Sampling mechanism and sampling robot

Abstract

The present invention relates to the field of robotics, and in particular to a sampling mechanism and a sampling robot. The mechanism comprises: an image acquisition unit, which acquires 3D images to locate the sampling position and sampling depth; a sampling member; a detection unit, on which the sampling member is mounted, the detection unit comprising a torque detection unit and an angle detection unit, the torque detection unit adapting to the axial displacement of the sampling member and detecting the force applied to the sampling member; the angle detection unit adapting to the deflection of the sampling member in two directions and detecting the deflection angles of the sampling member in two directions; a controller, which controls the movement path of the sampling member according to the sampling position and sampling depth, and adjusts the position of the sampling member according to the axial displacement and deflection angle detected by the detection unit. The mechanism solves the technical problem that the existing automatic sampling easily causes harm to the oral cavity of the person being sampled.

Description

Technical Field

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

[0002] Currently, highly contagious viral infections are spreading worldwide. Detection of viral infections primarily relies on collecting samples for testing. However, sample collection is a highly contagious process that requires considerable skill. During the sampling process, the patient opens their mouth. A healthcare professional, wearing protective clothing, inserts a cotton swab into the patient's mouth and samples the uvula, located near the tonsils. This requires the healthcare professional to face the patient's mouth directly, increasing their risk of infection.

[0003] For example, the application document with application number CN202110102710.5 discloses a throat swab sampling method based on visual analysis, and specifically discloses: a throat swab sampling method based on visual analysis, comprising the following steps: Step 1: a multi-degree-of-freedom robotic arm clamps a throat swab and extends it into the patient's mouth; Step 2: based on the visual acquisition module, the patient's oral environment is scanned to obtain oral point cloud data and construct an oral three-dimensional scene; Step 3: the oral three-dimensional scene is visually analyzed to obtain the spatial coordinates of the uvula, teeth and palate in the mouth; Step 4: based on the spatial coordinates of the uvula, teeth and palate, the real-time throat swab sampling path is determined, and the multi-degree-of-freedom robotic arm is controlled to perform sampling operations based on the real-time sampling path. In the above-mentioned throat swab sampling method, a multi-degree-of-freedom robotic arm is used to clamp the throat swab and extend it into the patient's mouth, replacing manual sampling and reducing the risk to medical staff. However, the throat swab is sampled in the human mouth under the drive of the robotic arm. Once the positioning is inaccurate, the person being sampled is likely to be injured in the mouth due to the wrong action of the robotic arm. Summary of the Invention

[0004] In order to solve the technical problem that the existing automatic sampling easily causes damage to the oral cavity of the sampled person, the present invention provides a sampling mechanism and a sampling robot to solve the above technical problem. The technical solution of the present invention is as follows:

[0005] A sampling mechanism, comprising:

[0006] An image acquisition unit, wherein the image acquisition unit acquires 3D images to locate a sampling position and a sampling depth;

[0007] Sampling pieces;

[0008] a detection unit on which the sampling member is assembled, comprising a torque detection unit and an angle detection unit. The torque detection unit adapts to the axial displacement of the sampling member and detects the force applied to the sampling member; the angle detection unit adapts to the deflection of the sampling member in two directions and detects the deflection angles of the sampling member in two directions;

[0009] A controller controls the motion path of the sampling member according to the sampling position and the sampling depth, and adjusts the position of the sampling member according to the axial displacement and the deflection angle detected by the detection unit.

[0010] The sampling mechanism of the present invention is provided with a detection unit. The torque detection unit in the detection unit can adapt to the axial displacement of the sampling member, and the angle detection unit can adapt to the deflection of the sampling member in two directions. In this way, even if there is inaccurate positioning, the sampling member can avoid oral damage by axial avoidance and deflection avoidance. On this basis, the torque detection unit can detect the force applied to the sampling member, and the angle detection unit can detect the deflection angle of the sampling member in two directions. The above-mentioned force condition and deflection angle information can be transmitted to the controller, and the controller can adjust the position of the sampling member to ensure the accuracy of sampling and prevent accidental damage to the human oral cavity, thereby improving the safety, accuracy, and comfort of sampling.

[0011] According to one embodiment of the present invention, the angle detection unit includes a first shaft and a second shaft, the first shaft is rotatably assembled on an inner frame, the second shaft is rotatably assembled on an outer frame, the inner frame is rotatably connected to the second shaft, and Hall sensors are both assembled on the first shaft and the second shaft.

[0012] According to one embodiment of the present invention, the first shaft and the second shaft are arranged perpendicularly, and both the first shaft and the second shaft are equipped with a reset structure.

[0013] According to one embodiment of the present invention, the sampling member, the torque detection unit and the angle detection unit are axially assembled in sequence, the torque detection unit includes a first torque sensor, the first torque sensor is assembled between a first sleeve and a second sleeve, the assembly end of the sampling member is assembled in the first sleeve, and the second sleeve is connected to the first shaft through a rocker.

[0014] According to one embodiment of the present invention, the sampling member, the angle detection unit and the torque detection unit are axially assembled in sequence, the torque detection unit includes a second torque sensor, the sampling member is connected to the first shaft through a third sleeve and a rocker, the outer frame is connected to the detection end of the second torque sensor, and the other end of the second torque sensor is fixedly assembled.

[0015] According to one embodiment of the present invention, the image acquisition unit includes a 3D camera, and the optical axis of the 3D camera is perpendicular to the initial axis of the sampling member.

[0016] According to one embodiment of the present invention, the image acquisition unit further includes a fill light structure, which includes a fill light board. The fill light board is mounted on the side where the lens of the 3D camera is located. An opening is formed on the fill light board for the lens to pass through. Lamp beads are distributed on the fill light board. The 3D camera and the fill light structure are integrated and assembled in an installation box.

[0017] According to one embodiment of the present invention, the controller includes a control board, and the control board is assembled on a side of the detection unit away from the sampling member.

[0018] According to one embodiment of the present invention, the image acquisition unit includes a laser rangefinder.

[0019] According to one embodiment of the present invention, a monitoring camera is further included. The monitoring camera is tilted toward the sampling member and is used to detect the surrounding environment of the sampling end of the sampling member.

[0020] A sampling robot, comprising:

[0021] Sampling agency;

[0022] A robotic arm, the sampling mechanism is assembled on the robotic arm, and the robotic arm drives the sampling member to perform a sampling action under the control of the controller.

[0023] Based on the above technical solution, the technical effects that can be achieved by the present invention are:

[0024] 1. The sampling mechanism of the present invention is provided with a detection unit. The torque detection unit in the detection unit can adapt to the axial displacement of the sampling member, and the angle detection unit can adapt to the deflection of the sampling member in two directions. In this way, even if there is inaccurate positioning, the sampling member can avoid damage to the oral cavity by axial avoidance and deflection avoidance. On this basis, the torque detection unit can detect the force condition of the sampling member, and the angle detection unit can detect the deflection angle of the sampling member in two directions. The above-mentioned force condition and deflection angle information can be transmitted to the controller, and the controller can adjust the position of the sampling member to ensure the accuracy of sampling and prevent accidental damage to the human oral cavity, thereby improving the safety, accuracy, and comfort of sampling.

[0025] 2. The sampling mechanism of the present invention sets the optical axis of the 3D camera perpendicular to the initial axis of the sampling member. After the 3D camera is used to capture a 3D image, it is rotated 90 degrees so that the sampling member is aligned with the sampled area for sampling. In this way, the 3D camera will not be affected by the sampling member and can capture close to the sampled area, resulting in highly accurate captured images. A fill light structure is further provided to increase brightness and enhance the clarity of the captured images. The fill light structure includes a fill light board with lamp beads distributed on the fill light board. The fill light board can be attached to the side where the lens of the 3D camera is located to form an opening for the lens to pass through. This can reduce the overall size of the image acquisition unit and facilitate miniaturization. In addition, the image acquisition unit can also use a laser rangefinder in addition to the 3D camera, and can also include both a 3D camera and a laser rangefinder to ensure positioning accuracy.

[0026] 3. The sampling mechanism of the present invention comprises an angle detection unit comprising a first shaft and a second shaft. The sampling member can rotate about the axes of the first and second shafts, enabling deflection in two directions. This allows the sampling member to deflect and avoid contact with the inner wall of the human oral cavity. A Hall effect sensor is provided to detect the rotation angle of the first and second shafts. The first and second shafts are arranged perpendicularly, enabling the sampling member to deflect at multiple angles. Reset structures are provided on the first and second shafts, enabling the sampling member to return to its initial position when it moves away from the inner wall of the human oral cavity.

[0027] 4. In the sampling mechanism of the present invention, the torque detection unit can be disposed axially between the sampling member and the angle detection unit. The sampling member can move axially relative to the torque detection unit to trigger the first torque sensor. The sampling member and the torque detection unit can deflect together relative to the angle detection unit. Alternatively, the angle detection unit can be disposed axially between the sampling member and the torque detection unit. The sampling member can deflect relative to the angle detection unit, and the sampling member and the angle detection unit can move axially together relative to the torque detection unit. Both of the above methods can achieve assembly of the sampling member.

[0028] 5. The sampling mechanism of the present invention is further provided with a monitoring camera, which is tilted toward the sampling member and can monitor the surrounding environment of the sampling end of the sampling member in real time to ensure the accuracy of sampling;

[0029] 6. The sampling robot of the present invention can realize automatic sampling by driving the sampling mechanism with a robotic arm to replace manual sampling, thereby reducing the risk of infection for medical staff. The controller controls the movement path of the sampling member driven by the robotic arm according to the 3D image. The controller controls the robotic arm to adjust the position of the sampling member according to the axial displacement and deflection angle detected by the detection unit, thereby realizing accurate control of the robotic arm and the sampling member, and improving the safety, accuracy and comfort of sampling. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic structural diagram of a sampling mechanism according to a first embodiment of the present invention;

[0031] Figure 2 It is a structural diagram of the sampling mechanism from another perspective;

[0032] Figure 3 This is a schematic diagram of the structure of the sampling component assembled on the detection unit;

[0033] Figure 4 It is a cross-sectional view of the assembled sampling member and the torque detection unit;

[0034] Figure 5 for Figure 4 A magnified view of part A;

[0035] Figure 6 Schematic diagram of the structure of the angle detection unit;

[0036] Figure 7 It is a structural diagram of the reset structure;

[0037] Figure 8 is a cross-sectional view of the reset structure;

[0038] Figure 9 Schematic diagram of the structure of the detection camera assembly;

[0039] Figure 10 This is a schematic structural diagram of the sampling robot of Example 1;

[0040] Figure 11 This is a schematic structural diagram of a sampling mechanism according to a second embodiment of the present invention;

[0041] Figure 12 is a cross-sectional view of the sampling mechanism of Example 2;

[0042] Figure 13 for Figure 12 A magnified view of part B;

[0043] Figure 14 This is a schematic diagram of the structure of the sampling component assembled on the detection unit;

[0044] Figure 15 Schematic diagram of the structure of the image acquisition unit;

[0045] Figure 16 This is a structural diagram of the 3D camera and the fill light structure;

[0046] Figure 17 This is a schematic structural diagram of the sampling robot of Example 2;

[0047] In the figure: 1-image acquisition unit; 11-3D camera; 12-fill light structure; 121-fill light board; 122-lamp beads; 13-laser rangefinder; 14-mounting box; 2-sampling component; 21-sampling end; 22-expansion sleeve; 3-detection unit; 31-torque detection unit; 311-first torque sensor; 312-first shaft sleeve; 313-second shaft sleeve; 314-second torque sensor; 32-angle detection unit; 321-first axis; 322-second axis; 323-inner frame; 324-outer frame; 325-Hall sensor; 326-reset structure; 3261-reset plate; 3262-connecting rod; 3263-sliding sleeve; 3264-elastic member; 327-joystick; 33-connecting frame; 4-control board; 5-monitoring camera; 51-fixing ring; 61-connecting piece; 62-protective cover; 621-connecting part; 63-first connecting frame; 64-second connecting frame; 65-third connecting frame; 66-outer cylinder; 661-front end plate; 662-middle plate; 663-rear end plate; 67-fourth connecting frame; 7-robotic arm; 8-third shaft sleeve. DETAILED DESCRIPTION

[0048] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0049] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0050] Unless otherwise specifically stated, the relative arrangement of the parts and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to actual proportional relationships. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of the exemplary embodiments can have different values. It should be noted that similar numbers and letters represent similar items in the following drawings, and therefore, once an item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0051] In the description of the present invention, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention; the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0052] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0053] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0054] Example 1

[0055] like Figure 1-10 As shown, this embodiment provides a sampling mechanism, including an image acquisition unit 1, a sampling piece 2, a detection unit 3 and a controller. The image acquisition unit 1 acquires 3D images to locate the sampling position and sampling depth, and the controller controls the movement path of the sampling piece 2 according to the sampling position and sampling depth obtained by positioning; the sampling piece 2 is assembled on the detection unit 3. When the sampling piece 2 touches the inner wall of the human oral cavity, the detection unit 3 can adapt to the axial displacement of the sampling piece 2 in the axial direction and the deflection in two directions. In this way, even if the positioning is inaccurate, the sampling piece 2 can avoid it and will not cause damage to the human oral cavity; in addition, the detection unit 3 can detect the force condition and deflection angle of the sampling piece 2, and the controller adjusts according to the force condition and deflection angle.

[0056] The image acquisition unit 1, sampling component 2, and detection unit 3 are integrated and assembled together, and are driven by the same motion mechanism. In this embodiment, the sampling component 2 is assembled on the detection unit 3, and the detection unit 3 is connected to a connecting member 61, which connects the detection unit 3 to the motion mechanism via the connecting member 61.

[0057] As a preferred technical solution of this embodiment, the connecting member 61 is vertically assembled at one end of the detection unit 3, a protective cover 62 is arranged between the detection unit 3 and the connecting member 61, a connecting portion 621 extends from one end of the protective cover 62, and the image acquisition unit 1 is assembled on the connecting portion 621 of the protective cover 62.

[0058] The image acquisition unit 1 includes a 3D camera 11 and / or a laser rangefinder 13. The 3D camera 11 is mounted on the connection portion 621 of the protective cover 62 via a first connecting bracket 63. Specifically, a waist-shaped hole is provided on the first connecting member 63. A fixing member passes through the waist-shaped hole in the first connecting member 63 to movably fix the first connecting member 63 to the connection portion 621. The first connecting member 63 can be adjusted relative to the connection portion 621. The laser rangefinder 13 is mounted on the connection portion 621 of the protective cover 62 via a second connecting member 64. The laser rangefinder 13 is a high-precision laser rangefinder and is positioned as close as possible to the sampling member 2. In this embodiment, the laser rangefinder 13 is located below one side of the sampling member 2. The second connecting plate 64 is provided with a waist-shaped hole. A fixing member passes through the waist-shaped hole in the second connecting member 64 to movably fix the second connecting member 64 to the connection portion 621. The second connecting member 64 can be adjusted relative to the connection portion 621.

[0059] As a preferred technical solution of this embodiment, a fill light structure 12 is also provided next to the 3D camera 11. In this embodiment, the fill light structure 12 can be a fill light. In this embodiment, two fill lights are provided. The two fill lights are fixed to the first connecting member 63 and are located on either side of the 3D camera. The fill lights can be, but are not limited to, square LED fill lights.

[0060] As a preferred technical solution of this embodiment, the optical axis of the 3D camera 11 is perpendicular to the initial axis of the sampling piece 2. When the 3D camera 11 takes pictures, the 3D camera 11 can approach the sampled area and then rotate 90 degrees to sample the sampling piece 2.

[0061] One end of the sampling member 2 is a sampling end 21, and the other end of the sampling member 2 is an assembly end. The assembly end of the sampling member 2 is assembled on the detection unit 3. In this embodiment, the sampling member 2 is used to take samples from the human oral cavity. The sampling member 2 can be a cotton swab. The cotton swab has a cotton ball at its head, which is the sampling end 21, and the other end of the cotton swab is the assembly end.

[0062] The detection unit 3 includes a torque detection unit 31 and an angle detection unit 32. The sampling member 2, the torque detection unit 31, and the angle detection unit 32 are assembled axially in sequence. Specifically, the torque detection unit 31 includes a first torque sensor 311, which is restrained by a first sleeve 312 and a second sleeve 313. Specifically, the first sleeve 312 can be configured to extend into the second sleeve 313 and be threadedly connected to the second sleeve 313. A notch is formed on the sidewall of the second sleeve 313. The first torque sensor 311 can be a thin film pressure sensor, such as an FSR thin film pressure sensor. The detection end of the first torque sensor 311 is located within the second sleeve 313 and restrained by the end of the first sleeve 312. The other end of the first torque sensor 311 extends through the notch. The assembly end of the sampling member 2 is assembled within the first sleeve 312, and the second sleeve 313 is connected to the angle detection unit 32.

[0063] As a preferred technical solution of this embodiment, an expansion sleeve 22 is installed in the first sleeve 312, and the assembly end of the sampling piece 2 extends into the second sleeve 312 and is assembled in the expansion sleeve 22. The setting of the expansion sleeve 22 can adapt to sampling pieces of various specifications.

[0064] The angle detection unit 32 includes a first shaft 321 and a second shaft 322. The first shaft 321 and the second shaft 322 are staggered, and there is an angle between the first shaft 321 and the second shaft 322. The first shaft 321 is rotatably assembled on the inner frame 323, and the second shaft 322 is rotatably assembled on the outer frame 324. The inner frame 323 is connected to the second shaft 322 with rotation, and the inner frame 323 is embedded in the outer frame 324.

[0065] As a preferred technical solution of this embodiment, Hall sensors 325 are mounted on the first shaft 321 and the second shaft 322 . The Hall sensors 325 are used to detect the rotation angles of the first shaft 321 and the second shaft 322 , thereby obtaining the deflection angle of the sampling element 2 .

[0066] As a preferred technical solution of this embodiment, the first shaft 321 and the second shaft 322 are arranged perpendicularly. The first shaft 321 is connected to the second shaft sleeve 313 via a rocker 327. Specifically, a long hole is formed in the inner frame 323. One end of the rocker 327 is an arc-shaped portion that extends into the long hole and is movably connected to the first shaft 321. The other end of the rocker 327 extends into the second shaft sleeve 313 and is fixedly connected to the second shaft sleeve 313. When the sampling component 2 drives the rocker 327 to deflect along the long hole, the first shaft 321 rotates accordingly, and the Hall sensor 325 detects the deflection angle of the first shaft 321.

[0067] As a preferred technical solution of this embodiment, a reset structure 326 is provided on the first shaft 321 and the second shaft 322. The reset structures 326 on the first shaft 321 and the second shaft 322 can be of the same structure. Taking the reset structure 326 on the first shaft 321 as an example, the reset structure 326 includes a reset plate 3261, a connecting rod 3262 and a sliding sleeve 3263. The reset plate 3261 is fixedly assembled on the first shaft 321. Two connecting rods 3262 are symmetrically assembled at both ends of the reset plate 3261 with the first shaft 321 as the center. There are two sliding sleeves 3263, and the two sliding sleeves 3263 are fixed to the inner frame 323. On the upper side, two sliding sleeves 3263 are provided corresponding to the two connecting rods 3262. One end of the connecting rod 3262 is assembled on the reset plate 3261, and the other end of the connecting rod 3262 extends into the sliding sleeve 3263. The connecting rod 3262 can slide along the sliding sleeve 3263. The sliding sleeve 3263 is provided with an elastic member 3264. The two ends of the elastic member 3264 act on the sliding sleeve 3263 and the connecting rod 3262 respectively. The elastic member 3264 can be, but is not limited to, a spring.

[0068] The first and second axes 321, 322 of the angle detection unit 32 automatically return to center via the reset structure 326. The Hall effect sensor 325 accurately detects the rotation angle of the first and second axes 321, 322. When the sampling element 2 is connected to the angle detection unit 32, as it moves within the oral cavity, scraping and sampling the oral cavity's inner wall, the contact force between the sampling element 2 and the oral cavity is constantly manifested through the oscillation of the sampling element 2. This deflection of the first and / or second axes 321, 322 is driven by the sampling element 2. The Hall effect sensor 325 accurately detects this deflection angle and feeds it back to the host computer. The contact force between the sampling element 2 and the oral cavity is balanced by the reset structure 326 on the first and second axes 321, 322, similar to the principle of a lever. A technician can adjust the initial force of the elastic element 3264 in the reset structure 326 to calibrate the sampling force.

[0069] The angle detection unit 32 improves the sensitivity and accuracy of force detection between the sampling member 2 and the oral cavity. Furthermore, by adjusting the initial force of the elastic member 3264 in the reset structure 326, the contact pressure of the sampling member 2 on the oral cavity during sampling can be calibrated, improving sampling comfort.

[0070] In order to perform real-time detection of the sampling process, the sampling mechanism of this embodiment further includes a monitoring camera 5 . The monitoring camera 5 is tilted toward the sampling member 2 . The monitoring camera 5 can be used to monitor the surrounding environment of the sampling end 21 of the sampling member 2 in real time.

[0071] As a preferred technical solution of this embodiment, the monitoring camera 5 is assembled on the connecting member 61 through the third connecting frame 65. Preferably, the monitoring camera 5 can be assembled on the third connecting frame 65 through the fixing ring 51, and the posture of the monitoring camera 5 can be adjusted by adjusting the posture of the fixing ring 51 on the third connecting frame 65.

[0072] As a preferred technical solution of this embodiment, the monitoring pattern of the monitoring camera 5 can be transmitted to the controller, and the controller can adjust the position of the sampling member 2 according to the real-time monitoring pattern.

[0073] This embodiment also provides a sampling robot, which includes the aforementioned sampling mechanism and a robotic arm 7. The sampling mechanism is assembled on the robotic arm 7. The robotic arm 7 drives the sampling member 2 of the sampling mechanism to perform a sampling action under the control of a controller.

[0074] The free end of the robotic arm 7 is connected to the connecting piece 61 . A groove is formed at the connecting end of the connecting piece 61 . The end of the robotic arm 7 extends into the groove and is fixedly connected to the connecting piece 61 .

[0075] Example 2

[0076] like Figure 11-17 As shown, the sampling mechanism of this embodiment is substantially identical to that of the first embodiment, differing in that, in this embodiment, the image acquisition unit 1 includes a 3D camera 11 and a fill light structure 12. These are assembled together and housed within a mounting box 14, which is secured to the detection unit 3 via a fourth connecting bracket 67. Specifically, in this embodiment, the fill light structure 12 includes a fill light board 121 and lamp beads 122. The lamp beads 122 are distributed on the fill light board 121, which is mounted on the end of the 3D camera 11 where the lens resides. The fill light board 121 has an opening for the lens to pass through, and the mounting box 14 has an opening to facilitate the normal operation of the 3D camera 11 and the fill light structure 12. The optical axis of the 3D camera 11 is perpendicular to the initial axis of the sampling element 2. The lamp beads 122 may be, but are not limited to, LEDs.

[0077] In this embodiment, the fill light structure 12 is changed from the independent, square LED fill lights arranged on both sides of the 3D camera in the first embodiment to an LED fill light board integrated with the 3D camera. This optimization solution solves some defects of the fill light structure 12 in the first embodiment: ① The fill lights are large in size and occupy a large installation space; ② The fill lights are distributed on both sides of the 3D camera, and the light is easily blocked by the two sides of the mouth, which cannot effectively illuminate the inside of the mouth, causing the 3D camera to malfunction.

[0078] The fill light structure 12 in this embodiment solves the installation space problem, greatly simplifying the installation space requirements. At the same time, the use of six LED lamp beads surrounding the camera hole greatly improves the fill light effect of the cavity. Preferably, on this basis, the fill light plate 121 can also be equipped with a brightness adjustment knob, which can be manually adjusted according to the user's actual lighting conditions to better meet the fill light requirements of actual scenes.

[0079] The difference is that, in this embodiment, the sampling member 2, the angle detection unit 32 and the torque detection unit 31 are axially assembled in sequence, the sampling member 2 is connected to the rocker 327 of the angle detection unit 32 through the third shaft sleeve 8, and the outer frame 324 of the angle detection unit 32 is connected to the torque detection unit 31 through the connecting frame 33.

[0080] As a preferred technical solution of this embodiment, an expansion sleeve 22 is assembled inside one end of the third sleeve 8, the assembly end of the sampling component 2 extends into the expansion sleeve 22 and is assembled, and the other end of the third sleeve 8 is connected to the rocker 327.

[0081] As a preferred technical solution of this embodiment, the detection unit 3 is assembled within the cylindrical outer cylinder 66. A front plate 661 is fixed to the end of the outer cylinder 66 near the sampling member 2, a middle plate 662 is fixed to the inner center of the outer cylinder 66, and a rear plate 663 is fixed to the other end of the outer cylinder 66. The detection unit 3 is assembled between the front plate 661 and the middle plate 662. Specifically, the outer frame 324 of the angle detection unit 32 is fixed to the front plate 661. The front plate 661 has an opening to facilitate the passage of the rocker 327 for connection to the third shaft sleeve 8. The outer frame 324 of the angle detection unit 32 is also connected to the detection end of the torque detection unit 31 via a connecting bracket 33. The other end of the torque detection unit 31 is assembled to the middle plate 662. In this embodiment, the torque detection unit 31 includes a second torque sensor 314, which can be a tensile torque sensor, such as the DELY-106 compression-tension force sensor.

[0082] A controller is also disposed between the middle plate 662 and the rear plate 663. In this embodiment, the controller includes a control board 4, which can be fixed to the rear plate 663 and can be an AO / AD interface board. The image acquisition unit 1, torque detection unit 31, angle detection unit 32, and monitoring camera 5 can all be electrically connected to the control board 4. The control board 4 controls the posture of the robotic arm 7 based on the signals it receives, thereby adjusting the position of the sampling member 2. The controller 4 controls the movement of the robotic arm 7 to drive the sampling member 2 to perform sampling.

[0083] The AO / AD interface board is installed at the end of the overall structure. After all cables are integrated through the AO / AD interface board, they are connected to the host at the end via a bus. This solution can solve the problem of the early cables having to be connected separately to the host, resulting in a large number of cables and difficult wiring. At the same time, the interface board is placed closest to the sampling structure to facilitate subsequent maintenance and modification.

[0084] In this embodiment, the free end of the robotic arm 7 is fixedly connected to the outer surface of the rear end plate 663. A groove is formed on the outer surface of the rear end plate 663. The end of the robotic arm 7 extends into the groove and is fixedly connected to the rear end plate 663.

[0085] The embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made within the scope of knowledge possessed by ordinary technicians in this field without departing from the purpose of the present invention.

Claims

1. A sampling mechanism, characterized in that: include: An image acquisition unit (1) is provided, wherein the image acquisition unit (1) acquires 3D images to locate a sampling position and a sampling depth; a sampling piece (2); a detection unit (3), wherein the sampling piece (2) is assembled on the detection unit (3), and the detection unit (3) comprises a torque detection unit (31) and an angle detection unit (32), wherein the torque detection unit (31) adapts to the axial displacement of the sampling piece (2) and detects the stress condition of the sampling piece (2); the angle detection unit (32) adapts to the deflection of the sampling piece (2) in two directions and detects the deflection angles of the sampling piece (2) in two directions; the sampling piece (2), the torque detection unit (31) and the angle detection unit (32) are assembled axially in sequence; ... The detection unit (31) includes a first torque sensor (311), the first torque sensor (311) is limited by a first shaft sleeve (312) and a second shaft sleeve (313), the first shaft sleeve (312) extends into the second shaft sleeve (313), the second shaft sleeve (313) is connected to the first shaft (321) via a rocker (327), and a notch is formed on the side wall of the second shaft sleeve (313); the first torque sensor (311) is a thin film pressure sensor; the detection end of the first torque sensor (311) is located in the second shaft sleeve (313) and is limited by the end of the first shaft sleeve (312), and the other end of the first torque sensor (311) extends from the notch; the assembly end of the sampling member (2) is assembled in the first shaft sleeve (312), and the second shaft sleeve (313) is connected to the angle detection unit (32); a controller, the controller controls the motion path of the sampling member (2) according to the sampling position and sampling depth, and the controller adjusts the position of the sampling member (2) according to the force and deflection angle detected by the detection unit (3); the angle detection unit (32) includes a first shaft (321) and a second shaft (322), the first shaft (321) is rotatably assembled on the inner frame (323), the second shaft (322) is rotatably assembled on the outer frame (324), the inner frame (323) and the second shaft (322) are connected to each other in rotation, and the first shaft (321) and the second shaft (322) are both equipped with a Hall sensor (325); the first shaft (32 1) and a second axis (322) are staggered, and an angle exists between the first axis (321) and the second axis (322); the image acquisition unit (1) comprises a 3D camera (11), and the optical axis of the 3D camera (11) is perpendicular to the initial axis of the sampling member (2); the image acquisition unit (1) also comprises a fill light structure (12), the fill light structure (12) comprises a fill light plate (121), the fill light plate (121) is assembled on the side where the lens of the 3D camera (11) is located, an opening is formed on the fill light plate (121) for the lens to pass through, and lamp beads (122) are distributed on the fill light plate (121), and the 3D camera (11) and the fill light structure (12) are integrated and assembled in an installation box (14);The controller includes a control board (4), and the control board (4) is mounted on a side of the detection unit (3) away from the sampling member (2).

2. The sampling mechanism according to claim 1, characterized in that: The first shaft (321) and the second shaft (322) are arranged perpendicularly, and both the first shaft (321) and the second shaft (322) are equipped with a reset structure (326).

3. The sampling mechanism according to claim 1, characterized in that: The image acquisition unit (1) comprises a laser rangefinder.

4. The sampling mechanism according to claim 1, characterized in that: It also includes a monitoring camera (5), which is tilted toward the sampling member (2) and is used to detect the surrounding environment of the sampling end (21) of the sampling member (2).

5. A sampling robot, characterized in that: include: The sampling mechanism according to any one of claims 1 to 4; a robotic arm (7), wherein the sampling mechanism is mounted on the robotic arm (7), and the robotic arm (7) drives the sampling member (2) to perform a sampling action under the control of the controller.

Images