A throat swab automatic sampling device

Abstract

The application discloses a kind of pharyngeal swab automatic sampling equipment, including frame, horizontal vertical linear motion mechanism, swab feeding manipulator, swab library, swab conveyor, rotary shell motor, rotary shell motor gear set, multi-degree-of-freedom robot, sampling tube library, coding mechanism, swab manipulator reversing track, rotary shell, screw cap mechanism, swab manipulator, oral positioning cup, swab clamp cylinder, mounting plate, support plate cylinder, support plate, horizontal linear motion mechanism, sampling motor, power board, sampling motor gear, swing device, swab manipulator reversing frame, sterilization device, swab shearing mechanism, press open device, connecting frame, connecting frame cylinder, connecting plate, pull rod device, rotary shaft and connecting plate cylinder.The application adopts multi-station integrated parallel structure, realizes the synchronous performance of all tasks of nucleic acid sampling, high degree of automation, reasonable structure design, efficient, fast and safe, whole process can be completed only 3-5 seconds.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a pharyngeal swab automatic sampling device. BACKGROUND

[0002] Pharyngeal swab is a method of collecting oral cavity secretions from the throat for clinical test samples, which is often used by humans in the fight against various viruses. Compared with nasal swab sampling, pharyngeal swab sampling is a relatively simple and widely accepted detection method. At present, the most important detection method for diagnosing COVID-19 is nucleic acid detection, which determines whether the measured person is infected with the virus by directly detecting the viral nucleic acid in the collected sample.

[0003] However, as a common medical detection method for infectious diseases, the pharyngeal swab sampling process is still commonly manually collected by one-on-one. The collection of biological samples from the throat is highly infectious, and medical staff have to wear protective clothing to protect themselves, causing physical and mental pain.

[0004] Therefore, a pharyngeal swab automatic sampling device is needed to replace medical staff for sampling patients. The device does not require medical staff to operate, and the measured person can operate it according to the instructions. SUMMARY

[0005] To solve the technical problems of the prior art, the present application provides a pharyngeal swab automatic sampling device.

[0006] The technical solution of the present application to solve the technical problem is to provide a pharyngeal swab automatic sampling device, characterized in that the device adopts a multi-station integrated parallel structure, comprising a frame body, a horizontal vertical linear motion mechanism, a swab feeding manipulator, a swab library, a swab conveyor, a rotary shell motor, a rotary shell motor gear set, a multi-degree-of-freedom robot, a sampling tube library, a code printing mechanism, a swab manipulator reversing track, a rotary shell, a cap twisting mechanism, a swab manipulator, an oral positioning cup, a swab clamp cylinder, a mounting plate, a support plate cylinder, a support plate, a horizontal linear motion mechanism, a sampling motor, a power board, a sampling motor gear, a swing device, a swab manipulator reversing frame, a disinfection device, a swab cutting mechanism, an opening device, a connecting frame, a connecting frame cylinder, a connecting plate, a pull rod device, a rotary shaft and a connecting plate cylinder.

[0007] The swab manipulator comprises a swab manipulator gear, a spring telescopic sleeve, a bearing seat and a swab clamp; the outer tube and the inner tube of the spring telescopic sleeve can slide relative to each other, and one end of the outer tube and the inner tube is connected by a spring; the other end of the inner tube extends out of the outer tube, and a swab clamp is installed at the end; during operation, the pharyngeal swab is inserted into the swab clamp, and the tightness and relaxation state of the swab clamp is changed by cooperation of the swab clamp and the outer tube to further tighten the pharyngeal swab; the outer side of the spring telescopic sleeve is fixed with a swab manipulator gear; the spring telescopic sleeve is rotatably installed in the bearing seat;

[0008] The shell of the rotating shell motor is fixed on the frame, and one of the rotating shell motor gear sets is fixed on the output end; a rotating shaft is fixed at the center of the rotating shell, and the rotating shaft is rotatably installed in the frame, and the other of the rotating shell motor gear sets is fixed on the end; the two gears of the rotating shell motor gear sets are in meshing transmission connection; a plurality of swab manipulator reversing frames are arranged in the circumferential direction of the rotating shell, and one end is hinged to the edge of the rotating shell; the bearing seat is fixed on the other end of the swab manipulator reversing frame; the swab manipulator reversing track is fixed on the frame and is annular and located at the edge of the rotating shell, and cooperates with the swab manipulator reversing frame to realize rotation of the swab manipulator reversing frame to a horizontal or vertical state, thereby realizing horizontal or vertical state of the swab manipulator;

[0009] The shell of the horizontal and vertical linear motion mechanism is fixed on the frame and is powered by a motor to realize X-direction and Z-direction motion, and the nut on the output end is fixed with a swab feeding manipulator; the swab library is fixed on the frame and is used for storing pharyngeal swabs; a part of the swab conveyor is arranged in the interior of the swab library and is used for conveying the pharyngeal swabs in the swab library; the end of the swab feeding manipulator cooperates with the other part of the swab conveyor to clamp the pharyngeal swabs on the swab conveyor; the shell of the swab clamp cylinder is fixed on the frame, and the output end cooperates with the inner tube of the spring telescopic sleeve;

[0010] The mounting plate is fixed on the frame body; the cylinder body of the support plate cylinder is fixed on the mounting plate, and the output end is fixedly connected with the support plate; the support plate is slidingly installed on the mounting plate; the shell of the sampling motor is fixed on the support plate, the support plate drives the sampling motor to move along the Z direction, and the output end of the sampling motor is fixed with a sampling motor gear; the sampling motor gear is in meshing transmission connection with the swab mechanical arm gear, so that the rotation collection function of the swab mechanical arm is met; the shell of the horizontal linear motion mechanism is fixed on the support plate, and the output end nut is fixedly connected with the power plate; the end of the power plate is provided with a notch; the outer tube of the spring telescopic sleeve is provided with a boss, the boss is matched with the notch of the power plate, and the swab mechanical arm moves along the Y direction; the oral cavity positioning cup is installed on the frame body, the throat swab passes through the oral cavity positioning cup and extends out of the equipment, and is used for nucleic acid sampling; the shell of the swing device is fixed on the frame body, the output end is matched with the throat swab, and the throat swab at the throat swab sampling station is swung to assist the completion of nucleic acid sampling during nucleic acid sampling;

[0011] The multi-degree-of-freedom robot is arranged in the frame body; the swab cutting mechanism is slidingly arranged on the frame body and located in the working range of the multi-degree-of-freedom robot, and is used for cutting the throat swab on the swab mechanical arm into a swab rod and a swab head after the throat swab sampling is completed; the disinfection device is installed on the frame body and is used for disinfecting the cutter head in the swab cutting mechanism; the sampling tube warehouse is installed in the frame body and located in the working range of the multi-degree-of-freedom robot, and a plurality of sampling tubes are arranged in the sampling tube warehouse; the cap screwing mechanism is installed in the frame body and located in the working range of the multi-degree-of-freedom robot, and cooperates with the multi-degree-of-freedom robot to perform the cap screwing action of the sampling tube; the code printing mechanism is installed in the frame body and located in the working range of the multi-degree-of-freedom robot, and is used for spraying a bar code on the sampling tube to record data.

[0012] The pressing open device is fixed on the frame body and matched with the inner tube of the spring telescopic sleeve of the swab mechanical arm to release the fastening of the swab clamp on the throat swab; the cylinder body of the connecting frame cylinder is fixed on the frame body, and the output end is fixedly connected with the connecting frame; the connecting frame is slidingly installed on the frame body; the cylinder body of the connecting plate cylinder is fixed on the connecting frame, and the output end is fixedly connected with the connecting plate; the connecting plate is slidingly installed on the connecting frame and can move along the Z direction; the pull rod device is arranged on the connecting plate and used for pulling out the released throat swab from the swab clamp.

[0013] Compared with the prior art, the beneficial effects of the present application are as follows:

[0014] (1) The present application adopts a multi-station integrated parallel structure, realizes the synchronous performance of multiple tasks such as throat swab feeding, nucleic acid sampling (i.e. forward and backward, rotation and swing of the throat swab), throat swab cutting, tube insertion, cap screwing, code printing and throat swab rod pulling out and discarding, has high automation degree, reasonable structure design, high efficiency, fast speed and safety, and the whole process can be completed in 3-5 seconds.

[0015] (2) The application sets up a negative pressure fan to exchange air, a disposable isolation cover and a swab cutting mechanism disinfection device, which solves the possible cross-infection safety hazard in the nucleic acid sampling process.

[0016] (3) The application can accurately simulate the advance, retreat, rotation and swing actions during manual sampling when sampling nucleic acid, thereby ensuring the reliability and accuracy of sampling.

[0017] (4) The disinfection device uses instant high temperature to kill viruses that may be contaminated by cutting the swab, ensures that the adjacent two samples are not infected with each other, and avoids the safety hazard of secondary infection.

[0018] (5) The application device can intelligently collect user information, and can realize automatic input, memory and storage of user information; a corresponding virus sampling management software is also developed, which is connected with Internet big data and can upload information at any time.

[0019] (6) Except for the oral positioning cup, all mechanisms and control elements in the device are placed in a sealed frame body, so that the internal components are not contaminated by the outside.

[0020] (7) When working, a disposable isolation cover is sleeved on the oral positioning cup, which can effectively isolate the user from the device.

[0021] (8) The negative pressure fan can discharge the user's oral gas that may contain viruses to a safe place for disinfection treatment at any time. DETAILED DESCRIPTION

[0022] Figure 1 is a perspective view of the overall structure of the application;

[0023] Figure 2 is a partial enlarged view of part A of the application; Figure 1

[0024] Figure 3 is a front view of the overall structure of the application;

[0025] Figure 4 is a partial enlarged view of part B of the application; Figure 3

[0026] Figure 5 is a partial enlarged view of part C of the application; Figure 3

[0027] is a left view of the overall structure of the application; Figure 6

[0028] is a partial enlarged view of part D of the application; Figure 7 Figure 6

[0029] ​​​​Figure 8 is a partial enlarged view of part E of the present application Figure 6

[0030] Figure 9 is a partial enlarged view of part F of the present application Figure 6

[0031] Figure 10 is a schematic view of the overall structure of the present application

[0032] Figure 11 is a partial enlarged view of part G of the present application Figure 10

[0033] Figure 12 is a partial enlarged view of part H of the present application Figure 10

[0034] In the figure, the frame 1, horizontal vertical linear motion mechanism 2, swab feeding mechanical arm 3, swab library 4, swab conveyor 5, negative pressure fan 6, rotating shell motor 7, rotating shell motor gear set 8, multi-degree-of-freedom robot 9, sampling tube library 10, code printing mechanism 11, swab mechanical arm reversing track 12, rotating shell 13, cap screwing mechanism 14, swab mechanical arm 15, oral positioning cup 16, swab clamp cylinder 17, mounting plate 18, support plate cylinder 19, linear reciprocating motion mechanism one 20, support plate 21, horizontal linear motion mechanism 22, sampling motor 23, power plate 24, sampling motor gear 25, gear set 26, swab mechanical arm gear 27, spring telescopic sleeve 28, bearing seat 29, swab clamp 30, throat swab 31, swing device 32, swab mechanical arm reversing frame 33, disinfection device 34, swab shearing mechanism 35, linear reciprocating motion mechanism two 36, sampling tube 37, opening device 38, connecting frame 39, linear reciprocating motion mechanism three 40, connecting frame cylinder 41, connecting plate 42, pull rod device 43, rotating shaft 44, linear reciprocating motion mechanism four 45, connecting plate cylinder 46. DETAILED DESCRIPTION

[0035] The specific embodiments of the present application are given below. The specific embodiments are only used to further illustrate the present application and do not limit the protection scope of the claims of the present application.

[0036] ​​​​The application provides a throat swab automatic sampling device (referred to as the device), which is characterized by adopting a multi-station integrated parallel structure and comprising a frame body 1, a horizontal vertical linear motion mechanism 2, a swab feeding mechanical arm 3, a swab library 4, a swab conveyor 5, a rotating shell motor 7, a rotating shell motor gear set 8, a multi-degree-of-freedom robot 9, a sampling tube library 10, a coding mechanism 11, a swab mechanical arm reversing track 12, a rotating shell 13, a cap screwing mechanism 14, a swab mechanical arm 15, an oral positioning cup 16, a swab clamp air cylinder 17, a mounting plate 18, a support plate air cylinder 19, a support plate 21, a horizontal linear motion mechanism 22, a sampling motor 23, a power plate 24, a sampling motor gear 25, a swing device 32, a swab mechanical arm reversing frame 33, a disinfection device 34, a swab shearing mechanism 35, a pressing open device 38, a connecting frame 39, a connecting frame air cylinder 41, a connecting plate 42, a pull rod device 43, a rotating shaft 44 and a connecting plate air cylinder 46.

[0037] The swab mechanical arm 15 comprises a swab mechanical arm gear 27, a spring telescopic sleeve 28, a bearing seat 29 and a swab clamp 30; the outer tube and the inner tube of the spring telescopic sleeve 28 can slide relative to each other to realize telescopic extension, one end of the inner tube and the outer tube is connected through a spring to realize reset; the other end of the inner tube extends out of the outer tube and is provided with the swab clamp 30 at the end; during operation, the throat swab 31 is inserted into the swab clamp 30 and changes the fastening and relaxation state of the swab clamp 30 through the cooperation of the swab clamp 30 and the outer tube to further fasten the throat swab 31; the outer side of the outer tube of the spring telescopic sleeve 28 is fixed with the swab mechanical arm gear 27 through a key; the outer tube of the spring telescopic sleeve 28 is rotatably installed in the bearing seat 29 through a bearing;

[0038] The shell of the rotating shell motor 7 is fixed on the frame body 1 and is provided with one gear of the rotating shell motor gear set 8 at the output end; the rotating shaft 44 is fixed at the center of the rotating shell 13 and is rotatably installed in the frame body 1 through a bearing, and the other gear of the rotating shell motor gear set 8 is fixed at the end of the rotating shaft 44, and the two gears of the rotating shell motor gear set 8 are in meshing transmission connection; a plurality of (four in the embodiment) swab mechanical arm reversing frames 33 are uniformly arranged in the circumferential direction of the rotating shell 13, one end is hinged to the edge of the rotating shell 13, and the rotating shell 13 drives the swab mechanical arm reversing frame 33 to rotate together; the bearing seat 29 is fixed to the other end of the swab mechanical arm reversing frame 33; the swab mechanical arm reversing track 12 is fixed to the frame body 1 and is annular, is located at the edge of the rotating shell 13 and cooperates with the swab mechanical arm reversing frame 33 to realize that the swab mechanical arm reversing frame 33 rotates to the horizontal or vertical state, and then realizes the horizontal or vertical state of the swab mechanical arm 15;

[0039] The shell of the horizontal vertical linear motion mechanism 2 is fixed on the frame body 1, is powered by a motor, can realize X direction and Z direction motion, and the nut on the output end is fixed with the swab loading manipulator 3; the swab library 4 is fixed on the frame body 1, and is used for storing pharyngeal swabs 31; a part of the swab conveying machine 5 is arranged in the swab library 4, and is used for sequentially arranging and conveying the pharyngeal swabs 31 in the swab library 4; the tail end of the swab loading manipulator 3 cooperates with another part of the swab conveying machine 5, and is used for clamping the pharyngeal swab 31 on the swab conveying machine 5; the shell of the swab clamp cylinder 17 is fixed on the frame body 1, and the output end cooperates with the inner tube of the spring telescopic sleeve 28;

[0040] The mounting plate 18 is fixed on the frame body 1; the cylinder body of the support plate cylinder 19 is fixed on the mounting plate 18, and the output end is fixedly connected with the support plate 21; the support plate 21 is slidably installed on the mounting plate 18 through the linear reciprocating motion mechanism 20; the shell of the sampling motor 23 is fixed on the support plate 21, the support plate 21 drives the sampling motor 23 to move along the Z direction, and the output end of the sampling motor 23 is fixed with the sampling motor gear 25; the sampling motor gear 25 is in meshing transmission connection with the swab manipulator gear 27, so as to satisfy the rotation sampling function of the swab manipulator 15; the shell of the horizontal linear motion mechanism 22 is fixed on the support plate 21, is powered by a motor, and the nut on the output end is fixedly connected with the power plate 24; the tail end of the power plate 24 is provided with a notch; the outer tube of the spring telescopic sleeve 28 is provided with a boss, the boss cooperates with the notch of the power plate 24, can be clamped in the notch of the power plate 24, realizes the advance and retreat function of the swab manipulator 15 with the power plate 24, and moves along the Y direction; the oral positioning cup 16 is installed in the side hole of the frame body 1, is arranged along the Y direction, the pharyngeal swab 31 at the pharyngeal swab sampling station passes through the oral positioning cup 16 and extends out of the equipment, and is used for pharyngeal swab sampling; the shell of the swing device 32 is fixed on the frame body 1, the output end cooperates with the pharyngeal swab 31, drives the pharyngeal swab 31 at the pharyngeal swab sampling station to swing during nucleic acid sampling, and assists in completing the pharyngeal swab sampling;

[0041] The multi-degree-of-freedom robot 9 is arranged in the frame body 1; the swab cutting mechanism 35 is slidably arranged on the frame body 1 through the linear reciprocating mechanism two 36, is located in the working range of the multi-degree-of-freedom robot 9, is located directly below the swab mechanical arm 15 at the swab cutting and tube inserting station, and cuts the swab 31 on the swab mechanical arm 15 at the swab cutting and tube inserting station into a swab rod and a swab head through X direction movement; the disinfection device 34 is installed on the frame body 1 and is located above the swab cutting mechanism 35, and is used for high-temperature sterilization and disinfection of the cutter head in the swab cutting mechanism 35; the sampling tube warehouse 10 is installed in the frame body 1 and is located in the working range of the multi-degree-of-freedom robot 9, and a plurality of sampling tubes 37 are arranged in the sampling tube warehouse 10; the cap screwing mechanism 14 is installed in the frame body 1 and is located in the working range of the multi-degree-of-freedom robot 9, cooperates with the multi-degree-of-freedom robot 9, performs a cap screwing action on the sealing cap of the sampling tube 37, and opens and closes the sealing cap; the code printing mechanism 11 is installed in the frame body 1 and is located in the working range of the multi-degree-of-freedom robot 9, and is used for spraying a bar code on the sampling tube 37 to record data.

[0042] The opening device 38 is fixed to the frame body 1 and cooperates with the inner tube of the spring telescopic sleeve 28 of the swab mechanical arm 15 at the swab rod pulling-out station to release the fastening of the swab clamp 30 on the swab 31; the cylinder body of the connecting frame cylinder 41 is fixed to the frame body 1, and the output end is fixedly connected with the connecting frame 39; the connecting frame 39 is slidably installed on the frame body 1 through the linear reciprocating mechanism four 45 and can move along the Y direction; the cylinder body of the connecting plate cylinder 46 is fixed to the connecting frame 39, and the output end is fixedly connected with the connecting plate 42; the connecting plate 42 is slidably installed on the connecting frame 39 through the linear reciprocating mechanism three 40 and can move along the Z direction; the pulling rod device 43 is arranged on the connecting plate 42 and is used for pulling out the swab 31 from the swab clamp 30 after the fastening of the swab clamp 30 is released, so that the swab rod is pulled out and recycled.

[0043] Preferably, the multi-degree-of-freedom robot 9 is a four-axis robot.

[0044] Preferably, the device further comprises a negative pressure fan 6; the negative pressure fan 6 is arranged at the lower part of the frame body 1 and is used for exchanging air in the device with external air.

[0045] Preferably, the support plate 21 is rotatably provided with a gear set 26; the gear set 26 is arranged between the sampling motor gear 25 and the swab mechanical arm gear 27 and is in meshing transmission connection with the sampling motor gear 25 and the swab mechanical arm gear 27 respectively, so that the transmission ratio can be changed.

[0046] Preferably, the swab clamp 30 is a hollow structure for the insertion of the throat swab 31; one end is connected with the inner tube of the spring telescopic sleeve 28, and the other end is a spring claw structure which cooperates with the outer tube of the spring telescopic sleeve 28 to achieve closure and thus fastening of the throat swab 31.

[0047] Preferably, the horizontal and vertical linear motion mechanism 2 adopts a horizontal and vertical ball screw set, which is composed of two motors, a horizontal ball screw and a vertical ball screw; the housing of the horizontal ball screw is fixed on the frame body 1, and the nut at the output end of the horizontal ball screw is fixed with the housing of the vertical ball screw; the nut at the output end of the vertical ball screw is fixed with the swab feeding manipulator 3; the two motors are respectively the power of the horizontal ball screw and the vertical ball screw to drive the nut to rotate.

[0048] Preferably, the structure of the swab manipulator reversing track 12 is as follows: the track between the throat swab feeding station and the throat swab sampling station is a horizontal track higher than the hinge of the swab manipulator reversing frame 33; the swab manipulator reversing frame 33 cooperates with the swab manipulator reversing track 12 to make itself in a vertical state, and thus the swab manipulator 15 is in a horizontal state; the track between the throat swab sampling station and the throat swab cutting and entering tube station is a gradually descending inclined track, and the hinge of the swab manipulator reversing frame 33 gradually changes from contact support to no contact; with the gradual disappearance of the support force of the swab manipulator reversing track 12 on the swab manipulator reversing frame 33, the swab manipulator reversing frame 33 gradually changes from a vertical state to a horizontal state, and thus the swab manipulator 15 gradually changes from a horizontal state to a vertical state; the track between the throat swab cutting and entering tube station and the swab rod pulling-out station is a horizontal track lower than the hinge of the swab manipulator reversing frame 33, and the swab manipulator reversing track 12 does not provide support force for the swab manipulator reversing frame 33, so that the swab manipulator reversing frame 33 is in a horizontal state, and thus the swab manipulator 15 is in a vertical state; the track between the swab rod pulling-out station and the throat swab feeding station is a gradually ascending inclined track, and the hinge of the swab manipulator reversing frame 33 gradually changes from no contact to contact support; the swab manipulator reversing frame 33 gradually changes from a horizontal state to a vertical state, and thus the swab manipulator 15 gradually changes from a vertical state to a horizontal state.

[0049] Preferably, when nucleic acid sampling, the outside of the oral positioning cup 16 is nested with a disposable isolation cover to avoid virus infection and transmission. After registration, the disposable isolation cover is taken, and the disposable isolation cover is put on the oral positioning cup 16; the user opens his mouth to hold the disposable isolation cover on the oral positioning cup 16, and loosens his mouth after feeling that the detection is completed, and takes off the disposable isolation cover and puts it into a medical waste bin.

[0050] Preferably, the frame body 1 can be equipped with an ultraviolet disinfection lamp which is enabled during non-working time.

[0051] Preferably, the swab robot 15 is equipped with a force sensor to detect the contact force with the human oral cavity, ensuring the safety of the feeding length. The swab robot 15 is equipped with a flexible joint to make a flexible contact with the human oral cavity, ensuring the safety of the user's oral cavity and preventing injury.

[0052] Preferably, the frame 1 adopts a sealed box body; all components are located in the sealed box body except the oral positioning cup 15, ensuring that the internal components are not contaminated by the outside.

[0053] Preferably, the throat swab 31 is composed of a swab rod and a swab head located at the end of the swab rod.

[0054] The working principle and working process of the present application are as follows:

[0055] The four swab robots 15 are evenly distributed on the rotating shell 13 and are located at the throat swab feeding station, the throat swab sampling station, the throat swab cutting and tube feeding station, and the swab rod removal station, respectively, or only one swab robot 15 is used to sequentially complete the work of the four stations.

[0056] Firstly, at the throat swab feeding station, the swab conveyor 5 arranges and conveys the throat swabs 31 in the swab library 4 from the swab library 4 in sequence; the horizontal vertical linear motion mechanism 2 drives the swab feeding robot 3 to the appropriate position, and the swab feeding robot 3 inserts the throat swab 31 on the swab conveyor 5 into the swab clamp 30 of the swab robot 15 horizontally; then the swab clamp cylinder 17 is started, driving the inner tube of the spring telescopic sleeve 28 to move, the inner tube drives the swab clamp 30 to move towards or away from the outer tube, when approaching the outer tube, the swab clamp 30 is compressed and tightened to achieve the fastening of the throat swab 31, completing the feeding of the throat swab, and when moving away from the outer tube, the swab clamp 30 releases the fastening of the throat swab 31.

[0057] Then the rotating shell motor 7 is started, and through the rotating shell gear set 8 transmission, it drives the rotating shell 13 to rotate, conveying the swab robot 15 to the throat swab sampling station, and maintaining the horizontal state of the swab robot 15 during the conveying process; at the throat swab sampling station, the support plate cylinder 19 drives the support plate 21 to move along the linear reciprocating motion mechanism 20 to the sampling motor gear 25 and the swab robot gear 27, then the horizontal linear motion mechanism 22 rotates with the swab robot 15 and the sampling motor 23, until the throat swab 31 extends out of the oral positioning cup 16 to the appropriate position in the sampled person's oral cavity; then the sampling motor 23 rotates, the power is transmitted to the swab robot gear 27, driving the entire swab robot 15 to rotate, so that the throat swab 31 rotates in the sampled person's mouth to achieve accurate sampling, at the same time, the swinging device 32 starts to swing with the throat swab 31, further ensuring the comprehensiveness and accuracy of the sampling.

[0058] Then, the rotating shell motor 7 is started, and the rotating shell motor gear set 8 is driven to rotate the rotating shell 13, so as to transfer the swab robot 15 to the throat swab cutting and inserting tube station, and the swab robot reversing frame 33 cooperates with the swab robot reversing track 12 to change the swab robot 15 from a horizontal state to a vertical state during the transfer process; at the throat swab cutting and inserting tube station, the swab cutting mechanism 35 is extended and cuts the throat swab 31 under the action of the linear reciprocating mechanism two 36, and the multi-degree-of-freedom robot 9 takes out the sampling tube 37 from the sampling tube warehouse 10 and places it directly below the swab robot 15, and instant disinfection can be completed through the disinfection device 34 after cutting the throat swab 31 each time; after collecting a specified number of swab heads, the sampling tube 37 is sent to the cap screwing mechanism 14 below to perform the cap screwing action of the sampling tube 37; after the cap is screwed, the multi-degree-of-freedom robot 9 sends the sampling tube 37 to the code printing mechanism 11 to print the code to record the sampling information.

[0059] Then, the rotating shell motor 7 is started, and the rotating shell motor gear set 8 is driven to rotate the rotating shell 13, so as to transfer the swab rod (i.e. the cut throat swab 31) on the swab robot 15 to the swab rod pulling-out station, and the swab robot 15 maintains a vertical state during the transfer process; at the swab rod pulling-out station, the pressing-open device 38 acts in cooperation with the inner tube of the spring telescopic sleeve 28 of the swab robot 15 to release the fastening of the throat swab 31 by the swab clamp 30; then the connecting frame cylinder 41 and the connecting plate cylinder 46 act respectively to move the pulling rod device 43 to a suitable position, and the pulling rod device 43 acts to pull out the fastened throat swab 31 from the swab clamp 30 and put it into the waste collection box.

[0060] Then, the rotating shell motor 7 is started, and the rotating shell motor gear set 8 is driven to rotate the rotating shell 13, so as to transfer the swab robot 15 to the throat swab cutting and inserting tube station, and the swab robot reversing frame 33 cooperates with the swab robot reversing track 12 to change the swab robot 15 from a horizontal state to a vertical state during the transfer process; at the throat swab cutting and inserting tube station, the swab cutting mechanism 35 is extended and cuts the throat swab 31 under the action of the linear reciprocating mechanism two 36, and the multi-degree-of-freedom robot 9 takes out the sampling tube 37 from the sampling tube warehouse 10 and places it directly below the swab robot 15, and instant disinfection can be completed through the disinfection device 34 after cutting the throat swab 31 each time; after collecting a specified number of swab heads, the sampling tube 37 is sent to the cap screwing mechanism 14 below to perform the cap screwing action of the sampling tube 37; after the cap is screwed, the multi-degree-of-freedom robot 9 sends the sampling tube 37 to the code printing mechanism 11 to print the code to record the sampling information.

[0061] The unmentioned part of the present application is applicable to the prior art.

Claims

1. A throat swabbing automatic sampling apparatus, characterized by, The device adopts a multi-station integrated parallel structure, and comprises a frame body, a horizontal and vertical linear motion mechanism, a swab loading manipulator, a swab library, a swab conveyor, a rotary shell motor, a rotary shell motor gear set, a multi-degree-of-freedom robot, a sampling tube library, a code printing mechanism, a swab manipulator reversing track, a rotary shell, a cap screwing mechanism, a swab manipulator, an oral positioning cup, a swab clamp cylinder, a mounting plate, a support plate cylinder, a support plate, a horizontal linear motion mechanism, a sampling motor, a power plate, a sampling motor gear, a swing device, a swab manipulator reversing frame, a disinfection device, a swab shearing mechanism, a opening device, a connecting frame, a connecting frame cylinder, a connecting plate, a pull rod device, a rotary shaft and a connecting plate cylinder; The swab manipulator comprises a swab manipulator gear, a spring telescopic sleeve, a bearing seat and a swab clamp; the outer tube and the inner tube of the spring telescopic sleeve can slide relative to each other, and one end of the inner tube and the outer tube is connected by a spring; the other end of the inner tube extends out of the outer tube, and a swab clamp is mounted at the end; during operation, the throat swab is inserted into the swab clamp, and the swab clamp is changed between the fastened and relaxed states through cooperation with the outer tube, so as to further fasten the throat swab; the outer side of the spring telescopic sleeve is fixed with the swab manipulator gear; the spring telescopic sleeve is rotationally installed in the bearing seat; The shell of the rotary shell motor is fixed on the frame body, and one of the rotary shell motor gear sets is fixed on the output end of the shell; a rotary shaft is fixed at the center of the rotary shell, the rotary shaft is rotationally installed in the frame body, the other gear of the rotary shell motor gear set is fixed on the end of the rotary shaft, and the two gears of the rotary shell motor gear set are in meshing transmission connection; a plurality of swab manipulator reversing frames are arranged in the circumferential direction of the rotary shell, and one end is hinged to the edge of the rotary shell; the bearing seat is fixed on the other end of the swab manipulator reversing frame; the swab manipulator reversing track is fixed on the frame body and is annular, located at the edge of the rotary shell, and cooperates with the swab manipulator reversing frame to rotate the swab manipulator reversing frame to the horizontal or vertical state, so as to realize the horizontal or vertical state of the swab manipulator; The shell of the horizontal and vertical linear motion mechanism is fixed on the frame body, and is powered by a motor to realize movement in the X direction and the Z direction; the nut on the output end of the shell is fixed with the swab loading manipulator; the swab library is fixed on the frame body and is used for storing throat swabs; part of the swab conveyor is arranged in the interior of the swab library and is used for conveying the throat swabs in the swab library; the end of the swab loading manipulator cooperates with the other part of the swab conveyor to clamp the throat swabs on the swab conveyor; the shell of the swab clamp cylinder is fixed on the frame body, and the output end cooperates with the inner tube of the spring telescopic sleeve; The mounting plate is fixed on the frame body; the cylinder body of the support plate cylinder is fixed on the mounting plate, and the output end is fixedly connected with the support plate. The support plate is slidingly installed on the mounting plate; the shell of the sampling motor is fixed on the support plate, the support plate drives the sampling motor to move along the Z direction, and the output end of the sampling motor is fixed with a sampling motor gear; the sampling motor gear is in meshing transmission connection with the swab mechanical arm gear, so as to meet the rotating collection function of the swab mechanical arm; the shell of the horizontal linear motion mechanism is fixed on the support plate, and the output end nut of the motor is fixedly connected with the power plate; the end of the power plate is provided with a notch; the outer tube of the spring telescopic sleeve is provided with a boss, the boss is matched with the notch of the power plate, and the swab mechanical arm moves along the Y direction; the oral positioning cup is installed on the frame body, the throat swab passes through the oral positioning cup and extends out of the equipment, and is used for nucleic acid sampling; the shell of the swing device is fixed on the frame body, the output end is matched with the throat swab, and the throat swab at the throat swab sampling station is swung to assist the completion of nucleic acid sampling during nucleic acid sampling; The multi-degree-of-freedom robot is arranged in the frame body; the swab cutting mechanism is slidingly arranged on the frame body and located in the working range of the multi-degree-of-freedom robot, and is used for cutting the throat swab on the swab mechanical arm into a swab rod and a swab head after the throat swab sampling is completed; the disinfection device is installed on the frame body and is used for disinfecting the cutter head in the swab cutting mechanism; the sampling tube warehouse is installed in the frame body and located in the working range of the multi-degree-of-freedom robot, and a plurality of sampling tubes are arranged in the sampling tube warehouse; the cap screwing mechanism is installed in the frame body and located in the working range of the multi-degree-of-freedom robot, and cooperates with the multi-degree-of-freedom robot to perform the cap screwing action of the sampling tube; the code printing mechanism is installed in the frame body and located in the working range of the multi-degree-of-freedom robot, and is used for spraying bar codes on the sampling tube to record data. The pressing open device is fixed on the frame body and matched with the inner tube of the spring telescopic sleeve of the swab mechanical arm to release the fastening of the swab clamp on the throat swab; the cylinder body of the connecting frame cylinder is fixed on the frame body, and the output end is fixedly connected with the connecting frame; the connecting frame is slidingly installed on the frame body; the cylinder body of the connecting plate cylinder is fixed on the connecting frame, and the output end is fixedly connected with the connecting plate; the connecting plate is slidingly installed on the connecting frame and can move along the Z direction; the pull rod device is arranged on the connecting plate and is used for pulling out the released throat swab from the swab clamp.

2. The throat swab automated sampling apparatus of claim 1, wherein, The device also comprises a negative pressure fan; the negative pressure fan is arranged at the lower part of the frame body and is used for exchanging the air in the device with the air outside.

3. The throat swab automated sampling apparatus of claim 1, wherein, The gear set is rotatably installed on the support plate; the gear set is arranged between the sampling motor gear and the swab mechanical arm gear and is in meshing transmission connection with the sampling motor gear and the swab mechanical arm gear respectively.

4. The throat swab automated sampling apparatus of claim 1, wherein, The swab clamp has a hollow structure and is used for inserting the throat swab; one end is connected with the inner tube of the spring telescopic sleeve, and the other end is a spring claw structure matched with the outer tube of the spring telescopic sleeve to realize closing and fastening of the throat swab.

5. The throat swab automated sampling apparatus of claim 1, wherein, The horizontal vertical linear motion mechanism adopts a horizontal vertical ball screw set, which is composed of two motors, a horizontal ball screw and a vertical ball screw; the shell of the horizontal ball screw is fixed on the frame body, and the shell of the vertical ball screw is fixed on the nut at the output end of the horizontal ball screw; the swab feeding mechanical hand is fixed on the nut at the output end of the vertical ball screw; the two motors are respectively used as the power of the horizontal ball screw and the vertical ball screw to drive the nut to rotate.

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