A pharyngeal swab sampling robot and a sampling method

Abstract

This invention relates to the field of sampling device technology, and in particular to a throat swab sampling robot and sampling method. The throat swab sampling robot includes a housing, an actuator, and a user operating unit. The actuator is housed within the housing, and the user operating unit includes a ventilation hood. The spaces within the ventilation hood and the housing are independently configured, connected by a perforation. The ventilation hood is equipped with an exhaust device to maintain a negative pressure environment and a collection port for extending a swab. During sampling, the user's mouth needs to be aligned with the collection port. The actuator picks up the swab and moves it to the collection port for sampling. The exhaust device maintains a negative pressure environment within the ventilation hood, expelling aerosols exhaled by the user and preventing contamination of the actuator. The independent configuration of the ventilation hood and housing space reduces the likelihood of contamination of the actuator by placing the sampling process and the actuator in separate spaces.

Description

Technical Field

[0001] This invention relates to the field of sampling device technology, and in particular to a throat swab sampling robot and sampling method. Background Technology

[0002] Currently, throat swab sampling is mainly done manually, which requires a lot of manpower and resources. To address this issue, sampling robots have emerged on the market. However, these sampling robots are usually placed directly in the external environment, with no isolation structure between the robot and the person being sampled, or only some simple isolation structure. During the sampling process, the sampling robot is easily contaminated by the person being sampled, and the robot can contaminate the new swab when picking it up again, leading to inaccurate sampling results. Summary of the Invention

[0003] The first objective of this invention is to provide a throat swab sampling robot that can solve the problem of easy contamination during the sampling stage of existing equipment.

[0004] The second objective of this invention is to provide a method for pharyngeal swab sampling, which is used by the pharyngeal swab sampling robot described above.

[0005] This invention provides a throat swab sampling robot, which includes a housing, an actuator, and an operating unit for the person being sampled;

[0006] The actuator is housed inside the box, and the human operating unit includes a ventilation hood.

[0007] The space inside the ventilation hood and the space inside the box are set independently, and the two spaces are connected by holes;

[0008] The ventilation hood is equipped with an exhaust device to maintain a negative pressure inside the hood and a collection port for extending cotton swabs.

[0009] Preferably, the throat swab sampling robot further includes a storage unit, a cotton swab breaking unit, and a test tube placement unit;

[0010] The storage unit is housed inside a cabinet, which is equipped with a blower.

[0011] The cotton swab breaking unit and the test tube placement unit are set up independently relative to the subject's operation unit;

[0012] The cotton swab breaking unit, the test tube placement unit, and the ventilation hood are all equipped with corresponding inlets and outlets;

[0013] The box, and / or the sampling person's operating unit, and / or the cotton swab breaking unit, and / or the working area are equipped with disinfection equipment.

[0014] Preferably, the actuator includes a three-axis moving device and an end effector;

[0015] The end effector includes a first rotating device, a first gripper and a first gripper driving device, wherein the first gripper is mounted on a three-axis moving device via the first rotating device;

[0016] The first gripper drive device is used to drive the opening and closing of the first gripper.

[0017] Preferably, the storage unit includes a cotton swab library, a front cover of the cotton swab library, a rear cover of the cotton swab library, and a cotton swab library support;

[0018] The cotton swab storage is mounted on a cotton swab storage bracket, and the cotton swab storage is provided with multiple cotton swab slots for placing cotton swabs.

[0019] The front cover and rear cover of the cotton swab storage are respectively fastened to the front and rear ends of the cotton swab storage.

[0020] Preferably, the cotton swab breaking unit includes a breaking unit shell, a telescopic device, a second rotating device, and a second gripper;

[0021] The telescopic device, the second rotating device, and the second gripper are disposed inside the outer shell of the break-off unit;

[0022] The outer shell of the breaking unit is disposed on one side of the ventilation hood, and the outer shell of the breaking unit and the ventilation hood are connected through the inlet and outlet of the second gripper;

[0023] The telescopic device is installed inside the housing of the breaking unit, the second rotating device is connected to the telescopic end of the telescopic device, and the second gripper is connected to the rotating end of the second rotating device.

[0024] Preferably, the ventilation hood further includes an opening device;

[0025] The ventilation hood is equipped with a mouth opener fixing component at the collection port, and the mouth opener is detachably connected to the mouth opener fixing component.

[0026] Preferably, the mouth opener includes a cylindrical body and a pressure plate disposed at the lower end of the cylindrical body;

[0027] The mouth opener fixing component is provided with a slot, and the mouth opener is provided with a plug-in protrusion, which is plugged into the slot.

[0028] Preferably, the test tube placement unit includes a test tube clamp and a test tube clamp driving device;

[0029] The lower side of the ventilation hood is provided with a test tube inlet and outlet, and the test tube clamp is provided corresponding to the test tube inlet and outlet.

[0030] The test tube clamp is connected to the test tube clamp driving device and moves up and down under the drive of the test tube clamp driving device;

[0031] The test tube is equipped with a test tube cap at the inlet and outlet, and the test tube cap is rotatably connected to the ventilation hood;

[0032] The ventilation hood is also equipped with a push rod, which is slidably connected to the ventilation hood. One end of the push rod abuts against the test tube cap, and the other end is fixedly connected to the test tube clamp.

[0033] A method for pharyngeal swab sampling, which employs the pharyngeal swab sampling robot described above, includes the following steps:

[0034] During the sampling process, the actuator pulls the swab into the ventilation hood and extends the swab out of the collection port to collect the sample. During this process, the exhaust device works to expel the air from the ventilation hood.

[0035] Preferably, the throat swab sampling method further includes the following steps:

[0036] Place the test tubes on the test tube placement unit and align the test tubes with the test tube inlet and outlet on the ventilation hood;

[0037] The actuator picks up a swab from the storage unit and then moves the swab to the collection port to take a sample;

[0038] After sampling is completed, the swab breaking unit moves to the swab location and breaks the swab. The broken swab sampling head falls into the test tube located on the test tube placement unit.

[0039] Disconnect the test tube from its inlet and outlet, and seal the inlet and outlet of the test tube;

[0040] Disinfect the box, and / or the person being sampled's operating unit, and / or the swab breaking unit, and / or the work area.

[0041] Beneficial effects:

[0042] During the sampling process, the person being sampled needs to align their mouth with the sampling port. The actuator then picks up the swab and moves it to the sampling port for sampling. In other words, during this process, only the person being sampled and the person being sampled are in contact. The ventilation hood is kept under negative pressure by the exhaust device, which removes the aerosols exhaled by the person being sampled from the ventilation hood, preventing the aerosols from contaminating the actuator. The ventilation hood and the housing space are set up independently, so that the sampling process and the actuator are in different spaces, reducing the chance of the actuator being contaminated. Attached Figure Description

[0043] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0044] Figure 1 A front view of the pharyngeal swab sampling robot provided for a specific embodiment of the present invention;

[0045] Figure 2 A schematic diagram of the internal structure of the pharyngeal swab sampling robot provided for a specific embodiment of the present invention;

[0046] Figure 3 A three-dimensional structural diagram of the pharyngeal swab sampling robot provided for a specific embodiment of the present invention;

[0047] Figure 4 A main view of the storage unit provided for a specific embodiment of the present invention;

[0048] Figure 5 A side view of the storage unit provided for a specific embodiment of the present invention;

[0049] Figure 6 A schematic diagram of the three-dimensional structure of the storage unit provided for a specific embodiment of the present invention;

[0050] Figure 7 A front view of the cotton swab breaking unit provided for a specific embodiment of the present invention;

[0051] Figure 8 A side view of the cotton swab breaking unit provided for a specific embodiment of the present invention;

[0052] Figure 9 A schematic diagram of the three-dimensional structure of the cotton swab breaking unit provided for a specific embodiment of the present invention;

[0053] Figure 10 Main view of the user operation unit provided for a specific embodiment of the present invention;

[0054] Figure 11 A side view of the user operation unit provided for a specific embodiment of the present invention;

[0055] Figure 12 Rear view of the user operation unit provided for a specific embodiment of the present invention;

[0056] Figure 13 A three-dimensional structural diagram of the user operation unit provided for a specific embodiment of the present invention;

[0057] Figure 14 A front view of the test tube placement unit provided for a specific embodiment of the present invention;

[0058] Figure 15 A side view of the test tube placement unit provided for a specific embodiment of the present invention;

[0059] Figure 16 A perspective view of the test tube placement unit provided for a specific embodiment of the present invention;

[0060] Figure 17 A front view of the work area disinfection unit provided for a specific embodiment of the present invention;

[0061] Figure 18 A top view of the work area disinfection unit provided for a specific embodiment of the present invention.

[0062] Explanation of reference numerals in the attached figures:

[0063] 1: Box;

[0064] 2: Implementing agency

[0065] 21: Three-axis moving device; 22: End effector; 23: First gripper;

[0066] 3: Storage unit

[0067] 31: Swab dispenser; 32: Swab dispenser front cover; 33: Swab dispenser rear cover; 34: Swab dispenser support;

[0068] 4: Cotton swab breakage unit

[0069] 41: Servo motor; 42: Bearing housing; 43: Bearing; 44: Linear cylinder; 45: Rotary device mounting base; 46: Second gripper;

[0070] 5: User Operation Unit

[0071] 51: Ventilation hood; 52: Fan; 53: Mouth opener fixing component; 54: Mouth opener; 55: Liquid nozzle; 56: Test tube cap; 57: Push rod;

[0072] 6: Test tube placement unit

[0073] 61: Test tube drive cylinder; 62: Cylinder mounting base; 63: Connecting plate; 64: Guide block; 65: Sealing gasket; 66: Test tube clamp; 67: Test tube;

[0074] 7: Work Area Disinfection Unit

[0075] 71: Servo electric actuator, 72: Liquid high-pressure nozzle, 73: Gas high-pressure nozzle, 74: Nozzle holder, 75: First housing, 76: Second housing, 77: Slider, 78: Guide rail. Detailed Implementation

[0076] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0077] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0078] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified. Furthermore, the terms "installed," "connected," and "linked" should be interpreted broadly; for example, they may refer to a fixed connection, a detachable connection, or an integral connection; they may refer to a mechanical connection or an electrical connection; they may refer to a direct connection or an indirect connection through an intermediate medium; and they may refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0079] like Figures 1 to 18 As shown, in this embodiment, a throat swab sampling robot is provided, which includes a housing 1, an actuator 2, and a sample collection person operation unit 5.

[0080] The actuator 2 is located inside the housing 1, and the human sampling operation unit 5 includes a ventilation hood 51.

[0081] The space inside the ventilation hood 51 and the space inside the box 1 are set independently, and the space between the two is connected by holes. The ventilation hood 51 is equipped with an exhaust device for creating a negative pressure state inside the ventilation hood 51 and a collection port for extending the cotton swab.

[0082] During the sampling process, the mouth of the person being sampled needs to be aligned with the collection port. The actuator 2 picks up the swab and moves it to the collection port for sampling. In other words, during this process, only the person being sampled operates the unit 5 and the person being sampled come into contact with each other. The ventilation device exhausts air to keep the ventilation hood 51 under negative pressure, which can expel the aerosols exhaled by the person being sampled from the ventilation hood 51 and prevent the aerosols from contaminating the actuator 2. The ventilation hood 51 and the housing 1 are set up independently, so that the sampling process and the actuator 2 are in different spaces, reducing the chance of the actuator 2 being contaminated.

[0083] The throat swab sampling robot also includes a storage unit 3, a cotton swab breaking unit 4, and a test tube placement unit 6.

[0084] Storage unit 3 is located inside housing 1.

[0085] The cotton swab breaking unit 4 and the test tube placement unit 6 are set independently relative to the subject operation unit 5. The cotton swab breaking unit 4, the test tube placement unit 6 and the ventilation hood 51 are all provided with corresponding inlets and outlets.

[0086] The container 1, and / or the sampling person's operating unit 5, and / or the cotton swab breaking unit 4, and / or the work area are equipped with disinfection equipment.

[0087] In other words, in actual use, disinfection equipment can be selectively installed in the box 1, the sampling person's operation unit 5, the cotton swab breaking unit 4, and the work area.

[0088] During the collection process, disinfection is selectively carried out through the box 1, the person being collected operating unit 5, the cotton swab breaking unit 4, and the disinfection equipment in the work area.

[0089] Specifically, during the sampling process, the person being sampled aligns their mouth with the sampling port. The actuator 2 moves and picks up the cotton swab from the storage unit 3, then moves the cotton swab to the sampling port for sampling. After sampling is completed, the cotton swab breaking unit 4 moves to the cotton swab and breaks it. The broken cotton swab sampling head falls into the test tube 67 located on the test tube placement unit 6, completing one sampling.

[0090] During the sampling process, only the sampler's operating unit 5 comes into contact with the sampler. Ventilation is achieved through an exhaust system to remove the aerosol exhaled by the sampler from the ventilation hood 51, preventing contamination of the robot's internal space. The actuator 2, storage unit 3, swab breaking unit 4, and sampler's operating unit 5 are located in different spaces. During sampling, only parts of the actuator 2 and swab breaking unit 4 enter or approach the ventilation hood 51. During the sampling process and / or between sampling intervals, a disinfection device selectively disinfects the housing 1, sampler's operating unit 5, swab breaking unit 4, and the working area. This disinfection effectively removes viruses contaminated with the actuator 2 and swab breaking unit 4, preventing contamination of new swabs and ensuring the accuracy of the test while avoiding cross-infection during sampling.

[0091] Box 1

[0092] Reference Figure 2 The housing 1 provides an installation space for the actuator 2 and the storage unit 3, and can isolate the internal and external environments of the equipment to prevent droplet transmission.

[0093] The disinfection device inside chamber 1 is an ultraviolet lamp. Specifically, chamber 1 is equipped with a short-wave ultraviolet lamp, which disinfects the inside of chamber 1 in real time by irradiation, preventing inaccurate testing caused by air pollution and the risk of infection between sampling personnel.

[0094] The chamber 1 is also equipped with a blower, such as a blower or air pump, to blow air into the chamber 1. By blowing air into the chamber 1, a positive pressure environment is created inside the chamber 1. Since the chamber 1 and the ventilation hood 51 are connected, the gas enters the ventilation hood 51 through the connection port and is then discharged by the exhaust device on the ventilation hood 51, preventing the airflow from the ventilation hood 51 from entering the chamber 1 during the sampling process. This avoids contamination of the equipment inside the chamber 1 by the gas exhaled by the person being sampled.

[0095] In addition, an observation window can be installed on the enclosure 1 to observe the operation of the equipment inside the enclosure 1.

[0096] Executive Agency 2

[0097] Reference Figure 2 The actuator 2 includes a three-axis moving device 21 and an end effector 22.

[0098] The three-axis moving device 21 includes an X-axis moving device, a Y-axis moving device, and a Z-axis moving device.

[0099] The Z-direction moving device is mounted on the slider of the X-direction moving device, and the Z-direction moving device moves along the X-direction under the drive of the slider of the X-direction moving device.

[0100] The Y-direction moving device is mounted on the slider of the Z-direction moving device, and the Y-direction moving device moves along the Z-direction under the drive of the slider of the Z-direction moving device.

[0101] The end effector 22 is mounted on the slider of the Y-direction moving device, and moves along the Y-direction under the drive of the slider of the Y-direction moving device.

[0102] It should be noted that the X-direction moving device, Y-direction moving device, and Z-direction moving device use linear modules, cylinders, electric actuators, and other devices as power units.

[0103] The X-direction moving device, Y-direction moving device, and Z-direction moving device run along the set trajectory, driving the end effector 22 to reciprocate between the storage unit 3 and the user operation unit 5.

[0104] Compared with existing six-axis motion devices or other multi-degree-of-freedom motion devices, the three-axis motion device 21 has the advantages of simple structure, low manufacturing cost and fewer required operation commands.

[0105] The end effector includes a first rotating device and a first gripper 23, which is mounted on the three-axis moving device 21 via the first rotating device.

[0106] Specifically, the slider of the Y-direction moving device fixed by the first rotating device can be a servo motor, a rotary motor, a rotary cylinder, etc. In other words, the first rotating device is a device that can drive the first gripper to rotate or swing.

[0107] The first gripper 23 is mounted on the first rotating device. The first gripper opens and closes under the drive of the first gripper drive device. Specifically, the first gripper 23 includes two gripper plates, which can open and close pneumatically or electrically to grip the cotton swab. When gripping the cotton swab, the first gripper 23 grips the tail end of the swab. After sampling is completed and the swab head is broken off, the first gripper 23 releases the swab stem, preparing for the next gripping.

[0108] The first gripper 23 is mounted on the first rotating device, which can drive the first gripper to rotate and / or swing, that is, it can imitate the manual sampling process and has high sampling accuracy.

[0109] Furthermore, it should be noted that a positioning device is also provided on the first gripper 23. This positioning device is used to determine the position of the gripper and the position for picking up the cotton swab or taking a sample. The positioning device can be a laser rangefinder.

[0110] Storage unit 3

[0111] Reference Figures 4 to 6The storage unit 3 includes a cotton swab storage 31, a front cover 32, a rear cover 33, and a support 34.

[0112] The cotton swab storage 31 is mounted on the cotton swab storage bracket 34, and the cotton swab storage 31 is provided with multiple cotton swab slots for placing cotton swabs.

[0113] The front cover 32 and the rear cover 33 of the cotton swab storage are respectively fastened to the front and rear ends of the cotton swab storage 31.

[0114] The cotton swab storage unit 31 is installed inside the box body 1 via a cotton swab storage bracket 34. The cotton swab storage unit 31 is used to store cotton swabs. Cotton swabs are loaded into the cotton swab storage unit 31 at the cotton swab factory. The rear end of the cotton swab storage unit 31 is the loading inlet, and the front end is the unloading outlet. Therefore, the front cover 32 of the cotton swab storage unit is fastened when loading cotton swabs and removed when placed into the box body 1. The rear cover 33 of the cotton swab storage unit is removed when loading cotton swabs and fastened when placed into the box body 1. During transportation, both the front cover 32 and the rear cover 33 are fastened to the cotton swab storage unit 31 to prevent the cotton swabs from being contaminated during transport.

[0115] The cotton swab storage 31 and the cotton swab storage bracket 34 can be detached and connected, for example, the cotton swab storage 31 and the cotton swab storage bracket 34 can be connected by a snap-fit.

[0116] Cotton swab breakage unit 4

[0117] Reference Figures 7 to 9 The cotton swab breaking unit 4 includes a breaking unit shell, a telescopic device, a second rotating device, and a second gripper 46.

[0118] The telescopic device, the second rotating device, and the second gripper 46 are disposed inside the housing of the breaking unit.

[0119] The outer casing of the break unit is located on one side of the ventilation hood 51, and the outer casing of the break unit and the ventilation hood 51 are connected by the inlet and outlet of the second gripper.

[0120] The telescopic device is fixed inside the housing of the breaking unit, the second rotating device is connected to the telescopic end of the telescopic device, and the second gripper 46 is connected to the rotating end of the second rotating device.

[0121] The telescopic device includes a linear cylinder 44 and a rotating device mounting base 45. The linear cylinder 44 is mounted on the housing 1, and the rotating device mounting base 45 is disposed on the piston rod of the linear cylinder 44.

[0122] The second rotating device includes a servo motor 41, a bearing housing 42, and a bearing 43. The housing of the servo motor 41 is fixedly mounted on the rotating device mounting base 45, and the bearing housing 42 is fixedly connected to the housing of the servo motor 41. The bearing 43 is disposed inside the bearing housing 42, and the mounting end of the second gripper 46 is fixedly connected to the inner ring of the bearing 43, and the mounting end of the second gripper 46 is connected to the output shaft of the servo motor 41.

[0123] Specifically, the second gripper 46 includes two gripper plates that can be opened and closed by pneumatic or electric drive.

[0124] Preferably, in this embodiment, the second gripper 46 is a pneumatic gripper, which includes a clamping plate and a gripper cylinder for driving the clamping plate to open and close. The gripper is mounted on the gripper cylinder, and the gripper cylinder passes through the inner ring of the bearing 43 and is connected to the output shaft of the servo motor 41.

[0125] The working process of the cotton swab breaking unit 4 is as follows: After the cotton swab sampling is completed, the telescopic device extends to push the second gripper 46 into the working area (inside the ventilation hood 51). The second gripper 46 closes, clamping the end of the cotton swab (the area between the cotton swab head and the crease on the cotton swab). Then, the second rotating device drives the second gripper 46 to rotate at a set angle, which can be 90°, to complete the breaking of the cotton swab. After breaking, the second gripper 46 releases, and the cotton swab head falls into the test tube 67.

[0126] After the cotton swab breaking unit 4 completes the breaking of the cotton swab, the structure inside the ventilation hood 51 can be disinfected within the ventilation hood 51, and / or, after the breaking is completed, the telescopic device drives the second gripper 46 to return before disinfection. For example, a disinfection device can be installed inside the outer shell of the breaking unit to disinfect the breaking unit.

[0127] The disinfection device installed in the breaking unit can be a disinfection lamp (e.g., an ultraviolet disinfection lamp) or a liquid disinfection device (liquid nozzle). Preferably, the disinfection device in the breaking unit uses a nozzle to spray disinfectant for disinfection.

[0128] Subject Operation Unit 5

[0129] Reference Figures 10 to 13 The exhaust device inside the ventilation hood 51 is a fan 52. Of course, the exhaust device can also be a negative pressure pump. That is to say, as long as it can exhaust the gas from the ventilation hood 51 and create a negative pressure in the ventilation hood 51, it is acceptable.

[0130] The disinfection device inside the ventilation hood 51 is a liquid nozzle 55, which is a high-pressure liquid nozzle. The fan 52 is used to blow out the aerosol exhaled by the person being sampled during the sampling process, preventing contamination of the machine's internal space. The high-pressure liquid nozzle sprays a mist of disinfectant into the ventilation hood 51 during sampling intervals for disinfection.

[0131] Specifically, nozzles are installed on both the upper and lower sides of the ventilation hood 51, and the two nozzles are staggered. This nozzle arrangement makes disinfection more comprehensive and avoids disinfection in dead corners.

[0132] The ventilation hood 51 also includes a mouth opener 54. A mouth opener fixing part 53 is provided at the collection port of the ventilation hood 51. The mouth opener 54 is detachably connected to the mouth opener fixing part 53.

[0133] The mouth opener 54 includes a cylindrical body and a pressure plate disposed at the lower end of the cylindrical body. During use, the mouth opener 54 is assembled onto the mouth opener fixing member 53 by the person being sampled. The pressure plate on the mouth opener 54 is used to restrict the position of the tongue and prevent the tongue from affecting the sampling process.

[0134] In this embodiment, a specific cooperation method between the mouth opener 54 and the mouth opener fixing member 53 is provided. The mouth opener fixing member 53 is provided with a slot, and the mouth opener 54 is provided with a plugging protrusion, which is plugged into the slot.

[0135] Test tube placement unit 6

[0136] Reference Figures 14 to 16 The test tube placement unit 6 includes a test tube clamp 66 and a test tube clamp driving device.

[0137] The ventilation hood 51 has test tube inlets and outlets on its lower side, and test tube clamps 66 are provided corresponding to the test tube inlets and outlets.

[0138] The test tube clamp 66 is connected to the test tube clamp drive device and moves up and down under the drive of the test tube clamp drive device.

[0139] After test tube 67 is installed on test tube clamp 66, there is a certain distance between test tube 67 and ventilation hood 51. The test tube clamp 66 is moved by the test tube clamp driving device to achieve docking between test tube 67 and ventilation hood 51.

[0140] A test tube cap 56 is provided at the inlet and outlet of the test tube, and the test tube cap 56 is rotatably connected to the ventilation hood 51. A push rod 57 is also provided inside the ventilation hood 51, and the push rod 57 is slidably connected to the ventilation hood 51. One end of the push rod 57 abuts against the test tube cap 56, and the other end is fixedly connected to the test tube clamp 66.

[0141] A test tube cap 56 is installed at the inlet and outlet of the test tube. The cap 56 is used to cover the inlet and outlet of the test tube during disinfection. A push rod 57 is fixedly connected to a test tube clamp 66, which allows the opening of the cap 56 to be linked to the movement of the test tube 67. When the test tube 67 moves upward, the push rod 57 pushes the cap 56, opening it. At this time, the test tube 67 aligns with the inlet and outlet of the test tube on the ventilation hood 51. After the second clamp 46 breaks off the cotton swab head, the cotton swab head falls into the test tube. This effectively seals the inlet and outlet of the test tube through the cap 67, preventing external airflow from entering the ventilation hood through the inlet and outlet when the exhaust device is working. When the test tube 67 moves downward, the push rod 57 disengages from the cap 56, the cap 56 resets, and the inlet and outlet of the test tube are resealed. At this time, the disinfection device inside the ventilation hood 51 performs disinfection, and the cap 56 seals the inlet and outlet of the test tube, preventing disinfectant from entering the test tube 67.

[0142] Specifically, the test tube clamp driving device includes a test tube driving cylinder 61, a cylinder fixing seat 62, and a connecting plate 63. The test tube driving cylinder 61 is fixed on the housing 1 through the cylinder fixing seat 62, and the piston rod of the test tube driving cylinder 61 is connected to the test tube clamp 66 through the connecting plate 63.

[0143] The test tube clamp 66 is mounted on the housing 1 via a guide block 64. The guide block 64 is provided with a vertically oriented sliding groove. The test tube clamp 66 is slidably connected to the sliding groove, ensuring that the test tube clamp 66 can only move in the up and down direction.

[0144] The housing 1 is provided with an installation groove, the guide block 64 is fixed in the installation groove, and a sealing gasket 65 is provided between the guide block 64 and the installation groove to ensure the airtightness of the housing 1.

[0145] Work area disinfection unit 7

[0146] The work area refers to the area where the person being sampled is located during the sampling process. A work area disinfection unit 7 is set up for this area, as detailed below:

[0147] The throat swab sampling robot also includes a work area disinfection unit 7.

[0148] The disinfection unit 7 in the work area is fixed on the box 1 and is located on one side of the operation unit 5 of the person being sampled.

[0149] The work area disinfection unit 7 includes a work area disinfection device and a work area disinfection mobile device.

[0150] The work area disinfection device includes two positions: a disinfection position and a reset position. The work area disinfection moving device moves the work area disinfection device between the two positions.

[0151] Specifically, the disinfection device for the work area includes a liquid high-pressure nozzle 72, a gas high-pressure nozzle 73, and a nozzle mounting base 74.

[0152] The mobile disinfection device for the work area includes a servo electric actuator 71. It should be noted that, in addition to using a servo electric actuator 71, the mobile device can also use a cylinder or other device capable of linear reciprocating motion.

[0153] The servo electric actuator 71 is the power source for the disinfection unit in the working area. The cylinder of the servo electric actuator 71 is installed in the housing 1. The piston rod of the servo electric actuator 71 is fixedly connected to the nozzle fixing seat 74. The liquid high-pressure nozzle 72 and the gas high-pressure nozzle 73 are installed on the nozzle fixing seat 74.

[0154] When disinfection is required, the servo electric actuator 71 extends, causing the nozzle holder 74 to extend. At the same time, the liquid high-pressure nozzle 72 on the nozzle holder 74 begins to spray disinfectant to disinfect the work area (disinfection location). After spraying is completed, the servo electric actuator 71 retracts (reset position). While driving the nozzle holder 74 to retract, the gas high-pressure nozzle 73 begins to spray air to dry the work area. By disinfecting the work area, the sampling environment can be disinfected, preventing cross-infection between sampling personnel.

[0155] The disinfection unit 7 in the work area also includes an outer shell, which is divided into a first outer shell 75 and a second outer shell 76. The first outer shell 75 is located inside the second outer shell 76, and the first outer shell 75 and the second outer shell 76 are slidably connected by a guide rail 78 and a slider 77.

[0156] The second outer shell 76 is fixed to the housing 1, and the first outer shell 75 is fixedly connected to the nozzle fixing seat 74. Both the first outer shell 75 and the second outer shell 76 are cover-shaped structures, which together can form a shielding space for the disinfection device and the mobile disinfection device in the working area. In particular, the first outer shell 75 moves synchronously with the nozzle fixing seat 74, realizing the fixation and shielding of the disinfection device and the mobile disinfection device in the working area. The first outer shell 75 and the second outer shell 76 are slidably connected by the guide rail 78 and the slider 77, allowing them to slide smoothly.

[0157] In this embodiment, a throat swab sampling method is also provided, which uses the sampling robot described above for sampling, and includes the following steps:

[0158] During the sampling process, the actuator pulls the swab into the ventilation hood and extends the swab out of the collection port to collect the sample. During this process, the exhaust device works to expel the air from the ventilation hood.

[0159] The throat swab sampling method also includes the following steps:

[0160] Place the test tubes on the test tube placement unit and align them with the test tube inlet / outlet on the ventilation hood.

[0161] The person being sampled aligns their mouth with the sampling port, the actuator picks up the swab from the storage unit, and then moves the swab to the sampling port to collect the sample.

[0162] After sampling is completed, the swab breaking unit moves to the swab location and breaks the swab. The broken swab sampling head falls into the test tube located on the test tube placement unit.

[0163] Separate the test tube from its inlet and outlet, and seal the inlet and outlet of the test tube.

[0164] Disinfect the box, and / or the person being sampled's operating unit, and / or the swab breaking unit, and / or the work area.

[0165] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A throat swab sampling robot, characterized in that, Includes the housing, actuator, and the user's operating unit; The actuator is housed inside the box, and the human operating unit includes a ventilation hood. The space inside the ventilation hood and the space inside the box are set independently, and the two spaces are connected by holes; The ventilation hood is equipped with an exhaust device for creating a negative pressure inside the hood and a collection port for extending cotton swabs. The throat swab sampling robot also includes a storage unit, a cotton swab breaking unit, and a test tube placement unit; The storage unit is housed inside a cabinet, which is equipped with a blower. The cotton swab breaking unit and the test tube placement unit are set up independently relative to the subject's operation unit; The cotton swab breaking unit, the test tube placement unit, and the ventilation hood are all equipped with corresponding inlets and outlets; The box, and / or the sampling person's operating unit, and / or the cotton swab breaking unit, and / or the working area are equipped with disinfection equipment; The test tube placement unit includes a test tube clamp and a test tube clamp driving device; The lower side of the ventilation hood is provided with a test tube inlet and outlet, and the test tube clamp is provided corresponding to the test tube inlet and outlet. The test tube clamp is connected to the test tube clamp driving device and moves up and down under the drive of the test tube clamp driving device; The test tube is equipped with a test tube cap at the inlet and outlet, and the test tube cap is rotatably connected to the ventilation hood; The ventilation hood is also equipped with a push rod, which is slidably connected to the ventilation hood. One end of the push rod abuts against the test tube cap, and the other end is fixedly connected to the test tube clamp. When the test tube moves upward, the push rod pushes the test tube cap, and the test tube cap opens. At this time, the test tube connects with the test tube inlet and outlet on the ventilation hood. This is equivalent to sealing the test tube inlet and outlet through the test tube. When the exhaust device is working, it can also prevent external airflow from entering the ventilation hood through the test tube inlet and outlet. When the test tube moves down, the push rod disengages from the test tube cap, the test tube cap resets, and the test tube inlet and outlet are resealed. At this time, the disinfection device inside the ventilation hood disinfects, and the test tube cap seals the test tube inlet and outlet to prevent disinfectant from entering the test tube.

2. The throat swab sampling robot according to claim 1, characterized in that, The actuator includes a three-axis moving device and an end effector; The end effector includes a first rotating device, a first gripper and a first gripper driving device, wherein the first gripper is mounted on a three-axis moving device via the first rotating device; The first gripper drive device is used to drive the opening and closing of the first gripper.

3. The throat swab sampling robot according to claim 1, characterized in that, The storage unit includes a cotton swab library, a front cover of the cotton swab library, a rear cover of the cotton swab library, and a cotton swab library support. The cotton swab storage is mounted on a cotton swab storage bracket, and the cotton swab storage is provided with multiple cotton swab slots for placing cotton swabs. The front cover and rear cover of the cotton swab storage are respectively fastened to the front and rear ends of the cotton swab storage.

4. The throat swab sampling robot according to claim 1, characterized in that, The cotton swab breaking unit includes a breaking unit shell, a telescopic device, a second rotating device, and a second gripper; The telescopic device, the second rotating device, and the second gripper are disposed inside the outer shell of the break-off unit; The outer shell of the breaking unit is disposed on one side of the ventilation hood, and the outer shell of the breaking unit and the ventilation hood are connected through the inlet and outlet of the second gripper; The telescopic device is installed inside the housing of the breaking unit, the second rotating device is connected to the telescopic end of the telescopic device, and the second gripper is connected to the rotating end of the second rotating device.

5. The throat swab sampling robot according to claim 1, characterized in that, The ventilation hood also includes an opening device; The ventilation hood is equipped with a mouth opener fixing component at the collection port, and the mouth opener is detachably connected to the mouth opener fixing component.

6. The pharyngeal swab sampling robot according to claim 5, characterized in that, The mouth opener includes a cylindrical body and a pressure plate disposed at the lower end of the cylindrical body; The mouth opener fixing component is provided with a slot, and the mouth opener is provided with a plug-in protrusion, which is plugged into the slot.

7. A method for pharyngeal swab sampling, characterized in that, The sampling is performed using the throat swab sampling robot as described in any one of claims 1-6, comprising the following steps: During the sampling process, the actuator pulls the swab into the ventilation hood and extends the swab out of the collection port to collect the sample. During this process, the exhaust device works to expel the air from the ventilation hood.

8. The pharyngeal swab sampling method according to claim 7, characterized in that, The throat swab sampling method also includes the following steps: Place the test tubes on the test tube placement unit and align the test tubes with the test tube inlet and outlet on the ventilation hood; The actuator picks up a swab from the storage unit and then moves the swab to the collection port to take a sample; After sampling is completed, the swab breaking unit moves to the swab location and breaks the swab. The broken swab sampling head falls into the test tube located on the test tube placement unit. Disconnect the test tube from its inlet and outlet, and seal the inlet and outlet of the test tube; Disinfect the box, and / or the person being sampled's operating unit, and / or the swab breaking unit, and / or the work area.

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