Automatic nucleic acid sampling robot device
By designing an automatic sampling nucleic acid robot device, using flexible collaborative robots and actuators to achieve automated sampling, the problems of high work intensity, low efficiency and inaccurate sampling caused by hand sampling in the prior art are solved, and efficient and accurate automatic sampling is achieved process.
Patent Information
- Application Number
- CN202420538182.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-03-19
- Publication Date
- 2025-02-07
- Estimated Expiration
- 2034-03-19
AI Technical Summary
In the prior art, virus infection detection methods rely on manual sampling, resulting in high intensity, long time and low efficiency of medical staff, and improper sampling operations may affect the accuracy of nucleic acid detection results.
An automatic sampling nucleic acid robot device is designed, and a flexible cooperative robot is used to drive the actuator to make the sampling stick extend out of the window for sampling. The material conveying and sampling process are automatically carried out, eliminating manual operations.
It realizes automated sampling, improves sampling efficiency, reduces the work intensity of medical staff, avoids the risk of rolling and dyeing, and ensures the accuracy and continuity of the sampling process.
Smart Images
Figure CN222426069U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of automation equipment, in particular to an automatic nucleic acid sampling robot device. Background Art
[0002] At present, the main means of virus infection detection is nucleic acid testing through samples collected by throat swabs. However, manual sampling requires high workload and long time for medical staff, and manual testing efficiency is low. In addition, due to the uneven level of medical staff, improper sampling operation will affect the accuracy of nucleic acid test results. Therefore, it is urgent to develop an automatic nucleic acid sampling robot device to replace manual sampling. Utility Model Content
[0003] The technical problem to be solved by the utility model is that, in view of the above-mentioned defects of the prior art, an automatic nucleic acid sampling robot device is provided. A flexible collaborative robot is arranged to drive the actuator to extend the sampling rod out of the window for sampling. The material conveying and sampling processes are automatically carried out and can work uninterruptedly, eliminating manual operation, effectively avoiding the risk of rolling staining, and reducing the workload of sampling personnel, with a high sampling efficiency.
[0004] In order to solve the above technical problems, the technical solution of the utility model is:
[0005] A robot device for automatic nucleic acid sampling comprises a machine platform, on which a flexible collaborative robot and an electric controller are arranged, and on which a conveyor chain, a first clamp, a second clamp and a cutter are also arranged, an actuator is arranged on the flexible collaborative robot, a clamp is installed on the actuator, a supporting block for mounting a sampling tube and a sampling rod is arranged on the conveyor chain, and the conveyor chain, the first clamp, the second clamp, the cutter and the flexible collaborative robot are all electrically connected to the electric controller.
[0006] Preferably, the supporting block is provided with a first clamping position for installing a sampling tube and a second clamping position for installing a sampling rod.
[0007] Preferably, the first clamping position extends toward the inside of the carrying block, and the second clamping position runs through two sides of the carrying block.
[0008] Preferably, the sampling rod is provided with a packaging tube, the sampling rod is located in the packaging tube, and one end of the sampling rod protrudes from one end of the packaging tube.
[0009] Preferably, the first clamp is used to clamp the sampling tube, and the second clamp is used to clamp the packaging tube; the flexible collaborative robot drives the actuator to pick up the sampling rod, and extends the sampling rod out of the sampling window for sampling, and the actuator places the sampling rod in the sampling tube after completing the sampling.
[0010] Preferably, at least two material discharge channels are provided on the machine platform, the material discharge channels are communicated with the interior of the machine platform, and the material discharge channels correspond to the positions of the first clamper and the second clamper respectively.
[0011] Preferably, the cutter is located at an upper portion of the first clamper, and the cutter is used to cut off the sampling rod.
[0012] Preferably, the clamp includes a first clamping portion and a second clamping portion, the first clamping portion and the second clamping portion are respectively adapted to the sampling rod and the sampling tube, and the first clamping portion and the second clamping portion are respectively used to clamp the sampling rod and the sampling tube.
[0013] Preferably, a positioning piece is provided on one side of the conveying chain, and the positioning piece is used to position the sampling rod.
[0014] Preferably, the electric controller includes a power supply circuit and a signal control circuit connected to the power supply circuit, the power supply circuit is used to provide working power for the conveyor chain, the first clamper, the second clamper, the cutter and the flexible collaborative robot, and the signal control circuit is used to output a control signal to drive the conveyor chain, the first clamper, the second clamper, the cutter and the flexible collaborative robot.
[0015] By adopting the above technical scheme, the utility model provides an automatic nucleic acid sampling robot device, which has the following beneficial effects: a flexible collaborative robot, an electric controller, a conveyor chain, a first clamp, a second clamp and a cutter are arranged on the machine platform of the automatic nucleic acid sampling robot device, an actuator is arranged on the flexible collaborative robot, a clamping claw is installed on the actuator, a bearing block for mounting a sampling tube and a sampling rod is arranged on the conveyor chain, the conveyor chain, the first clamp, the second clamp, the cutter and the flexible collaborative robot are all electrically connected to the electric controller, and the electric controller is used to provide power and output a control signal to drive the conveyor chain, the first clamp, the second clamp and the cutter, thereby controlling their working states; The conveyor chain is used to carry and convey sampling tubes and packaging tubes with sampling rods. When working, the flexible collaborative robot first drives the clamps on the actuator to pick up the sampling tube and the sampling rod and place them on the first clamp and the second clamp for clamping and fixing, and then drives the actuator to pick up the sampling rod on the packaging tube and extend it out of the window for sampling. After the sampling is completed, the actuator places the sampling rod above the sampling tube. At this time, the cutter is driven to cut the middle part of the sampling tube, so that the end of the sampling tube falls into the sampling tube, completing the sampling and sealing. The material conveying and sampling process are automatic and can work uninterruptedly, eliminating manual operation, effectively avoiding the risk of rolling dyeing, and reducing the work intensity of sampling personnel, thereby improving the sampling efficiency and having a high sampling efficiency. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Figure 1 It is an axonometric view of the utility model;
[0017] Figure 2 It is an axonometric view of the bearing block in the utility model;
[0018] Figure 3 It is a partial axonometric view of a fixed workstation in the utility model;
[0019] Figure 4 It is a partial view of the actuator in the utility model;
[0020] Figure 5 The electrical schematic diagram of the power supply circuit of the electric controller in the utility model;
[0021] Figure 6 The electrical schematic diagram of the signal control circuit of the electric controller in the utility model;
[0022] Figure 7 It is a schematic diagram of the actual application state of the utility model.
[0023] Reference numerals:
[0024] Machine 100; flexible collaborative robot 101; actuator 102; gripper 103; first clamping part 104; second clamping part 105; discharge channel 106; support seat 107; conveyor chain 110; carrier block 111; first clamping position 112; second clamping position 113; shell 114; positioning piece 115; sampling tube 116; sampling rod 117; packaging tube 118; cover 119; first clamp 120; second clamp 121; cutter 122; slide 123; scissors 124; first clamp 125; second clamp 126; external protection 130; working area 131; loading area 132; window 133. DETAILED DESCRIPTION
[0025] The specific implementation methods of the present invention are further described below in conjunction with the accompanying drawings. It should be noted that the description of these implementation methods is used to help understand the present invention, but does not constitute a limitation of the present invention. In addition, the technical features involved in each implementation method of the present invention described below can be combined with each other as long as they do not conflict with each other.
[0026] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.
[0027] 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 utility model, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.
[0028] Reference Figures 1 to 7 The embodiment of the utility model provides a nucleic acid flexible collaborative robot device for automatic sampling. In practical applications, the machine 100 is located in the outer protection 130. Optionally, the outer protection 130 is provided with a window 133. Optionally, the outer protection 130 is provided with a window 133, and the window 133 is located on one side of the machine 100. The flexible collaborative robot 101 drives the actuator 102 to pick up the sampling rod 117, and the sampling rod 117 extends out of the window 133 for sampling.
[0029] Optionally, a flexible collaborative robot 101 is provided on the machine 100, and the flexible collaborative robot 101 is provided with an actuator 102, and the actuator 102 is used to clamp the sampling rod 117 and the sampling tube 116 storing the sampling rod 117. Optionally, the flexible collaborative robot 101 has a range of motion with six degrees of freedom, which helps to efficiently complete complex movements. Optionally, the actuator 102 is provided with a clamping claw 103, and the clamping claw 103 includes a first clamping portion 104 and a second clamping portion 105. Figure 4The first clamping part 104 and the second clamping part 105 have clamping diameters of different sizes. The first clamping part 104 is used to clamp the sampling rod 117, and the second clamping part 105 is used to clamp the sampling tube 116. Optionally, the sampling tube 116 is provided with a cover 119. When the actuator 102 clamps the sampling tube 116, it clamps the cover 119 on the sampling tube 116 and places the sampling tube 116 in a fixed position. Optionally, a torque sensor is provided in the actuator 102. Since the sampling rod 117 needs to be clamped to sample the oral cavity or nasal cavity of the human body during sampling, the precise feedback of the torque sensor can be used to avoid discomfort or even injury to the human body due to excessive force during the sampling process.
[0030] Optionally, the conveyor chain 110 is located on one side of the machine 100, and the conveyor chain 110 is provided with a plurality of bearing blocks 111 equipped with sampling tubes 116 and sampling rods 117. The conveyor chain 110 preferably adopts a circulating transmission chain, and the bearing blocks 111 are installed on the chain links of the conveyor chain 110 and move with the transmission chain. Figure 2 The carrier block 111 is provided with a first clamping position 112 for installing a sampling tube 116 and a second clamping position 113 for installing a sampling rod 117. Optionally, the first clamping position 112 is a countersunk hole with a cylindrical cross section, and the first clamping position 112 extends into the interior of the carrier block 111, and the sampling tube 116 is vertically inserted into the first clamping position 112; the second clamping position 113 runs through both sides of the carrier block 111, so that the sampling rod 117 is horizontally embedded in the second clamping position 113. Optionally, the sampling rod 117 is provided with a packaging tube 118, the sampling rod 117 is located in the packaging tube 118, and one end of the sampling rod 117 protrudes from one end of the packaging tube 118. At the same time, the end of the sampling rod 117 is preferably screwed with the packaging tube 118 by a thread, and when the actuator 102 clamps the end of the sampling rod 117, the sampling rod 117 is taken out of the packaging tube 118 by rotation and sampling is performed. Optionally, the cover 119 and the sampling tube 116 are also screwed together and fixed.
[0031] Optionally, the fixed station is set on the machine 100. After being started externally, the conveyor chain 110 conveys the sampling rod 117 and the sampling tube 116 to the front end (i.e., within the working range of the flexible collaborative robot 101), and then uses the actuator 102 to move them to the second clamper 121 on the fixed station and temporarily clamp and fix them; the fixed station is provided with a first clamper 120 for fixing the sampling tube 116, and the actuator 102 places the sampling rod 117 in the sampling tube 116 after completing the sampling; on the other hand, a second clamper 121 is also provided, and the second clamper 121 is used to clamp the packaging tube 118. Optionally, a support seat 107 is provided on one side of the second clamper 121, and the support seat 107 is used to temporarily place the cover body 119. It should be noted that the actuator 102 clamps the sampling tube 116 and the sampling rod 117 on the conveyor chain 110, and sequentially places the sampling tube 116 in the first clamp 120 and the packaging tube 118 in the second clamp 121; then the flexible collaborative robot 101 drives the actuator 102 to rotate, separates the cover 119 from the sampling tube 116, and places the cover 119 on the support seat 107; then the flexible collaborative robot 101 drives the actuator 102 to take the sampling rod 117 out of the packaging tube 118 and perform sampling. After the sampling is completed, the flexible collaborative robot 101 returns to the top of the sampling tube 116, and the cutter 122 moves forward through the cylinder, and after cutting the head of the sampling rod, the cylinder retreats. The actuator 102 places the sampling rod 117 in the sampling tube 116, and the actuator 102 covers the cover 119 on the sampling tube 116 to complete the sampling and sealing.
[0032] Optionally, an electric controller is provided in the machine 100 for providing power and outputting control signals to drive the conveyor chain 100, the first clamp 120, the second clamp 121, the cutter 122, and the flexible collaborative robot 101, so as to control the working states of the conveyor chain 100, the first clamp 120, the second clamp 121, the cutter 122, and the flexible collaborative robot 101. The conveyor chain 100, the first clamp 120, the second clamp 121, the cutter 122, and the flexible collaborative robot 101 are equipped with corresponding motors or cylinders for outputting driving power. The electric controller includes a power supply circuit and a signal control circuit connected to the power supply circuit. Figure 5 The external power supply is input from the leakage circuit breaker QS1, the contactor KM1 and the switching power supply PS1, and supplies power to the PLC controller PLC1, the stepping driver SD1, the speed controller and the socket connected to the above-mentioned conveyor chain 110, the first clamper 120, the second clamper 121, the cutter 122, and the flexible collaborative robot 101; refer to Figure 6The signal control circuit includes a PLC controller, which serves as the core of the entire signal processing and is used to output control signals to control the operation of the above-mentioned sensors, motors or cylinders, such as the belt drive on the conveyor chain 110, the rotation of the flexible collaborative robot 101, the clamping action of the clamp 103 on the actuator 102, the clamping action on the first clamp 120 and the second clamp 121, and the shearing action of the scissors on the cutter 122, etc. The corresponding control logic can be set according to actual needs, and the utility model is not limited thereto.
[0033] Optionally, the flexible collaborative robot 101 can be a general-purpose Rokae CR series robot, etc., to drive the actuator 102 to accurately pick up and clamp the sampling tube 116, the sampling rod 117, the packaging tube 118, and the cover 119 for automatic sampling. Its specific hardware manual has been disclosed at the website http: / / www.rokae.com / cn / service / 11 / Download.html, including its specific structure and control principle, etc., which will not be described in detail in this utility model. Of course, this utility model can also use other existing robots as long as they can complete the above operations.
[0034] Reference Figure 3 At least two discharge channels 106 are provided on the machine 100, and the discharge channels 106 are connected to the inside of the machine 100, and the discharge channels 106 correspond to the positions of the first clamp 120 and the second clamp 121 respectively. First, when the actuator 102 takes the sampling rod 117 out of the packaging tube 118, the second clamp 121 is released, so that the packaging tube 118 falls into the discharge channel 106 below the second clamp 121, and the packaging tube 118 is recovered; secondly, when the sampling rod 117 is placed in the sampling tube 116 by the actuator 102 after sampling, and the sampling tube 116 and the cover 119 are sealed by the actuator 102, the first clamp 120 is released, so that the sampling tube 116 falls from the discharge channel 106 below the first clamp 120, and the collection of the sampling tube 116 is completed, which is helpful to realize the rapid collection of samples without occupying the surface space of the machine 100. Optionally, a cutter 122 is provided on the machine 100, and the cutter 122 is located at the upper part of the first clamp 120. The cutter 122 is used to cut the sampling rod 117, which is beneficial to shorten the length of the sampling rod 117 and help to store multiple sampling rods 117 in the same sampling tube 116, so as to complete the ten-in-one sampling and increase the utilization rate of the sampling tube 116.
[0035] Reference Figure 7The outer protection 130 is provided with a loading area 132 and a working area 131. The machine 100 is in the working area 131. The end of the conveyor chain 110 away from the machine 100 is located in the loading area 132. A staff is responsible for placing the sampling tube 116 and the sampling rod 117 at one end of the conveyor chain 110 in the loading area 132. Optionally, a positioning piece 115 is provided at one end of the conveyor chain 110 located in the loading area 132. The positioning piece 115 is located on one side of the conveyor chain 110. The positioning piece 115 is used to position the sampling rod 117 during loading, so as to facilitate the accurate clamping of the actuator 102.
[0036] It can be understood that the utility model has a reasonable design and a unique structure. The material conveying and sampling processes are automatic and can work uninterruptedly, eliminating manual operation, can effectively avoid the risk of roller dyeing, and reduces the work intensity of sampling personnel, can improve the sampling efficiency, and has a high sampling efficiency.
[0037] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. For those skilled in the art, various changes, modifications, substitutions and variations of these embodiments are made without departing from the principles and spirit of the present invention, and still fall within the scope of protection of the present invention.
Claims
1. An automatic nucleic acid sampling robot device, comprising a platform, on which a flexible collaborative robot and an electric controller are arranged, characterized in that: A conveyor chain, a first clamp, a second clamp and a cutter are also provided on the machine platform. An actuator is provided on the flexible collaborative robot, a clamp is installed on the actuator, and a supporting block for mounting a sampling tube and a sampling rod is provided on the conveyor chain. The conveyor chain, the first clamp, the second clamp, the cutter and the flexible collaborative robot are all electrically connected to the electric controller.
2. The automatic nucleic acid sampling robot device according to claim 1, characterized in that: The bearing block is provided with a first clamping position for installing a sampling tube and a second clamping position for installing a sampling rod.
3. The automatic nucleic acid sampling robot device according to claim 2, characterized in that: The first clamping position extends toward the inside of the carrying block, and the second clamping position runs through two sides of the carrying block.
4. The automatic nucleic acid sampling robot device according to claim 1, characterized in that: The sampling rod is provided with a packaging tube, the sampling rod is located in the packaging tube, and one end of the sampling rod protrudes from one end of the packaging tube.
5. The automatic nucleic acid sampling robot device according to claim 4, characterized in that: The first clamp is used to clamp the sampling tube, and the second clamp is used to clamp the packaging tube; the flexible collaborative robot drives the actuator to pick up the sampling rod and extend the sampling rod out of the sampling window for sampling, and the actuator places the sampling rod in the sampling tube after completing the sampling.
6. The automatic nucleic acid sampling robot device according to claim 1, characterized in that: At least two material discharge channels are arranged on the machine platform, the material discharge channels are communicated with the interior of the machine platform, and the material discharge channels correspond to the positions of the first clamper and the second clamper respectively.
7. The automatic nucleic acid sampling robot device according to claim 1, characterized in that: The cutter is located at the upper part of the first clamper, and is used to cut off the sampling rod.
8. The automatic nucleic acid sampling robot device according to claim 1, characterized in that: The clamping claw comprises a first clamping portion and a second clamping portion, the first clamping portion and the second clamping portion are respectively matched with the sampling rod and the sampling tube, and the first clamping portion and the second clamping portion are respectively used to clamp the sampling rod and the sampling tube.
9. The automatic nucleic acid sampling robot device according to claim 1, characterized in that: A positioning piece is provided on one side of the conveying chain, and the positioning piece is used to position the sampling rod.
10. The automatic nucleic acid sampling robot device according to claim 1, characterized in that: The electric controller includes a power supply circuit and a signal control circuit connected to the power supply circuit, the power supply circuit is used to provide working power for the conveyor chain, the first clamp, the second clamp, the cutter and the flexible collaborative robot, and the signal control circuit is used to output a control signal to drive the conveyor chain, the first clamp, the second clamp, the cutter and the flexible collaborative robot.