A sampling robot

Abstract

The present disclosure relates to the field of animal sampling technology, and in particular to a sampling robot, comprising a base, a walking device installed at the bottom of the base, and a sampling assembly installed on the upper side of the base. The sampling assembly comprises a first mechanical arm, a first joint servo, a second mechanical arm, a second joint servo and a mechanical claw connected in sequence from bottom to top, the first joint servo is used to control the relative deflection angle of the first mechanical arm and the second mechanical arm, the second joint servo is used to control the opening and closing of the mechanical claw, and the mechanical claw is used to clamp the cow's tail. A first motor is installed on the second mechanical arm, the first motor is connected to a needle exchange device, a plurality of blood sampling devices are installed on the needle exchange device, and the first motor drives the needle exchange device to rotate so that different blood sampling devices are aligned with the cow's tail blood vessels. The deflection of the second mechanical arm can adjust the position of the blood sampling device. Through the setting of the sampling assembly, the present disclosure can make the blood sampling device align with the venous blood vessels to achieve sampling, prevent the cow from kicking the sampling personnel, and improve the sampling efficiency.

Description

Technical Field

[0001] The present disclosure relates to the technical field of animal sampling, and in particular to a sampling robot. Background Art

[0002] Blood collection is the process of medical staff taking blood samples through veins or arteries for testing or related needs. Existing blood collection is usually done manually by inserting a needle directly into the cow's tail vein to draw blood. During the process, the cow's tail swings and the movement of the tail needs to be manually restricted, so the efficiency of manual sampling is relatively low. In addition, during the blood collection process, the cow's mood is unstable and it is easy to kick the sampler. Summary of the invention

[0003] In order to solve the above technical problems, the present disclosure provides a sampling robot.

[0004] The present disclosure provides a sampling robot, comprising a base, a walking device is installed at the bottom of the base, and a sampling assembly is installed on the upper side of the base;

[0005] The sampling assembly includes a first mechanical arm, a first joint steering gear, a second mechanical arm, a second joint steering gear and a mechanical claw which are sequentially connected from bottom to top, the first joint steering gear is used to control the relative deflection angle of the first mechanical arm and the second mechanical arm, the second joint steering gear is used to control the opening and closing of the mechanical claw, and the mechanical claw is used to clamp the cow's tail;

[0006] A first motor is installed on the second robotic arm, and the first motor is connected to a needle changing device, on which a plurality of blood sampling devices are installed. The first motor drives the needle changing device to rotate so that different blood sampling devices are aligned with the bovine tail blood vessel.

[0007] Optionally, a column is provided on the upper side of the base, on which a first CCD detector is provided. The first CCD detector is used to detect the swinging of the cow's tail. A controller is provided in the base. Image information collected by the first CCD detector is transmitted to the controller. The controller transmits a motion signal to the sampling component to control the movement of the second robotic arm and the opening and closing of the robotic claw.

[0008] Optionally, a second CCD detector is provided on the second robotic arm, and the second CCD detector is used to detect the position of the bovine tail blood vessel. The image information collected by the second CCD detector is transmitted to the controller, and the controller transmits a motion signal to the sampling component to control the position of the blood sampling device.

[0009] Optionally, the blood collection device includes a driving motor, a mounting portion is embedded in the driving motor, a groove is provided on the mounting portion, a blood collection needle is inserted in the groove, and the driving motor is used to control the blood collection needle to move along the thickness direction of the blood collection device.

[0010] Optionally, an alarm device is also provided in the base, and the alarm device is electrically connected to the controller for warning the movement of the blood sampling device.

[0011] Optionally, it also includes a remote control with a first remote control chip set inside, a walking button is provided on the remote control, a second remote control chip is installed in the base, the walking device is electrically connected to the second remote control chip, and the walking button sends a remote control signal to the second remote control chip through the first remote control chip to control the movement of the walking device.

[0012] Optionally, a sampling button is further provided on the remote control, and the sampling component is electrically connected to the second remote control chip. The sampling button sends a remote control signal to the second remote control chip through the first remote control chip to start the sampling component.

[0013] Optionally, a third joint servo is provided between the first robotic arm and the base, and the third joint servo is used to control a relative deflection angle between the first robotic arm and the base.

[0014] Optionally, the first motor is electrically connected to the controller, and the controller transmits a motion signal to the first motor to control the rotation of the needle changing device.

[0015] Optionally, the drive motor is electrically connected to the controller, and the controller transmits a motion signal to the drive motor to control the operation of the blood collection device.

[0016] Compared with the prior art, the technical solution provided by the embodiments of the present disclosure has the following advantages:

[0017] The present disclosure provides a sampling robot, including a base, a walking device installed at the bottom of the base, and a sampling assembly installed on the upper side of the base, and the walking device facilitates the movement of the robot. The sampling assembly includes a first mechanical arm, a first joint steering gear, a second mechanical arm, a second joint steering gear and a mechanical claw connected in sequence from bottom to top, the first joint steering gear is used to control the relative deflection angle of the first mechanical arm and the second mechanical arm, the second joint steering gear is used to control the opening and closing of the mechanical claw, and the mechanical claw is used to clamp the cow's tail. Clamping the cow's tail can prevent the swing of the cow's tail from affecting the sampling process. The second mechanical arm is equipped with a first motor, the first motor is connected to a needle exchange device, and a plurality of blood sampling devices are installed on the needle exchange device. The first motor drives the needle exchange device to rotate so that different blood sampling devices are aligned with the cow's tail blood vessels. The deflection of the second mechanical arm can adjust the position of the blood sampling device. Through the setting of the sampling assembly, the present disclosure can make the blood sampling device align with the venous blood vessels to achieve sampling, prevent the cow from kicking the sampling personnel, and improve the sampling efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0020] Figure 1 This is an overall structural diagram of the sampling robot described in the embodiment of the present disclosure;

[0021] Figure 2 It is a front view of the needle exchange device according to the embodiment of the present disclosure;

[0022] Figure 3 It is a cross-sectional view of the needle exchange device described in the embodiment of the present disclosure.

[0023] Among them, 10, base; 20, walking device; 30, sampling component; 31, first robotic arm; 32, first joint servo; 33, second robotic arm; 34, second joint servo; 35, mechanical claw; 36, needle changing device; 37, blood collection device; 371, driving motor; 372, mounting part; 373, blood collection needle; 40, first CCD detector; 50, second CCD detector; 60, column. DETAILED DESCRIPTION

[0024] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0025] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0026] The present disclosure provides a sampling robot, such as Figure 1 As shown, it includes a base 10, a walking device 20 is installed at the bottom of the base 10, and a sampling assembly 30 is installed on the upper side of the base 10. The walking device 20 is used to drive the movement of the sampling robot, and can be a walking wheel or a crawler track set at the bottom of the base 10, which is not limited here. If a walking wheel is selected, the number of walking wheels can be selected according to actual conditions. The sampling assembly 30 has two main functions, one is to control the cow's tail, and the other is to collect blood from the cow's tail vein.

[0027] The walking device 20 in this embodiment can be moved by remote control. Specifically, it includes a remote control with a first remote control chip disposed therein, and a walking button is disposed on the remote control. A second remote control chip is installed in the base 10, and the walking device 20 is electrically connected to the second remote control chip. The walking button sends a remote control signal to the second remote control chip through the first remote control chip to control the movement of the walking device 20. When the sampling robot is in use, the sampling personnel must first use the remote control device to move the robot to the tail of the cow to facilitate the next step of sampling.

[0028] Furthermore, a sampling button is provided on the remote control, and the sampling component 30 is electrically connected to the second remote control chip. The sampling button sends a remote control signal to the second remote control chip through the first remote control chip to start the sampling component 30 and start collecting blood in the bovine tail blood vessel.

[0029] In order to realize the function of the sampling component 30, the sampling component 30 includes a first mechanical arm 31, a first joint servo 32, a second mechanical arm 33, a second joint servo 34 and a mechanical claw 35 connected in sequence from bottom to top, the first joint servo 32 is used to control the relative deflection angle of the first mechanical arm 31 and the second mechanical arm 33, and the second joint servo 34 is used to control the opening and closing of the mechanical claw 35. The mechanical claw 35 can be opened and closed to clamp the cow's tail. After the robot is moved to the rear of the cow, the second mechanical arm 33 is first deflected by the first joint servo 32, and then the mechanical claw 35 is controlled to open and close by the second joint servo 34 to clamp and lift the cow's tail to prevent the cow's tail from swinging and affecting blood collection.

[0030] Furthermore, a column 60 is provided on the upper side of the base 10 , and a first CCD detector 40 is provided on the column 60 . The first CCD detector 40 is used to detect the swing of the cow's tail.

[0031] In this embodiment, a controller is provided in the base 10, and the image information collected by the first CCD detector 40 is transmitted to the controller, and the controller transmits a motion signal to the sampling component 30 to control the movement of the second mechanical arm 33 and the opening and closing of the mechanical claw 35. Specifically, the first step of this embodiment is to obtain a CCD image containing the target cow's tail and determine the movement law of the target cow's tail. The second step is to calculate the deviation between the second mechanical arm 33 and the swing law of the target cow's tail based on the obtained CCD image. The third step is to determine the position adjustment amount of the second mechanical arm 33 based on the deviation. The fourth step is to adjust the movement of the second mechanical arm 33 according to the position adjustment amount of the second mechanical arm 33 until the second mechanical arm 33 and the target cow's tail have the same swing law. The fifth step is to control the opening and closing of the mechanical claw 35 so that the mechanical claw 35 clamps the cow's tail and lifts the cow's tail to expose the cow's tail blood vessels.

[0032] After clamping the oxtail, blood needs to be collected. A first motor (not shown in the figure) is installed on the second mechanical arm 33, and the first motor is connected to the needle exchange device 36. Figure 2 As shown, a plurality of blood collection devices 37 are installed on the needle exchange device 36, and the first motor drives the needle exchange device 36 to rotate so that different blood collection devices 37 are aligned with the blood vessels of the bovine tail. In this embodiment, up to twelve blood collection devices 37 can be installed at a time. If more blood collection devices 37 need to be installed, the needle exchange device 36 needs to be replaced.

[0033] In the above embodiment, the first motor is electrically connected to the controller, and the controller sends a control signal to control the rotation of the needle changing device 36. After the controller determines that the blood sample has been collected, it sends a control signal to rotate the needle changing device 36 so that the new blood collection device 37 is aimed at the sampled cow.

[0034] Furthermore, a second CCD detector 50 is provided on the second robotic arm 33 , and the second CCD detector 50 is used to detect the position of the bovine tail blood vessel, thereby controlling the position of the blood sampling device 37 .

[0035] The image information collected by the second CCD detector 50 needs to be transmitted to the controller, and the controller transmits a motion signal to the sampling component 30 to control the position of the blood sampling device 37. Specifically, the first step of this embodiment is to obtain a CCD image containing the target bovine tail blood vessel and determine the position of the target bovine tail blood vessel in the CCD image. The second step is to calculate the deviation between the second mechanical arm 33 and the target bovine tail blood vessel based on the obtained CCD image. The third step is to determine the position adjustment amount of the second mechanical arm 33 based on the deviation. The fourth step is to adjust the movement of the second mechanical arm 33 according to the position adjustment amount of the second mechanical arm 33 until the blood sampling device 37 is successfully aligned with the target bovine tail blood vessel.

[0036] like Figure 3 As shown, the blood sampling device 37 includes a driving motor 371, a mounting portion 372 is embedded in the driving motor 371, a groove is provided on the mounting portion 372, a blood sampling needle 373 is inserted in the groove, and the driving motor 371 is used to control the blood sampling needle 373 to move along the thickness direction of the blood sampling device 37. After the blood sampling device 37 reaches the designated operation position, the driving motor 371 drives the blood sampling device 37 to approach the target bovine tail blood vessel to collect blood from the blood vessel pierced into the bovine tail. In the above embodiment, the driving motor 371 is electrically connected to the controller, and the controller sends a control signal to control the movement of the driving motor 371. After the controller determines that the blood sampling device 37 has been aligned with the bovine tail blood vessel, it sends a control signal to operate the driving motor 371, so that the blood sampling needle 373 collects blood from the bovine tail.

[0037] It can be understood that the blood collection needle 373 in this embodiment includes a needle-shaped body and a receiving tube. The needle-shaped body pierces the blood vessel, and the receiving tube is vacuum and is used to receive the collected blood.

[0038] In addition, an alarm device is also provided in the base 10, and the alarm device is electrically connected to the controller, and is used to warn the movement of the blood sampling device 37. Specifically, the alarm device is a sounder. After the controller determines the position of the target cow's tail blood vessel and before the blood sampling device 37 operates, the controller controls the alarm device to emit a sound as a sampling alarm information. The sound in this embodiment is the voice of a person who comforts the cow. This setting can not only comfort the cow, but also serve as an alarm information for sampling. In other embodiments, the alarm device can be set as a light-emitting part, which only emits light behind the cow to remind the sampling personnel, so as not to disturb the cow.

[0039] In this embodiment, a data receiving terminal can also be set, and the receiving terminal includes a database. The controller is connected to a Bluetooth transmission device, and the Bluetooth transmission device is connected to the receiving terminal. The data in the controller is transmitted to other terminals that can receive the data through the Bluetooth transmission device for data statistics and processing. The alarm sampling information issued by the alarm device each time serves as a prompt for judging the sampled cow. After the first alarm sampling information ends and before the second alarm sampling information begins, the photos taken by the first CCD detector 40 and the second CCD detector 50 are judged to be photos of the same cow, and the cow is numbered and collected in the same database. The blood samples collected after the second alarm sampling information begins are also judged to be the same cow and numbered. In this way, the photos and blood samples of the same cow can be matched one by one to establish a complete database.

[0040] Specifically, the material of the needle changing device 36 is aluminum alloy. Aluminum alloy is light and easy to process, and is a suitable material for the needle changing device 36.

[0041] It is understandable that a third joint servo can be provided between the first mechanical arm 31 and the base 10, and the third joint servo is used to control the relative deflection angle between the first mechanical arm 31 and the base 10. If the deflection of the second mechanical arm 33 is achieved only by the rotation of the first joint servo 32, the blood collection device 37 may not be able to reach the predetermined position. Therefore, a third joint servo can also be provided in this embodiment, and the cooperation of the first joint servo 32 and the third joint servo can give the blood collection device 37 a larger range of motion.

[0042] Working process:

[0043] Step 1: Press the walking button on the remote control, and the sampling robot will walk to the cow’s tail;

[0044] Step 2: Press the sampling button on the remote control, and the sampling component 30 starts working;

[0045] Step 3: The first CCD detector 40 takes a picture of the cow's tail, and the controller controls the swing of the second mechanical arm 33 through the first joint steering gear 32 to match the swinging pattern of the cow's tail;

[0046] Step 4: Control the mechanical gripper 35 to clamp the bovine tail and leak out the blood vessels of the bovine tail;

[0047] Step 5: The second CCD detector 50 takes a photo of the bovine tail blood vessel, and the controller determines the position of the bovine tail blood vessel, and adjusts the second mechanical arm 33 to align the blood sampling device 37 with the bovine tail blood vessel:

[0048] Step 6: Control the driving motor 371 to make the blood collection needle 373 collect blood.

[0049] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0050] The above description is only a specific embodiment of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A sampling robot, It is characterized in that It comprises a base (10), a walking device (20) is installed at the bottom of the base (10), and a sampling assembly (30) is installed on the upper side of the base (10); The sampling assembly (30) comprises a first mechanical arm (31), a first joint steering gear (32), a second mechanical arm (33), a second joint steering gear (34) and a mechanical claw (35) which are sequentially connected from bottom to top, wherein the first joint steering gear (32) is used to control the relative deflection angle of the first mechanical arm (31) and the second mechanical arm (33), the second joint steering gear (34) is used to control the opening and closing of the mechanical claw (35), and the mechanical claw (35) is used to clamp the cow's tail; The second mechanical arm (33) is equipped with a first motor, the first motor is connected to a needle exchange device (36), a plurality of blood collection devices (37) are installed on the needle exchange device (36), and the first motor drives the needle exchange device (36) to rotate so that different blood collection devices (37) are aligned with the bovine tail blood vessel; A column (60) is also provided on the upper side of the base (10), and a first CCD detector (40) is provided on the column (60). The first CCD detector (40) is used to detect the swing of the cow's tail. A controller is provided in the base (10). Image information collected by the first CCD detector (40) is transmitted to the controller. The controller transmits a motion signal to the sampling component (30) to control the movement of the second mechanical arm (33) and the opening and closing of the mechanical claw (35). The second mechanical arm (33) is provided with a second CCD detector (50), and the second CCD detector (50) is used to detect the position of the blood vessels of the bovine tail. The image information collected by the second CCD detector (50) is transmitted to the controller, and the controller transmits a motion signal to the sampling component (30) to control the position of the blood sampling device (37); The blood collection device (37) comprises a driving motor (371), a mounting portion (372) is embedded in the driving motor (371), a groove is provided in the mounting portion (372), a blood collection needle (373) is inserted in the groove, and the driving motor (371) is used to control the blood collection needle (373) to move along the thickness direction of the blood collection device (37).

2. The sampling robot according to claim 1, It is characterized in that An alarm device is also provided in the base (10), and the alarm device is electrically connected to the controller and is used to warn of the movement of the blood sampling device (37).

3. The sampling robot according to claim 1, It is characterized in that It also includes a remote controller having a first remote control chip disposed therein, the remote controller being provided with a walking button, the base (10) being provided with a second remote control chip, the walking device (20) being electrically connected to the second remote control chip, the walking button sending a remote control signal to the second remote control chip via the first remote control chip to control the movement of the walking device (20).

4. The sampling robot according to claim 3, It is characterized in that The remote control is also provided with a sampling button, the sampling component (30) is electrically connected to the second remote control chip, and the sampling button sends a remote control signal to the second remote control chip via the first remote control chip to start the sampling component (30).

5. The sampling robot according to claim 1, It is characterized in that A third joint steering gear is arranged between the first mechanical arm (31) and the base (10), and the third joint steering gear is used to control the relative deflection angle between the first mechanical arm (31) and the base (10).

6. The sampling robot according to claim 1, It is characterized in that The first motor is electrically connected to the controller, and the controller transmits a motion signal to the first motor to control the needle changing device (36) to rotate.

7. The sampling robot according to claim 1, It is characterized in that The driving motor (371) is electrically connected to the controller, and the controller transmits a motion signal to the driving motor (371) to control the operation of the blood sampling device (37).

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