A multifunctional cap unscrewing robot device for nucleic acid sampling robot system

Abstract

The present application relates to a multifunctional cap unscrewing manipulator device for a nucleic acid sampling robot system, through multi-station test tube logistics, the cap unscrewing manipulator can realize test tube code scanning, cap opening and cap screwing and other functions, and the cap opening and cap closing are transposed, which can improve efficiency, separate the clean area and the sampled area, and sterilize the area to sterilize the manipulator, so as to effectively prevent test tube pollution problems; the connection between the cap unscrewing device and the lifting slide is achieved by adopting an upper and lower spring floating connection mode, so that the manipulator is in a balanced state when there is no cap unscrewing action, and the manipulator can follow the up and down forces during loosening or tightening to follow the action when there is cap opening or cap screwing, thereby reducing the control difficulty. The present application has the advantages of multifunction, flexible and compact structure, and the like, and can be applied in a fully automatic sampling robot system, can greatly improve the sampling efficiency, and can meet the requirements of large-scale sampling work; and the control difficulty of cap opening and cap screwing action is reduced.

Description

Technical Field

[0001] This invention relates to a multifunctional cap-opening robotic arm device for a nucleic acid sampling robot system. Its main function is to perform tasks such as scanning barcodes, opening caps, and tightening caps on test tubes within a fully automated nucleic acid sampling robot system. It is intended for use in automated nucleic acid sampling robots in the medical field. Background Technology

[0002] Currently, nucleic acid testing is primarily conducted manually by medical staff. The high-intensity work and the need to wear airtight protective suits every day can easily harm their health. The emergence of automated nucleic acid sampling robots can effectively solve this problem. Currently, most nucleic acid sampling robots on the market are still in the research and development stage. Most systems only design the sampling robotic arm, handling a limited number of test tubes, and all actions are performed by the robotic arm. This not only results in low sampling efficiency but also makes them unsuitable for daily use. To meet daily usage requirements, a large number of test tubes must be processed. Therefore, how these test tubes circulate within the robotic sampling system, and how to open and close the caps, are crucial aspects of a fully automated nucleic acid sampling robot system. To complete one automated sampling, the test tube logistics process involves the following steps: test tube loading, test tube scanning, test tube opening, robot placement of the sampled swab, test tube capping, and test tube unloading. For these operational processes, many existing sampling robots complete the process at a single workstation, which is a serial working method that leads to a longer sampling cycle and low sampling efficiency. Some robot systems use a cap-opening robot arm at one workstation, while the test tubes are placed on a slide. The slide switches back and forth between the cap-opening and swab-placing workstations. This method still takes up a lot of time and does not improve work efficiency. At the same time, opening and closing the caps at the same workstation is not conducive to separating clean and contaminated areas, which can cause test tube contamination. Therefore, it is necessary to disinfect the cap-opening robot arm. In addition, the issue of scanning barcodes on the test tubes also needs to be considered. Therefore, this invention proposes a multifunctional cap-opening robot arm device for nucleic acid sampling robot systems. Through the test tube logistics of a multi-workstation turntable, the cap-opening robot arm has a multifunctional structure that can scan barcodes, open caps, and close caps, and can also go to the disinfection area for disinfection.

[0003] Furthermore, while both opening and tightening the lid involve rotating the lid, the robotic arm needs to move up and down simultaneously. If this were achieved using the lifting slide of the robotic arm, the requirements for the control system would be extremely high. This invention adds two sets of springs at the connection between the lid-tightening device and the lifting slide. When there is no lid-tightening action, the robotic arm is in a balanced state. During the opening or tightening action, the robotic arm can move up and down in response to the vertical force of loosening or tightening, thus reducing the control complexity of the control system.

[0004] This device not only achieves multiple functions, but also has a clever and compact structure, which improves the efficiency of robot sampling and can meet the requirements of large-scale sampling work; at the same time, it reduces the control difficulty of opening and unscrewing the cap. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the present invention aims to provide a multifunctional cap-opening robotic arm device for a nucleic acid sampling robot system. This device, utilizing a multi-station test tube logistics system, can perform multiple functions including test tube scanning, opening, and capping. Its compact and flexible structure improves the robot's sampling efficiency. A disinfection area is included to sterilize the robotic arm, effectively preventing test tube contamination. Furthermore, by incorporating two sets of springs between the cap-opening device and the lifting slide, the robotic arm remains in a balanced state when not performing cap-opening actions. During cap-opening or tightening actions, the robotic arm moves up and down in response to the vertical forces exerted during tightening or loosening, reducing the control complexity of the control system.

[0006] To achieve the above objectives, the following technical solution is adopted:

[0007] A multifunctional cap-opening robotic arm for a nucleic acid sampling robot system includes a barcode scanner, a worktable, and a sterilization box. A rotating worktable is mounted on the worktable, and a turntable has a rotating disk. Five test tube holders are fixedly mounted on the turntable in five equal divisions, and test tubes are placed in the test tube holders. The five test tube holders correspond to five workstations: a test tube loading position, a test tube scanning and cap opening position, a swab cutting position, a test tube capping position, and a test tube unloading position. The barcode scanner is located between the test tube scanning and cap opening position and the swab cutting position. A clamping assembly is fixedly mounted on the turntable at the test tube scanning and cap opening position and the test tube capping position, with the installation direction from the center of the turntable towards the corresponding workstation radially. A cap-opening robotic arm is fixedly mounted on the worktable, with the crossbeam of the robotic arm's frame above the worktable. The cap-opening robotic arm has a cap-opening mechanism. The capping device has an opening station, a tightening station, and a sterilization station. The opening and tightening stations correspond to the test tube scanning and opening / tightening positions on the turntable, and their centers coincide with the centers of the test tube scanning and opening / tightening positions. A linear module is fixedly installed on the crossbeam, with a drive motor installed at one end. A moving plate is fixedly connected to the slider of the linear module. Driven by the drive motor, the slider moves along the Y-axis, causing the cap-unscrewing robot to reciprocate between the opening, tightening, and sterilization stations. An electric linear push rod is fixedly installed at the lower end of the moving plate. A set of cap-unscrewing devices is floatingly connected to the lifting slide of the electric linear push rod. Driven by the electric linear push rod, the cap-unscrewing devices move up and down.

[0008] A stop block is fixedly installed at the lower end of the lifting slide. A guide post is fixed to the left and right sides of the stop block. A compression spring is fitted into each of the two guide posts. Above the two compression springs, a floating block is inserted into the two guide posts. Above the floating block, another compression spring is fitted into each of the two guide posts. A limiting washer is fixedly installed at the top of each of the two guide posts. A capping motor is fixedly connected to the left side of the floating block. An electric gripper is connected to the lower end of the capping motor. A pair of cap-gripping jaws are installed below the electric gripper. Driven by the capping motor and the electric gripper, the actions of rotating, clamping, and releasing the test tube cap can be completed. The four springs can provide the floating amount of vertical movement required for the connecting block to open or tighten the cap.

[0009] A five-division cam divider is fixedly installed on the workbench surface, and a drive motor is fixedly installed below the workbench surface. A synchronous pulley is installed on the input shaft end of the cam divider and the shaft end of the drive motor, respectively. A synchronous belt is screwed onto the two synchronous pulleys. A turntable is fixedly installed on the output shaft above the cam divider. Driven by the drive motor, the turntable rotates through the transmission of the synchronous pulleys and the synchronous belt, dividing the gap into five equal parts.

[0010] The base of the clamping assembly is fixedly installed on the workbench surface. 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. The electric slide can drive the electric clamp to extend and retract, and the electric clamp drives the clamping blocks to clamp and release the test tube.

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

[0012] 1. This invention utilizes a multi-station test tube logistics system. The cap-opening robotic arm can perform multiple functions such as test tube scanning, cap opening, and cap tightening. Furthermore, cap opening and closing are performed in different locations, improving efficiency and separating unused and sampled areas. The disinfection area further disinfects the robotic arm, effectively preventing test tube contamination. Additionally, the connection between the cap-opening device and the lifting slide uses two sets of floating springs. When no cap-opening action is performed, the robotic arm is in a balanced state. During cap opening or tightening, the robotic arm moves up and down following the vertical force of loosening or tightening, reducing the control complexity of the control system.

[0013] 2. This device not only achieves multiple functions, but also has a clever and compact structure. When applied in a fully automated sampling robot system, it can greatly improve sampling efficiency and meet the requirements of large-scale sampling work; at the same time, it reduces the control difficulty of opening and unscrewing the cap. Attached Figure Description

[0014] Figure 1 This is an overall isometric view of the present invention.

[0015] Figure 2 This is an isometric view of the cap-opening robot of the present invention.

[0016] Figure 3 This is a structural diagram of the cap-opening device of the present invention.

[0017] Figure 4 This is a partial front view of the rotary table of the present invention.

[0018] Figure 5 This is an isometric view of the clamping assembly of the present invention. Detailed Implementation

[0019] Preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings:

[0020] like Figure 1 , 2 As shown in Figure 3, a multifunctional cap-opening robotic arm device for a nucleic acid sampling robot system includes a barcode scanner 1, a workbench A, and a sterilization box E. A rotating workbench B is installed on the workbench A, and a turntable B2 is placed on the rotating workbench B. Five test tube holders B4 are fixedly installed in five equal parts on the turntable B2, and test tubes 2 are placed in the test tube holders B4. The five test tube holders B4 correspond to five workstations, namely, test tube loading position B4-2, test tube scanning and cap opening position B4-1, swab cutting position B4-5, test tube capping position B4-4, and test tube unloading position B4-3. The barcode scanner 1... Between the test tube scanning and cap opening position B4-1 and the swab cutting position B4-5; a clamping assembly D is fixedly installed at the test tube scanning and cap opening position B4-1 and the test tube cap tightening position B4-4 corresponding to the turntable B2, with the installation direction from the center of the turntable B2 to the radial direction of the corresponding workstation; a cap tightening robot C is fixedly installed on the workbench A, with the crossbeam C8 of the frame C9 of the cap tightening robot C above the workbench A, and the cap tightening device C6 on the cap tightening robot C having a cap opening position C12, a cap tightening position C11 and a disinfection position C10, respectively. The cap opening position C12... The capping station C11 corresponds to the positions of the test tube scanning and opening station B4-1 and the test tube capping station B4-4 on the turntable B2. The centers of the opening station C12 and the capping station C11 coincide with the centers of the test tube scanning and opening station B4-1 and the test tube capping station B4-4. A linear module C7 is fixedly installed on the crossbeam C8. A drive motor C3 is installed at one end of the linear module C7. A moving plate C5 is fixedly connected to the slider C4 of the linear module C7. Driven by the drive motor C3, the slider C4 moves along the Y-axis, causing the capping robot C to reciprocate between the opening station C12, the capping station C11, and the disinfection station C10. The moving plate C5... An electric linear actuator C2 is fixedly installed at the lower end. A set of the unscrewing device C6 is floatingly connected to the lifting slide C1 of the electric linear actuator C2. Under the drive of the electric linear actuator C2, the unscrewing device C6 is driven to achieve lifting and lowering movement.

[0021] A stop block C6-8 is fixedly installed at the lower end of the lifting slide C1. A guide post C6-7 is fixed to the left and right sides of the stop block C6-8 respectively. A compression spring C6-6 is fitted into each of the two guide posts C6-7. Above the two compression springs C6-6, a floating block C6-4 is slidably inserted into the two guide posts C6-7. Above the floating block C6-4, another compression spring C6-6 is fitted into each of the two guide posts C6-7. In the two guide posts C6-6, a limiting washer C6-5 is fixedly installed at the top of each of the two guide posts C6-7; a capping motor C6-3 is fixedly connected to the left side of the floating block C6-4, an electric gripper C6-2 is connected to the lower end of the capping motor C6-3, and a pair of cap-gripping grippers C6-1 are installed below the electric gripper C6-2. Driven by the capping motor C6-3 and the electric gripper C6-2, the actions of rotating, clamping and releasing the test tube cap 3 can be completed; the four springs C6-6 can provide the floating amount of vertical movement required for the connecting block when opening or tightening the cap.

[0022] like Figure 4 , 5 As shown, a five-division cam divider B3 is fixedly installed on the table surface of the workbench A, and a drive motor B1 is fixedly installed below the table surface. A synchronous pulley B5 is installed on the input shaft end of the cam divider B3 and the shaft end of the drive motor B1, respectively. A synchronous belt B6 is screwed onto the two synchronous pulleys B5. A turntable B2 is fixedly installed on the output shaft above the cam divider B3. Driven by the drive motor B1, the turntable B2 rotates in five equal divisions through the transmission of the synchronous pulleys B5 and the synchronous belt B6.

[0023] The base D1 of the clamping assembly D is fixedly installed on the workbench A. An electric slide D4 is fixedly installed on the base D1, and an electric clamp D3 is fixedly installed on the electric slide D4. Two clamping blocks D2 are symmetrically installed at the front end of the electric clamp D3. The electric slide D4 can drive the electric clamp D3 to extend and retract, and the electric clamp D3 drives the clamping blocks to clamp and release the test tube 2.

[0024] The working principle of this embodiment is as follows:

[0025] When the system is in a waiting state, test tube 2 is located at the test tube loading position B4-2. The capping robot C waits above the test tube scanning and opening position B4-1. The two sets of clamping components D around the rotating worktable B are in a retracted state, and the grippers are open. During operation, the rotating worktable B rotates one division angle for the first time. The capping robot C descends, grabs the test tube 2 at the scanning and opening position B4-1, and then rises, rotating the test tube 2. The barcode scanner 1 reads the QR code data on the test tube 2 and sends it to the control system. The capping robot C then descends again, placing the test tube 2 back into the test tube holder at the scanning and opening position B4-1. At this time, the clamping component D at the test tube scanning and capping position B4-1 moves forward and clamps the test tube. The capping robot C rotates counterclockwise, loosens the test tube cap 3 of the test tube 2, and rises. The test tube cap 3 is held in the capping robot C. The capping robot C moves to the capping position B4-4 to wait. The rotating worktable B rotates a second time by one division angle. The already capped test tube 2 is located at the swab cutting position B4-5. After the swab cutting is completed, the rotating worktable B rotates a third time by one division, transporting the test tube 2 to the capping position B4-4. The clamping component D at the capping position B4-4 extends and clamps the test tube 2. The capping robot C descends and rotates clockwise to tighten the test tube cap 3 onto the test tube 2. After tightening, the gripper of the capping robot C opens and rises. The rotary table B rotates one division for the fourth time, transporting the sampled test tube 2 to the test tube unloading position B4-3, waiting for the test tube 2 to be unloaded. After unloading is completed, the rotary table B rotates one division for the fifth time, returning to the test tube loading position B4-2. At the same time, the capping robot C moves above the sterilization box E, descends, and inserts the cap gripper C6-1 into the sterilization box E. After sterilization is completed, it rises and returns to the initial position, completing one cycle and waiting for the next operation.

[0026] The multifunctional cap-opening robotic arm device described in the above embodiments of the present invention primarily functions to open and close sampling test tubes. By coordinating multi-station test tube logistics with the cap-opening robotic arm, the present invention can achieve multiple functions such as test tube scanning, cap opening, and cap tightening. The disinfection area effectively prevents test tube contamination by disinfecting the robotic arm. Furthermore, the floating structure in the rotating and clamping parts of the cap-opening robotic arm allows it to move up and down in response to the vertical forces during tightening or loosening, reducing the control complexity of the control system.

[0027] The embodiments of the present invention have been described above in conjunction with the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made according to the purpose of the 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 substitutions. As long as they meet the purpose of the invention and do not deviate from the technical principle and inventive concept of the present invention, they shall fall within the protection scope of the present invention.

Claims

1. A multifunctional cap-opening robotic arm device for a nucleic acid sampling robot system, comprising a barcode scanner (1), a workbench (A), and a disinfection box (E), characterized in that: A rotary worktable (B) is installed on the workbench (A). A turntable (B2) is on the rotary worktable (B). Five test tube holders (B4) are fixedly installed on the turntable (B2) in five equal parts. Test tubes (2) are placed in the test tube holders (B4). The five test tube holders (B4) correspond to five workstations: test tube loading position (B4-2), test tube scanning and cap opening position (B4-1), swab cutting position (B4-5), test tube cap tightening position (B4-4), and test tube unloading position (B4-3). The barcode scanner (1) operates at the test tube scanning and cap opening position (B4-1) and the swab cutting position (B4-5). In the middle of the turntable (B2), a clamping assembly (D) is fixedly installed at the test tube scanning and opening position (B4-1) and the test tube capping position (B4-4) corresponding to the turntable (B2), with the installation direction being radial from the center of the turntable (B2) towards the corresponding workstation; a cap-opening robot (C) is fixedly installed on the worktable (A), with the crossbeam (C8) of the frame (C9) of the cap-opening robot (C) above the worktable (A), and the cap-opening device (C6) on the cap-opening robot (C) having a cap-opening position (C12), a cap-opening position (C11), and a sterilization position (C10). The capping station (C12) and the capping station (C11) correspond to the positions of the test tube scanning and capping station (B4-1) and the test tube capping station (B4-4) on the turntable (B2). The center of the capping station (C12) and the capping station (C11) coincides with the center of the test tube scanning and capping station (B4-1) and the test tube capping station (B4-4). A linear module (C7) is fixedly installed on the crossbeam (C8). A first drive motor (C3) is installed at one end of the linear module (C7). A slider (C4) of the linear module (C7) is fixed. A movable plate (C5) is connected. Driven by the first drive motor (C3), the slider (C4) moves along the Y-axis, causing the cap-opening robot (C) to reciprocate between the cap-opening station (C12), the cap-opening station (C11), and the disinfection station (C10). An electric linear actuator (C2) is fixedly installed at the lower end of the movable plate (C5). A cap-opening device (C6) is floatingly connected to the lifting slide (C1) of the electric linear actuator (C2). Driven by the electric linear actuator (C2), the cap-opening device (C6) is driven to achieve lifting and lowering movement.

2. The multifunctional cap-opening robotic arm device for a nucleic acid sampling robot system according to claim 1, characterized in that, A stop block (C6-8) is fixedly installed at the lower end of the lifting slide (C1). A guide post (C6-7) is fixed to the left and right sides of the stop block (C6-8). A compression spring (C6-6) is fitted into each of the two guide posts (C6-7). Above the two compression springs (C6-6), a floating block (C6-4) is slidably inserted into the two guide posts (C6-7). Above the floating block (C6-4), another compression spring (C6-6) is fitted into each of the two guide posts (C6-7). The tops of the two guide posts (C6-7) are fixedly mounted with... Install a limiting washer (C6-5); fix a capping motor (C6-3) to the left side of the floating block (C6-4), connect an electric gripper (C6-2) to the lower end of the capping motor (C6-3), install a pair of cap grippers (C6-1) below the electric gripper (C6-2), and complete the rotation, clamping and loosening of the test tube cap (3) under the drive of the capping motor (C6-3) and the electric gripper (C6-2); the four compression springs (C6-6) provide the floating amount of up and down movement required for the connecting block to open or tighten the cap.

3. The multifunctional cap-opening robotic arm device for a nucleic acid sampling robot system according to claim 1, characterized in that, A five-division cam divider (B3) is fixedly installed on the table surface of the workbench (A). A second drive motor (B1) is fixedly installed below the table surface. A synchronous pulley (B5) is installed on the input shaft end of the cam divider (B3) and the shaft end of the second drive motor (B1). A synchronous belt (B6) is screwed onto the two synchronous pulleys (B5). A turntable (B2) is fixedly installed on the output shaft above the cam divider (B3). Driven by the second drive motor (B1), the turntable (B2) rotates in five equal divisions through the transmission of the synchronous pulleys (B5) and the synchronous belt (B6).

4. The multifunctional cap-opening robotic arm device for a nucleic acid sampling robot system according to claim 1, characterized in that, The base (D1) of the clamping assembly (D) is fixedly installed on the workbench (A). An electric slide (D4) is fixedly installed on the base (D1), and an electric clamp (D3) is fixedly installed on the electric slide (D4). Two clamping blocks (D2) are symmetrically installed at the front end of the electric clamp (D3). The electric slide (D4) drives the electric clamp (D3) to extend and retract, and the electric clamp (D3) drives the clamping blocks to clamp and release the test tube (2).

Images