CN219114074U - Nucleic acid sampling robot - Google Patents

Abstract

The utility model relates to the technical field of robots, and provides a nucleic acid sampling robot which comprises a shell, a swab supply mechanism, a swab operating mechanism, a tube supply mechanism, a sample storage mechanism and a test tube operating mechanism, wherein the shell is provided with a first cavity, a second cavity and a third cavity, and the second cavity is provided with a first conveying port communicated with the first cavity, a second conveying port communicated with the third cavity and a sampling port communicated with the outside of the shell. The clean swab, the sampling of the swab and the test tube storage processing are respectively located in different cavities, the clean test tube and the sample tube are respectively stored in the tube supply mechanism and the sample storage mechanism, so that the clean dirt separation is realized, the technical problem that the nucleic acid sampling robot in the related technology is high in internal cross contamination risk is solved, the cross contamination risk in the robot is reduced, and the accuracy of sample detection is improved.

Description

Nucleic acid sampling robot

Technical Field

The utility model relates to the technical field of robots, in particular to a nucleic acid sampling robot.

Background

Swab testing is a medical testing method, for example, using a medical swab to collect a small amount of secretions from the pharynx or nasal cavity of a human body for testing, so as to understand the health condition of the tested part. The swab comprises a shaft and a sampling head, which is provided at the front end of the shaft, typically a mass of absorbent material (e.g., cotton).

The nucleic acid detection method (English name: nucleic acid detection method) is a method for judging whether a patient is infected with a virus by searching for DNA and RNA of a virus which invades from outside in a respiratory tract specimen, blood or feces of the patient.

Nucleic acid sampling robots are functionally divided into two main categories: a throat swab sampling robot and a nose swab sampling robot. Wherein the throat swab sampling robot is used for scraping and sampling the oral pharynx of a sampled person by adopting a mechanical arm to carry the throat swab, and the nose swab sampling robot is used for taking samples by adopting the mechanical arm to carry the nose swab deep into the nasal cavity of the sampled person.

In the related art, a nucleic acid sampling robot is required to store a clean swab and a test tube, hold the clean swab for sampling, and store the test tube containing a sample. Because clean swab, clean test tube and the test tube that is equipped with the sample hold in the inside of robot simultaneously, do not have the subregion to deposit, appear contacting each other easily, cause clean swab, clean test tube or sample to receive the pollution, lead to final testing result inaccuracy. Therefore, the sampling robot in the related art has a technical problem of high risk of internal cross contamination.

Disclosure of Invention

The utility model aims to provide a nucleic acid sampling robot, which aims to solve the technical problem that the nucleic acid sampling robot in the related art has high risk of internal cross contamination.

The application provides a nucleic acid sampling robot, include:

the device comprises a shell, a first cavity, a second cavity and a third cavity, wherein the second cavity is provided with a first conveying port communicated with the first cavity, a second conveying port communicated with the third cavity and a sampling port communicated with the outside of the shell;

a swab supply mechanism mounted to the first cavity, the swab supply mechanism for storing a swab and for supplying the swab to the first transfer port;

the swab operating mechanism is arranged in the second cavity and is used for clamping the swab from the first conveying port, clamping the swab to sample through the sampling port and conveying the sampled swab to the second conveying port;

a tube supply mechanism placed in the third chamber, the tube supply mechanism being for storing a plurality of test tubes and supplying the test tubes;

the sample storage mechanism is arranged in the third cavity and is used for storing a sample tube;

the test tube operating mechanism is arranged in the third cavity and is used for receiving the test tube from the tube supply mechanism, clamping the test tube to the second conveying port, receiving the sampled swab to form a sample tube, and conveying the sample tube to the sample storage mechanism.

The nucleic acid sampling robot provided by the utility model has the beneficial effects that: the swab supplying mechanism located in the first cavity supplies clean swabs to the swab operating mechanism located in the second cavity through the first conveying port, the swab operating mechanism clamps the swabs to sample through the sampling port, the swab with samples is transmitted through the second conveying port after sampling is completed, the test tube operating mechanism located in the third cavity acquires test tubes from the tube supplying mechanism, clamps the test tubes to the second conveying port to receive the sampled swabs, the test tubes are changed into sample tubes, and then the sample tubes are conveyed to the sample storage mechanism to be stored, wherein the first cavity, the second cavity and the third cavity are mutually independent, namely the clean swabs, sampling of the swabs and test tube storage processing are respectively located in different cavities, clean test tubes and the sample tubes are respectively stored in the tube supplying mechanism and the sample storage mechanism, so that clean separation is achieved, the technical problem that the nucleic acid sampling robot in related technology is high in internal cross contamination risk is solved, the cross contamination risk inside the robot is reduced, and the accuracy of sample detection is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of the structure of a continuous swab-containing bag;

FIG. 2 is a schematic diagram of a nucleic acid sampling robot according to an embodiment of the present utility model;

FIG. 3 is a front view of a nucleic acid sampling robot;

fig. 4 is a schematic view of an internal structure of a housing of the robot of fig. 1;

FIG. 5 is a schematic view of the internal structure of the first cavity of the housing of FIG. 4;

FIG. 6 is a schematic view of the structure of the swab handling mechanism of the robot of FIG. 2;

FIG. 7 is a schematic view of the manipulator of the swab handling mechanism of FIG. 6;

FIG. 8 is a schematic view of one construction of the mask mechanism of FIG. 2;

FIG. 9 is a front view of FIG. 8;

FIG. 10 is a rear view of FIG. 8;

FIG. 11 is a schematic view of a state of the mask mechanism of FIG. 8;

FIG. 12 is a schematic view of yet another construction of the mask mechanism of FIG. 2;

FIG. 13 is a front view of FIG. 12;

FIG. 14 is a schematic view of a state of the mask mechanism of FIG. 12;

FIG. 15 is a further schematic view of the mask mechanism of FIG. 2;

FIG. 16 is an exploded view of FIG. 15;

FIG. 17 is a schematic view of the internal structure of the third chamber of the housing of FIG. 2;

FIG. 18 is a schematic view of the cap screwing mechanism of the test tube handling mechanism of FIG. 17;

FIG. 19 is a schematic view of the cutting mechanism of the test tube handling mechanism of FIG. 17;

FIG. 20 is a schematic diagram showing a structure of another nucleic acid sampling robot.

Wherein, each reference sign in the figure:

x, front-back direction; y, left-right direction; z, height direction;

10. a swab; 20. packaging bags;

100. a housing; 101. a first cavity; 102. a second cavity; 103. a third cavity; 104. a first transfer port; 105. a second transfer port; 106. a sampling port;

200. a swab supply mechanism; 210. a first roll; 220. a second roll; 230. a tensioning member; 231. tensioning a plane; 232. a first guide surface; 233. a second guide surface; 240. a push-out member; 250. a sensor; 260. a push-out drive assembly; 261. pushing out the guide block; 262. pushing out the screw rod; 263. a driving motor;

300. a swab handling mechanism; 310. a directional movement mechanism; 311. a front-rear drive assembly; 3111. a front-rear driving motor; 3112. front and rear conveyor belt assemblies; 3113. moving the slider back and forth; 3114. moving the guide rail back and forth; 312. an up-down driving assembly; 313. left and right driving components; 320. a manipulator; 321. a first clamp; 322. a movable platform; 323. a transmission rod; 324. a mechanical slide; 325. a linear driver; 326. a base; 327. a wiper drive assembly; 328. an in-out drive assembly; 329. a force sensor;

400. A tube supply mechanism; 410. a tube supply driving member; 420. a storage tube belt; 421. a vortex groove; 422. a pipe outlet; 430. pushing the segment;

500. a sample storage mechanism; 510. a pipe receiving belt; 511. a feed inlet; 520. a pipe inlet guide groove; 530. a feed tube driving assembly; 540. a shifting block; 550. a turntable;

600. a test tube operating mechanism; 610. a second clamp; 620. a third drive assembly; 630. a cover operating mechanism; 631. a cover clamp; 632. a cover lifting driving member; 633. a cover rotation driving member; 640. a cutting mechanism; 641. a pair of scissors; 642. a cutting driving assembly; 650. a waste recycling box; 660. a scanning mechanism;

700. a mask mechanism; 710. an isolation cover; 711. a detection port; 712. a fixed cover; 713. a mounting base; 7131. a first opening; 7132. a mounting plate; 7133. a mounting frame; 7134. a limiting block; 714. a movable member; 715. a flexible material member; 7151. a first flexible member; 7152. a second flexible member; 7153. a third flexible member; 7154. a fourth flexure; 716. a first slider; 717. a second slider; 718. a first spherical shell; 7181. a first through groove; 719. a second spherical shell; 7191. a second through slot; 720. a first drive assembly; 721. a first base; 722. a first driving member; 730. a second drive assembly; 731. a second base; 732. a second driving member; 740. an opening and closing driving assembly; 741. an opening and closing driving member; 742. an opening and closing member; 750. an opening and closing seat;

810. A mobile chassis; 820. a card reader; 830. a code scanner; 840. identifying a detector; 850. and a display screen.

Detailed Description

Embodiments of the present utility model are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present utility model and should not be construed as limiting the utility model.

Reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrase "in one embodiment" or "in some embodiments" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

In the description of the present utility model, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present utility model and simplify the description, and do not indicate or imply that the devices or elements 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 utility model.

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 one or more such feature.

In the present utility model, 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; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

Referring to fig. 2 to 4, a nucleic acid sampling robot (hereinafter referred to as "robot") in an embodiment of the present utility model will now be described.

The robot includes a housing 100, a swab supply mechanism 200, a swab handling mechanism 300, a tube supply mechanism 400, a sample storage mechanism 500, and a test tube handling mechanism 600.

Referring to fig. 4, the housing 100 has a first chamber 101, a second chamber 102, and a third chamber 103, and the second chamber 102 has a first transfer port 104 communicating with the first chamber 101, a second transfer port 105 communicating with the third chamber 103, and a sampling port 106 communicating with the outside of the housing 100.

Specifically, the housing 100 has a front-rear direction X, a left-right direction Y, and a height direction Z. The sampling port 106 is located on the front side of the housing 100. In the illustrated embodiment, the first cavity 101, the second cavity 102 and the third cavity 103 are sequentially arranged from top to bottom, so that the occupied area of the housing 100 is saved, and the volume of the robot is reduced.

In the illustrated embodiment, the side of the housing 100 has an opening and closing door to facilitate replenishment of consumables, removal of sample tubes, etc. to the first, second, or third chambers 101, 102, or 103. Specifically, the left and right sides and the rear side of the housing 100 are provided with opening and closing doors.

Specifically, referring to fig. 3, the robot further includes a moving chassis 810, and the moving chassis 810 is connected to the housing 100 to drive the housing 100 to move, so that the robot walks and carries. In the illustrated embodiment, a mobile chassis 810 is mounted to the bottom of the housing 100 to increase the height of the robot and sampling port 106 to facilitate sampling. The mobile chassis 810 is equipped with a UPS power source to ensure continuity of sampling and to improve reliability of sampling.

In particular, the robot may further include at least one of a card reader 820, a code scanner 830, an identification detector 840, and a display 850. The controller is installed inside the housing 100, or the robot is electrically connected with an external controller through a communication module. The controller is electrically connected with the card reader 820, and the card reader 820 is used for reading the identity information of the acquired person, for example, the card reader 820 is an RFID card reader 820, and can read an identity card. The controller is electrically connected to the code scanner 830, and the code scanner 830 is used for identifying two-dimensional codes or bar code information. In connection with fig. 20, the identification detector 840 is used to identify the location of the inspected portion (oropharynx) of the person to be sampled, so that the swab handling mechanism 300 accurately grips the swab 10 to the inspected portion for sampling. The recognition detector 840 may be selected from a plurality of cameras which are provided at intervals on the front side of the housing 100, and which can improve the positioning accuracy of the inspected portion. The controller is electrically connected to a display screen 850, and the display screen 850 is used for displaying information, such as identity information of the person to be collected, a collection operation flow or health prompt, etc.

Referring to fig. 4 to 5, a swab supply mechanism 200 is mounted to the first chamber 101, and the swab supply mechanism 200 is used for storing the swabs 10 and supplying the swabs 10 to the first transfer port 104, thereby realizing the functions of storing and sequentially supplying the swabs 10.

In some embodiments, the first cavity 101 mounts a storage rack for insertion of the swab 10, and the swab supply mechanism 200 may be a robotic arm for gripping and handling the swab 10.

In other embodiments, and with reference to fig. 5, the swab handling mechanism 300 comprises a first roller 210, a second roller 220, a tensioning member 230, a supply drive member and a push-out member 240, the first roller 210 being adapted to wind up a continuous bag 20 (see fig. 2) containing swabs 10, the first roller 210 being rotatably arranged within the first chamber 101. The second roller 220 is used for winding the continuous packaging bags 20 from which the swab 10 has been pushed out, and the second roller 220 is rotatably arranged in the first cavity 101. The tensioning member 230 serves to tension the continuous packing bag 20 between the first and second rollers 210 and 220 such that the plurality of continuous packing bags 20 take an unfolded state. A tensioning member 230 is mounted adjacent the first transfer port 104 and a supply drive is used to drive the continuous package 20 along the first roll 210, tensioning member 230 and second roll 220. Specifically, the supply driving member may simply drive the first roller 210 to rotate, may simply drive the second roller 220 to rotate, may simultaneously drive the first roller 210 and the second roller 220 to rotate, and may also directly contact and push the package 20 to move along the first roller 210, the tensioning member 230, and the second roller 220. The pushing member 240 is capable of moving along the length direction of the swab 10, the moving direction of the pushing member 240 is opposite to the first conveying opening 104, and the pushing member 240 pushes the package 20 tensioned on the tensioning member 230 to push the swab 10 out of the package 20 and into the first conveying opening 104. The pushing member 240 is capable of abutting against the package bag 20 and abutting against one end of the swab 10 in the package bag 20, and the pushing member 240 pierces and pushes the swab 10 along the length direction of the swab 10 through the package bag 20. In the above process, since the packing bag 20 is supported in the unfolded state by the tension member 230, the packing bag 20 remains stationary while the ejector member 240 ejects the swab 10 through the packing bag 20, and after the swab 10 is ejected, the second roller 220 rotates to recover the packing bag 20 from which the swab 10 has been ejected.

In the illustrated embodiment, each swab 10 is individually stored in a sterile package 20, ensuring that there is no contamination requirement before taking the swab 10. The first roller 210, the second roller 220 and the tensioning member 230 are disposed in parallel and spaced apart, and each extends along the height direction Z. The first and second rollers 210 and 220 may be spaced apart in the left-right direction Y. The tension member 230 is located between the first roller 210 and the second roller 220, and is located at one side of the line connecting the first roller 210 and the second roller 220. The tensioning member 230 is a tensioning plate.

Referring to fig. 5, the tension member 230 includes a tension plane 231 and first and second guide surfaces 232 and 233 located at both sides of the tension plane 231, the tension plane 231 having a flat surface, the first guide surface 232 being curved to extend from an edge of the tension plane 231 adjacent to the first roller 210 toward the first roller 210, and the second guide surface 233 being curved to extend from an edge of the tension plane 231 adjacent to the second roller 220 toward the second roller 220. The first guiding surface 232 is used for guiding the packaging bag 20 output from the first roller 210 to move onto the tensioning plane 231, the tensioning plane 231 is attached to one side of the packaging bag 20, so that the packaging bag 20 is unfolded to a higher degree, the packaging bag 20 is flatter, pushing out of the swab 10 is facilitated, and the second guiding surface 233 is used for guiding the empty packaging bag 20 after pushing out the swab 10 to move onto the second roller 220 from the tensioning plane 231.

Alternatively, the first guide surface 232 and the second guide surface 233 may be curved surfaces, or curved surfaces formed of a plurality of flat surfaces having different inclinations.

In one possible embodiment, the swab supply mechanism 200 further comprises a sensor 250 electrically connected to the supply drive, the sensor 250 being arranged to sense whether a swab 10 is present at the first transfer port 104. When the sensor 250 senses that the packaging bag 20 is arranged above the first conveying opening 104 and the swab 10 is arranged in the packaging bag, the sensor 250 sends a control signal to the supply driving piece, so that the packaging bag 20 stops above the first conveying opening 104, and the swab 10 stops below the pushing-out piece 240 at the moment so as to prepare for pushing out the swab 10; in addition, when the sensor 250 detects the absence of a swab 10, a control signal is sent to the supply drive to cause the empty bag 20 to be recovered onto the second roller 220, driving the next bag 20 with a swab 10 to reach above the first transfer port 104.

In the illustrated embodiment, the swab supply mechanism 200 further comprises a push-out drive assembly 260 for driving the push-out member 240 along the length of the swab 10, the push-out drive assembly 260 being in electrical communication with the sensor 250. For example, the push-out driving assembly 260 includes a push-out guide block 261, a driving motor 263 and a push-out screw rod 262 parallel to the length direction of the swab 10, the push-out guide block 261 is connected to the push-out member 240, and the driving motor 263 is used for driving the push-out screw rod 262 to rotate so that the push-out guide block 261 and the push-out member 240 move along the length direction of the push-out screw rod 262. When the sensor 250 senses that the package 20 with the swab 10 is moved over the first transfer port 104, the package 20 is stopped at the tensioning member 230, e.g., at the tensioning plane 231, and a control signal is sent to the drive motor 263 to drive the ejector 240 to eject the swab 10 across the package 20.

Referring to fig. 4, the swab handling mechanism 300 is mounted in the second chamber 102, and the swab handling mechanism 300 is configured to clamp the swab 10 from the first transfer port 104, to clamp the swab 10 for sampling through the sampling port 106, and to transfer the sampled swab 10 to the second transfer port 105. The swab handling mechanism 300 is configured to receive a clean swab 10 in the second chamber 102, and to clamp the swab 10 for sampling through the sampling port 106, and to transfer the swab 10 to the third chamber 103 through the second transfer port 105 after sampling.

In one embodiment, referring to fig. 6 and 7, the swab handling mechanism 300 includes a directional movement mechanism 310 and a manipulator 320, where the directional movement mechanism 310 includes a front-rear driving component 311 mounted on the second chamber 102, a front-rear driving component 312 mounted on an output end of the front-rear driving component 311, and a left-right driving component 313 mounted on an output end of the front-rear driving component 312, the front-rear driving component 311 is configured to drive the front-rear driving component 312 to translate in a front-rear direction X, the front-rear driving component 312 is configured to drive the left-right driving component 313 to translate in a height direction Z, a movable end of the left-right driving component 313 is connected to the manipulator 320, and the left-right driving component 313 is configured to drive the manipulator 320 to translate in a left-right direction Y. Thus, compared with the multi-axis mechanical arm, the mechanical arm 320 realizes the translation in three degrees of freedom by means of the directional moving mechanism 310, meets the use requirement, limits the moving direction and space of the mechanical arm 320, occupies small space, has high space utilization rate on the second cavity 102, and is beneficial to the miniaturization of the robot.

Specifically, the front-rear driving assembly 311 includes a front-rear driving motor 3111, a front-rear conveying belt assembly 3112, a front-rear moving slider 3113 and a front-rear moving rail 3114, the front-rear moving rail 3114 extends in the front-rear direction X, the front-rear conveying belt assembly 3112 is rotatably mounted to the front-rear moving rail 3114, the front-rear moving slider 3113 is connected to the front-rear conveying belt assembly 3112 and is slidably disposed to the front-rear moving rail 3114, and the front-rear driving motor 3111 is mounted to the second chamber 102 for driving the front-rear conveying belt assembly to rotate. The up-down driving assembly 312 is slidably disposed on the front-back moving rail 3114 and is fixedly coupled to the front-back moving slider 3113.

It is understood that the up-down drive assembly 312 and the left-right drive assembly 313 may include corresponding motors, belt assemblies, slides, and rails.

Specifically, the manipulator 320 is used to grip the swab 10 to grip or release the swab 10. In the illustrated embodiment, the manipulator 320 includes a first gripper 321, a movable platform 322, a transmission rod 323, a mechanical slider 324, a linear actuator 325, and a base 326, the base 326 is mounted on the movable end of the left-right driving assembly 313, the linear actuator 325 is mounted on the base 326, the driving direction of the linear actuator 325 is the front-back direction X, the mechanical slider 324 is disposed on the movable end of the linear actuator 325, one end of the transmission rod 323 is rotatably mounted on the mechanical slider 324, the other end of the transmission rod 323 is ball-hinged to the movable platform 322, the first gripper 321 is mounted on the movable platform 322, the first gripper 321 is used for gripping the swab 10, the number of the transmission rods 323, the sliders and the linear actuator 325 is two or more and corresponds to one, and the two or more transmission rods 323 are distributed at intervals along the circumference of the movable platform 322. When one or more linear drivers 325 drive the corresponding mechanical sliders 324 to slide, the movable platform 322 is rotated in different directions, so as to drive the first clamp 321 to rotate, and the swab 10 is scraped for sampling. When all of the linear drives 325 are driven synchronously, the first gripper 321 and the swab 10 translate. Alternatively, the number of the linear drivers 325 is three, and the driving direction of the linear drivers 325 coincides with the front-rear direction X.

Wherein the fixed portion of the linear actuator 325 is mounted to the base 326. Specifically, the base 326 may be directly mounted to the left and right drive assemblies 313, or may be mounted to the left and right drive assemblies 313 via the wiper drive assembly 327. The output end of the scraping driving component 327 is connected with the base 326, and the scraping driving component 327 is used for driving the base 326 to rotate around the left-right direction Y, so that the degree of freedom of the manipulator 320 is increased. In the illustrated embodiment, the scraping drive assembly 327 is mounted to the left and right drive assemblies 313 by an in-out drive assembly 328, the in-out drive assembly 328 is mounted to the movable end of the left and right drive assemblies 313, the output end of the in-out drive assembly 328 is connected to the scraping drive assembly 327, and the in-out drive assembly 328 is configured to drive the scraping drive assembly 327 to translate in the fore-aft direction X.

Specifically, the manipulator 320 further includes a force sensor 329, the force sensor 329 is mounted on the movable platform 322, the first clamp 321 is mounted on a sensing end of the force sensor 329, and the force sensor 329 is used for acquiring a sampling force so as to control the translational or rotational amplitude of the swab 10.

With reference to fig. 4, the sampling port 106 extends along the first direction and the second direction, so as to enlarge the area of the sampling port 106, and adapt to the requirements of the inspected portions at different positions. In the illustrated embodiment, the first direction is the left-right direction Y and the second direction is the height direction Z.

In some embodiments, referring to fig. 2, 4 and 8, the nucleic acid sampling robot further comprises a mask mechanism 700, the mask mechanism 700 being mounted to the housing 100, the mask mechanism 700 covering the sampling port 106 to isolate the protective sampling port 106. The mask mechanism 700 includes a mask 710, a first drive assembly 720, and a second drive assembly 730, the output of the first drive assembly 720 being connected to the mask 710, the output of the second drive assembly 730 being connected to the mask 710 or the first drive assembly 720, the mask 710 having a detection port 711 in communication with the sampling port 106, the detection port 711 having an area smaller than the area of the sampling port 106. Alternatively, the area of the detection port 711 is 1/10 to 1/20 of the sampling port 106, and in the illustrated embodiment, the outer diameter of the detection port 711 is 3cm to 10cm, and the circumscribed circle diameter of the sampling port 106 is 50cm to 100cm. The detection port 711 is configured to translate in a first direction or rotate about a first direction under the drive of the first drive assembly 720, and the detection port 711 is further configured to translate in a second direction or rotate about a second direction under the drive of the second drive assembly 730, the first direction and the second direction being different. In the illustrated embodiment, the first direction coincides with the left-right direction Y, and the second direction coincides with the height direction Z.

The initial positions of the inspected portion and the inspection port 711 are not necessarily aligned due to the difference in height or sitting position of the inspected person. When the position of the detection port 711 on the cage 710 is fixedly not adjustable, the position of the cage 710 may be adjusted by the first drive assembly 720 and the second drive assembly 730, indirectly effecting the adjustment of the position of the detection port 711. When the position of the detection port 711 on the shielding case 710 is adjustable, the position of the detection port 711 can be directly adjusted by the first driving assembly 720 and the second driving assembly 730, so that the detected part and the detection port 711 are aligned. Specifically, the robot acquires the position of the inspected portion through the recognition detector 840, and then the mask mechanism 700 adjusts the detection port 711 to be aligned with the inspected portion.

In one embodiment, referring to fig. 8, the mask mechanism 700 further includes an opening and closing driving component 740, where the opening and closing driving component 740 includes an opening and closing driving component 741 and an opening and closing component 742, the opening and closing driving component 741 is installed on the isolation cover 710, an output end of the opening and closing driving component 741 is connected to the opening and closing component 742, and the opening and closing driving component 741 is used for driving the opening and closing component 742 to close or open the detection opening 711. At the time of sampling, the opening and closing driving member 741 drives the opening and closing member 742 to open the detection port 711 so as to facilitate the collection operation. After sampling, the opening and closing driving member 741 drives the opening and closing member 742 to close the detection port 711, so as to completely close the interior of the housing 100, and further reduce the risk of external environmental pollution of the interior of the housing 100.

Specifically, the opening and closing driving member 741 may drive the opening and closing member 742 to translate, rotate around an axis parallel to the plane of the detection port 711, or rotate around an axis perpendicular to the plane of the detection port 711, and adjust the position of the opening and closing member 742 so that the opening and closing member 742 is located at the open position or the closed position. Optionally, the opening and closing member 742 is an opening and closing plate. The opening and closing driving assembly 740 is located at the inner side of the shielding cover 710 to prevent the opening and closing driving member 741 from being exposed. The display 850, reader 820, and swiper 830 are mounted outside of the cage 710. The first driving unit 720, the second driving unit 730, and the opening and closing driving unit 740 are installed at the inner side of the shielding case 710.

In some embodiments, referring to fig. 8-10, the cage 710 is a fixed cover 712, the position of the detection port 711 on the fixed cover 712 is fixed, and the first driving assembly 720 is configured to translate the fixed cover 712 along the first direction, so as to adjust the position of the detection port 711 in the first direction. The output end of the second driving component 730 may be directly connected to the fixed cover 712 to realize the translation of the detection port 711 in the second direction, or may be connected to the first driving component 720 to drive the first driving component 720 and the fixed cover 712 to translate together in the second direction.

Fig. 9 is an initial position of the stationary cover 712. The first driving assembly 720 drives the shielding cover 710 to move left along the horizontal direction, and the second driving assembly 730 drives the first driving assembly 720 to move upwards along the vertical direction, so as to drive the fixed cover 712 to move upwards, as shown in fig. 11, the detection opening 711 moves to the upper left corner.

It will be appreciated that in other embodiments, the first drive assembly 720 is configured to drive the stationary housing 712 to rotate about a first direction such that the sensing port 711 rotates about the first direction to effect positional adjustment. The second driving assembly 730 is used to drive the fixed cover 712 to rotate around the second direction, so that the detection port 711 rotates around the second direction, and position adjustment is achieved.

In some embodiments, referring to fig. 8 and 10, the first driving assembly 720 includes a first base 721 and a first driving member 722, the first driving member 722 is mounted on the first base 721, and an output end of the first driving member 722 is connected to the shielding cover 710, so as to drive the detection port 711 to translate in a first direction or rotate around the first direction. The second driving assembly 730 includes a second base 731 and a second driving member 732, the second driving member 732 is mounted to the second base 731, and an output end of the second driving member 732 is connected to the fixed cover 712 or the first driving assembly 720, so as to drive the sensing port 711 to translate in the second direction or rotate around the first direction.

In the illustrated embodiment, the output end of the first driving member 722 is coupled to the stationary housing 712 to drive the stationary housing 712 in a reciprocating translational motion in a first direction. The first base 721 is a plate, the outer contour of the first base 721 is square, and the middle part of the first base 721 is provided with a square hollowed-out hole. The first driving member 722 is coupled to the fixed housing 712 through a first transmission member. The output of the second driver 732 is coupled to the first driver assembly 720. The second base 731 is a plate. The middle part of the second base 731 is provided with a square hollowed-out hole. The second driving member 732 is coupled to the first driving assembly 720 via a second transmission member.

In some embodiments, the position of the detection port 711 on the cage 710 is adjustable. Referring to fig. 12 and 13, the isolation cover 710 includes a mounting base 713, a movable member 714 and a flexible material member 715, where the mounting base 713 encloses a first opening 7131, the movable member 714 is movably located in the first opening 7131, the movable member 714 has a detection opening 711, the flexible material member 715 is circumferentially connected to a peripheral side of the movable member 714, and the flexible material member 715 is connected to the peripheral side of the first opening 7131, so that the flexible material member 715 closes the first opening 7131 except for an area where the movable member 714 is located. In this embodiment, the position of the movable member 714 on the mounting seat 713 is adjustable, so that the position of the detection port 711 is adjusted by adjusting the position of the movable member 714. An output of the first drive assembly 720 (not shown) is coupled to the movable member 714 to drive the movable member 714 to translate in or rotate about a first direction, and an output of the second drive assembly 730 (not shown) is coupled to the movable member 714 or to the first drive assembly 720 to directly or indirectly drive the movable member 714 to translate in or rotate about a second direction.

Since the flexible material 715 is deformable, the flexible material 715 does not hinder the movement of the movable member 714 in the first opening 7131, while being able to close the first opening 7131 (except for the area where the movable member 714 is located). The flexible material 715 is retracted to the edge of the first opening 7131 or stretched to the middle of the first opening 7131 as the movable member 714 moves.

In particular, the flexible material 715 is a foldable or bendable member. For example, the flexible material 715 is a rubber member, a film member, or a folded plastic member. In some embodiments, the flexible material 715 is a polyurethane member. In some embodiments, the flexible material 715 is a film that is wound around the edge of the mounting base 713, can be stretched and stretched, and can also be wound around and contracted at the edge of the mounting base 713, thereby realizing the adjustable area.

In some embodiments, referring to fig. 13, the number of flexible material members 715 is four, and the four flexible material members 715 are a first flexible member 7151, a second flexible member 7152, a third flexible member 7153, and a fourth flexible member 7154, respectively, one end of the first flexible member 7151 and one end of the third flexible member 7153 are connected to opposite sides of the movable member 714 in the first direction, and the other end is connected to opposite side walls of the first opening 7131 in the first direction. One ends of the second flexible member 7152 and the fourth flexible member 7154 are connected to opposite sides of the movable member 714 in the second direction, and the other ends are connected to opposite side walls of the first opening 7131 in the second direction. Are spaced apart along the second direction.

In the illustrated embodiment, the first direction is a horizontal direction and the second direction is a vertical direction. Fig. 13 is an initial position of the movable member 714. After the movable member 714 moves left in the horizontal direction and moves up in the vertical direction, as shown in fig. 14, the detection port 711 moves to the upper left corner, the first flexible member 7151 and the second flexible member 7152 move with the movable member 714 and retract into the mounting seat 713, and the third flexible member 7153 and the fourth flexible member 7154 move with the movable member 714 and stretch and expand.

Referring to fig. 12, the shielding cover 710 further includes a first slider 716 and a second slider 717, wherein the first slider 716 is slidably disposed on the mounting base 713 along a first direction, and the second slider 717 is slidably disposed on the mounting base 713 along a second direction. The first slider 716 is used to guide the movable member 714 to translate steadily in the first direction. The second slider 717 is used to guide the movable member 714 to translate stably in the second direction.

Specifically, with reference to fig. 12, the mounting base 713 includes a mounting plate 7132, and a middle portion of the mounting plate 7132 has a first opening 7131. The mounting plate 7132 is for fixed mounting. The mounting base 713 further includes a mounting frame 7133, the mounting frame 7133 is fixedly mounted on the inner side of the mounting plate 7132, and the mounting frame 7133 is used for improving the strength of the mounting base 713. The mounting frame 7133 has a rectangular shape, and the first slider 716 and the second slider 717 are slidably disposed on the mounting frame 7133, respectively. In the illustrated embodiment, the mounting base 713 further includes a stopper 7134, and four corners of the mounting frame 7133 are provided with the stopper 7134, and the first slider 716 and the second slider 717 slide between the stoppers 7134, preventing the first slider 716 and the second slider 717 from sliding out of the mounting frame 7133.

In the illustrated embodiment, the movable member 714 is slidably disposed on the first slider 716 in the second direction, and the movable member 714 is slidably disposed on the second slider 717 in the first direction. In other words, the movable member 714 is slidably disposed on the first slider 716 and the second slider 717, respectively, ensuring that the movable member 714 has translational degrees of freedom in both the first direction and the second direction.

In some embodiments, and with reference to fig. 15 and 16, the cage 710 includes a first spherical shell 718 and a second spherical shell 719, the first spherical shell 718 having a first through slot 7191 extending around a first direction, the second spherical shell 719 having a second through slot 7191 extending around a second direction, the second spherical shell 719 being located inboard of the first spherical shell 718, it being understood that in other embodiments, the second spherical shell 719 may be located outboard of the first spherical shell 718. The first through groove 7181 and the second through groove 7191 intersect to form a detection opening 711, an output end of the first driving component 720 is connected to the first spherical shell 718 to drive the first spherical shell 718 to rotate around the second direction, and an output end of the second driving component 730 is connected to the second spherical shell 719 to drive the second spherical shell 719 to rotate around the first direction.

Specifically, an output end of the first driving assembly 720 (not shown) is connected to the first spherical shell 718 to drive the first spherical shell 718 to rotate around the first direction, and an output end of the second driving assembly 730 (not shown) is connected to the second spherical shell 719 or is connected to the first spherical shell 718 to directly or indirectly drive the second spherical shell 719 to rotate around the second direction.

Referring to fig. 16, the mask mechanism 700 further includes an open-close seat 750, where the open-close seat 750 is located between the first spherical shell 718 and the second spherical shell 719, and the open-close seat 750 is connected to the first driving assembly 720 and the second driving assembly 730, respectively, so as to keep the position consistent with the position of the detection opening 711. The open/close seat 750 is used for installing an open/close driving assembly 740 to open or close the detection port 711.

In the illustrated embodiment, the first spherical shell 718 is hemispherical and the second spherical shell 719 is hemispherical.

Referring to fig. 17, a tube supply mechanism 400 is disposed in the third chamber 103, and the tube supply mechanism 400 is used to store a plurality of test tubes and supply the test tubes to protect the clean test tubes. The sample storage mechanism 500 is disposed in the third cavity 103, and the sample storage mechanism 500 is used for storing a sample tube, and after a sample is placed in a test tube, the sample tube is referred to as a sample tube. The test tube handling mechanism 600 is mounted to the third chamber 103, the test tube handling mechanism 600 being adapted to receive test tubes from the tube supply mechanism 400, to grip the test tubes to the second transfer port 105 to receive sampled swabs 10 to form sample tubes, and to transport the sample tubes to the sample storage mechanism 500. In this way, the test tube manipulator 600 located in the third chamber 103 acquires a test tube from the tube supply mechanism 400, grips the test tube to the second transfer port 105, receives the sampled swab 10, changes the test tube into a sample tube, and conveys the sample tube to the sample storage mechanism 500 for storage.

Specifically, referring to fig. 17, the tube supplying mechanism 400 includes a tube supplying driving member 410, a tube storing belt 420 and a tube pushing member 430, the tube supplying driving member 410 is mounted in the third cavity 103, the tube storing belt 420 is disposed around the tube supplying driving member 410, the tube storing belt 420 encloses a vortex groove 421, a tube outlet 422 is disposed at an end of the vortex groove 421, the tube pushing member 430 is disposed above the tube storing belt 420, one end of the tube pushing member 430 is connected to an output end of the tube supplying driving member 410, and the other end of the tube pushing member 430 can rotate through the tube outlet 422. The number of pushing tube pieces 430 may be plural, and the plurality of pushing tube pieces 430 are spaced apart along the circumferential direction of the tube feeding driving member 410. The test tubes to be used and filled with the solution are arranged in the vortex groove 421. The tube driving member 410 rotates to drive the pushing tube piece 430 to rotate, so as to push the test tube to move to the outlet 422 along the vortex groove 421.

Specifically, referring to fig. 17, the test tube operating mechanism 600 includes a second clamp 610 and a third driving assembly 620, the third driving assembly 620 is mounted in the third cavity 103, an output end of the third driving assembly 620 is connected to the second clamp 610, and the third driving assembly 620 is used for driving the second clamp 610 to move to the outlet 422 of the tube supplying mechanism 400, the second conveying port 105 and the inlet 511 of the sample storage mechanism 500, respectively. In this manner, the third driving assembly 620 drives the second gripper 610 to the outlet 422 to grip the test tube, moves to the second transfer port 105 to receive the sampled swab 10, moves to the inlet 511, and deposits the sample tube into the sample storage mechanism 500.

Typically, test tubes have tube caps that need to be removed and closed during tube handling. Referring to fig. 18, the test tube handling mechanism 600 further includes a cap handling mechanism 630, where the cap handling mechanism 630 includes a cap clamp 631, a cap lifting driving member 632, and a cap rotation driving member 633, the cap lifting driving member 632 is disposed in the third cavity 103, and an output end of the cap lifting driving member 632 is connected to the cap rotation driving member 633 for driving the cap rotation driving member 633 to lift, and an output end of the cap rotation driving member 633 is connected to the cap clamp 631 for driving the cap clamp 631 to rotate. In use, the third driving assembly 620 drives the second clamp 610 with the test tube clamped thereto to move to the cap clamp 631, the cap clamp 631 descends and clamps the tube cap of the test tube under the driving of the cap lifting driving member 632, and rotates the tube cap under the driving of the cap rotating driving member 633 to separate the tube cap from the test tube; the third driving assembly 620 drives the second gripper 610 with the open test tube clamped to move to the second transfer port 105, and the test tube takes a sample; after the test tube takes the sample, the second clamp 610 is driven to move to the cover clamp 631, and the cover operating mechanism 630 screws the tube cover onto the test tube; the sample tube is then driven to move to the inlet 511 of the sample storage mechanism 500.

In some embodiments of the present application, the outlet 422, the second delivery port 105 and the cover clamp 631 are sequentially arranged at intervals along a straight line, and the third driving assembly 620 is a linear driving module for driving the second clamp 610 to perform a linear reciprocating motion between the outlet 422, the second delivery port 105 and the cover clamp 631.

Specifically, with reference to FIG. 17, the cuvette handling mechanism 600 further includes a scanning mechanism 660, the scanning mechanism 660 being located beside the cover handling mechanism 630 for scanning information on the cuvette. Specifically, when the cap clamp 631 clamps the cap and drives the test tube to rotate once, the scanning mechanism 660 scans the label information on the scanned test tube and feeds back to the controller, and the controller binds the sampling object with the information of the test tube according to the information of the scanning mechanism 660.

Specifically, referring to fig. 19, the test tube manipulator 600 further includes a clipping mechanism 640, where the clipping mechanism 640 is located beside the second transfer port 105, and is used to clip the sampled swab 10. After the swab 10 is placed into the test tube through the second transfer port 105, the cutting mechanism 640 shears the swab 10, and the sheared sample falls into the test tube below, so that the sample of the swab 10 is separated from the waste rod.

Further, the cutting mechanism 640 includes a pair of scissors 641 and a cutting driving assembly 642 for driving the scissors 641 to be closed or opened, the scissors 641 are in a normally open state, and after the sample portion of the swab 10 is inserted into the test tube below, the cutting driving assembly 642 drives the scissors 641 to be closed so as to cut the swab 10.

Referring back to fig. 17, the test tube handling mechanism 600 further includes a waste recycling bin 650, the waste recycling bin 650 is disposed in the third cavity 103, and the waste recycling bin 650 is used for recycling the cut waste sticks. Specifically, the second chamber 102 also has a waste port in communication with the third chamber 103. After the cutting mechanism 640 cuts the swab 10, the robot 320 of the swab handling mechanism 300 discards the waste sticks through the waste port into the waste recovery box 650. It should be noted that, the waste recycling bin 650 has an alcohol sterilizing function, so as to effectively prevent the waste rod from polluting the environment of the waste recycling bin 650.

Specifically, referring to fig. 17, the sample storage mechanism 500 includes a receiving tape 510, a feeding guide groove 520, a feeding driving assembly 530, and a pulling block 540, where the receiving tape 510 has a feeding hole 511, one end of the feeding guide groove 520 is connected to the feeding hole 511 of the receiving tape 510, the other end of the feeding guide groove 520 is connected to the cap operating mechanism 630, the pulling block 540 is connected to the feeding driving assembly 530, and the pulling block 540 is driven by the feeding driving assembly 530 to push a test tube from the cap operating mechanism 630 onto the receiving tape 510 along the feeding guide groove 520.

In some embodiments of the present application, the sample storage mechanism 500 further includes a turntable 550, where the turntable 550 is disposed corresponding to the tube receiving belt 510 and is capable of rotating relative to the tube receiving belt 510 to drive the test tube on the tube receiving belt 510 to move along the vortex groove of the tube receiving belt 510 toward the center direction of the tube receiving belt 510. Further, the turntable 550 is circular, the turntable 550 is located above the tube receiving belt 510 and is coaxially arranged with the tube receiving belt 510, and bristles are arranged on one side of the turntable 550 facing the tube receiving belt 510, and when the turntable 550 rotates, the bristles on the turntable 550 drive test tubes on the tube receiving belt 510 to move along the vortex grooves towards the center direction of the tube receiving belt 510. It should be noted that, because the bristles have a certain flexibility, when a part of the test tubes on the tube receiving belt 510 move in place and cannot move along the vortex groove, the bristles of the turntable 550 corresponding to the part of the test tubes generate flexible bending, and the bristles on other parts of the turntable 550 can continuously drive the test tubes which do not move in place to continuously move along the vortex groove.

The foregoing description of the preferred embodiments of the utility model is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the utility model.

Claims (10)

1. A nucleic acid sampling robot, comprising:

the device comprises a shell, a first cavity, a second cavity and a third cavity, wherein the second cavity is provided with a first conveying port communicated with the first cavity, a second conveying port communicated with the third cavity and a sampling port communicated with the outside of the shell;

a swab supply mechanism mounted to the first cavity, the swab supply mechanism for storing a swab and for supplying the swab to the first transfer port;

the swab operating mechanism is arranged in the second cavity and is used for clamping the swab from the first conveying port, clamping the swab to sample through the sampling port and conveying the sampled swab to the second conveying port;

a tube supply mechanism placed in the third chamber, the tube supply mechanism being for storing a plurality of test tubes and supplying the test tubes;

The sample storage mechanism is arranged in the third cavity and is used for storing a sample tube;

the test tube operating mechanism is arranged in the third cavity and is used for receiving the test tube from the tube supply mechanism, clamping the test tube to the second conveying port, receiving the sampled swab to form a sample tube, and conveying the sample tube to the sample storage mechanism.

2. The nucleic acid sampling robot of claim 1, wherein: the swab operating mechanism comprises a first roller, a second roller, a tensioning member, a supply driving member and a pushing member, wherein the first roller is rotatably wound around a continuous packaging bag filled with swabs, the second roller is rotatably wound around a continuous packaging bag pushed out of the swabs, the tensioning member is used for tensioning the continuous packaging bag between the first roller and the second roller, the tensioning member is arranged beside the first conveying port, the supply driving member is used for driving the continuous packaging bag to be conveyed along the first roller, the tensioning member and the second roller, the pushing member can move along the length direction of the swabs, the moving direction of the pushing member faces the first conveying port, and the pushing member pushes the packaging bag tensioned on the tensioning member so as to push the swabs out of the packaging bag and enter the first conveying port.

3. The nucleic acid sampling robot of claim 1, wherein: the sampling port extends along a first direction and a second direction so as to enlarge the area of the sampling port;

the nucleic acid sampling robot further comprises a mask mechanism, the mask mechanism is mounted on the shell, the mask mechanism covers the sampling port, the mask mechanism comprises an isolation cover, a first driving assembly and a second driving assembly, the output end of the first driving assembly is connected with the isolation cover, the output end of the second driving assembly is connected with the isolation cover or the first driving assembly, the isolation cover is provided with a detection port communicated with the sampling port, the detection port is configured to translate along or rotate around the first direction under the driving of the first driving assembly, and the detection port is further configured to translate along or rotate around the second direction under the driving of the second driving assembly, and the first direction and the second direction are different.

4. The nucleic acid sampling robot of claim 3, wherein: the mask mechanism further comprises an opening and closing driving assembly, the opening and closing driving assembly comprises an opening and closing driving piece and an opening and closing piece, the opening and closing driving piece is installed on the isolation cover, the output end of the opening and closing driving piece is connected with the opening and closing piece, and the opening and closing driving piece is used for driving the opening and closing piece to be closed or opened to the detection opening.

5. The nucleic acid sampling robot of claim 1, wherein: the shell is provided with a front-back direction, a left-right direction and a height direction; the sampling port is positioned at the front side of the shell; the swab operating mechanism comprises a directional moving mechanism and a manipulator, the directional moving mechanism comprises a front-back driving component arranged in the second cavity, an upper-lower driving component arranged at the output end of the front-back driving component, and a left-right driving component arranged at the output end of the upper-lower driving component, the front-back driving component is used for driving the upper-lower driving component to translate along the front-back direction, the upper-lower driving component is used for driving the left-right driving component to translate along the height direction, the movable end of the left-right driving component is connected with the manipulator, and the left-right driving component is used for driving the manipulator to translate along the left-right direction; the manipulator is used for clamping the swab.

6. The nucleic acid sampling robot of claim 5, wherein: the manipulator comprises a first clamp, a movable platform, a transmission rod, a mechanical sliding block, a linear driver and a base, wherein the base is arranged at the movable end of the left driving component and the right driving component, the linear driver is arranged at the base, the driving direction of the linear driver is in the front-back direction, the mechanical sliding block is arranged at the movable end of the linear driver, one end of the transmission rod is rotatably arranged at the mechanical sliding block, the other end of the transmission rod is in ball joint with the movable platform, the first clamp is arranged at the movable platform, the first clamp is used for clamping the swab, the transmission rod, the mechanical sliding block and the linear driver are in one-to-one correspondence, and the transmission rods are distributed at intervals along the periphery of the movable platform.

7. The nucleic acid sampling robot of claim 6, wherein: the manipulator further comprises a scraping driving assembly and an in-out driving assembly, the in-out driving assembly is mounted at the movable end of the left driving assembly and the movable end of the right driving assembly, the output end of the in-out driving assembly is connected with the scraping driving assembly, the in-out driving assembly is used for driving the scraping driving assembly to translate along the front-back direction, the output end of the scraping driving assembly is connected with the base, and the scraping driving assembly is used for driving the base to rotate around the left direction and the right direction.

8. The nucleic acid sampling robot of claim 1, wherein: the pipe supply mechanism comprises a pipe supply driving piece, a pipe storage belt and a pipe pushing piece, wherein the pipe supply driving piece is arranged in the third cavity, the pipe storage belt surrounds the pipe supply driving piece, a vortex groove is formed in the pipe storage belt in a surrounding mode, a pipe outlet opening is formed in the tail end of the vortex groove, the pipe pushing piece is located above the pipe storage belt, one end of the pipe pushing piece is connected to the output end of the pipe supply driving piece, and the other end of the pipe pushing piece can rotate to pass through the pipe outlet opening.

9. The nucleic acid sampling robot of claim 1, wherein: the test tube operating mechanism comprises a second clamp and a third driving assembly, the third driving assembly is installed in the third cavity, the output end of the third driving assembly is connected with the second clamp, and the third driving assembly is used for driving the second clamp to move to the pipe outlet of the pipe supply mechanism, the second conveying port and the material inlet of the sample storage mechanism respectively.

10. The nucleic acid sampling robot according to any one of claims 1 to 9, wherein:

the first cavity, the second cavity and the third cavity are sequentially arranged from top to bottom;

the nucleic acid sampling robot further comprises a moving chassis, wherein the moving chassis is connected with the shell so as to drive the shell to move;

the nucleic acid sampling robot further comprises a card reader and/or a code scanner;

the nucleic acid sampling robot further includes an identification detector for identifying a position of a detected portion of the sampled person.

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