CN115317029A - Automatic sampling equipment of pharynx swab - Google Patents
Automatic sampling equipment of pharynx swab Download PDFInfo
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- CN115317029A CN115317029A CN202211051702.3A CN202211051702A CN115317029A CN 115317029 A CN115317029 A CN 115317029A CN 202211051702 A CN202211051702 A CN 202211051702A CN 115317029 A CN115317029 A CN 115317029A
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- 210000003800 pharynx Anatomy 0.000 title claims description 89
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- 238000010008 shearing Methods 0.000 claims abstract description 16
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- 108020004707 nucleic acids Proteins 0.000 claims abstract description 14
- 230000001954 sterilising effect Effects 0.000 claims abstract description 10
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- 210000003128 head Anatomy 0.000 claims description 8
- 230000009471 action Effects 0.000 claims description 6
- 238000004806 packaging method and process Methods 0.000 claims description 5
- 210000000078 claw Anatomy 0.000 claims description 4
- 238000005507 spraying Methods 0.000 claims description 3
- 238000003780 insertion Methods 0.000 claims description 2
- 230000037431 insertion Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 9
- 230000008569 process Effects 0.000 abstract description 8
- 230000001360 synchronised effect Effects 0.000 abstract description 2
- 238000004659 sterilization and disinfection Methods 0.000 description 7
- 241000700605 Viruses Species 0.000 description 6
- 238000002955 isolation Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 3
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- 241000282412 Homo Species 0.000 description 1
- 206010029803 Nosocomial infection Diseases 0.000 description 1
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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
- A61B10/0045—Devices for taking samples of body liquids
- A61B10/0051—Devices for taking samples of body liquids for taking saliva or sputum samples
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/02—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using physical phenomena
- A61L2/04—Heat
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/02—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using physical phenomena
- A61L2/08—Radiation
- A61L2/10—Ultraviolet radiation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/24—Apparatus using programmed or automatic operation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67B—APPLYING CLOSURE MEMBERS TO BOTTLES JARS, OR SIMILAR CONTAINERS; OPENING CLOSED CONTAINERS
- B67B3/00—Closing bottles, jars or similar containers by applying caps
- B67B3/20—Closing bottles, jars or similar containers by applying caps by applying and rotating preformed threaded caps
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67B—APPLYING CLOSURE MEMBERS TO BOTTLES JARS, OR SIMILAR CONTAINERS; OPENING CLOSED CONTAINERS
- B67B7/00—Hand- or power-operated devices for opening closed containers
- B67B7/18—Hand- or power-operated devices for opening closed containers for removing threaded caps
- B67B7/182—Hand- or power-operated devices for opening closed containers for removing threaded caps power-operated
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H10/00—ICT specially adapted for the handling or processing of patient-related medical or healthcare data
- G16H10/60—ICT specially adapted for the handling or processing of patient-related medical or healthcare data for patient-specific data, e.g. for electronic patient records
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
- A61L2202/10—Apparatus features
- A61L2202/14—Means for controlling sterilisation processes, data processing, presentation and storage means, e.g. sensors, controllers, programs
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
- A61L2202/20—Targets to be treated
- A61L2202/24—Medical instruments, e.g. endoscopes, catheters, sharps
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- Health & Medical Sciences (AREA)
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- Mechanical Engineering (AREA)
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- Animal Behavior & Ethology (AREA)
- Epidemiology (AREA)
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- Heart & Thoracic Surgery (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Apparatus Associated With Microorganisms And Enzymes (AREA)
Abstract
The invention discloses automatic throat swab sampling equipment which comprises a frame body, a horizontal vertical linear motion mechanism, a swab feeding manipulator, a swab warehouse, a swab conveyor, a rotating shell motor gear set, a multi-degree-of-freedom robot, a sampling tube warehouse, a coding mechanism, a swab manipulator reversing track, a rotating shell, a screw cover mechanism, a swab manipulator, an oral positioning cup, a swab clamp cylinder, a mounting plate, a support plate cylinder, a support plate, a horizontal linear motion mechanism, a sampling motor, a power plate, a sampling motor gear, a swinging device, a swab manipulator reversing frame, a sterilizing device, a swab shearing and breaking mechanism, a pressing-open device, a connecting frame cylinder, a connecting plate, a pull rod device, a rotating shaft and a connecting plate cylinder. The invention adopts a multi-station integrated parallel structure, realizes the synchronous execution of all tasks of nucleic acid sampling, has high automation degree, reasonable structural design, high efficiency, rapidness and safety, and can complete the whole process within 3-5 seconds.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to automatic sampling equipment for throat swabs.
Background
Throat swabs are a method of collecting clinical test samples of oral secretions from the throat, which are often used by humans in combating various viruses, and are relatively simple and widely accepted detection methods by users as compared to nasal swab sampling. At present, the most main detection means for determining the new coronary pneumonia is nucleic acid detection, and whether a person to be detected is infected with viruses or not is determined by directly detecting virus nucleic acid in a collected sample.
However, as a common mode of medical detection of infectious diseases, the sampling process of throat swabs usually relies on one-to-one manual collection. The personnel are intensive and the workload is large, the collection of the throat biological sample has high risk of infection, and medical personnel wear isolation clothes for self-protection, thereby causing physical and psychological pain.
Therefore, there is a need for an automatic sampling device for throat swabs to replace medical personnel in sampling patients. The device does not need medical staff to operate, and the testee only needs to operate by self according to the instruction steps.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to solve the technical problem of providing automatic pharyngeal swab sampling equipment.
The invention provides pharynx swab automatic sampling equipment which is characterized by adopting a multi-station integrated parallel structure and comprising a frame body, a horizontal vertical linear motion mechanism, a swab feeding manipulator, a swab warehouse, a swab conveyer, a rotary shell motor gear set, a multi-degree-of-freedom robot, a sampling tube warehouse, a coding mechanism, a swab manipulator reversing track, a rotary shell, a cover screwing mechanism, a swab manipulator, an oral cavity positioning cup, a swab clamp cylinder, a mounting plate, a support plate cylinder, a support plate, a horizontal linear motion mechanism, a sampling motor, a power plate, a sampling motor gear, a swinging device, a swab manipulator reversing frame, a disinfection device, a swab shearing mechanism, a pressing-open device, a connecting frame cylinder, a connecting plate, a rod pulling device, a rotating shaft and a connecting plate cylinder;
the swab manipulator comprises a swab manipulator gear, a spring telescopic sleeve, a bearing seat and a swab clamp; the outer pipe and the inner pipe of the spring telescopic sleeve can slide relatively, and one end of the inner pipe is connected with one end of the outer pipe through a spring; the other end of the inner tube extends out of the outer tube, and the swab clamp is arranged at the tail end of the inner tube; when the throat swab fixing device works, the throat swab is inserted into the swab clamp, and the fastening and loosening states of the swab clamp are changed through the matching of the swab clamp and the outer tube, so that the throat swab is further fastened; a swab manipulator gear is fixed on the outer side of the spring telescopic sleeve; the spring telescopic sleeve is rotatably arranged in the bearing seat;
the shell of the rotating shell motor is fixed on the frame body, and one gear of the rotating shell motor gear set is fixed at the output end of the rotating shell motor; a rotating shaft is fixed at the center of the rotating shell, the rotating shaft is rotatably installed in the frame body, the other gear in the rotating shell motor gear set is fixed at the tail end of the rotating shell motor gear set, and the two gears in the rotating shell motor gear set are in meshing transmission connection; the swab manipulator reversing frames are arranged in the circumferential direction of the rotating shell, and one end of each swab manipulator reversing frame is hinged to the edge of the rotating shell; the bearing block is fixed on the other end of the swab manipulator reversing frame; the swab manipulator reversing track is fixed on the frame body, is annular, is positioned at the edge of the rotating shell, and is matched with the swab manipulator reversing frame to realize that the swab manipulator reversing frame rotates to a horizontal or vertical state, so that the horizontal or vertical state of the swab manipulator is realized;
the shell of the horizontal vertical linear motion mechanism is fixed on the frame body, the power is provided by a motor, the movement in the X direction and the Z direction can be realized, and a swab feeding manipulator is fixed on a nut at the output end of the horizontal vertical linear motion mechanism; the swab storehouse is fixed on the frame body and used for storing throat swabs; a part of the swab conveyer is arranged in the swab warehouse and is used for conveying throat swabs in the swab warehouse out; the end of the swab feeding manipulator is matched with the other part of the swab conveyor and is used for clamping throat swabs on the swab conveyor; the shell of the swab clamp cylinder is fixed on the frame body, and the output end of the swab clamp cylinder is matched with the inner tube of the spring telescopic sleeve;
the mounting plate is fixed on the frame body; the cylinder body of the support plate cylinder is fixed on the mounting plate, and the output end of the support plate cylinder is fixedly connected with the support plate; the supporting plate is slidably arranged on the mounting plate; the shell of the sampling motor is fixed on a supporting plate, the supporting plate drives the sampling motor to move along the Z direction, and a sampling motor gear is fixed at the output end of the sampling motor; the sampling motor gear is in meshed transmission connection with the swab manipulator gear, so that the rotating acquisition function of the swab manipulator is met; the shell of the horizontal linear motion mechanism is fixed on the supporting plate, the motor provides power, and the nut at the output end of the horizontal linear motion mechanism is fixedly connected with the power plate; the tail end of the power plate is provided with a notch; the outer tube of the spring telescopic sleeve is provided with a boss which is matched with the notch of the power plate, so that the swab manipulator moves along the Y direction; the oral cavity positioning cup is arranged on the frame body, and the pharynx swab passes through the oral cavity positioning cup to extend out of the device for sampling nucleic acid; the shell of the swinging device is fixed on the frame body, the output end of the swinging device is matched with the throat swab, and the throat swab at the throat swab sampling station is driven to swing during nucleic acid sampling to assist in completing nucleic acid sampling;
the multi-degree-of-freedom robot is arranged in the frame body; the swab cutting mechanism is arranged on the frame body in a sliding manner, is positioned in the working range of the robot with multiple degrees of freedom, and is used for cutting the pharynx swab on the swab manipulator after sampling of the pharynx swab into a swab rod and a swab head; the sterilizing device is arranged on the frame body and is used for sterilizing the shear head in the swab shearing mechanism; the sampling tube bank is arranged in the frame body and is positioned in the working range of the multi-degree-of-freedom robot, and a plurality of sampling tubes are arranged in the sampling tube bank; the cover screwing mechanism is arranged in the frame body, is positioned in the working range of the multi-degree-of-freedom robot, and is matched with the multi-degree-of-freedom robot to perform cover screwing action on the packaging cover of the sampling tube; the code printing mechanism is arranged in the frame body, is positioned in the working range of the multi-degree-of-freedom robot and is used for spraying bar codes on the sampling pipe to record data;
the pressing-open device is fixed on the frame body and matched with an inner tube of a spring telescopic sleeve of the swab manipulator, so that the fastening of the swab clamp to the throat swab is released; the cylinder body of the connecting frame cylinder is fixed on the frame body, and the output end of the connecting frame cylinder is fixedly connected with the connecting frame; the connecting frame is slidably arranged on the frame body; the cylinder body of the connecting plate cylinder is fixed on the connecting frame, and the output end of the connecting plate cylinder is fixedly connected with the connecting plate; the connecting plate is slidably arranged on the connecting frame and can move along the Z direction; the stem pulling device is arranged on the connecting plate and is used for pulling the throat swab released from the swab clamp.
Compared with the prior art, the invention has the beneficial effects that:
(1) The throat swab feeding and sampling device adopts a multi-station integrated parallel structure, realizes the synchronous implementation of multiple tasks such as throat swab feeding, nucleic acid sampling (namely the front and back, rotation and swinging actions of the throat swab), throat swab cutting, tube entering, cap screwing, code printing, removal and discarding of a throat swab rod and the like, has high automation degree, reasonable structural design, high efficiency, rapidness and safety, and can complete the whole process within 3-5 seconds.
(2) The invention is provided with the negative pressure fan for exchanging air, the disposable isolation cover and the swab shearing mechanism disinfection device, thereby solving the potential cross infection potential safety hazard in the nucleic acid sampling process.
(3) When the invention is used for sampling nucleic acid, the advancing, retreating, rotating and swinging actions during manual sampling can be accurately simulated, and the reliability and the accuracy of sampling are ensured.
(4) The disinfection device adopts instant high temperature second to kill virus possibly infected by the cut swab, thereby ensuring that the samples in two adjacent times are not infected with each other and avoiding the potential safety hazard of secondary infection.
(5) The device can intelligently collect the user information and can realize automatic input, memory and storage of the user information; and corresponding virus sampling management software is developed, is connected with the Internet big data and can upload information at any time.
(6) Except the oral cavity positioning cup, all mechanisms and control elements in the device are placed in a sealed frame body, so that internal components are prevented from being polluted by the outside.
(7) When the mouth positioning cup works, the disposable isolation cover is sleeved on the mouth positioning cup, so that effective isolation between people and equipment can be realized.
(8) The negative pressure fan can discharge the gas in the mouth cavity of the user possibly containing viruses to a safe place for disinfection treatment at any time.
Drawings
FIG. 1 is an axial schematic view of the overall structure of the present invention;
FIG. 2 is an enlarged view of a portion A of FIG. 1 in accordance with the present invention;
FIG. 3 is a schematic front view of the overall structure of the present invention;
FIG. 4 is an enlarged view of a portion B of FIG. 3 according to the present invention;
FIG. 5 is an enlarged view of a portion C of FIG. 3 according to the present invention;
FIG. 6 is a schematic left side view of the overall structure of the present invention;
FIG. 7 is an enlarged view of a portion D of FIG. 6 in accordance with the present invention;
FIG. 8 is an enlarged view of a portion E of FIG. 6 in accordance with the present invention;
FIG. 9 is an enlarged view of a portion F of FIG. 6 in accordance with the present invention;
FIG. 10 is a schematic top view of the overall structure of the present invention;
FIG. 11 is an enlarged view of a portion G of FIG. 10 in accordance with the present invention;
fig. 12 is a partially enlarged view of the H portion of fig. 10 according to the present invention.
In the figure, a frame body 1, a horizontal vertical linear motion mechanism 2, a swab loading manipulator 3, a swab library 4, a swab conveyer 5, a negative pressure fan 6, a rotary shell motor 7, a rotary shell motor gear set 8, a multi-degree-of-freedom robot 9, a sampling tube library 10, a coding mechanism 11, a swab manipulator reversing track 12, a rotary shell 13, a screw-capping mechanism 14, a swab manipulator 15, an oral positioning cup 16, a swab clamp cylinder 17, a mounting plate 18, a support plate cylinder 19, a linear reciprocating mechanism one 20, a support plate 21, a horizontal linear motion mechanism 22, a sampling motor 23, a power plate 24, a sampling motor gear 25, a gear set 26, a swab manipulator gear 27, a spring telescopic sleeve 28, a bearing seat 29, a swab clamp 30, a throat swab 31, a swinging device 32, a swab manipulator reversing frame 33, a sterilizing device 34, a swab shearing mechanism 35, a linear reciprocating mechanism two 36, a sampling tube 37, a pressing-opening device 38, a connecting frame 39, a linear reciprocating mechanism three 40, a connecting frame cylinder 41, a connecting plate 42, a rod device 43, a rotating shaft 44, a linear reciprocating mechanism four connecting plate 45 and a connecting plate 46.
Detailed Description
Specific examples of the present invention are given below. The specific examples are only for illustrating the present invention in further detail and do not limit the scope of the claims of the present invention.
The invention provides automatic throat swab sampling equipment (equipment for short), which is characterized by adopting a multi-station integrated parallel structure and comprising a frame body 1, a horizontal vertical linear motion mechanism 2, a swab feeding manipulator 3, a swab warehouse 4, a swab conveyer 5, a rotary shell motor 7, a rotary shell motor gear set 8, a multi-degree-of-freedom robot 9, a sampling tube warehouse 10, a coding mechanism 11, a swab manipulator reversing track 12, a rotary shell 13, a screw cover mechanism 14, a swab manipulator 15, an oral positioning cup 16, a swab clamp cylinder 17, a mounting plate 18, a support plate cylinder 19, a support plate 21, a horizontal linear motion mechanism 22, a sampling motor 23, a power plate 24, a sampling motor gear 25, a swinging device 32, a swab manipulator reversing frame 33, a sterilizing device 34, a swab shearing mechanism 35, a pressing-open device 38, a connecting frame 39, a connecting frame cylinder 41, a connecting plate 42, a rod pulling device 43, a rotating shaft 44 and a connecting plate cylinder 46;
the swab manipulator 15 comprises a swab manipulator gear 27, a spring telescopic sleeve 28, a bearing seat 29 and a swab clamp 30; the outer pipe and the inner pipe of the spring telescopic sleeve 28 can slide relatively to realize telescopic, one end of the inner pipe and one end of the outer pipe are connected through a spring, and the reset is realized through the spring; the other end of the inner tube extends out of the outer tube, and the swab clamp 30 is arranged at the tail end of the inner tube; in operation, the pharyngeal swab 31 is inserted into the swab holder 30 and the secure and relaxed state of the swab holder 30 is altered by the mating of the swab holder 30 with the outer tube to effect further securing of the pharyngeal swab 31; a swab manipulator gear 27 is fixed to the outer side of the outer tube of the spring telescopic sleeve 28 through a key; the outer tube of the spring telescopic sleeve 28 is rotatably mounted in a bearing seat 29 through a bearing;
the shell of the rotary shell motor 7 is fixed on the frame body 1, and one gear of the rotary shell motor gear set 8 is fixed at the output end of the rotary shell motor; a rotating shaft 44 is fixed at the center of the rotating shell 13, the rotating shaft 44 is rotatably installed in the frame body 1 through a bearing, the other gear in the rotating shell motor gear set 8 is fixed at the tail end of the rotating shell motor gear set, and the two gears in the rotating shell motor gear set 8 are in meshing transmission connection; a plurality of (4 in this embodiment) swab manipulator reversing frames 33 are uniformly arranged in the circumferential direction of the rotating housing 13, one end of each swab manipulator reversing frame is hinged to the edge of the rotating housing 13, and the rotating housing 13 drives the swab manipulator reversing frames 33 to rotate together with the swab manipulator reversing frames; the bearing block 29 is fixed on the other end of the swab manipulator reversing frame 33; the swab manipulator reversing track 12 is fixed on the frame body 1, is annular, is positioned at the edge of the rotating shell 13, and is matched with the swab manipulator reversing frame 33 to realize that the swab manipulator reversing frame 33 rotates to a horizontal or vertical state, so that the horizontal or vertical state of the swab manipulator 15 is realized;
a shell of the horizontal vertical linear motion mechanism 2 is fixed on the frame body 1, the power is provided by a motor, the movement in the X direction and the Z direction can be realized, and a swab feeding manipulator 3 is fixed on a nut at the output end of the horizontal vertical linear motion mechanism; the swab storehouse 4 is fixed on the frame body 1 and is used for storing the throat swab 31; a part of the swab conveyer 5 is arranged in the swab storehouse 4 and is used for sequentially arranging and conveying the pharynx swabs 31 in the swab storehouse 4; the end of the swab feeding manipulator 3 cooperates with another part of the swab conveyor 5 for gripping a pharyngeal swab 31 on the swab conveyor 5; the shell of the swab clamp cylinder 17 is fixed on the frame body 1, and the output end of the swab clamp cylinder is matched with the inner pipe of the spring telescopic sleeve 28;
the mounting plate 18 is fixed on the frame body 1; the cylinder body of the supporting plate cylinder 19 is fixed on the mounting plate 18, and the output end of the supporting plate cylinder is fixedly connected with the supporting plate 21; the supporting plate 21 is slidably mounted on the mounting plate 18 through a linear reciprocating mechanism I20; a shell of the sampling motor 23 is fixed on the supporting plate 21, the supporting plate 21 drives the sampling motor 23 to move along the Z direction, and a sampling motor gear 25 is fixed at the output end of the sampling motor 23; the sampling motor gear 25 is in meshing transmission connection with the swab manipulator gear 27, so that the rotary sampling function of the swab manipulator 15 is met; the shell of the horizontal linear motion mechanism 22 is fixed on the support plate 21 and powered by a motor, and a nut at the output end of the horizontal linear motion mechanism is fixedly connected with a power plate 24; the tail end of the power plate 24 is provided with a notch; the outer tube of the spring telescopic sleeve 28 is provided with a boss which is matched with the notch of the power plate 24 and can be clamped in the notch of the power plate 24, so that the swab manipulator 15 moves along the Y direction along with the advancing and retreating functions of the power plate 24; the oral cavity positioning cup 16 is arranged in a side hole of the frame body 1 and arranged along the Y direction, and a pharynx swab 31 at the pharynx swab sampling station passes through the oral cavity positioning cup 16 and extends out of the device for sampling the pharynx swab; the shell of the swinging device 32 is fixed on the frame body 1, the output end of the swinging device is matched with the pharynx swab 31, and the pharynx swab 31 at the pharynx swab sampling station is driven to swing during nucleic acid sampling to assist in completing pharynx swab sampling;
the multi-degree-of-freedom robot 9 is arranged in the frame body 1; the swab shearing mechanism 35 is arranged on the frame body 1 in a sliding mode through the second linear reciprocating mechanism 36, is positioned in the working range of the multi-degree-of-freedom robot 9 and is positioned right below the swab manipulator 15 at the throat swab shearing and pipe-entering station, and the throat swab 31 on the swab manipulator 15 at the throat swab shearing and pipe-entering station is sheared into a swab rod and a swab head through X-direction movement; the sterilizing device 34 is arranged on the frame body 1 and positioned above the swab shearing mechanism 35 and is used for sterilizing and disinfecting the shear head in the swab shearing mechanism 35 at a high temperature; the sampling tube bank 10 is arranged in the frame body 1 and is positioned in the working range of the multi-degree-of-freedom robot 9, and a plurality of sampling tubes 37 are arranged in the sampling tube bank 10; the screw cap mechanism 14 is arranged in the frame body 1, is positioned in the working range of the multi-degree-of-freedom robot 9, is matched with the multi-degree-of-freedom robot 9, performs screw cap action on the packaging cap of the sampling tube 37, and performs opening and closing of the packaging cap; the code printing mechanism 11 is arranged in the frame body 1 and is positioned in the working range of the multi-degree-of-freedom robot 9, and the code printing mechanism 11 is used for spraying bar codes on the sampling pipe 37 to record data;
the pressing-opening device 38 is fixed on the frame body 1 and is matched with the inner tube of the spring telescopic sleeve 28 of the swab manipulator 15 at the swab rod removing station, so as to release the fastening of the swab clamp 30 to the pharynx swab 31; the cylinder body of the connecting frame cylinder 41 is fixed on the frame body 1, and the output end is fixedly connected with the connecting frame 39; the connecting frame 39 is slidably mounted on the frame body 1 through a linear reciprocating mechanism IV 45 and can move along the Y direction; the cylinder body of the connecting plate cylinder 46 is fixed on the connecting frame 39, and the output end is fixedly connected with the connecting plate 42; the connecting plate 42 is slidably mounted on the connecting frame 39 through a third linear reciprocating mechanism 40 and can move along the Z direction; the stem pulling device 43 is provided on the connecting plate 42, and is used for pulling out the throat swab 31 released from the fastening of the swab holder 30 from the swab holder 30, thereby realizing the pulling-out and recovery of the swab stem.
Preferably, the multiple degree of freedom robot 9 is a four-axis robot.
Preferably, the apparatus further comprises a negative pressure fan 6; the negative pressure fan 6 is arranged at the lower part of the frame body 1 and used for exchanging air in the equipment with outside air.
Preferably, a gear set 26 is rotatably mounted on the support plate 21; the gear set 26 is disposed between the sampling motor gear 25 and the swab manipulator gear 27, and is engaged with the sampling motor gear 25 and the swab manipulator gear 27 for transmission, so as to change the transmission ratio.
Preferably, the swab holder 30 is a hollow structure for insertion of a pharyngeal swab 31; one end is connected with the inner tube of the spring telescopic sleeve 28, the other end is of a spring claw structure, and the spring claw structure is matched with the outer tube of the spring telescopic sleeve 28 to realize closing, so that the throat swab 31 is fastened.
Preferably, the horizontal vertical linear motion mechanism 2 adopts a horizontal vertical ball screw group, and consists of two motors, a horizontal ball screw and a vertical ball screw; the shell of the horizontal ball screw is fixed on the frame body 1, and the shell of the vertical ball screw is fixed on the nut at the output end of the horizontal ball screw; a swab feeding manipulator 3 is fixed on a nut at the output end of the vertical ball screw; the two motors are respectively used as power of the horizontal ball screw and the vertical ball screw to drive the nut to rotate.
Preferably, the swab manipulator reversing track 12 is configured to: a horizontal rail higher than the hinged part of the swab manipulator reversing frame 33 is arranged between the pharynx swab feeding station and the pharynx swab sampling station, the swab manipulator reversing frame 33 is matched with the swab manipulator reversing rail 12 to enable the swab manipulator reversing frame to be in a vertical state, and then the swab manipulator 15 is in a horizontal state; the space between the pharynx swab sampling station and the pharynx swab shearing and tube entering station is an inclined track which gradually descends, the hinged part of the pharynx swab sampling station and the swab manipulator reversing frame 33 is gradually changed from contact support to non-contact, along with the gradual disappearance of the supporting force of the swab manipulator reversing track 12 on the swab manipulator reversing frame 33, the swab manipulator reversing frame 33 is gradually changed from a vertical state to a horizontal state, and then the swab manipulator 15 is gradually changed from the horizontal state to the vertical state; a horizontal rail lower than the hinged part of the swab manipulator reversing frame 33 is arranged between the throat swab shearing and tube entering station and the swab rod removing station, no swab manipulator reversing rail 12 provides supporting force for the swab manipulator reversing frame 33, the swab manipulator reversing frame 33 is in a horizontal state, and further the swab manipulator 15 is in a vertical state; wipe the oblique track that the seed pole is pulled out between station to the pharynx swab material loading station and be the gradual rise, become the contact support by contactless gradually with the articulated department of swab manipulator switching-over frame 33, swab manipulator switching-over frame 33 becomes vertical state by the horizontality gradually, and then swab manipulator 15 becomes horizontal state by the vertical state gradually.
Preferably, a disposable isolation cover is nested on the outer side of the oral positioning cup 16 when the nucleic acid is sampled, so that the infection and the transmission of viruses are avoided. Get disposable cage after registering, overlap disposable cage on oral cavity location cup 16, the user opens one's mouth and holds disposable cage on the oral cavity location cup 16, feels to detect after finishing loose one's mouth, takes off disposable cage and puts into medical dustbin by the way.
Preferably, the frame body 1 can be internally provided with an ultraviolet disinfection lamp which is started when the frame body is not in work.
Preferably, the swab manipulator 15 is equipped with a force sensor for detecting the contact force with the human mouth, ensuring the safety of the feed length. The swab manipulator 15 is provided with a flexible joint which is in flexible contact with the oral cavity of a human body, so that the oral cavity of a user is safe and is not damaged.
Preferably, the frame body 1 adopts a sealed box body; except the oral cavity positioning cup 15, all the components are positioned in the sealed box body, so that the internal components are prevented from being polluted by the outside.
Preferably, the pharyngeal swab 31 is comprised of a swab rod and a swab head at the end of the swab rod.
The working principle and the working process of the invention are as follows:
the four swab manipulators 15 are uniformly distributed on the rotary shell 13 and are respectively positioned on the pharynx swab feeding station, the pharynx swab sampling station, the pharynx swab shearing and tube entering station and the swab rod removing station, or only one swab manipulator 15 is adopted to complete the operation of the four stations in sequence;
firstly, at a throat swab loading station, a swab conveyor 5 sequentially arranges and conveys throat swabs 31 in a swab library 4 from the swab library 4; the horizontal vertical linear motion mechanism 2 acts to bring the swab feeding manipulator 3 to a proper position, and the swab feeding manipulator 3 acts to horizontally insert the throat swab 31 on the swab conveyor 5 into the swab clamp 30 of the swab manipulator 15; then swab anchor clamps cylinder 17 starts, drives the inner tube motion of spring telescopic sleeve 28, and the inner tube drives swab anchor clamps 30 to the direction motion of being close to the outer tube or keeping away from the outer tube, and swab anchor clamps 30 receive the compression to tighten up when being close to the outer tube and realize the fastening to pharynx swab 31, accomplishes the material loading of pharynx swab, and swab anchor clamps 30 relieves the fastening to pharynx swab 31 when keeping away from the outer tube.
Then the rotating shell motor 7 is started, the rotating shell 13 is driven to rotate through the transmission of the rotating shell motor gear set 8, the swab manipulator 15 is conveyed to the pharynx swab sampling station, and the swab manipulator 15 maintains a horizontal state in the conveying process; at the pharynx swab sampling station, the supporting plate air cylinder 19 pushes the supporting plate 21 to move along the first linear reciprocating mechanism 20 until the sampling motor gear 25 is meshed with the swab manipulator gear 27, and then the horizontal linear moving mechanism 22 rotates to drive the swab manipulator 15 and the sampling motor 23 to move until the pharynx swab 31 extends out of the oral cavity positioning cup 16 to enter a proper position of the oral cavity of a person to be sampled; then the sampling motor 23 rotates, the power is transmitted to the swab manipulator gear 27 to drive the whole swab manipulator 15 to rotate, so that the pharynx swab 31 rotates in the mouth of the person to be collected to achieve the purpose of accurate sampling, and meanwhile, the swinging device 32 starts to swing with the pharynx swab 31, and the comprehensiveness and the accuracy of sampling are further ensured.
Then, a rotating shell motor 7 is started, the rotating shell motor gear set 8 is used for transmission, the rotating shell 13 is driven to rotate, the swab manipulator 15 is conveyed to a throat swab cutting and tube entering station, and the swab manipulator reversing frame 33 is matched with the swab manipulator reversing rail 12 in the conveying process, so that the swab manipulator 15 is gradually changed into a vertical state from a horizontal state; at the throat swab cutting and tube entering station, the swab cutting mechanism 35 extends out and cuts the throat swab 31 under the action of the second linear reciprocating mechanism 36, meanwhile, the multi-degree-of-freedom robot 9 takes out the sampling tube 37 from the sampling tube bank 10 and places the sampling tube 37 under the swab manipulator 15, and instant disinfection can be completed through the disinfection device 34 after the throat swab 31 is cut each time; after collecting the given number of swab heads, the sampling tube 37 is sent to the lower part of the screw cap mechanism 14, and the screw cap of the packaging cap of the sampling tube 37 is screwed; after the cover is screwed, the multi-degree-of-freedom robot 9 sends the sampling tube 37 to the coding mechanism 11 for coding so as to record sampling information.
Then, the rotating shell motor 7 is started, the rotating shell 13 is driven to rotate through the transmission of the rotating shell motor gear set 8, the swab rod (namely the cut throat swab 31) on the swab manipulator 15 is transmitted to a swab rod removing station, and the swab manipulator 15 is maintained in a vertical state in the transmission process; at the swab rod removing station, the pressing-open device 38 is actuated to engage the inner tube of the spring telescopic sleeve 28 of the swab manipulator 15, releasing the fastening of the swab 31 by the swab holder 30; the link cylinder 41 and the link plate cylinder 46 are then actuated, respectively, to move the stem lifter 43 into position, and the stem lifter 43 is actuated to pull the unsecured throat swab 31 from the swab holder 30 and into the waste collection bin.
Then, rotatory casing motor 7 starts, through the transmission of rotatory casing motor gear train 8, drives rotatory casing 13 and rotates, conveys this vacant swab manipulator 15 to pharynx swab feeding station, and swab manipulator switching-over frame 33 makes swab manipulator 15 become the horizontality by vertical state gradually with the cooperation of swab manipulator switching-over track 12 in the transportation. The above process is repeated.
Nothing in this specification is said to apply to the prior art.
Claims (5)
1. The automatic throat swab sampling equipment is characterized by adopting a multi-station integrated parallel structure and comprising a frame body, a horizontal vertical linear motion mechanism, a swab feeding manipulator, a swab warehouse, a swab conveyor, a rotating shell motor gear set, a multi-degree-of-freedom robot, a sampling tube warehouse, a coding mechanism, a swab manipulator reversing track, a rotating shell, a screwing mechanism, a swab manipulator, an oral positioning cup, a swab clamp cylinder, a mounting plate, a support plate cylinder, a support plate, a horizontal linear motion mechanism, a sampling motor, a power plate, a sampling motor gear, a swinging device, a swab manipulator reversing frame, a sterilizing device, a swab shearing mechanism, a pressing-open device, a connecting frame cylinder, a connecting plate, a pull rod device, a rotating shaft and a connecting plate cylinder;
the swab manipulator comprises a swab manipulator gear, a spring telescopic sleeve, a bearing seat and a swab clamp; the outer pipe and the inner pipe of the spring telescopic sleeve can slide relatively, and one end of the inner pipe is connected with one end of the outer pipe through a spring; the other end of the inner tube extends out of the outer tube, and the swab clamp is arranged at the tail end of the inner tube; when the throat swab fixing device works, the throat swab is inserted into the swab clamp, and the fastening and loosening states of the swab clamp are changed through the matching of the swab clamp and the outer tube, so that the throat swab is further fastened; a swab manipulator gear is fixed on the outer side of the spring telescopic sleeve; the spring telescopic sleeve is rotatably arranged in the bearing seat;
the shell of the rotating shell motor is fixed on the frame body, and one gear in the rotating shell motor gear set is fixed at the output end of the rotating shell motor; a rotating shaft is fixed at the center of the rotating shell, the rotating shaft is rotatably arranged in the frame body, the other gear in the rotating shell motor gear set is fixed at the tail end of the rotating shell motor gear set, and the two gears in the rotating shell motor gear set are in meshing transmission connection; the swab manipulator reversing frames are arranged in the circumferential direction of the rotating shell, and one end of each swab manipulator reversing frame is hinged to the edge of the rotating shell; the bearing block is fixed on the other end of the swab manipulator reversing frame; the swab manipulator reversing track is fixed on the frame body, is annular, is positioned at the edge of the rotating shell, and is matched with the swab manipulator reversing frame to realize that the swab manipulator reversing frame rotates to a horizontal or vertical state, so that the horizontal or vertical state of the swab manipulator is realized;
the shell of the horizontal vertical linear motion mechanism is fixed on the frame body, the motor provides power to realize the motion in the X direction and the Z direction, and the nut at the output end of the shell is fixed with a swab feeding manipulator; the swab storehouse is fixed on the frame body and used for storing throat swabs; a part of the swab conveyer is arranged in the swab warehouse and is used for conveying throat swabs in the swab warehouse out; the end of the swab feeding manipulator is matched with the other part of the swab conveyor and is used for clamping throat swabs on the swab conveyor; the shell of the swab clamp cylinder is fixed on the frame body, and the output end of the swab clamp cylinder is matched with the inner tube of the spring telescopic sleeve;
the mounting plate is fixed on the frame body; the cylinder body of the support plate cylinder is fixed on the mounting plate, and the output end of the support plate cylinder is fixedly connected with the support plate; the supporting plate is slidably arranged on the mounting plate; the shell of the sampling motor is fixed on a supporting plate, the supporting plate drives the sampling motor to move along the Z direction, and a sampling motor gear is fixed at the output end of the sampling motor; the sampling motor gear is in meshing transmission connection with the swab manipulator gear, so that the rotating acquisition function of the swab manipulator is met; the shell of the horizontal linear motion mechanism is fixed on the supporting plate, the motor provides power, and the nut at the output end of the horizontal linear motion mechanism is fixedly connected with the power plate; the tail end of the power plate is provided with a notch; the outer tube of the spring telescopic sleeve is provided with a boss which is matched with the notch of the power plate, so that the swab manipulator moves along the Y direction; the oral cavity positioning cup is arranged on the frame body, and the pharynx swab passes through the oral cavity positioning cup to extend out of the device for sampling nucleic acid; the shell of the swinging device is fixed on the frame body, the output end of the swinging device is matched with the throat swab, and the throat swab at the throat swab sampling station is driven to swing during nucleic acid sampling to assist in completing nucleic acid sampling;
the multi-degree-of-freedom robot is arranged in the frame body; the swab cutting mechanism is arranged on the frame body in a sliding manner, is positioned in the working range of the robot with multiple degrees of freedom, and is used for cutting the pharynx swab on the swab manipulator after sampling of the pharynx swab into a swab rod and a swab head; the sterilizing device is arranged on the frame body and is used for sterilizing the shear head in the swab shearing mechanism; the sampling tube bank is arranged in the frame body and is positioned in the working range of the multi-degree-of-freedom robot, and a plurality of sampling tubes are arranged in the sampling tube bank; the screw cap mechanism is arranged in the frame body, is positioned in the working range of the multi-degree-of-freedom robot, and is matched with the multi-degree-of-freedom robot to perform the screw cap action of the packaging cap of the sampling tube; the code printing mechanism is arranged in the frame body, is positioned in the working range of the multi-degree-of-freedom robot and is used for spraying bar codes on the sampling pipe to record data;
the pressing-open device is fixed on the frame body and matched with an inner tube of a spring telescopic sleeve of the swab manipulator, so that the fastening of the swab clamp to the throat swab is released; the cylinder body of the connecting frame cylinder is fixed on the frame body, and the output end of the connecting frame cylinder is fixedly connected with the connecting frame; the connecting frame is slidably arranged on the frame body; the cylinder body of the connecting plate cylinder is fixed on the connecting frame, and the output end of the connecting plate cylinder is fixedly connected with the connecting plate; the connecting plate is slidably arranged on the connecting frame and can move along the Z direction; the stem pulling device is arranged on the connecting plate and is used for pulling the throat swab released from the swab clamp.
2. A pharyngeal swab automatic sampling device according to claim 1, characterized in that the device further comprises a negative pressure fan; the negative pressure fan is arranged at the lower part of the frame body and used for exchanging air in the equipment with outside air.
3. A pharyngeal swab automatic sampling device according to claim 1, characterized in that a gear set is rotatably mounted on the support plate; the gear set is arranged between the sampling motor gear and the swab manipulator gear and is respectively in meshed transmission connection with the sampling motor gear and the swab manipulator gear.
4. The pharyngeal swab automatic sampling device of claim 1, wherein the swab holder is a hollow structure for insertion of a pharyngeal swab; one end of the spring claw structure is connected with the inner tube of the spring telescopic sleeve, the other end of the spring claw structure is matched with the outer tube of the spring telescopic sleeve to realize closing, and then the throat swab is fastened.
5. The automatic pharynx swab sampling device of claim 1, wherein the horizontal and vertical linear motion mechanism adopts a horizontal and vertical ball screw group, and is composed of two motors, a horizontal ball screw and a vertical ball screw; the shell of the horizontal ball screw is fixed on the frame body, and the shell of the vertical ball screw is fixed on the nut at the output end of the horizontal ball screw; a swab feeding manipulator is fixed on a nut at the output end of the vertical ball screw; the two motors are respectively used as the power of the horizontal ball screw and the vertical ball screw to drive the nut to rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211051702.3A CN115317029A (en) | 2022-08-31 | 2022-08-31 | Automatic sampling equipment of pharynx swab |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211051702.3A CN115317029A (en) | 2022-08-31 | 2022-08-31 | Automatic sampling equipment of pharynx swab |
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| CN202211051702.3A Pending CN115317029A (en) | 2022-08-31 | 2022-08-31 | Automatic sampling equipment of pharynx swab |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115770069A (en) * | 2022-12-23 | 2023-03-10 | 东海县裕隆医学检验实验室有限公司 | Self-service nucleic acid sampling machine |
| CN116035623A (en) * | 2023-02-02 | 2023-05-02 | 沈苏科技(苏州)股份有限公司 | Automatic sampling robot |
| CN116058884A (en) * | 2023-02-02 | 2023-05-05 | 沈苏科技(苏州)股份有限公司 | Automatic control sampling equipment |
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2022
- 2022-08-31 CN CN202211051702.3A patent/CN115317029A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115770069A (en) * | 2022-12-23 | 2023-03-10 | 东海县裕隆医学检验实验室有限公司 | Self-service nucleic acid sampling machine |
| CN115770069B (en) * | 2022-12-23 | 2023-10-13 | 东海县裕隆医学检验实验室有限公司 | Self-help nucleic acid sampling machine |
| CN116035623A (en) * | 2023-02-02 | 2023-05-02 | 沈苏科技(苏州)股份有限公司 | Automatic sampling robot |
| CN116058884A (en) * | 2023-02-02 | 2023-05-05 | 沈苏科技(苏州)股份有限公司 | Automatic control sampling equipment |
| CN116058884B (en) * | 2023-02-02 | 2023-11-14 | 沈苏科技(苏州)股份有限公司 | Automatic control sampling equipment |
| CN116035623B (en) * | 2023-02-02 | 2024-03-15 | 沈苏科技(苏州)股份有限公司 | Automatic sampling robot |
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