CN115477266A

CN115477266A - Multifunctional unscrewing cover manipulator device for nucleic acid sampling robot system

Info

Publication number: CN115477266A
Application number: CN202211027398.9A
Authority: CN
Inventors: 徐智武; 李志新; 徐子力; 刘吉成; 华晓青; 吴惠兴; 欧阳航空
Original assignee: University of Shanghai for Science and Technology
Current assignee: University of Shanghai for Science and Technology
Priority date: 2022-08-25
Filing date: 2022-08-25
Publication date: 2022-12-16

Abstract

The invention relates to a multifunctional cover unscrewing manipulator device for a nucleic acid sampling robot system, which can realize the functions of code scanning, cover opening, cover unscrewing and the like of a test tube by multi-station test tube logistics, wherein the cover opening and cover closing transposition is carried out, so that the efficiency can be improved, a clean area can be separated from a sampled area, and meanwhile, a disinfection area disinfects the manipulator, so that the pollution problem of the test tube can be effectively prevented; the cover unscrewing device is connected with the lifting sliding table in a floating connection mode through the upper set of springs and the lower set of springs, so that the manipulator is in a balanced state when the cover unscrewing action is not performed, and can follow up the upper action force and the lower action force when the cover is unscrewed or screwed when the cover is opened or screwed, and the control difficulty is reduced. The invention has the advantages of multifunction, flexible and compact structure, and the like, can greatly improve the sampling efficiency when being applied to a full-automatic sampling robot system, and can meet the requirement of large-batch sampling work; meanwhile, the control difficulty of the actions of opening the cover and screwing the cover is reduced.

Description

Multifunctional unscrewing cover manipulator device for nucleic acid sampling robot system

Technical Field

The invention relates to a multifunctional cover unscrewing mechanical hand device for a nucleic acid sampling robot system, which has the main functions of completing the functions of code scanning, cover opening, cover screwing and the like of a test tube in a full-automatic nucleic acid sampling robot system. The robot is used for automatic nucleic acid sampling in the medical field.

Background

At present, nucleic acid detection is basically manually collected by medical staff, and under the daily high-intensity work, the medical staff are easy to damage the bodies of the medical staff due to the fact that the medical staff wear tight and windproof protective clothing. In contrast, the advent of an automatic nucleic acid sampling robot has effectively solved this problem. At present, most nucleic acid sampling robots on the market are mostly in a development stage, most systems only design sampling mechanical arms, the number of test tubes is small, all actions are completed by the mechanical arms, and therefore the sampling efficiency is low, and the nucleic acid sampling robots cannot be really put into daily use. If the daily use requirement is satisfied, a large number of test tubes must be operated, and how to circulate the test tubes in the robot sampling system and how to realize the uncovering and the screwing of the test tubes are key parts in the full-automatic nucleic acid sampling robot system. To complete an automatic sampling, the test tube logistics needs such processes: test tube material loading, test tube sweep sign indicating number, test tube uncap, the robot is put into and has been sampled swab, test tube screw cap, test tube unloading. For the action flows, a plurality of sampling robots developed at present are completed on one station, so that the sampling robots are in a serial working mode, the whole sampling beat is lengthened, and the sampling efficiency is low; in some robot systems, the cover-opening mechanical arm is arranged at one station, the test tube is placed on a sliding table, and the sliding table is switched back and forth between the cover-opening station and the swab-placing station, so that the method still occupies more time, the working efficiency is not improved, and the cover opening and the cover screwing are carried out at one station, so that the clean area and the pollution area are separated, the problem of test tube pollution is caused, and the cover-opening mechanical arm needs to be sterilized; meanwhile, the code scanning problem of the test tube and the like are also considered, so the invention provides a multifunctional cover unscrewing mechanical arm device for a nucleic acid sampling robot system.

In addition, for the cap opening and cap screwing actions, although the cap is rotated, the manipulator needs to move up and down while the cap is rotated, and if the cap opening and cap screwing actions are realized by the lifting sliding table of the manipulator, the requirement on a control system is very high. According to the invention, two sets of springs are added up and down at the joint between the cover unscrewing device and the lifting sliding table, so that the manipulator is in a balanced state when the cover unscrewing action is not performed, and the manipulator can be driven to move up and down along with the up-and-down acting force during unscrewing or screwing when the cover is opened or screwed, and the control difficulty of a control system is reduced.

The device not only realizes multifunction, but also has flexible and compact structure, improves the sampling efficiency of the robot, and can meet the requirement of large-batch sampling work; meanwhile, the control difficulty of the actions of opening and screwing the cover is reduced.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide a multifunctional cover unscrewing mechanical arm device for a nucleic acid sampling robot system, which can realize the functions of code scanning, cover opening, cover unscrewing and the like of a test tube through multi-station test tube logistics, has the advantages of flexible and compact structure, improved sampling efficiency of a robot and the like, has a disinfection area for disinfecting the mechanical arm, and effectively prevents the pollution problem of the test tube. In addition, the cover screwing device is connected with the lifting sliding table, two sets of springs are added up and down, so that when the cover screwing action is not performed, the manipulator is in a balanced state, and when the cover opening or the cover screwing action is performed, the manipulator can be driven to move up and down along with the up-and-down acting force generated during unscrewing or screwing, and the control difficulty of a control system is reduced.

In order to realize the purpose, the following technical scheme is adopted:

a multifunctional cover screwing manipulator device for a nucleic acid sampling robot system comprises a code scanner, a workbench and a disinfection box, wherein a rotary workbench is arranged on the workbench, a turntable is arranged on the rotary workbench, five equal parts of 5 test tube seats are fixedly arranged on the turntable, and test tubes are placed in the test tube seats; the 5 test tube seats correspond to five stations, namely a test tube loading position, a test tube code scanning and cover opening position, a swab shearing position, a test tube cover screwing position and a test tube unloading position, and the code scanner is arranged between the test tube code scanning and cover opening position and the swab shearing position; a set of clamping assembly is respectively and fixedly installed at the test tube code scanning position and the cap opening position corresponding to the turntable and at the test tube cap screwing position, and the installation direction is from the circle center of the turntable to the radial ray direction of the corresponding station; a set of unscrewing manipulator is fixedly installed on the workbench, a beam of a frame in the unscrewing manipulator is arranged above the workbench, an unscrewing device on the unscrewing manipulator is respectively provided with an uncapping station, an unscrewing station and a sterilizing station, the uncapping station and the unscrewing station correspond to the test tube scanning and uncapping positions and the test tube unscrewing position on the turntable, and the centers of the uncapping station and the unscrewing station are superposed with the centers of the test tube scanning and uncapping positions and the test tube unscrewing position; a linear module is fixedly arranged on the cross beam, a driving motor is arranged at one end of the linear module, a moving plate is fixedly connected to a sliding block of the linear module, and the sliding block moves along the Y-axis direction under the driving of the driving motor to drive the cap unscrewing manipulator to reciprocate among the cap opening station, the cap unscrewing station and the sterilizing station; the lower end of the movable plate is fixedly provided with an electric linear push rod, a lifting sliding table of the electric linear push rod is movably connected with one set of the unscrewing device, and the unscrewing device is driven to realize lifting motion under the driving of the electric linear push rod.

A stop block is fixedly installed at the lower end of the lifting sliding table, a guide pillar is respectively fixed on the left side and the right side of the stop block, a pressure spring is respectively sleeved in the two guide pillars, a floating block is arranged in the two guide pillars in a sliding manner above the two pressure springs, a pressure spring is respectively sleeved in the two guide pillars above the floating block, and a limit washer is respectively fixedly installed at the top end of each of the two guide pillars; a cap screwing motor is fixedly connected to the left side of the floating block, an electric clamping jaw is connected to the lower end of the cap screwing motor, a pair of cap grabbing clamping jaws are mounted below the electric clamping jaws, and actions of rotating, clamping and loosening the test tube cap can be completed under the driving of the cap screwing motor and the electric clamping jaws; the 4 springs can provide floating amount of up-and-down movement required when the cover is opened or screwed on the connecting block.

A cam divider with five equal divisions is fixedly arranged on the table top of the workbench, a driving motor is fixedly arranged below the table top, a synchronous belt wheel is respectively arranged at the input shaft end of the cam divider and the shaft end of the driving motor, a synchronous belt is rotatably arranged on the two synchronous belt wheels, a rotary disc is fixedly arranged on the output shaft above the cam divider, and the rotary disc rotates at five equal intervals through the transmission of the synchronous belt wheels and the synchronous belt under the driving of the driving motor.

A base of the clamping assembly is fixedly arranged on the table top of the workbench, an electric sliding table is fixedly arranged on the base, an electric clamping device is fixedly arranged on the electric sliding table, and two clamping blocks are symmetrically arranged at the front end of the electric clamping device; the electric sliding table can drive the electric clamping device to extend and retract, and the electric clamping device drives the clamping block to clamp and loosen the test tube.

Compared with the prior art, the invention has the following obvious outstanding characteristics and remarkable advantages:

1. according to the invention, through multi-station test tube logistics, the cover opening mechanical arm can realize multiple functions of test tube code scanning, cover opening, cover screwing and the like, and cover opening and cover closing are not carried out at the same position, so that the efficiency can be improved, an unused area and a sampled area can be separated, and the mechanical arm is sterilized by a sterilization area, so that the pollution problem of the test tube can be effectively prevented; in addition, the cover unscrewing device is connected with the lifting sliding table in a floating connection mode through the upper set of springs and the lower set of springs, so that the mechanical arm is in a balanced state when no cover unscrewing action is performed, and can be driven to move up and down along with the up-and-down acting force during loosening or screwing when the cover is opened or screwed, and the control difficulty of a control system is reduced.

2. The device not only realizes multifunction, but also has flexible and compact structure, can be applied to a full-automatic sampling robot system, can greatly improve the sampling efficiency, and can meet the requirement of large-batch sampling work; meanwhile, the control difficulty of the actions of opening and screwing the cover is reduced.

Drawings

Fig. 1 is an overall isometric view of the present invention.

Figure 2 is an isometric view of the twist-off cap robot of the present invention.

Figure 3 is a block diagram of the twist-off cap apparatus of the present invention.

Fig. 4 is a partial front view of the rotary table of the present invention.

Figure 5 is an isometric view of the clamping assembly of the present invention.

Detailed Description

The preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings:

as shown in fig. 1, 2 and 3, a multifunctional unscrewing mechanical arm device for a nucleic acid sampling robot system comprises a code scanner 1, a workbench a and a disinfection box E, wherein a rotary workbench B is arranged on the workbench a, a turntable B2 is arranged on the rotary workbench B, 5 test tube seats B4 are fixedly arranged on the turntable B2 in five equal parts, and the test tubes 2 are placed in the test tube seats B4; the 5 test tube seats B4 correspond to five stations, namely a test tube loading position B4-2, a test tube code scanning and uncovering position B4-1, a swab shearing position B4-5, a test tube cover screwing position B4-4 and a test tube unloading position B4-3, and the code scanner 1 is arranged between the test tube code scanning and uncovering position B4-1 and the swab shearing position B4-5; fixedly mounting a set of clamping components D at the test tube code scanning and cover opening position B4-1 and the test tube cover screwing position B4-4 corresponding to the turntable B2 respectively, wherein the mounting direction is from the circle center of the turntable B2 to the radial direction of the corresponding station; a set of unscrewing manipulator C is fixedly installed on the workbench A, a beam C8 of a frame C9 in the unscrewing manipulator C is arranged above the workbench A, a unscrewing device C6 on the unscrewing manipulator C is respectively provided with an uncapping station C12, an unscrewing station C11 and a sterilizing station C10, the uncapping station C12 and the unscrewing station C11 correspond to the test tube code scanning and uncapping position B4-1 and the test tube cap screwing position B4-4 on the turntable B2 in position, and the centers of the uncapping station C12 and the unscrewing station C11 are superposed with the centers of the test tube code scanning and uncapping position B4-1 and the test tube cap screwing position B4-4; a linear module C7 is fixedly arranged on the cross beam C8, a driving motor C3 is arranged at one end of the linear module C7, a moving plate C5 is fixedly connected to a sliding block C4 of the linear module C7, and the sliding block C4 moves along the Y-axis direction under the driving of the driving motor C3 to drive the cap unscrewing manipulator C to move back and forth among the cap opening station C12, the cap screwing station C11 and the disinfection station C10; an electric linear push rod C2 is fixedly installed at the lower end of the moving plate C5, the lifting sliding table C1 of the electric linear push rod C2 is provided with a set of lifting sliding table C1 in a floating connection mode, and the cover screwing and opening device C6 is driven under the driving of the electric linear push rod C2 to drive the cover screwing and opening device C6 to achieve lifting motion.

A stop dog C6-8 is fixedly installed at the lower end of the lifting sliding table C1, a guide pillar C6-7 is respectively fixed on the left side and the right side of the stop dog C6-8, a pressure spring C6-6 is respectively sleeved in the two guide pillars C6-7, a floating block C6-4 is arranged in the two guide pillars C6-7 in a sliding manner above the two pressure springs C6-6, a pressure spring C6-6 is respectively sleeved above the floating block C6-4 in the two guide pillars C6-6, and a limit washer C6-5 is respectively fixedly installed at the top end of each of the two guide pillars C6-7; a cap screwing motor C6-3 is fixedly connected to the left side of the floating block C6-4, an electric clamping jaw C6-2 is connected to the lower end of the cap screwing motor C6-3, a pair of cap grabbing clamping jaws C6-1 are installed below the electric clamping jaw C6-2, and the actions of rotating, clamping and loosening the test tube cap 3 can be completed under the driving of the cap screwing motor C6-3 and the electric clamping jaw C6-2; the 4 springs C6-6 can provide floating amount of up-and-down movement required when the cover is opened or screwed for the connecting block.

As shown in fig. 4 and 5, a cam splitter B3 with a fifth-degree of division is fixedly mounted on the table top of the worktable a, a driving motor B1 is fixedly mounted below the table top, a synchronous pulley B5 is respectively mounted at the input shaft end of the cam splitter B3 and the shaft end of the driving motor B1, a synchronous belt B6 is rotatably mounted on the two synchronous pulleys B5, a turntable B2 is fixedly mounted on the output shaft above the cam splitter B3, and the turntable B2 is driven by the driving motor B1 to rotate at a fifth-degree of equal clearance through the transmission of the synchronous pulleys B5 and the synchronous belt B6.

A base D1 of the clamping assembly D is fixedly arranged on the table surface of the workbench A, an electric sliding table D4 is fixedly arranged on the base D1, an electric clamping device D3 is fixedly arranged on the electric sliding table D4, and two clamping blocks D2 are symmetrically arranged at the front end of the electric clamping device D3; electronic slip table D4 can drive electronic binding clasp D3 stretches out and retracts, electronic binding clasp D3 drive presss from both sides tight piece clamp and unclamps test tube 2.

The working principle of the embodiment is as follows:

when the system is in a waiting state, the test tube 2 is positioned at the test tube loading position B4-2, the cover screwing manipulator C waits above the test tube code scanning and cover opening position B4-1, the two sets of clamping components D on the periphery of the rotary workbench B are in a returning state, clamping jaws are opened, when the system works, the rotary workbench B rotates for the first time by an indexing angle, the cover screwing manipulator C descends, picks and ascends the test tube 2 at the code scanning and cover opening position B4-1, rotates the test tube 2, the code scanner 1 reads two-dimensional code data on the test tube 2 and sends the two-dimensional code data to a control system, the cover screwing manipulator C descends and puts the test tube 2 back into a test tube seat of the test tube code scanning and cover opening position B4-1, at the moment, the clamping components D of the test tube code scanning and cover opening position B4-1 move forwards and clamp the test tube tightly, the cover screwing and uncovering manipulator C rotates anticlockwise to unscrew the test tube caps 3 of the test tubes 2 and then ascend, the test tube caps 3 are held in the cover screwing and uncovering manipulator C, the cover screwing and uncovering manipulator C is translated to the test tube cover screwing positions B4-4 to wait, the rotary worktable B rotates for a second time by an indexing angle, the test tubes 2 which are uncovered are positioned at the swab shearing positions B4-5, after the swab shearing work is completed, the rotary worktable B rotates for a third time by indexing to convey the test tubes 2 to the test tube cover screwing positions B4-4, the clamping components D on the test tube cover screwing positions B4-4 stretch out and clamp the test tubes 2, the cover screwing and uncovering manipulator C descends and rotates clockwise to screw the test tube caps 3 on the test tubes 2, and clamping jaws of the cover screwing manipulator C are opened after the test tubes are screwed, ascending, rotating the rotary worktable B for one graduation for the fourth time, conveying the test tube 2 which is sampled to the test tube blanking position B4-3, waiting for blanking of the test tube 2, rotating the rotary worktable B for the fifth time for one graduation after blanking is finished, and returning to the test tube loading position B4-2 again; and meanwhile, the screwing-off cover manipulator C moves above the disinfection box E, descends, extends the cover grabbing clamping jaw C6-1 into the disinfection box E, ascends and returns to the initial position after disinfection is finished, and completes one cycle to wait for the next operation.

The multifunctional cover unscrewing manipulator device provided by the embodiment of the invention has the main function of completing the cover opening and the cover closing of the sampling test tube. According to the embodiment of the invention, through the cooperation of multi-station test tube logistics and the screw cap manipulator, the multiple functions of code scanning, cap opening, screw cap screwing and the like of the test tube can be realized, and the manipulator is disinfected by a disinfection area, so that the problem of pollution of the test tube can be effectively prevented; in addition, a floating structure of the rotating and clamping part of the capping mechanical arm is adopted, so that the mechanical arm can be driven to move up and down along with the up-and-down acting force generated during loosening or screwing, and the control difficulty of a control system is reduced.

The embodiments of the present invention have been described with reference to the accompanying drawings, but the present invention is not limited to the embodiments, and various changes and modifications can be made according to the purpose of the invention, and any changes, modifications, substitutions, combinations or simplifications made according to the spirit and principle of the technical solution of the present invention shall be equivalent substitutions, as long as the purpose of the present invention is met, and the present invention shall fall within the protection scope of the present invention without departing from the technical principle and inventive concept of the present invention.

Claims

1. A multi-functional screw-on cover manipulator device for a nucleic acid sampling robot system, comprising a bar code scanner (1), a workbench (A) and a sterilizing chamber (E), characterized in that: a rotary workbench (B) is arranged on the workbench (A), a rotary table (B2) is arranged on the rotary workbench (B), 5 test tube seats (B4) are fixedly arranged on the rotary table (B2) in five equal parts, and the test tubes (2) are placed in the test tube seats (B4); the 5 test tube seats (B4) correspond to five stations, namely a test tube loading position (B4-2), a test tube code scanning and uncovering position (B4-1), a swab shearing position (B4-5), a test tube cover screwing position (B4-4) and a test tube unloading position (B4-3), and the code scanner (1) is arranged between the test tube code scanning and uncovering position (B4-1) and the swab shearing position (B4-5); a set of clamping assembly (D) is fixedly installed at the test tube code scanning and cover opening position (B4-1) and the test tube cover screwing position (B4-4) corresponding to the turntable (B2) respectively, and the installation direction is from the circle center of the turntable (B2) to the radial ray direction of the corresponding station; a set of unscrewing manipulator (C) is fixedly installed on the workbench (A), a beam (C8) of a middle frame (C9) of the unscrewing manipulator (C) is arranged above the workbench (A), an unscrewing device (C6) on the unscrewing manipulator (C) is respectively provided with an uncapping station (C12), an unscrewing station (C11) and a disinfecting station (C10), the uncapping station (C12) and the unscrewing station (C11) correspond to the test tube scanning code and uncapping position (B4-1) and the test tube unscrewing position (B4-4) on the turntable (B2), and the centers of the uncapping station (C12) and the unscrewing station (C11) coincide with the centers of the test tube scanning code and uncapping position (B4-1) and the unscrewing position (B4-4); a linear module (C7) is fixedly mounted on the cross beam (C8), a driving motor (C3) is mounted at one end of the linear module (C7), a moving plate (C5) is fixedly connected to a sliding block (C4) of the linear module (C7), and the sliding block (C4) moves along the Y-axis direction under the driving of the driving motor (C3) to drive the cap unscrewing manipulator (C) to reciprocate among the cap opening station (C12), the cap unscrewing station (C11) and the sterilizing station (C10); electric linear push rod (C2) of movable plate (C5) lower extreme fixed mounting, floating connection is one set on lift slip table (C1) of electric linear push rod (C2) twist off cover device (C6) under the drive of electric linear push rod (C2), drive twist off cover device (C6) and realize elevating movement.

2. The multifunctional cover screwing manipulator device for the nucleic acid sampling robot system as claimed in claim 1, wherein a stop block (C6-8) is fixedly installed at the lower end of the lifting sliding table (C1), a guide post (C6-7) is respectively fixed on the left and right sides of the stop block (C6-8), a compression spring (C6-6) is respectively sleeved in the two guide posts (C6-7), a floating block (C6-4) is respectively sleeved in the two guide posts (C6-7) above the two compression springs (C6-6), the floating block (C6-4) is respectively sleeved in the two guide posts (C6-6), and a limit washer (C6-5) is respectively fixedly installed at the top end of the two guide posts (C6-7); a cap screwing motor (C6-3) is fixedly connected to the left side of the floating block (C6-4), an electric clamping jaw (C6-2) is connected to the lower end of the cap screwing motor (C6-3), a pair of cap grabbing clamping jaws (C6-1) are installed below the electric clamping jaw (C6-2), and the test tube cap (3) is rotated, clamped and loosened under the driving of the cap screwing motor (C6-3) and the electric clamping jaw (C6-2); the 4 springs (C6-6) provide floating amount of up-and-down movement required when the cover is opened or screwed for the connecting block.

3. The multifunctional unscrewing cap manipulator device for a nucleic acid sampling robot system as claimed in claim 1, wherein a cam splitter (B3) with a length of five equal divisions is fixedly installed on the table top of said working table (a), a driving motor (B1) is fixedly installed under the table top, a synchronous pulley (B5) is respectively installed on the input shaft end of said cam splitter (B3) and the shaft end of said driving motor (B1), a synchronous belt (B6) is rotatably installed on two said synchronous pulleys (B5), a rotary table (B2) is fixedly installed on the output shaft above said cam splitter (B3), and said rotary table (B2) is rotated with a five equal intervals by the transmission of said synchronous pulley (B5) and said synchronous belt (B6) under the driving of said driving motor (B1).

4. The multifunctional screwing-cover manipulator device for the nucleic acid sampling robot system according to claim 1, wherein a base (D1) of the clamping assembly (D) is fixedly installed on the table top of the workbench (A), an electric sliding table (D4) is fixedly installed on the base (D1), an electric clamping device (D3) is fixedly installed on the electric sliding table (D4), and two clamping blocks (D2) are symmetrically installed at the front end of the electric clamping device (D3); electronic slip table (D4) drive electronic binding clasp (D3) are stretched out and are retracted, electronic binding clasp (D3) drive presss from both sides tight piece and presss from both sides tightly and unclamp test tube (2).