Oropharyngeal swab collection mechanism and collection method

Abstract

The present invention discloses an oropharyngeal swab collection mechanism, wherein the storage unit thereof has a first storage area for storing empty test tubes and a second storage area for storing tubes to be tested, a three-axis transport cover opening is arranged around the storage unit, and a code scanning unit and a cutting unit are arranged around the clamping unit, the scanner of the code scanning unit and the pneumatic scissors of the cutting unit are both arranged above the positioning claws of the clamping unit, the three-axis transport cover opening unit includes a three-axis drive module and a clamping cover opening claw connected thereto, the three-axis drive module drives the clamping cover opening claw to move along the X-axis, Y-axis or Z-axis to transport the empty test tube from the first storage area to the clamping unit and to transport the tube to be tested from the clamping unit to the second storage area. The present invention can realize a fully automated process of oropharyngeal swab collection, including test tube barcode scanning, oropharyngeal swab cutting, and sample collection and storage, replacing the manual collection method and solving the problem of high labor intensity of manual collection. The present invention also discloses an oropharyngeal swab collection method.

Description

Technical Field

[0001] The present invention relates to the field of medical detection technology, and in particular to an oropharyngeal swab collection mechanism and a collection method. Background Art

[0002] Nucleic acid testing screening specimens mostly come from deep cough sputum or throat swabs, which are divided into nasopharyngeal swabs and oropharyngeal swabs.

[0003] Existing oropharyngeal swab collection is mostly manual, requiring different medical staff to perform tasks such as scanning codes for information verification, temperature measurement, and testing. During the specific testing process, medical staff use cotton swabs to collect saliva from the patient's oropharynx, posterior pharyngeal wall, and tonsils, then break the cotton swabs and place them in test tubes, which are then collected and stored. Due to the large number of people to be tested, the sampling workload is high and the physical exertion is great, which can easily cause great fatigue to medical staff.

[0004] Therefore, it is necessary to provide an automated oropharyngeal swab collection mechanism and collection method to replace manual collection and free medical staff from the complicated sampling work. Summary of the Invention

[0005] The purpose of the present invention is to provide an oropharyngeal swab collection mechanism that can automate the entire process of test tube barcode scanning, oropharyngeal swab cutting, and sample collection and storage.

[0006] Another object of the present invention is to provide an oropharyngeal swab collection method that can automate the entire process of test tube barcode scanning, oropharyngeal swab cutting, and sample collection and storage.

[0007] To achieve the above-mentioned purpose, the technical solution of the present invention is as follows: providing an oropharyngeal swab collection mechanism, which includes a storage unit, a code scanning unit, a clamping unit, a cutting unit, a three-axis transport and opening unit and a controller; wherein the storage unit includes a first storage area and a second storage area, the first storage area is used to store empty test tubes, and the second storage area is used to store tubes to be tested containing oropharyngeal swabs; the code scanning unit includes a scanner provided on one side of the storage unit, and the scanner is used to scan the QR code on the test tube; the clamping unit is provided on one side of the storage unit and includes a positioning clamping claw, and the positioning clamping claw is used to clamp the fixed The test tube is fixed and can be opened; the cutting unit includes a pneumatic scissors arranged above the clamping unit, and the pneumatic scissors are used to cut oropharyngeal swabs; the three-axis transport and lid opening unit includes a three-axis drive module and a clamping and lid opening claw connected to the three-axis drive module, and the three-axis drive module drives the clamping and lid opening claw to move along the X-axis, Y-axis or Z-axis to transfer the empty test tube from the first storage area to the clamping unit and transfer the tube to be tested from the clamping unit to the second storage area; the controller is electrically connected to the three-axis transport and lid opening unit, the code scanning unit, the clamping unit, and the cutting unit respectively.

[0008] Preferably, the clamping unit further includes a base and a first driver fixed to the base, the first driver is connected to and drives the positioning jaws to open or close, and a positioning groove corresponding to the test tube is provided on the base at a position corresponding to the positioning jaws.

[0009] Preferably, the cutting unit further comprises a second driver connected to the pneumatic scissors, and the second driver drives the pneumatic scissors to move between a first position above the positioning clamp and a second position away from the positioning clamp.

[0010] Preferably, the three-axis drive module includes an X-axis drive module, a Y-axis drive module and a Z-axis drive module, the clamping and opening cover clamp is installed on the Z-axis drive module, and the X-axis drive module, the Y-axis drive module and the Z-axis drive module are electrically connected to the controller respectively.

[0011] Preferably, the clamping and opening cover clamping jaw includes a rotary driver and a clamping jaw connected thereto, and the rotary driver drives the clamping jaw to rotate to scan the QR code on the test tube.

[0012] Preferably, the first storage area has a plurality of first test tube racks, and the second storage area has a plurality of second test tube racks. The first test tube racks and the second test tube racks are both provided with a plurality of accommodating holes for accommodating test tubes.

[0013] Preferably, the oropharyngeal swab collection mechanism also includes a disinfection unit, which is arranged on the moving path of the three-axis drive module and is located between the clamping unit and the storage unit. It includes a box body, a nozzle arranged on the box body, and a positioning seat arranged in the box body. After the three-axis drive module transfers the tube to be tested to the positioning seat, the disinfectant is sprayed through the nozzle to disinfect the tube to be tested.

[0014] Correspondingly, the present invention also provides an oropharyngeal swab collection method using the oropharyngeal swab collection mechanism as described above, comprising the following steps:

[0015] (1) Obtain the preset number of oropharyngeal swabs per test tube;

[0016] (2) Controlling the operation of the three-axis transfer and lid opening unit to transfer the empty test tubes in the first storage area to the code scanning unit;

[0017] (3) controlling the three-axis transport and lid opening unit to rotate the empty test tube thereon so that the scanner scans the QR code on the empty test tube;

[0018] (4) Controlling the three-axis transport and lid opening unit to operate so as to transport the empty test tube to the clamping unit, and having the positioning clamping claw clamp the empty test tube;

[0019] (5) controlling the pneumatic scissors to cut the collected oropharyngeal swab above the positioning clamp so that the cut oropharyngeal swab falls into the empty test tube;

[0020] (6) Determine whether the number of oropharyngeal swabs in a single test tube has been cut. If so, proceed to step (7); if not, return to step (5);

[0021] (7) Control the three-axis transport and lid-opening unit to operate, transport the tubes to be tested containing a preset number of oropharyngeal swabs from the clamping unit to the second storage area, and return to step (1).

[0022] Preferably, in the oropharyngeal swab collection method of the present invention, step (4) specifically includes the following steps:

[0023] (41) controlling the first driver of the clamping unit to operate so as to drive the positioning clamping jaw to open;

[0024] (42) controlling the operation of the three-axis transport and opening lid unit to prevent the empty test tube on the opening lid clamping claw from being placed in the positioning groove on the base of the clamping unit;

[0025] (43) controlling the first driver to operate so as to drive the positioning clamp to close and clamp the empty test tube;

[0026] (44) Control the clamping and opening claws of the three-axis transport opening unit to release the empty test tube and move it away.

[0027] Preferably, in the oropharyngeal swab collection method of the present invention, step (6) specifically includes the following steps:

[0028] (61) controlling the three-axis transport and lid opening unit to operate so as to transport the tube to be tested from the clamping unit to the sterilization unit, and sterilizing the tube to be tested by the sterilization unit;

[0029] (62) The three-axis transfer and lid opening unit is controlled to operate again to transfer the sterilized tube to be tested to the second storage area.

[0030] Compared with the existing technology, the oropharyngeal swab collection mechanism of the present invention realizes the fully automated process of oropharyngeal swab collection through test tube barcode scanning, oropharyngeal swab cutting, and sample collection and storage through the cooperation of the storage unit, code scanning unit, clamping unit, cutting unit, and three-axis transport and opening unit, replacing the manual collection method in the existing technology, freeing medical personnel from the complicated sampling work and solving the problem of high labor intensity of manual collection.

[0031] Correspondingly, the oropharyngeal swab collection method using the oropharyngeal swab collection mechanism of the present invention also has the same technical effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a structural schematic diagram of the oropharyngeal swab collection mechanism of the present invention.

[0033] Figure 2 yes Figure 1 Schematic diagram of the structure from another angle.

[0034] Figure 3 yes Figure 1 Schematic diagram of the structure of the middle three-axis transfer and opening unit.

[0035] Figure 4 yes Figure 1 Schematic diagram of the structure of the code scanning unit, clamping unit, and cutting unit.

[0036] Figure 5 yes Figure 1 An enlarged schematic diagram of the scanning unit, clamping unit, and cutting unit.

[0037] Figure 6 This is a structural diagram of the clamping unit in 1 from another angle.

[0038] Figure 7 yes Figure 1 Schematic diagram of the structure of the cutting unit from another angle.

[0039] Figure 8 It is a flow chart of the oropharyngeal swab collection method of the present invention. DETAILED DESCRIPTION

[0040] The embodiments of the present invention will now be described with reference to the accompanying drawings, in which similar element numbers represent similar elements. It should be noted that the orientation descriptions involved in the present invention, such as the orientations or positional relationships indicated by up, down, left, right, front, and back, are all based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the technical solutions of the present application or / and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application. The first, second, etc. described are only used to distinguish technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0041] First combine Figure 1-Figure 7 As shown, the oropharyngeal swab collection mechanism 100 provided by the present invention includes a three-axis transport and lid opening unit 110, a storage unit 120, a code scanning unit 130, a clamping unit 140, a cutting unit 150 and a controller 170. Among them, the storage unit 120 includes a first storage area 120a and a second storage area 120b. The first storage area 120a is used to store empty test tubes, and the second storage area 120b is used to store tubes to be tested containing collected oropharyngeal swabs. The code scanning unit 130 includes a scanner 131 provided on one side of the storage unit 120, and the scanner 131 is used to scan the QR code on the test tube. The clamping unit 140 is provided on one side of the storage unit 120 and includes a positioning clamp 141. The positioning clamp 141 is used to clamp and fix the test tube and can be opened. The cutting unit 150 includes a pneumatic scissors 151 located above the clamping unit 140. The pneumatic scissors 151 are used to cut the collected oropharyngeal swab so that the cut oropharyngeal swab can fall into the empty test tube clamped and fixed by the positioning clamp 141. The three-axis transport and lid opening unit 110 includes a three-axis drive module and a clamping and lid opening clamp 114 connected to the three-axis drive module. The three-axis drive module drives the clamping and lid opening clamp 114 to move along the X-axis, Y-axis, and Z-axis to transfer the empty test tube from the first storage area 120a to the clamping unit 140 and to transfer the tube to be tested from the clamping unit 140 to the second storage area 120b. The controller 170 is electrically connected to the three-axis transport and lid opening unit 110, the code scanning unit 130, the clamping unit 140, and the cutting unit 150 respectively, and is used to control the operation of the aforementioned components.

[0042] In the present invention, the three-axis driving module may be a three-axis manipulator, but is not limited thereto, and may also adopt other driving mechanisms.

[0043] Continue to see below Figure 1-2 As shown, in one embodiment of the present invention, the oropharyngeal swab collection mechanism 100 further includes a mounting base 180, on which the aforementioned three-axis transport cover opening unit 110, storage unit 120, code scanning unit 130, clamping unit 140, and cutting unit 150 are all mounted, and the three-axis transport cover opening unit 110 is arranged around the storage unit 120. In addition, the clamping unit 140 is arranged between the storage unit 120 and a Y-axis guide rail 1121 (described later in detail) of the three-axis transport cover opening unit 110, and the clamping unit 140 is arranged at one end of the X-axis guide rail 1111 (described later in detail) away from the three-axis transport cover opening unit 110, see FIG. Figure 1-2 As shown. The code scanning unit 130 and the cutting unit 150 are respectively arranged around the clamping unit 140. More specifically, both are arranged on the outside of the clamping unit 140, and both are arranged above the clamping unit 140, so as to be able to scan the empty test tube above the clamping unit 140 and to cut the oropharyngeal swab above the empty test tube clamped and fixed by the clamping unit 140. This structural setting of the present invention not only makes the oropharyngeal swab collection mechanism 100 compact and occupies little space, but also enables code scanning, test tube fixing and cutting of oropharyngeal swabs to be completed in a centralized manner, thereby reducing the moving distance of the three-axis transport and lid opening unit 110, which is conducive to simplifying control and improving collection efficiency.

[0044] The following combination Figure 1-Figure 2 、 Figure 4 As shown, in the present invention, the first storage area 120a can store multiple first test tube racks 121, and the second storage area 120b can store multiple second test tube racks 122. The number of the first and second test tube racks 121 and 122 is not specifically limited. The first and second test tube racks 121 and 122 have the same structure, and the terms "first" and "second" are used to distinguish them for ease of description. More specifically, the first and second test tube racks 121 and 122 are both rectangular in shape and are provided with multiple receiving holes for accommodating test tubes. The number of receiving holes provided on the first and second test tube racks 121 and 122 is the same, which facilitates the secure storage of test tubes.

[0045] It should be noted that Figure 1-2 The first storage area 120a and the second storage area 120b are only schematically shown. The positions of the two can be interchanged or arranged in other ways. Figure 1-2 The limit is in.

[0046] See Figure 1-2 As shown, in a specific embodiment of the present invention, the first test tube rack 121 and the second test tube rack 122 are both extended and placed along the Y-axis direction, and the three-axis transfer and opening cover unit 110 drives the clamping and opening cover clamping claws 114 to move one by one along the Y-axis direction to grab empty test tubes and place tubes to be tested, as described later.

[0047] The following combination Figure 1-2 、 Figure 4-6 As shown, in one embodiment of the present invention, the clamping unit 140 further includes a base 143 and a first driver 142 mounted on the base 143. The first driver 142 is connected to the positioning jaw 141, and the first driver 142 is also electrically connected to the controller 170. The first driver 142 is used to drive the positioning jaw 141 to open or close. More preferably, a positioning groove 1431 corresponding to the empty test tube 200 is further provided on the base 143 at a position corresponding to the positioning jaw 141. When the empty test tube 200 is placed on the base 143, the positioning groove 1431 is used to position the empty test tube 200, so that the empty test tube 200 is accurately placed. Then, the first driver 142 drives the positioning jaw 141 to close to fix the empty test tube 200, so that the empty test tube 200 remains vertical, which is conducive to the loading of the oropharyngeal swab. Details will be described later.

[0048] The following combination Figure 1-2 、 Figure 4-5 As shown, in one embodiment of the present invention, the code scanning unit 130 is arranged outside the clamping unit 140 in the X-axis direction, and the code scanning unit 130 is arranged between the end of a Y-axis guide rail 1121 of the three-axis transport and lid opening unit 110 and the cutting unit 150. The code scanning unit 130 also includes a first bracket 132, which is fixed to the mounting base 180. The scanner 131 is mounted on the first bracket 132 and is higher than the positioning clamp 141. The scanner 131 is arranged in the direction of the clamping unit 140. The scanner 131 is electrically connected to the controller 170, and the operation of the scanner 131 is controlled by the controller 170. After the empty test tube 200 is transported to the top of the positioning clamp 141, the two-dimensional code on the test tube 200 is scanned by the scanner 131.

[0049] The following combination Figure 1-2 、 Figure 4-5 、 Figure 7As shown, in one embodiment of the present invention, the cutting unit 150 is located on a side of the clamping unit 140 away from the three-axis transport lid opening unit 110. The cutting unit 150 also includes a second bracket 153 and a second driver 152. The second driver 152 is mounted on the top of the second bracket 153 and connected to the pneumatic scissors 151, so that the pneumatic scissors 151 are positioned above the positioning clamp 141. The second driver 152 is also electrically connected to the controller 170. The second driver 152 is used to drive the pneumatic scissors 151 to move horizontally along the Y-axis, so that the pneumatic scissors 151 move between a first position above the positioning clamp 141 and a second position away from the positioning clamp 141. When the pneumatic scissors 151 move to the second position, the position above the positioning clamp 141 is avoided, so that the clamping and lid opening clamp 114 of the three-axis transport lid opening unit 110 can move above the positioning clamp 141 and place the empty test tube 200 in the clamping unit 140. When the six-joint robot moves the collected oropharyngeal swab 300 to the top of the empty test tube 200, the second driver 152 drives the pneumatic scissors 151 to move to the first position. At this time, the pneumatic scissors 151 can cut the collected oropharyngeal swab 300, so that the cut oropharyngeal swab 300 can fall into the empty test tube 200.

[0050] More preferably, the cutting unit 150 further includes a shell 154 , which is mounted on the top of the second bracket 153 and covers the outside of the pneumatic scissors 151 , and the pneumatic scissors 151 can move within the shell 154 , and the pneumatic scissors 151 are protected by the shell 154 .

[0051] In the present invention, the first driver 142 and the second driver 152 are preferably cylinders, but are not limited thereto. Of course, other driving mechanisms may also be used for both.

[0052] See below Figure 1-Figure 3 As shown, in the present invention, the three-axis drive module includes an X-axis drive module 111, a Y-axis drive module 112, and a Z-axis drive module 113. The clamping and opening cover gripper 114 is installed on the Z-axis drive module 113, and the X-axis drive module 111, Y-axis drive module 112, and Z-axis drive module 113 are respectively electrically connected to the controller 170. The operation of the X-axis drive module 111, Y-axis drive module 112, and Z-axis drive module 113 is controlled by the controller 170, which drives the clamping and opening cover gripper 114 to move along the X-axis, Y-axis, and Z-axis, respectively, thereby realizing the transportation of empty test tubes and tubes to be tested.

[0053] More specifically, the Z-axis drive module 113 includes a Z-axis guide rail 1131, to which the cover-opening clamping jaw 114 is movably mounted. When the Z-axis drive module 113 is in operation, it drives the cover-opening clamping jaw 114 to move up and down along the Z-axis guide rail 1131. Correspondingly, the X-axis drive module 111 includes an X-axis guide rail 1111, to which the Z-axis drive module 113 is movably connected. When the X-axis drive module 111 is in operation, it drives the Z-axis drive module 113 and the cover-opening clamping jaw 114 to move synchronously along the X-axis. In the present invention, the Y-axis drive module 112 has two Y-axis guide rails 1121, which are respectively installed on both sides of the storage unit 120 through the bracket 115 and are arranged in parallel. The two ends of the X-axis drive module 111 are movably installed on the two Y-axis guide rails 1121. When the Y-axis drive module 112 is running, it drives the X-axis drive module 111 to move along the two Y-axis guide rails 1121, thereby driving the Z-axis drive module 113 and the clamping and opening clamping claws 114 to move synchronously along the Y-axis.

[0054] See Figure 3 As shown, the clamping and opening cover clamping jaw 114 includes a rotary driver 1141 and a clamping jaw 1142 connected thereto. The rotary driver 1141 is used to drive the clamping jaw 1142 to rotate, and the rotation of the clamping jaw 1142 drives the test tube 200 clamped thereon to rotate synchronously, thereby realizing the scanning of the QR code thereon.

[0055] Continue to read Figure 1-Figure 3 As shown, in one embodiment of the present invention, the controller 170 controls the X-axis drive module 111, the Y-axis drive module 112, and the Z-axis drive module 113 to move along a preset path and distance, thereby transferring empty test tubes 200 from the first storage area 120a to the gripping unit 140 and transferring test tubes 200 from the gripping unit 140 to the second storage area 120b. More specifically, when grabbing empty test tubes 200 and placing test tubes 200, a unit distance is preset based on the distance between two adjacent receiving holes on the first test tube rack 121 and the second test tube rack 122. The Y-axis drive module 112 is controlled to drive the gripping and opening jaws 114 to move along the Y-axis for each unit distance, thereby causing the gripping and opening jaws 114 to grab empty test tubes 200 or place test tubes 200 one by one.

[0056] Correspondingly, in the X-axis direction, after the empty test tubes 200 on a first test tube rack 121 have been transferred or a second test tube rack 122 is filled with test tubes 200, the controller 170 controls the X-axis drive module 111 to operate, causing the gripping and opening jaws 114 to retract one unit distance in the X-axis direction, thereby transferring the empty test tubes 200 on the next first test tube rack 121 or placing the test tubes on the next second test tube rack 122. For example, after all empty test tubes 200 on the first first test tube rack 121 have been transferred, the controller 170 controls the X-axis drive module 111 to move in the negative X-axis direction, retracting one unit distance from its initial position, thereby allowing the empty test tubes 200 on the second first test tube rack 121 to be transferred. Implementing the three-axis movement of the gripping and opening jaws 114 in the aforementioned manner simplifies the control method and improves collection efficiency.

[0057] In the present invention, the three-axis drive module (X-axis drive module 111, Y-axis drive module 112, and Z-axis drive module 113) can be linear motors, rodless cylinders, or a combination of a motor, a lead screw, and a lead screw nut, or a motor and a belt. However, these structures are not limited to the aforementioned structures, as long as they can drive the cover-opening clamping jaws 114 to move linearly.

[0058] See below Figure 1-Figure 7 As shown, in a preferred embodiment of the present invention, the oropharyngeal swab collection mechanism 100 further includes a disinfection unit 160. The disinfection unit 160 is located on the movement path of the three-axis transport and lid opening unit 110. During the process of the three-axis transport and lid opening unit 110 transferring the test tube 200, the test tube 200 can be placed in the disinfection unit 160 for disinfection, and then the disinfected test tube 200 is transferred to the second storage area 120b for storage. More specifically, the disinfection unit 160 is located behind the clamping unit 140 and directly opposite it. That is, the cutting unit 150, the clamping unit 140, and the disinfection unit 160 are arranged in sequence along the Y-axis and in a straight line to reduce movement and facilitate control.

[0059] See Figure 4-Figure 5As shown, the disinfection unit 160 includes a housing 161, a positioning seat 162 disposed within the housing 161, and a nozzle 163 disposed on the housing 161. The nozzle 163 is connected to the disinfectant, and the positioning seat 162 is provided with a positioning groove corresponding to the test tube. After the three-axis transport and lid opening unit 110 transports the tube 200 to be tested from the clamping unit 140 to the top of the housing 161 and places the tube 200 to be tested in the positioning groove, the controller 170 controls the nozzle 163 to spray the disinfectant to disinfect the tube 200 to be tested. After disinfection is completed, the controller 170 controls the three-axis transport and lid opening unit 110 to operate again to transport the disinfected tube 200 to be tested to the second test tube rack 122 in the second storage area 120b for storage.

[0060] Combine again below Figure 1-Figure 7 As shown, the working principle and working process of the oropharyngeal swab collection mechanism 100 of the present invention are explained.

[0061] like Figure 1-2 As shown, before sampling officially begins, multiple first test tube racks 121 are placed in the first storage area 120a of the storage unit 120. Each first test tube rack 121 extends along the Y-axis and is fully loaded with empty test tubes 200. Correspondingly, multiple second test tube racks 122 are placed in the second storage area 120b. Each second test tube rack 122 also extends along the Y-axis and is empty.

[0062] In addition, depending on the different test tube models or detection requirements, the number of oropharyngeal swabs that a single test tube needs to accommodate is different. For example, a single test tube can accommodate ten oropharyngeal swabs, that is, a ten-to-one detection method, or it can accommodate twenty oropharyngeal swabs, that is, a twenty-to-one detection method. Of course, it can also accommodate other numbers of oropharyngeal swabs, which can be flexibly selected according to specific detection needs. Before each sampling begins, the detection method for this sampling is set manually, that is, the number of oropharyngeal swabs that a single test tube needs to accommodate is set. After the sampling is completed, the number of oropharyngeal swabs that a single test tube needs to accommodate can be reset before the next sampling.

[0063] When the oropharyngeal swab collection mechanism 100 begins operation, the controller 170 first controls the three-axis transport and lid opening unit 110 to reset, that is, the Z-axis drive module 113 is located at the origin of the coordinate system, and the clamping and lid opening clamping claw 114 is located above the first positioning slot of the first test tube rack 121. Of course, the controller 170 can also control the three-axis transport and lid opening unit 110 to reset after each sampling is completed, so that it can be directly operated for the next sampling.

[0064] During sampling, the controller 170 controls the three-axis transport and lid opening unit 110 to operate and transport the empty test tube 200 to the code scanning unit 130. Specifically, the Z-axis drive module 113 is controlled to operate so that it drives the clamping and lid opening jaw 114 to move downward along the negative direction of the Z axis by a preset distance, so that the clamping and lid opening jaw 114 clamps an empty test tube 200. Then, the controller 170 controls the Z-axis drive module 113 to drive the clamping and lid opening jaw 114 to move upward along the positive direction of the Z axis by a preset distance, thereby grasping the first empty test tube 200. Next, the controller 170 controls the X-axis drive module 111 to operate so that it drives the Z-axis drive module 113 to move to the end along the positive direction of the X axis. During this process, the clamping and lid opening jaw 114 installed on the Z-axis drive module 113 moves synchronously. Then, the controller 170 controls the Y-axis driving module 112 to operate to drive the X-axis driving module 111 to move along the Y-axis in the positive direction to the end. During this process, the X-axis driving module 111 drives the Z-axis driving module 113 and the clamping and opening clamping claw 114 installed thereon to move synchronously, thereby moving the empty test tube 200 to the position corresponding to the scanner 131.

[0065] Specifically, the controller 170 controls the rotation driver 1141 of the cover-opening clamping jaw 114 to operate, and the rotation driver 1141 drives the clamping jaw 1142 to rotate, thereby driving the rotation of the empty test tube 200 clamped by the clamping jaw 1142, so that the scanner 131 can scan the QR code on the empty test tube 200.

[0066] After the code is scanned, the controller 170 controls the Z-axis drive module 113 to drive the lid-opening clamping jaw 114 to move downward along the negative Z-axis by a preset distance, placing the empty test tube 200 in the positioning slot 1431 on the base 143 of the clamping unit 140. Next, the controller controls the first driver 142 to operate, causing the first driver 142 to drive the positioning clamping jaw 141 to close, thereby clamping and securing the empty test tube 200. The lid-opening clamping jaw 114 is then controlled to release the empty test tube 200. The Y-axis drive module 112 then operates and drives the X-axis drive module 111 to retreat a certain distance, thereby causing the Z-axis drive module 113 and the lid-opening clamping jaw 114 to retreat a certain distance, avoiding the position above the empty test tube 200.

[0067] After the oropharyngeal swab 300 is collected, the six-joint robot moves the collected oropharyngeal swab 300 to the top of the positioning clamp 141, and the oropharyngeal swab 300 is aligned with the center of the empty test tube 200, as shown in FIG. Figure 4-5As shown. Then, the controller 170 controls the second driver 152 of the cutting unit 150 to operate, causing the second driver 152 to drive the pneumatic scissors 151 to move to the first position, and then controls the pneumatic scissors 151 to cut the collected oropharyngeal swab 300, causing the oropharyngeal swab 300 to fall into the empty test tube 200 for storage. The pneumatic scissors 151 are controlled to repeat this action until a preset number of oropharyngeal swabs 300 are cut, that is, the number of single test tubes 200 collected is completed, and the tubes 200 to be tested are obtained. Then, the second driver 152 drives the pneumatic scissors 151 to retract to the second position to avoid the upper position of the positioning clamp 141.

[0068] The tube 200 to be tested is then transferred. Specifically, the controller 170 controls the Y-axis drive module 112 to operate again, driving the X-axis drive module 111, the Z-axis drive module 113 mounted thereon, and the capping and opening jaws 114 to synchronously move a predetermined distance in the positive direction of the Y-axis, causing the capping and opening jaws 114 to move again above the tube 200 to be tested. The capping and opening jaws 114 are then controlled to clamp the tube 200 to be tested. Next, the controller controls the first driver 142 to operate, causing it to drive the positioning jaws 141 to open. The controller then controls the Z-axis drive module 113 to operate again, driving the capping and opening jaws 114 to move upward a predetermined distance in the positive direction of the Z-axis, thereby grasping the tube 200 to be tested on the clamping unit 140. The Y-axis drive module 112 is then controlled to move the X-axis drive module 111 in the negative direction of the Y-axis to the end thereof, causing the Z-axis drive module 113 and the lid-opening gripper 114 to move synchronously to the end of the Y-axis. The X-axis drive module 111 is then controlled to move the Z-axis drive module 113 in the negative direction of the X-axis to the corresponding position in the second storage area 120b, allowing the tube 200 to be tested to be placed on the second test tube rack 122.

[0069] During the process of transferring the tubes 200 to be tested by the three-axis transport and decapping unit 110, the tubes 200 to be tested can also be disinfected. Specifically, when the Y-axis drive module 111 is operating to drive the X-axis drive module 111 to move in the negative direction along the Y-axis, when the Y-axis drive module 111 reaches the location of the disinfection unit 160, the controller 170 controls the Y-axis drive module 111 to stop. Then, the Z-axis drive module 113 is controlled to operate to drive the clamping and decapping jaws 114 downward, placing the tube 200 to be tested on the positioning seat 162 of the disinfection unit 160. The clamping and decapping jaws 114 are then controlled to release the tube 200 to be tested. Next, the controller 170 controls the spray head 163 to spray disinfectant to disinfect the tube 200 to be tested. After disinfection is completed, the controller 170 controls the clamping and opening jaws 114 to clamp the tube 200 to be tested again, and then controls the Z-axis drive module 113 to drive the clamping and opening jaws 114 to move upward, thereby moving the disinfected tube 200 to be tested out of the box 161. The tube 200 to be tested is then transferred to the second test tube rack 122 in the second storage area 120b for storage according to the above method.

[0070] The above steps are repeated. When all the empty test tubes 200 on the first test tube rack 121 have been transferred, the controller 170 controls the X-axis drive module 111 to operate again, driving the Z-axis drive module 113 to return along the negative X-axis direction, shortening the initial distance by one unit. In other words, the Z-axis drive module 113 is driven back to a position one unit distance from the coordinate origin, so that the gripping and opening jaws 114 correspond to the second first test tube rack 121 and can grasp the empty test tubes 200 on the second first test tube rack 121. The above steps are repeated in this manner until a batch of empty test tubes 200 has been transferred.

[0071] Correspondingly, when a second test tube rack 122 is filled with test tubes 200, it needs to be moved to the next second test tube rack 122 for storage. Controller 170 controls X-axis drive module 111 to drive Z-axis drive module 113 to move in the negative direction along the X-axis in the same manner as for grabbing empty test tubes. That is, the distance that X-axis drive module 111 drives Z-axis drive module 113 to move in the negative direction along the X-axis is shortened by one unit relative to the initial distance, so that the gripping and opening jaws 114 correspond to the second second test tube rack 122. The above steps are repeated until a batch of oropharyngeal swabs 300 are collected.

[0072] See below Figure 8 As shown, the present invention also provides an oropharyngeal swab collection method using the oropharyngeal swab collection mechanism 100 as described above, which includes the following steps:

[0073] S01. Obtain the preset number of oropharyngeal swabs for a single test tube;

[0074] Specifically, according to different test tube models or detection requirements, the number of oropharyngeal swabs that a single test tube needs to accommodate is different. For example, a single test tube can accommodate ten oropharyngeal swabs, that is, a ten-to-one detection method, or it can accommodate twenty oropharyngeal swabs, that is, a twenty-to-one detection method. Of course, it can also accommodate other numbers of oropharyngeal swabs, which can be flexibly selected according to specific detection needs. Before each sampling begins, the detection method for this sampling is set manually, that is, the number of oropharyngeal swabs that a single test tube needs to accommodate is set. After the sampling is completed, the number of oropharyngeal swabs that a single test tube needs to accommodate can be reset before the next sampling. After the manual setting is completed, the controller 170 obtains the number of oropharyngeal swabs that a single test tube needs to accommodate in this sampling.

[0075] S02. Control the three-axis transport and lid opening unit to operate and transport the empty test tubes in the first storage area to the code scanning unit;

[0076] See Figure 1-2 As shown, when the oropharyngeal swab collection mechanism 100 begins operation, the controller 170 first controls the three-axis transport and lid opening unit 110 to reset, that is, the Z-axis drive module 113 is located at the origin of the coordinate system, and the clamping and lid opening clamping claw 114 is located above the first positioning slot of the first test tube rack 121. Of course, the controller 170 can also control the three-axis transport and lid opening unit 110 to reset after each sampling is completed, so that it can directly operate for the next sampling.

[0077] Specific reference Figure 1-5 As shown, the controller 170 first controls the Z-axis drive module 113 to move the lid-opening gripper 114 downward along the negative direction of the Z-axis by a predetermined distance, causing the lid-opening gripper 114 to grip an empty test tube 200. The controller 170 then controls the Z-axis drive module 113 to move the lid-opening gripper 114 upward along the positive direction of the Z-axis by a predetermined distance, thereby grabbing the first empty test tube 200. Next, the controller 170 controls the X-axis drive module 111 to move the Z-axis drive module 113 to the end in the positive direction of the X-axis. During this process, the lid-opening gripper 114 mounted on the Z-axis drive module 113 moves synchronously. Then, the controller 170 controls the Y-axis driving module 112 to operate to drive the X-axis driving module 111 to move along the Y-axis in the positive direction to the end. During this process, the X-axis driving module 111 drives the Z-axis driving module 113 and the clamping and opening clamping claw 114 installed thereon to move synchronously, thereby moving the empty test tube 200 to the position corresponding to the scanner 131.

[0078] S03, controlling the three-axis transfer and lid opening unit to rotate the empty test tube thereon, so that the scanner scans the QR code on the empty test tube;

[0079] See Figure 4-5As shown, the controller 170 controls the rotation driver 1141 of the clamping and opening clamping jaw 114 to operate, and the rotation driver 1141 drives the clamping jaw 1142 to rotate, thereby driving the rotation of the empty test tube 200 clamped by the clamping jaw 1142, so that the scanner 131 can scan the QR code on the empty test tube 200.

[0080] S04, controlling the three-axis transport and lid opening unit to transport the empty test tube to the clamping unit, where the positioning clamping claws clamp and secure the empty test tube;

[0081] See Figure 4-6 As shown, the controller 170 again controls the Z-axis drive module 113 to drive the lid-opening gripper 114 to move downward along the negative Z-axis by a predetermined distance, placing the empty test tube 200 within the positioning slot 1431 on the base 143 of the clamping unit 140. Next, the controller controls the first driver 142 to operate, causing it to drive the positioning gripper 141 to close, thereby clamping and securing the empty test tube 200. The lid-opening gripper 114 is then controlled to release the empty test tube 200. The Y-axis drive module 112 then operates and drives the X-axis drive module 111 to retract a certain distance, causing the Z-axis drive module 113 and the lid-opening gripper 114 to retract a certain distance, clearing the upper position of the empty test tube 200.

[0082] S05, controlling the pneumatic scissors to cut the collected oropharyngeal swab above the positioning clamp, so that the cut oropharyngeal swab falls into the empty test tube;

[0083] Combine Figure 4-5 、 Figure 7 As shown, after the oropharyngeal swab 300 is collected, the six-joint robot moves the collected oropharyngeal swab 300 to the top of the positioning clamp 141, and the oropharyngeal swab 300 is aligned with the center of the empty test tube 200, as shown in FIG. Figure 4-5 Then, the controller 170 controls the pneumatic scissors 151 to cut the collected oropharyngeal swab 300 so that the oropharyngeal swab 300 falls into the empty test tube 200 for storage.

[0084] S06: Determine whether the number of oropharyngeal swabs in a single test tube has been cut. If so, proceed to step S07; if not, return to step S05;

[0085] The pneumatic scissors 151 are controlled to repeat the cutting and the number of cuttings is calculated until the cutting of a preset number of oropharyngeal swabs 300 is completed, that is, the collection of oropharyngeal swabs 300 of a single test tube 200 is completed, thereby obtaining a tube 200 to be tested.

[0086] S07. Control the three-axis transport and lid-opening unit to operate again, transport the tubes to be tested containing a preset number of oropharyngeal swabs from the clamping unit to the second storage area, and return to step S01.

[0087] Recombination Figure 1-5 As shown, the controller 170 controls the Y-axis drive module 112 to operate again, driving the X-axis drive module 111, the Z-axis drive module 113 mounted thereon, and the clamping and opening cover jaws 114 to synchronously move a certain distance in the positive direction of the Y-axis, causing the clamping and opening cover jaws 114 to move again above the tube 200 to be tested. The clamping and opening cover jaws 114 are then controlled to clamp the tube 200 to be tested. Next, the controller controls the first driver 142 to operate, causing it to drive the positioning jaws 141 to open. The controller then controls the Z-axis drive module 113 to operate again, driving the clamping and opening cover jaws 114 to move upward a predetermined distance in the positive direction of the Z-axis, thereby grasping the tube 200 to be tested on the clamping unit 140. The controller then controls the Y-axis drive module 112 to operate again, driving the X-axis drive module 111 to move in the negative direction of the Y-axis to the end, causing the Z-axis drive module 113 and the clamping and opening cover jaws 114 to synchronously move to the end of the Y-axis. Then, the X-axis driving module 111 is controlled to operate to drive the Z-axis driving module 113 to move along the negative direction of the X-axis to a corresponding position of the second storage area 120 b to place the tube 200 to be tested on the second test tube rack 122 .

[0088] In one embodiment of the oropharyngeal swab collection method of the present invention, step S04 specifically includes the following steps:

[0089] S41, controlling the first driver of the clamping unit to operate to drive the positioning clamping claw to open;

[0090] See Figure 6 As shown, the controller 170 first controls the first driver 142 of the clamping unit 140 to operate, and the first driver 142 drives the positioning clamping claw 141 to open.

[0091] S42, controlling the three-axis transport and lid opening unit to operate so as to place the empty test tube on the lid opening gripper into the positioning groove on the base of the gripper unit;

[0092] Specifically, the controller 170 controls the Z-axis drive module 113 to drive the clamping and opening cover clamping claw 114 to move downward along the negative direction of the Z-axis by a preset distance, placing the empty test tube 200 in the positioning groove 1431 on the base 143 of the clamping unit 140, and using the positioning groove 1431 to position the empty test tube 200.

[0093] S43, controlling the first driver to drive the positioning clamp to close to clamp and fix the empty test tube.

[0094] Then the controller 170 controls the first driver 142 to operate again, so that the first driver 142 drives the positioning clamp 141 to close, thereby clamping and fixing the empty test tube 200. Figure 6 shown.

[0095] S44, controlling the clamping and opening cover gripper to release the empty test tube, and controlling the three-axis transport and opening cover unit to operate to drive the clamping and opening cover gripper to move away.

[0096] Specifically, the controller 170 first controls the clamping and opening cover jaws 114 to release the empty test tube 200, and then controls the Y-axis drive module 112 to operate and drive the X-axis drive module 111 to retreat a certain distance, thereby driving the Z-axis drive module 113 and the clamping and opening cover jaws 114 to retreat a certain distance synchronously, and the clamping and opening cover jaws 114 move away to avoid the upper position of the empty test tube 200.

[0097] In one embodiment of the oropharyngeal swab collection method of the present invention, step S06 specifically includes the following steps:

[0098] S61, controlling the three-axis transfer and capping unit to operate to transfer the tube to be tested from the clamping unit to the disinfection unit, and disinfecting the tube to be tested in the disinfection unit;

[0099] 1-4 , the controller 170 controls the Y-axis drive module 112 to operate again, thereby driving the X-axis drive module 111, the Z-axis drive module 113 mounted thereon, and the capping and opening gripper 114 to synchronously move a predetermined distance in the positive direction of the Y-axis, causing the capping and opening gripper 114 to move again above the tube 200 to be tested. The capping and opening gripper 114 is then controlled to grip the tube 200 to be tested. Next, the Z-axis drive module 113 is controlled to operate, driving the capping and opening gripper 114 to move upward a predetermined distance in the positive direction of the Z-axis, thereby grasping the tube 200 to be tested. Then, the Y-axis drive module 111 is controlled to move in the negative direction along the Y-axis. When the X-axis drive module 111 reaches the location of the disinfection unit 160, the controller 170 controls the Y-axis drive module 111 to stop. The Z-axis drive module 113 is then controlled to drive the clamping and opening jaws 114 downward, placing the tube 200 to be tested on the positioning seat 162 of the disinfection unit 160. The clamping and opening jaws 114 are then controlled to release the tube 200 to be tested. The controller 170 then controls the nozzle 163 to spray disinfectant to disinfect the tube 200 to be tested.

[0100] S62, controlling the three-axis transfer and lid-opening unit to operate again to transfer the sterilized tubes to be tested to the second storage area.

[0101] After disinfection is complete, the controller 170 controls the clamping and opening jaws 114 to clamp the tube 200 to be tested. The controller 170 then controls the Z-axis drive module 113 to operate again, driving the clamping and opening jaws 114 to move upward, removing the sterilized tube 200 to be tested from the chamber 161. The Y-axis drive module 112 is then controlled to continue operating, driving the X-axis drive module 111 to move along the negative direction of the Y-axis to the end, causing the Z-axis drive module 113 and the clamping and opening jaws 114 to move synchronously to the end of the Y-axis. Finally, the X-axis drive module 111 is controlled to operate again, driving the Z-axis drive module 113 to move along the negative direction of the X-axis to the corresponding position in the second storage area 120b, thereby placing the tube 200 to be tested on the corresponding second test tube rack 122.

[0102] To sum up, due to the oropharyngeal swab collection mechanism 100 of the present invention, through the cooperation of the storage unit 120, the code scanning unit 130, the clamping unit 140, the cutting unit 150, and the three-axis transport and opening unit 110, a fully automated process of collecting the oropharyngeal swab 300 through the test tube 200, barcode scanning, cutting of the oropharyngeal swab 300, and collection and preservation of the collected samples is realized, replacing the manual collection method in the prior art, freeing medical personnel from the complicated sampling work, and solving the problem of high labor intensity of manual collection.

[0103] Correspondingly, the oropharyngeal swab collection method using the oropharyngeal swab collection mechanism 100 of the present invention also has the same technical effect.

[0104] The above disclosure is only the preferred embodiment of the present invention, which certainly cannot be used to limit the scope of the present invention. Therefore, equivalent changes made according to the scope of the patent application of the present invention are still within the scope of the present invention.

Claims

1. An oropharyngeal swab collection mechanism, characterized in that: include: The storage unit comprises a first storage area and a second storage area, wherein the first storage area is used to store empty test tubes, and the second storage area is used to store tubes to be tested containing oropharyngeal swabs; A code scanning unit, comprising a scanner provided on one side of the storage unit, the scanner being used to scan the QR code on the test tube; A clamping unit is provided on one side of the storage unit and includes a positioning clamping claw, wherein the positioning clamping claw is used to clamp and fix the test tube and can be opened; a cutting unit comprising pneumatic scissors disposed above the clamping unit, the pneumatic scissors being used to cut the oropharyngeal swab; A three-axis transfer and lid opening unit includes a three-axis drive module and a clamping and lid opening jaw connected to the three-axis drive module, wherein the three-axis drive module drives the clamping and lid opening jaw to move along the X-axis, Y-axis, or Z-axis to transfer empty test tubes from the first storage area to the clamping unit and transfer tubes to be tested from the clamping unit to the second storage area; A disinfection unit is provided on the moving path of the three-axis driving module and is located between the clamping unit and the storage unit. While the three-axis transport and lid opening unit is transferring the tubes to be tested, the tubes to be tested can be placed in the disinfection unit for disinfection. A controller is electrically connected to the three-axis transfer and lid opening unit, the code scanning unit, the clamping unit, and the cutting unit respectively.

2. The oropharyngeal swab collection mechanism according to claim 1, characterized in that: The clamping unit also includes a base and a first driver fixed to the base, the first driver is connected to and drives the positioning clamp to open or close, and a positioning groove corresponding to the test tube is provided on the base at a position corresponding to the positioning clamp.

3. The oropharyngeal swab collection mechanism according to claim 1, characterized in that: The cutting unit further includes a second driver connected to the pneumatic scissors, and the second driver drives the pneumatic scissors to move between a first position above the positioning clamping claw and a second position away from the positioning clamping claw.

4. The oropharyngeal swab collection mechanism according to claim 1, characterized in that: The three-axis drive module includes an X-axis drive module, a Y-axis drive module and a Z-axis drive module. The clamping and opening cover clamp is installed on the Z-axis drive module, and the X-axis drive module, the Y-axis drive module and the Z-axis drive module are electrically connected to the controller respectively.

5. The oropharyngeal swab collection mechanism according to claim 4, characterized in that: The clamping and opening cover clamping jaw comprises a rotary driver and a clamping jaw connected thereto, and the rotary driver drives the clamping jaw to rotate to scan the QR code on the test tube.

6. The oropharyngeal swab collection mechanism according to claim 1, characterized in that: The first storage area has a plurality of first test tube racks, and the second storage area has a plurality of second test tube racks. The first test tube racks and the second test tube racks are both provided with a plurality of accommodating holes for accommodating test tubes.

7. The oropharyngeal swab collection mechanism according to any one of claims 1 to 6, characterized in that: The disinfection unit includes a box, a nozzle arranged on the box, and a positioning seat arranged in the box. After the three-axis driving module transfers the tube to be tested to the positioning seat, the nozzle sprays disinfectant to disinfect the tube to be tested.

8. A method for collecting an oropharyngeal swab using the oropharyngeal swab collection mechanism according to any one of claims 1 to 7, characterized in that: The steps include: (1) Obtain the preset number of oropharyngeal swabs per test tube; (2) Controlling the operation of the three-axis transfer and lid opening unit to transfer the empty test tubes in the first storage area to the code scanning unit; (3) controlling the three-axis transport and lid opening unit to rotate the empty test tube thereon so that the scanner scans the QR code on the empty test tube; (4) Controlling the three-axis transport and lid opening unit to operate so as to transport the empty test tube to the clamping unit, and having the positioning clamping claw clamp the empty test tube; (5) controlling the pneumatic scissors to cut the collected oropharyngeal swab above the positioning clamp so that the cut oropharyngeal swab falls into the empty test tube; (6) Determine whether the number of oropharyngeal swabs in a single test tube has been cut. If so, proceed to step (7); if not, return to step (5); (7) Control the three-axis transport and lid-opening unit to operate, transport the tubes to be tested containing a preset number of oropharyngeal swabs from the clamping unit to the second storage area, and return to step (1).

9. The oropharyngeal swab collection method according to claim 8, characterized in that: The step (4) specifically includes: (41) controlling the first driver of the clamping unit to operate so as to drive the positioning clamping jaw to open; (42) controlling the operation of the three-axis transport and opening lid unit to prevent the empty test tube on the opening lid clamping claw from being placed in the positioning groove on the base of the clamping unit; (43) controlling the first driver to operate so as to drive the positioning clamp to close and clamp the empty test tube; (44) Control the clamping and opening claws of the three-axis transport opening unit to release the empty test tube and move it away.

10. The oropharyngeal swab collection method according to claim 8, characterized in that: The step (6) specifically includes: (61) controlling the three-axis transport and lid opening unit to operate so as to transport the tube to be tested from the clamping unit to the sterilization unit, and sterilizing the tube to be tested by the sterilization unit; (62) The three-axis transfer and lid opening unit is controlled to operate again to transfer the sterilized tube to be tested to the second storage area.

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