CN116392167B - Pharyngeal swab collecting system and collecting method - Google Patents
Pharyngeal swab collecting system and collecting method Download PDFInfo
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- CN116392167B CN116392167B CN202310173613.4A CN202310173613A CN116392167B CN 116392167 B CN116392167 B CN 116392167B CN 202310173613 A CN202310173613 A CN 202310173613A CN 116392167 B CN116392167 B CN 116392167B
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000005070 sampling Methods 0.000 claims description 113
- 229920000742 Cotton Polymers 0.000 claims description 62
- 210000000214 mouth Anatomy 0.000 claims description 25
- 238000012546 transfer Methods 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 6
- 230000000149 penetrating effect Effects 0.000 claims description 5
- 125000006850 spacer group Chemical group 0.000 claims 3
- 238000005192 partition Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 206010011409 Cross infection Diseases 0.000 description 1
- 206010029803 Nosocomial infection Diseases 0.000 description 1
- 206010057190 Respiratory tract infections Diseases 0.000 description 1
- 241000700605 Viruses Species 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 244000052616 bacterial pathogen Species 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000028327 secretion Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012360 testing method Methods 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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- Hematology (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Pulmonology (AREA)
- Molecular Biology (AREA)
- Pathology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
The invention relates to the technical field of collection, in particular to a throat swab collection system and a throat swab collection method.
Description
Technical Field
The invention relates to the technical field of acquisition, in particular to a throat swab acquisition system and an acquisition method.
Background
The throat swab detects and can detect respiratory tract infection caused by various viruses and pathogenic bacteria, each unit is layered in the frame, the acquisition unit is arranged above the frame or two six-degree-of-freedom mechanical arms are adopted for collaborative operation, but the volume of the acquisition unit and the mechanical arms is large, and only one person to be acquired can be acquired at the same time, so that the acquisition efficiency is low.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems in the related art to some extent. Therefore, the embodiment of the invention provides a throat swab collecting system which can improve collecting efficiency.
The embodiment of the invention also provides a throat swab collecting method.
The pharyngeal swab collection system of the embodiment of the invention comprises: a working platform; the collecting units are arranged on the working platform and are arranged at intervals in the circumferential direction of the working platform, the collecting units can rotate around the upper and lower directions relative to the working platform, and the collecting units are used for collecting throat swabs in the oral cavity of a human body; the device comprises an execution unit, wherein the execution unit is arranged on a working platform and can rotate around the working platform, the execution unit comprises a first mechanical clamping jaw and a second mechanical clamping jaw, the first mechanical clamping jaw is arranged below the second mechanical clamping jaw, the first mechanical clamping jaw can move along a first direction relative to the working platform, the first direction is orthogonal to the upper and lower directions, the second mechanical clamping jaw can move along the upper and lower directions relative to the working platform and can rotate around the upper and lower directions, the first mechanical clamping jaw is used for clamping a cotton swab and a sampling tube and transferring the cotton swab to at least one collecting unit, and the second mechanical clamping jaw is used for enabling a tube cover of the sampling tube clamped by the first mechanical clamping jaw to rotate by a preset angle.
The pharyngeal swab collection system provided by the embodiment of the invention can improve the collection efficiency.
In some embodiments, the execution unit further includes a first driving device, the first driving device includes a first support component, a first sliding platform and a first screw rod, the first screw rod is rotationally connected with the first support component, the first sliding platform is penetratingly arranged on the first screw rod and is movable relative to the first support component along an up-down direction, and the second mechanical clamping jaw is arranged on the first sliding platform.
In some embodiments, the executing unit further includes a first rotating device, one end of the first rotating device in the up-down direction is connected to the first supporting component, the other end of the first rotating device in the up-down direction is connected to the working platform, one end of the first rotating device in the first direction is connected to the first mechanical clamping jaw, and the first rotating device is used for driving the first supporting component and the first mechanical clamping jaw to rotate around the up-down direction relative to the working platform.
In some embodiments, the execution unit further includes a second rotating device, one end of the second rotating device is connected to the first sliding platform, the other end of the second rotating device is connected to the second mechanical clamping jaw, and the second rotating device is used for driving the second mechanical clamping jaw to rotate around the up-down direction relative to the first sliding platform so as to drive the pipe cover to rotate by a preset angle.
In some embodiments, the execution unit further comprises a second driving device, one end of the second driving device is connected with the first rotating device, the other end of the second driving device is connected with the first mechanical clamping jaw, and the second driving device is used for driving the first mechanical clamping jaw to move in the first direction so that the first mechanical clamping jaw clamps and releases the cotton swabs and the sampling tubes.
In some embodiments, the pharyngeal swab collection system further comprises a plurality of door panels and a partition plate, the door panels are connected end to form a sampling space, one end of the partition plate is connected with the working platform, the other end of the partition plate is connected with the inner wall of the door panels to divide the sampling space into a plurality of sampling chambers, each sampling chamber is internally provided with one collection unit, and a door opening is formed in each door panel so that people to be collected can enter the sampling chamber.
In some embodiments, the collection unit includes a third mechanical clamping jaw, a third driving device and a third rotating device, the third driving device includes a second supporting component, a second sliding platform and a second lead screw, the second lead screw is rotationally connected with the second supporting component, the second sliding platform is arranged on the second lead screw in a penetrating manner and is movable relative to the second supporting component along an up-down direction, the second sliding platform is connected with the third mechanical clamping jaw, and the third rotating device is arranged between the second supporting component and the working platform to drive the second supporting component to rotate relative to the working platform along the up-down direction.
In some embodiments, the pharyngeal swab collection system further comprises a control unit, wherein the control unit is connected with the collection units and the execution unit, and the control unit is used for controlling at least one collection unit to collect the pharyngeal swab in the oral cavity of the human body and controlling the first mechanical clamping jaw and the second mechanical clamping jaw to act.
In some embodiments, the pharyngeal swab collecting system further comprises a detecting unit, wherein the detecting unit is used for detecting whether a person to be collected enters the collecting unit, the detecting unit is connected with the control unit, and the control unit controls the first mechanical clamping jaw to transfer the cotton swab into the collecting unit and controls the collecting unit to collect the pharyngeal swab in the oral cavity of the human body according to the fact that the detecting unit detects that the person to be collected enters the collecting unit.
The pharyngeal swab collection method of the embodiment of the invention is realized by the pharyngeal swab collection system, the pharyngeal swab collection system is provided with a first mechanical clamping jaw, a second mechanical clamping jaw, a plurality of sampling chambers which are arranged at intervals, a plurality of third mechanical clamping jaws, and the third mechanical clamping jaws are arranged in the sampling chambers in a one-to-one correspondence manner, and the collection method comprises the following steps: detecting whether personnel to be acquired exist in a plurality of sampling chambers; if detecting that the personnel to be collected exist in at least one of the sampling chambers, the first mechanical clamping jaw clamps the cotton swab from the cotton swab storage position and transfers the cotton swab to a third mechanical clamping jaw in the sampling chamber where the personnel to be collected are located; the third mechanical clamping jaw carries the cotton swab to extend into the oral cavity of the person to be collected for pharyngeal swab sampling; the first mechanical clamping jaw clamps the sampling pipe from the sampling pipe storage position, and the second mechanical clamping jaw unscrews a pipe cover of the sampling pipe; the third mechanical clamping jaw is used for placing the cotton swab after sampling into the sampling tube and rotating around the upper and lower directions to break the cotton swab; the second mechanical clamping jaw is used for tightening the tube cover of the sampling tube, and the first mechanical clamping jaw is used for transferring the sampling tube after the sampling is completed to the sampling tube frame.
The pharyngeal swab collection method provided by the embodiment of the invention can improve the collection efficiency.
Drawings
Fig. 1 is a schematic diagram of a pharyngeal swab collection system according to an embodiment of the present invention.
FIG. 2 is a schematic diagram of an execution unit according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of an acquisition unit according to an embodiment of the invention.
Fig. 4 is a schematic view of a fourth driving apparatus according to an embodiment of the present invention.
Fig. 5 is a schematic view of another view of the fourth driving apparatus according to the embodiment of the present invention.
Fig. 6 is a cross-sectional view of A-A in fig. 5.
Reference numerals:
A working platform 1, a collection unit 2, a third mechanical jaw 21, a third driving device 22, a second supporting component 221, a second upper support 2211, a second lower support 2212, a third driver 2213, a second sliding platform 222, a second screw 223, a third rotating device 23,
Fourth drive means 24, fourth drive 241, fourth gear 242, rack 243, telescopic 244, fourth rotation means 25, fifth rotation means 26,
The actuating unit 3, the first mechanical jaw 31, the second mechanical jaw 32,
The first driving device 33, the first supporting assembly 331, the first upper support 3311, the first lower support 3312, the first driver 3313, the supporting column 3314, the first sliding platform 332, the first screw 333,
The first rotating means 34, the base 341, the column 342, the connection plate 343,
A second rotating device 35, a second driving device 36, a mechanical arm 37,
Door panel 4, partition plate 5, sampling space 6, sampling chamber 61.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
The pharyngeal swab collection system provided by the embodiment of the invention comprises a working platform 1, a plurality of collection units 2 and an execution unit 3. The plurality of acquisition units 2 are arranged on the working platform 1 and are arranged at intervals in the circumferential direction of the working platform 1, the acquisition units 2 can rotate around the upper and lower directions relative to the working platform 1, and the acquisition units 2 are used for acquiring throat swabs in the oral cavity of a human body. The execution unit 3 is arranged on the working platform 1 and can rotate around the up-down direction relative to the working platform 1, the execution unit 3 comprises a first mechanical clamping jaw 31 and a second mechanical clamping jaw 32, the first mechanical clamping jaw 31 is arranged below the second mechanical clamping jaw 32, the first mechanical clamping jaw 31 can move along a first direction (the front-back direction shown in fig. 2) relative to the working platform 1, the first direction is orthogonal to the up-down direction, the second mechanical clamping jaw 32 can move along the up-down direction relative to the working platform 1 and can rotate around the up-down direction, the first mechanical clamping jaw 31 is used for clamping a cotton swab and a sampling tube and transferring the cotton swab to the at least one collecting unit 2, and the second mechanical clamping jaw 32 is used for enabling a tube cover of the sampling tube clamped by the first mechanical clamping jaw 31 to rotate by a preset angle.
Specifically, as shown in fig. 1 and 2, the execution unit 3 is disposed at a central position of the working platform 1, the collection unit 2 uniformly surrounds the periphery of the execution unit 3, and the collection unit 2 can rotate up and down relative to the working platform 1 so that the collection unit 2 can rotate to clamp a cotton swab toward the execution unit 3 and place the cotton swab or rotate to sample a pharyngeal swab toward a person to be collected. The execution unit 3 can rotate up and down relative to the working platform 1 so that the execution unit 3 can rotate to the acquisition units 2 needing to clamp and place the cotton swabs, and therefore a plurality of the acquisition units 2 can acquire pharyngeal swabs in the oral cavity of a plurality of people to be acquired simultaneously, and acquisition efficiency is improved.
The first mechanical clamping jaw 31 is movable in a first direction relative to the working platform 1 so that the first mechanical clamping jaw 31 can be extended to clamp a cotton swab or a sampling tube, the second mechanical clamping jaw 32 is movable up and down relative to the working platform 1 so as to be close to or far away from the first mechanical clamping jaw 31, when the first mechanical clamping jaw 31 clamps a sampling tube, the second mechanical clamping jaw 32 is close to the first mechanical clamping jaw 31 so that the second mechanical clamping jaw 32 can clamp a tube cover of the sampling tube, and then the second mechanical clamping jaw 32 rotates up and down to unscrew or screw the sampling tube, when the first mechanical clamping jaw 31 clamps a cotton swab, the second mechanical clamping jaw 32 is far away from the first mechanical clamping jaw 31 so as to leave a space for the acquisition unit 2 to clamp the cotton swab.
It can be understood that the number of the execution units 3 is one, the number of the collection units 2 is multiple, for example, two, three and four collection units 2, and the plurality of collection units 2 are simultaneously used for collecting a plurality of people to be collected through the cooperation between one execution unit 3 and the plurality of collection units 2, so that the collection efficiency is improved.
For example, the swab used in cooperation with the pharyngeal swab collecting system according to the embodiment of the present invention is a test tube type pharyngeal swab, so that the executing unit 3 and the collecting unit 2 can clamp the swab conveniently.
In some embodiments, the execution unit 3 further includes a first driving device 33, where the first driving device 33 includes a first support component 331, a first sliding platform 332, and a first screw 333, the first screw 333 is rotationally connected to the first support component 331, the first sliding platform 332 is disposed on the first screw 333 in a penetrating manner and is movable in an up-down direction relative to the first support component 331, and the second mechanical clamping jaw 32 is disposed on the first sliding platform 332.
Specifically, as shown in fig. 2, the first support assembly 331 includes a first upper support 3311 and a first lower support 3312, an upper end of a first screw 333 is connected to the first upper support 3311, a lower end of the first screw 333 is connected to the first lower support 3312, and a first sliding platform 332 is installed on the first screw 333.
It can be appreciated that the first support assembly 331 further includes a first driver 3313, where the first driver 3313 is connected to the first screw 333 to drive the first screw 333 to rotate, and the rotation of the first screw 333 drives the first sliding platform 332 to move in the up-down direction, so as to drive the second mechanical clamping jaw 32 to move in the up-down direction to approach or separate from the first mechanical clamping jaw 31.
For example, a support post 3314 may be further disposed between the first upper support 3311 and the first lower support 3312, that is, two support posts 3314 are disposed on two sides of the first screw 333, the upper end of the support post 3314 is connected to the first upper support 3311, and the lower end of the support post 3314 is connected to the first lower support 3312, so as to ensure stability of the second mechanical clamping jaw 32.
It can be appreciated that the first driving device 33 of the embodiment of the present invention adopts a ball screw driving manner, so that the whole executing unit 3 presents the shape of the upright post 342, which can greatly save space, and the rotation speed of the screw can be adjusted to improve the control accuracy.
In some embodiments, the execution unit 3 further includes a first rotating device 34, one end of the first rotating device 34 in the up-down direction is connected to the first supporting component 331, the other end of the first rotating device 34 in the up-down direction is connected to the working platform 1, one end of the first rotating device 34 in the first direction is connected to the first mechanical clamping jaw 31, and the first rotating device 34 is used for driving the first supporting component 331 and the first mechanical clamping jaw 31 to rotate around the up-down direction relative to the working platform 1.
Specifically, the upper end of the first rotating device 34 is connected to the first lower support 3312, the lower end of the first rotating device 34 is connected to the working platform 1, and one end of the first rotating device 34 in the first direction is connected to the first mechanical clamping jaw 31, so that the first rotating device 34 rotates to drive the first mechanical clamping jaw 31 and the first lower support 3312 to rotate around the up-down direction relative to the working platform 1 at the same time, and further, the first mechanical clamping jaw 31 and the second mechanical clamping jaw 32 face any one of the plurality of collecting units 2 at the same time.
The first rotating device 34 includes a first gear (not shown), a second driver (not shown), a base 341, a post 342 and a connecting plate 343, wherein the upper end of the post 342 is connected to the connecting plate 343, the lower end of the post 342 is connected to the base 341, the base 341 is connected to the working platform 1, the second driver is disposed between the base 341 and the connecting plate 343, the second driver is connected to the first gear to drive the first gear to rotate, the first gear is meshed with the second gear to drive the second gear to rotate, and the second gear is connected to the first lower support 3312 through a rotating shaft (not shown) to drive the first lower support 3312 to rotate, thereby driving the first driving device 33.
For example, the first mechanical jaw 31 may be connected to a rotation shaft so as to rotate under the drive of the first rotating device 34, and the synchronous rotation of the first mechanical jaw 31 and the second mechanical jaw 32 may ensure that the second mechanical jaw 32 is always located directly above the first mechanical jaw 31.
It should be understood that the embodiment of the present invention is not limited to the specific structure of the first rotating device 34, as long as the first mechanical clamping jaw 31 and the first driving device 33 can be synchronously rotated around the up-down direction under the driving of the first rotating device 34.
In some embodiments, the execution unit 3 further includes a second rotating device 35, one end of the second rotating device 35 is connected to the first sliding platform 332, the other end of the second rotating device 35 is connected to the second mechanical clamping jaw 32, and the second rotating device 35 is used for driving the second mechanical clamping jaw 32 to rotate around the up-down direction relative to the first sliding platform 332 to drive the pipe cover to rotate by a preset angle.
Specifically, the executing unit 3 further includes a mechanical arm 37, one end of the mechanical arm 37 is connected to the first sliding platform 332, and the other end of the mechanical arm 37 is connected to the second mechanical clamping jaw 32, so that the second mechanical clamping jaw 32 is located right above the first mechanical clamping jaw 31 when the first mechanical clamping jaw 31 is retracted, and a screwing action of the second mechanical clamping jaw 32 on the sampling tube clamped by the first mechanical clamping jaw 31 is facilitated.
The upper end of the second rotating device 35 is connected with one end of the mechanical arm 37 away from the first sliding platform 332, and the lower end of the second rotating device 35 is connected with the second mechanical clamping jaw 32 to drive the second mechanical clamping jaw 32 to rotate around the upper and lower directions relative to the first sliding platform 332 to unscrew or screw up the tube cover of the sampling tube.
For example, the second rotating device 35 may be configured as a worm gear or a motor-driven gear, and the present invention is not limited to the specific structure of the second rotating device 35, as long as the second mechanical clamping jaw 32 can rotate around the vertical direction to unscrew or tighten the tube cover of the sampling tube, which falls within the scope of the embodiments of the present invention.
In some embodiments, the execution unit 3 further comprises a second driving means 36, one end of the second driving means 36 being arranged between the first rotating means 34 and the first driving means 33, the other end of the second driving means 36 being connected to the first mechanical jaw 31, the second driving means 36 being arranged to drive the first mechanical jaw 31 to move in a first direction for gripping and releasing of the swabs and sampling tubes by the first mechanical jaw 31.
Specifically, one end of the second driving device 36 is connected to the rotation shaft, and the other end of the second driving device 36 is connected to the first mechanical jaw 31 to extend and retract the first mechanical jaw 31, when the first mechanical jaw 31 extends, the first mechanical jaw 31 clamps a swab or a sampling tube, and when the first mechanical jaw 31 retracts, the second mechanical jaw 32 unscrews a tube cap of the sampling tube clamped by the first mechanical jaw 31.
For example, the second driving device 36 is an electric push rod.
In some embodiments, the pharyngeal swab collection system further includes a plurality of door panels 4 and a partition board 5, the plurality of door panels 4 are connected end to enclose a sampling space 6, one end of the partition board 5 is connected to the working platform 1, the other end of the partition board 5 is connected to the inner wall of the door panel 4 to divide the sampling space 6 into a plurality of sampling chambers 61, each sampling chamber 61 is provided with a collection unit 2, and a door opening is formed in the door panel 4 to enable a person to be collected to enter the sampling chamber 61.
The embodiment of the invention uniformly divides the sampling space 6 into a plurality of sampling chambers 61 through the isolation plate 5 and the door plate 4, provides a plurality of independent spaces and avoids cross infection.
For example, the pharyngeal swab collection system may also be provided with a motorized door curtain or door body to close the door opening.
For example, the throat swab collection system further includes a mounting base (not shown) provided below the door panel 4 and the partition plate 5, and a canopy (not shown) provided above the door panel 4 and the partition plate 5 to close the sampling space 6, thereby further ensuring the safety of sampling.
In some embodiments, the collection unit 2 includes a third mechanical clamping jaw 21, a third driving device 22 and a third rotating device 23, where the third driving device 22 includes a second support component 221, a second sliding platform 222 and a second lead screw 223, the second lead screw 223 is rotationally connected with the second support component 221, the second sliding platform 222 is penetratingly arranged on the second lead screw 223 and is movable along an up-down direction relative to the second support component 221, the second sliding platform 222 is connected with the third mechanical clamping jaw 21, and the third rotating device 23 is arranged between the second support component 221 and the working platform 1 to drive the second support component 221 to rotate along the up-down direction relative to the working platform 1.
Specifically, as shown in fig. 3 to 6, the second support assembly 221 includes a second upper support 2211 and a second lower support 2212, an upper end of the second lead screw 223 is connected to the second upper support 2211, a lower end of the second lead screw 223 is connected to the second lower support 2212, and the second sliding platform 222 is disposed on the second lead screw 223 in a penetrating manner. The second supporting component 221 further comprises a third driver 2213, the third driver 2213 is arranged on the second upper support 2211 and is connected with the second lead screw 223 to drive the second lead screw 223 to rotate, the second lead screw 223 rotates to drive the second sliding platform 222 to move in the up-and-down direction, and then the third mechanical clamping jaw 21 is driven to move in the up-and-down direction so that the height of the third mechanical clamping jaw 21 can be adjusted according to people to be collected at different heights, namely the heights of oral cavities of people with different heights can be accurately matched, the comfort level of pharyngeal swab sampling of the collection personnel is improved, moreover, cotton swabs clamped by the third mechanical clamping jaw 21 are just opposite to the oral cavities of the collection personnel, and the sampling precision is improved.
For example, the number of the second lead screws 223 is set to two.
The third rotating device 23 is disposed between the second lower support 2212 and the working platform 1, and the movement of the third rotating device 23 drives the second lower support 2212 to rotate around the up-down direction, and drives the third driving device 22 to rotate around the up-down direction, so that the third mechanical clamping jaw 21 can face the executing unit 3 or face the personnel to be collected.
For example, the third rotating device 23 may be configured as the first rotating device 34, which is not described herein, and may be configured as other structures, as long as the third driving device 22 can be driven to rotate about the vertical direction relative to the working platform 1, which falls within the scope of the embodiments of the present invention.
It can be understood that the collecting unit 2 further includes a fourth driving device 24 and a fourth rotating device 25, the third mechanical clamping jaw 21 is implemented to extend the cotton swab into the oral cavity of the collecting person through the fourth driving device 24, and the fourth rotating device 25 is implemented to rotate the cotton swab in the oral cavity of the collecting person along the extending direction of the cotton swab, so as to improve the collecting precision of the collecting unit 2, the specific structures of the fourth driving device 24 and the fourth rotating device 25 are not limited in the embodiment of the present invention, so long as the arrangement that the cotton swab is extended into the oral cavity of the collecting person and rotated in the oral cavity by the third mechanical clamping jaw 21 can be implemented is within the protection scope of the embodiment of the present invention.
The third mechanical clamping jaw 21 is arranged at one end, far away from the second lead screw 223, of the second sliding platform 222, the third mechanical clamping jaw 21 can clamp and release the cotton swab, the third mechanical clamping jaw 21 can stretch the cotton swab into the oral cavity of a collecting person under the action of the fourth driving device 24, and the cotton swab can rotate in the oral cavity under the action of the fourth rotating device 25 so that the cotton swab clamped by the third mechanical clamping jaw 21 moves upwards or downwards in the oral cavity of the collecting person, and then the cotton swab can scrape secretion in the oral cavity, so that the detection precision of the throat swab sampling robot is improved.
After the collection is completed, the third mechanical clamping jaw 21 exits from the oral cavity of the collection personnel under the action of the fourth driving device 24, and the sampling is completed.
For example, as shown in fig. 4-6, the fourth driving device 24 may include a fourth driver 241, a fourth gear 242, a rack 243, and a telescopic member 244, where the fourth driver 241 is connected to the fourth gear 242 to drive the fourth gear 242 to rotate, the fourth gear 242 is meshed with the rack 243, the rack 243 is connected to the telescopic member 244, and the telescopic member 244 is connected to the third mechanical jaw 21 to extend or retract along the extending direction of the rack 243 under the action of the fourth driver 241, so that the cotton swab held by the third mechanical jaw 21 may extend into or retract from the oral cavity of the person. The fourth drive means 24 may also be provided as an electric push rod.
For example, the collecting unit 2 may further comprise a fifth rotating device 26, wherein the fifth rotating device 26 is connected to the third mechanical clamping jaw 21 to drive the third mechanical clamping jaw 21 to tilt upwards or downwards, i.e. to control the pitch angle of the third mechanical clamping jaw 21.
In some embodiments, the pharyngeal swab collection system further comprises a control unit (not shown in the figures) connected to the plurality of collection units 2 and the execution unit 3, the control unit being configured to control the at least one collection unit 2 to collect the pharyngeal swab in the oral cavity of the person and to control the first mechanical jaw 31 and the second mechanical jaw 32 to act.
Specifically, the control unit controls the actions of the acquisition unit 2 and the execution unit 3, so that the first mechanical clamping jaw 31, the second mechanical clamping jaw 32 and the third mechanical clamping jaw 21 are matched, and the acquisition efficiency of the throat swab acquisition system is improved.
In some embodiments, the pharyngeal swab collecting system further comprises a detecting unit (not shown in the figure), wherein the detecting unit is used for detecting whether the collecting unit 2 has personnel to be collected entered, and the detecting unit is connected with the control unit, so that the control unit controls the first mechanical clamping jaw 31 to transfer the cotton swab into the collecting unit 2 and controls the collecting unit 2 to collect the pharyngeal swab in the oral cavity of the human body according to the condition that the detecting unit detects that the personnel to be collected enters the collecting unit 2.
Specifically, the detecting unit is configured to detect whether a person to be collected exists in the plurality of sampling chambers 61, and if the detecting unit detects that a person to be collected exists in a certain sampling chamber 61, the control unit controls the first mechanical clamping jaw 31 to transfer the cotton swab into the sampling chamber 61, so that the collecting unit 2 in the sampling chamber 61 clamps the cotton swab to collect the person to be collected.
The collecting unit 2 detects whether a person to be collected exists in the sampling cavity 61, if so, the control unit controls the second driving device 36 to drive so that the first mechanical clamping jaw 31 stretches out to the cotton swab storage position to clamp the cotton swab, then the cotton swab is transferred onto the third mechanical clamping jaw 21 in the sampling cavity 61 where the person to be collected is located under the driving of the first rotating device 34, the control unit controls the third rotating device 23 to rotate so as to drive the third mechanical clamping jaw 21 to rotate towards the person to be collected, after the height of the third mechanical clamping jaw 21 is adjusted by controlling the third driving device 22, the third mechanical clamping jaw 21 is driven by the fourth driving device 24 and the fourth rotating device 25 to finish pharyngeal swab sampling, when the third mechanical clamping jaw 21 is used for pharyngeal sampling, the first mechanical clamping jaw 31 is driven by the second driving device 36 to clamp the sampling tube, then the cotton swab is retracted, the second mechanical clamping jaw 32 is opened under the driving of the second rotating device 35 and moves upwards under the action of the first driving device 33, the control unit controls the third rotating device 23 to rotate towards the executing unit to slightly drive the third mechanical clamping jaw 21 to drive the cotton swab to rotate the second clamping jaw 31 into the second sampling device to finish pharyngeal swab sampling, and the second mechanical clamping jaw is slightly rotated by the third driving device 35 to drive the third mechanical clamping jaw 3 to clamp the cotton swab to finish pharyngeal sampling.
The pharyngeal swab collection method of the embodiment of the invention is realized by utilizing a pharyngeal swab collection system, wherein the pharyngeal swab collection system is provided with a first mechanical clamping jaw, a second mechanical clamping jaw, a plurality of sampling chambers which are arranged at intervals, a plurality of third mechanical clamping jaws, and the plurality of third mechanical clamping jaws are arranged in the plurality of sampling chambers in a one-to-one correspondence manner, and the collection method comprises the following steps: detecting whether personnel to be collected exist in the plurality of sampling chambers. If detecting that the personnel to be collected are in at least one sampling chamber in the sampling chambers, the first mechanical clamping jaw clamps the cotton swabs from the cotton swabs storage position and transfers the cotton swabs to the third mechanical clamping jaw in the sampling chamber where the personnel to be collected are located. And the third mechanical clamping jaw carries the cotton swab to extend into the oral cavity of a person to be collected for pharyngeal swab sampling. The first mechanical clamping jaw clamps the sampling tube from the sampling tube storage position, and the second mechanical clamping jaw unscrews a tube cover of the sampling tube. And the third mechanical clamping jaw is used for placing the cotton swab after sampling into the sampling tube and rotating around the vertical direction to break the cotton swab. The second mechanical clamping jaw is used for tightening the tube cover of the sampling tube, and the first mechanical clamping jaw is used for transferring the sampling tube after the sampling is completed to the sampling tube frame.
Specifically, if the detection unit detects that a person to be collected exists in one of the sampling chambers, the control unit controls the first mechanical clamping jaw to extend out to clamp the cotton swab from the cotton swab storage position and rotate to transfer the cotton swab to the sampling chamber. If the detection unit detects that the plurality of sampling chambers in the sampling chamber are occupied by the personnel to be acquired, the control unit determines the sequence according to the time when the personnel to be acquired enter the sampling chamber, the third mechanical clamping jaw in the sampling chamber is firstly moved to preferentially transfer the cotton swab so that the third mechanical clamping jaw is used for acquiring the personnel to be acquired, and if the time when the personnel to be acquired in the sampling chamber enter the sampling chamber is the same, the personnel to be acquired in the sampling chambers are sequentially acquired according to the preset sequence, so that the acquisition efficiency is improved.
And the third mechanical clamping jaw is used for placing the sampled cotton swab into the sampling tube and slightly rotating around the up-down direction to break the cotton swab, and placing the upper part of the broken cotton swab into the recovery unit.
It is understood that the sampling tube or the cotton swab can be clamped by the first mechanical clamping jaw which moves the sampling tube after the collection to the tube throwing port and slides to the storage area for storage through the collecting pipeline.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature "above," "over" and "on" a second feature may be a first feature directly above or obliquely above the second feature, or simply indicate that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
For purposes of this disclosure, the terms "one embodiment," "some embodiments," "example," "a particular example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
It will be appreciated that the above embodiments are exemplary and are not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (6)
1. A pharyngeal swab collection system, comprising:
A working platform;
the collecting units are arranged on the working platform and are arranged at intervals in the circumferential direction of the working platform, the collecting units can rotate around the upper and lower directions relative to the working platform, and the collecting units are used for collecting throat swabs in the oral cavity of a human body;
The device comprises a working platform, an execution unit, a first mechanical clamping jaw and a second mechanical clamping jaw, wherein the execution unit is arranged on the working platform and can rotate around an up-down direction relative to the working platform, the first mechanical clamping jaw is arranged below the second mechanical clamping jaw, the first mechanical clamping jaw can move along a first direction relative to the working platform, the first direction is orthogonal to the up-down direction, the second mechanical clamping jaw can move along the up-down direction relative to the working platform and can rotate around the up-down direction, the first mechanical clamping jaw is used for clamping a cotton swab and a sampling tube and transferring the cotton swab to at least one collecting unit, and the second mechanical clamping jaw is used for enabling a tube cover of the sampling tube clamped by the first mechanical clamping jaw to rotate by a preset angle;
The execution unit further comprises a first driving device, the first driving device comprises a first supporting component, a first sliding platform and a first lead screw, the first lead screw is rotationally connected with the first supporting component, the first sliding platform is arranged on the first lead screw in a penetrating mode and can move relative to the first supporting component in the up-down direction, and the second mechanical clamping jaw is arranged on the first sliding platform;
The execution unit further comprises a first rotating device, one end of the first rotating device in the up-down direction is connected with the first supporting component, the other end of the first rotating device in the up-down direction is connected with the working platform, one end of the first rotating device in the first direction is connected with the first mechanical clamping jaw, and the first rotating device is used for driving the first supporting component and the first mechanical clamping jaw to rotate around the up-down direction relative to the working platform;
the execution unit further comprises a second rotation device, one end of the second rotation device is connected with the first sliding platform, the other end of the second rotation device is connected with the second mechanical clamping jaw, and the second rotation device is used for driving the second mechanical clamping jaw to rotate around the vertical direction relative to the first sliding platform so as to drive the pipe cover to rotate for a preset angle;
The execution unit further comprises a second driving device, one end of the second driving device is connected with the first rotating device, the other end of the second driving device is connected with the first mechanical clamping jaw, and the second driving device is used for driving the first mechanical clamping jaw to move in the first direction so that the first mechanical clamping jaw clamps and releases the cotton swabs and the sampling tubes.
2. The pharyngeal swab collection system of claim 1, further comprising a plurality of door panels and a spacer plate, wherein the door panels are connected end to define a sampling space, one end of the spacer plate is connected to the working platform, the other end of the spacer plate is connected to an inner wall of the door panels to divide the sampling space into a plurality of sampling chambers, one of the sampling chambers is provided with a door opening, and a person to be collected enters the sampling chamber.
3. The pharyngeal swab collection system of claim 1, wherein the collection unit comprises a third mechanical jaw, a third driving device and a third rotating device, wherein the third driving device comprises a second support assembly, a second sliding platform and a second lead screw, the second lead screw is rotatably connected with the second support assembly, the second sliding platform is arranged on the second lead screw in a penetrating manner and is movable relative to the second support assembly in an up-down direction, the second sliding platform is connected with the third mechanical jaw, and the third rotating device is arranged between the second support assembly and the working platform to drive the second support assembly to rotate relative to the working platform in the up-down direction.
4. The pharyngeal swab collection system of claim 1, further comprising a control unit coupled to the plurality of collection units and the execution unit, the control unit configured to control at least one of the collection units to collect pharyngeal swabs in a human oral cavity and to control the first mechanical jaw and the second mechanical jaw to actuate.
5. The pharyngeal swab collection system of claim 4, further comprising a detection unit for detecting whether a person to be collected enters the collection unit, wherein the detection unit is connected to the control unit, so that the control unit controls the first mechanical clamping jaw to move the cotton swab into the collection unit and controls the collection unit to collect the pharyngeal swab in the oral cavity of the human body according to the fact that the detection unit detects that the person to be collected enters the collection unit.
6. A method for collecting a throat swab, which is realized by the throat swab collecting system according to claim 1, wherein the throat swab collecting system comprises a first mechanical clamping jaw, a second mechanical clamping jaw, a plurality of sampling chambers arranged at intervals, a plurality of third mechanical clamping jaws, and the plurality of third mechanical clamping jaws are arranged in the plurality of sampling chambers in a one-to-one correspondence manner, and the collecting method comprises:
detecting whether personnel to be acquired exist in a plurality of sampling chambers;
If detecting that the personnel to be collected exist in at least one of the sampling chambers, the first mechanical clamping jaw clamps the cotton swab from the cotton swab storage position and transfers the cotton swab to a third mechanical clamping jaw in the sampling chamber where the personnel to be collected are located;
The third mechanical clamping jaw carries the cotton swab to extend into the oral cavity of the person to be collected for pharyngeal swab sampling;
the first mechanical clamping jaw clamps the sampling pipe from the sampling pipe storage position, and the second mechanical clamping jaw unscrews a pipe cover of the sampling pipe;
The third mechanical clamping jaw is used for placing the cotton swab after sampling into the sampling tube and rotating around the upper and lower directions to break the cotton swab;
the second mechanical clamping jaw is used for tightening the tube cover of the sampling tube, and the first mechanical clamping jaw is used for transferring the sampling tube after the sampling is completed to the sampling tube frame.
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