CN219147660U - A throat swab automatic sampling device - Google Patents

A throat swab automatic sampling device Download PDF

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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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swab
manipulator
sampling
frame
fixed
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关玉明
王辉
程广硕
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Tianjin Mingxing Hengneng Science And Technology Development Co ltd
Hebei University of Technology
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Tianjin Mingxing Hengneng Science And Technology Development Co ltd
Hebei University of Technology
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    • YGENERAL 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
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    • Y02A50/00TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
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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

一种咽拭子自动采样设备A throat swab automatic sampling device

技术领域technical field

本实用新型涉及医疗器械技术领域,具体是一种咽拭子自动采样设备。The utility model relates to the technical field of medical instruments, in particular to an automatic sampling device for throat swabs.

背景技术Background technique

咽拭子是一种从咽喉处收集口腔分泌物的临床测试样本的方法,人类在抗击各类病毒时会经常用到,相较于鼻拭子采样,咽拭子采样是相对简单且用户广泛接受的检测方法。目前,确诊新冠肺炎最主要的检测手段是核酸检测,通过直接对采集标本中的病毒核酸进行检测,来确定被测者是否感染病毒。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.

然而,作为一种常用的传染病医学检测方式,咽拭子采样过程,常见的还是靠一对一的人工手动采集。人员密集、工作量大,咽喉部生物样本的采集具有高危感染性,医护人员要穿隔离服自我保护,造成身心痛苦。关键是不能避免医护人员的感染和被测者之间的交叉感染,有可能致使疫情进一步发展。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.

因此,需要一种咽拭子自动采样设备来代替医护人员对病患进行采样。该设备无需医护人员操作,被测者只要按照说明步骤自助操作即可。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.

实用新型内容Utility model content

针对现有技术的不足,本实用新型拟解决的技术问题是,提供一种咽拭子自动采样设备。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.

本实用新型解决所述技术问题的技术方案是,提供一种咽拭子自动采样设备,其特征在于,该设备采用多工位一体并行结构,包括架体、水平竖直直线运动机构、拭子上料机械手、拭子库、拭子传送机、旋转壳体电机、旋转壳体电机齿轮组、多自由度机器人、采样管库、打码机构、拭子机械手换向轨道、旋转壳体、拧盖机构、拭子机械手、口腔定位杯、拭子夹具气缸、安装板、支撑板气缸、支撑板、水平直线运动机构、采样电机、动力板、采样电机齿轮、摆动装置、拭子机械手换向架、消毒装置、拭子剪断机构、压开装置、连接架、连接架气缸、连接板、拔杆装置、旋转轴和连接板气缸;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;

所述拭子机械手包括拭子机械手齿轮、弹簧伸缩套筒、轴承座和拭子夹具;弹簧伸缩套筒的外管和内管之间能够相对滑动,内管和外管的一端通过弹簧连接;内管的另一端伸出外管,末端安装有拭子夹具;工作时,咽拭子插入拭子夹具中,并通过拭子夹具与外管的配合改变拭子夹具的紧固和松弛状态,以实现进一步紧固咽拭子;弹簧伸缩套筒的外侧固定有拭子机械手齿轮;弹簧伸缩套筒转动安装于轴承座中;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;

旋转壳体电机的壳体固定于架体上,其输出端固定有旋转壳体电机齿轮组中的一个齿轮;旋转壳体的中心处固定有旋转轴,旋转轴转动安装于架体中,末端上固定有旋转壳体电机齿轮组中的另一个齿轮,旋转壳体电机齿轮组中的两个齿轮啮合传动连接;若干个拭子机械手换向架设置于旋转壳体的周向,一端铰接于旋转壳体的边缘上;轴承座固定于拭子机械手换向架的另一端上;拭子机械手换向轨道固定于架体上,呈环形,位于旋转壳体的边缘处,与拭子机械手换向架配合实现拭子机械手换向架旋转至水平或者竖直状态,进而实现拭子机械手的水平或者竖直状态;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;

水平竖直直线运动机构的壳体固定于架体上,由电机提供动力,能够实现X方向和Z方向的运动,其输出端的螺母上固定有拭子上料机械手;拭子库固定于架体上,用于存放咽拭子;拭子传送机的一部分置于拭子库的内部,用于将拭子库内的咽拭子传送出来;拭子上料机械手的末端与拭子传送机的另一部分配合,用于将拭子传送机上的咽拭子夹起;拭子夹具气缸的壳体固定于架体上,其输出端与弹簧伸缩套筒的内管配合;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;

安装板固定于架体上;支撑板气缸的缸体固定于安装板上,其输出端与支撑板固定连接;支撑板滑动安装于安装板上;采样电机的壳体固定于支撑板上,支撑板带动采样电机沿Z方向运动,采样电机的输出端固定有采样电机齿轮;采样电机齿轮与拭子机械手齿轮啮合传动连接,满足拭子机械手的旋转采集功能;水平直线运动机构的壳体固定于支撑板上,由电机提供动力,其输出端的螺母与动力板固定连接;动力板的末端设置有缺口;弹簧伸缩套筒的外管上设置有凸台,凸台与动力板的缺口配合,实现拭子机械手沿Y方向运动;口腔定位杯安装在架体上,咽拭子穿过口腔定位杯伸出到设备外,用于核酸采样;摆动装置的壳体固定于架体上,输出端与咽拭子配合,核酸采样时带动咽拭子采样工位处的咽拭子摆动,辅助完成核酸采样;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;

多自由度机器人设置于架体内;拭子剪断机构滑动设置于架体上,位于多自由度机器人的工作范围内,用于将咽拭子采样完成后的拭子机械手上的咽拭子剪断为拭子杆和拭子头;消毒装置安装在架体上,用于对拭子剪断机构中的剪刀头进行消毒;采样管库安装在架体内,位于多自由度机器人的工作范围内,采样管库中具有若干个采样管;拧盖机构安装于架体内,其位于多自由度机器人的工作范围内,与多自由度机器人配合,进行采样管的封装盖的拧盖动作;打码机构安装于架体内,位于多自由度机器人的工作范围内,用于对采样管喷涂条形码以记录数据;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;

压开装置固定于架体上,与拭子机械手的弹簧伸缩套筒的内管配合,解除拭子夹具对咽拭子的紧固;连接架气缸的缸体固定于架体上,输出端与连接架固定连接;连接架滑动安装于架体上;连接板气缸的缸体固定于连接架上,输出端与连接板固定连接;连接板滑动安装于连接架上,能够沿Z方向运动;拔杆装置设置于连接板上,用于将解除紧固的咽拭子从拭子夹具中拔出。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.

与现有技术相比,本实用新型的有益效果在于:Compared with the prior art, the utility model has the beneficial effects of:

(1)本实用新型采用多工位一体并行结构,实现了从咽拭子上料、核酸采样(即咽拭子的前后、旋转、摆动动作)、咽拭子剪断、入管、拧盖、打码以及咽拭子杆的拔除丢弃等多任务的同步进行,自动化程度高,结构设计合理,高效快速安全,整个流程只需3~5秒即可完成。(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)本实用新型设置负压风机交换空气、一次性隔离罩和拭子剪断机构消毒装置,解决了核酸采样过程中可能的交叉感染安全隐患。(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)本实用新型在核酸采样时,能够准确模拟人工采样时的进退、旋转、摆动动作,保证了采样的可靠性和准确性。(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)消毒装置采用瞬间高温秒杀因剪断拭子可能沾染的病毒,保证相邻两次的样本互不感染,避免二次感染的安全隐患。(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)本实用新型设备能够智能采集用户信息,可实现用户信息的自动录入、记忆和保存;还开发了相应的病毒采样的管理软件,与互联网大数据相连,能够时时上传信息。(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)除口腔定位杯外,设备中的所有机构和控制元件都放在密封的架体内,保证内部元器件不受外部的污染。(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)工作时,口腔定位杯上套有一次性隔离罩,可实现人与设备的有效隔离。(7) When working, the oral positioning cup is covered with a disposable isolation cover, which can effectively isolate people and equipment.

(8)负压风机能够随时将可能含有病毒的用户口腔气体排到安全处消毒处理。(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.

附图说明Description of drawings

图1为本实用新型的整体结构的轴测示意图;Fig. 1 is the axonometric schematic diagram of the overall structure of the present utility model;

图2为本实用新型图1的A部分的局部放大图;Fig. 2 is a partial enlarged view of part A of Fig. 1 of the utility model;

图3为本实用新型的整体结构的正视示意图;Fig. 3 is the schematic front view of the overall structure of the utility model;

图4为本实用新型图3的B部分的局部放大图;Fig. 4 is a partial enlarged view of part B of Fig. 3 of the utility model;

图5为本实用新型图3的C部分的局部放大图;Fig. 5 is a partial enlarged view of part C of Fig. 3 of the utility model;

图6为本实用新型的整体结构的左视示意图;Fig. 6 is a schematic left view of the overall structure of the utility model;

图7为本实用新型图6的D部分的局部放大图;Fig. 7 is a partial enlarged view of part D of Fig. 6 of the utility model;

图8为本实用新型图6的E部分的局部放大图;Fig. 8 is a partially enlarged view of part E of Fig. 6 of the utility model;

图9为本实用新型图6的F部分的局部放大图;Fig. 9 is a partially enlarged view of part F of Fig. 6 of the present utility model;

图10为本实用新型的整体结构的俯视示意图;Fig. 10 is a schematic top view of the overall structure of the present utility model;

图11为本实用新型图10的G部分的局部放大图;Fig. 11 is a partially enlarged view of part G of Fig. 10 of the utility model;

图12为本实用新型图10的H部分的局部放大图。Fig. 12 is a partially enlarged view of part H of Fig. 10 of the present invention.

图中,架体1、水平竖直直线运动机构2、拭子上料机械手3、拭子库4、拭子传送机5、负压风机6、旋转壳体电机7、旋转壳体电机齿轮组8、多自由度机器人9、采样管库10、打码机构11、拭子机械手换向轨道12、旋转壳体13、拧盖机构14、拭子机械手15、口腔定位杯16、拭子夹具气缸17、安装板18、支撑板气缸19、直线往复运动机构一20、支撑板21、水平直线运动机构22、采样电机23、动力板24、采样电机齿轮25、齿轮组26、拭子机械手齿轮27、弹簧伸缩套筒28、轴承座29、拭子夹具30、咽拭子31、摆动装置32、拭子机械手换向架33、消毒装置34、拭子剪断机构35、直线往复运动机构二36、采样管37、压开装置38、连接架39、直线往复运动机构三40、连接架气缸41、连接板42、拔杆装置43、旋转轴44、直线往复运动机构四45、连接板气缸46。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.

具体实施方式Detailed ways

下面给出本实用新型的具体实施例。具体实施例仅用于进一步详细说明本实用新型,不限制本实用新型权利要求的保护范围。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.

本实用新型提供了一种咽拭子自动采样设备(简称设备),其特征在于,该设备采用多工位一体并行结构,包括架体1、水平竖直直线运动机构2、拭子上料机械手3、拭子库4、拭子传送机5、旋转壳体电机7、旋转壳体电机齿轮组8、多自由度机器人9、采样管库10、打码机构11、拭子机械手换向轨道12、旋转壳体13、拧盖机构14、拭子机械手15、口腔定位杯16、拭子夹具气缸17、安装板18、支撑板气缸19、支撑板21、水平直线运动机构22、采样电机23、动力板24、采样电机齿轮25、摆动装置32、拭子机械手换向架33、消毒装置34、拭子剪断机构35、压开装置38、连接架39、连接架气缸41、连接板42、拔杆装置43、旋转轴44和连接板气缸46;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;

所述拭子机械手15包括拭子机械手齿轮27、弹簧伸缩套筒28、轴承座29和拭子夹具30;弹簧伸缩套筒28的外管和内管之间能够相对滑动,实现伸缩,内管和外管的一端通过弹簧连接,通过弹簧实现复位;内管的另一端伸出外管,末端安装有拭子夹具30;工作时,咽拭子31插入拭子夹具30中,并通过拭子夹具30与外管的配合改变拭子夹具30的紧固和松弛状态,以实现进一步紧固咽拭子31;弹簧伸缩套筒28的外管的外侧通过键固定有拭子机械手齿轮27;弹簧伸缩套筒28的外管通过轴承转动安装于轴承座29中;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;

旋转壳体电机7的壳体固定于架体1上,其输出端固定有旋转壳体电机齿轮组8中的一个齿轮;旋转壳体13的中心处固定有旋转轴44,旋转轴44通过轴承转动安装于架体1中,末端上固定有旋转壳体电机齿轮组8中的另一个齿轮,旋转壳体电机齿轮组8中的两个齿轮啮合传动连接;若干个(本实施例为4个)拭子机械手换向架33均匀设置于旋转壳体13的周向,一端铰接于旋转壳体13的边缘上,旋转壳体13带动拭子机械手换向架33随其一起转动;轴承座29固定于拭子机械手换向架33的另一端上;拭子机械手换向轨道12固定于架体1上,呈环形,位于旋转壳体13的边缘处,与拭子机械手换向架33配合实现拭子机械手换向架33旋转至水平或者竖直状态,进而实现拭子机械手15的水平或者竖直状态;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;

水平竖直直线运动机构2的壳体固定于架体1上,由电机提供动力,能够实现X方向和Z方向的运动,其输出端的螺母上固定有拭子上料机械手3;拭子库4固定于架体1上,用于存放咽拭子31;拭子传送机5的一部分置于拭子库4的内部,用于将拭子库4内的咽拭子31依次排列传送出来;拭子上料机械手3的末端与拭子传送机5的另一部分配合,用于将拭子传送机5上的咽拭子31夹起;拭子夹具气缸17的壳体固定于架体1上,其输出端与弹簧伸缩套筒28的内管配合;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;

安装板18固定于架体1上;支撑板气缸19的缸体固定于安装板18上,其输出端与支撑板21固定连接;支撑板21通过直线往复运动机构一20滑动安装于安装板18上;采样电机23的壳体固定于支撑板21上,支撑板21带动采样电机23沿Z方向运动,采样电机23的输出端固定有采样电机齿轮25;采样电机齿轮25与拭子机械手齿轮27啮合传动连接,满足拭子机械手15的旋转采样功能;水平直线运动机构22的壳体固定于支撑板21上,由电机提供动力,其输出端的螺母与动力板24固定连接;动力板24的末端设置有缺口;弹簧伸缩套筒28的外管上设置有凸台,凸台与动力板24的缺口配合,能够卡装于动力板24的缺口中,实现拭子机械手15随动力板24的进退功能,沿Y方向运动;口腔定位杯16安装在架体1的侧边孔中,沿Y方向设置,咽拭子采样工位处的咽拭子31穿过口腔定位杯16伸出到设备外,用于咽拭子采样;摆动装置32的壳体固定于架体1上,输出端与咽拭子31配合,核酸采样时带动咽拭子采样工位处的咽拭子31摆动,辅助完成咽拭子采样;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;

多自由度机器人9设置于架体1内;拭子剪断机构35通过直线往复运动机构二36滑动设置于架体1上,位于多自由度机器人9的工作范围内,同时位于咽拭子剪断入管工位处的拭子机械手15的正下方,通过X方向运动将咽拭子剪断入管工位处的拭子机械手15上的咽拭子31剪断为拭子杆和拭子头;消毒装置34安装在架体1上,位于拭子剪断机构35的上方,用于对拭子剪断机构35中的剪刀头进行高温杀菌消毒;采样管库10安装在架体1内,位于多自由度机器人9的工作范围内,采样管库10中具有若干个采样管37;拧盖机构14安装于架体1内,其位于多自由度机器人9的工作范围内,与多自由度机器人9配合,进行采样管37的封装盖的拧盖动作,进行封装盖的开闭;打码机构11安装于架体1内,位于多自由度机器人9的工作范围内,打码机构11用于对采样管37喷涂条形码以记录数据;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;

压开装置38固定于架体1上,与拭子杆拔除工位处的拭子机械手15的弹簧伸缩套筒28的内管配合,解除拭子夹具30对咽拭子31的紧固;连接架气缸41的缸体固定于架体1上,输出端与连接架39固定连接;连接架39通过直线往复运动机构四45滑动安装于架体1上,能够沿Y方向移动;连接板气缸46的缸体固定于连接架39上,输出端与连接板42固定连接;连接板42通过直线往复运动机构三40滑动安装于连接架39上,能够沿Z方向运动;拔杆装置43设置于连接板42上,用于将解除拭子夹具30紧固的咽拭子31从拭子夹具30中拔出,实现了拭子杆拔掉回收。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.

优选地,所述多自由度机器人9采用四轴机器人。Preferably, the multi-degree-of-freedom robot 9 adopts a four-axis robot.

优选地,该设备还包括负压风机6;负压风机6设置于架体1的下部,用于将设备中的空气与外界空气进行交换。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.

优选地,支撑板21上转动安装有齿轮组26;齿轮组26设置于采样电机齿轮25与拭子机械手齿轮27之间,分别与采样电机齿轮25和拭子机械手齿轮27啮合传动连接,可改变传动比。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.

优选地,拭子夹具30为中空结构,用于咽拭子31的插入;一端与弹簧伸缩套筒28的内管连接,另一端为弹簧爪结构,弹簧爪结构与弹簧伸缩套筒28的外管配合,实现闭合,进而实现对咽拭子31的紧固。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.

优选地,所述水平竖直直线运动机构2采用水平竖直滚珠丝杠组,由两个电机、水平滚珠丝杠和竖直滚珠丝杠构成;所述水平滚珠丝杠的壳体固定于架体1上,其输出端的螺母上固定有竖直滚珠丝杠的壳体;竖直滚珠丝杠输出端的螺母上固定有拭子上料机械手3;两个电机分别作为水平滚珠丝杠和竖直滚珠丝杠的动力,带动螺母转动。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.

优选地,所述拭子机械手换向轨道12的结构是:咽拭子上料工位至咽拭子采样工位之间为高于拭子机械手换向架33的铰接处的水平轨道,拭子机械手换向架33与拭子机械手换向轨道12配合使自身处于竖直状态,进而拭子机械手15处于水平状态;咽拭子采样工位至咽拭子剪断入管工位之间为逐渐下降的倾斜轨道,与拭子机械手换向架33的铰接处由接触支撑逐渐变为不接触,随着拭子机械手换向轨道12对拭子机械手换向架33的支撑力的逐渐消失,拭子机械手换向架33由竖直状态逐渐变为水平状态,进而拭子机械手15由水平状态逐渐变为竖直状态;咽拭子剪断入管工位至拭子杆拔除工位之间为低于拭子机械手换向架33的铰接处的水平轨道,没有拭子机械手换向轨道12为拭子机械手换向架33提供支撑力,拭子机械手换向架33处于水平状态,进而拭子机械手15处于竖直状态;拭子杆拔除工位至咽拭子上料工位之间为逐渐上升的倾斜轨道,与拭子机械手换向架33的铰接处由不接触逐渐变为接触支撑,拭子机械手换向架33由水平状态逐渐变为竖直状态,进而拭子机械手15由竖直状态逐渐变为水平状态。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.

优选地,核酸采样时,口腔定位杯16的外侧嵌套有一次性隔离罩,避免病毒感染与传播。挂号后领取一次性隔离罩,将一次性隔离罩套在口腔定位杯16上,用户张口含住口腔定位杯16上的一次性隔离罩,在感觉到检测完毕后松口,顺便将一次性隔离罩取下并放进医用垃圾箱。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.

优选地,架体1内可装有紫外线消毒灯,非工作时启用。Preferably, an ultraviolet sterilizing lamp can be housed in the frame body 1, which can be activated when not working.

优选地,拭子机械手15上装有力传感器,用于探测与人体口腔的接触力,保证进给长度的安全。拭子机械手15上装有柔性接头,与人体口腔柔性接触,保证用户口腔安全、不受伤害。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.

优选地,架体1采用密封箱体;除了口腔定位杯15外,所有部件均位于密封箱体内,保证内部元器件不受外部的污染。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.

优选地,咽拭子31由拭子杆和位于拭子杆端部的拭子头构成。Preferably, the throat swab 31 is composed of a swab rod and a swab head located at the end of the swab rod.

本实用新型的工作原理和工作流程是:Principle of work and work flow of the present utility model are:

四个拭子机械手15均布于旋转壳体13上,分别位于咽拭子上料工位、咽拭子采样工位、咽拭子剪断入管工位和拭子杆拔除工位,或者只采用一个拭子机械手15,依次完成四个工位的作业;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;

首先,在咽拭子上料工位,拭子传送机5将拭子库4中的咽拭子31从拭子库4中依次排列传送出来;水平竖直直线运动机构2动作将拭子上料机械手3带到合适的位置,拭子上料机械手3动作将拭子传送机5上的咽拭子31水平插入拭子机械手15的拭子夹具30内;然后拭子夹具气缸17启动,带动弹簧伸缩套筒28的内管运动,内管带动拭子夹具30向靠近外管或远离外管的方向运动,靠近外管时拭子夹具30受到压缩收紧实现对咽拭子31的紧固,完成咽拭子的上料,远离外管时拭子夹具30解除对咽拭子31的紧固。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.

然后旋转壳体电机7启动,通过旋转壳体电机齿轮组8传动,带动旋转壳体13转动,将该拭子机械手15传送到咽拭子采样工位,传送过程中拭子机械手15维持水平状态;在咽拭子采样工位,支撑板气缸19推动支撑板21沿着直线往复运动机构一20移动至采样电机齿轮25与拭子机械手齿轮27啮合,然后水平直线运动机构22转动带着拭子机械手15和采样电机23移动,直至咽拭子31伸出口腔定位杯16至进入被采样人员口腔合适位置;接着采样电机23转动,动力传到拭子机械手齿轮27上,带着整个拭子机械手15转动,以至咽拭子31在被采集人员口中转动达到准确采样的目的,与此同时,摆动装置32开始带着咽拭子31摆动,进一步确保采样的全面性与准确性。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.

接着,然后旋转壳体电机7启动,通过旋转壳体电机齿轮组8传动,带动旋转壳体13转动,将该拭子机械手15传送到咽拭子剪断入管工位,传送过程中拭子机械手换向架33与拭子机械手换向轨道12配合使拭子机械手15由水平状态逐渐变为竖直状态;在咽拭子剪断入管工位,拭子剪断机构35在直线往复运动机构二36的作用下伸出并剪断咽拭子31,同时多自由度机器人9从采样管库10中取出采样管37并置于拭子机械手15的正下方,在每次剪断咽拭子31之后可通过消毒装置34完成瞬间消毒;收集到指定个数的拭子头后,再将采样管37送至拧盖机构14下方,进行采样管37的封装盖的拧盖动作;拧盖之后,多自由度机器人9再将采样管37送到打码机构11处进行打码以记录采样信息。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.

接着,然后旋转壳体电机7启动,通过旋转壳体电机齿轮组8传动,带动旋转壳体13转动,将该拭子机械手15上的拭子杆(即被剪断的咽拭子31)传送到拭子杆拔除工位,传送过程中拭子机械手15维持竖直状态;在拭子杆拔除工位,压开装置38动作,与拭子机械手15的弹簧伸缩套筒28的内管配合,解除拭子夹具30对咽拭子31的紧固;然后连接架气缸41和连接板气缸46分别动作,将拔杆装置43移动到合适位置,拔杆装置43动作将解除紧固的咽拭子31从拭子夹具30中拔掉并放入废物收集箱中。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.

接着,然后旋转壳体电机7启动,通过旋转壳体电机齿轮组8传动,带动旋转壳体13转动,将该空置的拭子机械手15传送到咽拭子上料工位,传送过程中拭子机械手换向架33与拭子机械手换向轨道12配合使拭子机械手15由竖直状态逐渐变为水平状态。再重复上述过程。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.

本实用新型未述及之处适用于现有技术。The unmentioned part of the utility model is applicable to the prior art.

Claims (5)

1.一种咽拭子自动采样设备,其特征在于,该设备采用多工位一体并行结构,包括架体、水平竖直直线运动机构、拭子上料机械手、拭子库、拭子传送机、旋转壳体电机、旋转壳体电机齿轮组、多自由度机器人、采样管库、打码机构、拭子机械手换向轨道、旋转壳体、拧盖机构、拭子机械手、口腔定位杯、拭子夹具气缸、安装板、支撑板气缸、支撑板、水平直线运动机构、采样电机、动力板、采样电机齿轮、摆动装置、拭子机械手换向架、消毒装置、拭子剪断机构、压开装置、连接架、连接架气缸、连接板、拔杆装置、旋转轴和连接板气缸;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; 所述拭子机械手包括拭子机械手齿轮、弹簧伸缩套筒、轴承座和拭子夹具;弹簧伸缩套筒的外管和内管之间能够相对滑动,内管和外管的一端通过弹簧连接;内管的另一端伸出外管,末端安装有拭子夹具;工作时,咽拭子插入拭子夹具中,并通过拭子夹具与外管的配合改变拭子夹具的紧固和松弛状态,以实现进一步紧固咽拭子;弹簧伸缩套筒的外侧固定有拭子机械手齿轮;弹簧伸缩套筒转动安装于轴承座中;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; 旋转壳体电机的壳体固定于架体上,其输出端固定有旋转壳体电机齿轮组中的一个齿轮;旋转壳体的中心处固定有旋转轴,旋转轴转动安装于架体中,末端上固定有旋转壳体电机齿轮组中的另一个齿轮,旋转壳体电机齿轮组中的两个齿轮啮合传动连接;若干个拭子机械手换向架设置于旋转壳体的周向,一端铰接于旋转壳体的边缘上;轴承座固定于拭子机械手换向架的另一端上;拭子机械手换向轨道固定于架体上,呈环形,位于旋转壳体的边缘处,与拭子机械手换向架配合实现拭子机械手换向架旋转至水平或者竖直状态,进而实现拭子机械手的水平或者竖直状态;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; 水平竖直直线运动机构的壳体固定于架体上,由电机提供动力,能够实现X方向和Z方向的运动,其输出端的螺母上固定有拭子上料机械手;拭子库固定于架体上,用于存放咽拭子;拭子传送机的一部分置于拭子库的内部,用于将拭子库内的咽拭子传送出来;拭子上料机械手的末端与拭子传送机的另一部分配合,用于将拭子传送机上的咽拭子夹起;拭子夹具气缸的壳体固定于架体上,其输出端与弹簧伸缩套筒的内管配合;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; 安装板固定于架体上;支撑板气缸的缸体固定于安装板上,其输出端与支撑板固定连接;支撑板滑动安装于安装板上;采样电机的壳体固定于支撑板上,支撑板带动采样电机沿Z方向运动,采样电机的输出端固定有采样电机齿轮;采样电机齿轮与拭子机械手齿轮啮合传动连接,满足拭子机械手的旋转采集功能;水平直线运动机构的壳体固定于支撑板上,由电机提供动力,其输出端的螺母与动力板固定连接;动力板的末端设置有缺口;弹簧伸缩套筒的外管上设置有凸台,凸台与动力板的缺口配合,实现拭子机械手沿Y方向运动;口腔定位杯安装在架体上,咽拭子穿过口腔定位杯伸出到设备外,用于核酸采样;摆动装置的壳体固定于架体上,输出端与咽拭子配合,核酸采样时带动咽拭子采样工位处的咽拭子摆动,辅助完成核酸采样;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; 多自由度机器人设置于架体内;拭子剪断机构滑动设置于架体上,位于多自由度机器人的工作范围内,用于将咽拭子采样完成后的拭子机械手上的咽拭子剪断为拭子杆和拭子头;消毒装置安装在架体上,用于对拭子剪断机构中的剪刀头进行消毒;采样管库安装在架体内,位于多自由度机器人的工作范围内,采样管库中具有若干个采样管;拧盖机构安装于架体内,其位于多自由度机器人的工作范围内,与多自由度机器人配合,进行采样管的封装盖的拧盖动作;打码机构安装于架体内,位于多自由度机器人的工作范围内,用于对采样管喷涂条形码以记录数据;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; 压开装置固定于架体上,与拭子机械手的弹簧伸缩套筒的内管配合,解除拭子夹具对咽拭子的紧固;连接架气缸的缸体固定于架体上,输出端与连接架固定连接;连接架滑动安装于架体上;连接板气缸的缸体固定于连接架上,输出端与连接板固定连接;连接板滑动安装于连接架上,能够沿Z方向运动;拔杆装置设置于连接板上,用于将解除紧固的咽拭子从拭子夹具中拔出。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.根据权利要求1所述的咽拭子自动采样设备,其特征在于,该设备还包括负压风机;负压风机设置于架体的下部,用于将设备中的空气与外界空气进行交换。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.根据权利要求1所述的咽拭子自动采样设备,其特征在于,支撑板上转动安装有齿轮组;齿轮组设置于采样电机齿轮与拭子机械手齿轮之间,分别与采样电机齿轮和拭子机械手齿轮啮合传动连接。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.根据权利要求1所述的咽拭子自动采样设备,其特征在于,拭子夹具为中空结构,用于咽拭子的插入;一端与弹簧伸缩套筒的内管连接,另一端为弹簧爪结构,弹簧爪结构与弹簧伸缩套筒的外管配合,实现闭合,进而实现对咽拭子的紧固。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.根据权利要求1所述的咽拭子自动采样设备,其特征在于,所述水平竖直直线运动机构采用水平竖直滚珠丝杠组,由两个电机、水平滚珠丝杠和竖直滚珠丝杠构成;所述水平滚珠丝杠的壳体固定于架体上,其输出端的螺母上固定有竖直滚珠丝杠的壳体;竖直滚珠丝杠输出端的螺母上固定有拭子上料机械手;两个电机分别作为水平滚珠丝杠和竖直滚珠丝杠的动力,带动螺母转动。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.
CN202222298706.3U 2022-08-31 2022-08-31 A throat swab automatic sampling device Active CN219147660U (en)

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