CN217872037U

CN217872037U - Automatic workstation is gathered to pharynx swab

Info

Publication number: CN217872037U
Application number: CN202222277170.7U
Authority: CN
Inventors: 陈兆芃; 张忠君; 刘建尚; 石延超; 尹立轩; 谢从凯; 张光宇; 郑雁飞; 别东洋; 倪荣刚
Original assignee: Beijing Siling Robot Technology Co ltd
Current assignee: Beijing Siling Robot Technology Co ltd
Priority date: 2022-08-29
Filing date: 2022-08-29
Publication date: 2022-11-22
Anticipated expiration: 2032-08-29

Abstract

The utility model provides a pharynx swab gathers automatic workstation, it includes: a sampling kiosk having a receiving space, the sampling kiosk including a first window; an automatic pharynx swab collection system located inside the sampling kiosk and capable of protruding at least a portion of a pharynx swab held by the automatic pharynx swab collection system from the first window; and a throat swab processing system for receiving a throat swab collected by the throat swab automatic collection system and storing the throat swab within a sampling tube.

Description

Automatic workstation is gathered to pharynx swab

Technical Field

The present disclosure relates to a throat swab collection automatic workstation.

Background

The collection and examination of pharyngeal swabs is an examination method with high use frequency in respiratory medicine. In the collection process of pharynx swab, need acquire the sample that awaits measuring through the cotton swab earlier, then put the sample in the test tube, have deposited albumen protection liquid in the test tube, after the sample of certain quantity exists in the test tube, seal the test tube, accomplish the sampling process.

Considering that respiratory diseases have high sensitivity, when the sampling work is performed by medical staff, cross infection is often caused, and certain safety risk exists.

Moreover, the workstations for collecting throat swabs in the prior art are all performed manually by medical staff, and although the workstations are convenient for residents to collect throat swabs, the workstations also have the risk of cross infection.

SUMMERY OF THE UTILITY MODEL

In order to solve one of the above technical problems, the present disclosure provides a pharyngeal swab collection automatic workstation.

According to one aspect of the present disclosure, there is provided a pharyngeal swab collection automated workstation, comprising:

a sampling kiosk having a receiving space, the sampling kiosk including a first window;

a pharyngeal swab auto-collection system located inside the sampling kiosk and capable of protruding at least a portion of a pharyngeal swab held by the pharyngeal swab auto-collection system from the first window; and

a throat swab processing system for receiving a throat swab collected by the throat swab automatic collection system and storing the throat swab within a sampling tube.

A pharyngeal swab collection automated workstation according to at least one embodiment of the present disclosure, further comprising:

a mouthpiece supply apparatus for storing a mouthpiece and providing the mouthpiece to a person to be tested.

and when the trigger switch is triggered by a person to be detected, the pharynx swab automatic acquisition system and the pharynx swab processing system are in working states, and pharynx swab acquisition and storage are completed.

the system comprises a first information input device and/or a second information input device, wherein the first information input device and/or the second information input device are used for acquiring identity information of a person to be detected.

a throat swab stripping device for stripping a throat swab from a package and providing the stripped throat swab to a throat swab automated collection system.

a storage unit in which unused sampling tubes are stored.

a refrigerated storage for storing the used sampling tubes.

According to the pharynx swab collection automatic workstation of at least one embodiment of this disclosure, the first window is formed with the hole, is provided with the holding tank on the first window moreover, and the seaming ware is installed in the holding tank, and makes the position of seaming ware and the position of hole correspond.

A pharyngeal swab collection automated workstation according to at least one embodiment of the present disclosure, the receiving slot is a U-shaped receiving slot.

A pharyngeal swab collection automated workstation according to at least one embodiment of the present disclosure, the sampling kiosk further includes a door and a second window, both disposed in a position opposite the first window.

A pharyngeal swab collection automated workstation according to at least one embodiment of the present disclosure, further comprising: the system comprises a human-computer interaction screen and/or a voice prompt sound box, wherein the human-computer interaction screen and the voice prompt sound box are arranged in the sampling kiosk, the human-computer interaction screen is used for guiding and prompting a person to be detected to complete a sampling process in a text or animation mode, and the voice prompt sound box is used for guiding and prompting the person to be detected to complete the sampling process in a voice mode matched with the human-computer interaction screen.

and the disinfection spray head is arranged in the sampling pavilion and used for disinfecting the collection assembly of the automatic pharynx swab collection system.

and the third information input device is positioned in the sampling kiosk and is used for reading the bar code information of the sampling pipe.

and the waste recovery box is used for recovering the rod part of the cut throat swab.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the disclosure and together with the description serve to explain the principles of the disclosure.

Fig. 1 is a schematic structural view of a pharyngeal swab collection automated workstation, according to one embodiment of the present disclosure.

Fig. 2 is a schematic view of another angle of a pharyngeal swab collection automated workstation, according to one embodiment of the present disclosure.

Fig. 3 is a schematic view of another angle of a pharyngeal swab collection automated workstation, according to one embodiment of the present disclosure.

Fig. 4 is a top view of a pharyngeal swab collection automated workstation, according to one embodiment of the present disclosure.

Fig. 5 is a schematic structural view of an automated pharyngeal swab collection system, according to one embodiment of the present disclosure.

Fig. 6 is a schematic structural view of an acquisition assembly according to one embodiment of the present disclosure.

Fig. 7 is a schematic diagram of a pharyngeal swab processing system, according to one embodiment of the present disclosure.

FIG. 8 is a schematic structural view of a delivery assembly according to one embodiment of the present disclosure.

Figure 9 is a schematic structural view of a cutting assembly according to one embodiment of the present disclosure.

Figure 10 is a schematic structural view of a twist-top assembly according to one embodiment of the present disclosure.

The reference numbers in the figures are in particular:

automatic workstation is gathered to 10 pharynx swabs

100 throat swab automatic acquisition system

110 multi-degree-of-freedom cooperation arm

120 force sensor

130 acquisition assembly

140 mounting bracket

170 industrial camera

180 light source

190 distance sensor

200 sampling pavilion

201 first window

202U type holding tank

203 mouthpiece feeding apparatus

204 mouth-biting device

205 infrared temperature measuring camera

206 trigger switch

207 first information entry device

208 second information entry device

209 human-computer interaction screen

210 voice prompt sound box

211 door

212 second window

213 sterilizing spray head

214 third information entry device

215 ultraviolet sterilizing lamp

216 air conditioner

217 Environment detecting instrument

218 monitoring camera

219 storage section

220 waste recovery box

221 refrigerator

222 control system

300 pharynx swab processing system

310 conveying component

311 slip table module

312 sampling pipe fixing device

3121 clamping the base

3122 clamping arm

3123 drive device

3124 tension spring

313 proximity switch

320 cutting assembly

321 mounting support plate

322 pneumatic scissors

323 sterilizing spray head

330 screw cap assembly

331 installation fixing plate

332 electric rotary clamping jaw

333 slipway cylinder

334 connecting plate

335 photoelectric switch

340 bottom fixing plate

370 cotton swab

380 cover body

390 sampling tube

A 400 throat swab remover.

Detailed Description

The present disclosure will be described in further detail with reference to the drawings and embodiments. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limitations of the present disclosure. It should be further noted that, for the convenience of description, only the portions relevant to the present disclosure are shown in the drawings.

It should be noted that the embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict. Technical solutions of the present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Unless otherwise indicated, the illustrated exemplary embodiments/examples are to be understood as providing exemplary features of various details of some ways in which the technical concepts of the present disclosure may be practiced. Accordingly, unless otherwise indicated, features of the various embodiments may be additionally combined, separated, interchanged, and/or rearranged without departing from the technical concept of the present disclosure.

The use of cross-hatching and/or shading in the drawings is generally used to clarify the boundaries between adjacent components. As such, unless otherwise specified, the presence or absence of cross-hatching or shading does not convey or indicate any preference or requirement for a particular material, material property, size, proportion, commonality among the illustrated components and/or any other characteristic, attribute, property, etc., of a component. Further, in the drawings, the size and relative sizes of components may be exaggerated for clarity and/or descriptive purposes. While example embodiments may be practiced differently, the specific process sequence may be performed in a different order than that described. For example, two processes described consecutively may be performed substantially simultaneously or in reverse order to that described. In addition, like reference numerals denote like parts.

When an element is referred to as being "on" or "over," "connected to" or "coupled to" another element, it can be directly on, connected or coupled to the other element or intervening elements may be present. However, when an element is referred to as being "directly on," "directly connected to" or "directly coupled to" another element, there are no intervening elements present. For purposes of this disclosure, the term "connected" may refer to physically connected, electrically connected, and the like, with or without intervening components.

For descriptive purposes, the present disclosure may use spatially relative terms such as "under 8230; \8230;,"' under 8230; \8230; below 8230; under 8230; above, on, above 8230; higher "and" side (e.g., as in "side wall)", etc., to describe the relationship of one component to another (other) component as shown in the figures. Spatially relative terms are intended to encompass different orientations of the device in use, operation, and/or manufacture in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "at 8230 \8230;" below "may encompass both an orientation of" above "and" below ". Moreover, the devices may be otherwise positioned (e.g., rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

The terminology used herein is for the purpose of describing particular embodiments and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Furthermore, when the terms "comprises" and/or "comprising" and variations thereof are used in this specification, the presence of stated features, integers, steps, operations, elements, components and/or groups thereof are stated but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and/or groups thereof. It is also noted that, as used herein, the terms "substantially," "about," and other similar terms are used as approximate terms and not as degree terms, and as such, are used to interpret inherent deviations in measured values, calculated values, and/or provided values that would be recognized by one of ordinary skill in the art.

Fig. 1 is a schematic diagram of a pharyngeal swab collection automated workstation 10 according to one embodiment of the present disclosure.

As shown in fig. 1, the automated pharyngeal swab collection workstation 10, which may include a sampling kiosk 200, may have a generally square configuration, and in some particular locations, may be configured to provide the sampling kiosk 200 with other shapes, such as a circle. The functions of the disclosed sampling kiosk 200 are mainly to carry all automated sampling equipment and to isolate nucleic acid detection personnel from the automated equipment, to prevent the automated equipment from being contaminated, resulting in virus propagation, and the interior of the sampling kiosk 200 is provided with a positive pressure device, which can effectively prevent viruses such as droplets from invading. Another function of the sampling kiosk 200 is that when a problem arises with the automated equipment, the door 211 and second window 212 behind the sampling kiosk 200 can temporarily act as an artificial nucleic acid sampling window, preventing equipment failure from causing the workstation to stall.

The sampling kiosk 200 has a receiving space and enables the pharyngeal swab automatic collection system 100 and the pharyngeal swab processing system 300 to be positioned inside the sampling kiosk 200.

In one particular embodiment, the sampling kiosk 200 is cube-shaped and has a first sidewall with a first window 201 cut therein. In a preferred embodiment, the first window 201 has a large area, and a transparent member, such as glass, acrylic, etc., may be disposed in the first window 201, so that the viewer can observe the actions of other components inside through the first window 201, thereby protecting the viewer from fear.

In the present disclosure, a hole is formed on the first window 201, and the hole is preferably sized to be able to mount the mouthpiece 204, and at this time, the user can insert at least a portion of the mouthpiece 204 into the hole, so that the mouth of the person to be detected can be accurately positioned.

In another embodiment, as shown in fig. 1, the periphery of the hollow of the first window 201 is formed with a U-shaped receiving groove 202, and the edge of the mouthpiece 204 can be fitted into the U-shaped receiving groove 202, thereby also enabling the fixing of the mouthpiece 204.

In the present disclosure, the pharyngeal swab collection automated workstation 10 may further include: a mouthpiece supply device 203, the mouthpiece supply device 203 being disposed adjacent to the sampling kiosk 200 and alongside the first sidewall. The mouthpiece supply device 203 is used to store the mouthpiece 204 and supply the mouthpiece 204 to the person to be tested.

After the information registration and other steps are completed by the person to be detected, a mouth piece 204 can be taken from the mouth piece supply equipment 203 and mounted in the U-shaped accommodating groove 202, the mouth piece 204 is contained in the mouth cavity, the mouth cavity of the person to be detected is opened through the mouth piece 204, the tongue is pressed flatly, the collection of a throat swab sample is facilitated, and the person to be detected can wait for the insertion and sampling of the throat swab.

In the present disclosure, the pharyngeal swab collection automated workstation 10 may further include: the infrared thermometric camera 205 can be installed on the first side wall, and is used for detecting whether the body temperature of the detected nucleic acid person exceeds a normal range, feeding back the body temperature to the control system if the body temperature exceeds the normal range, and terminating a pharyngeal swab sampling (nucleic acid sampling) process.

The automatic pharynx swab collection workstation 10 can further comprise a trigger switch 206, wherein the trigger switch 206 is arranged on the first side wall, and when the trigger switch 206 is triggered by a person to be detected, the automatic pharynx swab collection system 100 and the pharynx swab processing system 300 are in an operating state, and collection and storage of pharynx swabs are completed.

In a specific embodiment, the trigger switch 206 may be a foot switch, and when the person to be detected is ready, the sampling process can be started by pressing the foot switch.

The pharyngeal swab collection automatic workstation 10 may further include a first information entry device 207 and/or a second information entry device 208, where the first information entry device 207 and the second information entry device 208 may be in the form of a barcode reader, a card reader, an RFID reading device, a camera, and the like, and the first information entry device 207 and the second information entry device 208 may be configured to read identity information of a person to be detected and transmit the identity information to the control system.

In a preferred embodiment, the pharyngeal swab collection automatic workstation 10 may further comprise a second side wall opposite to the first side wall, wherein the first information entry device 207 is disposed on the first side wall, and the second information entry device 208 may be disposed on the second side wall, so that the entry of the identity information of the person to be detected can be conveniently realized whether the pharyngeal swab is manually collected or automatically collected.

In the present disclosure, the automatic workstation 10 for collecting a throat swab may further include a human-computer interaction screen 209 and a voice prompt sound box 210, the human-computer interaction screen 209 and the voice prompt sound box 210 are disposed on the first side wall, the human-computer interaction screen 209 is used for guiding and prompting a person to be detected to complete a nucleic acid sampling process in a text or animation manner, and the voice prompt sound box 210 is used for guiding and prompting the person to be detected to complete the nucleic acid sampling process in a voice manner in cooperation with the human-computer interaction screen 209. Of course, those skilled in the art will appreciate that the voice prompt speaker 210 may be located at other locations of the sampling kiosk 200.

Fig. 2 is a schematic view of another perspective of the automated pharyngeal swab collection workstation 10 according to one embodiment of the present disclosure.

In the present disclosure, as shown in fig. 2, the second side wall is provided with a door 211 and a second window 212, the second window 212 may be a sliding window or the like, and the second window 212 is used to achieve artificial collection of the pharyngeal swab.

In this case, the second information entry device 208 may be disposed near the second window 212.

Fig. 3 is a schematic view of another angle of the pharyngeal swab collection automated workstation 10 according to one embodiment of the present disclosure.

In the present disclosure, as shown in fig. 3, the automatic pharyngeal swab collection workstation 10 may further include a disinfection nozzle 213, wherein the disinfection nozzle 213 is disposed inside the automatic pharyngeal swab collection workstation 10 and is used for disinfecting the collection assembly 130 of the automatic pharyngeal swab collection system 100, i.e., a device for holding a pharyngeal swab (cotton swab). Wherein, the disinfection nozzle 213 needs to disinfect the collection assembly 130 after completing one collection.

The pharyngeal swab collection automated workstation 10 may further include: and the third information input device 214 is positioned inside the sampling kiosk 200, so that the barcode information of the sampling tube can be read through the third information input device 214, and the barcode information of the sampling tube is input into the control system, so that the barcode information of the sampling tube can be in a corresponding relationship with the identity information of the person to be detected.

In the present disclosure, the pharyngeal swab collection automated workstation 10 may further include: the ultraviolet disinfection lamp 215 is used for disinfecting the environment in the workstation to prevent virus pollution; in a preferred embodiment, the UV sterilizing lamp 215 is turned on for more than 20 minutes while the environment within the workstation is being sterilized by the UV sterilizing lamp 215.

An air conditioner 216 may also be provided within the sampling kiosk 200 to keep the temperature within the workstation constant via the air conditioner 216, to allow for reliable operation of the automation equipment or comfort of the nucleic acid collection personnel.

More preferably, an environment detector 217 may be further disposed in the sampling kiosk 200, and the environment detector 217 is configured to monitor information such as humidity, temperature, PM2.5, and carbon dioxide concentration in the workstation in real time, and feed back the information to the control system.

A monitoring camera 218 can be further arranged in the sampling kiosk 200, and the monitoring camera 218 is used for monitoring the operation condition of each device in the workstation, so that the remote checking of workers is facilitated.

Fig. 4 is a top view of the pharyngeal swab collection automated workstation 10 according to one embodiment of the present disclosure.

In one embodiment, as shown in fig. 4, the unused sample tubes are stored in the storage part 219 and are regularly placed on the storage part 219 in multiple rows and columns, thereby ensuring the position of the sample tubes is accurate, facilitating the pharyngeal swab automatic acquisition system to take out the sample tubes, after the person to be detected inputs the identity information externally, the pharyngeal swab automatic acquisition system 100 can take one sample tube from the storage part 219 and enter the information of the sample tube through the third information entry device, and the information of the person to be detected and the information of the sample tube are correlated in the control system.

In the present disclosure, a waste recycling box 220 may be further disposed in the sampling kiosk 200, wherein the waste recycling box 220 is used for recycling the stem portion of the cut throat swab, the head portion of the throat swab after the sample is collected is stored in the sampling tube, and then the stem portion (i.e., the portion other than the head portion) is discarded to the waste recycling box 220.

In the present disclosure, the automatic throat swab collection workstation 10 can further include a throat swab stripping device 400, the throat swab stripping device 400 is used for stripping a throat swab from a packaging bag, and providing the stripped throat swab to the automatic throat swab collection system 100, at this time, the automatic throat swab collection system 100 can clamp a part of a rod portion of the throat swab, and the head of the throat swab passes through a hole of the first window and extends out of the sampling kiosk 200, and further, the head of the throat swab can be inserted into an oral cavity of a person to be detected, so as to realize sampling of a sample.

The pharyngeal swab collection automated workstation 10 further includes a refrigerated storage 221, the refrigerated storage 221 being for storing the used sampling tubes. That is, the head of the pharyngeal swab is stored inside the used sampling tube. Preferably, the used sample tube may be held by the automatic pharyngeal swab collection system 100 and then placed in a storage rack, wherein the storage rack may include a plurality of holes for receiving the sample tube therein to retain the used sample tube therein.

More preferably, the storage rack is capable of being placed into a cooler so that the sampling tube with the throat swab stored therein can be stored within the cooler.

In the present disclosure, the pharyngeal swab auto-collection system 100 is located inside the sampling kiosk 200, and at least a portion of a pharyngeal swab held by the pharyngeal swab auto-collection system 100 is capable of protruding from the first window 201.

The structure of the automatic pharyngeal swab collection system 100 is described below with reference to the accompanying drawings.

Fig. 5 is a schematic diagram of a pharyngeal swab automatic collection system 100, according to one embodiment of the present disclosure.

As shown in fig. 5, the pharyngeal swab automatic collection system 100 of the present disclosure may include a multi-degree of freedom cooperating arm 110, a force sensor 120, and a collection assembly 130.

As shown in fig. 5, the multi-degree-of-freedom cooperation arm 110 of the present disclosure includes a 7-degree-of-freedom force-controlled cooperation arm, but it should be understood by those skilled in the art that the multi-degree-of-freedom cooperation arm 110 may also be a 5-degree-of-freedom mechanical arm or a 6-degree-of-freedom mechanical arm.

When the 7-freedom-degree force-control cooperation arm is adopted, the 7-freedom-degree force-control cooperation arm has redundant freedom degrees, so that the 7-freedom-degree force-control cooperation arm can realize acquisition actions at different angles and optimal force. Moreover, the barriers can be avoided in the acquisition bin for the occupied space of other equipment.

This 7 degree of freedom power accuse cooperation arm can realize the perception of full arm body power in the course of the work at the during operation, to operational environment's article, get into operational environment's auxiliary personnel, has real-time, omnidirectional power collision perception and protect function, improves the environmental safety that the operation in-process man-machine melts altogether.

The multiple degree of freedom collaboration arm 110 includes a tip; the end is a revolute joint, that is, the end of the multi-degree-of-freedom cooperative arm 110 has a rotation axis.

The force sensor 120 is disposed at the distal end of the multi-degree-of-freedom cooperative arm 110. In a preferred embodiment, the pharyngeal swab automatic collection system 100 further comprises: a mounting bracket 140, the mounting bracket 140 being mounted to a distal end of the multiple degree of freedom cooperating arm 110, and the force sensor 120 being mounted to the mounting bracket 140.

That is, the mounting bracket 140 is directly attached to the distal end of the multi-degree-of-freedom cooperation arm 110, and the force sensor 120 is indirectly attached to the distal end of the multi-degree-of-freedom cooperation arm 110 via the mounting bracket 140.

In a preferred embodiment, the force sensor 120 may be a six-dimensional force sensor 120. The six-dimensional force sensor can accurately detect the force and the moment between the throat swab and a person to be detected, and the flexibility and the safety of the contact between the head of the throat swab and the oral cavity of a human body in the acquisition process are guaranteed by means of multi-latitude force and moment sensing capacity, and meanwhile, the effectiveness of the acquisition process is guaranteed from the contact force angle.

That is to say, six-dimensional force sensor can perceive the resistance that terminal pharynx swab received in the pharynx swab collection process, feeds back to control system to the motion of seven degree of freedom cooperation arms is controlled, avoids the too big power of force that lets the people have uncomfortable sensation of pharynx swab collection process.

More preferably, the control system can control the multi-degree-of-freedom cooperative arm 110 according to the data detected by the six-dimensional force sensor, so that the positive pressure between the pharyngeal swab and the patient can be controlled within a reasonable range, and the patient can feel more comfortable when collecting the pharyngeal swab.

In the present disclosure, as shown in fig. 6, the collection assembly 130 is disposed on the force sensor 120, and collection of a pharyngeal swab is achieved by the collection assembly 130.

In the present disclosure, the collection assembly 130 includes a motorized jaw, wherein the motorized jaw is capable of gripping a pharyngeal swab such that a central axis of the pharyngeal swab is collinear or substantially collinear with the axis of rotation.

In the present disclosure, substantially on the same straight line means: on the one hand, the throat swab centerline may intersect said second axis of revolution and be included within 5 ° taking into account machining tolerances, and on the other hand, the throat swab centerline may be parallel to said axis of revolution and the distance between the two lines may be within 5 mm.

Preferably, electronic clamping jaw includes V type groove, the pharynx swab is held the V type inslot, from this through the setting in V type groove, especially utilize V type groove to have certain centering function, can guarantee that pharynx swab and sampling tube 390 can not press from both sides partially, can also allow certain error.

In the present disclosure, the electric clamping jaw is also used for clamping the sampling tube 390, so that the loading and unloading of the sampling tube 390 can be realized by the automatic throat swab collecting system 100 of the present disclosure.

At this moment, this disclosed automatic collection system of pharynx swab 100 can be compatible to pharynx swab and sampling tube, can utilize the big workspace advantage of power control cooperation arm, only realizes getting of sampling tube with a mechanical arm and puts the process, compromises getting of pharynx swab simultaneously and puts and gather, has improved equipment integration and utilization ratio.

In the present disclosure, the automatic throat swab collection system 100 may further include: an industrial camera 170, the industrial camera 170 being mounted to the mounting bracket 140 such that the industrial camera 170 is positioned at a side of the acquisition assembly 130. More preferably, the lens of the industrial camera 170 may be directed toward the person to be detected, so as to capture an image of the person to be detected by the industrial camera and determine the position of the mouth of the person to be detected according to the image of the person to be detected, so that the automatic pharynx swab acquisition system 100 controls the pharynx swab to reach the designated position.

On the other hand, in order to obtain an image of the mouth of the person to be detected more clearly, the throat swab automatic acquisition system 100 may further include a light source 180, and the light source 180 is disposed on the mounting bracket 140 and located at two sides of the industrial camera 170, so as to supplement light to the person to be detected through the light source 180, so that the industrial camera 170 can capture an image of the inside of the mouth of the person to be detected clearly.

In the present disclosure, the automatic throat swab collecting system 100 further includes a distance sensor 190, the distance sensor 190 is mounted on the mounting bracket 140, and the distance sensor 190 is located below the collecting assembly 130, so that the distance between the automatic throat swab collecting system and the throat of the person to be detected can be accurately known through the distance sensor 190, that is, the depth information of the throat of the person to be detected is obtained, and thus the distance between the throat swab (cotton swab 370) and the throat of the person to be detected can be accurately known.

That is to say, in the present disclosure, the visual identification, the distance detection, and the six-dimensional force sensing are integrated at the end, and the validity of the acquisition result and the safety of the acquisition process are ensured from multiple levels and multiple latitudes, such as the plane vision, the depth distance, and the sensing force control; if reduce the required precision of cotton swab length, can be suitable for novel cotton swab etc..

The pharyngeal swab processing system 300 is configured to receive a pharyngeal swab collected by the pharyngeal swab automatic collection system 100 and store the pharyngeal swab within a sampling tube.

The structure of the pharyngeal swab processing system 300 will now be described with reference to the figures.

Fig. 7 is a schematic diagram of a pharyngeal swab processing system 300, according to one embodiment of the present disclosure.

As shown in fig. 7, the pharyngeal swab processing system 300 of the present disclosure is capable of processing a pharyngeal swab, which may be a cotton swab that has already been sampled, the pharyngeal swab processing system 300 may cut the cotton swab and retain only the cotton swab head, which is then placed in the sampling tube 390.

In the present disclosure, the pharyngeal swab processing system 300 may include: a conveying component 310, a cutting component 320, a screw cap component 330 and the like.

As shown in fig. 7 and 8, the transport assembly 310 is used to grip and transport a sampling tube 390; wherein, the conveying component 310 may have a conveying direction, and the conveying direction is a single direction.

The cutting assembly 320 is positioned on the side of the transport assembly 310 in the direction of transport of the transport assembly 310, and when the transport assembly 310 transports a sampling tube 390 directly beneath the cutting assembly 320, the cutting assembly 320 is actuated to cut a pharyngeal swab, wherein the portion of the pharyngeal swab having the sample therein falls by gravity into the sampling tube.

The screw-on cap assembly 330 is disposed on the side of the transport assembly 310 in the transport direction of the transport assembly 310 and the screw-on cap assembly 330 is activated when the transport assembly 310 transports the sampling tube 390 directly below the screw-on cap assembly 330; on the one hand, the screw-on cap assembly 330 requires unscrewing the cap body 380 from the sampling tube 390, and on the other hand, the screw-on cap assembly 330 also enables screwing the cap body 380 onto the sampling tube 390, thereby achieving closure of the sampling tube 390.

In a preferred embodiment, the delivery assembly 310 may be secured to the bottom securing plate 340, and accordingly, the cutting assembly 320 and the screw-cap assembly 330, etc. may also be secured to the bottom securing plate 340, thereby enabling the pharyngeal swab processing system of the present disclosure to be formed as a single unit.

In a specific embodiment, the delivery assembly 310 includes: slip table module 311 and parts such as sampling pipe fixing device 312.

The sliding table module 311 is a finished module in the prior art, and the structure thereof will not be described in detail.

In a specific example, the sliding table module 311 may use a stepping motor as a power device, and a ball screw structure may be adopted to realize power transmission, in this case, a nut of the ball screw structure is formed as a sliding block of the sliding table module 311.

The sampling tube fixing device 312 is disposed on the sliding table module 311, for example, the sampling tube fixing device 312 can be fixed on a sliding block of the sliding table module 311, and thus can be conveyed by the sliding table module 311, and the sliding table module 311 conveys the sampling tube fixing device 312 along the conveying direction of the conveying assembly 310.

In one specific implementation, the sampling tube fixture 312 may include: a clamping base 3121 and a clamping arm 3122.

The clamping base 3121 is fixed to the slide table module 311, for example, can be fixed to a slide block of the slide table module 311, and the clamping base 3121 forms a base of the entire sampling tube fixing device 312.

The clamping arm 3122 is driven to move at least a portion of the clamping arm 3122 toward or away from the clamping base 3121, in one embodiment the clamping arm 3122 is driven to move so that the clamping arm 3122 can move toward or away from the clamping base 3121, and in another embodiment the clamping arm 3122 is driven to rotate so that at least a portion of the clamping arm 3122 can move toward or away from the clamping base 3121.

Accordingly, the sampling tube 390 can be gripped when at least a portion of the gripping arm 3122 is proximate the gripping base 3121; the sampling tube 390 can be released when at least a portion of the clamping arm 3122 is moved away from the clamping base 3121.

When the clamping arm 3122 is driven to rotate so as to approach or separate from the clamping base 3121, one end of the clamping arm 3122 is hinged to the clamping base 3121, and at least a portion of the clamping arm 3122 approaches or separates from the clamping base 3121 by the rotation of the clamping arm 3122 relative to the clamping base 3121.

The sampling tube holder 312 can further include: and the driving device 3123 is arranged on the sliding table module 311 or the clamping base 3121, and is used for driving the clamping arm 3122 to move, so that at least a part of the clamping arm 3122 approaches to or is away from the clamping base 3121.

In one embodiment, the drive 3123 can be a telescoping electromagnet that is not energized with the sample tube 390 clamped, at which time retention of the sample tube 390 is achieved by a tension spring 3124. When the sampling tube 390 needs to be taken out or put in, power is supplied to the telescopic electromagnet, the rotor of the telescopic electromagnet extends out to drive the clamping arm 3122 to rotate, so that a large space is formed between the clamping arm 3122 and the clamping base 3121, and the sampling tube 390 is convenient to take out and put in.

In the present disclosure, the sampling tube fixing device 312 may further include: a tension spring 3124, one end of the tension spring 3124 is disposed on the clamping arm 3122, and the other end of the tension spring 3124 is disposed on the slide table module 311 (for example, on the slide block of the slide table module 311) or the clamping base 3121, and the tension spring 3124 enables the clamping arm 3122 to be included in a state of clamping the sampling tube 390, that is, a clamping force can be provided to the clamping arm 3122 through the tension spring 3124.

In the present disclosure, the connection position of the tension spring 3124 to the clamping base 3121 is variable, thereby conveniently adjusting the tension force provided by the tension spring 3124 so that the sampling tube 390 can be securely held.

At least one of the clamping base 3121 and the clamping arm 3122 is provided with an accommodation groove; in a preferred embodiment, the clamping base 3121 and the clamping arm 3122 each have a receiving recess formed therein, and more preferably, the receiving recesses can be arcuate recesses into which the sampling tube 390 is positioned when the clamping arm 3122 engages the clamping base 3121 and clamps the sampling tube 390.

More preferably, at least one in the accommodation groove is provided with a buffer pad, in this disclosure, the buffer pad may be a silicone pad. More preferably, the number of the buffer pads is two, and the buffer pads are respectively adhered to the clamping base 3121 and the clamping arm 3122, so that the friction force between the sampling tube fixing device and the sampling tube 390 can be increased by the buffer pads, and a certain buffering effect can be achieved.

In the present disclosure, the transport assembly 310 includes a position sensor for detecting the position of the sample tube 390 and enabling the sample tube 390 to stop directly under the shear assembly 320 or the screw-on assembly 330.

As one implementation form, the position sensor includes a plurality of proximity switches 313, and as shown in fig. 7 and 8, the number of the proximity switches 313 is 5. When one of the proximity switches 313 is triggered, the sampling tube 390 is determined to be positioned right below the shearing assembly 320; when another of the proximity switches 313 is triggered, it is determined that the sample tube 390 is positioned directly below the shear block 320.

From this, can accurately judge through above-mentioned 5 proximity switch 313 and go up spacing, down spacing, initial point position, pharynx swab cut off position and sampling tube screw cap position to whether detect sampling tube clamping device from this and reach preset position, and prevent that step motor slip table module from surpassing spacingly.

As shown in FIGS. 7 and 9, the cutting assembly 320 is used to cut a throat swab, and the cut throat swab drops into a sampling tube 390 held by the delivery assembly 310.

More specifically, the cutting assembly 320 includes: a support plate 321, a pneumatic scissors 322 and the like are installed.

The mounting support plate 321 is disposed on the bottom fixing plate 340 and may be positioned at a side of the transfer module 310, so that the pneumatic scissors 322 and the sterilizing spray head 323 can be coupled together by the mounting support plate 321.

Pneumatic scissors 322, the pneumatic scissors 322 are fixed on the mounting support plate 321 and can cut off the throat swab, namely, after the throat swab is inserted into the sampling tube, the pneumatic scissors 322 are ventilated to cut off the throat swab, so that the head of the throat swab falls into the sampling tube to be stored. In the present disclosure, the pneumatic scissors 322 may be implemented by using a mature modular product, and the structure thereof will not be described in detail.

In the present disclosure, a strip-shaped hole may be formed in the mounting support plate 321 in a vertical direction, so that the height and the distance of the pneumatic scissors 322 with respect to the conveying assembly 310 can be adjusted to find a suitable cutting position.

When the throat swab is inserted into the sampling tube, the throat swab inevitably contacts the pneumatic scissors 322, and the pneumatic scissors 322 are contaminated, in this case, the cutting assembly 320 may further include: and the disinfection spray head 323 is used for spraying disinfection liquid to the pneumatic scissors 322.

In the present disclosure, as shown in FIGS. 7 and 10, the screw-on cap assembly 330 is used to grip the cap body 380 and either unscrew the cap body 380 from the sampling tube 390 or screw-on the cap body 380 to the sampling tube 390.

In one particular implementation, the screw cap assembly 330 may include: mounting the fixing plate 331 and the electric rotary jaw 332

The mounting fixing plate 331 may be fixed to the bottom fixing plate 340 and positioned at a side of the transferring unit 310, and the electric rotating jaw 332 and the like may be integrally formed by the mounting fixing plate 331.

The electric rotating jaw 332 is provided to the mounting fixing plate 331, and is used to clamp the cap body 380, and unscrew the cap body 380 from the sampling tube 390 or tighten the cap body 380 to the sampling tube 390.

In one embodiment, the electric rotating jaw 332 can generate a lifting motion in a height direction relative to the mounting fixing plate 331. For example, the electric rotating jaw 332 is slidably disposed on the mounting fixing plate 331.

In another embodiment, the mounting fixing plate 331 is provided with a slide table cylinder 333, a moving side of the slide table cylinder 333 is provided with a connecting plate 334, and the electric rotating jaw 332 is fixed to the connecting plate 334 and driven by the slide table cylinder 333 to generate a lifting motion.

In a preferred embodiment, the sliding table cylinder 333 is controlled by a three-position five-way middle-position relief valve, when the electric rotating clamping jaw 332 is screwed or unscrewed from the cover body 380, the electromagnetic valve is in middle position for relieving pressure, so as to ensure that the electric rotating clamping jaw 332 is in a floating state in the screwing process, when the electric rotating clamping jaw 332 is unscrewed from the cover body 380, the moving side of the sliding table cylinder 333 drives the electric rotating clamping jaw 332 to move upwards, so that the conveying assembly 310 is not influenced to convey the sampling tube 390 to the throat swab cutting position, and when the sampling tube 390 needs to be screwed, the moving side of the sliding table cylinder 333 drives the electric rotating clamping jaw 332 to move downwards, so as to ensure that the cover body is smoothly screwed.

The electric rotating clamping jaw 332 is used for driving the clamping fingers to unscrew or screw down the cover body 380, has the functions of controllable rotating angle, adjustable clamping force, adjustable screwing torque and the like, and can ensure the smooth screwing and unscrewing of the cover body 380.

The motorized rotary gripper 332 includes two gripping fingers to grip and rotate the cover 380 via the gripping fingers; the fingers may be formed as V-grooves to ensure that the cover 380 is smoothly clamped when the cover 380 has a small dimensional tolerance. More preferably, a silicone pad may be disposed on the clamping finger to provide a certain buffering effect for the friction force between the clamping finger and the cover body 380.

The screw cap assembly 330 further comprises: a photoelectric switch 335, the photoelectric switch 335 for detecting the position of the cover 380. In a preferred embodiment, two photoelectric switches 335 are provided for detecting whether the cover 380 is in place, and when the cover 380 is unscrewed, the upper photoelectric switch detects whether the fingers have unscrewed and lifted the cover 380 after the cover is unscrewed, and when the cover 380 is screwed, the lower photoelectric switch detects whether the cover is in place after the cover 380 is screwed.

The pharynx swab processing system can be applied to the collection flow of robot sampling pharynx swab, also can be applied to the manual collection flow, and can improve the collection speed. The management function of cutting off the cotton swabs and sampling pipes is integrated, the whole process is controllable in the reagent exposure process, and the safety of the collection process and the protection capability of samples are improved.

When the pharyngeal swab processing system disclosed by the present disclosure is used, firstly, the sampling tube is placed on the sampling tube fixing device 312 of the conveying assembly 310, after the sampling tube is effectively fixed, the sliding table module is started, the sampling tube is conveyed to the lower part of the screw cap assembly 330, and the cover body 380 on the sampling tube 390 is removed through the screw cap assembly 330; after the unscrewing operation is completed, the sliding table cylinder 333 drives the electric rotating clamping jaw 332 and the cover body 380 to move upwards, and the photoelectric switch 335 detects whether the clamping fingers clamp the cover body 380 after the clamping fingers are in place.

Then the sliding table module 311 drives the sampling tube fixing device 312 to move to the position of the cutting assembly 320 (the third proximity switch on the right), waiting for the insertion of a throat swab into the sampling tube 390, after the throat swab is inserted into the sampling tube 390, the control system controls the pneumatic scissors 322 to act to cut the throat swab, so that the head of the throat swab falls into the sampling tube 390, after the cutting is completed, the sliding table module 311 drives the sampling tube fixing device 312 to return to the position of the screw cap assembly 330 (the second proximity switch on the right), the screw cap assembly 330 starts to screw the cap body 380, at this time, the control system controls the three-position five-way middle-position relief valve to be in the middle-position pressure relief state, the sliding table cylinder 333 drives the electric rotating clamping jaw 332 to move downwards under the action of gravity, the electric rotating clamping jaw 332 starts to screw the cap body 380, after the screwing operation is completed, the electric rotating clamping jaw 332 loosens the cap body 380, the photoelectric switch 335 detects whether the cap body 380 is screwed in place, then the sliding table module 311 drives the sampling tube fixing device 312 to return to the original position (the second proximity switch on the left), and waiting for the sampling tube 390 to be taken away.

A control system 222 can be further arranged in the sampling kiosk 200, the control system 222 can comprise an industrial personal computer, and the industrial personal computer is provided for controlling the pharyngeal swab automatic acquisition system 100 and the pharyngeal swab processing system 300; and the industrial personal computer can also be connected to the first information input device, the second information input device and the third information input device, and realizes the functions of identity information input, sampling tube information input and the like of a person to be detected.

The pharynx swab collection automatic workstation disclosed by the invention integrates the functions of automatic disinfection, automatic feeding and discharging, automatic information interaction with a person to be collected and automatic completion of pharynx swab collection work; a multi-degree-of-freedom cooperative arm (a 7-degree-of-freedom intelligent force control cooperative arm) is integrated inside, artificial-like environment maintenance and collection work is realized, the environment contact force perception of a full mechanical arm body is realized by joint force control, and the all-dimensional perception and fusion are realized for the working environment; the mechanical arm has a flexible dragging function, so that the debugging and assembling speeds of the whole process and different working links are improved; 7, redundant design of degree of freedom is realized, the redundant working capacity of the human-like arm is realized, and the working processes of acquisition, material operation maintenance and the like are realized only by one mechanical arm; the integration of multiple sensors ensures that the acquisition process is efficient, easy to use and credible, and the connection sequence and the execution quality of each link are ensured by virtue of high-safety PLC management of a workstation from external visual perception, information acquisition of an acquirer, preparation work, an acquisition process and sample processing; the modularization of local function is nimble to be disposed, adopts modularization design and deployment scheme, can carry out other brand products to local function and replace, and the internal relative workspace is nimble to be disposed, applicable different sampling pavilion structures.

When the automatic pharynx swab collection workstation disclosed by the disclosure is used, firstly, a worker is required to place the storage part 219 with an unused sampling tube into the workstation according to a preset position, place continuous and intact bagged pharynx swabs on the pharynx swab stripping device 400, close a door and start the workstation, automatically complete self-detection after the workstation is started, and after the self-detection is completed, the multi-degree-of-freedom cooperation arm 110 drives the collection component 130 to grab a sampling tube from the storage part 219 and place the sampling tube in the pharynx swab processing system 300; the multi-degree-of-freedom collaboration arm 110 then returns to the initial position to await an activation signal from the person to be inspected.

Firstly, the tested nucleic acid personnel need to put the two-dimensional code containing personal information on a code scanner for information input, or directly read an identity card and the like to realize information input, after the information input is successful,

the man-machine interaction screen 209 and the voice prompt sound box 210 can prompt the information input success of the tested nucleic acid personnel, the person who gets to the mouthpiece supply device 203 takes the mouthpiece to place at the mouthpiece fixing position of the sampling kiosk 200, and after the tested nucleic acid personnel are ready, the person who gets to the mouthpiece steps on the foot switch to bite the mouthpiece, and the automatic nucleic acid sampling process is started.

The seven-degree-of-freedom mechanical arm drives the acquisition component 130 to go to the pharynx swab stripping device 400, the pharynx swab stripping device 400 automatically pops up a stripped pharynx swab, the acquisition component 130 grabs the pharynx swab and then moves to the back of the mouth piece, the industrial camera 170 and the distance sensor 190 (laser ranging sensor) position the pharynx in the oral cavity of the person with nucleic acid to be detected, after the positioning is completed,

the pharyngeal swab on the collection assembly 130 is carried by the seven-degree-of-freedom mechanical arm into the oral cavity for pharyngeal swab sample collection, and in the process, the pharyngeal swab processing system 300 separates the sampling tube 390 and the cover body 380 and waits for the pharyngeal swab to be inserted into the sampling tube; the pharyngeal swab sample collection is completed and the exit cavity is backed off, the voice prompt sound box 210 prompts the tested nucleic acid personnel that the collection is completed, and the mouth piece can be taken down and the sampling kiosk 200 is left.

The seven-degree-of-freedom mechanical arm with the throat swab is inserted into a sampling tube of the throat swab processing system 300, the throat swab processing system 300 cuts the throat swab, the throat swab head falls into the sampling tube,

the seven degree of freedom robot arm drops the remaining throat swab portion into a waste collection bin 220 and then to a sterilizing spray head 213 to sterilize the collection assembly 130. At the same time, the pharyngeal swab processing system 300 will tighten the cover 380, waiting to be grasped.

After the seven degree-of-freedom robotic arm sterilization is complete, its collection assembly 130 grabs the sampling tube on the pharyngeal swab processing system 300 with the cover 380 already tightened and places the sampling tube on a storage rack within the refrigerated storage 221. And the seven-degree-of-freedom mechanical arm returns to the initial position, and the box door of the refrigerator is automatically closed, so that the one-time throat swab acquisition process is completed.

In the description herein, reference to the description of the terms "one embodiment/mode," "some embodiments/modes," "example," "specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment/mode or example is included in at least one embodiment/mode or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment/mode or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/modes or examples and features of the various embodiments/modes or examples described in this specification can be combined and combined by one skilled in the art without being mutually inconsistent.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

It will be understood by those skilled in the art that the foregoing embodiments are provided merely for clarity of explanation and are not intended to limit the scope of the disclosure. Other variations or modifications may occur to those skilled in the art, based on the foregoing disclosure, and are still within the scope of the present disclosure.

Claims

1. An automated pharynx swab collection workstation, comprising:

a pharyngeal swab processing system for receiving the pharyngeal swabs collected by the pharyngeal swab automatic collection system and storing the pharyngeal swabs within the sampling tube.

2. The pharyngeal swab collection automated workstation of claim 1, further comprising:

a mouthpiece feeding device for storing the mouthpiece and providing the mouthpiece to the person to be inspected.

3. The pharyngeal swab collection automated workstation of claim 1, further comprising:

and when the trigger switch is triggered by the person to be detected, the pharynx swab automatic acquisition system and the pharynx swab processing system are in working states, and pharynx swab acquisition and storage are completed.

4. The pharyngeal swab collection automated workstation of claim 1, further comprising:

5. The pharyngeal swab collection automated workstation of claim 1, further comprising:

a pharynx swab stripping device for stripping pharynx swabs from the packaging bag and providing the stripped pharynx swabs to a pharynx swab automatic collection system.

6. The pharyngeal swab collection automated workstation of claim 1, further comprising:

a storage unit in which unused sample tubes are stored.

7. The pharyngeal swab collection automated workstation of claim 1, further comprising:

a refrigerated storage for storing the used sampling tube.

8. A pharyngeal swab collection automated workstation as recited in claim 1, wherein said first window is formed with an aperture and wherein said first window is provided with a receiving slot in which a mouthpiece is mounted such that the position of said mouthpiece corresponds to the position of said aperture.

9. The pharyngeal swab collection automated workstation of claim 8, wherein said receiving channel is a U-shaped receiving channel.

10. A pharyngeal swab collection automated workstation as recited in any one of claims 1-9, wherein said sampling kiosk further includes a door and a second window, both of said door and said second window being disposed opposite said first window;

optionally, the method further comprises: the system comprises a human-computer interaction screen and/or a voice prompt sound box, wherein the human-computer interaction screen and the voice prompt sound box are arranged in the sampling pavilion, the human-computer interaction screen is used for guiding and prompting a person to be detected to complete a sampling process in a text or animation mode, and the voice prompt sound box is used for guiding and prompting the person to be detected to complete the sampling process in a voice mode in cooperation with the human-computer interaction screen;

optionally, the method further comprises:

the disinfection spray head is arranged inside the sampling kiosk and is used for disinfecting a collecting assembly of the automatic throat swab collecting system;

optionally, the method further comprises:

the third information input device is positioned in the sampling kiosk and is used for reading the bar code information of the sampling pipe;

optionally, the method further comprises: