A fully automatic non-contact nucleic acid sampling robot system

Abstract

The present invention relates to a fully automatic non-contact nucleic acid sampling robot system, which organically integrates a dexterous mechanical arm and a small-scale automated production line. The system automates the entire process from swab stripping, positioning and clamping, test tube loading, test tube code scanning, oral sampling, sample shearing, test tube unloading, to disinfection of the sampling terminal, etc., and can meet the needs of daily nucleic acid sampling work. The person being tested does not need to use a mouthpiece or touch any part of the equipment. He only needs to scan the nucleic acid code and stand in front of the equipment sampling room. The system obtains the shape of the person's mouth through visual detection, controls the path of the mechanical arm for sampling in the mouth, and detects the contact force between the swab and the mouth during the sampling process through a six-dimensional force sensor, thereby increasing the safety of sampling. The present invention realizes the automation and non-contact of nucleic acid sampling, and the equipment has a simple structure, complete functions, and high safety.

Description

Technical Field

[0001] The present invention relates to a full-automatic non-contact nucleic acid sampling robot system, whose main function is to complete the nucleic acid sampling work on the human oral cavity and is used for nucleic acid sampling in the medical field. Background Art

[0002] The way to find infected persons is to collect the nucleic acid of the human body and judge whether they are infected through detection. So far, the work of collecting nucleic acid is basically carried out by medical staff. They work intensively every day, wearing isolation protective clothing, and are more likely to have various physical discomforts in hot summer. Based on this situation, many nucleic acid sampling robots have emerged. However, these systems are still in the initial stage of research and development. Only the sampling actions of the robotic arm are designed accordingly, and the number of test tubes is not large enough to be truly put into daily use. Some sampling robots need to be equipped with bite blocks, and the subjects also need to flip open the cover to get the bite block and press the start button by themselves, making it difficult to achieve true non-contact. To solve this problem, the present invention proposes a full-automatic non-contact nucleic acid sampling robot system, which organically integrates a flexible robotic arm and a small automated production line. It not only has automatic loading and unloading of test tubes, code scanning, automatic opening and closing of bottle caps, and automatic shearing of swabs, but also has automatic sampling and disinfection of the robotic arm, realizing full-process automation. Summary of the Invention

[0003] Aiming at the defects existing in the prior art, the purpose of the present invention is to provide a full-automatic non-contact nucleic acid sampling robot system, which has the characteristics of "full-automatic, non-contact", etc. The person to be tested does not need to use a bite block or press any button. After simply scanning the nucleic acid code, standing in front of the sampling room of the device, the system obtains the oral shape of the person to be tested through visual detection, controls the sampling path of the robotic arm in the oral cavity, and detects the contact force between the swab and the oral cavity during the sampling process through a six-axis force sensor, increasing the safety of sampling; the device organically integrates a flexible robotic arm and a small automated production line, increasing the number of test tube storage, and through the corresponding logistics system, making the test tubes automatically flow through each work station to meet the daily nucleic acid sampling work. The system realizes full-process automation from swab stripping, positioning and clamping, test tube lifting, test tube code scanning, oral cavity sampling, sample shearing, test tube lowering, to disinfection of the sampling end part.

[0004] To achieve the above object, the following technical solutions are adopted:

[0005] A fully automatic non-contact nucleic acid sampling robot system includes a sampling room, a test tube rack and several test tubes, a set of PLC control system, a swab automatic peeling machine and a barcode scanner. On the ground of the sampling room, a main workbench is fixedly installed on the right, a secondary workbench is fixedly installed in the front left, and a detachable table panel is installed at the back. A robotic arm system is fixedly installed upside down in the middle of the top surface of the sampling room; Above the main workbench is arranged a set of test tube logistics system, and the PLC control system of a set of test tube logistics system is installed below the right side; At the back of the main workbench surface, a set of loading transfer manipulator is fixedly installed, and a set of unloading transfer manipulator is fixedly installed in the front. In the middle of the left side of the main workbench surface, a rotary workbench is installed, and a barcode scanner is fixedly installed beside the rotary workbench. On the main workbench surface panel, a set of capping manipulator is installed between the loading and unloading transfer manipulators and the rotary workbench. The loading and unloading transfer manipulators, the rotary workbench and the capping manipulator form the test tube logistics system; On the surface of the secondary workbench, a swab automatic peeling machine is placed, and the lower part of the secondary workbench is designed as a two-layer space, and a set of disinfection and waste recycling system is arranged.

[0006] In the test tube logistics system, both the loading and unloading manipulators have translational movements in the X and Y directions and lifting in the Z direction, and their structures are the same. Taking the loading manipulator as an example, on the bottom plate of the loading and transplanting manipulator frame, two sets of test tube racks are placed. Each set of test tube racks can hold m×n test tubes. On the front and back sides at the top of the loading and transplanting manipulator frame, a set of X-axis linear modules and an X-axis linear guide are respectively fixedly placed. A motor is fixed at one end of the X-axis linear module. A slider is connected to the X-axis linear module and the X-axis linear guide. A set of Y-axis linear modules is installed on the slider. A motor is fixed at one end of the Y-axis linear module. A slider is connected to the Y-axis linear module. The lifting and clamping part of the loading and transplanting manipulator is fixedly installed on the slider. The motor drives the slider on the X linear module to achieve movement in the X-axis direction, and the motor drives the slider on the Y-axis linear module to achieve movement in the Y-axis direction. The lifting and clamping part of the loading and transplanting manipulator realizes the actions of lifting, clamping, and loosening. The lifting and clamping part of the loading and transplanting manipulator is driven by a motor to drive the slider to complete the lifting action. A motor is fixedly installed at the end of the slider. The motor is connected to a clamping jaw. The clamping jaw can be driven by the motor to achieve clamping and loosening. A test tube clamp is installed on the clamping jaw. The test tube clamp forms a 45° angle with the X-axis direction, and a larger test tube clamping gap can be obtained. In the capping manipulator, a capping linear module is installed on the crossbeam of the frame. A motor is fixed at one end of the capping linear module. A slider is connected to the capping linear module. A motor is fixedly installed at the lower end of the slider. Another slider is connected to the motor. A motor is fixedly installed on the slider. A rotating clamping jaw is connected to the lower end of the motor. The motor drives the slider on the capping linear module to move to achieve the movement of the capping manipulator in the Y-axis direction. The motor drives the slider to move to achieve the lifting action of the capping manipulator. The motor drives the rotating clamping jaw to complete the actions of clamping, loosening, and rotating.

[0007] For the rotary worktable, a five-equal-division cam divider is fixedly installed on the tabletop of the main worktable, and a driving motor is fixedly installed below the tabletop. A synchronous pulley is respectively installed at the input shaft end of the cam divider and the shaft end of the driving motor, and a synchronous belt is sleeved on the two synchronous pulleys. A turntable is fixedly installed on the output shaft above the cam divider. Driven by the driving motor, through the transmission of the synchronous pulleys and the synchronous belt, the turntable rotates with a five-equal-division gap; Five test tube holders are fixedly installed on the turntable in five equal divisions. The five test tube holders correspond to five workstations, namely the test tube loading position, the test tube scanning and opening position, the swab shearing position, the test tube capping position, and the test tube unloading position. The scanner is in the middle of the test tube scanning and opening position and the swab shearing position; A set of clamping components are respectively fixedly installed at the corresponding test tube scanning and opening position and the test tube capping position of the turntable. The installation direction is along the radial ray direction from the center of the turntable to the corresponding workstation. The base of the clamping component is fixedly installed on the tabletop of the main worktable. An electric slide is fixedly installed on the base, and an electric clamp is fixedly installed on the electric slide. Two clamping blocks are symmetrically installed at the front end of the electric clamp I; Outside the corresponding test tube shearing position of the turntable, a set of swab shearing components are fixedly installed. The base II of the swab shearing component is fixedly installed on the tabletop of the main worktable. An electric clamp II is fixedly installed on the base II. Two scissor fixing seats are symmetrically installed at the front end of the electric clamp II. The two handles of the scissors are respectively embedded in the scissor fixing seats, and two pressing blocks are respectively fixedly connected to the corresponding scissor fixing seats, that is, the two handles of the scissors are fixed to the scissor fixing seats. When the electric clamp II is loosened, the scissors open, and the robotic arm system puts the swab into the test tube. The electric clamp II clamps, driving the scissors to close, thereby cutting the swab. The robotic arm system throws the cut swab rod into the swab rod dropping chute of the disinfection and waste recycling system.

[0008] For the capping robot, a capping linear module is installed on the cross beam of the frame. A servo motor III is installed at one end of the capping linear module. A moving plate is fixedly installed on the capping linear module. An electric linear push rod is fixedly installed at the lower end of the moving plate. A slider is fixedly installed on the electric linear push rod. A capping motor is fixedly installed on the slider. A pair of rotary grippers are installed at the lower end of the capping motor; Driven by the servo motor III, the moving plate drives the capping motor and the rotary grippers to move along the Y-axis direction, corresponding to three workstations: the scanning and opening position, the capping position, and the disinfection position. The electric linear push rod drives the slider to move to realize the lifting action of the capping robot. The capping motor drives the rotary grippers to complete the clamping, releasing, and rotating actions of the test tube.

[0009] For the robotic arm system, a robot base is fixedly installed in the middle of the top surface of the sampling chamber. A robotic arm is fixedly installed on the robot base. At the end of the robotic arm, a vision sensor and a six-axis force sensor are fixedly installed in sequence. At the other end of the force sensor, an electric micro gripper is fixedly installed. On the clamping sliders that move relative to each other of the electric micro gripper, V-shaped grippers with combs are respectively fixedly installed, and the upper and lower V-shaped grippers are arranged in a staggered manner to facilitate the clamping of a relatively thin swab rod. At the front end of the robot base, a display is fixedly installed. When the robotic arm system samples a human body, the vision sensor captures the oral cavity shape, and after detection, provides corresponding data to the robotic arm control system, enabling the robotic arm to move according to requirements and insert the swab into the oral cavity for corresponding sampling actions. The force sensor can detect and prevent misoperation during robotic arm sampling, ensuring the safety of sampling. The detection image of the vision sensor can be displayed on the display.

[0010] For the disinfection and waste recycling system, a disinfection box is installed on the main workbench. A swab rod blanking chute is fixedly installed beside the disinfection box. The disinfection box is provided with a disinfection box cover. A round hole and a square hole are opened on the disinfection box cover for the capping manipulator and the robotic arm system to enter the disinfection box for disinfection. An alcohol nozzle is fixedly installed on the right side of the disinfection box. The disinfection and waste recycling system is arranged in two layers of space under the auxiliary workbench. A set of slide rails is fixedly installed in the middle of the auxiliary workbench frame. A drawer frame is fixedly installed on the slide rails. A swab wrapper recycling bin and a swab rod recycling bin are respectively fixedly installed on the drawer frame. As the drawer frame is pulled out, it is convenient to take out the waste in the swab wrapper recycling bin and the swab rod recycling bin. An alcohol storage bottle and an alcohol recycling bottle are fixedly installed on the bottom surface under the auxiliary workbench. A water outlet pipe is inserted into the side of the alcohol storage bottle, and the other end of the water outlet pipe is connected to the inlet of a pressure pump. The outlet of the pressure pump is connected to the alcohol nozzle through a water inlet pipe. A certain amount of clear water is stored in the alcohol recycling bottle. A waste water pipe is inserted into the upper side of the side, and the other end of the waste water pipe is connected to the water discharge port at the bottom of the disinfection box, so that the excess alcohol after alcohol spraying can flow back to the alcohol recycling bottle. A manual valve is installed at a drainage port on the lower side of the alcohol recycling bottle, and the manual valve can be manually opened to drain the mixed liquid of waste alcohol and water. The purpose of putting clear water in the alcohol recycling bottle is to reduce the alcohol concentration and reduce the risk.

[0011] Compared with the prior art, the present invention has the following obvious outstanding features and significant advantages:

[0012] The present invention provides a fully automatic non-contact nucleic acid sampling robot system, which organically integrates a dexterous robotic arm and a small automated production line. With a sufficient number of test tube storage and a corresponding logistics system, the test tubes can automatically flow through each station, and it not only has functions such as automatic loading and unloading of test tubes, scanning codes, automatic opening and closing of bottle caps, and automatic shearing of swabs, but also has automatic sampling, disinfection, etc. of the robotic arm. The whole process is automated, which can meet the needs of daily nucleic acid sampling work. The person to be tested does not need to use a bite block and does not need to touch any part of the equipment. After simply scanning the nucleic acid code and standing in front of the sampling room of the equipment, the system obtains the oral shape of the person to be tested through visual detection, controls the sampling path of the robotic arm in the oral cavity, and detects the contact force between the swab and the oral cavity during sampling through a six-axis force sensor, increasing the safety of sampling. The present invention realizes the automation and non-contact of nucleic acid sampling, and the equipment has a simple structure, complete functions, and high safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 is an axonometric view of the present invention.

[0014] Figure 2 is a simplified external view of the sampling room.

[0015] Figure 3 is an axonometric view of the loading and transfer manipulator.

[0016] Figure 4 is a front view of a partial part of the loading and transfer manipulator in the Z-axis direction.

[0017] Figure 5 is a front view of a partial part of the rotary table in the X-axis direction.

[0018] Figure 6 is an axonometric view of the whole rotary table.

[0019] Figure 7 is an axonometric view of the tightening manipulator.

[0020] Figure 8 is a front view of the robotic arm system.

[0021] Figure 9 is an axonometric view of the disinfection and waste recycling system.

[0022] Figure 10 is a front view of the disinfection and waste recycling system. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0023] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings:

[0024] As Figure 1As shown in the figure, a fully automatic non-contact nucleic acid sampling robot system includes a sampling room 1, a test tube rack 2, several test tubes 3, a set of PLC control systems 4, a swab automatic peeling machine 5, a barcode scanner 6, and several swabs 7. It is characterized in that: on the ground of the sampling room 1, a main workbench F is fixedly installed on the right, a secondary workbench G is fixedly installed in the front left, a detachable table panel H is installed at the rear, and a robotic arm system J is fixedly installed upside down in the middle of the top surface of the sampling room 1; a set of test tube logistics systems W is arranged above the main workbench F, and the PLC control system 4 of the set of test tube logistics systems is installed below the right side; a set of loading transfer manipulators A is fixedly installed at the rear of the main workbench F, the set of unloading transfer manipulators B is fixedly installed in the front, a set of rotary workbench components D is installed in the middle on the left of the main workbench F, the barcode scanner 6 is fixedly installed beside the rotary workbench components D, and a set of capping manipulators C is installed among the loading transfer manipulators A, the unloading transfer manipulators B, and the rotary workbench components D on the panel of the main workbench F. The loading transfer manipulators A, the unloading transfer manipulators B, the rotary workbench components C, and the capping manipulators D form the test tube logistics system W; on the surface of the secondary workbench G, a swab automatic peeling machine 5 is placed, and the space below the secondary workbench 7 is designed as a two-layer space, and a set of disinfection and waste recycling system E is arranged.

[0025] As Figure 2 shown, a thermometer 1-1 and a code reader 1-2 are installed in the middle on the left of the front panel of the sampling room. A small hole 1-3 is opened in the middle of the sampling room panel to provide space for the robotic arm system J to extend the swab during robot sampling. The nucleic acid sampling robot system is placed inside the sampling room.

[0026] As Figure 3-4As shown, the loading and transfer manipulator A and the unloading and transfer manipulator B both have the functions of X and Y translation, Z lifting, and test tube clamping, and their structures are the same. Taking the loading and transfer manipulator A as an example, on the bottom plate A2 of the loading and transfer manipulator frame A1, two sets of the test tube racks 2 are placed, and m×n test tubes 3 are placed on each set of the test tube racks 2. On the front and back sides at the top of the loading and transfer manipulator frame A1, a set of X-axis linear module A4 and an X-axis linear guide A5 are respectively and fixedly placed. A servo motor IA3 is installed at one end of the X-axis linear module A4. A slide plate IA10 is connected to the X-axis linear module A4 and the X-axis linear guide A5. A set of Y-axis linear module A8 is installed on the slide plate IA10. A servo motor IIA9 is installed at one end of the Y-axis linear module A8. A slide plate IIA7 is connected to the Y-axis linear module A8. The loading and transfer manipulator lifting and clamping part A6 is fixedly installed on the slide plate IIA7. The servo motor IA3 drives the slide plate IA10 on the X-axis linear module A4 to achieve the movement in the X-axis direction. The servo motor IIA9 drives the slide plate IIA7 on the Y-axis linear module A8 to achieve the movement in the Y-axis direction. The loading and transfer manipulator lifting and clamping assembly A6 realizes the actions of lifting, clamping, and releasing.

[0027] The loading and transfer manipulator lifting and clamping assembly A6 completes the lifting action by driving the electric push rod A6-1 with the motor A6-2. An electric claw A6-3 is fixedly installed at the end of the electric push rod A6-1. A pair of claws A6-4 are fixedly installed on the electric claw A6-3. A test tube clamp A6-5 is installed on each of the two claws A6-4. The claws A6-4 are driven by the electric claw A6-3 to realize the clamping and loosening of the test tube clamp A6-5. The test tube clamp A6-5 forms an angle of 45° with the X-axis direction to obtain a larger test tube clamping gap.

[0028] As Figure 5-6As shown, for the rotary table assembly D, a five-equal-division cam divider D2 is fixedly installed on the tabletop of the main table F, and a driving motor D4 is fixedly installed under the tabletop. A synchronous pulley D9 is respectively installed at the input shaft end of the cam divider D2 and the shaft end of the driving motor D4, and a synchronous belt D8 is rotatably installed on the two synchronous pulleys D9. A turntable D1 is fixedly installed on the output shaft above the cam divider D2. Driven by the driving motor D4 and through the transmission of the synchronous pulley D9 and the synchronous belt D8, the turntable D1 rotates with a five-equal-division gap; Five test tube holders D3 are fixedly installed on the turntable D1 in five equal divisions. The five test tube holders D3 correspond to five workstations, namely the test tube loading position D3-1, the test tube scanning and cap opening position D3-2, the swab shearing position D3-3, the test tube capping position D3-4, and the test tube unloading position D3-5. The scanner 6 is located between the test tube scanning and cap opening position D3-2 and the swab shearing position D3-3; A set of clamping assemblies D5 are respectively fixedly installed at the corresponding test tube scanning and cap opening position D3-2 and the test tube capping position D3-4 of the turntable D1. The installation direction is along the radial ray direction from the center of the turntable D1 to the corresponding workstations. The base D5-4 of the clamping assembly D5 is fixedly installed on the tabletop of the main table F. An electric slide D5-3 is fixedly installed on the base D5-4, and an electric clamp D5-2 is fixedly installed on the electric slide D5-3. Two clamping blocks D5-1 are symmetrically installed at the front end of the electric clamp ID5-2; A set of swab shearing assemblies D6 are fixedly installed outside the corresponding test tube shearing position D3-3 of the turntable D1. The base IID6-1 of the swab shearing assembly D6 is fixedly installed on the tabletop of the main table F. An electric clamp IID6-2 is fixedly installed on the base IID6-1. Two scissor fixing seats D6-3 are symmetrically installed at the front end of the electric clamp IID6-2. The two handles of the scissors D6-5 are respectively embedded in the two scissor fixing seats D6-3, and two pressing blocks D6-4 are respectively fixedly connected to the corresponding scissor fixing seats D6-3, that is, fixing the two handles of the scissors D6-5 to the scissor fixing seats D6-3. When the electric clamp IID6-2 is loosened, the scissors D6-5 open, and the robotic arm system J puts the swab 7 into the test tube 3. The electric clamp IID6-2 clamps, driving the scissors D6-5 to close, thereby cutting the swab 7. The robotic arm system J throws the cut swab 7 rod into the swab rod blanking chute E7 of the disinfection and waste recycling system E.

[0029] As Figure 7As shown in the figure, for the capping manipulator C, a capping linear module C7 is installed on the crossbeam of the frame C8. A servo motor III C5 is installed at one end of the capping linear module C7. A moving plate C6 is fixedly installed on the capping linear module C7. An electric linear push rod C4 is fixedly installed at the lower end of the moving plate C6. A slider C3 is fixedly installed on the electric linear push rod C4. A capping motor C2 is fixedly installed on the slider C3. A pair of rotary grippers C1 is installed at the lower end of the capping motor C2. The moving plate C6 drives the capping motor C2 and the rotary grippers C1 to move along the Y-axis direction under the drive of the servo motor III C5, corresponding to three working stations: the code scanning and uncapping position D3-2, the capping position D3-4, and the disinfection position E6-1. The electric linear push rod C4 drives the slider C3 to move to realize the lifting action of the capping manipulator C. The capping motor C2 drives the rotary grippers C1 to complete the clamping, releasing, and rotating actions of the test tube 3.

[0030] As Figure 8 As shown in the figure, for the robotic arm system J, a robot base J1 is fixedly installed in the middle of the top surface of the sampling room 1. A six-degree-of-freedom robotic arm J2 is fixedly installed on the robot base J1. A vision sensor J4 and a six-axis force sensor J5 are sequentially fixedly installed at the end of the robotic arm J2. An electric micro gripper J6 is fixedly installed at the other end of the force sensor J5. On the clamping sliders that move relatively on the electric micro gripper J6, an upper V-shaped gripper J7 and a lower V-shaped gripper J8 with a comb shape are respectively fixedly installed, and the upper and lower V-shapes are arranged staggeredly to facilitate the clamping of the thinner rod of the swab 7. In front of the robot base J1, a display J3 is fixedly installed. When the robotic arm system J samples a human body, the vision sensor J4 captures the oral cavity shape, and after detection, provides corresponding data to the robotic arm control system, so that the robotic arm J2 inserts the swab 7 into the oral cavity interior according to requirements for corresponding sampling actions. The force sensor J5 can detect and prevent misoperation during the sampling of the robotic arm J2, ensuring the safety of sampling. The detection image of the vision sensor J4 can be displayed on the display J3.

[0031] As Figure 9-10As shown in the figure, in the disinfection and waste recycling system E, the disinfection box E6 is installed on the main workbench F. A swab rod blanking chute E7 is fixedly installed beside the disinfection box E6. A disinfection box cover E6-2 is provided on the disinfection box E6. A round hole and a square hole are opened on the disinfection box cover E6-2 for the capping manipulator D and the robotic arm system J to enter the disinfection box E6 for disinfection. An alcohol nozzle E9 is fixedly installed on the right side surface of the disinfection box E6. The disinfection and waste recycling system E is arranged in two upper and lower layers of space under the auxiliary workbench G. A set of slide rails E3 is fixedly installed in the middle of the frame G-1 of the auxiliary workbench G. A drawer frame E8 is fixedly installed on the slide rails E3. A swab wrapper recycling bin E4 and a swab rod recycling bin E5 are respectively fixedly installed on the drawer frame E8. As the drawer frame E8 is pulled out, it is convenient to take out the waste in the swab wrapper recycling bin E4 and the swab rod recycling bin E5. An alcohol storage bottle E1 and an alcohol recycling bottle E2 are fixed on the bottom surface under the auxiliary workbench G. A water outlet pipe E12 is inserted into the side surface of the alcohol storage bottle E1. The other end of the water outlet pipe E12 is connected to the inlet of a pressure pump E11. The outlet of the pressure pump E11 is connected to the alcohol nozzle E9 through a water inlet pipe E10. A certain amount of clear water is stored inside the alcohol recycling bottle E2. A waste water pipe E13 is inserted into the upper side opening of the side surface. The other end of the waste water pipe E13 is connected to the water discharge port E14 at the bottom of the disinfection box E6, so that the excess alcohol after alcohol spraying can flow back into the alcohol recycling bottle E2. A drain port E15 is provided at the lower side of the side surface of the alcohol recycling bottle E2, and a manual valve E16 is installed. Manually opening the manual valve E16 can drain the mixed liquid of waste alcohol and water. When the alcohol recycling bottle E2 is full, it can be manually opened to drain the water. The purpose of putting clear water into the alcohol recycling bottle E2 is to reduce the alcohol concentration and reduce the risk.

[0032] The working principle of this embodiment is as follows:

[0033] When the system is in the waiting state, the loading and transferring manipulator A moves above the corresponding position of the test tube rack 2, descends, picks up one test tube 3 from the test tube rack 2, ascends, and then translates to wait above the test tube loading position C3-1. The unloading and transferring manipulator B waits above the test tube picking position C3-5. The capping manipulator D waits above the code scanning and uncapping position C3-2. The clamping electric claws C5 around the rotary table C are in the retracted state, the jaws are opened, the swab shearing jaws C6 are opened, the scissors C7 are opened, and the robotic arm J waits at the swab picking position.During operation, the person to be tested first stands in front of the thermometer 1-1 for temperature measurement. If the body temperature is abnormal, they will be prompted to leave and cannot use the system for automatic sampling. If the body temperature is normal, they can continue. Take out the nucleic acid code and scan it in front of the code reader 1-2. Then, follow the prompts of the voice system to perform each of the following steps. That is, stand in front of the sampling room, open your mouth facing the sampling port, and wait with your mouth wide open. At the same time as the code scanning is completed, the mechanical logistics system W and the robotic arm J start working simultaneously. The loading transfer manipulator A loads the unused test tube 3 into the loading test tube seat C3-1 of the rotary table C. The rotary table C rotates by one indexing angle for the first time. The capping manipulator D descends, grabs the test tube 3 at the capping position and ascends, rotates the test tube 3, and the barcode scanner 6 reads the QR code data on the test tube 3 and sends it to the total control system for binding with the person's nucleic acid code. The capping manipulator D descends and places the test tube 3 back into the test tube seat D3-2. At this time, the clamping electric claw I moves forward and clamps the test tube 3. The capping manipulator D rotates counterclockwise, loosens the cap of the test tube 3 and ascends. The cap is held in the capping manipulator D and is translated to the test tube capping position C3-4 to wait. The rotary table C rotates by one indexing angle for the second time. The test tube 3 with the cap removed is located at the swab shearing position C3-3 and waits for the robotic arm J to sample. At the same time, the robotic arm J moves to the automatic swab stripper 5, the gripper J7 grabs the swab 7 and takes it out to the sampling position. At this time, after the visual inspection system detects the oral cavity shape, it sends information to the robotic arm J. The robotic arm J drives the swab 7 to sample on the left and right sides of the oral cavity. After the sampling is completed, the robotic arm J moves to the swab shearing position C3-3 of the rotary table C, inserts the swab 7 into the test tube 3, and the scissors C7 cut the rod of the swab 7. Then the robotic arm J throws the rod of the swab 7 into the swab rod hopper E7 and it falls into the swab rod recycling bin E5 below. The robotic arm J then moves to the disinfection station E6-1, inserts the end of the robotic arm J into the disinfection box E6, and is disinfected by alcohol spraying. Then it returns to the swab picking position to wait for the next operation. After the swab shearing action is completed, the rotary table C rotates by one indexing for the third time. The test tube 3 with the sampled swab is transported to the test tube capping position C3-4. The clamping electric claw C5 extends and clamps the test tube 3. The capping manipulator D descends and rotates clockwise to tighten the cap on the test tube 3. The rotary table C rotates by one indexing for the fourth time. The test tube 3 that has completed sampling is transported to the test tube unloading position C3-5. The unloading transfer manipulator B descends to grab the test tube 3, ascends, then translates to the corresponding placement position, descends and places the test tube 3 into the test tube rack 2, and then returns to wait above the test tube picking position C3-5. The rotary table C rotates by one indexing for the fifth time to complete one cycle and waits for the next operation.

[0034] The full-automatic non-contact nucleic acid sampling robot system in the above embodiments of the present invention mainly functions to complete the nucleic acid sampling work on the oral cavity of the population. In the above embodiments of the present invention, the test tube logistics system provides operations such as test tube loading, code scanning, lid opening, swab shearing, lid screwing, and unloading, and the robotic arm completes actions such as swab picking, sampling, swab placing, swab stick discarding, and disinfection. The above embodiments of the present invention organically integrate a dexterous robotic arm and a small-scale automated production line, realizing functions such as "full-automatic, non-contact, high throughput, high speed, and cloud monitoring".

[0035] The above has described the embodiments of the present invention in conjunction with the accompanying drawings. However, the present invention is not limited to the above embodiments and can also make various changes according to the purpose of the invention of the present invention. Any changes, modifications, substitutions, combinations, or simplifications made based on the spirit and principle of the technical solution of the present invention shall be equivalent replacement methods. As long as they meet the invention purpose of the present invention and do not deviate from the technical principle and inventive concept of the present invention, they all fall within the protection scope of the present invention.

Claims

1. A fully automatic non-contact nucleic acid sampling robot system, comprising a sampling chamber (1), a test tube rack (2), a number of test tubes (3), a set of PLC control systems (4), a swab automatic peeling machine (5), a barcode scanner (6) and a number of swabs (7). Characterized in that: On the ground of the sampling chamber (1), a main workbench (F) is fixedly installed on the right side, a secondary workbench (G) is fixedly installed in front of the left side, a detachable tabletop panel (H) is installed at the rear of the left side, and a robotic arm system (J) is fixedly installed upside down in the middle of the top surface of the sampling chamber (1); Above the main workbench (F), a set of test tube logistics devices (W) is arranged, and the PLC control system (4) of the test tube logistics device (W) is installed below the right side; At the rear of the main workbench (F), a set of loading transfer manipulators (A) is fixedly installed, and the set of unloading transfer manipulators (B) is fixedly installed in front; In the middle of the left side of the main workbench (F), the set of rotary workbench assemblies (D) is installed, and the barcode scanner (6) is fixedly installed beside the rotary workbench assembly (D); On the main workbench (F) tabletop panel, a set of capping manipulators (C) is installed between the loading transfer manipulator (A), the unloading transfer manipulator (B) and the rotary workbench assembly (D), and the loading transfer manipulator (A), the unloading transfer manipulator (B), the rotary workbench assembly (C) and the capping manipulator (D) constitute the test tube logistics device (W); On the tabletop of the secondary workbench (G), a swab automatic peeling machine (5) is placed, and the lower part of the secondary workbench (7) is designed as a two-layer space, and a set of disinfection and waste recycling system (E) is arranged. A five - equal - division cam divider (D2) is fixedly installed on the tabletop of the main workbench (F), and a turntable (D1) is fixedly installed on the output shaft above the cam divider (D2); Five test tube holders (D3) are fixedly installed on the turntable (D1) at five - equal divisions. The five test tube holders (D3) correspond to five working positions, namely the test tube loading position (D3 - 1), the test tube scanning and capping opening position (D3 - 2), the swab shearing position (D3 - 3), the test tube capping tightening position (D3 - 4), and the test tube unloading position (D3 - 5); A set of clamping components (D5) are respectively fixedly installed at the corresponding test tube scanning and capping opening position (D3 - 2) and the test tube capping tightening position (D3 - 4) of the turntable (D1). The installation direction is along the radial ray direction from the center of the turntable (D1) to the corresponding working position. The base (D5 - 4) of the clamping component (D5) is fixedly installed on the tabletop of the main workbench (F). An electric slide (D5 - 3) is fixedly installed on the base (D5 - 4), and an electric clamp (D5 - 2) is fixedly installed on the electric slide (D5 - 3). Two clamping blocks (D5 - 1) are symmetrically installed at the front end of the electric clamp I (D5 - 2); Outside the corresponding test tube shearing position (D3 - 3) of the turntable (D1), a set of swab shearing components (D6) are fixedly installed. The base II (D6 - 1) of the swab shearing component (D6) is fixedly installed on the tabletop of the main workbench (F). An electric clamp II (D6 - 2) is fixedly installed on the base II (D6 - 1). Two scissor fixing seats (D6 - 3) are symmetrically installed at the front end of the electric clamp II (D6 - 2). The two handles of the scissors (D6 - 5) are respectively embedded in the two scissor fixing seats (D6 - 3), and two pressing blocks (D6 - 4) are respectively fixedly connected to the corresponding scissor fixing seats (D6 - 3).

2. The full - automatic non - contact nucleic acid sampling robot system according to claim 1, characterized in that: Both the loading transfer manipulator (A) and the unloading transfer manipulator (B) in the test tube logistics device (W) have the functions of translation in the X and Y directions, lifting in the Z direction, and test tube clamping, and their structures are the same. Taking the loading transfer manipulator (A) as an example, on the bottom plate (A2) of the loading transfer manipulator frame (A1), two sets of the test tube racks (2) are placed, and m×n test tubes (3) are placed on each set of the test tube racks (2). On the front and rear sides at the top of the loading transfer manipulator frame (A1), a set of X-axis linear module (A4) and an X-axis linear guide rail (A5) are respectively fixedly placed. A servo motor I (A3) is installed at one end of the X-axis linear module (A4). A slide plate I (A10) is connected to the X-axis linear module (A4) and the X-axis linear guide rail (A5). A set of Y-axis linear module (A8) is installed on the slide plate I (A10). A servo motor II (A9) is installed at one end of the Y-axis linear module (A8). A slide plate II (A7) is connected to the Y-axis linear module (A8). The loading transfer manipulator lifting and clamping part (A6) is fixedly installed on the slide plate II (A7). The servo motor I (A3) drives the slide plate I (A10) on the X-axis linear module (A4) to realize the movement in the X-axis direction. The servo motor II (A9) drives the slide plate II (A7) on the Y-axis linear module (A8) to realize the movement in the Y-axis direction. The loading transfer manipulator lifting and clamping assembly (A6) realizes the actions of lifting, clamping, and releasing.

3. The fully automatic non-contact nucleic acid sampling robot system according to claim 2, wherein: The loading transfer manipulator lifting and clamping assembly (A6) is driven by a motor (A6-2) to drive an electric push rod (A6-1) to complete the lifting action. An electric gripper (A6-3) is fixedly installed at the end of the electric push rod (A6-1). A pair of grippers (A6-4) is fixedly installed on the electric gripper (A6-3). A test tube clamp (A6-5) is installed on each of the two grippers (A6-4). The grippers (A6-4) are driven by the electric gripper (A6-3) to realize the clamping and loosening of the test tube clamp (A6-5). The test tube clamp (A6-5) is at an angle of 45° with the X-axis direction to obtain a larger test tube clamping gap.

4. The fully automatic non-contact nucleic acid sampling robot system according to claim 1, wherein: In the rotary table assembly (D) of the test tube logistics device (W), a driving motor (D4) is fixedly installed under the tabletop. A synchronous pulley (D9) is respectively installed at the input shaft end of the cam divider (D2) and the shaft end of the driving motor (D4). A synchronous belt (D8) is sleeved on the two synchronous pulleys (D9). Driven by the driving motor (D4), through the transmission of the synchronous pulley (D9) and the synchronous belt (D8), the turntable (D1) rotates at equal five - equal - part intervals; the barcode scanner (6) is located between the test tube barcode - scanning and cap - opening position (D3 - 2) and the swab shearing position (D3 - 3). Fix the two handles of the scissors (D6 - 5) to the scissors fixing seat (D6 - 3). When the electric clamp II (D6 - 2) is loosened, the scissors (D6 - 5) open. The robotic arm system (J) puts the swab (7) into the test tube (3). The electric clamp II (D6 - 2) clamps, driving the scissors (D6 - 5) to close, thereby cutting the swab (7). The robotic arm system (J) throws the cut swab rod into the swab rod blanking chute (E7) of the disinfection and waste recycling system (E).

5. The full - automatic non - contact nucleic acid sampling robot system according to claim 1, characterized in that: In the cap - screwing manipulator (C) of the test tube logistics device (W), a cap - screwing linear module (C7) is installed on the cross - beam of the frame (C8). A servo motor III (C5) is installed at one end of the cap - screwing linear module (C7). A moving plate (C6) is fixedly installed on the cap - screwing linear module (C7). An electric linear push rod (C4) is fixedly installed at the lower end of the moving plate (C6). A slider (C3) is fixedly installed on the electric linear push rod (C4). A cap - screwing motor (C2) is fixedly installed on the slider (C3). A pair of rotary jaws (C1) is installed at the lower end of the cap - screwing motor (C2). Driven by the servo motor III (C5), the moving plate (C6) drives the cap - screwing motor (C2) and the rotary jaws (C1) to move along the Y - axis direction, corresponding to three working stations: the barcode - scanning and cap - opening position (D3 - 2), the cap - screwing position (D3 - 4), and the disinfection position (E6 - 1). The electric linear push rod (C4) drives the slider (C3) to move to realize the lifting action of the cap - screwing manipulator (C). The cap - screwing motor (C2) drives the rotary jaws (C1) to complete the clamping, releasing, and rotating actions of the test tube (3).

6. The full - automatic non - contact nucleic acid sampling robot system according to claim 1, characterized in that: For the robotic arm system (J), a robotic base (J1) is fixedly installed in the middle of the top surface of the sampling chamber (1). A six-degree-of-freedom robotic arm (J2) is fixedly installed on the robotic base (J1). A vision sensor (J4) and a six-axis force sensor (J5) are successively fixedly installed at the end of the robotic arm (J2). An electric micro gripper (J6) is fixedly installed at the other end of the force sensor (J5). On the clamping sliders that relatively move on the electric micro gripper (J6), an upper V-shaped gripper (J7) and a lower V-shaped gripper (J8) with combs are respectively fixedly installed, and the upper and lower V-shaped grippers are arranged in a staggered manner to facilitate the clamping of the relatively thin rod of the swab (7). At the front end of the robotic base (J1), a display (J3) is fixedly installed. When the robotic arm system (J) samples a human body, the vision sensor (J4) captures the oral cavity shape and, after detection, provides corresponding data to the robotic arm control system, enabling the robotic arm (J2) to insert the swab (7) into the oral cavity for corresponding sampling actions as required. The force sensor (J5) detects and prevents misoperation during the sampling of the robotic arm (J2), ensuring the safety of sampling. The detection image of the vision sensor (J4) is displayed on the display (J3).

7. The fully automatic non-contact nucleic acid sampling robot system according to claim 1, characterized in that: The disinfection and waste recycling system (E), the disinfection box (E6) is installed on the main workbench (F). A swab rod blanking chute (E7) is fixedly installed beside the disinfection box (E6). A disinfection box cover (E6-2) is provided on the disinfection box (E6). A round hole and a square hole are opened on the disinfection box cover (E6-2) for the capping manipulator (D) and the robotic arm system (J) to enter the disinfection box (E6) for disinfection. An alcohol nozzle (E9) is fixedly installed on the right side of the disinfection box (E6). The disinfection and waste recycling system (E) is arranged in two upper and lower spaces under the auxiliary workbench (G). A set of slide rails (E3) is fixedly installed in the middle of the frame (G-1) of the auxiliary workbench (G). A drawer frame (E8) is fixedly installed on the slide rails (E3). A swab wrapper recycling bin (E4) and a swab rod recycling bin (E5) are respectively fixedly installed on the drawer frame (E8). As the drawer frame (E8) is pulled out, it is convenient to take out the waste in the swab wrapper recycling bin (E4) and the swab rod recycling bin (E5). An alcohol storage bottle (E1) and an alcohol recycling bottle (E2) are fixed on the bottom surface under the auxiliary workbench (G). A water outlet pipe (E12) is inserted into the side of the alcohol storage bottle (E1), and the other end of the water outlet pipe (E12) is connected to the inlet of a pressure pump (E11). The outlet of the pressure pump (E11) is connected to the alcohol nozzle (E9) through a water inlet pipe (E10). A certain amount of clear water is stored inside the alcohol recycling bottle (E2). A waste water pipe (E13) is inserted into the upper side of the side. The other end of the waste water pipe (E13) is connected to the water discharge port (E14) at the bottom of the disinfection box (E6) so that the excess alcohol can flow back into the alcohol recycling bottle (E2) after the alcohol is sprayed. A drain port (E15) is provided on the lower side of the side of the alcohol recycling bottle (E2), and a manual valve (E16) is installed. The manual valve (E16) is manually opened to drain the mixed liquid of waste alcohol and water.

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