CN219147660U - Automatic throat swab sampling equipment - Google Patents
Automatic throat swab sampling equipment Download PDFInfo
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- CN219147660U CN219147660U CN202222298706.3U CN202222298706U CN219147660U CN 219147660 U CN219147660 U CN 219147660U CN 202222298706 U CN202222298706 U CN 202222298706U CN 219147660 U CN219147660 U CN 219147660U
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- 238000005070 sampling Methods 0.000 title claims abstract description 103
- 230000007246 mechanism Effects 0.000 claims abstract description 65
- 210000000214 mouth Anatomy 0.000 claims abstract description 25
- 230000033001 locomotion Effects 0.000 claims abstract description 24
- 150000007523 nucleic acids Chemical class 0.000 claims abstract description 14
- 102000039446 nucleic acids Human genes 0.000 claims abstract description 14
- 108020004707 nucleic acids Proteins 0.000 claims abstract description 14
- 238000010008 shearing Methods 0.000 claims abstract description 13
- 230000001954 sterilising effect Effects 0.000 claims abstract description 13
- 238000003825 pressing Methods 0.000 claims abstract description 4
- 230000005540 biological transmission Effects 0.000 claims description 14
- 230000009471 action Effects 0.000 claims description 8
- 210000003128 head Anatomy 0.000 claims description 8
- 210000000078 claw Anatomy 0.000 claims description 4
- 238000005507 spraying Methods 0.000 claims description 3
- 238000003780 insertion Methods 0.000 claims description 2
- 230000037431 insertion Effects 0.000 claims description 2
- 238000004806 packaging method and process Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 10
- 230000008569 process Effects 0.000 abstract description 8
- 230000001360 synchronised effect Effects 0.000 abstract description 2
- 238000002955 isolation Methods 0.000 description 8
- 241000700605 Viruses Species 0.000 description 6
- 238000001514 detection method Methods 0.000 description 5
- 238000004659 sterilization and disinfection Methods 0.000 description 4
- 238000005538 encapsulation Methods 0.000 description 3
- 206010011409 Cross infection Diseases 0.000 description 2
- 206010029803 Nosocomial infection Diseases 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 208000015181 infectious disease Diseases 0.000 description 2
- 101100441413 Caenorhabditis elegans cup-15 gene Proteins 0.000 description 1
- 208000003322 Coinfection Diseases 0.000 description 1
- 208000035473 Communicable disease Diseases 0.000 description 1
- 241000282412 Homo Species 0.000 description 1
- 208000002193 Pain Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000249 desinfective effect Effects 0.000 description 1
- 230000008034 disappearance Effects 0.000 description 1
- 230000036407 pain Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
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- 230000009385 viral infection Effects 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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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
Technical Field
The utility model relates to the technical field of medical equipment, in particular to automatic throat swab sampling equipment.
Background
Pharyngeal swab is a method of collecting clinical test samples of oral secretions from the throat, which are often used by humans to combat various types of viruses, and is a relatively simple and widely accepted method of detection by users as compared to nasal swab sampling. Currently, the most important detection means for diagnosing new coronaries is nucleic acid detection, and whether a tested person is infected with viruses is determined by directly detecting virus nucleic acid in an acquired sample.
However, as a common medical detection mode for infectious diseases, the pharyngeal swab sampling process is common and manually collected by one-to-one manual. The medical staff needs to wear isolation clothes for self-protection, and the physical and psychological pains are caused. The key point is that the infection of medical staff and the cross infection between testees cannot be avoided, and the epidemic situation is likely to further develop.
Thus, there is a need for an automatic pharyngeal swab sampling device that replaces the medical personnel to sample a patient. The device does not need medical staff to operate, and a tested person only needs to operate by self according to the description steps.
Disclosure of Invention
Aiming at the defects of the prior art, the utility model aims to provide the automatic throat swab sampling equipment.
The technical scheme for solving the technical problems is that the automatic throat swab sampling equipment is characterized by adopting a multi-station integrated parallel structure and comprising a frame body, a horizontal vertical linear motion mechanism, a swab feeding manipulator, a swab warehouse, a swab conveyor, a rotating shell motor gear set, a multi-degree-of-freedom robot, a sampling tube warehouse, a coding mechanism, a swab manipulator reversing track, a rotating shell, a screwing mechanism, a swab manipulator, an oral cavity positioning cup, a swab clamp 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 press-opening device, a connecting frame cylinder, a connecting plate, a pulling rod device, a rotating shaft and a connecting plate cylinder;
the swab manipulator comprises a swab manipulator gear, a spring telescopic sleeve, a bearing seat and a swab clamp; the outer tube and the inner tube of the spring telescopic sleeve can slide relatively, and one ends of the inner tube and the outer tube are connected through a spring; the other end of the inner tube extends out of the outer tube, and a swab clamp is arranged at the tail end of the inner tube; when the throat swab is in work, the throat swab is inserted into the swab fixture, and the fastening and loosening states of the swab fixture are changed through the cooperation of the swab fixture and the outer tube, so that the throat swab is further fastened; a swab manipulator gear is fixed on the outer side of the spring telescopic sleeve; the spring telescopic sleeve is rotatably arranged in the bearing seat;
the shell of the rotary shell motor is fixed on the frame body, and the output end of the shell is fixed with one gear in the rotary shell motor gear set; a rotary shaft is fixed at the center of the rotary shell, the rotary shaft is rotatably arranged in the frame body, the tail end of the rotary shaft is fixed with another gear in the rotary shell motor gear set, and the two gears in the rotary shell motor gear set are in meshed transmission connection; a plurality of swab manipulator reversing frames are arranged in the circumferential direction of the rotary shell, and one end of each swab manipulator reversing frame is hinged to the edge of the rotary shell; the bearing seat is fixed at the other end of the swab manipulator reversing frame; the swab manipulator reversing rail is fixed on the frame body and is in an annular shape, is positioned at the edge of the rotary shell, and is matched with the swab manipulator reversing frame to realize that the swab manipulator reversing frame rotates to be in a horizontal or vertical state, so that the horizontal or vertical state of the swab manipulator is realized;
the shell of the horizontal and vertical linear motion mechanism is fixed on the frame body, and is powered by a motor, so that the motion in the X direction and the Z direction can be realized, and a swab feeding manipulator is fixed on a nut at the output end of the shell; the swab library is fixed on the frame body and is used for storing throat swabs; a part of the swab conveyor is arranged in the swab library and is used for conveying pharyngeal swabs in the swab library out; the tail end of the swab feeding manipulator is matched with the other part of the swab conveyor and is used for clamping the pharyngeal swab on the swab conveyor; the shell of the swab fixture cylinder is fixed on the frame body, and the output end of the swab fixture cylinder 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 the output end of the supporting plate cylinder is fixedly connected with the supporting plate; the supporting plate is slidably arranged on the mounting plate; the shell of the sampling motor is fixed on the supporting plate, the supporting 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 in meshed transmission connection with the swab manipulator gear, so that the rotation acquisition function of the swab manipulator is met; the shell of the horizontal linear motion mechanism is fixed on the supporting plate, power is provided by the motor, and a nut at the output end of the motor is fixedly connected with the power plate; the tail end of the power plate is provided with a notch; the outer tube of the spring telescopic sleeve is provided with a boss which is matched with the notch of the power plate, so that the swab manipulator moves along the Y direction; the oral cavity positioning cup is arranged on the frame body, and the throat swab penetrates through the oral cavity positioning cup and extends out of the device for nucleic acid sampling; the shell of the swinging device is fixed on the frame body, the output end of the swinging device is matched with the throat swab, and the throat swab at a throat swab sampling station is driven to swing during nucleic acid sampling, so that the nucleic acid sampling is assisted;
the robot with multiple degrees of freedom is arranged in the frame body; the swab shearing mechanism is arranged on the frame body in a sliding manner and is positioned in the working range of the multi-degree-of-freedom robot, and is used for shearing the pharyngeal swab on the swab manipulator after the pharyngeal swab is sampled into a swab rod and a swab head; the sterilizing device is arranged on the frame body and is used for sterilizing the scissor heads in the swab shearing mechanism; the sampling tube library is arranged in the frame body and positioned in the working range of the multi-degree-of-freedom robot, and a plurality of sampling tubes are arranged in the sampling tube library; the cap screwing mechanism is arranged in the frame body and is positioned in the working range of the multi-degree-of-freedom robot, and is matched with the multi-degree-of-freedom robot to perform cap screwing action on the packaging cap of the sampling tube; the coding mechanism is arranged in the frame body and positioned in the working range of the multi-degree-of-freedom robot and is used for spraying bar codes on the sampling tube to record data;
the pressing-opening device is fixed on the frame body and matched with the inner tube of the spring telescopic sleeve of the swab manipulator, so that the fastening of the swab clamp to the pharyngeal swab is relieved; the cylinder body of the connecting frame cylinder is fixed on the frame body, and the output end of the connecting frame cylinder is fixedly connected with the connecting frame; the connecting frame is slidably arranged 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 arranged on the connecting frame and can move along the Z direction; the pulling rod device is arranged on the connecting plate and is used for pulling out the fastening-released pharyngeal swab from the swab fixture.
Compared with the prior art, the utility model has the beneficial effects that:
(1) The utility model adopts a multi-station integrated parallel structure, realizes the synchronous operation of multitasks such as feeding from the throat swab, nucleic acid sampling (namely front and back, rotation and swing actions of the throat swab), cutting off the throat swab, feeding a pipe, screwing a cover, coding, pulling out and discarding the throat swab rod, and the like, has high automation degree, reasonable structural design, high efficiency, high speed and safety, and can complete the whole flow only by 3-5 seconds.
(2) The utility model is provided with the negative pressure fan for exchanging air, the disposable isolation cover and the swab shearing mechanism sterilizing device, thereby solving the potential safety hazard of cross infection in the nucleic acid sampling process.
(3) The utility model can accurately simulate the advancing and retreating, rotating and swinging actions during manual sampling when the nucleic acid is sampled, and ensures the reliability and accuracy of sampling.
(4) The sterilizing device kills viruses possibly infected by cutting the swab at a high temperature in the moment, so that the samples at two adjacent times are not infected, and the potential safety hazard of secondary infection is avoided.
(5) The device can intelligently collect the user information, and can realize automatic input, memorization and storage of the user information; corresponding virus sampling management software is also developed and connected with Internet big data, and information can be uploaded from time to time.
(6) Except for the oral cavity positioning cup, all mechanisms and control elements in the device are placed in a sealed frame body, so that the internal components are prevented from being polluted by the outside.
(7) When the device works, the disposable isolation cover is sleeved on the oral cavity positioning cup, so that effective isolation between people and equipment can be realized.
(8) The negative pressure fan can discharge the oral gas of a user possibly containing viruses to a safe place at any time for disinfection treatment.
Drawings
FIG. 1 is an isometric view of the overall structure of the present utility model;
FIG. 2 is an enlarged partial view of portion A of FIG. 1 in accordance with the present utility model;
FIG. 3 is a schematic front view of the overall structure of the present utility model;
FIG. 4 is an enlarged partial view of portion B of FIG. 3 in accordance with the present utility model;
FIG. 5 is an enlarged partial view of section C of FIG. 3 in accordance with the present utility model;
FIG. 6 is a schematic left-hand view of the overall structure of the present utility model;
FIG. 7 is an enlarged partial view of section D of FIG. 6 in accordance with the present utility model;
FIG. 8 is an enlarged partial view of portion E of FIG. 6 in accordance with the present utility model;
FIG. 9 is an enlarged partial view of section F of FIG. 6 in accordance with the present utility model;
FIG. 10 is a schematic top view of the overall structure of the present utility model;
FIG. 11 is an enlarged partial view of portion G of FIG. 10 in accordance with the present utility model;
fig. 12 is a partial enlarged view of the H portion of fig. 10 according to the present utility model.
In the figure, a frame body 1, a horizontal and vertical linear motion mechanism 2, a swab feeding manipulator 3, a swab warehouse 4, a swab conveyor 5, a negative pressure fan 6, a rotary housing motor 7, a rotary housing motor gear set 8, a multi-degree-of-freedom robot 9, a sampling tube warehouse 10, a coding mechanism 11, a swab manipulator reversing rail 12, a rotary housing 13, a screwing mechanism 14, a swab manipulator 15, an oral cavity positioning cup 16, a swab fixture cylinder 17, a mounting plate 18, a support plate cylinder 19, a first linear reciprocation mechanism 20, a support plate 21, a horizontal linear motion mechanism 22, a sampling motor 23, a power plate 24, a sampling motor gear 25, a gear set 26, a swab manipulator gear 27, a spring telescopic sleeve 28, a bearing seat 29, a swab fixture 30, a swab 31, a swinging device 32, a swab manipulator reversing frame 33, a sterilizing device 34, a swab shearing mechanism 35, a second linear reciprocation mechanism 36, a sampling tube 37, a pressing device 38, a connecting frame 39, a third linear reciprocation mechanism 40, a connecting frame cylinder 41, a connecting plate 42, a pulling rod device 43, a rotating shaft 44, a fourth linear reciprocation mechanism 45, and a connecting plate cylinder 46.
Detailed Description
Specific examples of the present utility model are given below. The specific examples are provided only for further details of the present utility model and do not limit the scope of the claims.
The utility model provides automatic throat swab sampling equipment (equipment for short), which is characterized by adopting a multi-station integrated parallel structure, and comprising a frame body 1, a horizontal vertical linear motion mechanism 2, a swab feeding manipulator 3, a swab warehouse 4, a swab conveyor 5, a rotary shell motor 7, a rotary shell motor gear set 8, a multi-degree-of-freedom robot 9, a sampling tube warehouse 10, a coding mechanism 11, a swab manipulator reversing rail 12, a rotary shell 13, a screwing mechanism 14, a swab manipulator 15, an oral cavity positioning cup 16, a swab clamp cylinder 17, a mounting plate 18, a support plate cylinder 19, a support plate 21, a horizontal linear motion mechanism 22, a sampling motor 23, a power plate 24, a sampling motor gear 25, a swinging device 32, a swab manipulator reversing frame 33, a sterilizing device 34, a swab shearing mechanism 35, a press-opening device 38, a connecting frame 39, a connecting frame cylinder 41, a connecting plate 42, a rod pulling device 43, a rotating shaft 44 and a connecting plate cylinder 46;
the swab manipulator 15 comprises a swab manipulator gear 27, a spring telescopic sleeve 28, a bearing seat 29 and a swab clamp 30; the outer tube and the inner tube of the spring telescopic sleeve 28 can slide relatively to realize the telescopic action, one ends of the inner tube and the outer tube are connected through a spring, and the reset is realized through the spring; the other end of the inner tube extends out of the outer tube, and a swab clamp 30 is arranged at the tail end of the inner tube; in operation, the pharyngeal swab 31 is inserted into the swab holder 30, and the fastening and loosening state of the swab holder 30 is changed by the cooperation of the swab holder 30 and the outer tube, so as to further fasten the pharyngeal swab 31; the swab manipulator gear 27 is fixed on the outer side of the outer tube of the spring telescopic sleeve 28 through a key; the outer tube of the spring telescopic sleeve 28 is rotatably mounted in a bearing seat 29 by means of a bearing;
the shell of the rotary shell motor 7 is fixed on the frame body 1, and the output end of the shell is fixed with one gear in the rotary shell motor gear set 8; a rotary shaft 44 is fixed at the center of the rotary shell 13, the rotary shaft 44 is rotatably installed in the frame body 1 through a bearing, the other gear in the rotary shell motor gear set 8 is fixed at the tail end, and the two gears in the rotary shell motor gear set 8 are in meshed transmission connection; a plurality of (4 in this embodiment) swab manipulator reversing frames 33 are uniformly arranged in the circumferential direction of the rotary housing 13, one end of each swab manipulator reversing frame is hinged to the edge of the rotary housing 13, and the rotary housing 13 drives the swab manipulator reversing frames 33 to rotate together with the swab manipulator reversing frames; the bearing seat 29 is fixed on the other end of the swab manipulator reversing frame 33; the swab manipulator reversing rail 12 is fixed on the frame body 1, is annular and is positioned at the edge of the rotary shell 13, and is matched with the swab manipulator reversing frame 33 to realize that the swab manipulator reversing frame 33 rotates to be in a horizontal or vertical state, so that the horizontal or vertical state of the swab manipulator 15 is realized;
the shell of the horizontal and vertical linear motion mechanism 2 is fixed on the frame body 1, and is powered by a motor, so that the motion in the X direction and the Z direction can be realized, and a swab feeding manipulator 3 is fixed on a nut at the output end of the horizontal and vertical linear motion mechanism; the swab library 4 is fixed on the frame body 1 and is used for storing pharyngeal swabs 31; a part of the swab conveyor 5 is arranged inside the swab warehouse 4 and is used for sequentially arranging and conveying pharyngeal swabs 31 in the swab warehouse 4; the tail end of the swab feeding manipulator 3 is matched with the other part of the swab conveyor 5 and is used for clamping the pharyngeal swab 31 on the swab conveyor 5; the shell of the swab fixture cylinder 17 is fixed on the frame body 1, and the output end of the swab fixture cylinder is matched with the inner tube of the spring telescopic sleeve 28;
the mounting plate 18 is fixed on the frame body 1; the cylinder body of the supporting plate cylinder 19 is fixed on the mounting plate 18, and the output end of the cylinder body is fixedly connected with the supporting plate 21; the supporting plate 21 is slidably mounted on the mounting plate 18 through the first linear reciprocating mechanism 20; the shell of the sampling motor 23 is fixed on the supporting plate 21, the supporting 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 is in meshed transmission connection with the swab manipulator gear 27, so that the rotary sampling function of the swab manipulator 15 is met; the shell of the horizontal linear motion mechanism 22 is fixed on the supporting plate 21, and is powered by a motor, and a nut at the output end of the motor is fixedly connected with the power plate 24; the tail end of the power plate 24 is provided with a notch; the outer tube of the spring telescopic sleeve 28 is provided with a boss which is matched with the notch of the power plate 24 and can be clamped in the notch of the power plate 24, so that the swab manipulator 15 moves along the Y direction along with the advancing and retreating functions of the power plate 24; the oral cavity positioning cup 16 is arranged in a side hole of the frame body 1, is arranged along the Y direction, and a throat swab 31 at a throat swab sampling station extends out of the device through the oral cavity positioning cup 16 for throat swab sampling; the shell of the swinging device 32 is fixed on the frame body 1, the output end of the swinging device is matched with the throat swab 31, and the throat swab 31 at a throat swab sampling station is driven to swing during nucleic acid sampling, so that the throat swab sampling is assisted;
the multi-degree-of-freedom robot 9 is arranged in the frame body 1; the swab shearing mechanism 35 is arranged on the frame body 1 in a sliding way through a second linear reciprocating mechanism 36, is positioned in the working range of the multi-degree-of-freedom robot 9, and is positioned under the swab manipulator 15 at the throat swab shearing-in pipe station, and the throat swab 31 on the swab manipulator 15 at the throat swab shearing-in pipe station is sheared into a swab rod and a swab head through X-direction movement; the sterilizing device 34 is arranged on the frame body 1 and is positioned above the swab cutting mechanism 35 and used for sterilizing and disinfecting the scissor heads in the swab cutting mechanism 35 at high temperature; the sampling tube library 10 is arranged in the frame body 1 and positioned in the working range of the multi-degree-of-freedom robot 9, and a plurality of sampling tubes 37 are arranged in the sampling tube library 10; the cap screwing mechanism 14 is installed in the frame body 1, is positioned in the working range of the multi-degree-of-freedom robot 9, and is matched with the multi-degree-of-freedom robot 9 to perform cap screwing action of the encapsulation cap of the sampling tube 37 and perform opening and closing of the encapsulation cap; the coding mechanism 11 is arranged in the frame body 1 and positioned in the working range of the multi-degree-of-freedom robot 9, and the coding mechanism 11 is used for spraying bar codes on the sampling tube 37 to record data;
the pressing-opening device 38 is fixed on the frame body 1 and is matched with the inner tube of the spring telescopic sleeve 28 of the swab manipulator 15 at the swab rod pulling-out station to release the fastening of the swab clamp 30 to the pharyngeal swab 31; the cylinder body of the connecting 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 mounted on the frame body 1 by a linear reciprocating mechanism four 45 and can move in the Y direction; the cylinder body of the connecting plate cylinder 46 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 mounted on the connecting frame 39 through a third linear reciprocating mechanism 40 and can move in the Z direction; the pulling rod device 43 is arranged on the connecting plate 42 and is used for pulling out the pharyngeal swab 31 fastened by the swab fixture 30 from the swab fixture 30, so that the pulling and recovery of the swab rod are realized.
Preferably, the multi-degree of freedom robot 9 is a four-axis robot.
Preferably, the apparatus further comprises 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 air in the equipment with outside air.
Preferably, the support plate 21 is rotatably mounted with a gear set 26; the gear set 26 is arranged between the sampling motor gear 25 and the swab manipulator gear 27, and is respectively meshed and connected with the sampling motor gear 25 and the swab manipulator gear 27 in a transmission manner, so that the transmission ratio can be changed.
Preferably, swab holder 30 is hollow for insertion of pharyngeal swab 31; one end is connected with the inner pipe of the spring telescopic sleeve 28, the other end is of a spring claw structure, and the spring claw structure is matched with the outer pipe of the spring telescopic sleeve 28 to realize closing, so that fastening of the throat swab 31 is realized.
Preferably, the horizontal-vertical linear motion mechanism 2 adopts a horizontal-vertical ball screw group, and is composed of two motors, a horizontal ball screw and a vertical ball screw; the horizontal ball screw shell is fixed on the frame body 1, and a vertical ball screw shell is fixed on a nut at the output end of the horizontal ball screw shell; a swab feeding manipulator 3 is fixed on a nut at the output end of the vertical ball screw; the two motors are respectively used as the power of the horizontal ball screw and the vertical ball screw to drive the nuts to rotate.
Preferably, the structure of the swab manipulator reversing rail 12 is: a horizontal track higher than the hinge joint of the swab manipulator reversing frame 33 is arranged between the throat swab feeding station and the throat swab sampling station, and the swab manipulator reversing frame 33 is matched with the swab manipulator reversing track 12 to enable the throat swab feeding station and the throat swab sampling station to be in a vertical state, so that the swab manipulator 15 is in a horizontal state; the inclined track gradually descends from the throat swab sampling station to the throat swab cutting pipe feeding station, the hinged part of the inclined track and the swab manipulator reversing frame 33 gradually changes from contact support to non-contact, and the swab manipulator reversing frame 33 gradually changes from a vertical state to a horizontal state along with the gradual disappearance of the supporting force of the swab manipulator reversing frame 33 by the swab manipulator reversing track 12, and then the swab manipulator 15 gradually changes from the horizontal state to the vertical state; a horizontal track lower than the hinge joint of the swab manipulator reversing frame 33 is arranged between the throat swab cutting-in pipe station and the swab rod pulling-out station, no swab manipulator reversing track 12 provides supporting force for the swab manipulator reversing frame 33, the swab manipulator reversing frame 33 is in a horizontal state, and the swab manipulator 15 is in a vertical state; the inclined track gradually rises from the swab rod pulling station to the throat swab feeding station, the hinged part of the swab manipulator reversing frame 33 is gradually changed from non-contact to contact support, the swab manipulator reversing frame 33 is gradually changed from a horizontal state to a vertical state, and the swab manipulator 15 is further gradually changed from the vertical state to the horizontal state.
Preferably, a disposable shield is nested outside the oral cavity positioning cup 16 during nucleic acid sampling to avoid virus infection and transmission. After registration, the disposable isolation cover is taken, the disposable isolation cover is sleeved on the oral cavity positioning cup 16, the user opens the mouth to contain the disposable isolation cover on the oral cavity positioning cup 16, and after the detection is finished, the mouth is loosened, and the disposable isolation cover is taken down and put into a medical dustbin.
Preferably, the frame body 1 can be internally provided with an ultraviolet disinfection lamp which is started when not in operation.
Preferably, the swab manipulator 15 is provided with a force sensor for detecting the contact force with the oral cavity of the human body, so that the safety of the feeding length is ensured. The swab manipulator 15 is provided with a flexible joint which is in flexible contact with the oral cavity of a human body, so that the oral cavity safety of a user is ensured, and the user is not injured.
Preferably, the frame body 1 adopts a sealed box body; except for the oral cavity positioning cup 15, all components are positioned in the sealed box body, so that the internal components are not polluted by the outside.
Preferably, the pharyngeal swab 31 is comprised of a swab shaft and a swab head at the end of the swab shaft.
The working principle and the working flow of the utility model are as follows:
the four swab manipulators 15 are uniformly distributed on the rotary shell 13 and are respectively positioned at a throat swab feeding station, a throat swab sampling station, a throat swab cutting-in pipe station and a swab rod pulling-out station, or only one swab manipulator 15 is adopted to sequentially finish the operation of the four stations;
firstly, at a throat swab feeding station, a swab conveyor 5 sequentially arranges and conveys throat swabs 31 in a swab warehouse 4 out of the swab warehouse 4; the horizontal and vertical linear motion mechanism 2 acts to bring the swab feeding manipulator 3 to a proper position, and the swab feeding manipulator 3 acts to horizontally insert the pharyngeal swab 31 on the swab conveyor 5 into the swab fixture 30 of the swab manipulator 15; then the swab fixture cylinder 17 is started to drive the inner tube of the spring telescopic sleeve 28 to move, the inner tube drives the swab fixture 30 to move towards the direction close to the outer tube or away from the outer tube, the swab fixture 30 is compressed and tightened to fasten the pharyngeal swab 31 when the swab fixture is close to the outer tube, feeding of the pharyngeal swab is completed, and the swab fixture 30 releases fastening of the pharyngeal swab 31 when the swab fixture is away from the outer tube.
Then the rotary shell motor 7 is started, the rotary shell 13 is driven to rotate through the transmission of the rotary shell motor gear set 8, the swab manipulator 15 is conveyed to a throat swab sampling station, and the swab manipulator 15 maintains a horizontal state in the conveying process; at the throat swab sampling station, the supporting plate cylinder 19 pushes the supporting plate 21 to move along the first linear reciprocating mechanism 20 until the sampling motor gear 25 is meshed with the swab manipulator gear 27, and then the horizontal linear mechanism 22 rotates to move with the swab manipulator 15 and the sampling motor 23 until the throat swab 31 extends out of the oral cavity positioning cup 16 to enter a proper position of the oral cavity of a person to be sampled; then the sampling motor 23 rotates, the power is transmitted to the swab manipulator gear 27, and the whole swab manipulator 15 rotates, so that the pharyngeal swab 31 rotates in the mouth of the person to be sampled to achieve the purpose of accurate sampling, and at the same time, the swinging device 32 starts to swing with the pharyngeal swab 31, so that the comprehensiveness and accuracy of sampling are further ensured.
Then, the rotary shell motor 7 is started, the rotary shell 13 is driven to rotate through the transmission of the rotary shell motor gear set 8, the swab manipulator 15 is conveyed to a throat swab cutting-in pipe station, and the swab manipulator reversing frame 33 is matched with the swab manipulator reversing rail 12 in the conveying process to gradually change the swab manipulator 15 from a horizontal state to a vertical state; in the throat swab cutting-in pipe station, the swab cutting mechanism 35 stretches out and cuts the throat swab 31 under the action of the second linear reciprocating mechanism 36, meanwhile, the multi-degree-of-freedom robot 9 takes out the sampling pipe 37 from the sampling pipe warehouse 10 and is arranged under the swab manipulator 15, and the instant disinfection can be completed through the disinfection device 34 after each cutting of the throat swab 31; after the specified number of swab heads are collected, the sampling tube 37 is sent to the lower part of the cap screwing mechanism 14, and cap screwing action of the encapsulation cap of the sampling tube 37 is carried out; after screwing, the multi-degree-of-freedom robot 9 sends the sampling tube 37 to the coding mechanism 11 for coding so as to record sampling information.
Then, the rotary shell motor 7 is started, the rotary shell 13 is driven to rotate by the transmission of the rotary shell motor gear set 8, the swab rod (namely, the sheared pharyngeal swab 31) on the swab manipulator 15 is conveyed to a swab rod pulling station, and the swab manipulator 15 maintains a vertical state in the conveying process; at the swab rod pulling station, the pressing device 38 acts and is matched with the inner tube of the spring telescopic sleeve 28 of the swab manipulator 15, so that the fastening of the swab clamp 30 to the pharyngeal swab 31 is released; the connector cylinder 41 and the connector cylinder 46 are then actuated to move the drawbar assembly 43 into position, respectively, and the drawbar assembly 43 is actuated to extract the de-fastened pharyngeal swab 31 from the swab holder 30 and into the waste collection bin.
Then, the rotary shell motor 7 is started, the rotary shell 13 is driven to rotate through the transmission of the rotary shell motor gear set 8, the empty swab manipulator 15 is conveyed to the throat swab feeding station, and the swab manipulator reversing frame 33 is matched with the swab manipulator reversing rail 12 in the conveying process to enable the swab manipulator 15 to gradually change from a vertical state to a horizontal state. The above process is repeated.
The utility model is applicable to the prior art where it is not described.
Claims (5)
1. The automatic throat swab sampling equipment is characterized by adopting a multi-station integrated parallel structure and comprising a frame body, a horizontal 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 clamp 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 swab manipulator comprises a swab manipulator gear, a spring telescopic sleeve, a bearing seat and a swab clamp; the outer tube and the inner tube of the spring telescopic sleeve can slide relatively, and one ends of the inner tube and the outer tube are connected through a spring; the other end of the inner tube extends out of the outer tube, and a swab clamp is arranged at the tail end of the inner tube; when the throat swab is in work, the throat swab is inserted into the swab fixture, and the fastening and loosening states of the swab fixture are changed through the cooperation of the swab fixture and the outer tube, so that the throat swab is further fastened; a swab manipulator gear is fixed on the outer side of the spring telescopic sleeve; the spring telescopic sleeve is rotatably arranged in the bearing seat;
the shell of the rotary shell motor is fixed on the frame body, and the output end of the shell is fixed with one gear in the rotary shell motor gear set; a rotary shaft is fixed at the center of the rotary shell, the rotary shaft is rotatably arranged in the frame body, the tail end of the rotary shaft is fixed with another gear in the rotary shell motor gear set, and the two gears in the rotary shell motor gear set are in meshed transmission connection; a plurality of swab manipulator reversing frames are arranged in the circumferential direction of the rotary shell, and one end of each swab manipulator reversing frame is hinged to the edge of the rotary shell; the bearing seat is fixed at the other end of the swab manipulator reversing frame; the swab manipulator reversing rail is fixed on the frame body and is in an annular shape, is positioned at the edge of the rotary shell, and is matched with the swab manipulator reversing frame to realize that the swab manipulator reversing frame rotates to be in a horizontal or vertical state, so that the horizontal or vertical state of the swab manipulator is realized;
the shell of the horizontal and vertical linear motion mechanism is fixed on the frame body, and is powered by a motor, so that the motion in the X direction and the Z direction can be realized, and a swab feeding manipulator is fixed on a nut at the output end of the shell; the swab library is fixed on the frame body and is used for storing throat swabs; a part of the swab conveyor is arranged in the swab library and is used for conveying pharyngeal swabs in the swab library out; the tail end of the swab feeding manipulator is matched with the other part of the swab conveyor and is used for clamping the pharyngeal swab on the swab conveyor; the shell of the swab fixture cylinder is fixed on the frame body, and the output end of the swab fixture cylinder 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 the output end of the supporting plate cylinder is fixedly connected with the supporting plate; the supporting plate is slidably arranged on the mounting plate; the shell of the sampling motor is fixed on the supporting plate, the supporting 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 in meshed transmission connection with the swab manipulator gear, so that the rotation acquisition function of the swab manipulator is met; the shell of the horizontal linear motion mechanism is fixed on the supporting plate, power is provided by the motor, and a nut at the output end of the motor is fixedly connected with the power plate; the tail end of the power plate is provided with a notch; the outer tube of the spring telescopic sleeve is provided with a boss which is matched with the notch of the power plate, so that the swab manipulator moves along the Y direction; the oral cavity positioning cup is arranged on the frame body, and the throat swab penetrates through the oral cavity positioning cup and extends out of the device for nucleic acid sampling; the shell of the swinging device is fixed on the frame body, the output end of the swinging device is matched with the throat swab, and the throat swab at a throat swab sampling station is driven to swing during nucleic acid sampling, so that the nucleic acid sampling is assisted;
the robot with multiple degrees of freedom is arranged in the frame body; the swab shearing mechanism is arranged on the frame body in a sliding manner and is positioned in the working range of the multi-degree-of-freedom robot, and is used for shearing the pharyngeal swab on the swab manipulator after the pharyngeal swab is sampled into a swab rod and a swab head; the sterilizing device is arranged on the frame body and is used for sterilizing the scissor heads in the swab shearing mechanism; the sampling tube library is arranged in the frame body and positioned in the working range of the multi-degree-of-freedom robot, and a plurality of sampling tubes are arranged in the sampling tube library; the cap screwing mechanism is arranged in the frame body and is positioned in the working range of the multi-degree-of-freedom robot, and is matched with the multi-degree-of-freedom robot to perform cap screwing action on the packaging cap of the sampling tube; the coding mechanism is arranged in the frame body and positioned in the working range of the multi-degree-of-freedom robot and is used for spraying bar codes on the sampling tube to record data;
the pressing-opening device is fixed on the frame body and matched with the inner tube of the spring telescopic sleeve of the swab manipulator, so that the fastening of the swab clamp to the pharyngeal swab is relieved; the cylinder body of the connecting frame cylinder is fixed on the frame body, and the output end of the connecting frame cylinder is fixedly connected with the connecting frame; the connecting frame is slidably arranged 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 arranged on the connecting frame and can move along the Z direction; the pulling rod device is arranged on the connecting plate and is used for pulling out the fastening-released pharyngeal swab from the swab fixture.
2. The automatic pharyngeal swab sampling device of claim 1, further comprising a negative pressure blower; the negative pressure fan is arranged at the lower part of the frame body and used for exchanging air in the equipment with outside air.
3. The automatic pharyngeal swab sampling device according to claim 1, wherein a gear set is rotatably mounted on the support plate; the gear set is arranged between the sampling motor gear and the swab manipulator gear and is respectively in meshed transmission connection with the sampling motor gear and the swab manipulator gear.
4. The automatic pharyngeal swab sampling device of claim 1, wherein the swab holder is hollow for insertion of a pharyngeal swab; one end is connected with the inner pipe of the spring telescopic sleeve, the other end is of a spring claw structure, and the spring claw structure is matched with the outer pipe of the spring telescopic sleeve to realize closing, so that fastening of the throat swab is realized.
5. The automatic throat swab sampling apparatus according to claim 1, wherein said horizontal and vertical linear motion mechanism employs a horizontal and vertical ball screw set consisting of two motors, a horizontal ball screw and a vertical ball screw; the horizontal ball screw shell is fixed on the frame body, and the vertical ball screw shell is fixed on the nut at the output end of the horizontal ball screw shell; a swab feeding manipulator is fixed on a nut at the output end of the vertical ball screw; the two motors are respectively used as the power of the horizontal ball screw and the vertical ball screw to drive the nuts to rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222298706.3U CN219147660U (en) | 2022-08-31 | 2022-08-31 | Automatic throat swab sampling equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222298706.3U CN219147660U (en) | 2022-08-31 | 2022-08-31 | Automatic throat swab sampling equipment |
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| Publication Number | Publication Date |
|---|---|
| CN219147660U true CN219147660U (en) | 2023-06-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222298706.3U Active CN219147660U (en) | 2022-08-31 | 2022-08-31 | Automatic throat swab sampling equipment |
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| Country | Link |
|---|---|
| CN (1) | CN219147660U (en) |
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2022
- 2022-08-31 CN CN202222298706.3U patent/CN219147660U/en active Active
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