CN115474968A

CN115474968A - Full-automatic nucleic acid collecting and sorting platform

Info

Publication number: CN115474968A
Application number: CN202210979527.8A
Authority: CN
Inventors: 于布为; 王洪波; 张仕军; 翟清海; 罗静静; 李文献; 韩圆
Original assignee: Shanghai Furusi Medical Technology Co ltd
Current assignee: Shanghai Furusi Medical Technology Co ltd
Priority date: 2022-08-16
Filing date: 2022-08-16
Publication date: 2022-12-16

Abstract

The invention belongs to the technical field of medical instruments, and particularly relates to a fully-automatic nucleic acid collecting and sorting platform. The invention comprises a nucleic acid sampling device and a nucleic acid kit sorting device which are arranged in a sampling chamber, and a sampling auxiliary device which is arranged on the outer side of the wall of the sampling chamber; the sampling and sorting platform is fully automatic and large in sampling amount, an independent cotton swab breaking device is not needed to be arranged, a device of the nucleic acid sampling robot is utilized, the nucleic acid sampling robot applies a controllable force F which is vertical to the extension direction of a cotton swab rod and downward, the torque F satisfies the equation that F L is larger than theta EI/L, the cotton swab can be bent or broken, the adhered part of the broken cotton swab is twisted off by the pulling and rotating operation method, the pollution problem of the independent cotton swab breaking device to the cotton swab and the kit is effectively avoided, the cutting and disinfecting steps are saved, the collecting safety and the collecting efficiency are improved, and the cost is saved.

Description

Full-automatic nucleic acid collecting and sorting platform

Technical Field

The invention belongs to the technical field of medical instruments, and particularly relates to a fully-automatic nucleic acid collecting and sorting platform.

Background

In the flow of nucleic acid sampling, the collection of nucleic acid kit still mostly relies on manual operation with the letter sorting process, artifical direct contact kit is collected and is sorted the kit, there is easy mistake, easily be polluted, the huge scheduling problem of work load, and the industrialization letter sorting instrument that the part adopted has high accuracy, it is sealed good, can be long-time advantage such as big batch work, the easy mistake of having reduced to a certain extent, contaminated possibility, nucleic acid kit letter sorting efficiency has been improved, the cost of labor is reduced, still there are many problems:

the existing automatic nucleic acid detection process or equipment needs manual operation or supervision in the process of packaging and sorting the kit, has low automation level and cannot be called as real automatic nucleic acid sorting;

in the sorting process of the nucleic acid kit, a volunteer is still required to bend and break the test cotton swabs, and a plurality of cotton swabs are placed into the same nucleic acid kit, so that the manual waste is caused; when a part of industrial sorting instruments break cotton swabs, an additional cotton swab shearing device is adopted, the cotton swabs are sheared by a blade or a shear, the blade or the shear directly contacts the cotton swabs or the reagent kit, the bacterial pollution in the reagent kit can be caused by various processes, the accuracy of nucleic acid results is reduced, and meanwhile, the cost investment of a nucleic acid collecting and sorting platform is increased due to the arrangement of the additional cotton swab shearing device;

the existing automatic nucleic acid sorting equipment can only take or place nucleic acid kits on a single layer of a horizontal plane, so that the moving range of a mechanical arm is limited, the storage quantity of the nucleic acid kits is small, the collection quantity is small, the collection of all personnel in a community and surrounding areas is difficult to realize, and the requirement of actual collection is difficult to adapt.

Disclosure of Invention

The invention aims to overcome the defects that the automation level of an automatic nucleic acid detection process or equipment in the prior art is not high, bacterial pollution is easy to exist, the quantity of collected materials is small, and the actual collection requirement is difficult to adapt, and provides a fully-automatic nucleic acid collection and sorting platform which has higher automation level, does not need to be provided with an additional cotton swab shearing device, is difficult to pollute a reagent, and can ensure high precision of nucleic acid results.

The technical scheme adopted by the invention for solving the technical problems is as follows: a fully-automatic nucleic acid collecting and sorting platform comprises a nucleic acid sampling device and a nucleic acid kit sorting device which are arranged in a sampling chamber;

the nucleic acid sampling device comprises an automatic delivery device for cotton swab delivery and a nucleic acid sampling robot for clamping the cotton swab delivered by the automatic delivery device;

the nucleic acid kit sorting device comprises a placing rack and a kit storage box for storing nucleic acid kits, wherein the placing rack comprises a plurality of layers of placing tables arranged in the vertical direction;

the supporting manipulator is used for taking and placing the reagent box storage box placed on the placing rack;

the clamping and sorting manipulator is used for picking and placing the reagent box in the reagent box storage box picked and placed by the supporting manipulator;

the reagent box fixing device is used for fixing and clamping the reagent box moved by the sorting mechanical arm; the clamping and sorting mechanical arm opens and closes a screwing cover of the reagent kit fixed by the reagent kit fixing device;

after the nucleic acid sampling robot places the cotton swabs into the kit, a force F which is perpendicular to the extending direction of the cotton swab rod and bends downwards is applied, and the nucleic acid sampling robot is matched with the kit to break the cotton swabs.

Further, the force F of the nucleic acid sampling robot on downward bending perpendicular to the extension direction of the cotton swab rod satisfies the following equation:

F*L＞θ*EI/L

l is the length from the tail of the cotton swab to the contact position of the cotton swab and the edge of the kit, theta is the maximum bending angle of the cotton swab, and EI is the rotational rigidity of the cotton swab.

Furthermore, the supporting manipulator comprises a Z-axis slide rail vertically fixed on the bottom plate of the sampling chamber, a connecting supporting plate arranged with the Z-axis slide rail in a sliding manner through a Z-axis slide block, an X-axis slide rail fixedly installed on the connecting supporting plate, and a supporting plate connected with the X-axis slide rail in a sliding manner through an X-axis slide block; the Z-axis direction and the X-axis direction are arranged perpendicularly.

Further, the supporting plate comprises a connecting part fixedly connected with the X-axis sliding block and a supporting groove for supporting the nucleic acid kit placing table; the supporting groove is provided with a positioning bulge used for positioning the nucleic acid reagent kit placing table.

Further, centre gripping letter sorting manipulator include vertical arm of vertical setting, with sliding connection's first swinging boom in the vertical direction of vertical arm, with first swinging boom rotates the second swinging boom of being connected, with second swinging boom rotates the third swinging boom of being connected and with third swinging boom rotates the second centre gripping hand of being connected.

Furthermore, the second clamping hand comprises two oppositely arranged V-shaped clamping jaws, and vertical anti-skidding grooves are formed in V-shaped edges of the V-shaped clamping jaws.

Further, the nucleic acid sampling robot comprises a nucleic acid sampling mechanical arm with multiple degrees of freedom and a first clamping hand arranged on the nucleic acid sampling mechanical arm.

The sampling auxiliary device comprises an occlusion vessel used for human mouth occlusion and a mounting rack fixedly arranged on the outer wall of the sampling chamber wall and used for supporting the occlusion vessel;

the wall of the sampling chamber is provided with a sampling port for sampling nucleic acid, the mounting frame is mounted on the outer wall of the edge of the sampling port, and the occlusion vessel is mounted on the mounting frame and then positioned in a channel of the sampling port.

Further, the kit fixing device comprises a fixing support fixedly arranged on the operating platform and a third clamping hand arranged on the fixing support.

Furthermore, force sensors are mounted at the tail ends of the first clamping hand, the second clamping hand and the third clamping hand.

The fully-automatic nucleic acid collecting and sorting platform has the beneficial effects that:

1. according to the invention, an independent cotton swab breaking device is not required to be arranged, the multi-degree-of-freedom sampling mechanical arm of the nucleic acid sampling robot and the six-dimensional force sensor arranged at the tail end of the first clamping hand are utilized, the nucleic acid sampling robot applies a controllable force F which is vertical to the extension direction of a cotton swab rod and downward to the cotton swab placed in the kit, the torque F meets the equation that F & ltL & gt theta & ltEI/L, the cotton swab can be ensured to be bent or broken, the adhesion part at the broken part of the cotton swab is twisted off by the pulling and rotating operation method, the pollution problem of the independent cotton swab breaking device to the cotton swab and the kit is effectively avoided, the cutting and disinfecting steps are saved, the acquisition safety and the acquisition efficiency are improved, and the cost is saved.

2. The rack is provided with a plurality of vertically-arranged reagent box storage box placing tables, so that a large number of reagent boxes can be accommodated, the space is saved due to the vertical arrangement, more placing tables can be accommodated in the same space, the reagent boxes in each layer of reagent box storage box can be taken and placed under the combined action of the supporting mechanical arm and the clamping sorting mechanical arm, the requirement of large-scale collection of communities can be met, the frequency of replacing the rack is low, and the purpose of replacing the reagent boxes once a day can be achieved.

3. The bottom of the placing frame is provided with at least four universal wheels, so that the placing frame can be conveniently pushed out and pushed in, the placing frame slides in the L-shaped track arranged on the bottom plate of the sampling chamber, the width of the placing frame is matched with the width of the long edge of the L-shaped track, and the stability of the placing frame is ensured while the placing frame is conveniently pushed out and pushed in.

4. According to the reagent box sorting process, the holding manipulator realizes the picking and placing of the reagent box storage box in the placing frame, the clamping sorting manipulator realizes the picking and placing of the reagent box in the reagent box storage box, meanwhile, the clamping sorting manipulator is matched with the fixing device for use, the opening and closing of the screwing cover of the reagent box can be realized, in addition, the whole reagent box sorting process does not need manual operation or supervision, the complete automation is realized, the pollution of operators to the reagent box in the reagent box sorting process is avoided, and the condition that the operators are infected in the sorting process is also avoided.

Drawings

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

FIG. 1 is a first perspective view of a nucleic acid collection and sorting platform according to an embodiment of the present invention;

FIG. 2 is a second perspective view of a nucleic acid collection and sorting platform according to an embodiment of the present invention;

FIG. 3 is a schematic view of an automatic cotton swab delivery device according to an embodiment of the present invention;

FIG. 4 is a cross-sectional view of an automatic cotton swab delivery device according to an embodiment of the present invention;

FIG. 5 is a detail view of the contact portion of the swab transfer plate and the rotating hub of an embodiment of the present invention;

FIG. 6 is a schematic structural view of a nucleic acid sampling robot according to an embodiment of the present invention;

FIG. 7 is a detailed view of a first gripper hand of the nucleic acid sampling robot according to the embodiment of the present invention;

FIG. 8 is a schematic structural diagram of a sampling assistance device according to an embodiment of the present invention;

FIG. 9 is a schematic structural view of a bite block container of an embodiment of the present invention;

fig. 10 is a schematic structural view of a reagent cassette sorting apparatus according to an embodiment of the present invention;

fig. 11 is a view showing a partial structure of a reagent cassette sorting apparatus according to an embodiment of the present invention;

FIG. 12 is a schematic structural view of a gripping and sorting robot according to an embodiment of the present invention;

FIG. 13 is a detail view of a second gripper hand of an embodiment of the invention;

fig. 14 is a schematic structural view of a holding robot of the embodiment of the present invention;

fig. 15 is a schematic view of a cotton swab being bent according to an embodiment of the present invention.

In the figure: 1, an automatic delivery device, 11, a cotton swab delivery shell, 12, a cotton swab conveying plate, 121, a cotton swab placing end, 122, a cotton swab output end, 13, a vibration motor, 14, a pressing block, 15, a rotating hub, 151, a cotton swab clamping groove, 16, a rotating motor, 17, a hub bracket, 18, a clamping position, 19, a force sensor, 101, a limiting baffle, 102, a cotton swab detection device, 2, a nucleic acid sampling robot, 21, a multi-degree-of-freedom sampling mechanical arm, 22, a first clamping hand, 221, a V-shaped bump, 223, a six-dimensional force sensor, 23, a first visual sensor, 3, a sampling auxiliary device, 31, a mounting frame, 311, a clamping plate, 32, an occlusion vessel, 321 and an occlusion part, 322, a clamping groove, 41, a placing rack, 411, a placing platform, 42, a holding manipulator, 421, a Z-axis slide rail, 423, an X-axis slide rail, 425, a holding plate, 4251, a connecting part, 4252, a holding groove, 4253, a positioning boss, 426, a connecting supporting plate, 43, a clamping sorting manipulator, 431, a vertical arm, 432, a first rotating arm, 433, a second rotating arm, 434, a third rotating arm, 435, a second clamping hand, 4351, a V-shaped clamping claw, 4352, an anti-slip groove, 44, a kit fixing device, 441, a fixing support, 442, a third clamping hand, 45, an L-shaped track, 5, a kit, 6, a kit storing box, 7, a sampling port, 8, an operation platform, 9 and a two-dimensional code scanner.

Detailed Description

The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.

It is noted that referring to fig. 4, the Z-axis of the present invention is defined as the vertical direction of the sampling chamber floor, and the X-axis is defined as the direction perpendicular to the Z-axis and moving along the horizontal direction of the holding plate 425.

An embodiment of a fully automated nucleic acid collection and sorting platform of the present invention, as shown in fig. 1-15, comprises a nucleic acid sampling device and a nucleic acid kit sorting device disposed in a sampling chamber; the nucleic acid sampling device comprises an automatic delivery device 1 for cotton swab delivery and a nucleic acid sampling robot 2 for clamping cotton swabs delivered by the automatic delivery device 1; the nucleic acid kit sorting device comprises a placing frame 41 for placing the kit storage box 6 loaded with the nucleic acid kit 5, and the placing frame 41 comprises a plurality of layers of placing tables 411 arranged in the vertical direction for taking and placing the kit storage box 6 placed on the placing frame 41; the reagent box 5 in the reagent box storage box 6 for taking and placing the supporting manipulator 42 is taken and placed; a reagent box 5 for fixedly clamping the reagent box moved by the sorting manipulator 43; the clamping and sorting manipulator 43 opens and closes the screwing cover of the reagent box 5 fixed by the reagent box fixing device 44; the nucleic acid sampling robot 2 is matched with the kit 5 to break the cotton swab.

As shown in fig. 1 to 5, in the embodiment of an automatic cotton swab delivery device 1 according to the present invention, the automatic cotton swab delivery device 1 includes a cotton swab transfer plate 12, a pressing block 14, and a rotating hub 15, wherein a cotton swab placement end 121 of the cotton swab transfer plate 12 is higher than a cotton swab output end 122, and a vibration motor 13 is installed on the cotton swab transfer plate 12; the vibrating motor 13 mounted on the lower surface of the swab conveying plate 12 drives the swab conveying plate 12 to vibrate, so that the swab is moved from the swab placing end 121 to the swab output end 122.

Referring to fig. 4, the pressing block 14 according to the embodiment of the present invention has a hollow triangular shape, and one side of the pressing block 14 is a pressing plate disposed parallel to the upper surface of the swab transferring plate 12, and the pressing block 14 and the swab on the upper surface of the swab transferring plate 12 are in a naturally compacted state during movement of the swab. The natural compaction state is that the pressing block 14 is naturally placed in a cavity which can be formed by the cotton swab conveying plate 12 and the cotton swab delivery, and the pressing plate of the pressing block 14 is arranged opposite to the cotton swab conveying plate 12 and is parallel to the cotton swab conveying plate 12.

It should be noted that in this embodiment, a force sensor 19 is installed between the swab transferring plate 12 and the vibrating motor 13, and on one hand, the force sensor 19 is used to determine the number S of the remaining swabs on the swab transferring plate 12 according to the weight of the swabs, and on the other hand, the vibration frequency f and the vibration intensity N of the vibrating motor 13 to the swab transferring plate 12 are fed back to the system;

the vibration frequency f of the vibration motor 13 and the number S of the remaining swabs on the swab transfer plate 12 satisfy the following equation:

f＝k ₁ S ² +b ₁

wherein k is ₁ Is a coefficient of vibration frequency, b ₁ Is a vibration frequency parameter;

the vibration intensity N of the vibration motor 13 and the number S of remaining swabs on the swab transfer plate 12 satisfy the following equation:

N＝k ₂ S ² +b ₂

wherein k is ₂ Is the coefficient of vibration intensity, b ₂ Is a vibration intensity parameter.

The vibration motor 13 can adjust the vibration frequency f and the vibration intensity N according to the residual quantity S of the cotton swabs in the box, the residual quantity of the cotton swabs is obtained by sensing the mass change through the force sensor 19 at the bottom of the box, and the vibration frequency and the vibration intensity of the vibration motor 13 are in super-linear negative correlation with the residual quantity of the cotton swabs. The blocking phenomenon caused by inclination and even erection of the cotton swab due to overlarge amplitude of the cotton swab is avoided, and the condition that the cotton swab is turned over end to end in the conveying process can be effectively avoided.

A plurality of cotton swab clamping grooves 151 parallel to the axial direction of the rotating hub 15 are formed in the outer edge of the rotating hub 15; the cotton swab clamping groove 151 is a strip-shaped groove, the width of the strip-shaped groove is slightly larger than the diameter of a cotton swab, and the depth of the groove is smaller than or equal to the diameter of one cotton swab.

The output end of the swab transferring plate 12 abuts against the rotating hub 15, as shown in fig. 4 and 5, the rotating hub 15 is driven by the rotating motor 16 to rotate in a direction away from the upper surface of the swab transferring plate 12; rotatory wheel hub 15 and rotating electrical machines 16 all install on wheel hub support 17, and the extending direction of cotton swab draw-in groove 151 is unanimous with rotatory wheel hub 15's axial direction, and the V-arrangement opening along the 15 axial direction of rotatory wheel hub is seted up to the top of runing rest 17, and this position is the clamp of cotton swab and gets a 18, makes things convenient for the cotton swab to take out in the cotton swab draw-in groove 151 of rotatory wheel hub 15.

The upper surface of cotton swab conveying board 12 in this embodiment is the plane, also can be provided with a plurality of recesses of placing the cotton swab, and the groove depth of recess is less than the diameter of placing the cotton swab, under the condition of vibrating motor 13 vibration, can guarantee that the cotton swab arranges in proper order at the in-process that moves down, and orderly removal avoids pricking the stifled phenomenon of card that the heap caused because of the cotton swab, and cotton swab compaction is gone up with cotton swab conveying board 12 to briquetting 14.

The cotton swab delivery shell 11 and the cotton swab transmission plate 12 are both made of special plastic materials, so that the whole cotton swab delivery shell and the cotton swab transmission plate are convenient to sterilize, and the cotton swabs in the box can be prevented from being polluted; under the promotion that is used for the briquetting 14 of the cotton swab compaction on the cotton swab conveying board 12, rotatory cooperation cotton swab draw-in groove 151 of rotary wheel hub 15 can stir the space between cotton swab conveying board 12 and the cotton swab delivery casing 11 that probably have the card stifled, by the stifled probability of card in can greatly reduced transport box.

Referring to fig. 3-5, the automatic cotton swab delivering device 1 includes a rotating hub 15 abutting against the cotton swab transferring plate 12, and a rotating motor 16 for driving the rotating hub 15 to rotate, wherein the rotating motor 16 drives the rotating hub 15 to rotate upwards in a direction away from the upper surface of the cotton swab transferring plate 12, it should be noted that the rotating motor 16 and the rotating hub 15 are both mounted on a rotating bracket 17, the specific structure of the rotating bracket 17 is not described, and those skilled in the art can conceive of the rotating bracket 17 capable of supporting the rotating hub 15 and the rotating motor 16.

As shown in fig. 4, in the embodiment of the present invention, the cotton swab delivery housing 11 close to the rotating hub 15 is provided with a limiting device for blocking a plurality of cotton swabs existing in the cotton swab clamping groove 151 of the rotating hub 15, so as to ensure that there are no plurality of cotton swabs in each cotton swab clamping groove 151 entering the grabbing position, and avoid waste of cotton swabs and normal subsequent sampling. The stopping device comprises a limiting baffle 101 fixedly mounted on the pressing block 14, and it should be noted that the limiting baffle 101 is tightly attached to the rotating hub 15 or the minimum distance between the limiting baffle 101 and the rotating hub 15 is smaller than the diameter of a single cotton swab, the distance between the limiting baffle 101 and the rotating hub is a small gap, and the small gap is not enough to accommodate one cotton swab to pass through.

A cotton swab detection device 102 for detecting whether a cotton swab exists on the clamping position 18 is fixedly arranged on the rotating bracket 17; the swab detection device 102 is a travel switch, and when a swab is located on the gripping location 18, the head of the swab contacts the travel switch.

The automatic cotton swab delivery device 1 of the embodiment can realize continuous sinking and output of cotton swabs through the vibration of the vibration motor 13, and the pressing block 14 is used for avoiding blockage caused by inclination and even erection of the cotton swabs due to overlarge amplitude in the vibration process; rotatory wheel hub 15 with a plurality of cotton swab draw-in grooves 151, a limit baffle 101 and a department that is used for restricting the cotton swab conveying quantity are used for judging the travel switch that the cotton swab was taken away or not, will bear the weight of the sampling cotton swab that is transmitted by cotton swab conveying plate 12 and transfer to in the cotton swab draw-in groove 151 on rotatory wheel hub 15, under the drive of rotating electrical machines 16, the cotton swab draw-in groove 151 that will block the cotton swab that is equipped with rotates to the position 18 of pressing from both sides, utilize travel switch to judge whether the target cotton swab has been taken out or not, when not taken away, wheel hub can not rotate, until travel switch judges that the target cotton swab has been taken away, rotatory wheel hub 15 just can continue the operation.

Referring to fig. 6 and 7, the nucleic acid sampling robot 2 includes a multi-degree-of-freedom sampling robot arm 21, a first gripper 22 rotatably attached to the multi-degree-of-freedom sampling robot arm 21, and a first vision sensor 23 provided on the multi-degree-of-freedom sampling robot arm 21 for acquiring information inside the oral cavity of a human body.

The sampling auxiliary device 3 of the embodiment, as shown in fig. 8, comprises an occlusion vessel 32 for human mouth occlusion and a mounting rack 31 fixedly arranged on the outer wall of the sampling chamber wall for supporting the occlusion vessel 32; a sampling port 7 for sampling nucleic acid is formed in the wall of the sampling chamber, a mounting frame 31 is mounted on the outer wall of the edge of the sampling port 7, and a meshing vessel 32 is mounted on the mounting frame 31, is located in the channel of the sampling port 7 and is located at the center of the sampling port 7 in the embodiment.

The nucleic acid reagent kit sorting device comprises a placing frame 41 for placing the reagent kit storing box 6, a supporting manipulator 42 for taking and placing the reagent kit storing box 6, a clamping sorting manipulator 43 for taking and placing the reagent kit 5 in the reagent kit storing box 6 on the supporting manipulator 42, and a reagent kit fixing device 44 for fixing the reagent kit 5 to be used, and particularly refer to fig. 10 and 11.

The nucleic acid kit sorting device comprises a placing frame 41 for placing a kit storage box 6 for loading the nucleic acid kit 5, and the placing frame 41 comprises a plurality of layers of placing tables 411 which are arranged in the vertical direction.

The nucleic acid reagent kit sorting device in the embodiment of the present invention includes a holding manipulator 42 for taking and placing the reagent kit storage box 6 placed on the placing rack 41, as shown in fig. 14; a gripping and sorting robot 43 for taking in and out the reagent cartridges 5 in the reagent cartridge storage cassettes 6 taken in and out by the holding robot 42, as shown in fig. 12 and 13; a reagent cassette fixing device 44 for fixing and holding the reagent cassette 5 moved by the sorting robot 43; the clamping and sorting manipulator 43 opens and closes the screwing cover of the reagent box 5 fixed by the reagent box fixing device 44;

the nucleic acid sampling robot 2 is matched with the kit 5 to break the cotton swab, after the cotton swab is placed in the kit 5 by the nucleic acid sampling robot 2, a force F for vertically bending the cotton swab downwards is applied, and the force F for bending the cotton swab downwards, which is perpendicular to the extending direction of the cotton swab, applied by the nucleic acid sampling robot 2 to the cotton swab meets the following equation:

F*L＞θ*EI/L

wherein, L is the length of cotton swab afterbody to cotton swab and 5 edge contact departments of kit, and theta is the biggest angle of bending of cotton swab, and the biggest angle of bending theta depends on the material and the diameter of cotton swab pole self, and EI is the rotational rigidity of cotton swab.

Referring to fig. 7, the first clamping hand 22 includes a first clamping plate and a second clamping plate which are oppositely arranged, and at least two V-shaped protrusions 221 are arranged on the opposite surfaces of the first clamping plate and the second clamping plate at intervals; the V-shaped projection 221 on the first clamping plate and the V-shaped projection 221 on the second clamping plate are arranged in a staggered manner. When the first clamping hand 22 clamps the cotton swab, because the heights of the two sides of the V-shaped bump 221 are higher than the middle height, the cotton swab is self-positioned to the middle position of the upper V-shaped bump 221 and the lower V-shaped bump 221, so that the position consistency of the cotton swab clamped by the clamping hand is ensured, and the position accuracy of sampling is further ensured. The force sensor 19 is mounted on the end parts of the first clamping plate and the second clamping plate far away from the multi-degree-of-freedom sampling mechanical arm 21, and the force sensor 19 in the embodiment is a six-dimensional force sensor 223. The six-dimensional force sensor 223 can clearly collect the force generated by the cotton swab entering the oral cavity of the person to be sampled to the oral cavity, and the oral cavity of the person to be sampled is prevented from being injured in the sampling process.

The multi-degree-of-freedom sampling robot 21 in this embodiment is a five-degree-of-freedom robot having a flexible joint, and the nucleic acid sampling robot 2 having seven degrees of freedom is configured by combining the rotational degree of freedom between the first gripper 22 and the multi-degree-of-freedom sampling robot 21 and the degree of freedom of relative movement between the first gripper 22 and the second gripper.

The first clamping hand 22 in the embodiment adopts electric clamping, the electric clamping is easier to operate and control the force, and the multi-degree-of-freedom sampling mechanical arm 21 is also fixedly provided with a first visual sensor 23 for acquiring whether a person to be sampled is in place or not and whether the acquisition position is accurate or not; the oral cavity position intelligent recognition of the person who treats the sample is realized, the accuracy of the sampling position is guaranteed, and the oral cavity of the person who treats the sample in the sampling process is prevented from being injured.

A sampling port 7 for sampling by the nucleic acid sampling robot 2 is arranged on the wall of the sampling chamber, a clamping plate 311 for clamping an engagement vessel 32 bitten by a sampling person is arranged on the outer wall of the edge of the sampling port 7, and referring to fig. 8 and fig. 9, the engagement vessel 32 comprises an engagement part 321 with a through hole in the middle and a clamping groove 322 for fixedly mounting with the mounting rack 31; the mounting bracket 31 is provided with a clamping plate 311 which is matched with the clamping groove 322. The shape of the biting part 321 is an ellipse or a rectangle with rounded corners, which conforms to the open shape of the human mouth. In practical application, the occlusion vessel 32 can be set in various types according to different people, for example, children and adults can set different sizes of the occlusion part 321, which is beneficial to fixing the oral cavity of a person to be sampled and is convenient for the nucleic acid sampling robot 2 to sample.

Be provided with the second visual sensor who is used for giving sterile degassing unit of cardboard 311 and is used for detecting whether interlock household utensils 32 are taken out outside the wall of sampling room, after the sampling is accomplished, the person of being sampled takes out own interlock household utensils 32, second visual sensor detects interlock household utensils 32 and is taken out, feed back to the system, system control degassing unit disinfects, if the sampling is accomplished the back, the person of being sampled forgets to take out interlock household utensils 32, second visual sensor detects interlock household utensils 32 in the certain period and has not taken out, can feed back to the system, system control reminds the system, remind the person of being sampled to take off interlock household utensils 32.

In the embodiment of the present invention, the multi-degree-of-freedom sampling mechanical arm 21 rotatably connected to the first holding hand 22 further carries a set of visual sensors, which can assist the nucleic acid sampling robot 2 to find the nucleic acid collection position in the oral cavity of the person to be sampled, and complete the collection of the nucleic acid sample by matching with the force sensor 19 at the end of the first holding hand 22.

When the nucleic acid collecting platform starts to work, the pressing block 14 is manually taken out, cotton swabs in the same orientation are placed in the cotton swab delivery shell 11, the pressing block 14 is placed in the cotton swab delivery shell 11 in a free state, the pressing block 14 is in a compaction state for the cotton swabs, the cotton swab delivery plate 12 filled with the cotton swabs in the uniform orientation starts to sequentially deliver the cotton swabs to the output end of the cotton swab delivery plate 12 along with the continuous vibration of the vibration motor 13, the output end of the cotton swab delivery plate 12 is abutted against the rotary hub 15, meanwhile, due to the compaction effect of the pressing block 14, the cotton swabs are tightly contacted with the periphery of the rotary hub 15 at the outlet, the rotary hub 15 inserts one cotton swab hook at the outermost end into the cotton swab clamping groove 151 through rotation and delivers the cotton swab hook to the clamping position 18, at the moment, the head of the cotton swab is contacted with the contact of the travel switch, the cotton swabs in the cotton swab clamping groove 151 exceeding the number are blocked by the limiting baffle plate 101 and fall onto the cotton swab delivery plate 12, and when the cotton swabs at the highest cotton swab at the position 18; meanwhile, the nucleic acid sampling robot 2 with seven degrees of freedom starts to operate, and the two clamping plates at the tail end of the first clamping hand 22 move to the opposite side of the extension direction of the swab handle of the target cotton swab to finish the cotton swab clamping work; the other side is settled by the sampler, the nucleic acid collecting position is exposed and waits by biting the occlusion vessel 32, the nucleic acid sampling robot 2 moves the clamping cotton swab to the position right in front of the occlusion vessel 32, the collecting position is corrected through the first vision sensor 23, the cotton swab enters the nucleic acid collecting position in the oral cavity of the sampler through the channel of the occlusion vessel 32 and is stirred, the sample collection is completed, then the occlusion vessel 32 is taken down and taken away by the patient, and the nucleic acid sampling robot 2 places the sample of the sampler into the prepared nucleic acid kit 5 to complete the sample collection of the sampler.

Under the pushing of the pressing block 14 for compacting the cotton swabs on the cotton swab conveying plate 12, the rotation of the rotating hub 15 and the matching of the cotton swab clamping groove 151 can stir the space between the cotton swab conveying plate 12 and the cotton swab delivery shell 11 which are possibly blocked, so that the probability of blocking in the conveying box can be greatly reduced, and meanwhile, the nucleic acid sampling robot 2 can be ensured not to empty when clamping the cotton swabs at the clamping position 18 by matching with a travel switch arranged on the hub bracket 17; the six-dimensional force sensor 223 at the tail end of the first clamping hand 22 is provided with a force value threshold value so as to perform force feedback control, so that the detected person can be prevented from being injured when the nucleic acid sample is acquired at the acquisition position of the detected person, and the safety of the equipment is ensured.

The procedure for using the human to be sampled by using the nucleic acid sampling robot 2 of this example was as follows:

the person to be sampled gets the occlusion vessel 32, sits at the sampling position, and clamps the occlusion vessel 32 on the clamping plate 311 on the outer wall of the sampling chamber;

the oral cavity of the person to be sampled is occluded on the occlusion vessel 32, and the first vision sensor 23 on the sampling robot which clamps the cotton swab detects the position of the oral cavity of the person to be sampled, so that accurate sampling is carried out;

after sampling is finished, the sampled person takes down the own occlusion vessel 32, and the second visual sensor detects whether the occlusion vessel 32 is taken out or not and feeds back the system; if the occlusion utensil 32 is taken out, starting a disinfection device for disinfection, and if the occlusion utensil 32 is not taken out, starting a reminding system for reminding;

and after the disinfection is finished, sampling by the next person to be sampled.

Compared with the existing nucleic acid sample collection platform, the automatic nucleic acid sample collection platform has the advantages of full-automatic delivery and collection processes, high efficiency, low cost and difficult pollution of the whole platform, monitoring of the collection process by the vision and force sensor 19, no damage to the oral cavity collection area of a person to be collected, and good practicability.

The automatic sorting platform for the nucleic acid reagent kit 5 comprises a placing frame 41 for placing the reagent kit storage box 6 for loading the nucleic acid reagent kit 5, wherein the placing frame 41 comprises a plurality of layers of supports arranged in the vertical direction; the placing rack 41 in the embodiment of the invention is a support structure of a 10-layer placing table 411.

The holding manipulator 42 is used for taking and placing the reagent kit storage box 6 placed on the placing frame 41, and the clamping and sorting manipulator 43 comprises a vertical arm 431 vertically arranged, a first rotating arm 432 slidingly connected with the vertical arm 431 in the vertical direction, a second rotating arm 433 rotatably connected with the first rotating arm 432, a third rotating arm 434 rotatably connected with the second rotating arm 433, and a second clamping hand 435 rotatably connected with the third rotating arm 434. The second clamping hand 435 includes two opposing V-shaped jaws 4351, and vertical anti-slip grooves 4352 are disposed on the V-shaped edges of the V-shaped jaws 4351.

The holding robot 42 includes five degrees of freedom as shown, a Z-axis linear movement degree of freedom, a first rotational degree of freedom, a second rotational degree of freedom, a third rotational degree of freedom, and a relative gripping movement degree of freedom of the second gripping hand 435. The reagent kit 5 can be taken out of the reagent kit storage box 6 to the fixing device, and meanwhile, the screwing cover of the reagent kit 5 fixed on the fixing device can be unscrewed and screwed.

A reagent cassette fixing device 44 for fixing and clamping the reagent cassette 5 moved by the sorting robot 43; the reagent cartridge holding device 44 includes a holding bracket 441 fixed to the operation table 8 and a third holding hand 442 for holding the reagent cartridge 5.

The supporting manipulator 42 can drive the supporting plate 425 to realize the movement on two degrees of freedom of a Z axis and an X axis, and the supporting manipulator 42 comprises a Z axis slide rail 421 vertically fixed on the ground of the sampling chamber, a connecting supporting plate 426 arranged with the Z axis slide rail 421 in a sliding way through a Z axis slide block, an X axis slide rail 423 fixedly arranged on the connecting supporting plate 426, and a supporting plate 425 connected with the X axis slide rail 423 in a sliding way through an X axis slide block; the Z-axis direction is perpendicular to the X-axis direction, and refer to fig. 14 specifically. The reagent box storage box 6 on any layer of the rack 41 can be taken out, held and returned through the precise matching of the two slide rails and the slide blocks.

The supporting plate 425 according to the embodiment of the present invention includes a connecting portion 4251 for fixedly connecting to the X-axis slider and a supporting groove 4252 for supporting the nucleic acid reagent kit storage box 6; the holder groove 4252 is provided with a positioning projection for positioning with the nucleic acid kit storage box 6. The extending direction of the positioning projection is consistent with the Z-axis direction, and a matched positioning groove is arranged at the position of the reagent box storage box 6 corresponding to the positioning boss 4253.

In this embodiment, the Z-axis slider slides on the Z-axis slide rail 421, and the X-axis slider slides on the X-axis slide rail 423, which are both realized by adopting a transmission mode in which a motor drives a lead screw, and other transmission modes may also be adopted, which are not limited herein.

It should be further described that the placing rack 41 includes a placing table 411 of a multilayer kit storing box 6, in the embodiment of the present invention, the kit storing box 6 is a single-layer honeycomb-shaped receiving table arranged in 8X12, and can place 96 nucleic acid kits 5, and each nucleic acid kit 5 stores a detection cotton swab of a person to be detected; the rack 41 has 10 layers of the placing tables 411, 960 nucleic acid reagent kits 5 of the testees are arranged, the detection amount of the platform in one day corresponds to the automatic detection, and universal wheels are distributed at four corners of the bottom of the rack 41.

In the embodiment of the invention, the sampling chamber is provided with a certain L-shaped track for fixing the nucleic acid placing rack 41 on the ground, the nucleic acid placing rack 41 filled with the sampled nucleic acid reagent kit 5 is moved out through the prefabricated L-shaped track, and meanwhile, a new nucleic acid placing rack 41 is pushed in to complete the replacement of all the nucleic acid reagent kits 5, the long edge section of the L-shaped track is matched with the size of the nucleic acid placing rack 41, so that the nucleic acid placing rack 41 can be fixed in the operation process, and the nucleic acid placing rack 41 can be further fixed by adopting a universal wheel with a self-locking function.

The clamping and sorting manipulator 43 in the embodiment of the invention comprises a three-degree-of-freedom mechanical arm and a second clamping hand 435 rotationally mounted on the three-degree-of-freedom mechanical arm, wherein the second clamping hand 435 comprises two V-shaped clamping claws 4351 which are oppositely arranged, and vertical anti-skidding grooves 4352 are respectively arranged on the V-shaped edges of the V-shaped clamping claws 4351, so that the phenomenon of skidding when a clamping device is used for screwing and covering a nucleic acid kit 5 is effectively avoided, and the efficiency is improved to a certain extent.

In the embodiment of the present invention, the force sensor 19 is installed at the end of each of the first holding hand 22 of the nucleic acid sampling robot 2, the second holding hand 435 for holding the sorting robot 43, and the third holding hand 442 of the reagent kit fixing device 44, and the force sensor 19 installed on the first holding hand 22 monitors and controls the force for holding the cotton swab, so as to avoid injury to the oral cavity of the person to be sampled during sampling. The force sensors 19 on the second clamping hand 435 and the third clamping hand 442 can monitor and adaptively control the force applied to the reagent cartridge 5 by the tail ends of the second clamping hand 435 and the third clamping hand 442 in real time, so that the problem that the reagent cartridge 5 is damaged due to excessive force applied in the operation process can be avoided.

The specific structures of the multi-degree-of-freedom sampling mechanical arm 21 and the clamping and sorting mechanical arm 43 are not limited to the structures described in the embodiment, the multi-degree-of-freedom sampling mechanical arm 21 and the first clamping hand 22 can perform nucleic acid sampling on a collected person under the combined action, a force perpendicular to the extension direction of a swab rod can be applied to a sampled swab placed in the kit fixing device 44, and the clamping and sorting mechanical arm 43 can achieve taking and placing of the kit 5 between the kit storage box 6 and the kit fixing device 44 and opening and closing of a screwing cover of the kit 5 on the kit fixing device 44. The automatic cotton swab delivery device 1 and the operating platform 8 are provided with supports for supporting, and the supports are highly matched, so that the matching relationship which is easy to implement by a person skilled in the art is not described in detail herein.

After the nucleic acid kit sorting device starts to work, the system judges the number of layers of the kit storage boxes 6 where the nucleic acid kits 5 are to be taken and stored on the placing rack 41, the supporting manipulator 42 starts to operate, the supporting plate 425 is moved to the bottom of the kit storage boxes 6 on the layer, so that the bottoms of the kit storage boxes 6 are completely placed in the supporting groove 4252, the positioning protrusions on the supporting groove 4252 are matched and connected with the positioning grooves in the bottoms of the kit storage boxes 6, the kit storage boxes 6 are lifted and taken out and are moved to the positions near the fixing mechanism of the kit 5, and the nucleic acid kits 5 are conveniently taken out and put back by the clamping sorting manipulator 43; after receiving the position of the reagent box storage box 6 sent by the system, the clamping and sorting manipulator 43 moves the clamping and sorting manipulator 43 to the position right above the reagent box 5 according to the position of the target nucleic acid reagent box 5, the reagent box 5 is taken out by rotating the second clamping hand 435 arranged on the clamping and sorting manipulator 43, then the clamping and sorting manipulator 43 rotates to move the code carrying surface of the reagent box 5 to the code scanning area on the two-dimensional code scanner 9 for code scanning, after the reagent box 5 is confirmed to be taken out, the clamping and sorting manipulator 43 drives the reagent box 5 to move to the position above the reagent box fixing device 44, the fixing of the reagent box 5 is completed by opening and closing the third clamping hand 442 matched with the reagent box fixing device 44, then the rotating motor 16 at the tail end of the clamping and sorting manipulator 43 is started, the screwing cover of the reagent box 5 is opened, and the clamping and sorting manipulator 43 carries the screwing cover to move to a waiting position; after the cotton swab sampling is completed, the nucleic acid sampling robot reversely rotates the cotton swab at a certain angle along the X-axis direction, then delivers the cotton swab to the position right above the uncapped kit 5, slowly descends until a cotton swab rod is contacted with the edge of the kit 5, a six-dimensional force sensor 223 on a first clamping hand 22 of the nucleic acid sampling robot 2 senses the contact and feeds back a system, the nucleic acid sampling robot 2 applies a shearing force along the vertical direction of the cotton swab until the cotton swab is broken, an adhesion part at the broken part of the cotton swab is twisted off by an operation method of pulling and rotating, and at the moment, the cotton swab is completely broken and falls into a storage liquid of the kit 5; the clamping and sorting manipulator 43 is moved to the position above the reagent kit 5 again from the waiting position, the cover is screwed on the reagent kit 5 again after the screwing action is finished, at this time, the third clamping hand 442 of the reagent kit 5 fixing mechanism loosens the reagent kit 5, the clamping and sorting manipulator 43 is enabled to put the reagent kit 5 back to the taking-out position on the reagent kit storage box 6 again, and the operation flow of the next reagent kit 5 is carried out; when the system detects that all the reagent boxes 5 in the reagent box storage box 6 are sampled, the holding manipulator 42 places the reagent box storage box 6 on the placing table 411 on the placing frame 41, the resetting is completed, and the holding work of the next reagent box storage box 6 is performed.

After sampling is completed, the nucleic acid sampling robot 2 moves the clamped sampled cotton swab to the position above the reagent kit 5 fixed by the fixing device, the sampled cotton swab is placed into the reagent kit 5, at this time, the length L of the contact position of the tail end of the cotton swab and the edge of the reagent kit 5 is determined by the first vision sensor 23, the bottom of the cotton swab is in contact with the edge of the bottom of the other side of the reagent kit 5, the nucleic acid sampling robot 2 applies a bending force F which is perpendicular to the extension direction of the cotton swab rod downwards to the cotton swab, the cotton swab can be broken only by ensuring that the applied moment F L is larger than theta EI/L (maximum bending moment of the cotton swab), theta is the maximum bending angle of the cotton swab, the maximum bending angle theta is determined according to the diameter and the material of the cotton swab rod, EI is the rotation rigidity of the cotton swab, and particularly referring to fig. 15, the broken position is the edge of the cotton swab rod in contact with the reagent kit 5, and the stressed position is the position of the head of the cotton swab in contact with the reagent kit 5. In this embodiment, the nucleic acid sampling robot 2 and the reagent kit 5 fixed on the fixing frame are used to break the cotton swab together, an additional cotton swab shearing device is not required, and no other device is directly contacted with the cotton swab except the reagent kit 5, so that the increase of the pollution probability caused by the fact that the additional shearing device is contacted with the cotton swab and the reagent kit 5 is reduced.

In whole nucleic acid automatic acquisition, letter sorting system, carry out nucleic acid sampling to the person of being sampled and sort two parts simultaneously to corresponding kit 5, to being sampled the people and sampling the back, when nucleic acid sampling robot 2 removed the cotton swab of having sampled to the mount top, corresponding kit 5 was also fixed on the mount by what unscrewed the lid, shortened the completion time of once sampling, letter sorting as far as possible.

It should be understood that the above-described specific embodiments are merely illustrative of the present invention and are not intended to limit the present invention. Obvious variations or modifications which are within the spirit of the invention are possible within the scope of the invention.

Claims

1. A full-automatic nucleic acid collection and sorting platform is characterized in that: comprises a nucleic acid sampling device and a nucleic acid kit sorting device which are arranged in a sampling chamber;

the nucleic acid sampling device comprises an automatic delivery device (1) for cotton swab delivery and a nucleic acid sampling robot (2) for clamping cotton swabs delivered by the automatic delivery device (1);

the nucleic acid kit sorting device comprises a placing rack (41) and a kit storing box (6) for storing nucleic acid kits (5), wherein the placing rack (41) comprises a plurality of layers of placing tables (411) which are arranged in the vertical direction;

the supporting manipulator (42) is used for taking and placing the reagent box storage box (6) placed on the placing rack (41);

the clamping and sorting manipulator (43) is used for taking and placing the reagent box (5) in the reagent box storage box (6) taken and placed by the supporting manipulator (42);

the reagent box (5) fixing device (44) is used for fixing and clamping the reagent box (5) moved by the sorting manipulator (43); the clamping and sorting manipulator (43) opens and closes a screwing cover of the reagent box (5) fixed by the reagent box (5) fixing device (44);

the nucleic acid sampling robot (2) places the cotton swab in the kit (5) and then applies a force F which is perpendicular to the extension direction of the cotton swab rod and bends downwards, and the nucleic acid sampling robot (2) is matched with the kit (5) to break the cotton swab.

2. The fully automated nucleic acid collection and sorting platform of claim 1, wherein: the force F of the nucleic acid sampling robot (2) bending the cotton swab rod downwards in the extending direction meets the following equation:

F*L＞θ*EI/L

l is the length from the tail of the cotton swab to the contact position of the cotton swab and the edge of the kit (5), theta is the maximum bending angle of the cotton swab, and EI is the rotational rigidity of the cotton swab.

3. The fully automated nucleic acid collection, sorting platform of claim 2, wherein: the supporting manipulator (42) comprises a Z-axis slide rail (421) vertically fixed on the bottom plate of the sampling chamber, a connecting supporting plate (426) arranged with the Z-axis slide rail (421) in a sliding manner through a Z-axis slide block, an X-axis slide rail (423) fixedly installed on the connecting supporting plate (426), and a supporting plate (425) connected with the X-axis slide rail (423) in a sliding manner through an X-axis slide block; the Z-axis direction and the X-axis direction are arranged perpendicularly.

4. The fully automated nucleic acid collection and sorting platform of claim 3, wherein: the supporting plate (425) comprises a connecting part (4251) fixedly connected with the X-axis sliding block and a supporting groove (4252) used for supporting a placing table (411) of the nucleic acid reagent kit (5); the supporting groove (4252) is provided with a positioning bulge used for positioning with the placing table (411) of the nucleic acid reagent kit (5).

5. The fully automated nucleic acid collection, sorting platform of claim 3, wherein: centre gripping letter sorting manipulator (43) including vertical arm (431) of vertical setting, with sliding connection's on vertical arm (431) the vertical direction first swinging boom (432), with first swinging boom (432) rotate second swinging boom (433) of connecting, with second swinging boom (433) rotate third swinging boom (434) of connecting and with third swinging boom (434) rotate second centre gripping hand (435) of connecting.

6. The fully automated nucleic acid collection and sorting platform of claim 5, wherein: the second clamping hand (435) comprises two V-shaped clamping jaws (4351) which are arranged oppositely, and vertical anti-skidding grooves (4352) are formed in V-shaped edges of the V-shaped clamping jaws (4351).

7. The fully automated nucleic acid collection and sorting platform of claim 1, wherein: the nucleic acid sampling robot (2) comprises a nucleic acid sampling mechanical arm with multiple degrees of freedom and a first clamping hand (22) arranged on the nucleic acid sampling mechanical arm.

8. The fully automated nucleic acid collection, sorting platform of claim 2, wherein: the sampling auxiliary device (3) comprises an occlusion vessel (32) used for occluding the oral cavity of a human body and a mounting frame (31) fixedly arranged on the outer wall of the sampling chamber and used for supporting the occlusion vessel (32);

a sampling port (7) for sampling nucleic acid is formed in the wall of the sampling chamber, the mounting frame (31) is mounted on the outer wall of the edge of the sampling port (7), and the meshing vessel (32) is mounted on the mounting frame (31) and then located in a channel of the sampling port (7).

9. The fully automated nucleic acid collection, sorting platform of claim 1, wherein: the kit fixing device (44) comprises a fixing bracket (441) fixedly arranged on the operating platform (8) and a third clamping hand (442) arranged on the fixing bracket (441).

10. The fully automated nucleic acid collection, sorting platform of claim 8, wherein: force sensors (19) are mounted at the tail ends of the first clamping hand (22), the second clamping hand (435) and the third clamping hand (442).