Biological specimen sampling robot

Abstract

This invention relates to the field of robotics, providing a biological specimen sampling robot, comprising a shell, a swab storage mechanism, a first operating mechanism, a first transfer mechanism, a test tube storage mechanism, a specimen storage mechanism, and a second operating mechanism. The shell has a swab operating chamber and a test tube operating chamber. A first partition is provided in the swab operating chamber, dividing it into a swab storage chamber and a swab working chamber. The swab operating chamber has a sampling port and a sample delivery port, with the sampling port connecting the swab working chamber to the outside of the shell. A second partition is provided in the test tube operating chamber, dividing it into a test tube storage chamber and a specimen storage chamber. The test tube storage chamber is connected to the swab working chamber via the sample delivery port. The storage of clean swabs, swab sampling, storage of clean test tubes, and storage of specimens are located in different chambers, achieving separation of clean and contaminated areas.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a biological specimen sampling robot. Background Technology

[0002] Nasopharyngeal swabs are the primary method for collecting respiratory specimens. During the sampling process, medical staff face the risk of infection, and the long hours of nucleic acid testing work, as well as outdoor high and low temperatures, can lead to excessive fatigue among them.

[0003] To alleviate the workload of medical staff during sampling and reduce the risk of cross-infection, sampling robots have emerged. Functionally, sampling robots are mainly divided into two categories: pharyngeal swab sampling robots and nasal swab sampling robots. Pharyngeal swab sampling robots use a robotic arm to carry a pharyngeal swab to scrape and collect a sample from the oropharynx of the person being sampled, while nasal swab robots use a robotic arm to carry a nasal swab deep into the nasal cavity of the person being sampled to collect a sample.

[0004] In related technologies, sampling robots need to store clean swabs and test tubes, hold clean swabs for sampling, place the sampled swabs into test tubes, and store used test tubes. Because clean swabs, clean test tubes, sampled swabs, and used test tubes are all housed within the same cavity of the robot, they are prone to contact, leading to contamination of the clean swabs and test tubes, as well as the biological specimens, resulting in inaccurate test results. Therefore, sampling robots in related technologies suffer from a high risk of internal cross-contamination. Summary of the Invention

[0005] The purpose of this invention is to provide a biological specimen sampling robot, which aims to solve the technical problem of high risk of internal cross-contamination in sampling robots in related technologies.

[0006] This application provides a biological specimen sampling robot, comprising:

[0007] The housing has a swab operation chamber and a test tube operation chamber. A first partition is provided in the swab operation chamber, dividing it into a swab storage chamber and a swab working chamber. One end of the first partition forms a first channel with the chamber wall of the swab operation chamber. The swab operation chamber has a sampling port and a sample delivery port. The sampling port connects the swab working chamber to the outside of the housing. A second partition is provided in the test tube operation chamber, dividing it into a test tube storage chamber and a specimen storage chamber. One end of the second partition forms a second channel with the chamber wall of the test tube operation chamber. The test tube storage chamber communicates with the swab working chamber through the sample delivery port.

[0008] A swab storage mechanism is installed in the swab storage chamber and is used to store a plurality of swabs;

[0009] A first operating mechanism is installed in the swab operating chamber. The first operating mechanism is used to pick up a single swab from the swab storage mechanism and sample the swab through the first channel and the sampling port.

[0010] A first transfer mechanism is installed in the swab chamber. The first transfer mechanism is used to obtain the sampled swab from the first operating mechanism and send the swab to the test tube storage chamber through the sample delivery port.

[0011] A test tube storage mechanism is placed in the test tube storage room and is used to store a number of test tubes;

[0012] A specimen storage facility, wherein the specimen storage facility is placed in the specimen storage room;

[0013] The second operating mechanism is installed in the test tube operating chamber. The second operating mechanism is used to clamp the test tube in the test tube storage mechanism so that the test tube receives the swab specimen on the first transfer mechanism and places the test tube into the specimen storage mechanism through the second channel.

[0014] In one embodiment, the swab storage mechanism includes a storage rack and a plurality of sleeves. The storage rack is installed in the swab storage chamber, and the plurality of sleeves are installed in the storage rack. The sleeves are used to accommodate the swabs.

[0015] In one embodiment, the length of the sleeve is less than the length of the swab, so that the end of the swab protrudes from the sleeve.

[0016] In one embodiment, the swab storage mechanism, the first separator, and the sampling port are located on the front side of the housing.

[0017] In one embodiment, the first separator is larger in the front-rear direction of the housing than the swab storage mechanism is in the front-rear direction of the housing.

[0018] In one embodiment, the first operating mechanism includes a positioning mechanism and a robotic arm. The positioning mechanism is installed in the swab operating chamber and connected to the robotic arm. The positioning mechanism is used to drive the robotic arm to translate along the direction from the swab storage chamber to the swab working chamber. The positioning mechanism is also used to drive the robotic arm to translate toward and away from the plane where the sampling port is located. The positioning mechanism is also used to drive the robotic arm to rise and fall.

[0019] In one embodiment, the robotic arm is used to grip the swab and to rotate the swab.

[0020] In one embodiment, the first transfer mechanism includes a first translation drive assembly and a first rotation drive assembly. The first rotation drive assembly includes a first rotation drive member and a first clamp. The first clamp is used to grip the swab and is mounted on the output end of the first rotation drive member. The first rotation drive member is used to drive the first clamp and the swab to rotate so that the tip of the swab rotates from the sampling port to the sample delivery port. The first translation drive assembly is connected to the first rotation drive member to drive the first rotation drive member to translate toward or away from the sample delivery port. The first translation drive assembly is mounted in the swab working chamber.

[0021] In one embodiment, the second operating mechanism includes a first gripping mechanism, a cover operating mechanism, a second transfer mechanism, and a second gripping mechanism.

[0022] In one embodiment, the second transfer mechanism is used to receive the test tube and move it between the test tube storage chamber and the specimen storage chamber via the second channel.

[0023] In one embodiment, the first gripping mechanism is installed in the test tube storage chamber and is used to grip a single test tube from the test tube storage chamber and transport it to the second transfer mechanism.

[0024] In one embodiment, the cap operating mechanism is installed in the test tube storage chamber, and the cap operating mechanism is used to open and close the cap of the test tube.

[0025] In one embodiment, the second clamping mechanism is installed in the specimen storage chamber and is used to clamp the test tube on the second transfer mechanism and place it into the specimen storage mechanism.

[0026] In one embodiment, the swab chamber is located directly above the test tube storage chamber.

[0027] In one embodiment, the second transfer mechanism can transfer the test tube to directly below the sample inlet; the second operating mechanism further includes a cutting mechanism, which is movably installed in the test tube storage chamber. The cutting mechanism can be moved to directly below the sample inlet and cut off the tip of the swab held by the first transfer mechanism so that the tip of the swab falls into the test tube in the second transfer mechanism.

[0028] In one embodiment, the housing further has a waste chamber located below the test tube storage chamber; the test tube storage chamber has a first waste port communicating with the swab chamber and a second waste port communicating with the waste chamber, the second waste port being located directly below the first waste port; the first transfer mechanism is further configured to rotate the swab from above the sample delivery port to above the first waste port.

[0029] In one embodiment, the first waste port is located on the side of the sample delivery port away from the first separator.

[0030] In one embodiment, the second channel has a first position and a second position, the height of the first position being less than the height of the second position. The second transfer mechanism includes a rotating part and a connecting rod. The rotating part is rotatably disposed on the bottom wall of the second channel. One end of the connecting rod is connected to the rotating part. The connecting rod has a station for vertically placing the test tube. The station rotates with the rotating part through the first position and the second position. The first position only allows the station to rotate through, and the height of the second position allows the test tube vertically disposed at the station to pass through.

[0031] In one embodiment, the biological specimen sampling robot further includes an isolation component mounted on the outside of the housing. The isolation component has a detection port located in front of the sampling port, and the detection port and the sampling port are connected and form an isolation interval.

[0032] In one embodiment, the biological specimen sampling robot further includes a disinfection arm, which is mounted on the isolation assembly and is used to disinfect the area where the detection port is located.

[0033] In one embodiment, the swab operating chamber and the test tube operating chamber are arranged vertically.

[0034] In one embodiment, the swab storage chamber is located directly above the specimen storage chamber.

[0035] In one embodiment, the test tube storage chamber has a placement window for communication with the outside, the placement window being for the test tube storage mechanism to enter and exit the test tube storage chamber.

[0036] In one embodiment, the specimen storage chamber has a retrieval window for communication with the outside, the retrieval window being used for the specimen storage mechanism to enter and exit the specimen storage chamber.

[0037] In one embodiment, the biological specimen sampling robot further includes a lifting mechanism connected to the housing, which is used to drive the housing to move up and down.

[0038] In one embodiment, the biological specimen sampling robot further includes a mobile chassis mounted on the bottom of the housing.

[0039] In one embodiment, the outer wall of the housing is connected to a handrail.

[0040] The beneficial effects of the biological specimen sampling robot provided by this invention are as follows: the first operating mechanism obtains clean swabs from the swab storage chamber and performs sampling through the sampling port in the swab working chamber; the first transfer mechanism delivers the sampled swabs to the test tube storage chamber through the sample delivery port; the second operating mechanism collects the specimens from the swabs into test tubes and places them into the specimen storage chamber; the first separator separates the swab storage chamber and the swab working chamber, and the second separator separates the test tube storage chamber and the specimen storage chamber. Thus, the storage of clean swabs, the sampling of swabs, the storage of clean test tubes, and the storage of specimens are located in different chambers, achieving separation of clean and contaminated materials. This solves the technical problem of high risk of internal cross-contamination in sampling robots in related technologies and improves the accuracy of specimen testing. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is a schematic diagram of the structure of the biological specimen sampling robot provided in an embodiment of the present invention;

[0043] Figure 2 for Figure 1 Front view of the biological specimen sampling robot in the middle;

[0044] Figure 3 for Figure 2 The left view;

[0045] Figure 4 for Figure 2 Rear view;

[0046] Figure 5 for Figure 2 A cross-sectional view of the biological specimen sampling robot along line AA;

[0047] Figure 6 for Figure 2A cross-sectional view of the biological specimen sampling robot along line BB;

[0048] Figure 7 A schematic diagram of the swab storage mechanism of a biological specimen sampling robot;

[0049] Figure 8 A partial schematic diagram of a biological specimen sampling robot;

[0050] Figure 9 A schematic diagram of the manipulator, the first operating mechanism of a biological specimen sampling robot;

[0051] Figure 10 This is another partial schematic diagram of a biological specimen sampling robot;

[0052] Figure 11 A schematic diagram of the internal working chamber of the biological specimen sampling robot;

[0053] Figure 12 This is another internal schematic diagram of the test tube operating chamber of a biological specimen sampling robot.

[0054] The following are the labeling elements in the figure:

[0055] 10. Swab; 20. Test tube;

[0056] 100. Shell; 110. Swab operating chamber; 111. Swab storage chamber; 112. Swab working chamber; 113. First channel; 114. Sampling port; 115. Sample delivery port; 120. Test tube operating chamber; 121. Test tube storage chamber; 122. Specimen storage chamber; 123. Second channel; 124. First waste port; 125. Second waste port; 126. First position; 127. Second position; 128. Placement window; 129. Removal window; 130. First separator; 140. Second separator; 150. Isolation assembly; 151. Detection port; 152. Telescopic port; 160. Handrail; 170. Tray; 171. Support position;

[0057] 200. Swab storage mechanism; 210. Storage rack; 220. Sleeve;

[0058] 300. First operating mechanism; 310. Positioning mechanism; 311. First guide rail; 312. Second guide rail; 313. First lifting drive component; 320. Robotic arm; 321. Moving platform; 322. Transmission rod; 323. Slider; 324. Linear actuator; 325. Base; 330. Second clamp; 340. Rotary joint; 350. Force sensor;

[0059] 400. First transfer mechanism; 410. First translation drive assembly; 420. First rotation drive assembly; 421. First rotation drive component; 422. First clamp;

[0060] 500. Test tube storage facility;

[0061] 600. Specimen storage facilities;

[0062] 700. Second operating mechanism; 710. First clamping mechanism; 711. First guide rod; 712. Second guide rod; 713. Third guide rod; 720. Cover operating mechanism; 721. Third rotary drive assembly; 722. Second translation drive assembly; 723. Fourth rotary drive assembly; 730. Second transfer mechanism; 731. Rotating part; 732. Connecting rod; 733. Workstation; 740. Second clamping mechanism; 750. Cutting mechanism; 751. Cutting blade; 752. Fifth rotary drive assembly;

[0063] 810. Lifting mechanism; 820. Mobile chassis; 830. Disinfection swing arm. Detailed Implementation

[0064] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0065] Throughout this specification, references to "an embodiment" or "an embodiment" mean that a particular feature, structure, or characteristic described in connection with an embodiment is included in at least one embodiment of this application. Therefore, the phrases "in one embodiment" or "in some embodiments" appear in various places throughout the specification, and not all refer to the same embodiment. Furthermore, in one or more embodiments, particular features, structures, or characteristics may be combined in any suitable manner.

[0066] In the description of this invention, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0067] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature.

[0068] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0069] In nucleic acid sampling, respiratory sampling for lung cancer diagnosis, or other disease sampling, especially during large-scale sampling, medical staff face heavy workloads. Using biological specimen sampling robots to replace manual labor would save on labor intensity and medical resources.

[0070] To reduce the risk of internal cross-contamination in biological specimen sampling robots, combined with Figure 1 This application provides a biological specimen sampling robot (hereinafter referred to as "robot"). The side of the robot closest to the sampled person is its front side, and the side corresponding to the front side is its rear side. The front-back direction is represented by X, the height direction is represented by Z, and the direction perpendicular to the front-back direction X and the height direction Z is the left-right direction Y.

[0071] Combination Figures 1 to 6 The robot includes a shell 100, a swab storage mechanism 200, a first operating mechanism 300, a first transfer mechanism 400, a test tube storage mechanism 500, a specimen storage mechanism 600, and a second operating mechanism 700.

[0072] exist Figure 2 In the specific embodiment shown, the robot also includes a lifting mechanism 810, which is connected to the housing 100. The lifting mechanism 810 is used to drive the housing 100 to move up and down, that is, to drive the housing 100 to move along the height direction Z, thereby adjusting the height of the housing 100 to meet the usage needs of users of different heights. The lifting mechanism 810 is specifically located below the housing 100 to increase the height of the robot while reducing its footprint.

[0073] Specifically, the robot also includes a mobile chassis 820, which is mounted on the bottom of the housing 100 to facilitate robot movement and transport. In the illustrated embodiment, the mobile chassis 820 is mounted on the bottom of the lifting mechanism 810 to increase the robot's height and facilitate sampling.

[0074] Specifically, a handle 160 is connected to the outer wall of the housing 100 to facilitate effortless pulling or pushing of the robot by the operator. Figure 3 In the specific embodiment shown, the armrest 160 is located on the rear side of the housing 100.

[0075] Combination Figures 2 to 4 The housing 100 has a swab operating chamber 110 and a test tube operating chamber 120. In the illustrated embodiment, the swab operating chamber 110 and the test tube operating chamber 120 are arranged vertically, which not only helps to increase the sampling height, but also reduces the robot's footprint, making the robot more compact. Specifically, the test tube operating chamber 120 is located directly below the swab operating chamber 110.

[0076] See Figure 5 The swab operating chamber 110 is provided with a first partition 130, which divides the swab operating chamber 110 into a swab storage chamber 111 and a swab working chamber 112. A first channel 113 is formed between one end of the first partition 130 and the cavity wall of the swab operating chamber 110, connecting the swab storage chamber 111 and the swab working chamber 112. The swab operating chamber 110 has a sampling port 114. Figure 2 The sampling port 114 connects the swab chamber 112 to the outside of the housing 100. In the illustrated embodiment, the first separator 130 may be a partition. The first separator 130, except for one end which forms a first channel 113 with the wall of the swab operating chamber 110, is connected to the wall of the swab operating chamber 110 in the circumferential direction, to better isolate the swab storage chamber 111 and the swab chamber 112.

[0077] The swab storage mechanism 200 is installed in the swab storage chamber 111 and is used to store several swabs 10. The swab 10 is generally long and rod-shaped. The swab 10 generally includes a rod and a sampling head. The sampling head is located at the beginning of the rod and is usually a wad of absorbent material (such as cotton). The end of the swab 10 is the end of the rod furthest from the sampling head.

[0078] Specifically, in combination Figure 7 The swab storage mechanism 200 includes a storage rack 210 and several sleeves 220. The storage rack 210 is installed in the swab storage chamber 111, and the sleeves 220 are installed on the storage rack 210. The sleeves 220 are used to hold swabs 10. The tip of the swab 10 is placed with its head facing the inside of the sleeve 220. The swab 10 is stored in the sleeve 220, keeping the swab 10 clean and preventing it from being contaminated by dust or aerosols.

[0079] In the illustrated embodiment, the length of the sleeve 220 is less than the length of the swab 10, so that the end of the swab 10 protrudes from the sleeve 220, thereby facilitating the placement and removal of the swab 10 within the sleeve 220. Multiple sleeves 220 are arranged in a row and column configuration on the storage rack 210. The openings of the sleeves 220 face the first channel 113. The storage rack 210 is detachably mounted to the swab storage chamber 111 for easy replacement. Two swab storage mechanisms 200 are provided, spaced apart along the height direction Z.

[0080] Specifically, in combination Figure 2 and Figure 5 The swab storage mechanism 200, the first separator 130 and the sampling port 114 are located on the front side of the housing 100, making it difficult for the swab storage mechanism 200 and the sampling port 114 to form convection, thus ensuring the concealment and safety of the swab storage chamber 111.

[0081] exist Figure 3 In the illustrated embodiment, the left and right sides of the swab operating chamber 110 are open to facilitate viewing the internal structure of the swab operating chamber 110. In a practical embodiment, the swab operating chamber 110 is provided with opening and closing doors on both sides to facilitate closing and maintaining the swab operating chamber 110. It can be understood that if the sampling requirements are not high, the left and right sides of the swab operating chamber 110 can be left open.

[0082] Furthermore, the first partition 130 is larger in the front-rear direction of the housing 100 than the swab storage mechanism 200 in the front-rear direction of the housing 100. The first partition 130 completely covers the swab storage mechanism 200 to better protect and isolate the swab storage mechanism 200. Figure 3 In the illustrated embodiment, the front-rear direction of the housing 100 is aligned with the front-rear direction X of the robot.

[0083] Combination Figure 5 A first operating mechanism 300 is installed in the swab operating chamber 110. The first operating mechanism 300 is used to pick up a single swab 10 from the swab storage mechanism 200 and to sample the swab 10 through the first channel 113 and the sampling port 114. In this way, the first operating mechanism 300 picks up a single swab 10 from the swab storage mechanism 200 in the swab storage chamber 111, transports the swab 10 to the swab working chamber 112 through the first channel 113, and samples the subject located outside the housing 100 through the sampling port 114 to obtain a biological specimen.

[0084] There are many ways to implement the first operating mechanism 300. For example, the first operating mechanism 300 is a multi-axis robotic arm.

[0085] In one possible embodiment, combined with Figure 8The first operating mechanism 300 includes a positioning mechanism 310 and a robotic arm 320. The positioning mechanism 310 is installed in the swab operating chamber 110 and connected to the robotic arm 320. The positioning mechanism 310 is used to drive the robotic arm 320 to translate along the direction from the swab storage chamber 111 to the swab working chamber 112, that is, the robotic arm 320 can reciprocate between the swab storage chamber 111 and the swab working chamber 112, which facilitates the handling of the swab 10. The positioning mechanism 310 is also used to drive the robotic arm 320 to translate toward and away from the plane where the sampling port 114 is located, that is, when the robotic arm 320 is in the swab working chamber 112, it can move toward the sampling port 114 to extend out of the sampling port 114 to take a sample, and then retreat away from the sampling port 114 after sampling. The positioning mechanism 310 is also used to drive the robotic arm 320 to move up and down. That is, the robotic arm 320 can grasp swabs 10 at different positions in the swab storage chamber 111 by translation and lifting, and can perform smear sampling by translation and lifting at the sampling port 114. In this way, compared with a multi-axis robotic arm, the robotic arm 320 achieves translation in three degrees of freedom with the help of the positioning mechanism 310, which meets the usage requirements, limits the direction of movement and space of the robotic arm 320, occupies less space, and has a high space utilization rate in the swab 10 operation area, which is conducive to the miniaturization of the robot.

[0086] exist Figure 8 In the illustrated embodiment, the positioning mechanism 310 includes a first guide rail 311, a second guide rail 312, and a first lifting drive 313. The first guide rail 311 is disposed in the first channel 113 and extends along the direction from the swab storage chamber 111 to the swab working chamber 112. The second guide rail 312 is slidably disposed on the first guide rail 311 and extends along a direction perpendicular to the plane of the sampling port 114. The first lifting drive 313 is slidably mounted on the second guide rail 312 and is aligned with the robot's vertical direction Z. A robotic arm 320 is mounted on the output end of the first lifting drive 313, enabling the robotic arm 320 to move up and down under the drive of the first lifting drive 313 and to translate along the first guide rail 311 and the second guide rail 312, achieving three degrees of freedom of movement. Specifically, the positioning mechanism 310 includes a driving member for driving the second guide rail 312 to slide along the first guide rail 311. The first guide rail 311 is positioned in the same direction as the robot's left-right direction (Y). There are two first guide rails 311, spaced apart. The positioning mechanism 310 also includes a driving member for driving the first lifting driving member 313 to slide along the second guide rail 312. The second guide rail 312 is positioned in the same direction as the robot's front-back direction (X). There are two second guide rails 312, spaced apart.

[0087] Specifically, the robotic arm 320 is used to grip the swab 10 and to rotate the swab 10. It can grip the swab 10 from the swab storage mechanism 200, rotate the swab 10 during sampling, and release the swab 10.

[0088] In some embodiments, combined with Figure 9 The robotic arm 320 includes a moving platform 321, transmission rods 322, sliders 323, linear actuators 324, a base 325, and a second gripper 330. The second gripper 330 is used to grip or release the swab 10. The second gripper 330 is mounted on the moving platform 321. Multiple transmission rods 322, sliders 323, and linear actuators 324 are present and correspond one-to-one. Multiple transmission rods 322 are hinged at intervals around the periphery of the moving platform 321. The other end of each transmission rod 322 is rotatably mounted on a slider 323. The slider 323 is located at the movable end of the linear actuator 324, thereby one or more linear actuators 324 drive the corresponding slider 323 to slide, realizing the rotation of the moving platform 321 in different directions, which in turn drives the second gripper 330 to rotate, thus achieving the swabbing sampling action of the swab 10. When all linear actuators 324 are driven synchronously, the second gripper 330 and the swab 10 translate. In the illustrated embodiment, there are three linear actuators 324, and the driving direction of the linear actuators 324 is consistent with the robot's forward and backward direction X.

[0089] The fixed portion of the linear actuator 324 is mounted on the base 325. Specifically, the base 325 can be directly mounted on the positioning mechanism 310, or it can be mounted on the positioning mechanism 310 via a rotary joint 340. The rotary joint 340 is used to drive the base 325 to rotate, increasing the degree of freedom of the robot arm 320. In the illustrated embodiment, the rotary joint 340 is used to drive the base 325 to rotate about the width direction Y.

[0090] Specifically, the robotic arm 320 also includes a force sensor 350, which is mounted on the moving platform 321. The second gripper 330 is mounted on the sensing end of the force sensor 350. The force sensor 350 is used to acquire the sampling force so as to control the translation or rotation amplitude of the swab 10.

[0091] In some embodiments, the housing 100 is provided with an opening and closing plate for closing or opening the sampling port 114. Specifically, the opening and closing plate opens and closes automatically under the action of a driving member. During sampling, the opening and closing plate opens the sampling port 114, and after sampling, it closes the sampling port 114 to prevent external aerosols from entering the swab chamber 112.

[0092] In one possible example, combining Figure 8The robot also includes an isolation component 150, which is mounted on the outside of the housing 100. The isolation component 150 has a detection port 151 located in front of the sampling port 114. The detection port 151 and the sampling port 114 are connected and form an isolation gap. In this way, the person being sampled is located in front of the detection port 151, and the isolation component 150 separates the person being sampled from the swab chamber 112, preventing the swab chamber 112 from being contaminated by the external environment.

[0093] Specifically, in combination Figure 8 The robot also includes a disinfection arm 830, which is installed on the isolation assembly 150. The disinfection arm 830 is used to disinfect the area where the detection port 151 is located. After each sampling is completed or before each sampling is started, the disinfection arm 830 moves across the detection port 151 to disinfect the area where the detection port 151 is located, thereby improving the safety of use.

[0094] Optionally, the disinfection arm 830 has a nozzle for spraying disinfectant liquid. The robot also includes a drive mechanism for actuating the movement of the disinfection arm 830. The disinfection arm 830 is a scraper that scrapes across the detection port 151.

[0095] Specifically, the isolation component 150 and the housing 100 are integrally formed.

[0096] In some embodiments, combined with Figure 5 and Figure 8 The robot also includes a tray 170, located below and in front of the sampling port 114. The tray 170 is used to support the sampled subject, such as the chin. Figure 5 In the illustrated embodiment, the tray 170 has a support position 171, which is specifically a support hole. The support position 171 is used for positioning the sampled person.

[0097] Specifically, the pallet 170 is mounted on the housing 100 in a height-adjustable manner to adjust the positioning height.

[0098] In one embodiment, combined Figure 8 When the robot includes the isolation assembly 150, the tray 170 is disposed on the isolation assembly 150, located below the front side of the detection port 151. In the illustrated embodiment, the isolation assembly 150 has a telescopic opening 152 located below the detection port 151, and the tray 170 can be telescopically stored within the isolation assembly 150.

[0099] Please return to the reference. Figure 6A second partition 140 is provided in the test tube operating cavity 120. Optionally, the second partition 140 is a baffle. The second partition 140 divides the test tube operating cavity 120 into a test tube storage chamber 121 and a specimen storage chamber 122, and a second channel 123 is formed between one end of the second partition 140 and the cavity wall of the test tube operating cavity 120. Figure 11 The second channel 123 connects the test tube storage chamber 121 and the specimen storage chamber 122. The test tube storage chamber 121 is connected to the swab chamber 112 through the sample delivery port 115.

[0100] Combination Figure 10 The swab chamber 112 also has a sample delivery port 115, which connects the swab chamber 112 and the test tube storage chamber 121. A first transfer mechanism 400 is installed in the swab chamber 112. After the first operating mechanism 300 has finished collecting the swab 10, the first transfer mechanism 400 retrieves the sampled swab 10 from the first operating mechanism 300 and delivers it through the sample delivery port 115 to the test tube storage chamber 121. The first transfer mechanism 400 is used to transfer the swab 10 between the swab chamber 112 and the test tube storage chamber 121. The first transfer mechanism 400 is only located in the swab chamber 112 and will not come into contact with the clean swab 10 and test tube 20, further reducing the risk of internal cross-infection.

[0101] Specifically, the first transfer mechanism 400 includes a first translation drive assembly 410 and a first rotation drive assembly 420. The first rotation drive assembly 420 is mounted on the first translation drive assembly 410. The first rotation assembly is used to grip the swab 10 from the first operating mechanism 300 and rotate the swab 10 so that the tip of the swab 10 faces the sample delivery port 115. The first translation drive assembly 410 is mounted on the swab chamber 112 and is used to drive the first rotation drive assembly 420 and the swab 10 to move toward the plane near the sample delivery port 115, so that the swab 10 enters the test tube storage chamber 121 through the sampling port 114. In the illustrated embodiment, the angle between the planes of the sampling port 114 and the sample delivery port 115 is 90°, and the first rotation drive assembly 420 is used to drive the swab 10 to rotate 90°. The rotation axis of the first rotation drive assembly 420 is consistent with the left-right direction Y of the robot. The first translation drive component 410 drives the first rotation component to reciprocate along the lifting direction Z.

[0102] Specifically, the first rotary drive assembly 420 includes a first rotating member and a first clamp 422. The first clamp 422 is used to grip the middle part of the swab 10. The first clamp 422 is mounted on the output end of the first rotary drive assembly 421. The first rotating member is mounted on the first translation drive assembly 410 and is used to drive the first clamp 422 and the swab 10 to rotate, so that the tip of the swab 10 rotates from the sampling port 114 to the sample delivery port 115. The first translation drive assembly 410 is connected to the first rotary drive assembly 421 to drive the first rotary drive assembly 421 to translate towards or away from the sample delivery port 115.

[0103] Combination Figure 6 A test tube storage mechanism 500 is placed in a test tube storage chamber 121, and is used to store several test tubes 20. A specimen storage mechanism 600 is placed in a specimen storage chamber 122. Optionally, both the test tube storage mechanism 500 and the specimen storage mechanism 600 are material boxes, which can hold multiple test tubes 20. The material box has tube slots arranged in a matrix for inserting the test tubes 20. Figure 4 In the illustrated embodiment, the test tube storage chamber 121 has a placement window 128 for communication with the outside, allowing the test tube storage mechanism 500 to enter and exit the test tube storage chamber 121. The specimen storage chamber 122 has a retrieval window 129 for communication with the outside, allowing the specimen storage mechanism 600 to enter and exit the specimen storage chamber 122.

[0104] In one embodiment, the test tube storage chamber 121 is located directly below the swab chamber 112 so that the swab 10 can be transferred from the swab chamber 112 to the test tube storage chamber 121 through the sample delivery port 115.

[0105] In one embodiment, the swab storage chamber 111 is located directly above the specimen storage chamber 122 to make the interior space of the housing 100 compact.

[0106] Combination Figure 12 The second operating mechanism 700 is installed in the test tube operating chamber 120. The second operating mechanism 700 is used to clamp the test tube 20 in the test tube storage mechanism 500 so that the test tube 20 receives the specimen of the swab 10 on the first transfer mechanism 400, and places the test tube 20 into the specimen storage mechanism 600 through the second channel 123. When the first transfer mechanism 400 delivers the sampled swab 10 to the test tube storage chamber 121, the second operating mechanism 700 clamps the clean test tube 20 from the test tube storage mechanism 500, aligns the test tube 20 with the sample delivery port 115, and after the test tube 20 is absorbed into the swab 10, it reaches the specimen storage chamber 122 through the second channel 123 and is stored in the specimen storage mechanism 600.

[0107] In some pooled testing scenarios, one test tube 20 can be used to hold 5 or 10 specimens. Therefore, the second operating mechanism 700 picks up a single test tube 20, receives the preset number of specimens, and then stores them in the specimen storage mechanism 600.

[0108] In some application scenarios, the tube opening of the test tube 20 is not capped, and the second operating mechanism 700 does not need to open or close the cap.

[0109] In some usage scenarios, the second operating mechanism 700 needs to open and close the pipe cover.

[0110] Specifically, in combination Figure 11 and Figure 12 The second operating mechanism 700 includes a first clamping mechanism 710, a cover operating mechanism 720, a second transfer mechanism 730, and a second clamping mechanism 740.

[0111] A first gripping mechanism 710 is installed in the test tube storage chamber 121. The first gripping mechanism 710 is used to grip a single test tube 20 from the test tube storage mechanism 500 and transport it to the second transfer mechanism 730. Specifically, the first gripping mechanism 710 includes a first guide rod 711, a second guide rod 712, and a third guide rod 713. The first guide rod 711 is installed in the test tube storage chamber 121, the second guide rod 712 is slidably disposed on the first guide rod 711, and the third guide rod 713 is slidably disposed on the third guide rod 713. A clamp for gripping the test tube 20 is installed on the third guide rod 713, and the clamp can slide along the direction of the third guide rod 713. Thus, the first gripping mechanism 710 has three translational degrees of freedom, enabling it to grip and transport the test tube 20 within the test tube storage chamber 121, thereby transferring the test tube 20 from the test tube storage mechanism 500 to the second transfer mechanism 730.

[0112] In the illustrated embodiment, the first guide rod 711 is arranged along the robot's front-to-back direction X, the second guide rod 712 is arranged along the lifting direction Z, and the third guide rod 713 is arranged along the robot's left-to-right direction Y. The first gripping mechanism 710 also includes a drive member for driving the second guide rod 712, the third guide rod 713, and the gripper slidably disposed on the third guide rod 713.

[0113] Combination Figure 11 A capping mechanism 720 is installed in the test tube storage chamber 121. The capping mechanism 720 is used to open and close the cap of the test tube 20. The capping mechanism 720 can open the cap to allow the specimen to be placed into the test tube 20 and close the cap to prevent the specimen in the test tube 20 from being contaminated.

[0114] Specifically, the cap operating mechanism 720 includes a third rotary drive assembly 721, a second translational drive assembly 722, and a fourth rotary drive assembly 723. The third rotary drive assembly 721 is used to clamp and rotate the tube cap to open or close it. The third rotary drive assembly 721 is mounted on the second translational drive assembly 722, which drives the third rotary assembly to move up and down in the vertical direction Z. The fourth rotary drive assembly 723 drives the second translational drive assembly 722 to rotate and is mounted in the test tube storage chamber 121. In the illustrated embodiment, the rotation axis of the third rotary drive assembly 721 and the fourth rotary drive assembly 723 is in the vertical direction Z.

[0115] When the first clamping mechanism 710 places the test tube 20 onto the second transfer mechanism 730, the fourth rotary drive assembly 723 drives the second translation drive assembly 722 and the third rotary drive assembly 721 to rotate, so that the third rotary drive assembly 721 rotates to be directly above the test tube 20 located on the second transfer mechanism 730. The second translation drive assembly 722 drives the third rotary drive assembly 721 to move down to clamp the cap of the test tube 20. Then, the third rotary drive assembly 721 rotates the cap, thereby opening the test tube 20, and moves up under the drive of the second translation drive assembly 722, and moves away from directly above the test tube 20 under the drive of the fourth rotary drive assembly 723. After the test tube 20 is filled with a preset number of specimens, the fourth rotary drive assembly 723 returns to above the test tube 20 and closes the cap.

[0116] Combination Figure 12 The second transfer mechanism 730 is used to receive the test tube 20 and move it between the test tube storage chamber 121 and the specimen storage chamber 122 via the second channel 123. The second transfer mechanism 730 is used to transfer the test tube 20 between the test tube storage chamber 121 and the specimen storage chamber 122 without contacting the specimen, thus preventing cross-infection.

[0117] Specifically, see Figure 12The second channel 123 has a first position 126 and a second position 127. The height of the first position 126 is less than the height of the second position 127. The second transfer mechanism 730 includes a rotating part 731 and a connecting rod 732. The rotating part 731 is rotatably disposed on the bottom wall of the second channel 123. One end of the connecting rod 732 is connected to the rotating part 731. The connecting rod 732 has a station 733 for vertically placing the test tube 20. The station 733 rotates with the rotating part 731, passing through the first position 126 and the second position 127. The first position 126 only allows the station 733 to rotate through, and the test tube 20 cannot pass through the first position 126. The height of the second position 127 allows the test tube 20, which is vertically disposed at the station 733, to pass through. Thus, after the first clamping mechanism 710 places the test tube 20 onto the workstation 733 and the first transfer mechanism 400 places the specimen inside the test tube 20, the workstation 733 can only enter the specimen storage chamber 122 via the second position 127. When the test tube 20 at the workstation 733 is removed by the second clamping mechanism 740, the workstation 733 can return to the test tube storage chamber 121 via the first position 126. In other words, the second channel 123 restricts the orderly unidirectional rotation of the second transfer mechanism 730, while ensuring that the test tube 20 must be removed by the second clamping mechanism 740 before it can return to the test tube storage chamber 121 via the first position 126.

[0118] In the illustrated embodiment, the rotating part 731 rotates about the vertical direction Z. The end of the connecting rod 732 has a station 733. The station 733 is specifically a groove for placing the test tube 20. There are multiple connecting rods 732, which are evenly spaced around the rotating part 731 in the circumference, enabling continuous operation and improving sampling efficiency. For example, combined with... Figure 12 There are four connecting rods 732 and four workstations 733. One workstation 733 is located in the specimen storage chamber 122 for the second clamping mechanism 740 to clamp the test tube 20 on the workstation 733. Another workstation 733 is located in the test tube storage chamber 121 for the first clamping mechanism 710 to place the test tube 20. The remaining two workstations 733 may be located between the test tube storage chamber 121 and the specimen storage chamber 122. Alternatively, the test tube 20 at one workstation 733 may be used for the capping operation mechanism 720 to open and close the cap or for the first transfer mechanism 400 to place the specimen, while the other workstation 733 may be used for transfer.

[0119] Combination Figure 12 The second gripping mechanism 740 is installed in the specimen storage chamber 122. The second gripping mechanism 740 is used to grip the test tube 20 on the second transfer mechanism 730 and place it into the specimen storage mechanism 600. It can be understood that the specific structure of the second gripping mechanism 740 can be the same as that of the first gripping mechanism 710, and will not be described in detail here.

[0120] In some applications, the swab 10 can be placed entirely inside the test tube 20, and the second operating mechanism 700 does not need to cut off the tip of the swab 10.

[0121] In some applications, the tip of the swab 10 is cut off and stored inside the test tube 20, so the test tube 20 does not need to contain the entire swab 10, thus reducing the height and volume of the test tube 20. In this case, the test tube storage chamber 121 is located below the swab working chamber 112, and the second transfer mechanism 730 can transfer the test tube 20 to directly below the sample delivery port 115.

[0122] Specifically, in combination Figure 11 The second operating mechanism 700 also includes a cutting mechanism 750, which is movably installed in the test tube storage chamber 121. The cutting mechanism 750 can be moved directly below the sample delivery port 115 and cut off the tip of the swab 10 held by the first transfer mechanism 400 so that the tip of the swab 10 falls into the test tube 20 in the second transfer mechanism 730.

[0123] Optionally, combined Figure 11 The cutting mechanism 750 includes a cutter 751 and a fifth rotary drive assembly 752. The fifth rotary drive assembly 752 is installed in the test tube storage chamber 121. The movable end of the fifth rotary drive assembly 752 is connected to the cutter 751, which drives the cutter 751 to rotate and pass directly below the sample delivery port 115 to cut off the tip of the swab 10, causing the tip of the swab 10 to fall into the test tube 20 located directly below the sampling port 114. At this time, the tube operating mechanism then closes the tube cap.

[0124] In order to collect the swabs 10 with the severed ends, in some embodiments, combined with Figure 10 and Figure 11 The housing 100 also has a waste chamber located below the test tube storage chamber 121. The test tube storage chamber 121 has a first waste port 124 communicating with the swab chamber 112 and a second waste port 125 communicating with the waste chamber, the second waste port 125 being located directly below the first waste port 124. The first transfer mechanism 400 is also used to rotate the swab 10 from above the sample delivery port 115 to above the first waste port 124, the first transfer mechanism 400 releasing the cut swab 10 so that the swab 10 falls into the waste chamber sequentially through the first waste port 124 and the second waste port 125.

[0125] Specifically, in combination Figure 10 The first transfer mechanism 400 also includes a second rotation drive assembly for driving the first translation drive assembly 410 to rotate, so that the swab 10 rotates from the sample delivery port 115 to the first waste port 124.

[0126] Specifically, in combination Figure 10The first waste port 124 is located on the side of the sample delivery port 115 away from the first separator 130, so that the waste swab 10 is away from the first separator 130 and the clean swab 10.

[0127] It is understood that in other embodiments, the housing 100 does not need to have a first waste port 124 and a second waste port 125. The test tube storage chamber 121 has a third waste port located directly below the sample delivery port 115, so that the discarded swab 10 can fall into the waste chamber by passing through the sample delivery port 115 and the third waste port in sequence.

[0128] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A biological specimen sampling robot, characterized in that: The biological specimen sampling robot includes: The housing has a swab operation chamber and a test tube operation chamber. A first partition is provided in the swab operation chamber, dividing it into a swab storage chamber and a swab working chamber. One end of the first partition forms a first channel with the chamber wall of the swab operation chamber. The swab operation chamber has a sampling port and a sample delivery port. The sampling port connects the swab working chamber to the outside of the housing. A second partition is provided in the test tube operation chamber, dividing it into a test tube storage chamber and a specimen storage chamber. One end of the second partition forms a second channel with the chamber wall of the test tube operation chamber. The test tube storage chamber communicates with the swab working chamber through the sample delivery port. A swab storage mechanism is installed in the swab storage chamber and is used to store a plurality of swabs; A first operating mechanism is installed in the swab operating chamber. The first operating mechanism is used to pick up a single swab from the swab storage mechanism and sample the swab through the first channel and the sampling port. A first transfer mechanism is installed in the swab chamber. The first transfer mechanism is used to obtain the sampled swab from the first operating mechanism and send the swab to the test tube storage chamber through the sample delivery port. A test tube storage mechanism is placed in the test tube storage room and is used to store a number of test tubes; A specimen storage facility, wherein the specimen storage facility is placed in the specimen storage room; The second operating mechanism is installed in the test tube operating cavity. The second operating mechanism is used to clamp the test tube in the test tube storage mechanism so that the test tube receives the swab specimen on the first transfer mechanism and places the test tube into the specimen storage mechanism through the second channel. The second operating mechanism includes a first clamping mechanism, a cap operating mechanism, a second transfer mechanism, and a second clamping mechanism. The second transfer mechanism is used to receive the test tube and move it between the test tube storage chamber and the specimen storage chamber via the second channel; The first gripping mechanism is installed in the test tube storage chamber and is used to grip a single test tube from the test tube storage chamber and transport it to the second transfer mechanism; The cap operating mechanism is installed in the test tube storage chamber, and the cap operating mechanism is used to open and close the cap of the test tube; The second clamping mechanism is installed in the specimen storage chamber. The second clamping mechanism is used to clamp the test tube on the second transfer mechanism and place it into the specimen storage mechanism. The second channel has a first position and a second position, the height of the first position is less than the height of the second position, the second transfer mechanism includes a rotating part and a connecting rod, the rotating part is rotatably disposed on the bottom wall of the second channel, one end of the connecting rod is connected to the rotating part, the connecting rod has a station for vertically placing the test tube, the station rotates with the rotating part through the first position and the second position, the first position only allows the station to rotate through, and the height of the second position allows the test tube vertically disposed at the station to pass through; The biological specimen sampling robot also includes an isolation component, which is installed on the outside of the housing. The isolation component has a detection port that corresponds to the sampling port. The detection port is located in front of the sampling port, and the detection port and the sampling port are connected and form an isolation interval. The biological specimen sampling robot also includes a disinfection arm, which is installed on the isolation component and is used to disinfect the area where the detection port is located.

2. The biological specimen sampling robot according to claim 1, characterized in that: The swab storage mechanism includes a storage rack and several sleeves. The storage rack is installed in the swab storage chamber, and the several sleeves are installed in the storage rack. The sleeves are used to hold the swabs. The length of the sleeve is less than the length of the swab, so that the end of the swab protrudes from the sleeve.

3. The biological specimen sampling robot according to claim 1, characterized in that: The swab storage mechanism, the first separator, and the sampling port are located on the front side of the housing; The first separator is larger in the front-rear direction of the housing than the swab storage mechanism is in the front-rear direction of the housing.

4. The biological specimen sampling robot according to claim 1, characterized in that: The first operating mechanism includes a positioning mechanism and a robotic arm. The positioning mechanism is installed in the swab operating chamber and connected to the robotic arm. The positioning mechanism is used to drive the robotic arm to translate along the direction from the swab storage chamber to the swab working chamber. The positioning mechanism is also used to drive the robotic arm to translate towards and away from the plane where the sampling port is located. The positioning mechanism is also used to drive the robotic arm to rise and fall. The robotic arm is used to grip the swab and to rotate the swab.

5. The biological specimen sampling robot according to claim 1, characterized in that: The first transfer mechanism includes a first translation drive assembly and a first rotation drive assembly. The first rotation drive assembly includes a first rotation drive member and a first clamp. The first clamp is used to grip the swab. The first clamp is installed at the output end of the first rotation drive member. The first rotation drive member is used to drive the first clamp and the swab to rotate so that the tip of the swab rotates from the sampling port to the sample delivery port. The first translation drive assembly is connected to the first rotation drive member to drive the first rotation drive member to translate towards or away from the sample delivery port. The first translation drive assembly is installed in the swab working chamber.

6. The biological specimen sampling robot according to claim 1, characterized in that: The swab preparation chamber is located directly above the test tube storage chamber; The second transfer mechanism can transfer the test tube to directly below the sample inlet; the second operating mechanism also includes a cutting mechanism, which is movably installed in the test tube storage chamber. The cutting mechanism can be moved to directly below the sample inlet and cut off the tip of the swab held by the first transfer mechanism so that the tip of the swab falls into the test tube in the second transfer mechanism. The housing also has a waste chamber located below the test tube storage chamber; The test tube storage chamber has a first waste port communicating with the swab chamber and a second waste port communicating with the waste cavity, the second waste port being located directly below the first waste port; the first transfer mechanism is also used to rotate the swab from above the sample delivery port to above the first waste port; The first waste outlet is located on the side of the sample delivery outlet away from the first separator.

7. The biological specimen sampling robot according to any one of claims 1 to 6, characterized in that: The swab operating chamber and the test tube operating chamber are arranged vertically; the swab storage chamber is located directly above the specimen storage chamber; The test tube storage chamber has a placement window for communicating with the outside, and the placement window is used for the test tube storage mechanism to enter and exit the test tube storage chamber; The specimen storage chamber has a retrieval window for communicating with the outside, and the retrieval window is used for the specimen storage mechanism to enter and exit the specimen storage chamber; The biological specimen sampling robot also includes a lifting mechanism, which is connected to the housing and is used to drive the housing to move up and down. The biological specimen sampling robot also includes a mobile chassis, which is installed at the bottom of the housing; the outer wall of the housing is connected to a handrail.

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