CN219147660U - A throat swab automatic sampling device - Google Patents

Abstract

The utility model discloses automatic throat swab sampling equipment which comprises a frame body, a horizontal and vertical linear motion mechanism, a swab feeding manipulator, a swab warehouse, a swab conveyor, a rotary shell motor gear set, a multi-degree-of-freedom robot, a sampling tube warehouse, a coding mechanism, a swab manipulator reversing track, a rotary shell, a screwing mechanism, a swab manipulator, an oral cavity positioning cup, a swab fixture cylinder, a mounting plate, a support plate cylinder, a support plate, a horizontal linear motion mechanism, a sampling motor, a power plate, a sampling motor gear, a swinging device, a swab manipulator reversing frame, a sterilizing device, a swab shearing mechanism, a pressing and opening device, a connecting frame cylinder, a connecting plate, a pulling rod device, a rotating shaft and a connecting plate cylinder. The utility model adopts a multi-station integrated parallel structure, realizes synchronous execution of all tasks of nucleic acid sampling, has high automation degree, reasonable structural design, high efficiency, high speed and safety, and can complete the whole process in 3-5 seconds.

Description

A throat swab automatic sampling device

technical field

The utility model relates to the technical field of medical instruments, in particular to an automatic sampling device for throat swabs.

Background technique

Pharyngeal swab is a method of collecting clinical test samples of oral secretions from the throat. Humans often use it when fighting various viruses. Compared with nasal swab sampling, throat swab sampling is relatively simple and widely used Accepted test methods. At present, the most important detection method for the diagnosis of new coronary pneumonia is nucleic acid detection, which directly detects the viral nucleic acid in the collected specimens to determine whether the tested person is infected with the virus.

However, as a commonly used medical detection method for infectious diseases, the throat swab sampling process is usually collected manually one-to-one. The staff is dense and the workload is heavy, and the collection of biological samples from the throat is highly infectious. Medical staff have to wear isolation suits to protect themselves, causing physical and mental pain. The key is that the infection of medical staff and the cross-infection between the tested persons cannot be avoided, which may lead to the further development of the epidemic.

Therefore, need a kind of pharyngeal swab automatic sampling equipment to replace medical personnel to take samples to patients. The device does not need to be operated by medical staff, and the subjects only need to follow the instructions to operate it by themselves.

Utility model content

Aiming at the deficiencies of the prior art, the technical problem to be solved by the utility model is to provide an automatic throat swab sampling device.

The technical solution of the utility model to solve the technical problem is to provide an automatic throat swab sampling device, which is characterized in that the device adopts a multi-station integrated parallel structure, including a frame body, a horizontal and vertical linear motion mechanism, a swab Feeding manipulator, swab storehouse, swab conveyor, rotating shell motor, rotating shell motor gear set, multi-degree-of-freedom robot, sampling tube storehouse, coding mechanism, swab manipulator reversing track, rotating shell, screwing Cover mechanism, swab manipulator, oral cavity positioning cup, swab fixture cylinder, mounting plate, support plate cylinder, support plate, horizontal linear motion mechanism, sampling motor, power plate, sampling motor gear, swing device, swab manipulator commutation frame , disinfection device, swab cutting mechanism, pressing device, connecting frame, connecting frame cylinder, connecting plate, rod pulling device, rotating shaft and connecting plate cylinder;

The swab manipulator includes a swab manipulator gear, a spring telescopic sleeve, a bearing seat and a swab fixture; the outer tube and the inner tube of the spring telescopic sleeve can slide relatively, and one end of the inner tube and the outer tube is connected by a spring; The other end of the inner tube protrudes from the outer tube, and a swab clamp is installed at the end; when working, the pharyngeal swab is inserted into the swab clamp, and the fastening and loosening of the swab clamp is changed through the cooperation of the swab clamp and the outer tube, so as to To further tighten the throat swab; the outer side of the spring telescopic sleeve is fixed with the gear of the swab manipulator; the spring telescopic sleeve is rotatably installed in the bearing seat;

The shell of the rotary shell motor is fixed on the frame body, and a gear in the gear set of the rotary shell motor is fixed at its output end; a rotating shaft is fixed at the center of the rotary shell, and the rotating shaft is installed in the frame body in rotation, and the end Another gear in the gear set of the rotating shell motor is fixed on the top, and the two gears in the gear set of the rotating shell motor are meshed and connected; several swab manipulator reversing frames are arranged in the circumferential direction of the rotating shell, and one end is hinged on the On the edge of the rotating shell; the bearing seat is fixed on the other end of the reversing frame of the swab manipulator; Cooperate with the frame to realize the rotation of the swab manipulator reversing frame to a horizontal or vertical state, and then realize the horizontal or vertical state of the swab manipulator;

The shell of the horizontal and vertical linear motion mechanism is fixed on the frame, powered by the motor, which can realize the movement in the X direction and the Z direction, and the swab feeding manipulator is fixed on the nut at the output end; the swab magazine is fixed on the frame It is used to store throat swabs; a part of the swab conveyor is placed inside the swab warehouse, and is used to transmit the throat swabs in the swab warehouse; the end of the swab feeding manipulator and the end of the swab conveyor The other part is used to clamp the throat swab on the swab conveyor; the shell of the swab clamp cylinder is fixed on the frame body, and its output end is matched with the inner tube of the spring telescopic sleeve;

The mounting plate is fixed on the frame body; the cylinder body of the supporting plate cylinder is fixed on the mounting plate, and its output end is fixedly connected with the supporting plate; the supporting plate is slidably installed on the mounting plate; the housing of the sampling motor is fixed on the supporting plate, The plate drives the sampling motor to move along the Z direction, and the output end of the sampling motor is fixed with a sampling motor gear; the sampling motor gear is meshed with the swab manipulator gear to meet the rotation collection function of the swab manipulator; the housing of the horizontal linear motion mechanism is fixed on The support plate is powered by the motor, and the nut at the output end is fixedly connected with the power plate; the end of the power plate is provided with a gap; the outer tube of the spring telescopic sleeve is provided with a boss, and the boss cooperates with the gap of the power plate to realize The swab manipulator moves along the Y direction; the oral positioning cup is installed on the frame, and the throat swab passes through the oral positioning cup and extends out of the equipment for nucleic acid sampling; the housing of the swing device is fixed on the frame, and the output end is connected to the With the cooperation of throat swab, the throat swab at the throat swab sampling station is driven to swing during nucleic acid sampling to assist in the completion of nucleic acid sampling;

The multi-degree-of-freedom robot is set in the frame; the swab cutting mechanism is slidingly arranged on the frame, and is located within the working range of the multi-degree-of-freedom robot, which is used to cut the throat swab on the swab manipulator after the throat swab sampling is completed. The swab rod and swab head; the disinfection device is installed on the frame body, which is used to sterilize the scissor head in the swab cutting mechanism; the sampling tube library is installed in the frame body and is located within the working range of the multi-degree-of-freedom robot. There are several sampling tubes in the library; the cap screwing mechanism is installed in the frame body, which is located in the working range of the multi-degree-of-freedom robot, and cooperates with the multi-degree-of-freedom robot to perform the screwing action of the packaging cap of the sampling tube; the coding mechanism is installed in the Inside the frame, located within the working range of the multi-degree-of-freedom robot, it is used to spray barcodes on the sampling tubes to record data;

The press-opening device is fixed on the frame body, and cooperates with the inner tube of the spring telescopic sleeve of the swab manipulator to release the fastening of the swab clamp to the throat swab; the cylinder body of the connecting frame cylinder is fixed on the frame body, and the output end is connected to the The connecting frame is fixedly connected; the connecting frame is slidably installed on the frame body; the cylinder body of the connecting plate cylinder is fixed on the connecting frame, and the output end is fixedly connected with the connecting plate; the connecting plate is slidably installed on the connecting frame and can move along the Z direction; The rod device is arranged on the connecting plate, and is used for pulling out the unfastened throat swab from the swab holder.

Compared with the prior art, the utility model has the beneficial effects of:

(1) The utility model adopts a multi-station integrated parallel structure, which realizes feeding from the throat swab, nucleic acid sampling (that is, the front and rear, rotation, and swing movements of the throat swab), cutting the throat swab, inserting the tube, screwing the cap, and punching the throat swab. Multi-tasks such as code and pharyngeal swab rod removal and discarding are carried out simultaneously. The degree of automation is high, the structure design is reasonable, efficient, fast and safe. The whole process can be completed in only 3 to 5 seconds.

(2) The utility model is equipped with a negative pressure fan for exchanging air, a disposable isolation cover and a swab cutting mechanism disinfection device, which solves the potential safety hazard of cross-infection during the nucleic acid sampling process.

(3) The utility model can accurately simulate the advancing and retreating, rotating and swinging actions of manual sampling during nucleic acid sampling, thereby ensuring the reliability and accuracy of sampling.

(4) The disinfection device uses instantaneous high temperature to kill the virus that may be contaminated by cutting the swab, so as to ensure that the two adjacent samples are not infected with each other, and avoid the potential safety hazard of secondary infection.

(5) The utility model equipment can intelligently collect user information, and can realize automatic input, memory and storage of user information; a corresponding virus sampling management software has also been developed, which is connected with Internet big data and can upload information from time to time.

(6) Except for the oral positioning cup, all mechanisms and control elements in the equipment are placed in a sealed frame to ensure that the internal components are not polluted by the outside.

(7) When working, the oral positioning cup is covered with a disposable isolation cover, which can effectively isolate people and equipment.

(8) The negative pressure fan can discharge the gas in the user's mouth that may contain viruses to a safe place for disinfection at any time.

Description of drawings

Fig. 1 is the axonometric schematic diagram of the overall structure of the present utility model;

Fig. 2 is a partial enlarged view of part A of Fig. 1 of the utility model;

Fig. 3 is the schematic front view of the overall structure of the utility model;

Fig. 4 is a partial enlarged view of part B of Fig. 3 of the utility model;

Fig. 5 is a partial enlarged view of part C of Fig. 3 of the utility model;

Fig. 6 is a schematic left view of the overall structure of the utility model;

Fig. 7 is a partial enlarged view of part D of Fig. 6 of the utility model;

Fig. 8 is a partially enlarged view of part E of Fig. 6 of the utility model;

Fig. 9 is a partially enlarged view of part F of Fig. 6 of the present utility model;

Fig. 10 is a schematic top view of the overall structure of the present utility model;

Fig. 11 is a partially enlarged view of part G of Fig. 10 of the utility model;

Fig. 12 is a partially enlarged view of part H of Fig. 10 of the present invention.

In the figure, frame body 1, horizontal and vertical linear motion mechanism 2, swab feeding manipulator 3, swab storehouse 4, swab conveyor 5, negative pressure fan 6, rotating housing motor 7, rotating housing motor gear set 8. Multi-degree-of-freedom robot 9, sampling tube library 10, coding mechanism 11, swab manipulator reversing track 12, rotating housing 13, cap screwing mechanism 14, swab manipulator 15, oral cavity positioning cup 16, swab clamp cylinder 17. Mounting plate 18, support plate cylinder 19, linear reciprocating mechanism-20, support plate 21, horizontal linear motion mechanism 22, sampling motor 23, power plate 24, sampling motor gear 25, gear set 26, swab manipulator gear 27 , spring telescopic sleeve 28, bearing seat 29, swab clamp 30, throat swab 31, swing device 32, swab manipulator reversing frame 33, disinfection device 34, swab cutting mechanism 35, linear reciprocating mechanism two 36, Sampling tube 37, pressure opening device 38, connecting frame 39, linear reciprocating mechanism three 40, connecting frame cylinder 41, connecting plate 42, puller device 43, rotating shaft 44, linear reciprocating mechanism four 45, connecting plate cylinder 46.

Detailed ways

Provide the specific embodiment of the present utility model below. The specific embodiments are only used to further describe the utility model in detail, and do not limit the protection scope of the claims of the utility model.

The utility model provides an automatic throat swab sampling device (equipment for short), which is characterized in that the device adopts a multi-station integrated parallel structure, including a frame body 1, a horizontal and vertical linear motion mechanism 2, and a swab feeding manipulator 3. Swab warehouse 4, swab conveyor 5, rotating housing motor 7, rotating housing motor gear set 8, multi-degree-of-freedom robot 9, sampling tube warehouse 10, coding mechanism 11, swab manipulator reversing track 12 , rotating housing 13, cap screwing mechanism 14, swab manipulator 15, oral cavity positioning cup 16, swab fixture cylinder 17, mounting plate 18, support plate cylinder 19, support plate 21, horizontal linear motion mechanism 22, sampling motor 23, Power plate 24, sampling motor gear 25, swing device 32, swab manipulator reversing frame 33, disinfection device 34, swab shearing mechanism 35, pressing device 38, connecting frame 39, connecting frame cylinder 41, connecting plate 42, pulling Rod device 43, rotating shaft 44 and connecting plate cylinder 46;

The swab manipulator 15 includes a swab manipulator gear 27, a spring telescopic sleeve 28, a bearing seat 29 and a swab holder 30; the outer tube and the inner tube of the spring telescopic sleeve 28 can slide relatively to achieve telescopic, and the inner tube One end of the outer tube is connected with the spring, and reset is realized by the spring; the other end of the inner tube protrudes from the outer tube, and a swab holder 30 is installed at the end; when working, the pharyngeal swab 31 is inserted into the swab holder 30 and passed through the swab holder. 30 cooperates with the outer tube to change the fastening and loosening state of the swab clamp 30, so as to further tighten the pharyngeal swab 31; the outside of the outer tube of the spring telescopic sleeve 28 is fixed with a swab manipulator gear 27 through a key; the spring telescopic The outer tube of the sleeve 28 is installed in the bearing seat 29 through bearing rotation;

The housing of the rotating housing motor 7 is fixed on the frame body 1, and a gear in the rotating housing motor gear set 8 is fixed at its output end; a rotating shaft 44 is fixed at the center of the rotating housing 13, and the rotating shaft 44 passes through the bearing Rotation is installed in the frame body 1, another gear in the rotating shell motor gear set 8 is fixed on the end, and the two gears in the rotating shell motor gear set 8 are meshed and connected; several (4 in this embodiment) ) The swab manipulator reversing frame 33 is evenly arranged in the circumferential direction of the rotating housing 13, and one end is hinged on the edge of the rotating housing 13, and the rotating housing 13 drives the swab manipulator reversing frame 33 to rotate together with it; the bearing seat 29 It is fixed on the other end of the swab manipulator reversing frame 33; the swab manipulator reversing track 12 is fixed on the frame body 1, is ring-shaped, and is located at the edge of the rotating housing 13, and cooperates with the swab manipulator reversing frame 33 to realize The swab manipulator reversing frame 33 rotates to a horizontal or vertical state, and then realizes the horizontal or vertical state of the swab manipulator 15;

The housing of the horizontal and vertical linear motion mechanism 2 is fixed on the frame body 1, powered by a motor, which can realize the movement in the X direction and the Z direction, and the swab feeding manipulator 3 is fixed on the nut at the output end; the swab library 4 Fixed on the frame body 1, it is used to store throat swabs 31; a part of the swab conveyor 5 is placed inside the swab storehouse 4, and is used to arrange and transmit the throat swabs 31 in the swab storehouse 4 sequentially; The end of the sub-feeding manipulator 3 cooperates with another part of the swab conveyor 5 to clamp the throat swab 31 on the swab conveyor 5; the housing of the swab clamp cylinder 17 is fixed on the frame body 1, Its output end cooperates with the inner pipe of the spring telescopic sleeve 28;

The mounting plate 18 is fixed on the frame body 1; the cylinder body of the support plate cylinder 19 is fixed on the mounting plate 18, and its output end is fixedly connected with the support plate 21; Above; the housing of the sampling motor 23 is fixed on the support plate 21, the support plate 21 drives the sampling motor 23 to move along the Z direction, and the output end of the sampling motor 23 is fixed with a sampling motor gear 25; the sampling motor gear 25 and the swab manipulator gear 27 The meshing transmission connection meets the rotary sampling function of the swab manipulator 15; the housing of the horizontal linear motion mechanism 22 is fixed on the support plate 21, powered by a motor, and the nut at the output end is fixedly connected with the power plate 24; the end of the power plate 24 A notch is provided; the outer tube of the spring telescopic sleeve 28 is provided with a boss, which cooperates with the notch of the power plate 24 and can be clamped in the notch of the power plate 24 to realize the advance and retreat of the swab manipulator 15 with the power plate 24 Function, move along the Y direction; the oral cavity positioning cup 16 is installed in the side hole of the frame body 1, set along the Y direction, and the throat swab 31 at the throat swab sampling station passes through the oral cavity positioning cup 16 and protrudes out of the device , used for throat swab sampling; the shell of the swing device 32 is fixed on the frame body 1, and the output end cooperates with the throat swab 31 to drive the throat swab 31 at the throat swab sampling station to swing during nucleic acid sampling, assisting in the completion of Throat swab sampling;

The multi-degree-of-freedom robot 9 is set in the frame body 1; the swab cutting mechanism 35 is slidingly arranged on the frame body 1 through the linear reciprocating mechanism 2 36, and is located within the working range of the multi-degree-of-freedom robot 9, and is also located in the throat swab cutting tube. Directly below the swab manipulator 15 at the work station, cut the throat swab 31 on the swab manipulator 15 at the pipe work station into a swab rod and a swab head by moving in the X direction; On the frame body 1, it is located above the swab cutting mechanism 35, and is used for high-temperature sterilization and disinfection of the scissor head in the swab cutting mechanism 35; Within the working range, there are several sampling tubes 37 in the sampling tube library 10; the cap screwing mechanism 14 is installed in the frame body 1, which is located within the working range of the multi-degree-of-freedom robot 9, and cooperates with the multi-degree-of-freedom robot 9 to carry out sampling tube 37’s capping action to open and close the cap; the coding mechanism 11 is installed in the frame body 1 and is located within the working range of the multi-degree-of-freedom robot 9, and the coding mechanism 11 is used to spray barcodes on the sampling tube 37 to record data;

The press-opening device 38 is fixed on the frame body 1, cooperates with the inner tube of the spring telescopic sleeve 28 of the swab manipulator 15 at the swab rod removal station, and releases the fastening of the swab clamp 30 to the throat swab 31; The cylinder body of the frame cylinder 41 is fixed on the frame body 1, and the output end is fixedly connected with the connecting frame 39; the connecting frame 39 is slidably installed on the frame body 1 by a linear reciprocating mechanism 45, and can move along the Y direction; the connecting plate cylinder 46 The cylinder body is fixed on the connecting frame 39, and the output end is fixedly connected with the connecting plate 42; the connecting plate 42 is slidably installed on the connecting frame 39 through the linear reciprocating mechanism 340, and can move along the Z direction; the pulling rod device 43 is arranged on the connecting On the plate 42, the throat swab 31 that is used to release the fastening of the swab holder 30 is pulled out from the swab holder 30, so that the removal and recovery of the swab rod is realized.

Preferably, the multi-degree-of-freedom robot 9 adopts a four-axis robot.

Preferably, the device further includes a negative pressure fan 6; the negative pressure fan 6 is arranged at the lower part of the frame body 1, and is used for exchanging the air in the device with the outside air.

Preferably, a gear set 26 is rotatably mounted on the support plate 21; the gear set 26 is arranged between the sampling motor gear 25 and the swab manipulator gear 27, and is respectively meshed and driven with the sampling motor gear 25 and the swab manipulator gear 27, and can be changed gear ratio.

Preferably, the swab holder 30 is a hollow structure for the insertion of the throat swab 31; Tube fits, realizes closure, and then realizes the fastening to throat swab 31.

Preferably, the horizontal and vertical linear motion mechanism 2 adopts a horizontal and vertical ball screw group, which is composed of two motors, a horizontal ball screw and a vertical ball screw; the housing of the horizontal ball screw is fixed on the frame On the body 1, the shell of the vertical ball screw is fixed on the nut at the output end; the swab feeding manipulator 3 is fixed on the nut at the output end of the vertical ball screw; two motors are used as the horizontal ball screw and the vertical ball screw respectively. The power of the ball screw drives the nut to rotate.

Preferably, the structure of the swab manipulator reversing track 12 is: between the throat swab feeding station and the throat swab sampling station, it is a horizontal track that is higher than the hinge of the swab manipulator reversing frame 33. The sub-manipulator reversing frame 33 cooperates with the swab manipulator reversing track 12 to make itself in a vertical state, and then the swab manipulator 15 is in a horizontal state; between the throat swab sampling station and the throat swab cutting tube station, it gradually descends The inclined track of the swab manipulator reversing frame 33 is gradually changed from contact support to non-contact. As the support force of the swab manipulator reversing track 12 to the swab manipulator reversing frame 33 gradually disappears, the swab manipulator The manipulator reversing frame 33 gradually changes from a vertical state to a horizontal state, and then the swab manipulator 15 gradually changes from a horizontal state to a vertical state; The horizontal track at the hinge of the sub-manipulator reversing frame 33 does not have the swab manipulator reversing track 12 to provide support for the swab manipulator reversing frame 33, the swab manipulator reversing frame 33 is in a horizontal state, and then the swab manipulator 15 is in a horizontal state. Vertical state; between the swab rod removal station and the pharyngeal swab feeding station is a gradually rising inclined track, and the hinge with the swab manipulator commutation frame 33 gradually changes from non-contact to contact support, and the swab manipulator The reversing frame 33 gradually changes from a horizontal state to a vertical state, and then the swab manipulator 15 gradually changes from a vertical state to a horizontal state.

Preferably, during nucleic acid sampling, a disposable isolation cover is nested outside the mouth positioning cup 16 to avoid virus infection and transmission. After registering, get a disposable isolation cover, put the disposable isolation cover on the oral positioning cup 16, the user opens his mouth to hold the disposable isolation cover on the oral positioning cup 16, loosen his mouth after feeling that the test is completed, and put the disposable isolation cover by the way. Remove and place in a medical waste container.

Preferably, an ultraviolet sterilizing lamp can be housed in the frame body 1, which can be activated when not working.

Preferably, the swab manipulator 15 is equipped with a force sensor, which is used to detect the contact force with the oral cavity of the human body, so as to ensure the safety of the feeding length. The swab manipulator 15 is equipped with a flexible joint, which is in flexible contact with the oral cavity of the human body to ensure that the user's oral cavity is safe and free from injury.

Preferably, the frame body 1 adopts a sealed box; except for the mouth positioning cup 15, all components are located in the sealed box to ensure that internal components are not polluted by the outside.

Preferably, the throat swab 31 is composed of a swab rod and a swab head located at the end of the swab rod.

Principle of work and work flow of the present utility model are:

The four swab manipulators 15 are evenly distributed on the rotating housing 13, respectively located at the throat swab feeding station, throat swab sampling station, throat swab cutting tube insertion station and swab rod removal station, or only use A swab manipulator 15 completes the operations of four stations in sequence;

First, at the throat swab feeding station, the swab conveyor 5 arranges and transports the throat swabs 31 in the swab warehouse 4 sequentially; the horizontal and vertical linear motion mechanism 2 moves the swabs on the The material manipulator 3 is brought to a suitable position, and the swab feeding manipulator 3 acts to horizontally insert the throat swab 31 on the swab conveyor 5 into the swab holder 30 of the swab manipulator 15; then the swab holder cylinder 17 starts to drive The inner tube of the spring telescopic sleeve 28 moves, and the inner tube drives the swab holder 30 to move toward the outer tube or away from the outer tube. When it is close to the outer tube, the swab holder 30 is compressed and tightened to fasten the throat swab 31 , the loading of the throat swab is completed, and the swab clamp 30 releases the fastening of the throat swab 31 when it is away from the outer tube.

Then the rotating housing motor 7 is started, and driven by the rotating housing motor gear set 8, the rotating housing 13 is driven to rotate, and the swab manipulator 15 is sent to the throat swab sampling station, and the swab manipulator 15 maintains a horizontal state during the transmission process ; At the pharyngeal swab sampling station, the support plate cylinder 19 pushes the support plate 21 to move along the linear reciprocating mechanism-20 until the sampling motor gear 25 meshes with the swab manipulator gear 27, and then the horizontal linear motion mechanism 22 rotates with the swab The manipulator 15 and the sampling motor 23 move until the throat swab 31 stretches out of the mouth positioning cup 16 and enters a suitable position in the mouth of the sampled person; then the sampling motor 23 rotates, and the power is transmitted to the swab manipulator gear 27, bringing the whole swab manipulator 15 rotates so that the throat swab 31 rotates in the mouth of the person being collected to achieve the purpose of accurate sampling. At the same time, the swing device 32 starts to swing with the throat swab 31 to further ensure the comprehensiveness and accuracy of sampling.

Then, the rotating housing motor 7 is started, and driven by the rotating housing motor gear set 8, the rotating housing 13 is driven to rotate, and the swab manipulator 15 is sent to the pharyngeal swab cutting tube station, and the swab manipulator is replaced during the transmission process. The frame 33 cooperates with the swab manipulator reversing track 12 to make the swab manipulator 15 gradually change from a horizontal state to a vertical state; at the pharyngeal swab cutting into the tube station, the swab cutting mechanism 35 acts on the linear reciprocating mechanism 2 36 Stretch out and cut off the throat swab 31, while the multi-degree-of-freedom robot 9 takes out the sampling tube 37 from the sampling tube library 10 and places it directly below the swab manipulator 15. After cutting the throat swab 31 each time, it can pass through the disinfection device 34 completes instant disinfection; after collecting the designated number of swab heads, the sampling tube 37 is sent to the bottom of the capping mechanism 14, and the capping action of the packaging cap of the sampling tube 37 is performed; after capping, the multi-degree-of-freedom robot 9 Then the sampling tube 37 is sent to the coding mechanism 11 for coding to record the sampling information.

Then, the rotating housing motor 7 starts, and through the transmission of the rotating housing motor gear set 8, the rotating housing 13 is driven to rotate, and the swab bar (that is, the cut pharyngeal swab 31) on the swab manipulator 15 is sent to the Swab rod removal station, the swab manipulator 15 maintains a vertical state during the transmission process; at the swab rod removal station, the pressing device 38 moves, and cooperates with the inner tube of the spring telescopic sleeve 28 of the swab manipulator 15 to release The fastening of the swab clamp 30 to the throat swab 31; then the connecting frame cylinder 41 and the connecting plate cylinder 46 move respectively to move the puller device 43 to a suitable position, and the puller device 43 moves to release the fastened throat swab 31 Unplug from swab holder 30 and place in waste collection box.

Then, the rotating housing motor 7 is started, and through the transmission of the rotating housing motor gear set 8, the rotating housing 13 is driven to rotate, and the vacant swab manipulator 15 is transferred to the pharyngeal swab feeding station. The manipulator reversing frame 33 cooperates with the swab manipulator reversing track 12 to make the swab manipulator 15 gradually change from a vertical state to a horizontal state. Repeat the above process again.

The unmentioned part of the utility model is applicable to the prior art.

Claims (5)

1. An automatic throat swab sampling device, characterized in that the device adopts a multi-station integrated parallel structure, including a frame body, a horizontal and vertical linear motion mechanism, a swab feeding manipulator, a swab storehouse, and a swab conveyor , rotating housing motor, rotating housing motor gear set, multi-degree-of-freedom robot, sampling tube library, coding mechanism, swab manipulator reversing track, rotating housing, cap screwing mechanism, swab manipulator, oral positioning cup, swab Sub-fixture cylinder, mounting plate, support plate cylinder, support plate, horizontal linear motion mechanism, sampling motor, power plate, sampling motor gear, swing device, swab manipulator reversing frame, disinfection device, swab cutting mechanism, pressing device , connecting frame, connecting frame cylinder, connecting plate, puller device, rotating shaft and connecting plate cylinder; The swab manipulator includes a swab manipulator gear, a spring telescopic sleeve, a bearing seat and a swab fixture; the outer tube and the inner tube of the spring telescopic sleeve can slide relatively, and one end of the inner tube and the outer tube is connected by a spring; The other end of the inner tube protrudes from the outer tube, and a swab clamp is installed at the end; when working, the pharyngeal swab is inserted into the swab clamp, and the fastening and loosening of the swab clamp is changed through the cooperation of the swab clamp and the outer tube, so as to To further tighten the throat swab; the outer side of the spring telescopic sleeve is fixed with the gear of the swab manipulator; the spring telescopic sleeve is rotatably installed in the bearing seat; The shell of the rotary shell motor is fixed on the frame body, and a gear in the gear set of the rotary shell motor is fixed at its output end; a rotating shaft is fixed at the center of the rotary shell, and the rotating shaft is installed in the frame body in rotation, and the end Another gear in the gear set of the rotating shell motor is fixed on the top, and the two gears in the gear set of the rotating shell motor are meshed and connected; several swab manipulator reversing frames are arranged in the circumferential direction of the rotating shell, and one end is hinged on the On the edge of the rotating shell; the bearing seat is fixed on the other end of the reversing frame of the swab manipulator; Cooperate with the frame to realize the rotation of the swab manipulator reversing frame to a horizontal or vertical state, and then realize the horizontal or vertical state of the swab manipulator; The shell of the horizontal and vertical linear motion mechanism is fixed on the frame, powered by the motor, which can realize the movement in the X direction and the Z direction, and the swab feeding manipulator is fixed on the nut at the output end; the swab magazine is fixed on the frame It is used to store throat swabs; a part of the swab conveyor is placed inside the swab warehouse, and is used to transmit the throat swabs in the swab warehouse; the end of the swab feeding manipulator and the end of the swab conveyor The other part is used to clamp the throat swab on the swab conveyor; the shell of the swab clamp cylinder is fixed on the frame body, and its output end is matched with the inner tube of the spring telescopic sleeve; The mounting plate is fixed on the frame body; the cylinder body of the supporting plate cylinder is fixed on the mounting plate, and its output end is fixedly connected with the supporting plate; the supporting plate is slidably installed on the mounting plate; the housing of the sampling motor is fixed on the supporting plate, The plate drives the sampling motor to move along the Z direction, and the output end of the sampling motor is fixed with a sampling motor gear; the sampling motor gear is meshed with the swab manipulator gear to meet the rotation collection function of the swab manipulator; the housing of the horizontal linear motion mechanism is fixed on The support plate is powered by the motor, and the nut at the output end is fixedly connected with the power plate; the end of the power plate is provided with a gap; the outer tube of the spring telescopic sleeve is provided with a boss, and the boss cooperates with the gap of the power plate to realize The swab manipulator moves along the Y direction; the oral positioning cup is installed on the frame, and the throat swab passes through the oral positioning cup and extends out of the equipment for nucleic acid sampling; the housing of the swing device is fixed on the frame, and the output end is connected to the With the cooperation of throat swab, the throat swab at the throat swab sampling station is driven to swing during nucleic acid sampling to assist in the completion of nucleic acid sampling; The multi-degree-of-freedom robot is set in the frame; the swab cutting mechanism is slidingly arranged on the frame, and is located within the working range of the multi-degree-of-freedom robot, which is used to cut the throat swab on the swab manipulator after the throat swab sampling is completed. The swab rod and swab head; the disinfection device is installed on the frame body, which is used to sterilize the scissor head in the swab cutting mechanism; the sampling tube library is installed in the frame body and is located within the working range of the multi-degree-of-freedom robot. There are several sampling tubes in the library; the cap screwing mechanism is installed in the frame body, which is located in the working range of the multi-degree-of-freedom robot, and cooperates with the multi-degree-of-freedom robot to perform the screwing action of the packaging cap of the sampling tube; the coding mechanism is installed in the Inside the frame, located within the working range of the multi-degree-of-freedom robot, it is used to spray barcodes on the sampling tubes to record data; The press-opening device is fixed on the frame body, and cooperates with the inner tube of the spring telescopic sleeve of the swab manipulator to release the fastening of the swab clamp to the throat swab; the cylinder body of the connecting frame cylinder is fixed on the frame body, and the output end is connected to the The connecting frame is fixedly connected; the connecting frame is slidably installed on the frame body; the cylinder body of the connecting plate cylinder is fixed on the connecting frame, and the output end is fixedly connected with the connecting plate; the connecting plate is slidably installed on the connecting frame and can move along the Z direction; The rod device is arranged on the connecting plate, and is used for pulling out the unfastened throat swab from the swab holder. 2. The throat swab automatic sampling device according to claim 1, characterized in that, the device also includes a negative pressure fan; the negative pressure fan is arranged at the lower part of the frame, and is used to exchange the air in the device with the outside air . 3. The throat swab automatic sampling device according to claim 1, wherein a gear set is mounted on the support plate for rotation; the gear set is arranged between the sampling motor gear and the swab manipulator gear, respectively connected to the sampling motor gear and the swab manipulator gear. Swab manipulator gear mesh transmission connection. 4. The automatic throat swab sampling device according to claim 1, wherein the swab holder is a hollow structure for inserting the throat swab; one end is connected to the inner tube of the spring telescopic sleeve, and the other end is a spring The claw structure, the spring claw structure cooperates with the outer tube of the spring telescopic sleeve to achieve closure, and then realizes the fastening of the throat swab. 5. The throat swab automatic sampling device according to claim 1, wherein the horizontal and vertical linear motion mechanism adopts a horizontal and vertical ball screw group, which is composed of two motors, a horizontal ball screw and a vertical ball screw. The housing of the horizontal ball screw is fixed on the frame, and the nut at the output end is fixed with the housing of the vertical ball screw; the nut at the output end of the vertical ball screw is fixed with a swab feeding Manipulator; two motors are respectively used as the power of the horizontal ball screw and the vertical ball screw to drive the nut to rotate.

Images