CN219522119U - Sampling robot, sampling assembly and intelligent sampling vehicle - Google Patents

Abstract

The utility model discloses a sampling robot, a sampling assembly and an intelligent sampling vehicle, wherein the sampling robot comprises a robot body; and be located robot body both sides first arm and can with first arm matched with second arm, first arm includes first body and first clamping jaw, first clamping jaw is located the front end of first body, the second arm includes second body and second clamping jaw, the second clamping jaw is located the front end of second body, first clamping jaw is used for the body of centre gripping sampling tube, the second clamping jaw is used for the holding end of centre gripping sampling stick.

Description

Sampling robot, sampling assembly and intelligent sampling vehicle

Technical Field

The utility model relates to the technical field of medical instruments, in particular to a sampling robot, a sampling assembly and an intelligent sampling vehicle.

Background

Currently, there are some sampling robots, which are single-arm robots. The base of the single-arm robot needs to be provided with a plurality of working areas, and the single-arm robot needs to be switched among the working areas to finish the sampling work. Therefore, the waste of sampling time sequence can be caused, the sampling efficiency is reduced, and the intelligent degree of the sampling robot is low.

Disclosure of Invention

An object of the utility model is to provide a new solution for a sampling robot, a sampling assembly and an intelligent sampling vehicle.

In one aspect of the present utility model, there is provided a sampling robot including a robot body; the first mechanical arm and the second mechanical arm can move relative to the robot body, the first mechanical arm and the second mechanical arm can be switched among a plurality of stations, the first mechanical arm comprises a first body and a first clamping jaw, the first clamping jaw is positioned at the front end of the first body, the second mechanical arm comprises a second body and a second clamping jaw, the second clamping jaw is positioned at the front end of the second body, the first clamping jaw is used for clamping the body of the sampling tube, and the second clamping jaw is used for clamping the holding end of the sampling rod;

the second mechanical arm further comprises a pressure sensing device, the pressure sensing device is located between the second body and the second clamping jaw, the pressure sensing device is fixedly connected with the end portion of the second body and the second clamping jaw respectively, and the pressure sensing device can rotate relative to the second mechanical arm.

Optionally, when the sampling rod is driven by the second mechanical arm to extend into a part to be detected of a person to be detected, the pressure sensing device is configured to sense the pressure applied by the second clamping jaw, and when the pressure reaches a set threshold value, the second body stops moving, and the second clamping jaw rotates relative to the second body.

Optionally, the first mechanical arm and the second mechanical arm are both six-axis robots.

Optionally, the first and second jaws each comprise a drive portion and a clamping end, the drive portion and corresponding clamping end being connected, the clamping end being switchable relative to the drive portion between open and closed states.

Optionally, the system further comprises a vision device and a control device, wherein the vision device comprises at least one image acquisition device, and the image acquisition device and the second mechanical arm are connected with the control device;

the vision device is used for identifying the part to be detected of the detected person, and the control device is used for controlling the second mechanical arm to drive the sampling rod to extend into the part to be detected of the detected person.

In another aspect of the present utility model, a sampling assembly is provided comprising the sampling robot described above and a sampling tube discharge device configured to push a sampling tube to a first reclaiming station, the first robotic arm cooperating with the sampling tube discharge device to withdraw the sampling tube at the first reclaiming station.

Optionally, the sampling assembly further comprises a cap screwing device, wherein the cap screwing device comprises a cap screwing body and a cap screwing clamping claw, the cap screwing body is connected with the cap screwing clamping claw, and the cap screwing clamping claw can rotate relative to the cap screwing body;

when the cap is screwed, the first clamping jaw is opposite to the cap screwing clamping jaw, so that the cap screwing clamping jaw and the tube cap of the sampling tube form a clamping state.

Optionally, the sampling assembly comprises a shearing device, the first clamping jaw and the second clamping jaw are matched, the shearing device comprises a shearing body and a shearing part, the shearing part is used for cutting the sampling rod along the radial direction, and the shearing part can move relative to the shearing body so as to switch the shearing device between a separated state or a shearing state;

in the sheared state, the first jaw is opposed to the second jaw such that the sampling end of the sampling wand is opposed to the mouth of the sampling tube, the shearing device being between the first jaw and the second jaw.

Optionally, the sampling assembly further includes a sampling rod discharging device, the sampling rod discharging device is matched with the second mechanical arm, and the sampling rod discharging device can push the sampling rod to the second material taking station, so that the second clamping jaw can clamp the sampling rod.

Optionally, the sampling assembly further comprises a storage device comprising a sample delivery structure, a refrigerator and a storage body, the refrigerator being adapted to refrigerate the storage body, the sample delivery structure being capable of cooperating with the first robotic arm to place a sampling tube within the storage body.

In another aspect of the present utility model, an intelligent sampling vehicle is provided that includes the sampling assembly described above.

The first mechanical arm and the second mechanical arm are arranged through the sampling robot, and the first mechanical arm can be matched with the second mechanical arm to sample, so that the sampling efficiency is improved, and the intellectualization of the sampling robot is improved.

Other features of the present specification and its advantages will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.

Drawings

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

Fig. 1 is a schematic structural view of a sampling robot in an embodiment of the present utility model;

FIG. 2 is a schematic diagram of a sampling assembly in an embodiment of the present utility model;

FIG. 3 is one of the schematic structural views of the sampling tube discharging device in the embodiment of the present utility model;

FIG. 4 is one of the enlarged partial views of the encircled area of FIG. 3;

FIG. 5 is a second enlarged view of a portion of the encircled area of FIG. 3;

FIG. 6 is a second schematic view of a sample tube ejection device according to an embodiment of the present utility model;

FIG. 7 is an enlarged view of a portion of the encircled area of FIG. 6;

fig. 8 is a schematic structural view of an intelligent sampling vehicle according to an embodiment of the present utility model.

Reference numerals illustrate:

1000. a sampling robot; 1100. a robot body; 1200. a first mechanical arm; 1210. a first body; 1220. a first jaw; 1300. a second mechanical arm; 1310. a second body; 1320. a second jaw; 1330. a pressure sensing device; 1400. a robot base;

6000. a storage device;

5000. a sampling tube discharging device; 5100. a feeding frame; 5200. a carrier belt; 5210. a first drive wheel; 5220. a load bearing bracket; 5300. a transfer device; 5310. a base; 5311. a first protrusion; 5320. a transfer structure; 5321. a conveyor belt; 5322. a conveying support; 5323. a pushing block; 5324. a linear guide rail; 5325. a linear slide; 5330. a platform; 5340. a pipe feeding bracket; 5400. a driving device; 5410. a driving structure; 5411. a first drive wheel; 5412. a drive bracket; 5413. a drive belt; 5420. a pushing structure; 5421. a cylinder body; 5422. a push rod; 5500. a transition assembly; 5510. a transition roller; 5520. a transition support; 5530. and matching with a gear.

Detailed Description

Reference will now be made in detail to the present embodiments of the present utility model, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the like or similar elements throughout or elements having the same or similar functions. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

The features of the utility model "first", "second" and the like in the description and in the claims may be used for the explicit or implicit inclusion of one or more such features. In the description of the present utility model, unless otherwise indicated, the meaning of "a plurality" is two or more.

In the description of the present utility model, it should be understood that the terms "center", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.

In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

According to an embodiment of the present utility model, a sampling robot 1000 is provided, as shown in fig. 1, and fig. 1 is a schematic structural diagram of the sampling robot 1000. The sampling robot 1000 includes: the robot body 1100, a first robot arm 1200 located at both sides of the robot body 1100, and a second robot arm 1300 capable of being mated with the first robot arm 1200. The first and second robot arms 1200 and 1300 are movable relative to the robot body 1100. The first and second robot arms 1200 and 1300 may be switched between a plurality of stations, the first robot arm 1200 including a first body 1210 and a first jaw 1220, the first jaw 1220 being located at a front end of the first body 1210, the second robot arm 1300 including a second body 1310 and a second jaw 1320, the second jaw 1320 being located at a front end of the second body 1310. The first jaw 1220 is used to grip the body of the sampling tube and the second jaw 1320 is used to grip the gripping end of the sampling rod. Wherein the second mechanical arm 1300 further comprises a pressure sensing device 1330. The pressure sensing device is located between the second body 1310 and the second clamping jaw 1320, and the pressure sensing device is fixedly connected with the end of the second body 1310 and the second clamping jaw 1320, and the pressure sensing device can rotate relative to the second mechanical arm 1300.

As shown in fig. 1, a robot body 1100 is fixed to a robot base 1400. The first robot arm 1200 is disposed opposite to the second robot arm 1300. The first robotic arm 1200 can cooperate with the second robotic arm 1300 to complete the sampling. The first robotic arm 1200 is used to operate a sampling tube and the second robotic arm 1300 is used to operate a sampling wand. After sampling is complete, the first robotic arm 1200 can cooperate with the second robotic arm 1300 to place the sampling end of the sampling wand into a sampling tube. The first clamping jaw 1220 located on the first body 1210 is used for grabbing a sampling tube, and the first body 1210 is used for driving the first clamping jaw 1220 to switch at a set station. A second jaw 1320 located in the second body 1310 is capable of gripping the gripping end of the sampling wand. The sampling wand has a sampling end and a gripping end. The second body 1310 carries the sampling rod to a set station by a second jaw 1320. The second robot arm 1300 may also be in an operative state while the first robot arm 1200 is in operation.

For example, the first and second robotic arms 1200, 1300 are each six-axis robots. In this way, the first and second robot arms 1200 and 1300 can achieve the full pose. In this way, the matching capability of the first mechanical arm 1200 and the second mechanical arm 1300 is further improved, and the degree of intellectualization of the sampling robot 1000 is improved.

For example, the first and second clamping jaws 1220, 1320 each include a drive portion and a clamping end, the drive portion and corresponding clamping end being connected, the clamping end being switchable between open and closed states relative to the drive portion.

As shown in fig. 1, the first jaw 1220 and the second jaw 1320 have a housing in which the drive portion is located. For example, the first clamping jaw 1220 has two clamping ends, and the driving portion can drive the two clamping ends to move toward each other to close the first clamping jaw 1220, or move away from each other to open the first clamping jaw 1220. A first recess is provided on one clamping end of the first clamping jaw 1220 and a second recess is provided on the other clamping end, the first recess and the second recess being matched with the profile of the body of the sampling tube. For example, the sampling tube is a cylindrical structure, and the first recess and the second recess are arc-shaped and can be matched with the outer wall of the sampling tube with the cylindrical structure.

In one embodiment of the present utility model, when the sampling rod is driven by the second mechanical arm 1300 to extend into the portion to be detected of the person to be detected. The pressure sensing device is configured to sense the pressure to which the second jaw 1320 is subjected. When the pressure reaches a set threshold, the second body 1310 stops moving, and the second jaw 1320 rotates relative to the second body 1310.

In this way, the sampling efficiency can be improved, and the intellectualization of the sampling robot 1000 can be improved.

For example, the pressure sensing device 1330 is a multi-directional pressure sensor. The pressure sensing device 1330 is mounted on the second body 1310, and the second jaw 1320 is mounted on the pressure sensing device 1330 and connected to the pressure sensing device 1330. The pressure sensing device 1330 may be a strain gauge pressure sensor, a piezoelectric pressure sensor, or a fiber optic pressure sensor. The second body 1310 can be switched between a moving state and a pressure maintaining state. The set threshold is characterized in that the sampling end is in effective contact with a part to be detected of the detected person.

In the actual working process, when the second body 1310 is in a moving state, the second body 1310 drives the second clamping jaw 1320 to drive the sampling end of the sampling rod to extend into the part to be detected of the person to be detected. For example, the second clamping jaw 1320 drives the sampling end of the sampling rod to extend into the oral cavity or the nasal cavity of the tested person, and makes the sampling end form a propped state with the to-be-tested part, and the to-be-tested part forms pressure on the sampling end. At this time, the pressure sensing device 1330 senses the pressure applied to the second jaw 1320, and when the pressure value reaches the set threshold value, the second body 1310 stops moving continuously, and the moving state is switched to the pressure maintaining state. The second jaw 1320 rotates the sampling wand to sample.

Alternatively, the pressure sensing device 1330 can monitor a pressure value in real time, and the second body 1310 can be switched between a moving state and a pressure maintaining state according to the pressure value monitored by the pressure sensing device 1330.

Therefore, whether the sampling end is in effective contact with the part to be detected of the detected person can be monitored in real time, and the success rate of sampling is improved.

In one embodiment of the utility model, a vision device and a control device are also included. The vision device comprises at least one image acquisition device, and the image acquisition device and the second mechanical arm 1300 are connected with the control device. The vision device is used for identifying the part to be detected of the detected person, and the control device is used for controlling the second mechanical arm 1300 to drive the sampling rod to extend into the part to be detected of the detected person according to the part to be detected identified by the vision device. Wherein, image acquisition device is the camera. In this way, the portion to be detected of the subject can be identified.

< sampling tube discharge device >

According to another embodiment of the present utility model, a sampling assembly is provided for use in automated nucleic acid detection sampling. The sampling assembly includes the sampling robot 1000 described above and a sampling tube discharge device 5000, the sampling tube discharge device 5000 being configured to be able to push a sampling tube to a first sampling station, the first clamping jaw 1220 cooperating with the sampling tube discharge device 5000 to withdraw the sampling tube at the first sampling station.

As shown in fig. 2 to 8, the sampling tube discharging device 5000 includes a loading frame 5100, and a sampling tube accommodating space and an operating space are formed in the loading frame 5100, and the operating space is communicated with the sampling tube accommodating space. The loading frame 5100 is a supporting member, and the loading frame 5100 has a predetermined rigidity. For example, the loading frame 5100 is a rectangular parallelepiped, a square, or the like. The loading frame 5100 has six struts, and the six struts are connected by welding.

A sampling tube is provided in the accommodating space in the upper rack 5100. A carrier belt 5200 is disposed in the sample tube receiving space, the carrier belt 5200 being adapted to receive the sample tube. The carrier belt 5200 is supported on the first drive pulley 5210 and the first driven pulley.

For example, the sampling tubes are placed in a vertical alignment on the upper surface of the carrier belt 5200. The bearing belt 5200 rolls along the horizontal direction under the driving of the first driving wheel 5210. The number of rows of sampling tubes arranged on the carrier belt 5200 can be 10, 20 or 30, and the number of sampling tubes arranged in each row can be 10, 14 or 25. Those skilled in the art can select the size of the carrying belt 5200 according to the requirements, and the number of the sampling tubes to be carried can be satisfied. The carrier belt 5200 can be rotated in the horizontal direction from the accommodating space toward one side of the operating space.

In one embodiment, a plurality of carrying belts 5200 are provided in the accommodating space, and the plurality of carrying belts 5200 are arranged in a set direction.

As shown in fig. 3, 5, and 6, the carrier belt 5200 extends in a horizontal direction. The carrier belt 5200 is fixed to the upper carrier 5100 by a carrier bracket 5220, and a first driving pulley 5210 and a first driven pulley of the carrier belt 5200 extend in a horizontal direction. The first driving wheel 5210 is located at the middle of the feeding frame 5100, and the driven wheel of the carrying belt 5200 is located at one side of the feeding frame 5100 away from the operation space. For example, the carrier belts 5200 may be arranged in the height direction of the loading frame 5100, or the carrier belts 5200 may be arranged in the horizontal direction and in the vertical direction. And the feeding devices can be staggered along the inclined feeding direction, and the actual needs of the person skilled in the art are met.

Thus, by arranging the multi-layer bearing belt 5200, the capacity of the sampling tube is further increased, and the utilization rate of the height space is increased.

The transfer device 5300 and the driving device 5400 are disposed in the operation space. The driving device 5400 is provided on the transfer device 5300. The driving device 5400 is used for driving the first driving wheel 5210 to rotate, the conveying device 5300 can move along the arrangement direction of the bearing belt 5200, and the conveying device 5300 is used for bearing the sampling tube from the bearing belt 5200 so as to push the sampling tube to the first material taking station.

For example, the driving device 5400 is fixed to the conveyor 5300, and when the conveyor 5300 moves in the arrangement direction of the carrier belt 5200, the driving device 5400 moves together with the conveyor 5300. The driving device 5400 includes a driving structure 5410, and the driving structure 5410 can be in transmission fit with the first driving wheel 5210 so as to enable the carrier belt 5200 to rotate along a direction set by the driving device 5400. For example, the driving structure 5410 has a first driving wheel 5411 that mates with the first driving wheel 5210 to drive the first driving wheel 5210 to rotate in a set direction. For example, the driving structure 5410 can drive the carrier belt 5200 to rotate from the accommodating space toward the operating space, and also rotate in the opposite direction. And can be adjusted by the person skilled in the art according to the requirements.

For example, as shown in fig. 4-7, the sample tube is carried on the conveyor 5300 as the drive 5400 drives the sample tube toward the side of the conveyor 5300. For example, the carrier belt 5200 is driven by the driving device 5400, the carrier belt 5200 conveys a row of sampling tubes to the transferring device, and the transferring device pushes the sampling tubes to the set position one by one. When the sample tube is advanced to the first take out station, the first jaw 1220 of the first robotic arm 1200 is able to grasp the test tube at the first take out station and move to the next set position.

In the first state, the drive 5400 is in driving engagement with a first drive wheel 5210 of one of the carrier belts 5200 to transfer sample tubes from the carrier belt 5200 to the conveyor 5300. In the second state, the transfer device 5300 moves in the set direction to separate the driving device 5400 from the first capstan 5210.

For example, during a take-out process, the conveyor 5300 is moved to a position opposite one of the carrier belts 5200 to engage the drive structure 5410 with the first capstan 5210. The sampling tube discharge device 5000 is in a first state. The driving structure 5410 of the driving device 5400 is in driving engagement with the first driving wheel 5210. For example, the driving structure 5410 includes a first driving wheel 5411, where the first driving wheel 5411 is a gear or a roller. The first driving wheel 5411 is in transmission fit with the first driving wheel 5210, so that the first driving wheel 5210 rotates in a set direction, thereby driving the carrier belt 5200 and the first driven wheel to rotate in a circulating manner. As the carrier belt 5200 rotates, the sampling tube on the carrier belt 5200 moves in the direction of rotation of the carrier belt 5200. The carrier belt 5200 rotates in a direction approaching the conveyor 5300. The sample tubes are transported by carrier belt 5200 to conveyor 5300. During the process of switching the carrier belt 5200, the sampling tube discharging device 5000 is in the second state. In the second state, the transfer device 5300 moves in the set direction, and the driving structure 5410 is separated from the first driving wheel 5210.

Through the mode, the capacity of the sampling tube discharging device 5000 is increased, the feeding times are reduced, and the sampling efficiency is improved. In addition, can initiatively reach the load belt 5200 of settlement through conveyer 5300 and get the material, get the back again, can push the mode of settlement position with the sampling pipe one by one, realized automaticly, intelligently with sampling arm or sampling staff's cooperation.

In one example, the carrier strap 5200 is secured to the upper tray 5100 by a carrier bracket 5220, and a first sensing portion is provided on the carrier bracket 5220. The conveying device 5300 is provided with a second sensing part matched with the first sensing part, the conveying device 5300 moves to a position opposite to one bearing belt 5200 so that the driving structure 5410 is matched with the first driving wheel 5210, and the first sensing part and the second sensing part mutually sense.

It may further be that the conveying device 5300 includes a platform 5330, where the platform 5330 is configured to accommodate the sampling tube conveyed by the carrier belt 5200, and the first sensing portion and the second sensing portion are mutually sensed when the platform 5330 and the carrier belt 5200 are located on the same plane.

In this way, the transfer device 5300 is enabled to reach a position opposite the carrier belt 5200, so that the drive device 5400 can be in driving engagement with the first drive wheel 5210 of the carrier belt 5200.

In one embodiment of the present utility model, the conveyor 5300 includes a guide post disposed along an arrangement direction of the carrier belt 5200, a base 5310 sleeved on the guide post and capable of moving relative to the guide post, and a platform 5330 fixed on the base 5310, wherein the platform 5330 is configured to receive a sampling tube conveyed by the carrier belt 5200.

As shown in fig. 3, the guide posts are disposed on a side of the upper stack 5100 that is remote from the carrier 5220. The guide posts are arranged along the arrangement direction of the bearing bracket 5220. For example, the base 5310 that is fitted over the guide post can move in the extending direction of the guide post. For example, the belt device is further included, the belt device rotates along the extending direction of the guide post, the base 5310 is fixedly connected to the belt of the belt device, and when the belt starts to rotate, the base 5310 moves under the driving of the belt.

Thus, by providing the guide posts, the direction of movement of the base 5310 is defined, increasing the stability of movement of the base 5310.

For example, as shown in fig. 5, a platform 5330 is fixedly connected to the base 5310, and in the first state, the platform 5330 and the carrier belt 5200 are located on the same plane. The platform 5330 is mounted on the upper surface of the base 5310 at a predetermined height by a tube holder 5340. The tube support 5340 may be located at both ends of the platform 5330 or may be located in the middle of the platform 5330. In the first state, the sample tube is transported by the carrier belt 5200 onto the platform 5330. Platform 5330 may house a row of sampling tubes or may house multiple rows of sampling tubes. The platform 5330 extends in the width direction of the carrier belt 5200, the platform 5330 matching the width of the carrier belt 5200. For example, the dimension of the platform 5330 in the width direction of the carrier belt 5200 is greater than or equal to the width of the carrier belt 5200.

In one embodiment of the utility model, a baffle is disposed on the sidewall of the platform 5330, the baffle being perpendicular to the upper surface of the platform 5330.

For example, as shown in fig. 3 to 7, the platform 5330 is rectangular, and the long side of the rectangle is in the width direction of the carrier belt 5200. The baffles provided on the side walls of the platform 5330 enclose the platform 5330 into a containment area, which is in communication with the containment space. No baffles are provided or partially provided on the side walls of the platform 5330 on the side adjacent to the carrier belt 5200 to allow the sample tubes to pass from the carrier belt 5200 into the receiving area. The baffle may be disposed only on the long side of the platform 5330 away from the carrier belt 5200. For example, the first take out station is located at a set height on the platform 5330. Positioning of the first clamp jaw 1220 can be accomplished by the platform 5330 such that the first clamp jaw 1220 recognizes the first material taking station and grips the sample tube.

In this way, the sampling tube can be prevented from falling or falling.

In one embodiment of the utility model, the transfer device 5300 further comprises a transfer structure 5320. The transfer structure 5320 is fixed to an upper surface of the base 5310.

The transfer structure 5320 includes a transfer drive and a push block 5323 with a gap between the platform 5330 and the base 5310. The transfer drive is positioned in the gap, the push block 5323 is suspended on the platform 5330, and the transfer drive is used for driving the push block 5323 to move relative to the platform 5330 so as to push the sampling tube positioned on the platform 5330 to a set position.

As shown in fig. 6 and 7, the transport structure 5320 is used to push a sample tube located on the platform 5330 to a first take out station. The transfer structure 5320 and the platform 5330 are both fixed on the upper surface of the base 5310. The transfer drive section is covered by a stage 5330. The transport driver can drive the push block 5323 to push the sample tube. The push block 5323 extends from a side of the platform 5330 remote from the carrier belt 5200 toward a side proximate to the carrier belt 5200. The end of the push block 5323 on the side closer to the carrier belt 5200 does not exceed the side of the platform 5330 closer to the carrier belt 5200.

Through such a mode, after carrying the sampling pipe to platform 5330 on, promote the sampling pipe to first material station by pusher 5323, like this, avoided artifical sampler or sampling arm to carry out the waste of the time sequence that the switching of a plurality of stations led to, reduced the error rate of ejection of compact, improved efficiency. Meanwhile, the problem that the mechanical arm or the manual sampler needs to correspond to a plurality of different material taking stations, so that other sampling pipes are inclined or polluted due to the fact that the other sampling pipes are mistakenly touched down when the sampling pipes are grabbed is avoided.

Optionally, the first take out station is located at an end of the platform 5330.

Therefore, the difficulty in taking the tube of the mechanical arm can be reduced, and the tube taking by a manual sampler is also facilitated.

In one embodiment of the utility model, the transfer drive includes a transfer belt 5321 and the transfer structure 5320 further includes a transfer support 5322. One end of the transmission support 5322 is fixed on the transmission belt 5321, the pushing block 5323 is fixed at the other end of the transmission support 5322, the transmission support 5322 is of a bending structure, and the platform 5330 is of a bending structure.

As shown in fig. 6 and 7, the surface of the conveyor belt 5321 is disposed perpendicular to the base 5310. The end of the conveyor support 5322 is fixed to the conveyor belt 5321 by screws, and when the conveyor belt 5321 rotates, the conveyor support 5322 moves from one end of the platform 5330 to a second position, the second position being a position near the first material taking station. The transfer support 5322 is, for example, an L-shaped structure. A portion of the transfer support 5322 is perpendicular to the surface of the base 5310 and another portion of the transfer support 5322 is parallel to the surface of the base 5310. The portion of the transport support 5322 perpendicular to the surface of the base 5310 supports the push block 5323 above the platform 5330. The pushing block 5323 may be integrally formed with the conveying support 5322 or may be a split structure. The transfer bracket 5322 and the push block 5323 form a U-shaped structure, and the platform 5330 is disposed in the U-shaped structure along a horizontal direction.

In this way, more space can be saved.

In one embodiment of the utility model, the transfer structure 5320 further comprises a linear guide 5324. The linear guide 5324 is provided at a distance from the conveyor belt 5321, and the linear guide 5324 can cover the movement path of the conveyor bracket 5322. The linear rail 5324 covers at least a distance between the first position and the second position. The linear guide 5324 conveys the portion of the support 5322 parallel to the surface of the base 5310.

As shown in fig. 6 and 7, a linear slider 5325 matching the linear guide 5324 is connected to a portion of the transfer support 5322 opposite to the guide, and the linear slider 5325 can slide along the linear guide 5324 under the drive of the transfer support 5322. The linear slider 5325 is fixed to the bottom of a portion of the transport carriage 5322 parallel to the surface of the base 5310. When the conveying support 5322 moves under the drive of the belt, the linear slide 5325 on the conveying support 5322 moves along the linear slide rail.

In this way, the swing of the transfer bracket 5322 during transfer is avoided.

In one embodiment of the utility model, the drive device 5400 further comprises a drive structure 5410 and a pushing structure 5420 for driving the drive structure 5410 towards or away from the first capstan 5210. The pushing structure 5420 is fixed on the surface of the base 5310 opposite to the platform 5330, and the driving structure 5410 is provided with a first driving wheel 5411 matched with the first driving wheel 5210.

The fixed end of the pushing structure 5420 is connected with the lower surface of the base 5310, and the free end of the pushing structure 5420 is connected with the driving structure 5410, and the free end can move towards the direction close to the bearing belt 5200 and also can move towards the direction far away from the bearing belt 5200. The drive structure 5410 is fixed to the free end and is capable of pushing the drive structure 5410 into driving engagement with the first drive wheel 5210 or out of engagement with the first drive wheel when the free end is moving. The driving structure 5410 has a first driving wheel 5411 thereon, and when the first driving wheel 5411 is a gear, the first driving wheel 5411 can be engaged with the first driving wheel 5210.

In this way, the sampling tube discharging device 5000 can be driven to switch between the first state and the second state.

In one example, the push structure 5420 comprises a cylinder body 5421 and a push rod 5422, and the drive structure 5410 is secured to the push rod 5422.

As shown in fig. 4 and 5, the cylinder body 5421 is a fixed end, and the push rod 5422 moves telescopically with respect to the cylinder body 5421. The free end of the push rod 5422 is located outside the cylinder body 5421 and the driving structure 5410 is fixed to the end of the push rod 5422. The base 5310 extends away from the carrier belt 5200 to form a first projection 5311, and the cylinder body 5421 is fixed to the back surface of the first projection 5311.

In one embodiment of the present utility model, the drive structure 5410 includes a drive bracket 5412, the drive bracket 5412 being fixedly coupled to the push rod 5422. The driving bracket 5412 is fixedly connected with a driving motor and a driving belt 5413 matched with the driving motor, a driving wheel of the driving belt 5413 is sleeved on a driving wheel of the driving motor, and a driven wheel of the driving belt 5413 is connected with the first driving wheel 5411 to drive the first driving wheel 5411 to rotate along a set direction.

As shown in fig. 3 to 5, the transmission wheel of the driving motor is an output shaft of the motor, and a driving wheel of the driving belt 5413 is fixed at an end of the transmission wheel of the driving motor, so as to drive the driving belt 5413 to rotate. The driving bracket 5412 is located between the first driving wheel 5411 and the driving belt 5413. The first driving pulley 5411 is connected to a driven pulley of the driving belt 5413. Thus, when the driving motor starts to work, the output shaft of the driving motor drives the driving belt 5413 to rotate, so that the driven wheel of the driving belt 5413 drives the first driving wheel 5411 to rotate.

As shown in fig. 4 and 5, the driving motor and the first driving wheel 5411 are located inside the driving bracket 5412, the driving belt 5413 is located outside the driving bracket 5412, and the push rod 5422 is fixedly connected to a side wall portion of the driving bracket 5412.

In this way, the drive structure 5410 is able to provide rotational power to the carrier belt 5200.

In one embodiment of the utility model, a transition assembly 5500 is also included, the transition assembly 5500 being located between the conveyor 5300 and the carrier belt 5200. In this way, the transition assembly serves to fill the gap between the conveyor 5300 and the carrier belt 5200, increasing the stability of the sample tube transport.

The transition assembly 5500 includes a transition roller 5510 and a transition bracket 5520, the transition roller 5510 being secured to the base 5310 by the transition bracket 5520. In the first state, the carrier belt 5200, the transition assembly 5500 and the platform 5330 are in the same plane.

In one example, a mating gear 5530 is provided at an end of the roller adjacent the first drive wheel 5411, and the transition roller 5510 is in driving engagement with the drive device 5400.

As shown in fig. 2 and 4, the first driving gear is located at a lower portion of the mating gear 5530 and is engaged with the mating gear 5530. Thus, the transition roller 5510 is engaged with the driving device 5400 such that the transition roller 5510 rotates with the first driving gear.

< device for screwing cap >

In another embodiment of the utility model, the sampling assembly further comprises a capping device. The cap screwing device comprises a cap screwing body and cap screwing clamping jaws. The screw cap body is connected with the screw cap clamping claw, and the screw cap clamping claw can rotate relative to the screw cap body. When screwing, the first clamping jaw 1220 is opposite to the screwing clamping jaw so that the screwing clamping jaw forms a clamping state with the tube cover of the sampling tube.

The sampling robot 1000 can be mated with a capping device. For example, during sampling by the second jaw 1320, the first jaw 1220 moves to the capping station after grabbing the sample tube at the first reclaiming station. The first clamp jaw 1220 positions the tube cap of the sample tube within the working space of the cap-twisting clamp jaw so that the cap-twisting clamp jaw unscrews the tube cap of the sample tube from the sample tube. At the end of sampling, the sampling tube with the sampling rod is again placed by the first clamping jaw 1220 in the working range of the cap screwing clamping jaw, which screws the cap body out of the tube orifice of the sampling tube. The capping station refers to a station capable of capping or closing a sampling tube. The first mechanical arm 1200 can be mated with the sampling tube ejection device 5000 and then mated with the capping device.

It will be appreciated that the second jaw 1320 may also perform other actions, such as taking a tube and screwing the cap, with the first jaw 1220. And can be selected by the person skilled in the art according to the need.

In this way, the sampling robot 1000 can be engaged with the cap screwing device to close or unscrew the cap for the sampling tube. In addition, during the sampling process, the second clamping jaw 1320 and the first clamping jaw 1220 realize tube taking and cap screwing, so that the sampling time sequence is saved, and the sampling efficiency is improved.

< shearing device >

In one embodiment of the utility model, the sampling assembly further comprises a shearing device, which cooperates with the first clamping jaw 1220 and the second clamping jaw 1320. The shearing device comprises a shearing body and a shearing part, wherein the shearing part is used for cutting off the sampling rod along the radial direction, and the shearing part can move relative to the shearing body so as to switch the shearing device between a separated state and a shearing state. In the sheared state, the first jaw 1220 is opposed to the second jaw 1320 such that the sampling end of the sampling rod is opposed to the mouth of the sampling tube, and the shearing device is between the first jaw 1220 and the second jaw 1320.

For example, the shear body is fixed at a middle position of the robot body 1100. The shear is capable of linear movement relative to the shear body, and the second jaw 1320 positions the sampling wand within the range of linear movement of the shear when sheared. For example, the shearing part is a blade, the shearing body is fixedly provided with a guide rod, and the shearing part is sleeved on the guide rod. And can move along the guide rod.

For example, the second mechanical arm 1300 drives the sampling rod to extend into a position between the shearing part and the shearing body and stay at the upper side of the shearing device, and the sampling end of the sampling rod is located at the lower part of the shearing device. The first mechanical arm 1200 moves the uncapped sampling tube to the lower portion of the sampling end of the sampling rod. After the shearing device shears the sampling rod, the shearing end of the sampling rod automatically falls into the sampling tube under the action of gravity. The second robotic arm 1300 discards the remaining sample rods.

The sampling end of the sampling wand is collected by the sampling robot 1000 in conjunction with a shearing device. Thus, the intelligence of the sampling assembly can be further improved, and the sampling efficiency is further improved.

< sampling rod discharging device >

In one example of the utility model, the sampling assembly further includes a sampling wand ejection device that cooperates with the second robotic arm 1300, the sampling wand ejection device being capable of pushing a sampling wand to the second reclaiming station to enable the second clamping jaw 1320 to clamp the sampling wand. Thus, the sampling rod can be automatically separated from the packaging bag.

For example, during operation, the second robotic arm 1300 first engages the sampling wand discharge device to grasp the gripping end of the sampling wand. Under the cooperation of the vision device, the sampling end of the sampling rod stretches into the part to be detected of the person to be detected. The second mechanical arm 1300 samples the subject in cooperation with the pressure sensing device 1330. After the sampling is completed, the second mechanical arm 1300, the first mechanical arm 1200 and the shearing device are matched to collect the sampling end of the sampling rod in the sampling tube. The second robotic arm 1300 then discards the remaining portion of the sheared sample rod.

< storage device >

In one example of the present utility model, the sampling assembly further comprises a storage device 6000, the storage device 6000 comprising a sample delivery structure, a refrigerator and a storage body, the refrigerator being adapted to cool the storage body, the sample delivery structure being capable of cooperating with the first robotic arm 1200 to place a sampling tube within the storage body.

For example, the storage body can be formed with a set sample storage temperature after sampling by a refrigerator. The first mechanical arm 1200 only needs to send the sampling tube into the sample conveying structure, and can leave for the next round of operation. The sample conveying structure can automatically put the sampled sample into the storage body for storage.

In the actual working process, the first mechanical arm 1200 first reaches the first material taking station, and is matched with the sampling tube discharging device 5000 to grasp the sampling tube. The first mechanical arm 1200 then mates with a cap screwing device that unscrews the cap of the sampling tube, which holds the cap in the cap screwing jaw after unscrewing the cap of the sampling tube. The first mechanical arm 1200 drives the sampling body to be matched with the second mechanical arm 1300 and the shearing device, the sampling end of the sampling rod is collected into the body of the sampling tube, and then the sampling end is matched with the screwing device, so that the body of the sampling tube and the tube cover of the sampling tube are screwed. The sampled sample tube is then placed in a storage station in cooperation with the sample delivery structure of the storage 6000 to enable the sample delivery structure to acquire the sample tube. The first robot 1200 starts the next round of operation. The sample delivery structure places the sampled sample tube within the storage body.

According to another embodiment of the present utility model, an intelligent sampling vehicle is provided. The intelligent sampling vehicle comprises the intelligent detection assembly. As shown in fig. 6, the sampling robot 1000 body is disposed opposite to the window. The shearing body of the shearing device is fixed on the inner wall of the carriage. The cap screwing device is fixed at the top of the carriage. In this way, the efficiency of sampling can be further improved.

The intelligent sampling vehicle may be an autonomous car, such as a bus or a minibus, which may be autonomous, etc. Thus, the nucleic acid sampling can be further facilitated, and the sampling cost is reduced.

In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present utility model have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the utility model, the scope of which is defined by the claims and their equivalents.

Claims (11)

1. A sampling robot, comprising:

a robot body; and

the first mechanical arm and the second mechanical arm can be matched with the first mechanical arm, the first mechanical arm and the second mechanical arm can move relative to the robot body, the first mechanical arm and the second mechanical arm can be switched among a plurality of stations, the first mechanical arm comprises a first body and a first clamping jaw, the first clamping jaw is positioned at the front end of the first body, the second mechanical arm comprises a second body and a second clamping jaw, the second clamping jaw is positioned at the front end of the second body, the first clamping jaw is used for clamping the body of the sampling tube, and the second clamping jaw is used for clamping the holding end of the sampling rod;

the second mechanical arm further comprises a pressure sensing device, the pressure sensing device is located between the second body and the second clamping jaw, the pressure sensing device is fixedly connected with the end portion of the second body and the second clamping jaw respectively, and the pressure sensing device can rotate relative to the second mechanical arm.

2. The sampling robot of claim 1, wherein the pressure sensing device is configured to sense a pressure applied to the second jaw when the sampling wand is moved by the second mechanical arm into the portion of the person to be tested, and wherein the second body stops moving when the pressure reaches a set threshold, the second jaw rotating relative to the second body.

3. The sampling robot of claim 1, wherein the first and second robotic arms are six-axis robots.

4. The sampling robot of claim 1, wherein the first jaw and the second jaw each comprise a drive portion and a clamping end, the drive portion and the corresponding clamping end being connected, the clamping ends being switchable between open and closed states relative to the drive portion.

5. The sampling robot of claim 1, further comprising a vision device and a control device, the vision device comprising at least one image acquisition device, the second mechanical arm being connected to the control device;

the vision device is used for identifying the part to be detected of the detected person, and the control device is used for controlling the second mechanical arm to drive the sampling rod to extend into the part to be detected of the detected person.

6. A sampling assembly comprising the sampling robot of any one of claims 1-5 and a sampling tube discharge device configured to push a sampling tube to a first reclaiming station, the first mechanical arm cooperating with the sampling tube discharge device to withdraw the sampling tube at the first reclaiming station.

7. The sampling assembly of claim 6, further comprising a capping device comprising a capping body and a capping jaw, the capping body being connected to the capping jaw, the capping jaw being rotatable relative to the capping body;

when the cap is screwed, the first clamping jaw is opposite to the cap screwing clamping jaw, so that the cap screwing clamping jaw and the tube cap of the sampling tube form a clamping state.

8. The sampling assembly of claim 6, comprising a shearing device, the first jaw and the second jaw cooperating, the shearing device comprising a shearing body and a shearing portion for radially severing the sampling rod, the shearing portion being movable relative to the shearing body to switch the shearing device between a disengaged state or a sheared state;

in the sheared state, the first jaw is opposed to the second jaw such that the sampling end of the sampling wand is opposed to the mouth of the sampling tube, the shearing device being between the first jaw and the second jaw.

9. The sampling assembly of claim 6, further comprising a sampling wand discharge device coupled to the second mechanical arm, the sampling wand discharge device capable of pushing a sampling wand to the second reclaiming station to enable the second jaw to grip the sampling wand.

10. The sampling assembly of claim 6, further comprising a storage device comprising a sample delivery structure, a refrigerator and a storage body, the refrigerator for refrigerating the storage body, the sample delivery structure being cooperable with the first robotic arm to place a sampling tube within the storage body.

11. An intelligent sampling vehicle, comprising the sampling assembly of any one of claims 6-10.