A nucleic acid robot-based swab delivery and carrier device reuse system

Abstract

The present invention discloses a reuse system for a cotton swab delivery and loading device based on a nucleic acid robot, comprising a loading box capable of clamping cotton swabs, a lifting table device capable of moving back and forth, a storage locker, a thrust device, an optical sensor, a counting system, and a cutting device for the outer packaging of cotton swabs. Through the counting system, it is confirmed whether a box of cotton swabs has been used up; once used up, through the cross-application of the functions of the lifting table, the thrust device, and the optical sensor, the function of recycling the used-up cotton swab loading box and delivering a new loading box containing cotton swabs is realized. The present invention effectively ensures the full automation of the nucleic acid robot. At the same time, compared with the old function of only delivering one unpacked cotton swab each time, the present invention better improves the working efficiency of the robot, reduces the working complexity of the robot, and at the same time improves the safety and cleanliness of the cotton swabs.

Description

Technical Field

[0001] The present invention relates to a system for reusing a cotton swab delivery and carrying device based on a nucleic acid robot, belonging to the technical field of medical devices. Background Art

[0002] For nucleic acid collection, in most cases, it is manually sampled. However, manual sampling has problems such as inaccurate sampling positions, long sampling times, extremely high consumption of human and material resources, and the easy transmission of the sampled person to the sampler. Therefore, nucleic acid sampling robots have emerged. For a nucleic acid robot to work, it has to store enough cotton swabs and utilize them. However, the current nucleic acid sampling robots on the market have the following problems:

[0003] (1) Most of the cotton swabs stored in the current nucleic acid sampling robots on the market have their outer packaging bags removed, which affects the safety and cleanliness of the cotton swabs;

[0004] (2) On the cotton swab delivery box, the cotton swabs are placed on the conveyor belt and driven to be conveyed under the action of a vibration motor. When the vibration intensity and frequency of the vibration motor are too small, the cotton swabs do not move and cannot be transported to the grasping location of the robotic arm. When the vibration intensity and frequency are too large, the cotton swabs are prone to jamming, damage, etc. during transportation;

[0005] (3) The cotton swab conveyance of most nucleic acid sampling robots is one by one, that is, one cotton swab is conveyed for each nucleic acid test, with low efficiency and higher power consumption. Summary of the Invention

[0006] In view of the problems existing in the above-mentioned prior art, the present invention provides a system for reusing a cotton swab delivery and carrying device based on a nucleic acid robot, so as to solve the above technical problems.

[0007] To achieve the above object, the technical solution adopted by the present invention is: A system for reusing a cotton swab delivery and carrying device based on a nucleic acid robot, comprising an empty storage cabinet, a carrying storage cabinet, a carrying box capable of clamping the cotton swab packaging bag, and a lifting platform device capable of moving forward, backward, up and down for transporting the carrying box;

[0008] A plurality of cavity chambers are provided in the empty storage cabinet, and an optical sensor for identifying whether the cotton swab storage cabinet is equipped with a carrying box is provided on the inner wall of the cavity chamber;

[0009] A placement chamber for placing the carrying box is provided in the carrying storage cabinet, which is arranged corresponding to the number and position of the cavity chambers of the empty storage cabinet. A pushing device for pushing out the carrying box is provided in this chamber;

[0010] The pushing device includes a push rod and a push rod power unit connected to the push rod; the pushing device is arranged in the rear chamber inside the carrying storage cabinet;

[0011] The lift table device is located between the empty storage lockers and the load-bearing storage lockers, and it includes a bottom slide rail and a slider located on the bottom slide rail; a scissor lift platform is arranged on the slider; the scissor lift platform is driven by hydraulic pressure to control its ascent or descent; the slider is controlled by a servo control unit to slide left and right; the servo control unit is connected to the total control module; the total control module is used for intelligent control, information feedback and processing of the entire device;

[0012] A cotton swab outer packaging unified cutting device is arranged on the scissor lift platform; the cotton swab outer packaging unified cutting device includes connecting columns on both left and right sides and a cutting blade located between the left and right connecting columns; the connecting seat where the cutting blade is located is connected to a control unit, and this control unit is used to provide power and cut the bag mouth of the cotton swab outer packaging;

[0013] A robotic arm for clamping cotton swabs is arranged on the load-bearing storage locker.

[0014] Further, it also includes a counting module; this module is used to count the number of cotton swabs in the loading box. The counting module is connected to the main control module. During the nucleic acid testing process, whenever a cotton swab is taken out from the loading box, the counting system will add 1. Until it adds up to 30, that is, when all the cotton swabs in a loading box are taken out, the counting system will return to 0 from 30, waiting to count again after the cotton swabs in the next loading box are used. At the same time, the lift table starts to operate.

[0015] Further, the optical sensor is installed at the rear of each storage locker on the side of each empty storage locker. By judging the light intensity in the storage locker, it can distinguish whether the empty storage locker has completed the recycling of the loading box.

[0016] Further, the lift table device controls its forward and backward movement and up and down lifting through the optical sensor and the main control module, so as to stop in front of the storage locker where the recycling of the loading box has not been completed, and the tabletop of the scissor lift platform is coplanar with the bottom surface of the storage locker.

[0017] Further, the tabletop of the scissor lift platform of the lift table device is made of alloy with high hardness. The lift ladder below the tabletop and the front and rear moving sliders at the bottom are all powered on and have built-in wires to control the forward and backward movement and up and down lifting of the lift table.

[0018] Further, the loading box is a single-layer loading box body, which contains 30 compartments for placing cotton swabs; the head end of the cotton swab is located at the inner side of the compartment.

[0019] Further, the optical sensor is installed at the rear of the inner cavity of each empty storage locker. When the detected light intensity is weak, the value returned by the optical sensor to the total control module is 0, indicating that the storage locker is occupied, i.e., the recycling of the old carrier box in this storage locker has been completed; conversely, when the value returned by the optical sensor to the control system is 1, it is considered that the storage locker at this location is still empty and unused.

[0020] Further, the total control module, the lifting platform device, the empty storage lockers, and the storage lockers for carrying are all points in the corresponding 0-xy two-dimensional coordinate system established in the real space and the control system. The control system randomly selects one of the coordinates with a returned value of 1 from the values returned by the optical sensor, and matches it with the coordinate of the lifting platform device, and then controls the lifting platform to change its coordinate in the control system to be the same as the coordinate of the given storage locker, that is, changes the position of the lifting platform in the real space to be the same as the coordinate of the given storage locker in the real space.

[0021] Further, at the clamping position at the end of the robotic arm, there is an outward-extending pipe opening, and the cotton swab stick is clamped by the internal device of the robotic arm through the pipe opening.

[0022] Further, the system method includes the following steps. Step 1: First, the device is turned on. At this time, according to whether each empty storage locker is occupied as transmitted by each optical sensor 6, when the detected light intensity is weak, the value returned by the optical sensor 6 to the total control module is 0, indicating that the storage locker is occupied, i.e., the recycling of the old carrier box in this storage locker has been completed; conversely, the value returned by the optical sensor 6 to the total control module is 1, indicating that the storage locker at this location is still an empty storage locker and is not in use.

[0023] Step 2: The total control module randomly selects one of the coordinates with a returned value of 1 from the values returned by the optical sensor 6, and matches it with the coordinate of the lifting platform device 4, and then controls the lifting platform device 4 to change its coordinate in the control system to be the same as the coordinate of the given storage locker through power, that is, changes the position of the lifting platform in the real space to be the same as the coordinate of the given storage locker in the real space.

[0024] Step 3: After the lifting platform device 4 reaches the appropriate coordinate position, after waiting for a few seconds when the coordinates of the empty storage locker match the coordinates of the lifting platform, the pushing device 5 is activated to push the new carrier box 3 into the lifting platform and indirectly push the old carrier box into the empty storage locker.

[0025] Step 4: The unified incision device 8 for the outer packaging bag of the cotton swab is located above the side of the loading box 3 on the lifting table device 4 where the cotton swabs are inserted. When a new loading box 3 is placed on the lifting table and it has come to a stop, the cutting blade is quickly moved downward under the control of the system to cut a slit in the outer packaging bag. This slit is located at a small distance beside the cotton swab stick, making the slit large enough to allow the robotic arm 7 to pick it up;

[0026] Step 5: After the unified incision device 8 for the outer packaging bag of the cotton swab has finished cutting, the robotic arm 7 then starts to work and picks up the cotton swabs one by one. The counting system is set under the main system of the robot. During the nucleic acid testing process, every time a cotton swab is taken out from the loading box, the counting system will add 1 until it reaches 30, that is, when all the cotton swabs in a loading box have been taken out, the counting system resets to 0 and waits to count again after the cotton swabs in the next loading box have been used. At the same time, the lifting table starts to operate and moves to the next coordinate point.

[0027] The beneficial effects of a cotton swab delivery and loading device reuse system based on a nucleic acid robot of the present invention are as follows:

[0028] 1. Through this system, it is possible to achieve fully automated nucleic acid testing without manual intervention for a long period of time, which can ensure that cross-infection between patients and medical staff does not occur, improve safety, and at the same time reduce labor costs and alleviate the problem of insufficient human resources.

[0029] 2. Through the loading of cotton swabs by the loading box, it is possible to deliver as many cotton swabs as possible to the working table of the robotic arm during each transportation. Compared with the previous situation of delivering one cotton swab at a time and continuously delivering cotton swabs during work, this invention reduces the power cost and at the same time reduces the workload of the machine during operation.

[0030] 3. Through the optical sensor, it is possible to accurately identify which storage locker is empty and can park the used loading boxes. Through the cooperation of the thrust device, the lifting table, and the optical sensor, it is possible to smoothly and integrally recycle the old loading boxes and deliver the new loading boxes, improving work efficiency.

[0031] 4. By having a small section of pipe outside the robotic arm, it is convenient to pick up the cotton swab stick. Through the internal device of the robotic arm to tightly hold the cotton swab stick, it can prevent the cotton swab stick from slipping, which all helps to improve the efficiency and safety of the robot during nucleic acid sampling. Description of the Drawings

[0032] Figure 1 is a schematic structural diagram of the present invention;

[0033] Figure 2 is a schematic structural diagram of one side of the loading storage locker of the present invention;

[0034] Figure 3 For the present invention Figure 2 Schematic enlarged view of structure A in

[0035] Figure 4 Schematic structural view of one side of an empty storage locker of the present invention;

[0036] Figure 5 For the present invention Figure 4 Schematic enlarged view of structure B in

[0037] Figure 6 Schematic structural view of the carrier box of the present invention;

[0038] Figure 7 Schematic structural view of the carrier box of the present invention installed on the lifting table device.

[0039] In the figure: 1, empty storage locker; 2, carrier storage locker; 3, carrier box; 4, lifting table device; 41, bottom slide rail; 42, slider; 43, scissor lift platform; 5, pushing device; 51, push rod; 6, optical sensor; 7, robotic arm; 8, unified cutting device for outer packaging of cotton swabs; 81, connecting column; 82, cutting blade. Embodiment

[0040] To make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. However, it should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the scope of the present invention.

[0041] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs. The terms used in the description of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0042] As Figures 1-6 shown, a cotton swab delivery and carrier device reuse system based on a nucleic acid robot includes an empty storage locker 1, a carrier storage locker 2, a carrier box 3 capable of clamping the cotton swab packaging bag, and a lifting table device 4 that can move back and forth and up and down for transporting the carrier box 3;

[0043] The empty storage locker 1 is provided with a plurality of cavity chambers, and an optical sensor 6 for identifying whether the carrier storage locker 2 is equipped with the carrier box 3 is arranged on the inner wall of the cavity chamber;

[0044] The carrier storage locker 2 is provided with placement chambers for placing the carrier box 3 arranged corresponding to the number and positions of the cavity chambers of the empty storage locker 1, and a pushing device 5 for pushing out the carrier box 3 is arranged in the chamber;

[0045] The pushing device 5 includes a push rod 51 and a push rod power unit connected to the push rod 51; the pushing device 5 is arranged in the rear chamber inside the carrying storage locker 2;

[0046] The lifting platform device 4 is located between the empty storage locker 1 and the carrying storage locker 2, and it includes a bottom slide rail 41 and a slider 42 located on the bottom slide rail 41; a scissor lift platform 43 is arranged on the slider 42; the scissor lift platform 43 is driven by hydraulic pressure to control its ascent or descent; the slider 42 is controlled by a servo control unit to slide left and right; the servo control unit is connected to the total control module; the total control module is used for intelligent control, information feedback and processing of the entire device;

[0047] A cotton swab outer packaging unified cutting device 8 is arranged on the scissor lift platform 43; the cotton swab outer packaging unified cutting device 8 includes connecting columns 81 on the left and right sides and a cutting blade 82 located between the two connecting columns 81 on the left and right; the connecting seat where the cutting blade 82 is located is connected to a control unit, and this control unit is used to provide power and cut the bag mouth of the cotton swab outer packaging;

[0048] A robotic arm 7 for clamping cotton swabs is arranged on the carrying storage locker 2.

[0049] Preferably in this embodiment, it further includes a counting module; this module is used to count the number of cotton swabs in the carrying box 3, and the counting module is connected to the main control module. During the nucleic acid testing process, whenever a cotton swab is taken out from the carrying box, the counting system will add 1 until it reaches 30, that is, after all the cotton swabs in a carrying box are taken out, the counting system returns to 0 from 30, waiting to count the cotton swabs in the next carrying box after use, and at the same time, the lifting platform starts to operate.

[0050] Preferably in this embodiment, an optical sensor is installed at the rear of each storage locker on the side of each empty storage locker. By judging the light intensity in the storage locker, it is distinguished whether the empty storage locker has completed the recycling of the carrying box.

[0051] Preferably in this embodiment, the lifting platform device 4 is controlled to move forward and backward and up and down through the optical sensor and the main control module, so as to stop in front of the storage locker where the carrying box recycling has not been completed, and the tabletop of the scissor lift platform 43 is coplanar with the bottom surface of the storage locker cabinet.

[0052] Preferably in this embodiment, the tabletop of the scissor lift platform 43 of the lifting platform device 4 is made of alloy with high hardness. The lifting ladder below the tabletop and the front and rear moving sliders 42 at the bottom are all powered on and have built-in wires to control the forward and backward movement and the up and down movement of the lifting platform.

[0053] Preferably, in this embodiment, the carrier box 3 is a single-layer carrier box body, which includes 30 compartments for placing cotton swabs; the head ends of the cotton swabs are located at the inner side positions of the compartments.

[0054] Preferably, in this embodiment, the optical sensor 6 is installed at the rear of the inner cavity of each empty storage locker 1. When the detected light intensity is weak, the value returned by the optical sensor 6 to the total control module is 0, which means that the storage locker has been occupied, that is, the recycling of the old carrier box in this storage locker has been completed; conversely, when the value returned by the light sensor to the control system is 1, it is considered that the storage locker here is still blank and has not been used.

[0055] Preferably, in this embodiment, the total control module, the lifting platform device 4, the empty storage locker 1, and the loaded storage locker 2 are all points in the 0-xy two-dimensional coordinate system established in the real space and the control system corresponding to each other. According to the value returned by the optical sensor 6, the control system randomly selects one of the coordinates with the returned value of 1 and matches it with the coordinate of the lifting platform device 4, and then controls the lifting platform to change its coordinate in the control system to be the same as the coordinate of the given storage locker, that is, changes the position of the lifting platform in the real space to be the same as the coordinate of the given storage locker in the real space.

[0056] Preferably, in this embodiment, the robotic arm 7 is provided with an outward-extending pipe opening at the clamping position at its end, and the cotton swab stick is clamped by the internal device of the robotic arm through the pipe opening.

[0057] Working principle: It includes the following steps.

[0058] Step 1: First, the device is turned on. At this time, according to whether each empty storage locker is occupied as transmitted by each optical sensor 6, when the detected light intensity is weak, the value returned by the optical sensor 6 to the total control module is 0, which means that the storage locker has been occupied, that is, the recycling of the old carrier box in this storage locker has been completed; conversely, the value returned by the optical sensor 6 to the total control module is 1, which means that the storage locker here is still a blank storage locker and has not been used.

[0059] Step 2: The total control module randomly selects one of the coordinates with the returned value of 1 according to the value returned by the optical sensor 6 and matches it with the coordinate of the lifting platform device 4, and then controls the lifting platform device 4 to change its coordinate in the control system to be the same as the coordinate of the given storage locker through electric power, that is, changes the position of the lifting platform in the real space to be the same as the coordinate of the given storage locker in the real space.

[0060] Step 3: After the lifting platform device 4 reaches the appropriate coordinate position, after waiting for a few seconds when the coordinates of the blank storage locker match the coordinates of the lifting platform, the pushing device 5 is activated to push the new carrier box 3 into the lifting platform and indirectly push the old carrier box into the blank storage locker.

[0061] Step 4: The unified cutting device 8 for the outer packaging bag of the cotton swab is above the surface of the loading box 3 on the lifting table device 4 on the side where the cotton swab is inserted. When a new loading box 3 is placed on the lifting table and it has come to a stop, the cutter is quickly moved downward under the control of the system to cut a hole in the outer packaging bag. This hole is at a small distance beside the cotton swab stick, making the hole large enough to allow the robotic arm 7 to pick it up;

[0062] Step 5: After the unified cutting device 8 for the outer packaging bag of the cotton swab has finished cutting, the robotic arm 7 starts to work at this time and picks up the cotton swabs one by one. The counting system is set under the main system of the robot. During the nucleic acid testing process, every time a cotton swab is taken out from the loading box, the counting system will add 1 until it reaches 30, that is, when all the cotton swabs in a loading box have been taken out, the counting system returns from 30 to 0 and waits to count again after the cotton swabs in the next loading box are used. At the same time, the lifting table starts to operate and moves to the next coordinate point.

[0063] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, or improvements made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A system for reusing a cotton swab delivery and carrying device based on a nucleic acid robot, characterized in that, It includes an empty storage locker (1), a carrying storage locker (2), a carrying box (3) that can clamp the cotton swab packaging bag, and a lifting platform device (4) that can move back and forth, up and down for transporting the carrying box (3); Multiple cavity chambers are provided inside the empty storage locker (1), and an optical sensor (6) for identifying whether the carrying storage locker (2) is equipped with the carrying box (3) is arranged on the inner wall of the cavity chamber; The carrying storage locker (2) is internally provided with placement chambers for placing the carrying box (3) that are arranged corresponding to the number and positions of the cavity chambers of the empty storage locker (1), and a pushing device (5) for pushing out the carrying box (3) is arranged in the chambers; The pushing device (5) includes a push rod (51) and a push rod power unit connected to the push rod (51); the pushing device (5) is arranged in the rear chamber inside the carrying storage locker (2); The lifting platform device (4) is located between the empty storage locker (1) and the carrying storage locker (2), and it includes a bottom slide rail (41) and a slider (42) located on the bottom slide rail (41); a scissor lift platform (43) is arranged on the slider (42); the scissor lift platform (43) is driven hydraulically to control its rise or fall; the slider (42) is controlled to slide left and right by a servo control unit; the servo control unit is connected to the total control module; the total control module is used for intelligent control, information feedback and processing of the entire device; A unified cutting device (8) for the outer packaging of cotton swabs is arranged on the scissor lift platform (43); the unified cutting device (8) for the outer packaging of cotton swabs includes connecting columns (81) on the left and right sides and a cutting blade (82) located between the two connecting columns (81) on the left and right; the connecting seat where the cutting blade (82) is located is connected to a control unit, and this control unit is used to provide power and cut the mouth of the outer packaging bag of the cotton swab; A robotic arm (7) for clamping cotton swabs is arranged on the carrying storage locker (2).

2. The reuse system of a cotton swab delivery and carrying device based on a nucleic acid robot according to claim 1, wherein It also includes a counting module; this module is used to count the number of cotton swabs in the carrying box (3), and the counting module is connected to the main control module. During the nucleic acid testing process, whenever a cotton swab is taken out of the carrying box, the counting system will add 1 until it reaches 30, that is, when all the cotton swabs in a carrying box are taken out, the counting system returns to 0 from 30, waiting to count the cotton swabs in the next carrying box after use, and at the same time, the lifting platform starts to operate.

3. The reuse system of a cotton swab delivery and carrying device based on a nucleic acid robot according to claim 1, wherein The optical sensor is installed at the rear of each storage locker on the side of each empty storage locker. By judging the light intensity in the storage locker, it can distinguish whether the empty storage locker has completed the recycling of the carrying box.

4. A reuse system for a cotton swab delivery and carrying device based on a nucleic acid robot according to claim 1, characterized in that, The lifting platform device (4) controls its forward and backward movement and up and down lifting through the optical sensor and the main control module, so as to stop in front of the storage locker where the recycling of the carrying box has not been completed, and the surface of the scissor lift platform (43) is coplanar with the bottom surface of the storage locker cabinet.

5. A reuse system for a cotton swab delivery and carrying device based on a nucleic acid robot according to claim 1, characterized in that, The tabletop of the scissor lift platform (43) of the lift table device (4) is made of alloy with high hardness. The lift ladder below the tabletop and the front and rear moving sliders (42) at the bottom are all powered on and have built-in wires to control the front and rear movement and the up and down movement of the lift table.

6. The reuse system of a cotton swab delivery and carrying device based on a nucleic acid robot according to claim 1, wherein, The carrying box (3) is a single-layer carrying box body, which contains 30 compartments for placing cotton swabs; the head ends of the cotton swabs are located at the inner side positions of the compartments.

7. A reuse system for a cotton swab delivery and carrying device based on a nucleic acid robot according to claim 1, characterized in that, The optical sensor (6) is installed at the rear of the inner cavity of each empty storage locker (1). When the detected light intensity is weak, the value returned by the optical sensor (6) to the total control module is 0, which means that the storage locker is considered occupied, that is, the recycling of the old carrying box in this storage locker has been completed; conversely, the value returned by the light sensor to the control system is 1, which means that the storage locker is still a blank storage locker and has not been used.

8. A reuse system for a cotton swab delivery and carrying device based on a nucleic acid robot according to claim 1, characterized in that, The total control module, the lift table device (4), the empty storage locker (1), and the carrying storage locker (2) are all points in the 0-xy two-dimensional coordinate system established corresponding to each other in the real space and the control system. The control system randomly selects one of the coordinates with a returned value of 1 according to the value returned by the optical sensor (6), and matches it with the coordinates of the lift table device (4). Then it controls the lift table to change its coordinates in the control system to be the same as the coordinates of the given storage locker, that is, changes the position of the lift table in the real space to be the same as the coordinates of the given storage locker in the real space.

9. A reuse system for a cotton swab delivery and carrying device based on a nucleic acid robot according to claim 1, characterized in that, The manipulator (7) is provided with an outward-extending pipe opening at the clamping position at its end, and the cotton swab stick is clamped by the internal device of the manipulator through the pipe opening.

10. The method of a reuse system for a cotton swab delivery and carrying device based on a nucleic acid robot according to claim 1, characterized in that, It includes the following steps. Step 1: First, the device is started. At this time, according to whether each empty storage locker is occupied as transmitted by each optical sensor (6), when the detected light intensity is weak, the value returned by the optical sensor (6) to the total control module is 0, which means that the storage locker is considered occupied, that is, the recycling of the old carrying box in this storage locker has been completed; conversely, the value returned by the optical sensor (6) to the total control module is 1, which means that the storage locker is still an empty storage locker and has not been used. Step 2: The total control module randomly selects one of the coordinates with a returned value of 1 according to the value returned by the optical sensor (6), and matches it with the coordinates of the lift table device (4). Then it controls the lift table device (4) to change its coordinates in the control system to be the same as the coordinates of the given storage locker through electric power, that is, changes the position of the lift table in the real space to be the same as the coordinates of the given storage locker in the real space. Step 3: When the lift table device (4) reaches the appropriate coordinate position, after waiting for a few seconds when the coordinates of the blank storage locker match the coordinates of the lift table, the pushing device (5) is started to push the new carrying box (3) into the lift table and indirectly push the old carrying box into the blank storage locker. Step 4: The unified outer packaging cutting device (8) of the cotton swab is above the surface of the loading box (3) on the lifting table device (4) on the side where the cotton swab is inserted. When a new loading box (3) is placed on the lifting table and it has come to a stop, the cutter is quickly moved downward under the control of the system to cut a notch in the outer packaging. This notch is at a small distance beside the cotton swab stick, allowing the robotic arm (7) to pick it up. Step 5: After the unified outer packaging cutting device (8) of the cotton swab has finished cutting, the robotic arm (7) starts to work and picks up the cotton swabs one by one. The counting system is set under the main system of the robot. During the nucleic acid testing process, every time a cotton swab is taken out of the loading box, the counting system adds 1. When it reaches 30, that is, when all the cotton swabs in a loading box have been taken out, the counting system resets to 0 and waits to count the cotton swabs in the next loading box after use. Meanwhile, the lifting table starts to operate and moves to the next coordinate point.

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