A modular nasopharyngeal swab sampling robot

Abstract

The present invention relates to the field of medical robots, and in particular to a modular nasopharyngeal swab sampling robot. It includes an operating platform and a sampling mechanical arm arranged on the operating platform, an isolation sleeve installation station, a swab preparation station, a swab breaking and bottling station, a test tube transfer station, an isolation sleeve disassembly station and a sampling window module; the execution end of the sampling mechanical arm is provided with a sampling tool; the isolation sleeve installation station is used to install the isolation sleeve on the outside of the sampling tool; the swab preparation station is used to take off the packaging bag on the outside of the swab; the swab breaking and bottling station is used to break the sampled swab and then bottle it; the test tube transfer station is used for the transportation of empty or nasopharyngeal swab test tubes; the isolation sleeve disassembly station is used to disassemble the isolation sleeve on the outside of the sampling tool; the sampling window module is used to collect nasopharyngeal swab samples from subjects. The present invention realizes the isolation protection of the sampling process relative to medical staff, avoids cross infection between subjects, and ensures the quality of sampling.

Description

Technical Field

[0001] The present invention relates to the field of medical robots, and in particular to a modular nasopharyngeal swab sampling robot. Background Art

[0002] Nucleic acid testing is an important means of confirming the new coronavirus, and obtaining respiratory biological samples from patients is the first step. Nasopharyngeal swabs are the main means of collecting biological samples. During the sampling process, medical staff are at risk of infection. In addition, due to the non-standard sampling process, long-term nucleic acid testing work and high temperature weather, medical staff will be overworked, affecting their health and the sampling effect.

[0003] The application of robotic technology in nasopharyngeal swab sampling is expected to overcome the above problems. In the stage of normalized prevention and control, a large number of people are collected, and relatively high requirements are placed on the efficiency of sampling. In order to achieve the same sampling effect as or even exceed that of medical staff, it is necessary to fully consider various links such as isolation protection, sample collection, sample preservation, and sample transportation. Some existing sampling equipment and instruments do not completely isolate medical staff from biological samples throughout the entire sampling process, and it is difficult to ensure that swabs are free from contamination. There is an urgent need for equipment that meets the needs of normalized prevention and control and is suitable for large-scale nasopharyngeal swab sample collection. Summary of the invention

[0004] In view of the above problems, the object of the present invention is to provide a modular nasopharyngeal swab sampling robot.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A modular nasopharyngeal swab sampling robot, comprising an operating platform and a sampling mechanical arm arranged on the operating platform, an isolation sleeve installation station, a swab preparation station, a swab breaking and bottling station, a test tube transfer station, an isolation sleeve disassembly station, a sampling window module and an information entry module; wherein the information entry module is used to record and store the patient's identity information and nasopharyngeal sample detection information;

[0007] The swab preparation station is used to peel off the packaging bag on the outside of the swab; the execution end of the sampling robot arm is provided with a sampling tool, which is used to pick up and release the swab; the isolation cover installation station is used to install the isolation cover on the outside of the sampling tool; the sampling window module is used for the sampling robot arm to collect nasopharyngeal swab samples from subjects; the swab breaking and bottling station is used to break the sampled swab after it is loaded into a test tube; the test tube transfer station is used to transfer empty test tubes or test tubes containing nasopharyngeal swab samples; the isolation cover removal station is used to remove the isolation cover on the outside of the sampling tool.

[0008] The sampling tool comprises a housing and a swab clamping device, a sampling force control device, a pneumatic clamping jaw I and an adapter I arranged in the housing, wherein the adapter I is connected to the sampling mechanical arm; the sampling force control device, the pneumatic clamping jaw I and an oral cavity recognition camera are arranged on the adapter I, and the oral cavity recognition camera is located on the outer side of the housing;

[0009] The swab clamping device comprises a right opening and closing piece, a left opening and closing piece and two clamps, wherein the right opening and closing piece and the left opening and closing piece are hinged on both sides of the sampling force control device through a hinge shaft, a reset spring is sleeved on the hinge shaft, and the right opening and closing piece and the left opening and closing piece are in a closed state under the elastic force of the reset spring;

[0010] The two chucks are connected to the output end of the pneumatic clamping jaw Ⅰ and are respectively located outside the right opening and closing part and the left opening and closing part; the pneumatic clamping jaw Ⅰ drives the two chucks to close, and then the two chucks push the right opening and closing part and the left opening and closing part to open.

[0011] The sampling force control device comprises a front cover, an outer sliding member, a force sensor, an intermediate support member, a sleeve, a spring and a support member I, wherein the support member I is connected to the adapter member I, one end of the force sensor is connected to the support member I, and the other end is connected to the intermediate support member;

[0012] The intermediate support is a hollow structure, and a sleeve and a spring are placed in the hollow cavity; the outer sliding member can be slidably sleeved on the outer side of the intermediate support along the axial direction; the front cover is arranged at the end of the outer sliding member and abuts against the spring; the outer sliding member is axially limited by the shaft shoulders provided on the front cover and the intermediate support;

[0013] The hinge shaft is arranged at the bottom of the outer sliding member.

[0014] The sampling robotic arm includes a chassis, a column, a front end flange of the robotic arm, a base flange of the robotic arm, a six-degree-of-freedom robotic arm, a lifting column, an RGB-D camera and a wide-angle camera, wherein the chassis is slidably connected to the operating platform, the lower end of the column is connected to the chassis, and the upper end is provided with a robotic arm base flange; the six-degree-of-freedom robotic arm is arranged on the robotic arm base flange, and the execution end is provided with a front end flange of the robotic arm, and the sampling tool is arranged on the front end flange of the robotic arm; the lifting column is arranged on the column, and the RGB-D camera and the wide-angle camera are arranged on the top of the lifting column.

[0015] The isolation sleeve installation station includes an installation frame, an isolation sleeve buckle, a buckle box, a movable bottom plate, a lifting cylinder and a buckle release mechanism, wherein a plurality of buckle boxes are arranged circumferentially on the installation frame, each buckle box is provided with a buckle release mechanism and a plurality of isolation sleeve buckles located above the buckle release mechanism; the movable bottom plate is arranged below the buckle box and connected to the buckle release mechanism; the lifting cylinder is arranged on the installation frame, and the output end is connected to the movable bottom plate;

[0016] The buckle release mechanism includes a vertical push rod, a curved push rod, a movable block, a buckle positioning spring and a pull rod, a slide groove is provided on one side of the buckle box in the vertical direction, and a buckle release port is provided at the upper end of the slide groove; the movable block is slidably connected with the slide groove, and the movable block is used to support multiple isolation sleeve buckles; a guide groove is provided on the inner wall of the buckle box in the vertical direction, and the vertical push rod and the curved push rod are respectively slidably matched with the guide groove, and the vertical push rod is located on the outside of the curved push rod; the lower ends of the vertical push rod and the curved push rod are connected to the movable bottom plate through a pull rod, and the vertical push rod is used to limit the isolation sleeve buckle from escaping from the buckle release port; the curved push rod is used to press the isolation sleeve buckle and the movable block except those located at the top;

[0017] The buckle positioning spring is accommodated in the buckle box, and the lower end is in contact with the buckle box, and the upper end is in contact with the movable block. The buckle positioning spring makes the isolation sleeve buckle located at the uppermost layer be located in the buckle release port.

[0018] The swab preparation station includes a swab box, a two-dimensional mobile platform, a swab suction cup, pneumatic scissors, pneumatic gripper II, a lifting pneumatic gripper, a bracket and a lifting pneumatic slide, wherein the swab suction cup is arranged on the two-dimensional mobile platform for picking up the swab in the swab box; the pneumatic scissors, pneumatic gripper II and the lifting pneumatic slide are arranged on the bracket from top to bottom in sequence, and the lifting pneumatic gripper is arranged on the lifting pneumatic slide;

[0019] The pneumatic scissors are used to cut open the packaging bag outside the swab;

[0020] A groove is provided on the inner side of the pneumatic clamp II, and the pneumatic clamp II is used to clamp the packaging bag outside the swab;

[0021] The lifting pneumatic clamp is used to clamp the swab and the outer packaging bag; the lifting pneumatic slide drives the lifting pneumatic clamp to move upward, and the lifting pneumatic clamp drives the swab and the outer packaging bag to move upward together, so that the swab extends out of the outer packaging bag.

[0022] The swab breaking and bottling station includes a pneumatic clamping mechanism, a test tube base and a fixed bottom plate, wherein the fixed bottom plate is connected to the operating platform; the pneumatic clamping mechanism and the test tube base are arranged on the fixed bottom plate, and the test tube base is used to place the test tube; an opening is provided on the side of the test tube base, and the execution end of the pneumatic clamping mechanism extends from the opening to hold the test tube.

[0023] The test tube transfer station includes a four-degree-of-freedom transfer robot arm, a test tube clamping mechanism, a mounting base and a test tube rack, wherein the mounting base is arranged on the operating platform; the four-degree-of-freedom transfer robot arm is arranged on the mounting base, and the execution end is connected to the test tube clamping mechanism; the test tube rack is arranged in an isolation box provided on the operating platform; the four-degree-of-freedom transfer robot arm is used for placing empty test tubes and collecting samples.

[0024] The isolation sleeve disassembly station includes a waste isolation sleeve collection box and at least two sets of suction cup mechanisms arranged on both sides of the waste isolation sleeve collection box;

[0025] The suction cup mechanism includes a negative pressure suction cup, a suction cup support rod and a pneumatic slide, wherein the pneumatic slide is arranged on the operating platform, one end of the suction cup support rod is connected to the pneumatic slide, and the other end is connected to the negative pressure suction cup; after the negative pressure suction cup adsorbs the isolation sleeve, it moves backward through the pneumatic slide, thereby separating the isolation sleeve from the sampling tool.

[0026] The sampling window module includes a sampling window, an isolation plate, a display screen, a chin rest, a support member II, an adapter member II and a lifting cylinder, wherein the lifting cylinder is arranged on the operating platform, and the output end is connected to the support member II through the adapter member II, and the support member II extends out of the outside of the sampling window; the chin rest is arranged on the support member II; and the display screen is connected to the adapter member II through a bracket.

[0027] The advantages and positive effects of the present invention are:

[0028] The present invention can achieve isolation and protection of the sampling process relative to medical personnel through the design of an automated sampling process connection device, avoid cross infection between subjects, and ensure the quality of sampling.

[0029] The present invention simulates the manual sampling process in terms of sampling process connection, and multiple processes can be carried out in parallel, which shortens the sampling time and improves the sampling efficiency.

[0030] The present invention adopts a ring-shaped arrangement of multiple sampling windows, and a mechanical arm for scheduling test tubes is shared among multiple sampling stations, thereby reducing production costs and occupying space.

[0031] The present invention can be installed as a whole on a mobile platform, and can realize simultaneous sampling by multiple people through module combination. The vehicle-mounted form is also conducive to mobile detection, which greatly increases the practicality of the present invention.

[0032] The present invention realizes automatic adjustment of the chin rest height by visually identifying the oral cavity height, thereby increasing the comfort and stability during the sampling process and improving the sampling efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A stereoscopic diagram of a modular nasal, oropharyngeal swab sampling robot according to the present invention;

[0034] Figure 2 A top view of the modular nasal, oropharyngeal swab sampling robot of the present invention;

[0035] Figure 3 It is a structural schematic diagram of the sampling tool in the present invention;

[0036] Figure 4 It is a schematic structural diagram of the swab clamping device of the present invention;

[0037] Figure 5 It is a structural schematic diagram of the sampling force control device in the present invention;

[0038] Figure 6 It is a schematic diagram of the connection between the swab clamping device and the sampling force control device in the present invention;

[0039] Figure 7 It is a structural schematic diagram of the sampling mechanical arm in the present invention;

[0040] Figure 8 It is a structural schematic diagram of the isolation sleeve installation station in the present invention;

[0041] Fig. 9 It is a structural schematic diagram of the buckle release mechanism in the present invention;

[0042] Fig.10 It is a structural schematic diagram of the buckle box in the present invention;

[0043] Fig.11 This is a schematic diagram of the structure of the swab preparation station in the present invention;

[0044] Fig.12 It is a structural schematic diagram of the swab breaking and bottling station in the present invention;

[0045] Fig.13 This is a schematic diagram of the structure of the test tube transfer station in the present invention;

[0046] Fig.14 It is a structural schematic diagram of the isolation sleeve disassembly station in the present invention;

[0047] Fig.15 It is a structural schematic diagram of the sampling window module of the present invention.

[0048] In the figure: 1 is a sampling tool, 101 is a swab, 102 is a swab clamping device, 1021 is a right opening and closing member, 1022 is a left opening and closing member, 1023 is a chuck, 103 is a sampling force control device, 1031 is a front cover, 1032 is an outer sliding member, 1033 is a force sensor, 1034 is an intermediate support member, 1035 is a sleeve, 1036 is a spring, 1037 is a support member I, 1038 is a reset spring, 104 is a pneumatic clamp I, 105 is a housing, 106 is an oral recognition camera, and 107 is an adapter I , 2 is the sampling robot arm, 201 is the chassis, 202 is the column, 203 is the front flange of the robot arm, 204 is the base flange of the robot arm, 205 is the six-degree-of-freedom robot arm, 206 is the lifting column, 207 is the RGB-D camera, 208 is the wide-angle camera, 3 is the isolation sleeve installation station, 301 is the installation frame, 302 is the isolation sleeve buckle, 303 is the buckle box, 3031 is the vertical push rod, 3032 is the slide groove, 3033 is the bent push rod, 3034 is the movable block, 3035 is the buckle positioning spring, 3036 is the pull rod, 3037 is a buckle shell, 3038 is a buckle release port, 304 is a movable bottom plate, 305 is a lifting cylinder, 4 is a swab preparation station, 401 is a swab box, 402 is a swab suction cup, 403 is a longitudinal pneumatic slide, 404 is a transverse pneumatic slide, 405 is a pneumatic scissors, 406 is a pneumatic clamp II, 407 is a lifting pneumatic clamp, 408 is a bracket, 409 is a lifting pneumatic slide, 5 is a swab breaking and bottling station, 501 is a test tube, 502 is a pneumatic clamping mechanism, 503 is a test tube base, 504 is a fixed Bottom plate, 6 is a test tube transfer station, 601 is a four-degree-of-freedom transfer robot, 602 is a test tube clamping mechanism, 603 is a mounting base, 604 is a test tube rack, 605 is an isolation plate, 7 is an isolation sleeve disassembly station, 701 is a negative pressure suction cup, 702 is a suction cup support rod, 703 is a pneumatic slide, 704 is a waste isolation sleeve collection box, 8 is a sampling window module, 801 is an isolation plate, 802 is a display screen, 803 is a chin rest, 804 is a support part II, 805 is an adapter part II, 806 is a lifting cylinder, and 9 is an information entry module. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0050] like Figure 1-2As shown, a modular nasopharyngeal swab sampling robot provided by the present invention includes an operating platform and a sampling mechanical arm 2, an isolation cover installation station 3, a swab preparation station 4, a swab breaking and bottling station 5, a test tube transfer station 6, an isolation cover disassembly station 7 and a sampling window module 8 arranged on the operating platform; the swab preparation station 4 is used to take off the packaging bag on the outside of the swab 101; the execution end of the sampling mechanical arm 2 is provided with a sampling tool 1, and the sampling tool 1 is used to pick up and release the swab 101; the isolation cover installation station 3 is used to install the isolation cover on the outside of the sampling tool 1; the sampling window module 8 is used for the sampling mechanical arm 2 to collect nasopharyngeal swab samples from subjects; the swab breaking and bottling station 5 is used to load the sampled swab 101 into a test tube and break it; the test tube transfer station 6 is used for the transportation of empty test tubes or test tubes containing nasopharyngeal swab samples; the isolation cover disassembly station 7 is used to disassemble the isolation cover on the outside of the sampling tool 1.

[0051] Based on the above embodiments, Figure 1 As shown, a modular nasopharyngeal swab sampling robot provided by the present invention also includes an information entry module 9, which is used to record and store the patient's identity and test information.

[0052] like Figure 3 As shown, in an embodiment of the present invention, the sampling tool 1 includes a housing 105 and a swab clamping device 102, a sampling force control device 103, a pneumatic clamp Ⅰ104 and an adapter Ⅰ107 arranged in the housing 105, wherein the adapter Ⅰ107 is connected to the sampling robot arm 2; the sampling force control device 103, the pneumatic clamp Ⅰ104 and the oral recognition camera 106 are arranged on the adapter Ⅰ107, and the oral recognition camera 106 is located on the outside of the housing 105.

[0053] like Figure 5 As shown, in an embodiment of the present invention, the sampling force control device 103 includes a front cover 1031, an outer sliding member 1032, a force sensor 1033, an intermediate support member 1034, a sleeve 1035, a spring 1036 and a support member I 1037, wherein the support member I 1037 is connected to the adapter member I 107, one end of the force sensor 1033 is connected to the support member I 1037, and the other end is connected to the intermediate support member 1034; the intermediate support member 1034 is a hollow structure, and the sleeve 1035 and the spring 1036 are placed in the hollow cavity; the outer sliding member 1032 can be axially slidably sleeved on the outer side of the intermediate support member 1034; the front cover 1031 is arranged at the end of the outer sliding member 1032, and abuts against the spring 1036; the outer sliding member 1032 is axially limited by the shaft shoulders provided on the front cover 1031 and the intermediate support member 1034.

[0054] like Figure 4 , Figure 5As shown, in the embodiment of the present invention, the swab clamping device 102 includes a right opening and closing piece 1021, a left opening and closing piece 1022 and two chucks 1023, wherein the right opening and closing piece 1021 and the left opening and closing piece 1022 are hinged on both sides of the bottom of the outer sliding piece 1032 through a hinge shaft, and a reset spring 1038 is sleeved on the hinge shaft, and the right opening and closing piece 1021 and the left opening and closing piece 1022 are in a closed state under the elastic force of the reset spring 1038; the two chucks 1023 are connected to the output end of the pneumatic clamping jaw Ⅰ104, and are respectively located on the outside of the right opening and closing piece 1021 and the left opening and closing piece 1022; the pneumatic clamping jaw Ⅰ104 drives the two chucks 1023 to close, and then the two chucks 1023 push the lower ends of the right opening and closing piece 1021 and the left opening and closing piece 1022 to rotate, so that the upper ends of the right opening and closing piece 1021 and the left opening and closing piece 1022 are opened to realize the release action.

[0055] The sampling tool 1 can realize oral position recognition through the oral recognition camera 106 , and can drive the swab clamping device 102 to complete the opening and closing action through the pneumatic clamping jaws Ⅰ 104 , thereby realizing the grasping and putting down of the swab 101 .

[0056] like Figure 7 As shown, in an embodiment of the present invention, the sampling robot 2 includes a chassis 201, a column 202, a robot front end flange 203, a robot base flange 204, a six-degree-of-freedom robot 205, a lifting column 206, an RGB-D camera 207 and a wide-angle camera 208, wherein the chassis 201 is slidably connected to the operating platform, the lower end of the column 202 is connected to the chassis 201, and the upper end is provided with a robot base flange 204; the six-degree-of-freedom robot 205 is arranged on the robot base flange 204, and the execution end is provided with a robot front end flange 203, and the adapter Ⅰ107 of the sampling tool 1 is connected to the robot front end flange 203; the lifting column 206 is arranged on the rear end of the column 202, the RGB-D camera 207 and the wide-angle camera 208 are arranged at the top of the lifting column 206, the RGB-D camera 207 and the wide-angle camera 208 are fixed, and the up and down translation of the two cameras is realized by the lifting column 206.

[0057] like Figure 8 As shown, in an embodiment of the present invention, the isolation sleeve installation station 3 includes an installation frame 301, an isolation sleeve buckle 302, a buckle box 303, a movable bottom plate 304, a lifting cylinder 305 and a buckle release mechanism, wherein a plurality of buckle boxes 303 are circumferentially arranged on the installation frame 301, each buckle box 303 is provided with a buckle release mechanism and a plurality of isolation sleeve buckles 302 located above the buckle release mechanism; the lifting cylinder 305 is arranged on the installation frame 301, and the output end is connected to the movable bottom plate 304, and the movable bottom plate 304 is connected to the buckle release mechanism.

[0058] like Figure 9-10 As shown, in the embodiment of the present invention, the buckle release mechanism includes a vertical top rod 3031, a curved top rod 3033, a movable block 3034, a buckle positioning spring 3035 and a pull rod 3036, wherein a slide groove 3032 is provided on one side of the buckle box 303 in the vertical direction, and a buckle release port 3038 is provided at the upper end of the slide groove 3032; the movable block 3034 is slidably connected with the slide groove 3032, and the movable block 3034 is used to support multiple isolation sleeve buckles 302; a guide groove is provided on the inner wall of the buckle box 303 in the vertical direction , the vertical push rod 3031 and the curved push rod 3033 are respectively slidably matched with the guide groove, and the vertical push rod 3031 is located outside the curved push rod 3033; the lower ends of the vertical push rod 3031 and the curved push rod 3033 are connected to the pull rod 3036, and the pull rod 3036 is connected to the movable bottom plate 304. The vertical push rod 3031 is used to limit the isolation sleeve buckle 302 from escaping from the buckle release port 3038; the curved push rod 3033 is used to press the isolation sleeve buckle 302 and the movable block 3034 except the one located at the top. The buckle positioning spring 3035 is accommodated in the buckle box 303, and the lower end abuts against the buckle box 303, and the upper end abuts against the movable block 3034. The buckle positioning spring 3035 makes the isolation sleeve buckle 302 located at the top layer located in the buckle release port 3038. A buckle housing 3037 is provided at the upper end of the buckle box 303 . A T-shaped notch is provided on the buckle housing 3037 for isolating the inlet of the buckle sleeve 302 .

[0059] In this embodiment, the mounting frame 301 is composed of aluminum profiles, and four snap boxes 303 are fixed to the mounting frame 301 by bolts. The four corners of the isolation sleeve are fixed by the isolation sleeve snaps 302, and the isolation sleeve snaps 302 are loaded in the snap boxes 303. When in use, it is necessary to manually push the multiple isolation sleeve snaps 302 vertically into the snap boxes 303 through the T-slots on the snap housing 3037. At this time, the snap positioning spring 3035 provides a continuous upward thrust to the movable block 3034, so that the isolation sleeve snaps 3032 are located in the specified channel. At this time, the vertical push rod 3031 is in an extended state, and the isolation sleeve snaps 3032 are limited by the vertical push rod 3031, so that they cannot be separated from the snap box.

[0060] When the isolation sleeve installation station 3 is working, the lifting cylinder 305 drives the movable bottom plate 304 to move downward, thereby pulling the vertical push rod 3031 and the curved push rod 3033 to move downward through the pull rod 3036, so that the vertical push rod 3031 eliminates the restriction on the isolation sleeve buckle 302 located at the top layer, thereby releasing the isolation sleeve buckle 302 located at the top layer in the buckle box 303, making it detach from the buckle box 303, and completing the detachment of the entire isolation sleeve. At this time, the curved push rod 3033 presses the isolation sleeve buckle 302 and the movable block 3034 except the one located at the top layer to move downward, preventing the remaining isolation sleeve buckles 302 from escaping from the buckle release port 3038. After the upper movable isolation sleeve buckle 302 is detached, the lower isolation sleeve buckle 302 reaches the position of the buckle release port 3038 under the action of the buckle positioning spring 3035, thereby realizing the continuous release of the isolation sleeve buckle 302.

[0061] like Fig.11 As shown, in the embodiment of the present invention, the swab preparation station 4 includes a swab box 401, a two-dimensional mobile platform, a swab suction cup 402, a pneumatic scissors 405, a pneumatic clamping claw II 406, a lifting pneumatic clamping claw 407, a bracket 408 and a lifting pneumatic slide 409, wherein the swab suction cup 402 is arranged on the two-dimensional mobile platform for picking up the swab 101 in the swab box 401; the pneumatic scissors 405, the pneumatic clamping claw II 406 and the lifting pneumatic slide 409 are arranged on the bracket 408 from top to bottom, and the lifting pneumatic clamping claw 407 is arranged on the lifting pneumatic slide 409; the pneumatic scissors 405 are used to cut the packaging bag outside the swab 101; the inner side of the pneumatic clamping claw II 406 is provided with a groove, and the pneumatic clamping claw II 4 06 is used to clamp the packaging bag outside the swab 101. At this time, the groove on the inner side of the pneumatic clamp Ⅱ 406 will not clamp the swab 101 in the packaging bag; the lifting pneumatic clamp 407 is used to clamp the swab 101 and the outer packaging bag. The inner side of the lifting pneumatic clamp 407 is a plane, so it can clamp the swab 101 and the outer packaging bag at the same time; the lifting pneumatic slide 409 drives the lifting pneumatic clamp 407 to move upward, and the lifting pneumatic clamp 407 drives the swab 101 and the outer packaging bag to move upward together; because the pneumatic clamp Ⅱ 406 located above clamps the packaging bag at this time, the lifting pneumatic clamp 407 drives the swab 101 and the outer packaging bag to move upward together, so that the swab 101 extends out of the outer packaging bag.

[0062] In this embodiment, the two-dimensional moving platform includes a transverse pneumatic slide 404 and a longitudinal pneumatic slide 403 disposed on the transverse pneumatic slide 404 ; the swab suction cup 402 is disposed on the longitudinal pneumatic slide 403 .

[0063] like Fig.12As shown, in the embodiment of the present invention, the swab breaking and bottling station 5 includes a pneumatic clamping mechanism 502, a test tube base 503 and a fixed bottom plate 504, wherein the fixed bottom plate 504 is connected to the operating platform; the pneumatic clamping mechanism 502 and the test tube base 503 are arranged on the fixed bottom plate 504, and the test tube base 503 is used to place the test tube 501; the side of the test tube base 503 is provided with an opening, and the execution end of the pneumatic clamping mechanism 502 extends from the opening and holds the test tube 501. When the sampling tool 1 and the sampling mechanical arm 2 reach the specified position, they cooperate with the swab breaking and bottling station 5 to realize the breaking function of the swab 101.

[0064] like Fig.13 As shown, in the embodiment of the present invention, the test tube transfer station 6 includes a four-degree-of-freedom transfer robot 601, a test tube clamping mechanism 602, a mounting base 603 and a test tube rack 604, wherein the mounting base 603 is arranged on the operating platform; the four-degree-of-freedom transfer robot 601 is arranged on the mounting base 603, and the execution end is connected to the test tube clamping mechanism 602; the test tube rack 604 is arranged in an isolation box provided on the operating platform; the four-degree-of-freedom transfer robot 601 is used for placing empty test tubes and collecting samples. Specifically, the isolation box is enclosed by an isolation plate 605. The placement of empty test tubes and the collection of samples are achieved by the four-degree-of-freedom transfer robot 601.

[0065] like Fig.14 As shown, in an embodiment of the present invention, the isolation sleeve disassembly station 7 includes a waste isolation sleeve collection box 704 and at least two groups of suction cup mechanisms arranged on both sides of the waste isolation sleeve collection box 704; in this embodiment, the waste isolation sleeve collection box 704 is fixed to the operating platform by bolts, and four groups of suction cup mechanisms are arranged around the waste isolation sleeve collection box 704.

[0066] Specifically, the suction cup mechanism includes a negative pressure suction cup 701, a suction cup support rod 702 and a pneumatic slide 703, wherein the pneumatic slide 703 is arranged on an operating platform, one end of the suction cup support rod 702 is connected to the pneumatic slide 703, and the other end is connected to the negative pressure suction cup 701 in an adhesive form; after the negative pressure suction cup 701 adsorbs the isolation sleeve, it moves backward through the pneumatic slide 703, thereby separating the isolation sleeve from the sampling tool 1, and discarding the isolation sleeve into the waste isolation sleeve collection box 704.

[0067] like Fig.15As shown, in the embodiment of the present invention, the sampling window module 8 includes a sampling window, an isolation plate 801, a display screen 802, a chin rest 803, a support member II 804, an adapter member II 805 and a lifting cylinder 806, wherein the lifting cylinder 806 is arranged on the operating platform, and the output end is connected to the support member II 804 through the adapter member II 805, and the support member II 804 extends out of the outside of the sampling window; the chin rest 803 is arranged on the support member II 804; the display screen 802 is connected to the adapter member II 805 through the bracket, so as to realize the synchronous adjustment of the height of the chin rest 803 and the display screen 802.

[0068] In an embodiment of the present invention, the overall structure of the present invention is installed on a mobile platform. After the operating platform is turned on, there are two sampling windows on both sides, and the two windows are symmetrically designed, which can provide four people with nasopharyngeal swab sampling at the same time. A working space is set in the middle of the operating platform, which can be used for medical staff to replace test tubes, load swabs and repair equipment. The robot platform is centered on the sampling robot arm 2, and the isolation sleeve installation station 3, the swab preparation station 4, the swab breaking and bottling station 5, the test tube transfer station 6, and the isolation sleeve disassembly station 7 are arranged in a ring in sequence, wherein every two test tube transfer stations share a four-degree-of-freedom transfer robot arm, which can improve the sampling efficiency under the premise of meeting the sampling process. The chassis of the sampling robot arm 2 is movable and fixed after reaching the designated position. Large-scale nasopharyngeal swab sampling can be achieved through the combination of the aforementioned modules, and a plurality of nasopharyngeal swab robot platform combinations can meet the requirements of sampling at different scales, and the information entry module 9 includes an ID card recognition device and a data processing system.

[0069] The above description is only an embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A modular nasopharyngeal swab sampling robot, characterized in that: It comprises an operating platform and a sampling mechanical arm (2) arranged on the operating platform, an isolation sleeve installation station (3), a swab preparation station (4), a swab breaking and bottling station (5), a test tube transfer station (6), an isolation sleeve disassembly station (7), a sampling window module (8) and an information entry module (9); wherein the information entry module (9) is used to record and store the patient's identity information and nasopharyngeal sample detection information; The swab preparation station (4) is used to peel off the packaging bag on the outside of the swab (101); the sampling tool (1) is provided at the execution end of the sampling mechanical arm (2), and the sampling tool (1) is used to pick up and release the swab (101); the isolation sleeve installation station (3) is used to install the isolation sleeve on the outside of the sampling tool (1); the sampling window module (8) is used for the sampling mechanical arm (2) to collect nasopharyngeal swab samples from the subject; the swab breaking and bottling station (5) is used to put the sampled swab (101) into a test tube and then break it; the test tube transport station (6) is used to transport empty test tubes or test tubes containing nasopharyngeal swab samples; the isolation sleeve removal station (7) is used to remove the isolation sleeve on the outside of the sampling tool (1); The isolation sleeve installation station (3) comprises an installation frame (301), an isolation sleeve buckle (302), a buckle box (303), a movable bottom plate (304), a lifting cylinder (305) and a buckle release mechanism, wherein a plurality of buckle boxes (303) are circumferentially arranged on the installation frame (301), and each buckle box (303) is provided with a buckle release mechanism and a plurality of isolation sleeve buckles (302) located above the buckle release mechanism; the movable bottom plate (304) is arranged below the buckle box (303) and is connected to the buckle release mechanism; the lifting cylinder (305) is arranged on the installation frame (301), and an output end is connected to the movable bottom plate (304); The buckle release mechanism comprises a vertical push rod (3031), a curved push rod (3033), a movable block (3034), a buckle positioning spring (3035) and a pull rod (3036); a slide groove (3032) is provided on one side of the buckle box (303) in the vertical direction, and a buckle release port (3038) is provided at the upper end of the slide groove (3032); the movable block (3034) is slidably connected to the slide groove (3032), and the movable block (3034) is used to support a plurality of isolation sleeve buckles (302); a guide groove is provided on the inner wall of the buckle box (303) in the vertical direction, The vertical push rod (3031) and the curved push rod (3033) are respectively slidably matched with the guide groove, and the vertical push rod (3031) is located outside the curved push rod (3033); the lower ends of the vertical push rod (3031) and the curved push rod (3033) are connected to the movable bottom plate (304) through a pull rod (3036); the vertical push rod (3031) is used to limit the isolation sleeve buckle (302) from escaping from the buckle release port (3038); the curved push rod (3033) is used to press the isolation sleeve buckle (302) and the movable block (3034) except for the one located at the top; The buckle positioning spring (3035) is accommodated in the buckle box (303), and the lower end thereof abuts against the buckle box (303), and the upper end thereof abuts against the movable block (3034), and the buckle positioning spring (3035) causes the isolation sleeve buckle (302) located at the uppermost layer to be located in the buckle release port (3038); The swab preparation station (4) comprises a swab box (401), a two-dimensional mobile platform, a swab suction cup (402), a pneumatic scissors (405), a pneumatic clamping claw II (406), a lifting pneumatic clamping claw (407), a bracket (408) and a lifting pneumatic slide (409), wherein the swab suction cup (402) is arranged on the two-dimensional mobile platform for picking up the swab (101) in the swab box (401); the pneumatic scissors (405), the pneumatic clamping claw II (406) and the lifting pneumatic slide (409) are arranged on the bracket (408) in order from top to bottom, and the lifting pneumatic clamping claw (407) is arranged on the lifting pneumatic slide (409); The pneumatic scissors (405) are used to cut open the packaging bag outside the swab (101); A groove is provided on the inner side of the pneumatic clamping jaw II (406), and the pneumatic clamping jaw II (406) is used to clamp the packaging bag outside the swab (101); The lifting pneumatic clamp (407) is used to clamp the swab (101) and the outer packaging bag; the lifting pneumatic slide (409) drives the lifting pneumatic clamp (407) to move upward, and the lifting pneumatic clamp (407) drives the swab (101) and the outer packaging bag to move upward together, so that the swab (101) extends out of the outer packaging bag.

2. The modular nasopharyngeal swab sampling robot according to claim 1, characterized in that: The sampling tool (1) comprises a housing (105) and a swab clamping device (102), a sampling force control device (103), a pneumatic clamping jaw I (104) and an adapter I (107) arranged in the housing (105), wherein the adapter I (107) is connected to the sampling mechanical arm (2); the sampling force control device (103), the pneumatic clamping jaw I (104) and an oral cavity recognition camera (106) are arranged on the adapter I (107), and the oral cavity recognition camera (106) is located on the outer side of the housing (105); The swab clamping device (102) comprises a right opening and closing piece (1021), a left opening and closing piece (1022) and two clamps (1023), wherein the right opening and closing piece (1021) and the left opening and closing piece (1022) are hinged on two sides of the sampling force control device (103) via a hinge shaft, a return spring (1038) is sleeved on the hinge shaft, and the right opening and closing piece (1021) and the left opening and closing piece (1022) are in a closed state under the elastic force of the return spring (1038); The two clamps (1023) are connected to the output end of the pneumatic clamping jaw I (104) and are respectively located outside the right opening and closing piece (1021) and the left opening and closing piece (1022); the pneumatic clamping jaw I (104) drives the two clamps (1023) to close, and then the two clamps (1023) push the right opening and closing piece (1021) and the left opening and closing piece (1022) to open.

3. The modular nasopharyngeal swab sampling robot according to claim 2, characterized in that: The sampling force control device (103) comprises a front cover (1031), an outer sliding member (1032), a force sensor (1033), an intermediate support member (1034), a sleeve (1035), a spring (1036) and a support member I (1037), wherein the support member I (1037) is connected to the adapter member I (107), one end of the force sensor (1033) is connected to the support member I (1037), and the other end is connected to the intermediate support member (1034); The intermediate support member (1034) is a hollow structure, and a sleeve (1035) and a spring (1036) are placed in the hollow cavity; the outer sliding member (1032) can be axially slidably sleeved on the outer side of the intermediate support member (1034); the front cover (1031) is arranged at the end of the outer sliding member (1032) and abuts against the spring (1036); the outer sliding member (1032) is axially limited by the shaft shoulders provided on the front cover (1031) and the intermediate support member (1034); The hinge shaft is arranged at the bottom of the outer sliding member (1032).

4. The modular nasopharyngeal swab sampling robot according to claim 1, characterized in that: The sampling robot arm (2) comprises a chassis (201), a column (202), a robot arm front end flange (203), a robot arm base flange (204), a six-degree-of-freedom robot arm (205), a lifting column (206), an RGB-D camera (207) and a wide-angle camera (208), wherein the chassis (201) is slidably connected to the operating platform, the lower end of the column (202) is connected to the chassis (201), and the upper end is provided with a robot arm base flange (204); the six-degree-of-freedom robot arm (205) is arranged on the robot arm base flange (204), and the execution end is provided with a robot arm front end flange (203), and the sampling tool (1) is arranged on the robot arm front end flange (203); the lifting column (206) is arranged on the column (202), and the RGB-D camera (207) and the wide-angle camera (208) are arranged on the top of the lifting column (206).

5. The modular nasopharyngeal swab sampling robot according to claim 1, characterized in that: The swab breaking and bottling station (5) comprises a pneumatic clamping mechanism (502), a test tube base (503) and a fixed bottom plate (504), wherein the fixed bottom plate (504) is connected to the operating platform; the pneumatic clamping mechanism (502) and the test tube base (503) are arranged on the fixed bottom plate (504), and the test tube base (503) is used to place the test tube (501); an opening is provided on the side of the test tube base (503), and the execution end of the pneumatic clamping mechanism (502) extends from the opening to hold the test tube (501).

6. The modular nasopharyngeal swab sampling robot according to claim 1, characterized in that: The test tube transfer station (6) comprises a four-degree-of-freedom transfer robot arm (601), a test tube clamping mechanism (602), a mounting base (603) and a test tube rack (604), wherein the mounting base (603) is arranged on the operating platform; the four-degree-of-freedom transfer robot arm (601) is arranged on the mounting base (603), and the execution end is connected to the test tube clamping mechanism (602); the test tube rack (604) is arranged in an isolation box provided on the operating platform; the four-degree-of-freedom transfer robot arm (601) is used for placing empty test tubes and collecting samples.

7. The modular nasopharyngeal swab sampling robot according to claim 1, characterized in that: The isolation sleeve disassembly station (7) comprises a waste isolation sleeve collection box (704) and at least two sets of suction cup mechanisms arranged on both sides of the waste isolation sleeve collection box (704); The suction cup mechanism comprises a negative pressure suction cup (701), a suction cup support rod (702) and a pneumatic slide (703), wherein the pneumatic slide (703) is arranged on the operating platform, one end of the suction cup support rod (702) is connected to the pneumatic slide (703), and the other end is connected to the negative pressure suction cup (701); after the negative pressure suction cup (701) absorbs the isolation sleeve, it moves backward through the pneumatic slide (703), thereby separating the isolation sleeve from the sampling tool (1).

8. The modular nasopharyngeal swab sampling robot according to claim 1, characterized in that: The sampling window module (8) comprises a sampling window, an isolation plate (801), a display screen (802), a chin rest (803), a support member II (804), an adapter member II (805) and a lifting cylinder (806), wherein the lifting cylinder (806) is arranged on the operating platform, and the output end is connected to the support member II (804) through the adapter member II (805), and the support member II (804) extends out of the outside of the sampling window; the chin rest (803) is arranged on the support member II (804); and the display screen (802) is connected to the adapter member II (805) through a bracket.

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