Automatic oral swab collecting device

Abstract

The invention relates to the technical field of oral swab collection, in particular to an automatic oral swab collection device which comprises a manipulator assembly and a collection arm assembly. The manipulator assembly comprises a gantry module and a rotary manipulator, and the gantry module is connected with the rotary manipulator and used for driving the rotary manipulator to move transversely or vertically in a plane; the collecting arm assembly comprises a first linear module and a collecting manipulator, and the first linear module is connected with the collecting manipulator and used for driving the collecting manipulator to move in the direction perpendicular to the plane where the gantry module is located. The rotary manipulator is used for clamping a swab and moving the swab to a set position through the gantry module, the first linear module is used for driving the collection manipulator to a set position, the collection manipulator clamps the end part of the swab, the first linear module continuously drives the collection manipulator and the swab to move, and the swab is driven by the collection manipulator to collect a sample. No medical staff is needed, the structure is simple, the occupied space is small, and miniaturization design of products is facilitated.

Description

Technical Field

[0001] The present invention relates to the technical field of oral swab collection, and in particular to an automatic oral swab collection device. Background Art

[0002] The culture of the pharyngeal isthmus of a normal person should show normal oral flora, but no pathogenic bacteria. The bacteria in the pharynx are from the outside world and are not pathogenic under normal circumstances, but they can cause infection and lead to diseases when the body's systemic or local resistance is reduced or other external factors occur. Therefore, bacterial culture of pharyngeal swabs can isolate pathogenic bacteria, which is helpful for the diagnosis of diphtheria, purulent tonsillitis, acute pharyngitis, etc.

[0003] For large-scale virus testing, such as in hospitals, it is generally done manually by medical staff. During the collection process, medical staff need to wear strict clothing to avoid cross infection. In addition, large-scale collection operations make medical staff tired and there is a possibility of inaccurate testing.

[0004] To address the above problems, an oral swab automatic collection device can be used for automated collection, such as using a single or two large six-axis robotic arms for collection. The manufacturing cost of such an oral swab automatic collection device is high, and its size and weight are not conducive to large-scale deployment of oral swab automatic collection devices. Summary of the invention

[0005] In order to solve at least the above technical problems existing in the prior art, the present invention provides an automatic oral swab collection device.

[0006] On the one hand, the present invention provides an automatic oral swab collection device, comprising a robotic arm module, the robotic arm module comprising a robotic arm assembly and a collection arm assembly; the robotic arm assembly comprises a gantry module and a rotating manipulator, the gantry module is connected to the rotating manipulator, and is used to drive the rotating manipulator to move horizontally or vertically in a plane; the collection arm assembly comprises a first linear module and a collection manipulator, the first linear module is connected to the collection manipulator, and is used to drive the collection manipulator to move in a direction perpendicular to the surface where the gantry module is located; the rotating manipulator is used to clamp a swab and move the swab to a set position through the gantry module, the first linear module is used to drive the collection manipulator to the set position, the collection manipulator clamps the end of the swab, and the first linear module continues to drive the collection manipulator and the swab to move, and drives the swab to collect samples through the collection manipulator.

[0007] In some embodiments, the collection robot includes a clamping end, a connecting end and multiple groups of adjustable wire structures; the clamping end is used to connect the swab, the connecting end is connected to the first linear module, and the clamping end and the connecting end are movably connected; the adjustable wire structure includes a wire reel, a wire driving member and a wire body, the wire driving member is connected to the wire reel and is arranged at the connecting end, one end of the wire body is connected to the wire reel, and the other end is connected to the clamping end; by adjusting the length of multiple groups of the wire body, the direction of the clamping end is adjusted.

[0008] In some embodiments, a swab holder is also included, and the swab holder includes a fixed front frame, a fixed rear frame and a mounting plate; the fixed front frame and the fixed rear frame are parallel and spaced apart, and multiple layers of support strips are respectively arranged on opposite sides of the fixed front frame and the fixed rear frame along the height direction, and both ends of the swab are respectively mounted on the support strips, and the fixed front frame or the fixed rear frame is connected to the mounting plate; the swab holder is located on the moving path of the rotating manipulator, and the rotating manipulator moves between the fixed front frame and the fixed rear frame to clamp the swab.

[0009] In some embodiments, a support frame is further included, the support frame has a set height, the swab holder is snap-connected to the top end of the support frame; and the support frame includes a chamber, the chamber is provided with a control component, and the control button of the control component is located on the side wall of the support frame.

[0010] In some embodiments, a scissors assembly and a sampling bottle assembly are also included; the scissors assembly is located below the collection robot, the collection robot adjusts the collection end of the swab to be placed on the scissors assembly, and the scissors assembly is used to cut off the collection end; the sampling bottle assembly is located below the scissors assembly, and is used to receive the collection end cut by the scissors assembly.

[0011] In some embodiments, the scissors assembly includes a scissors bracket, a scissors mounting plate and a scissors drive; the scissors bracket has a set height, the scissors mounting plate is arranged at the top of the scissors bracket, and the scissors drive is connected to the scissors bracket through the scissors mounting plate.

[0012] In some embodiments, the sampling bottle assembly includes a bottle body fixing plate, a second linear module, a sampling bottle and a bottle cap holder; the bottom of the bottle body fixing plate is connected to the second linear module, a plurality of the sampling bottles are arranged on the bottle body fixing plate along the moving direction of the second linear module, and the bottle cap holders are respectively arranged on one side of each sampling bottle on the bottle body fixing plate, and a bottle cap is arranged on the bottle cap holder; the sampling bottle and the bottle cap holder are moved to the moving path of the rotating manipulator through the second linear module, and the rotating manipulator is used to clamp the bottle cap and screw it on the sampling bottle.

[0013] In some embodiments, the bottle body fixing plate includes a mounting groove and a locking knob; the bottom of the sampling bottle is arranged in the mounting groove, the side wall of the mounting groove is provided with a screw hole, one end of the locking knob is screwed into the mounting groove through the screw hole, and the sampling bottle in the mounting groove is tightened by the locking knob.

[0014] In some embodiments, an alcohol disinfection component is also included; the alcohol disinfection component is used to regularly spray and disinfect the environment where the manipulator component and the collection arm component are located.

[0015] In some embodiments, an ultraviolet disinfection component is also included; the ultraviolet disinfection component is used to irradiate ultraviolet rays to the environment where the manipulator component and the collection arm component are located.

[0016] The present invention provides an automatic oral swab collection device, which drives the rotating manipulator to move through the gantry module. When it moves to the position of the swab, the rotating manipulator clamps the swab and moves to the set position, which is the connection position between the swab and the collection manipulator. Subsequently, the first linear module drives the collection manipulator to move, the collection manipulator clamps the end of the swab, and the rotating manipulator separates from the swab. Finally, the first linear module drives the collection manipulator to continue to move, driving the swab to the collection position, and finally the collection manipulator drives the swab to rotate along the set arc, thereby completing the collection of samples. The technical solution of the present invention uses an automated moving method to complete the detection operation without the participation of medical staff, and the movement and collection operations of the swab are completed by the cooperation of the manipulator assembly and the collection arm assembly. It has a simple structure, occupies a small space, and is conducive to the miniaturization design of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and other objects, features and advantages of the exemplary embodiments of the present invention will become readily understood by reading the detailed description below with reference to the accompanying drawings. In the accompanying drawings, several embodiments of the present invention are shown in an exemplary and non-limiting manner, in which:

[0018] In the drawings, the same or corresponding reference numerals represent the same or corresponding parts.

[0019] Figure 1 A schematic diagram of the structure of an automatic oral swab collection device provided in an embodiment of the present invention;

[0020] Figure 2 A schematic diagram of the structure of a swab holder in the automatic oral swab collection device provided by an embodiment of the present invention;

[0021] Figure 3 A schematic diagram of the structure of a manipulator assembly in an automatic oral swab collection device provided by an embodiment of the present invention;

[0022] Figure 4 A schematic diagram of the structure of the automatic oral swab collection device provided by an embodiment of the present invention when the manipulator assembly and the collection arm assembly are connected;

[0023] Figure 5 A schematic diagram of the structure of a collection arm assembly in an automatic oral swab collection device provided in an embodiment of the present invention;

[0024] Figure 6 A schematic diagram of the structure of a scissors assembly and a sampling bottle assembly in an automatic oral swab collection device provided in an embodiment of the present invention;

[0025] Figure 7 A schematic diagram of the structure of the automatic oral swab collection device provided by an embodiment of the present invention when the rotary manipulator is screwing the bottle cap;

[0026] Figure 8 A schematic diagram of the structure of a scissors mounting plate in an automatic oral swab collection device provided by an embodiment of the present invention;

[0027] Fig. 9 A schematic diagram of the structure of an alcohol disinfection component in an automatic oral swab collection device provided in an embodiment of the present invention;

[0028] Fig.10 A schematic diagram of the structure of an ultraviolet disinfection component in an automatic oral swab collection device provided in an embodiment of the present invention.

[0029] In the figure:

[0030] 1: sampling bottle assembly; 11: sampling bottle; 12: bottle cap bracket; 13: bottle cap; 14: bottle body fixing plate; 141: stud; 142: bottle mounting slot; 143: bracket mounting slot; 15: locking knob; 16: guide rail slider; 17: lead screw; 18: second linear module;

[0031] 2: Scissor assembly; 21: Scissor bracket; 22: Scissor mounting plate; 23: U-shaped buckle; 24: Brushless motor; 25: Motor reducer;

[0032] 3: Alcohol disinfection assembly; 31: Tank fixing plate; 32: Alcohol storage tank; 33: Booster water pump; 34: Solenoid valve; 35: Nozzle; 36: Valve body fixing shell; 37: Water outlet pipe; 38: Water inlet pipe;

[0033] 4: Collection arm assembly; 41: Collection manipulator; 42: First linear module; 43: Adjustment wire structure; 44: Clamping end; 45: Connection end;

[0034] 5: UV disinfection component; 51: disinfection device mounting frame;

[0035] 6: Robot assembly; 61: Gantry module; 62: Rotating robot;

[0036] 7: Machine front door;

[0037] 8: swab holder; 81: mounting plate; 82: fixed rear frame; 83: swab; 84: fixed front frame;

[0038] 9: Support frame;

[0039] 10: Control switch. DETAILED DESCRIPTION

[0040] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0041] The embodiment of the present invention provides an automatic oral swab collection device, including a swab support module, a mechanical arm module, a swab cutting module, a sampling bottle installation module and a disinfection module. The automatic collection device can independently complete the actions of oral swab collection, cutting, sampling bottle tightening and overall device disinfection.

[0042] The following describes in detail the modules in the oral swab automatic collection device provided by the embodiment of the present invention, and the positional relationship and connection relationship between the modules in conjunction with the accompanying drawings.

[0043] like Figures 1 to 10 As shown, an embodiment of the present invention provides an automatic oral swab collection device, which includes a frame. For example, the frame is in a rectangular shape, and each surface of the frame has a baffle, so that a chamber is formed inside the rectangular structure, and each module is arranged in the chamber; wherein a door is arranged on at least one surface of the frame, and maintenance and repair operations are performed on the modules in the chamber by opening and closing the door.

[0044] The swab support module includes a swab holder 8 and a support frame 9, such as Figure 1 and Figure 2 As shown, in the embodiment of the present invention, the swab holder 8 includes a fixed front frame 84, a fixed rear frame 82 and a mounting plate 81; the fixed front frame 84 and the fixed rear frame 82 are arranged in parallel and at intervals, and multiple layers of support bars are arranged on the opposite sides of the fixed front frame 84 and the fixed rear frame 82 respectively along the height direction, and the two ends of the swab 83 are respectively mounted on the support bars, that is, on the support bars at the same height layer, and a limiting clamping structure is provided on the support bar, such as a card slot, and the end of the support bar is placed on the card slot to avoid relative movement between it and the support bar. Or, for example, the swab 83 is in the shape of a rod, and a collection cotton head is arranged at one end of it. The swab 83 is placed in a swab tube, and the swab tube is columnar and mounted on the support bar.

[0045] The fixed front frame 84 or the fixed rear frame 82 is connected to the mounting plate 81, and the mounting plate 81 is connected to the support frame 9; the swab holder 8 is located on the moving path of the rotating manipulator 62, and the rotating manipulator 62 moves between the fixed front frame 84 and the fixed rear frame 82 to clamp the swab 83. The rotating manipulator 62 clamps the swabs 83 one by one, and when all the swabs 83 are taken away, a new swab 83 is added to the swab holder 8.

[0046] like Figure 1 and Figure 2 As shown, in the embodiment of the present invention, the support frame 9 has a set height, the swab holder 8 is snap-connected with the top end of the support frame 9; and the support frame 9 includes a chamber, in which a control component is provided, and a control button 10 of the control component is located on the side wall of the support frame 9.

[0047] For example, the mounting plate 81 includes a base plate and two side plates vertically arranged with the base plate; the fixed front frame 84 and the fixed rear frame 82 are connected with the side plates and are clamped with the support frame 9 through the base plate; a clamping slot is arranged at the bottom of the support frame 9, and a sliding entrance is arranged on one side wall of the clamping slot; the base plate of the mounting plate 81 is clamped into the clamping slot through the sliding entrance, thereby realizing the connection between the mounting plate 81 and the support frame 9.

[0048] In the embodiment of the present invention, the robot arm module includes a robot arm assembly 6 and a collection arm assembly 4. Through the cooperation of the robot arm assembly 6 and the collection arm assembly 4, the clamping operation of the swab 83 and the sampling operation of the swab 83 can be realized.

[0049] like Figure 1 and Figure 3As shown, in the embodiment of the present invention, the manipulator assembly 6 includes a gantry module 61 and a rotary manipulator 62. The gantry module 61 is connected to the rotary manipulator 62 and is used to drive the rotary manipulator 62 to move horizontally or vertically in a plane. The gantry module 61 includes a horizontal movement module and a vertical movement module. The horizontal movement module is connected to the rotary manipulator 62, and the two ends of the horizontal movement module are respectively connected to the vertical movement modules, so that the rotary manipulator 62 can move within the horizontal range of the horizontal movement module and the vertical range of the vertical movement module, and its moving space is a two-dimensional plane. For example, the horizontal movement module and the vertical movement module are linear screw modules or linear cylinder modules.

[0050] like Figure 1 and Figure 5 As shown, in the embodiment of the present invention, the collection arm assembly 4 includes a first linear module 42 and a collection manipulator 41. The first linear module 42 is connected to the collection manipulator 41 and is used to drive the collection manipulator 41 to move along the direction of the surface where the vertical gantry module 61 is located. For example, the first linear module 42 is a linear screw module or a linear cylinder module. As shown in the figure, the first linear module 42 is a linear screw module, which includes structures such as a stepping motor, a screw and a slider.

[0051] The manipulator assembly 6 cooperates with the collection arm assembly 4 to complete the clamping operation of the swab 83 and the sampling operation. During the operation, the rotating manipulator 62 is used to clamp the swab 83 and move the swab 83 to the set position through the gantry module 61. The first linear module 42 is used to drive the collection manipulator 41 to the set position. The collection manipulator 41 clamps the end of the swab 83. At this time, the clamping and installation operations of the swab 83 are completed. Figure 4 As shown, this is the connection state of the swab 83 and the collection robot 41; subsequently, the rotating robot 62 is withdrawn, and the first linear module 42 continues to drive the collection robot 41 and the swab 83 to move, and drives the swab 83 to collect the sample through the collection robot 41. During this process, the collection end of the swab 83 will extend out of the frame, and the person being collected will be collected outside the frame. During the collection process, the swab 83 needs to be extended or rotated; after the collection operation is completed, the swab 83 is driven by the first linear module 42 and withdrawn to the specified position.

[0052] For example, the collection robot 41 includes a clamping end 44, a connecting end 45 and multiple groups of adjustable wire structures 43; the clamping end 44 is used to connect the swab 83, the connecting end 45 is connected to the first linear module 42, and the clamping end 44 and the connecting end 45 are movably connected; the adjustable wire structure 43 includes a wire reel, a wire driving member and a wire body, the wire driving member is connected to the wire reel and is arranged at the connecting end 45, one end of the wire body is connected to the wire reel, and the other end is connected to the clamping end 44; by adjusting the length of the multiple groups of wire bodies, the direction of the clamping end 44 is adjusted. For example, the clamping end 44 and the connecting end 45 are connected by a universal head, and a plurality of adjusting wire structures 43 are evenly arranged around the clamping end 44 and the connecting end 45. The action of the clamping section can be adjusted by adjusting the wire structure 43. For example, when moving in one direction, the adjusting wire structure 43 on one side tightens the wire body by rotating the wire disc, and the other side loosens the wire body, so that the clamping end 44 can be adjusted. For example, the adjustment direction of the clamping end 44 includes the following: Figure 5 The V1 and V2 directions move back and forth.

[0053] For example, a pressure sensor is provided on the clamping end 44, and the pressure sensor can obtain the applied pressure of the swab 83. The pressure sensor monitors the positive pressure of the swab 83 on the person being collected in real time. The collection robot 41 adjusts the position of the clamping end 44 in real time with reference to the pressure value, thereby ensuring the safety of the person being collected and keeping the collection pressure within a reasonable range, thereby ensuring the collection quality of the oral swab 83.

[0054] In the embodiment of the present invention, the automatic oral swab collection device includes a scissors assembly 2 and a sampling bottle assembly 1. The scissors assembly 2 is used to cut the collected swab 83 and cut the end of the swab 83 into the sampling bottle assembly 1.

[0055] In an embodiment of the present invention, the scissor assembly 2 is located below the collection robot 41, and the collection robot 41 adjusts the collection end of the swab 83 to be placed on the scissor assembly 2, and the scissor assembly 2 is used to cut off the collection end; the sampling bottle assembly 1 is located below the scissor assembly 2, and is used to receive the collection end cut off by the scissor assembly 2.

[0056] like Figure 1 , Figure 6 and Figure 7 As shown, the scissors assembly 2 includes a scissors bracket 21, a scissors mounting plate 22 and a scissors driving member; the scissors bracket 21 has a set height, the scissors mounting plate 22 is arranged at the top of the scissors bracket 21, the scissors mounting plate 22 includes a groove, the scissors driving member is installed in the groove, and a U-shaped buckle 23 is arranged on the scissors mounting plate 22, and the scissors driving member is fixed by the U-shaped buckle 23. The scissors driving member includes a brushless motor 24 and a motor reducer 25, and the motor reducer 25 can improve the shearing driving force of the scissors.

[0057] The collection manipulator 41 adjusts the direction of the clamping end 44 by adjusting the wire structure 43, so that the swab 83 is adjusted to the shearing posture in the sampling posture, and the brushless motor 24 is started. The scissors cut off the collection end of the swab 83, and the cut collection end falls into the sampling bottle assembly 1 by its own weight.

[0058] Continue to refer Figure 1 , Figure 6 and Figure 7 As shown, the sampling bottle assembly 1 includes a bottle body fixing plate 14, a second linear module 18, a sampling bottle 11 and a bottle cap bracket 12; the bottom of the bottle body fixing plate 14 is connected to the second linear module 18, a plurality of sampling bottles 11 are arranged on the bottle body fixing plate 14 along the moving direction of the second linear module 18, and a bottle cap bracket 12 is arranged on one side of each sampling bottle 11 on the bottle body fixing plate 14, and a bottle cap 13 is arranged on the bottle cap bracket 12; after each sampling bottle 11 is connected to one or more collection terminals, a new sampling bottle 11 needs to be replaced, and The position of the scissor assembly 2 is fixed, therefore, the sampling bottle 11 needs to be driven to move by the second linear module 18 so that the next new sampling bottle 11 moves to the bottom of the scissor assembly 2; the previous sampling bottle 11 connected to the collection end needs to screw the bottle cap 13, and when the next new sampling bottle 11 moves to the bottom of the scissor assembly 2, the previous sampling bottle 11 and the bottle cap holder 12 are located on the moving path of the rotating manipulator 62, and the rotating manipulator 62 is used to clamp the bottle cap 13 on the bottle cap holder 12 and screw it on the sampling bottle 11.

[0059] For example, the second linear module 18 is a linear screw module or a linear cylinder module, etc. As shown in the figure, the second linear module 18 includes a stepping motor, a screw or a slider, etc.

[0060] like Figure 8 As shown, in the embodiment of the present invention, the bottle body fixing plate 14 includes a bottle mounting groove 142, a bracket mounting groove 143 and a locking knob 15; the bottom of the sampling bottle 11 is arranged in the bottle mounting groove 142, and the side wall of the bottle mounting groove 142 is provided with a screw hole, and one end of the stud 141 of the locking knob 15 is screwed into the bottle mounting groove 142 through the screw hole, and the sampling bottle 11 in the bottle mounting groove 142 is pressed by the locking knob 15. The sampling bottle 11 is fixed in the bottle mounting groove 142 by the locking knob 15, and the stability of the sampling bottle 11 can be improved. And the bottom of the bottle cap bracket 12 is arranged in the bracket mounting groove 143, so as to fix the bottle cap bracket 12, and the locking knob 15 structure can also be provided in the mounting groove 143.

[0061] like Figure 1 and Fig. 9As shown, in the embodiment of the present invention, the alcohol disinfection component 3 is used to regularly spray and disinfect the environment where the manipulator component 6 and the collection arm component 4 are located. The alcohol disinfection component 3 includes an alcohol storage tank 32, and the alcohol storage tank 32 is fixed in the frame through a tank body fixing plate 31. The water inlet of the booster water pump 33 is connected to the alcohol storage tank 32 through an inlet pipe 38, and the water outlet is connected to the solenoid valve 34 through an outlet pipe 37. The solenoid valve 34 is fixed in or on the frame through a valve body fixing shell 36. The nozzle 35 is connected to the solenoid valve 34 for alcohol spraying and disinfection. The application of the solenoid valve 34 can effectively prevent the nozzle 35 from leaking.

[0062] like Figure 1 and Fig.10 As shown, in the embodiment of the present invention, the ultraviolet disinfection component 5 is used to irradiate ultraviolet rays to the environment where the manipulator component 6 and the collection arm component 4 are located. Three ultraviolet lamps and an ozone release device are installed inside the ultraviolet disinfection component 5, and the ultraviolet disinfection component 5 releases ozone when working. The ultraviolet disinfection component 5 is fixed to the top of the frame through the disinfection device mounting frame 51, and is used for overall disinfection inside the frame.

[0063] Among them, the alcohol disinfection component 3 is used for key disinfection, and the ultraviolet disinfection component 5 is used for overall disinfection.

[0064] The working process of the oral swab automatic collection device provided by the embodiment of the present invention is as follows:

[0065] refer to Figures 1 to 10 As shown, before the oral swab automatic collection device works, the staff needs to open the front door 7 of the machine and take out the swab holder 8. The head of the swab 83 is placed in the slot of the fixed front frame 84 and against the boundary of the slot, and the tail is placed in the slot of the fixed rear frame 82, and the fixed front frame 84 is aligned with the fixed rear frame 82 front and back. The swab holder 8 is divided into several layers, and each layer is evenly laid with several swabs 83. After the swabs 83 are placed, the swab holder 8 filled with swabs 83 is placed inside the oral swab automatic collection device. The support frame 9 is fixed inside the oral swab automatic collection device, and the top three sides of the support frame 9 have protruding positioning frames (forming a slot structure). The position of the swab holder 8 is limited by the positioning frame (slot structure), so that the swab 83 can always be placed in the same position.

[0066] The gantry module 61 carries the rotating manipulator 62 to the swab holder 8 and sequentially clamps the swabs 83 from left to right and from top to bottom ( Figure 2 The rotating manipulator 62 grabs the swab 83, first lifts it up a short distance to get out of the card slot, then moves horizontally to the left, and moves the swab 83 out of the swab holder 8. Then it moves to the front of the collection manipulator 41 (set position), which is a fixed position, and the manipulator module grabs the swab 83 and moves to this position.

[0067] When the patient / person being collected needs oral swab 83 collection, the control button 10 is pressed, and at this time, the collection arm assembly 4 is driven by the first linear module 42 to extend forward in the direction as shown in FIG. Figure 5 In the direction shown by V3, the clamping end 44 clamps the head of the swab 83, and then the collection manipulator 41 moves backward under the drive of the first linear module 42 to extract the swab 83. After the swab 83 is extracted, the rotating manipulator 62 is still clamped outside the swab tube, and leaves under the control of the gantry module 61, and the rotating manipulator 62 is opened to discard the swab tube. The four adjusting wire structures 43 are evenly distributed around the collection manipulator 41, and can move in directions V1 and V2 under the drive of the adjusting wire structures 43. The collection manipulator 41 extends forward and collects the oral swab 83 from the patient.

[0068] After the collection is completed, the collection manipulator 41 retracts backwards, moves to a fixed position, and then stops. The lowermost adjustment wire structure 43 contracts, and the uppermost adjustment wire structure 43 loosens, causing the collection manipulator 41 (clamping end 44) ​​to swing down. The stepper motor of the second linear module 18 rotates to drive the screw 17 connected to it to rotate, so as to drive the guide rail slider 16 to move forward and backward. The position of the sampling bottle 11 is fixed to the guide rail slider 16, and the stepper motor of the second linear module 18 controls the sampling bottle 11 to cooperate with the position of the swinging swab 83. As the clamping end 44 swings down, the swab 83 reaches directly above the sampling bottle 11 and the front end of the scissors assembly 2. At this time, the scissors assembly 2 starts to cut the swab 83, and the cut swab 83 falls vertically downward into the sampling bottle 11 that matches its position, and the work of cutting the swab 83 is completed at this time. Finally, the adjusting wire structure 43 at the upper end of the collecting manipulator 41 is contracted, and the adjusting wire structure 43 at the lower end is loosened, so that the collecting manipulator 41 swings up to the initial position.

[0069] When the sampling bottle 11 has collected a sufficient number of swabs 83, the oral swab automatic collection device starts to automatically tighten the bottle cap 13. The stepper motor of the second linear module 18 controls the bottle body fixing plate 14 to extend forward, so that the sampling bottle 11 that needs to be tightened moves to the motion workspace of the robot arm module. Figure 7As shown, under the control of the gantry module 61, the rotary manipulator 62 first comes to the top of the bottle cap bracket 12, and aligns the bottle cap 13 to clamp it. After the clamping is completed, the rotary manipulator 62 continues to move, carrying the bottle cap 13 to the top of the sampling bottle 11. At this time, the rotary manipulator 62 moves downward, and after the bottle cap 13 is against the sampling bottle 11, the end of the rotary manipulator 62 begins to rotate clockwise to tighten the bottle cap 13. After the sampling work of the bottle swab 83 is completed, the rotary manipulator 62 is controlled to lift up, and the second linear module 18 controls the bottle body fixing plate 14 to continue to extend forward, so that the next tube sampling bottle 11 moves to the motion workspace of the robot arm module. The rotary manipulator 62 is controlled to move downward, clamp the bottle cap 13 on the sampling bottle 11 and rotate counterclockwise to unscrew the bottle cap 13, and place it on the upper end of the bottle cap bracket 12. At this time, the bottle body fixing plate 14 is controlled to retract backward, so that the sampling bottle 11 that has just been unscrewed is located at the position of the previous tube sampling bottle 11, and the cycle continues.

[0070] After a single collection is completed, in order to protect the next collector from cross infection, the oral swab automatic collection device disinfects the key parts with alcohol. The alcohol disinfection system is started, the alcohol storage tank 32 stores disinfecting alcohol, the booster pump 33 is started, the water inlet pipe 38 sucks alcohol and pressurizes it and discharges it through the water outlet pipe 37. At this time, the solenoid valve 34 is opened, and the alcohol is sprayed out after passing through the solenoid valve 34 and the nozzle 35. After the disinfection is completed, the solenoid valve 34 and the booster pump 33 are closed.

[0071] When there is no patient collecting samples and before the automatic oral swab collection device is shut down, the ultraviolet disinfector starts working and completely disinfects the inside of the automatic oral swab collection device to prevent residual viruses from infecting the machine.

[0072] At this point, the collection workflow of the oral swab automatic collection device is completed.

[0073] The present invention provides an automatic oral swab collection device, which drives the rotating manipulator 62 to move through the gantry module 61. When it moves to the position of the swab 83, the rotating manipulator 62 clamps the swab 83 and moves to the set position, which is the connection position between the swab 83 and the collection manipulator 41. Then, the first linear module 42 drives the collection manipulator 41 to move, the collection manipulator 41 clamps the end of the swab 83, and the rotating manipulator 62 separates from the swab 83. Finally, the first linear module 42 drives the collection manipulator 41 to continue to move, driving the swab 83 to the collection position, and finally, the collection manipulator 41 drives the swab 83 to rotate along the set arc, thereby completing the sample collection. The technical solution of the present invention adopts an automated moving method to complete the detection operation without the participation of medical staff, and the movement and collection operation of the swab 83 are completed by the cooperation of the manipulator assembly 6 and the collection arm assembly 4. It has a simple structure, occupies a small space, and is conducive to the miniaturization design of the product.

[0074] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.

[0075] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0076] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art who is familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. An automatic oral swab collection device, characterized in that: It comprises a mechanical arm module, wherein the mechanical arm module comprises a mechanical hand component (6) and a collection arm component (4); The manipulator assembly (6) comprises a gantry module (61) and a rotating manipulator (62), wherein the gantry module (61) is connected to the rotating manipulator (62) and is used to drive the rotating manipulator (62) to move horizontally or vertically within a plane; The collection arm assembly (4) comprises a first linear module (42) and a collection manipulator (41); the first linear module (42) is connected to the collection manipulator (41) and is used to drive the collection manipulator (41) to move in a direction perpendicular to the surface where the gantry module (61) is located; The rotating manipulator (62) is used to clamp the swab (83) and move the swab (83) to a set position through the gantry module (61); the first linear module (42) is used to drive the collection manipulator (41) to the set position; the collection manipulator (41) clamps the end of the swab (83), and the first linear module (42) continues to drive the collection manipulator (41) and the swab (83) to move, and drives the swab (83) to collect samples through the collection manipulator (41).

2. The oral swab automatic collection device according to claim 1, characterized in that: The collecting manipulator (41) comprises a clamping end (44), a connecting end (45) and a plurality of groups of adjusting wire structures (43); The clamping end (44) is used to connect the swab (83), the connecting end (45) is connected to the first linear module (42), and the clamping end (44) and the connecting end (45) are movably connected; The adjusting wire structure (43) comprises a wire reel, a wire driving member and a wire body, wherein the wire driving member is connected to the wire reel and is arranged at the connecting end (45), and one end of the wire body is connected to the wire reel and the other end is connected to the clamping end (44); The orientation of the clamping end (44) is adjusted by adjusting the length of the plurality of groups of the steel wire bodies.

3. The oral swab automatic collection device according to claim 2, characterized in that: Also included is a swab holder (8), wherein the swab holder (8) includes a fixed front frame (84), a fixed rear frame (82) and a mounting plate (81); The fixed front frame (84) and the fixed rear frame (82) are arranged in parallel and at intervals, and multiple layers of support strips are respectively arranged on opposite sides of the fixed front frame (84) and the fixed rear frame (82) along the height direction, and both ends of the swab (83) are respectively mounted on the support strips, and the fixed front frame (84) or the fixed rear frame (82) is connected to the mounting plate (81); The swab holder (8) is located on the moving path of the rotating manipulator (62), and the rotating manipulator (62) moves between the fixed front frame (84) and the fixed rear frame (82) to clamp the swab (83).

4. The oral swab automatic collection device according to claim 3, characterized in that: It also comprises a support frame (9), the support frame (9) has a set height, and the swab holder (8) is clamped with the top end of the support frame (9); and The support frame (9) comprises a chamber, a control component is arranged in the chamber, and a control button (10) of the control component is located on the side wall of the support frame (9).

5. The oral swab automatic collection device according to claim 4, characterized in that: It also includes a scissors assembly (2) and a sampling bottle assembly (1); The scissor assembly (2) is located below the collection manipulator (41), and the collection manipulator (41) adjusts the collection end of the swab (83) to be placed on the scissor assembly (2), and the scissor assembly (2) is used to cut off the collection end; The sampling bottle assembly (1) is located below the scissor assembly (2) and is used to receive the collection end cut off by the scissor assembly (2).

6. The oral swab automatic collection device according to claim 5, characterized in that: The scissors assembly (2) comprises a scissors bracket (21), a scissors mounting plate (22) and a scissors driving member; The scissors bracket (21) has a set height, the scissors mounting plate (22) is arranged at the top end of the scissors bracket (21), and the scissors driving member is connected to the scissors bracket (21) via the scissors mounting plate (22).

7. The oral swab automatic collection device according to claim 6, characterized in that: The sampling bottle assembly (1) comprises a bottle body fixing plate (14), a second linear module (18), a sampling bottle (11) and a bottle cap bracket (12); The bottom of the bottle body fixing plate (14) is connected to the second linear module (18), a plurality of the sampling bottles (11) are arranged on the bottle body fixing plate (14) along the moving direction of the second linear module (18), and a bottle cap bracket (12) is arranged on one side of each sampling bottle (11) on the bottle body fixing plate (14), and a bottle cap (13) is arranged on the bottle cap bracket (12); The sampling bottle (11) and the bottle cap bracket (12) are moved to the moving path of the rotating manipulator (62) via the second linear module (18), and the rotating manipulator (62) is used to clamp the bottle cap (13) and screw it onto the sampling bottle (11).

8. The oral swab automatic collection device according to claim 7, characterized in that: The bottle body fixing plate (14) comprises a bottle mounting groove (142) and a locking knob (15); The bottom of the sampling bottle (11) is arranged in the bottle mounting groove (142), and the side wall of the bottle mounting groove (142) is provided with a screw hole. One end of the locking knob (15) is screwed into the bottle mounting groove (142) through the screw hole, and the sampling bottle (11) in the bottle mounting groove (142) is tightened by the locking knob (15).

9. The automatic oral swab collection device according to any one of claims 1 to 8, characterized in that: Also included is an alcohol disinfection component (3); The alcohol disinfection component (3) is used to regularly spray and disinfect the environment where the manipulator component (6) and the collection arm component (4) are located.

10. The oral swab automatic collection device according to any one of claims 1 to 8, characterized in that: Also included is an ultraviolet disinfection component (5); The ultraviolet disinfection component (5) is used to irradiate ultraviolet rays to the environment where the robot component (6) and the collection arm component (4) are located.

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