 located above grips the packaging bag, the swab 101 is extended from the outer packaging bag when the swab 101 and the outer packaging bag are moved upward together by the lifting pneumatic gripper 407.

In this embodiment, the two-dimensional moving platform includes a horizontal pneumatic sliding table 404 and a longitudinal pneumatic sliding table 403 disposed on the horizontal pneumatic sliding table 404; the swab chuck 402 is mounted on a longitudinal pneumatic slide 403.

As shown in fig. 12, in the embodiment of the present invention, the swab breaking and bottling station 5 includes a pneumatic clamping mechanism 502, a test tube base 503 and a fixing bottom plate 504, wherein the fixing bottom plate 504 is connected to the operation platform; the pneumatic clamping mechanism 502 and the test tube base 503 are arranged on the fixed bottom plate 504, and the test tube base 503 is used for placing the test tube 501; the side of the test tube base 503 is provided with an opening from which the actuating end of the pneumatic clamping mechanism 502 protrudes and grips the test tube 501. When the sampling tool 1 and the sampling mechanical arm 2 reach the designated positions, the breaking function of the swab 101 is realized by matching with the swab breaking and bottling station 5.

As shown in fig. 13, in the embodiment of the present invention, the test tube transfer station 6 includes a four-degree-of-freedom transfer robot 601, a test tube holding mechanism 602, a mounting base 603, and a test tube rack 604, where the mounting base 603 is disposed on the operation platform; the four-degree-of-freedom transfer mechanical arm 601 is arranged on the mounting base 603, and the execution tail end of the four-degree-of-freedom transfer mechanical arm is connected with the test tube clamping mechanism 602; the test tube rack 604 is arranged in an isolation box arranged on the operation platform; the four degree-of-freedom transfer robot 601 is used for empty tube placement and sample collection. Specifically, the isolation box is enclosed by isolation plates 605. The placement of empty test tubes and the collection of samples are achieved through the four-degree-of-freedom transfer mechanical arm 601.

As shown in fig. 14, in the embodiment of the present invention, the isolation sleeve detaching station 7 includes a waste isolation sleeve collection box 704 and at least two sets of suction cup mechanisms disposed at both sides of the waste isolation sleeve collection box 704; in this embodiment, the waste isolation sleeve collection box 704 is fixed on the operation platform by bolts, and four groups of sucker mechanisms are arranged around the waste isolation sleeve collection box 704.

Specifically, the suction cup mechanism comprises a negative pressure suction cup 701, a suction cup support rod 702 and a pneumatic sliding table 703, wherein the pneumatic sliding table 703 is arranged on the operating platform, one end of the suction cup support rod 702 is connected with the pneumatic sliding table 703, and the other end of the suction cup support rod 702 is connected with the negative pressure suction cup 701 in a bonding manner; after the negative pressure sucker 701 adsorbs the isolation sleeve, the isolation sleeve moves backwards through the pneumatic sliding table 703, so that the isolation sleeve is separated from the sampling tool 1, and the isolation sleeve is discarded into the discarded isolation sleeve collection box 704.

As shown in fig. 15, in the embodiment of the present invention, the sampling window module 8 includes a sampling window, an isolation plate 801, a display screen 802, a chin bar 803, a support 804, an adapter 805, and a lifting cylinder 806, where the lifting cylinder 806 is disposed on the operation platform, and the output end is connected to the support 804 through the adapter 805, and the support 804 extends out of the sampling window; a chin rest 803 is disposed on the support 804; the display screen 802 is connected with the adapter 805 through a bracket, so that the chin rest 803 and the display screen 802 can be synchronously adjusted in height.

In the embodiment of the invention, the integral structure of the invention is arranged on the mobile platform. After the operating platform is opened, two sampling windows are respectively arranged on two sides of the operating platform, and the two windows are symmetrically designed, so that four persons can be provided for nasopharynx swab sampling. The middle of the operating platform is provided with a working space which can be used for medical staff to replace the test tube, load the swab and maintain the equipment. This robot platform uses sampling arm 2 as the center, and disconnected bottling station 5 is broken off with the fingers and thumb to the hands to the isolation sleeve installation station 3, swab preparation station 4, swab, test tube transfer station 6, isolation sleeve dismantlement station 7 and circularize in proper order and arrange, and wherein every two test tubes are transported a station sharing four degrees of freedom and are transported the arm, accord with under the prerequisite of sampling flow, can improve sampling efficiency. The chassis of the sampling mechanical arm 2 is movable and fixed after reaching a specified position. The large-scale nasopharyngeal swab sampling can be realized through the combination of the modules, the combination of a plurality of nasopharyngeal swab robot platforms can meet the requirements of the different-scale sampling, and the information input module 9 comprises an identification card recognition device and a data processing system.

The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims (10)

1. A modularized nasopharynx swab sampling robot is characterized by comprising an operating platform, a sampling mechanical arm (2), an isolation sleeve mounting station (3), a swab preparing station (4), a swab breaking and bottling station (5), a test tube transferring station (6), an isolation sleeve disassembling station (7), a sampling window module (8) and an information input module (9), wherein the sampling mechanical arm, the isolation sleeve installing station, the swab preparing station, the swab breaking and bottling station, the test tube transferring station and the isolation sleeve disassembling station are arranged on the operating platform; the information input module (9) is used for recording and storing the identity information of the patient and the nasopharyngeal sample detection information;

the swab preparation station (4) is used for stripping a packaging bag outside the swab (101); the execution end of the sampling mechanical arm (2) is provided with a sampling tool (1), and the sampling tool (1) is used for picking and releasing a swab (101); the isolation sleeve mounting station (3) is used for mounting the isolation sleeve on the outer side of the sampling tool (1); the sampling window module (8) is used for the sampling mechanical arm (2) to collect nasopharyngeal swab samples of the testee; the swab breaking and bottling station (5) is used for breaking a sampled swab (101) after the sampled swab is loaded into a test tube; the test tube transfer station (6) is used for transferring test tubes which are empty or are filled with nasopharyngeal swab samples; and the isolation sleeve dismounting station (7) is used for dismounting the isolation sleeve outside the sampling tool (1).

2. The modular nasooropharyngeal swab sampling robot of claim 1, characterized in that the sampling tool (1) comprises a housing (105) and a swab holding device (102), a sampling force control device (103), a pneumatic jaw (104) and an adaptor (107) arranged within the housing (105), wherein the adaptor (107) is connected with the sampling robot arm (2); the adapter (107) is provided with a sampling force control device (103), a pneumatic clamping jaw (104) and an oral cavity recognition camera (106), and the oral cavity recognition camera (106) is positioned on the outer side of the shell (105);

the swab clamping device (102) comprises a right side opening and closing piece (1021), a left side opening and closing piece (1022) and two clamping heads (1023), wherein the right side opening and closing piece (1021) and the left side opening and closing piece (1022) are hinged to two sides of the sampling force control device (103) through a hinge shaft, a return spring (1038) is sleeved on the hinge shaft, and the right side opening and closing piece (1021) and the left side opening and closing piece (1022) are in a closed state under the elastic force action of the return spring (1038);

the two clamping heads (1023) are connected to the output end of the pneumatic clamping jaw (1024) and are respectively positioned at the outer sides of the right opening piece (1021) and the left opening piece (1022); the pneumatic clamping jaws (1024) drive the two clamping heads (1023) to be closed, and then the two clamping heads (1023) push the right side opening piece (1021) and the left side opening piece (1022) to be opened.

3. The modular oropharyngeal swab sampling robot of claim 2, wherein the sampling force control device (103) includes a front cover (1031), an outer slide (1032), a force sensor (1033), an intermediate support (1034), a sleeve (1035), a spring (1036), and a support (1037), wherein the support (1037) is connected to the adapter (107), and the force sensor (1033) is connected at one end to the support (1037) and at the other end to the intermediate support (1034);

the intermediate support (1034) is a hollow structure, and a sleeve (1035) and a spring (1036) are accommodated in the cavity; the outer layer sliding piece (1032) is sleeved outside the middle support piece (1034) in an axially sliding manner; the front cover (1031) is provided at an end of the outer layer slider (1032) and abuts against the spring (1036); the outer layer sliding piece (1032) is axially limited by a front cover (1031) and a shaft shoulder arranged on the middle supporting piece (1034);

the hinge shaft is provided at the bottom of the outer layer slider (1032).

4. The modular nasooropharyngeal swab sampling robot of claim 1, characterized in that the sampling robot arm (2) comprises a chassis (201), a post (202), a robot arm front end flange (203), a robot arm base flange (204), a six-degree-of-freedom robot arm (205), a lifting post (206), an RGB-D camera (207) and a wide angle camera (208), wherein the chassis (201) is slidably connected with the operation platform, the lower end of the post (202) is connected with the chassis (201), and the upper end is provided with the robot arm base flange (204); the six-degree-of-freedom mechanical arm (205) is arranged on a mechanical arm base flange (204), the execution tail end of the six-degree-of-freedom mechanical arm is provided with a mechanical arm front end flange (203), and the sampling tool (1) is arranged on the mechanical arm front end flange (203); the lifting upright post (206) is arranged on the upright post (202), and the RGB-D camera (207) and the wide-angle camera (208) are arranged at the top end of the lifting upright post (206).

5. The modular nasooropharyngeal swab sampling robot of claim 1, wherein the spacer mounting station (3) comprises a mounting frame (301), spacer clips (302), clip boxes (303), a movable bottom plate (304), a jacking cylinder (305) and a clip releasing mechanism, wherein the mounting frame (301) is provided with a plurality of clip boxes (303) along a circumferential direction, and each clip box (303) is provided therein with the clip releasing mechanism and a plurality of spacer clips (302) located above the clip releasing mechanism; the movable bottom plate (304) is arranged below the buckle box (303) and is connected with the buckle releasing mechanism; the jacking cylinder (305) is arranged on the mounting frame (301), and the output end of the jacking cylinder is connected with the movable bottom plate (304);

the buckle releasing mechanism comprises a vertical ejector rod (3031), a bent ejector rod (3033), a movable block (3034), a buckle positioning spring (3035) and a pull rod (3036), a sliding groove (3032) is arranged on one side of the buckle box (303) along the vertical direction, and a buckle releasing port (3038) is arranged at the upper end of the sliding groove (3032); the movable block (3034) is connected with the sliding chute (3032) in a sliding mode, and the movable block (3034) is used for supporting a plurality of isolating sleeve buckles (302); a guide groove is formed in the inner wall of the buckle box (303) in the vertical direction, the vertical ejector rod (3031) and the bent ejector rod (3033) are in sliding fit with the guide groove respectively, and the vertical ejector rod (3031) is located on the outer side of the bent ejector rod (3033); the lower ends of the vertical ejector rod (3031) and the bent ejector rod (3033) are connected with the movable bottom plate (304) through a pull rod (3036), and the vertical ejector rod (3031) is used for limiting the isolating sleeve buckle (302) to be separated from the buckle release port (3038); the bent ejector rod (3033) is used for compressing the isolation sleeve buckle (302) and the movable block (3034) except the uppermost isolation sleeve buckle;

the buckle positioning spring (3035) is accommodated in the buckle box (303), the lower end of the buckle positioning spring is abutted against the buckle box (303), the upper end of the buckle positioning spring is abutted against the movable block (3034), and the isolation sleeve buckle (302) positioned at the uppermost layer is positioned in the buckle release port (3038) by the buckle positioning spring (3035).

6. The modular nasooropharyngeal swab sampling robot of claim 1, wherein the swab preparation station (4) comprises a swab box (401), a two-dimensional mobile platform, a swab suction cup (402), pneumatic scissors (405), a pneumatic jaw (406), an elevating pneumatic jaw (407), a bracket (408), and an elevating pneumatic slide (409), wherein the swab suction cup (402) is disposed on the two-dimensional mobile platform for picking up a swab (101) within the swab box (401); the pneumatic scissors (405), the pneumatic clamping jaw (406) and the lifting pneumatic sliding table (409) are sequentially arranged on the bracket (408) from top to bottom, and the lifting pneumatic clamping jaw (407) is arranged on the lifting pneumatic sliding table (409);

the pneumatic scissors (405) are used for cutting off the packaging bag outside the swab (101);

the inner side of the pneumatic clamping jaw (406) is provided with a groove, and the pneumatic clamping jaw (406) is used for clamping a packaging bag on the outer side of the swab (101);

the lifting pneumatic clamping jaw (407) is used for clamping the swab (101) and the outer packaging bag; pneumatic slip table (409) drive pneumatic clamping jaw (407) of lift upwards removes, pneumatic clamping jaw (407) of lift drive swab (101) and the simultaneous upward movement of outside wrapping bag to make swab (101) stretch out in by the outside wrapping bag.

7. The modular nasooropharyngeal swab sampling robot of claim 1, wherein the swab breaking and bottling station (5) comprises a pneumatic clamping mechanism (502), a test tube base (503) and a fixed base plate (504), wherein the fixed base plate (504) is connected with the operating platform; the pneumatic clamping mechanism (502) and the test tube base (503) are arranged on the fixed bottom plate (504), and the test tube base (503) is used for placing the test tube (501); the side of the test tube base (503) is provided with an opening from which the actuating end of the pneumatic clamping mechanism (502) protrudes and grips the test tube (501).

8. The modular nasooropharyngeal swab sampling robot of claim 1, wherein the test tube transfer station (6) comprises a four degree-of-freedom transfer robot arm (601), a test tube holding mechanism (602), a mounting base (603), and a test tube rack (604), wherein the mounting base (603) is disposed on the operating platform; the four-degree-of-freedom transfer mechanical arm (601) is arranged on the mounting base (603), and the execution tail end of the four-degree-of-freedom transfer mechanical arm is connected with the test tube clamping mechanism (602); the test tube rack (604) is arranged in an isolation box arranged on the operating platform; the four-degree-of-freedom transfer mechanical arm (601) is used for placing empty test tubes and collecting samples.

9. The modular nasooropharyngeal swab sampling robot of claim 1, wherein the spacer removal station (7) comprises a waste spacer collection box (704) and at least two sets of suction cup mechanisms disposed on either side of the waste spacer collection box (704);

the sucking disc mechanism comprises a negative pressure sucking disc (701), a sucking disc support rod (702) and a pneumatic sliding table (703), wherein the pneumatic sliding table (703) is arranged on the operating platform, one end of the sucking disc support rod (702) is connected with the pneumatic sliding table (703), and the other end of the sucking disc support rod is connected with the negative pressure sucking disc (701); after the negative pressure sucker (701) adsorbs the isolation sleeve, the isolation sleeve moves backwards through the pneumatic sliding table (703), so that the isolation sleeve is separated from the sampling tool (1).

10. The modular nasooropharyngeal swab sampling robot of claim 1, wherein the sampling window module (8) comprises a sampling window, an isolation plate (801), a display screen (802), a chin rest (803), a support (804), an adapter (805), and a lifting cylinder (806), wherein the lifting cylinder (806) is disposed on the operating platform, and the output end is connected to the support (804) through the adapter (805), the support (804) protruding outside the sampling window; the chin rest (803) is arranged on the support (804); the display screen (802) is connected with the adapter (805) through the bracket.

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