A multifunctional nucleic acid test tube taking and placing device and working method thereof

Abstract

The present invention relates to a multifunctional nucleic acid test tube taking and placing device and a working method thereof, comprising a support frame and a test tube rack below the support frame, wherein a nucleic acid test tube in the test tube rack is taken and placed by a nucleic acid test tube taking and placing device, a nucleic acid test tube code scanning device is provided at a side end of the test tube rack, a test tube cover opening device is provided above one end of the nucleic acid test tube code scanning device away from the test tube rack, and the test tube cover opening device is fixedly connected to the support frame, and the test tube cover opening device comprises a clamping mechanism for facilitating the clamping of the nucleic acid test tube from the nucleic acid test tube code scanning device to the test tube cover opening device, a cover opening mechanism for facilitating the twisting of the nucleic acid test tube cover, and a cotton swab cutting mechanism for cutting off excess cotton swabs, thereby realizing highly integrated taking and placing, cover opening, throat swab cotton swab cutting and test tube code scanning of nucleic acid test tubes, and effectively solving the problems of insufficient space utilization, low operating efficiency and high cost of joint mechanical arms caused by the scattered taking and placing, cover opening, throat swab cotton swab cutting and nucleic acid test tube code scanning.

Description

Technical Field

[0001] The invention relates to a multifunctional nucleic acid test tube taking and placing device and a working method thereof. Background Art

[0002] Nucleic acid testing is an important basis for determining whether people are infected with the virus. The problem of taking and placing nucleic acid test tubes has always been troublesome and time-consuming. For example, to use nucleic acid test tubes, the actions must include the storage of test tubes, the taking and placing of test tubes, the scanning of test tubes, the opening of test tubes, the breaking or cutting of cotton swabs on the way, etc. These steps are currently mainly performed manually, which is time-consuming and labor-intensive. For the existing robotic arms that replace manual labor, the clamping of nucleic acid test tubes, the opening of test tubes, the scanning of test tubes, and the cutting of cotton swabs are mostly performed step by step, which not only has low space utilization, but also relatively high cost. In this way, it is very necessary to develop a multifunctional nucleic acid test tube taking and placing device that can dock with cotton swab nucleic acid sampling.

[0003] Currently, the robotic arms on the market can replace manual nucleic acid sampling. First, the functions completed by the end effector are too simple. They only complete the simple test tube clamping function, while the test tube opening, cotton swab cutting, and test tube clamping are separate. The integration is low, the space utilization is low, and the efficiency is low. Secondly, the use of joint robotic arms has low repeated positioning accuracy, programming and control must be completed by the manufacturer through professional training, and the cost is relatively high. Summary of the invention

[0004] In view of the shortcomings of the above-mentioned technologies, an innovative design is made. The purpose of the present invention is to propose a nucleic acid test tube placement device that integrates the functions of test tube placement, test tube code scanning, test tube lid opening, and cotton swab cutting. In terms of control, a servo motor is used to drive the transmission device and the rectangular coordinate robot arm, which can achieve precise start and stop, and accurately control the position of the test tube placement, lid opening device, and cotton swab cutting device; for inaccurate target positioning, the position is calibrated with the help of a camera, and gear racks and screw drives are added to improve the accuracy; for the accuracy of the lid opening device, the screw rod moves up and down and a rotary motor is used for control. On the one hand, for the problem of multiple devices occupying space, an integrated solution is used to improve space utilization. From clamping, lid opening, sampling, cotton swab insertion, cutting, and lid closing, it also further reflects the automation and intelligence of the robot arm. On the other hand, the use of the rectangular coordinate robot arm reduces the manufacturing cost, the accuracy is improved relative to the joint robot arm, and the overall space utilization is also improved.

[0005] In order to solve the above technical problems, the technical solution of the present invention is: a multifunctional nucleic acid test tube taking and placing device, comprising a support frame and a test tube rack below the support frame, wherein a nucleic acid test tube taking and placing device is used to take and place the nucleic acid test tube in the test tube rack, and a nucleic acid test tube scanning device is provided at the side end of the test tube rack, and a test tube cover opening device is provided above the end of the nucleic acid test tube scanning device away from the test tube rack, and the test tube cover opening device is fixedly connected to the support frame, and the test tube cover opening device includes a clamping mechanism for facilitating the clamping of the nucleic acid test tube from the nucleic acid test tube scanning device to the test tube cover opening device, an opening mechanism for facilitating the twisting of the nucleic acid test tube cover, and a cotton swab cutting mechanism for cutting off excess cotton swabs.

[0006] Furthermore, the nucleic acid test tube taking and placing device includes a transverse screw assembly fixedly mounted on a support frame, the transverse screw assembly includes a horizontal motor X, a horizontal screw X, and a horizontal screw nut X, the upper end of the horizontal screw nut X is fixedly connected to a longitudinal screw assembly, the longitudinal screw assembly drives the horizontal screw Y to rotate via the horizontal motor Y, and is fixedly connected to a vertical screw assembly via the horizontal screw nut Y on the horizontal screw Y, the vertical screw assembly includes a vertical motor, a vertical screw and a vertical screw nut, and the bottom of the vertical screw nut is fixedly connected to a test tube suction cup.

[0007] Furthermore, the vertical screw assembly also includes a supporting body composed of two vertical dovetail slide rails, the top ends of the vertical dovetail slide rails are connected to the horizontal screw nut Y, and the two ends of the vertical screw nut are respectively slidably connected to the vertical dovetail slide rails. The vertical motor is located at the side end of the vertical dovetail slide rail and a small bevel gear is fixedly connected to its output end, and a large bevel gear is meshed with the small bevel gear. The large bevel gear is vertically coaxially sleeved outside the vertical screw to drive it to rotate. A vertical stopper is fixed between the near top ends of the two vertical dovetail slide rails to limit excessive sliding of the vertical screw nut. A test tube feature recognition camera is also provided on the vertical screw nut to facilitate identification of nucleic acid test tubes.

[0008] Furthermore, the test tube lid opening device includes a test tube lid opening bracket, and the lid opening bracket is provided with a clamping mechanism, a cotton swab cutting mechanism and a lid opening mechanism in sequence from bottom to top through a partition. The clamping mechanism includes a clamping motor, and a driving gear is connected to the rotating shaft end of the clamping motor, and a driven rack is meshed at the lower end of the driving gear. The driven rack is slidably connected to the partition and a clamp assembly is fixedly connected to its end. The clamp assembly includes a pull rod, and the other end of the pull rod is hinged to two support rods through the same hinge point, and the other ends of the two support rods are respectively hinged to two grab rods, the two grab rods are symmetrically arranged and are both V-shaped, one ends of the two grab rods are hinged to both sides of the same cross bar, and the other ends of the two grab rods are fixedly connected to clamp blocks, and a limit opening is opened in the middle of the cross bar for the hinged ends of the two support rods to pass through and limit.

[0009] Furthermore, the cotton swab cutting mechanism and the clamping mechanism are consistent in structure except for the clamping block. The two grab bars of the cotton swab cutting mechanism are respectively provided with a cutter and a cutting groove for cooperating with the cutter to cut the cotton swab at one end away from the hinge; the opening mechanism includes a vertical screw rod vertically arranged on the test tube opening bracket, and the end of the vertical screw rod is driven by a lifting motor. A Z-shaped fixing rod is fixedly connected to the vertical screw rod nut on the vertical screw rod, and the other end of the fixing rod is fixedly connected to a rotating motor. The driving end of the rotating motor is fixedly connected to a rotating frame, and a cylinder is fixedly connected in the rotating frame. A vertically arranged clamp assembly is fixedly connected to the output end of the cylinder, and the pull rod of the clamp assembly is fixedly connected to the cylinder piston rod, and the top end of the cross bar is fixedly connected to the bottom end of the rotating frame for limiting.

[0010] Further, the nucleic acid test tube scanning device includes a scanning rack, a test tube transmission rack is slidably connected in the scanning rack, the test tube transmission rack is horizontally arranged and meshed with a test tube transmission gear at the lower end, the test tube transmission gear is linked with a gear a through the central transmission shaft c, a toothless gear is meshed on the gear a, the toothless gear is linked with a driven bevel gear through the central transmission shaft b, the driven bevel gear is meshed with a driving bevel gear, the driving bevel gear is driven to rotate by the test tube transmission motor, the center of the driving bevel gear is connected with a toothless pinion through the transmission shaft e, the toothless pinion is meshed with a linkage gear, and a synchronous belt is coaxially linked with the linkage gear. The other side of the synchronous belt is coaxially connected to the internal gear of the sliding gear set through the transmission shaft d, and the internal gear of the sliding gear set is fixedly connected to the middle section of the transmission shaft d. The transmission shaft d is provided with a fixed rotating frame that slides coaxially therewith, and the fixed rotating frame is fixedly connected to the test tube conveying rack. A tooth groove is provided in the fixed rotating frame that engages with the internal gear of the sliding gear set after sliding. A sliding internal and external mixed gear is coaxially fixedly connected to the outside of the fixed rotating frame, and a small gear of the sliding gear set is meshed on the sliding internal and external mixed gear, and the small gear of the sliding gear set is linked to the transmission shaft a at the center of the small gear of the sliding gear set and the bevel gear set at its end to support the rotation of the rotating table of the nucleic acid test tube; a test tube two-dimensional code scanning camera is fixed on the frame at the code scanning position on the side of the rotating table.

[0011] Furthermore, the rotating frame, sliding internal and external mixed gears, sliding gear set pinion, transmission shaft a, bevel gear set, and rotating table are the same translation system, all of which are connected to the frame at the code scanning location. The bevel gear set includes a rotating module pinion bevel gear fixedly connected to one end of the transmission shaft a, and a rotating module large bevel gear is meshed on the rotating module pinion bevel gear, and is vertically coaxially connected to the rotating module gear a through the rotating module large bevel gear. The rotating module gear a is meshed with the rotating module gear b, and the rotating module gear b is coaxially sleeved and fixed on the rotating table. The rotating table is rotatably connected to the frame at the code scanning location, and the other end of the transmission shaft a is rotatably connected to the frame at the code scanning location.

[0012] Furthermore, the synchronous belt includes a synchronous pulley a which is synchronously linked with the linkage gear, and the synchronous pulley a is linked with the synchronous pulley b at the other end via the synchronous belt, and the transmission shaft d is driven to rotate via the synchronous pulley b.

[0013] Furthermore, the toothless gear and the toothless pinion are gears that are intermittently linked by continuously removing part of the teeth along the outer circumference of the gear, and the toothless gear and the toothless pinion have staggered linkage actions.

[0014] A working method of a multifunctional nucleic acid test tube picking and placing device is carried out according to the following steps: S1: first, the position and outline of the nucleic acid test tube are identified by a test tube feature recognition camera, and then the test tube suction cup is adsorbed by the coordinated movement of a transverse screw rod, a longitudinal screw rod, and a vertical screw rod, and then the nucleic acid test tube is transferred to a rotating table through the nucleic acid test tube picking and placing device; S2: The test tube transmission motor is started, and the test tube transmission rack is driven to move via the active bevel gear, the driven bevel gear, the toothless gear, the gear a, and the test tube transmission gear, so that the nucleic acid test tube is moved to a code scanning station; S3: During the transfer process, the toothless gear and the toothless pinion rotate intermittently, and when the sliding inner and outer mixed gear on the test tube transmission rack is about to approach the inner gear of the sliding gear set, the toothless pinion is in a stopped driving state, and the sliding inner and outer mixed gear continues to move until it meshes with the inner gear of the sliding gear set. At this time, the toothless gear is in a stopped driving state, and the toothless pinion is in a driving state and starts meshing transmission, driving the sliding inner and outer mixed gear to rotate, that is, after being transferred to the position, the sliding gear set is used to move the gear. The pinion and bevel gear set drive the rotating table to rotate and cooperate with the test tube QR code scanning camera to complete the code scanning; S4: After the code scanning is completed, the nucleic acid test tube is continued to be transferred to the lower part of the clamping mechanism station, and the clamping motor is started to drive the driven rack to move, and then the pull rod is pulled to drive the two clamps to close and clamp the nucleic acid test tube bottle; S5: After clamping and fixing, the lifting motor works to drive the rotating motor downward, and the cylinder is contracted to drive the clamp assembly to clamp to the nucleic acid test tube bottle cap, and the lifting motor is reversed while the rotating motor rotates, so that the nucleic acid test tube bottle cap rotates and separates from the bottle body to complete the opening; S6: After opening the cover, the cotton swab is inserted from the outside, and after the insertion, the cotton swab cutting mechanism pulls the pull rod to cooperate with the cutter and the cutter groove to cut the cotton swab rod; S7: After cutting, the lifting motor drives the rotating motor downward again, and the rotating motor reverses to reset the bottle cap, and the cylinder is reset to complete the closing; S8: The clamping mechanism releases the bottle body, so that it is placed on the rotating table again, and then the nucleic acid test tube is reset and moved by reversing the test tube transmission motor, and finally the nucleic acid test tube is sucked and reset to the test tube rack for storage by the acid test tube pick-and-place device.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] The present invention can realize the high integration of taking and placing nucleic acid test tubes, opening the cover, cutting the pharyngeal swab cotton swab and scanning the test tube code, which effectively solves the problems of insufficient space utilization, low operating efficiency and high cost of joint mechanical arms caused by the previous separation of taking and placing, opening the cover, cutting the pharyngeal swab cotton swab and scanning the nucleic acid test tube code;

[0017] The present invention adopts a servo motor drive with high control accuracy, a screw rod and a gear transmission, which can realize the precise positioning of each moving part;

[0018] The present invention can perform feature recognition by calculating the test tube contour through a feature recognition camera, thereby achieving accurate positioning of the nucleic acid test tube for placement;

[0019] The present invention can serve both manual and robotic arms, eliminating many steps on the test tube side and requiring only the collection part of the cotton swab to be considered, thus having a wide range of applications.

[0020] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the structure of an embodiment of the present invention;

[0022] Figure 2 This is a schematic diagram of the structure of the nucleic acid test tube taking and placing device in an embodiment of the present invention;

[0023] Figure 3 Schematic diagram of the structure of the vertical screw rod assembly in an embodiment of the present invention;

[0024] Figure 4 Schematic diagram of the structure of the test tube cover opening device in an embodiment of the present invention;

[0025] Figure 5 Schematic diagram of the structure of the clamp assembly in an embodiment of the present invention;

[0026] Figure 6 Schematic diagram of the structure of the nucleic acid test tube scanning device in an embodiment of the present invention;

[0027] Figure 7 Schematic diagram of the internal linkage structure of the nucleic acid test tube scanning device in an embodiment of the present invention.

[0028] In the figure: Ⅰ, nucleic acid test tube taking and placing device, Ⅱ, test tube opening device, Ⅲ, nucleic acid test tube scanning device, 1, horizontal motor X, 2, coupling, 3, horizontal screw X, 4, dovetail slide, 5, horizontal screw nut Y, 7, horizontal screw Y, 8, vertical screw assembly, 801, vertical motor, 802, vertical dovetail slide, 803, vertical screw, 804, test tube suction cup, 805, vertical screw nut, 806, test tube feature recognition camera, 807, vertical stopper, 808, large bevel gear, 809, small bevel gear, 9, horizontal Screw nut X, 10, stopper, 11, horizontal motor Y, 12, clamp assembly, 13, clamping motor, 14, cotton swab cutting assembly, 1401, driven rack, 1402, driving gear, 1403, pull rod, 1404, support rod, 1405, grab rod, 1406, cutter, 1407, cutter groove, 1408, cross bar, 1409, limit mouth, 1410, clamp block, 15, test tube cover clamp, 16, cylinder, 17, rotating motor, 18, lifting motor, 19, fixing rod, 20, vertical slide rail, 21, vertical screw Rod nut, 22, vertical screw, 23, rotating frame, 25, test tube cover bracket, 27, partition, 29, test tube QR code scanning camera, 30, sliding gear set, 3001, sliding gear set pinion, 3002, sliding gear set inner gear, 3003, sliding inner and outer mixing gear, 3004, fixed rotating frame, 3005, tooth groove, 3101, rotating module pinion gear, 3102, rotating module gear a, 3103, nucleic acid test tube, 3104, rotating module gear b, 3105, rotating table, 3106, rotating Module large bevel gear, 32, test tube transmission rack, 33, code scanning rack, 34, gear a, 35, toothless gear, 36, test tube transmission motor, 3801, synchronous belt, 3802, synchronous pulley a, 3803, toothless pinion, 3804, synchronous pulley b, 3805, linkage gear, 39, driving bevel gear, 40, driven bevel gear, 41, test tube transmission gear, 42, transmission shaft a, 43, transmission shaft b, 44, transmission shaft c, 45, transmission shaft d, 46, test tube rack, 47, support frame, 48, transmission shaft e. DETAILED DESCRIPTION

[0029] In order to make the above features and advantages of the present invention more clearly understood, embodiments are given below with reference to the accompanying drawings for detailed description.

[0030] like Figures 1 to 7As shown, a multifunctional nucleic acid test tube taking and placing device comprises a support frame 47 and a test tube rack 46 thereunder, the test tube rack can be divided into two areas, one side for placing unsampled nucleic acid test tubes, and the other side for placing sampled nucleic acid test tubes, the support frame is used for taking and placing nucleic acid test tubes in the test tube rack via a nucleic acid test tube taking and placing device, a nucleic acid test tube scanning device is provided at the side end of the test tube rack, a test tube cover opening device is provided above the end of the nucleic acid test tube scanning device away from the test tube rack, the test tube cover opening device is fixedly connected to the support frame, the test tube cover opening device comprises a clamping mechanism for facilitating the clamping of the nucleic acid test tube from the nucleic acid test tube scanning device to the test tube cover opening device, a cover opening mechanism for facilitating the twisting of the nucleic acid test tube cover, and a cotton swab cutting mechanism for cutting off excess cotton swabs.

[0031] In an embodiment of the present invention, a nucleic acid test tube picking and placing device includes a transverse screw assembly fixedly mounted on a support frame, the transverse screw assembly includes a horizontal motor X, a horizontal screw X3, and a horizontal screw nut X9, a longitudinal screw assembly is fixedly connected to the upper end of the horizontal screw nut X, the longitudinal screw assembly drives the horizontal screw Y7 to rotate via the horizontal motor Y11, and is fixedly connected to a vertical screw assembly 8 via the horizontal screw nut Y5 on the horizontal screw Y, the vertical screw assembly includes a vertical motor 801, a vertical screw 803 and a vertical screw nut 805, a test tube suction cup 804 is fixedly connected to the bottom of the vertical screw nut, a coupling 2 is provided between each motor and the screw or driving gear connecting end, and each component motor, cylinder, etc. are electrically driven by the same controller.

[0032] During operation, first, the test tube feature recognition camera 806 extracts the outline of the test tube, and the controller outputs a control signal. Then, in the left and right directions, the horizontal motor X1 receives the control signal and starts to rotate to drive the coupling and the horizontal screw X3 to rotate, so that the horizontal screw nut X9 slides left and right on the dovetail slide rail 4. In the same principle, in the front and back directions, the horizontal screw nut Y5 slides back and forth on the dovetail slide rail, and finally controls the vertical screw assembly 8 to accurately position above the unused test tube on the left side of the test tube rack 46.

[0033] In an embodiment of the present invention, the vertical screw assembly also includes a supporting body composed of two vertical dovetail slides 802. The top ends of the vertical dovetail slides are connected to the horizontal screw nuts Y, and the two ends of the vertical screw nuts are respectively slidably connected to the vertical dovetail slides. The vertical motor is located at the side ends of the vertical dovetail slides and a small bevel gear 809 is fixedly connected to its output end, and a large bevel gear 808 is meshed through the small bevel gear. The large bevel gear is vertically coaxially sleeved outside the vertical screw to drive it to rotate. A vertical stopper 807 is fixed between the near top ends of the two vertical dovetail slides to limit excessive sliding of the vertical screw nuts. The corresponding positions of the transverse screw assembly and the longitudinal screw assembly are provided with stops 10. The vertical screw nut is also provided with a test tube feature recognition camera 806 for facilitating the identification of nucleic acid test tubes. The ends of each screw nut can be slidably connected to the screw body through the dovetail slides.

[0034] During operation, the vertical motor 801 rotates, driving the small bevel gear 809 to rotate, and the large bevel gear 808 also rotates through the meshing of the bevel gears, thereby driving the vertical screw 803 to rotate, and the vertical screw nut 805 moves up and down. When the test tube suction cup 804 moves to the top of the corresponding test tube, the air pipe connected to the rectangular coordinate robot arm will generate a vacuum on the top of the test tube cover to suck the test tube. As for the suction and release by connecting the vacuum generator with the test tube suction cup, it is a universal design and will not be elaborated here.

[0035] In an embodiment of the present invention, the test tube lid opening device includes a test tube lid opening bracket, and the lid opening bracket is provided with a clamping mechanism, a cotton swab cutting mechanism 14 and a lid opening mechanism in sequence from bottom to top through a partition. The clamping mechanism includes a clamping motor 13, and a driving gear 1402 is connected to the rotating shaft end of the clamping motor. A driven rack 1401 is meshed at the lower end of the driving gear. The driven rack is slidably connected to the partition and a clamp assembly 12 is fixedly connected to its end. The clamp assembly includes a pull rod 1403, and the other end of the pull rod is hinged to two support rods 1404 through the same hinge point, and the other ends of the two support rods are respectively hinged to two grab bars 1405, the two grab bars are symmetrically arranged and both are obtuse-angled V-shaped, one end of the two grab bars are hinged to both sides of the same cross bar 1408, and the other ends of the two grab bars are fixedly connected to clamp blocks 1410, and a limiting opening 1409 is opened in the middle of the cross bar for the hinged ends of the two support rods to pass through and limit.

[0036] After the nucleic acid test tube 3103 is delivered to the position by the test tube transmission rack 32, the clamping motor 13 drives the clamping block to open and close through the driving gear 1402 and the driven rack 1401 to clamp and fix. Then, the cylinder 16 starts to work to clamp the tube cover of the nucleic acid test tube 3103. After that, the lifting motor 18 starts to work to make the test tube cover reach the specified position. Then, the cover opening rotating motor 17 and the lifting motor 18 work at the same time to open the cover. After the cover is opened, the vertical screw 22 rotates quickly to raise the cap to a distance from the test tube mouth, so that the throat swab cotton swab can be placed in the nucleic acid test tube 3103. After that, the cotton swab that has been used to wipe the oral cavity is sent to the vicinity of the test tube mouth. As for the actions of nucleic acid sampling and inserting the throat swab cotton swab, they are manual or existing designs and will not be described in detail.

[0037] In the embodiment of the present invention, the cotton swab cutting mechanism and the clamping mechanism have the same structure except for the clamping block. The two grab bars of the cotton swab cutting mechanism are respectively provided with a cutter 1406 and a cutting groove 1407 for cooperating with the cutter to cut the cotton swab at one end away from the hinge; the opening mechanism includes a vertical screw rod 22 vertically arranged on the test tube opening bracket, and the end of the vertical screw rod is driven by the lifting motor 18. A Z-shaped fixing rod 19 is fixedly connected to the vertical screw rod nut 21 on the vertical screw rod, and the other end of the fixing rod is fixedly connected to the rotating motor 17. The driving end of the rotating motor is fixedly connected to the rotating frame 23. A cylinder is fixedly connected in the rotating frame, and a vertically arranged clamp assembly is fixedly connected to the output end of the cylinder. The clamp assembly constitutes a test tube cover clamp 15. The pull rod of the test tube cover clamp is fixedly connected to the cylinder piston rod, and the top end of the cross bar is fixedly connected to the bottom end of the rotating frame for limiting.

[0038] The clamping motor of the cotton swab cutting mechanism works, driving its active gear and the cotton swab cutting driven rack to move, driving the pull rod, the support rod, and the grab rod to move, and then the cutter and the cutter groove work together to cut the cotton swab. After the cotton swab falls into the test tube, the vertical screw rod 22 of the cover opening device and the clamp assembly for clamping the bottle cap move in the opposite direction to realize the cover closing action.

[0039] In the embodiment of the present invention, the nucleic acid test tube scanning device includes a scanning rack, in which a test tube conveying rack 32 is slidably connected, the test tube conveying rack is horizontally arranged and meshed with a test tube conveying gear 41 at the lower end, the test tube conveying gear is linked with a gear a34 via a transmission shaft c44 in the center, a toothless gear 35 is meshed on the gear a, the toothless gear is linked with a driven bevel gear 40 via a transmission shaft b43 in the center, a driving bevel gear 39 is meshed on the driven bevel gear, and the driving bevel gear is driven to rotate by a test tube transmission motor 36, the center of the driving bevel gear is connected with a toothless pinion 3803 via a transmission shaft e48, a linkage gear is meshed on the toothless pinion, and a synchronous belt 3801 is coaxially linked with the linkage gear, the other side of the synchronous belt is coaxially connected with an internal gear of a sliding gear set via a transmission shaft d45, the internal gear of the sliding gear set is fixedly connected to the middle section of the transmission shaft d, and the transmission shaft d is provided with a A fixed rotating frame 3004 that slides coaxially is fixedly connected to the test tube conveying rack, a tooth groove is provided in the fixed rotating frame, which is engaged and linked with the internal gear of the sliding gear set after sliding, the internal gear 3002 of the sliding gear set is fixedly connected to the middle section of the transmission shaft d, the fixed rotating frame is slidably connected to the transmission shaft d and a tooth groove 3005 is provided in the fixed rotating frame, which is engaged and linked with the internal gear of the sliding gear set after sliding, a sliding internal and external mixed gear 3003 is coaxially fixedly connected to the outside of the fixed rotating frame, a sliding internal and external mixed gear is meshed with a sliding gear set pinion 3001, and the transmission shaft a42 at the center of the sliding gear set pinion and the bevel gear set at its end are linked to support the rotation of the rotating table of the nucleic acid test tube; a test tube two-dimensional code scanning camera is fixed on the frame at the code scanning position on the side of the rotating table, and the sliding gear set pinion, the sliding internal and external mixed gear, the internal gear of the sliding gear set, the fixed rotating frame and the tooth groove constitute the sliding gear set 30.

[0040] In an embodiment of the present invention, the fixed rotating frame, the sliding internal and external mixed gears, the sliding gear set pinion, the transmission shaft a, the bevel gear set, and the rotating table 3105 are the same translation system, all of which are connected to the frame at the code scanning location. The bevel gear set includes a rotating module pinion bevel gear 3101 fixedly connected to one end of the transmission shaft a, and a rotating module large bevel gear 3102 is meshed on the rotating module pinion bevel gear, and is vertically coaxially connected to the rotating module gear a3102 through the rotating module large bevel gear. The rotating module gear a is meshed with the rotating module gear b3104, and the rotating module gear b is coaxially sleeved and fixed on the rotating table. The rotating table is rotatably connected to the frame at the code scanning location, and the other end of the transmission shaft a is rotatably connected to the frame at the code scanning location.

[0041] Finally, the rotating platform is driven to rotate through the rotating module bevel gear 3106, the rotating module gear a 3102, and the rotating module gear b, driving the nucleic acid test tube 3103 to rotate and scan the code. After the two-dimensional code is aligned with the test tube two-dimensional code scanning camera 29, the test tube transmission motor 36 stops driving. After the code scanning is completed, the test tube transmission motor 36 starts, and at this time, the toothless pinion 3803 just stops driving and the toothless gear 35 just starts driving, driving the nucleic acid test tube 3103 to move until it reaches the clamping position and stops.

[0042] In the embodiment of the present invention, the synchronous belt includes a synchronous pulley a which is synchronously linked with the linkage gear. The synchronous pulley a is linked with a synchronous pulley b at the other end via the synchronous belt, and the transmission shaft d is driven to rotate via the synchronous pulley b.

[0043] In the embodiment of the present invention, the toothless gear and the toothless pinion are gears that continuously remove part of the teeth along the outer circumference of the gear to intermittently link, and the toothless gear and the toothless pinion have staggered linkage actions.

[0044] A working method of a multifunctional nucleic acid test tube picking and placing device is carried out according to the following steps: S1: first, the position and outline of the nucleic acid test tube are identified by a test tube feature recognition camera, and then the test tube suction cup is adsorbed by the coordinated movement of a transverse screw rod, a longitudinal screw rod, and a vertical screw rod, and then the nucleic acid test tube is transferred to a rotating table through the nucleic acid test tube picking and placing device; S2: The test tube transmission motor is started, and the test tube transmission rack is driven to move via the active bevel gear, the driven bevel gear, the toothless gear, the gear a, and the test tube transmission gear, so that the nucleic acid test tube is moved to a code scanning station; S3: During the transfer process, the toothless gear and the toothless pinion rotate intermittently, and when the sliding inner and outer mixed gear on the test tube transmission rack is about to approach the inner gear of the sliding gear set, the toothless pinion is in a stopped driving state, and the sliding inner and outer mixed gear continues to move until it meshes with the inner gear of the sliding gear set. At this time, the toothless gear is in a stopped driving state, and the toothless pinion is in a driving state and starts meshing transmission, driving the sliding inner and outer mixed gear to rotate, that is, after being transferred to the position, the sliding gear set is used to move the gear. The pinion and bevel gear set drive the rotating table to rotate and cooperate with the test tube QR code scanning camera to complete the code scanning; S4: After the code scanning is completed, the nucleic acid test tube is continued to be transferred to the lower part of the clamping mechanism station, and the clamping motor is started to drive the driven rack to move, and then the pull rod is pulled to drive the two clamps to close and clamp the nucleic acid test tube bottle; S5: After clamping and fixing, the lifting motor works to drive the rotating motor downward, and the cylinder is contracted to drive the clamp assembly to clamp to the nucleic acid test tube bottle cap, and the lifting motor is reversed while the rotating motor rotates, so that the nucleic acid test tube bottle cap rotates and separates from the bottle body to complete the opening; S6: After opening the cover, the cotton swab is inserted from the outside, and after the insertion, the cotton swab cutting mechanism pulls the pull rod to cooperate with the cutter and the cutter groove to cut the cotton swab rod; S7: After cutting, the lifting motor drives the rotating motor downward again, and the rotating motor reverses to reset the bottle cap, and the cylinder is reset to complete the closing; S8: The clamping mechanism releases the bottle body, so that it is placed on the rotating table again, and then the nucleic acid test tube is reset and moved by reversing the test tube transmission motor, and finally the nucleic acid test tube is sucked and reset to the test tube rack for storage by the acid test tube pick-and-place device.

[0045] That is, the test tubes are placed on the test tube rack and arranged in sequence. The left side of the test tube rack is for unused test tubes, and the right side is used to store used test tubes. The test tube feature recognition camera recognizes the geometric features of the test tubes and transmits them to the controller of the rectangular coordinate robot arm. The controller sends control signals to the lead screw motor in turn to control its forward, backward, left, right, up and down movement. When the test tube suction cup reaches the specified position, the rectangular coordinate air source extracts the air on the top of the test tube to form a certain vacuum on the top of the test tube, and then transports the test tube to the predetermined position of the rack at the transmission. The control signal controls the movement of the test tube transmission motor to drive the rack through the toothless gear to intermittently transport the test tube to At the test tube QR code scanning point, the toothed synchronous pulley intermittently drives the nucleic acid test tube to rotate. After the QR code position is locked, the camera scans the QR code. After the scanning is completed, the rack continues to move to the nucleic acid test tube clamp, the clamping motor receives the signal, the nucleic acid test tube clamp clamps the test tube, and then the lifting motor and the rotating motor work together to open the test tube cover. When the test tube cover rises to a certain distance and the cotton swab is sent to the test tube mouth, the cotton swab cutting device moves to cut off the cotton swab, and then the opposite cover closing action is performed and the rack at the conveying point is reset. The rectangular coordinate manipulator picks up the test tube and transports it to the right side of the test tube rack for storage.

[0046] The present invention is not limited to the above-mentioned best embodiment. Anyone can derive other various forms of multifunctional nucleic acid test tube access devices and working methods under the inspiration of the present invention. All equivalent changes and modifications made according to the scope of the patent application of the present invention shall fall within the scope of the present invention.

Claims

1. A multifunctional nucleic acid test tube taking and placing device, characterized in that: It comprises a support frame and a test tube rack below it, wherein a nucleic acid test tube taking and placing device is used on the support frame to take and place the nucleic acid test tube in the test tube rack, a nucleic acid test tube code scanning device is provided at the side end of the test tube rack, a test tube cover opening device is provided above the end of the nucleic acid test tube code scanning device away from the test tube rack, and the test tube cover opening device is fixedly connected to the support frame, and the test tube cover opening device comprises a clamping mechanism for facilitating the nucleic acid test tube from the nucleic acid test tube code scanning device to the test tube cover opening device, an open cover mechanism for facilitating the twisting of the nucleic acid test tube cover, and a cotton swab cutting mechanism for cutting off excess cotton swabs; The nucleic acid test tube taking and placing device comprises a transverse screw assembly fixedly mounted on a support frame, the transverse screw assembly comprises a horizontal motor X, a horizontal screw X, and a horizontal screw nut X, the upper end of the horizontal screw nut X is fixedly connected to a longitudinal screw assembly, the longitudinal screw assembly drives the horizontal screw Y to rotate via the horizontal motor Y, and is fixedly connected to a vertical screw assembly via the horizontal screw nut Y on the horizontal screw Y, the vertical screw assembly comprises a vertical motor, a vertical screw and a vertical screw nut, and a test tube suction cup is fixedly connected to the bottom of the vertical screw nut; The test tube lid opening device comprises a test tube lid opening bracket, and the lid opening bracket is provided with a clamping mechanism, a cotton swab cutting mechanism and a lid opening mechanism in sequence from bottom to top through a partition, the clamping mechanism comprises a clamping motor, a driving gear is connected to the rotating shaft end of the clamping motor, a driven rack is meshed with the lower end of the driving gear, the driven rack is slidably connected to the partition and a clamp assembly is fixedly connected to its end, the clamp assembly comprises a pull rod, the other end of the pull rod is hinged to two support rods through the same hinge point, the other ends of the two support rods are respectively hinged to two grab bars, the two grab bars are symmetrically arranged and both are V-shaped, one end of the two grab bars are hinged to both sides of the same cross bar, the other ends of the two grab bars are fixedly connected to clamp blocks, and a limiting opening is opened in the middle of the cross bar for the hinged ends of the two support rods to pass through and limit; The cotton swab cutting mechanism and the clamping mechanism are consistent in structure except for the clamping block. The two grab bars of the cotton swab cutting mechanism are respectively provided with a cutter and a cutting groove for cooperating with the cutter to cut the cotton swab at one end away from the hinge; the opening mechanism includes a vertical screw rod vertically arranged on the test tube opening bracket, and the end of the vertical screw rod is driven by a lifting motor. A Z-shaped fixing rod is fixedly connected to the vertical screw rod nut on the vertical screw rod, and the other end of the fixing rod is fixedly connected to a rotating motor. The driving end of the rotating motor is fixedly connected to a rotating frame, and a cylinder is fixedly connected in the rotating frame. A vertically arranged clamp assembly is fixedly connected to the output end of the cylinder, and the pull rod of the clamp assembly is fixedly connected to the cylinder piston rod, and the top end of the cross bar is fixedly connected to the bottom end of the rotating frame for limiting.

2. A multifunctional nucleic acid test tube taking and placing device according to claim 1, characterized in that: The vertical screw assembly also includes a supporting body composed of two vertical dovetail slide rails. The top ends of the vertical dovetail slide rails are connected to the horizontal screw nut Y, and the two ends of the vertical screw nut are respectively slidably connected to the vertical dovetail slide rails. The vertical motor is located at the side end of the vertical dovetail slide rail and a small bevel gear is fixedly connected to its output end, and a large bevel gear is meshed with the small bevel gear. The large bevel gear is vertically coaxially sleeved outside the vertical screw to drive it to rotate. A vertical stopper is fixed between the near top ends of the two vertical dovetail slide rails to limit excessive sliding of the vertical screw nut. A test tube feature recognition camera is also provided on the vertical screw nut to facilitate identification of nucleic acid test tubes.

3. The multifunctional nucleic acid test tube taking and placing device according to claim 1, characterized in that: The nucleic acid test tube scanning device comprises a scanning rack, a test tube transmission rack is slidably connected in the scanning rack, the test tube transmission rack is horizontally arranged and meshed with a test tube transmission gear at the lower end, the test tube transmission gear is linked with a gear a through the transmission shaft c in the center, a toothless gear is meshed on the gear a, the toothless gear is linked with a driven bevel gear through the transmission shaft b in the center, the driven bevel gear is meshed with a driving bevel gear, the driving bevel gear is driven to rotate by the test tube transmission motor, the center of the driving bevel gear is connected with a toothless pinion through the transmission shaft e, the toothless pinion is meshed with a linkage gear, and a synchronous belt is coaxially linked with the linkage gear, and the other side of the synchronous belt is connected with a toothless pinion through the transmission shaft e. The shaft d is coaxially connected with the internal gear of the sliding gear group, and the internal gear of the sliding gear group is fixedly connected to the middle section of the transmission shaft d. The transmission shaft d is provided with a fixed rotating frame that slides coaxially therewith, and the fixed rotating frame is fixedly connected to the test tube transmission rack. A tooth groove is provided in the fixed rotating frame, which is engaged and linked with the internal gear of the sliding gear group after sliding. The fixed rotating frame is coaxially connected with a sliding internal and external mixed gear outside, and the sliding internal and external mixed gear is meshed with a small gear of the sliding gear group, and is linked with the transmission shaft a at the center of the small gear of the sliding gear group and the bevel gear group at its end to support the rotation of the rotating table of the nucleic acid test tube; a test tube two-dimensional code scanning camera is fixed on the frame at the code scanning position on the side of the rotating table.

4. A multifunctional nucleic acid test tube taking and placing device according to claim 3, characterized in that: The rotating frame, sliding internal and external mixed gears, sliding gear set pinion, transmission shaft a, bevel gear set, and rotating table are the same translation system, all of which are connected to the frame at the code scanning location. The bevel gear set includes a rotating module pinion bevel gear fixedly connected to one end of the transmission shaft a, and a rotating module large bevel gear is meshed on the rotating module pinion bevel gear, and is vertically coaxially connected to the rotating module gear a through the rotating module large bevel gear. The rotating module gear a is meshed with the rotating module gear b, and the rotating module gear b is coaxially sleeved and fixed on the rotating table. The rotating table is rotatably connected to the frame at the code scanning location, and the other end of the transmission shaft a is rotatably connected to the frame at the code scanning location.

5. The multifunctional nucleic acid test tube taking and placing device according to claim 3, characterized in that: The synchronous belt comprises a synchronous pulley a which is synchronously linked with the linkage gear. The synchronous pulley a is linked with a synchronous pulley b at the other end via the synchronous belt. The transmission shaft d is driven to rotate via the synchronous pulley b.

6. The multifunctional nucleic acid test tube taking and placing device according to claim 3, characterized in that: The missing tooth gear and the missing tooth pinion are gears that continuously remove part of the teeth along the outer circumference of the gear to intermittently link, and the missing tooth gear and the missing tooth pinion stagger their linkage movements.

7. A working method of a multifunctional nucleic acid test tube taking and placing device, characterized in that: A multifunctional nucleic acid test tube picking and placing device as described in any one of claims 1 to 6 is used, and the following steps are followed: S1: first, the position and outline of the nucleic acid test tube are identified by a test tube feature recognition camera, and then the test tube suction cup is adsorbed by the coordinated movement of the transverse screw rod, the longitudinal screw rod, and the vertical screw rod in turn, and then the nucleic acid test tube is transferred to the rotating table through the nucleic acid test tube picking and placing device; S2: The test tube transmission motor is started, and the test tube conveying rack is driven to move via the active bevel gear, the driven bevel gear, the toothless gear, the gear a, and the test tube conveying gear, so that the nucleic acid test tube moves to the code scanning station; S3: During the transfer process, the toothless gear and the toothless pinion rotate intermittently, and when the sliding inner and outer mixing gears on the test tube conveying rack are about to approach the inner gear of the sliding gear group, the toothless pinion is in a stopped driving state, and the sliding gear is in a stopped driving state. The inner and outer mixing gears continue to move until they mesh with the inner gears of the sliding gear set. At this time, the toothless gear is in a stopped driving state, while the toothless pinion is in a driving state and starts to mesh and transmit, driving the sliding inner and outer mixing gears to rotate, that is, after being transferred into place, the pinion of the sliding gear set and the bevel gear set drive the rotating table to rotate to cooperate with the test tube QR code scanning camera to complete the code scanning; S4: After the code scanning is completed, the nucleic acid test tube continues to be transferred to the bottom of the clamping mechanism station, the clamping motor starts to drive the driven rack to move, and then pulls the pull rod to drive the two clamps to close and clamp on the nucleic acid test tube bottle body; S5: After clamping and fixing, the lifting motor works to drive the rotating motor downward, and the cylinder contracts to drive the clamp assembly to clamp to the nucleic acid test tube bottle cap, and the rotating motor rotates while the lifting motor reverses to make the nucleic acid test tube bottle cap rotate away from the bottle body to complete the opening; S6: After opening the cover, a cotton swab is inserted from the outside. After insertion, the cotton swab cutting mechanism is actuated to pull the pull rod to cooperate with the cutter and the cutter groove to cut off the cotton swab rod; S7: After cutting, the lifting motor drives the rotating motor downward, and at the same time, the rotating motor reverses to reset the bottle cap, and then the cylinder resets to complete the closing of the cover; S8: The clamping mechanism releases the bottle body and puts it back on the rotating table, and then the test tube transmission motor reverses to reset and move the nucleic acid test tube, and finally the nucleic acid test tube is sucked by the acid test tube picking and placing device and reset to the test tube rack for storage.

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