CN116280826B

CN116280826B - A cotton swab delivery and carrier reuse system based on nucleic acid robot

Info

Publication number: CN116280826B
Application number: CN202310306177.3A
Authority: CN
Inventors: 陈琨; 于玮; 徐权杰; 高宇轩; 杨筱涵
Original assignee: Nantong University
Current assignee: Nantong University
Priority date: 2023-03-27
Filing date: 2023-03-27
Publication date: 2025-07-11
Anticipated expiration: 2043-03-27
Also published as: CN116280826A

Abstract

The invention discloses a swab delivering and bearing device recycling system based on a nucleic acid robot, which comprises a bearing box capable of clamping swabs, a lifting table device capable of moving forwards and backwards, a storage cabinet, a thrust device, an optical sensor, a counting system and a swab outer packaging bag unified cutting device. And once the cotton swab is used up, the functions of recovering the used cotton swab bearing box and delivering a new cotton swab bearing box are realized through the cross application of the functions of the lifting table, the thrust device and the optical sensor. The invention effectively ensures the full automation of the nucleic acid robot, and simultaneously, compared with the function of only delivering one packaged cotton swab at a time, the invention better improves the working efficiency of the robot, reduces the working complexity of the robot and improves the safety and the cleanliness of the cotton swab.

Description

Swab delivery and bearing device recycling system based on nucleic acid robot

Technical Field

The invention relates to a swab delivery and bearing device recycling system based on a nucleic acid robot, and belongs to the technical field of medical instruments.

Background

The nucleic acid is collected, and under most conditions, the manual sampling is performed, and the problems that the collecting position is inaccurate, the collecting time is long, the consumption of manpower and material resources is extremely high, the infection of collected personnel and the like are easy to occur are solved, so that the nucleic acid sampling robot is free from the world, and the nucleic acid robot wants to work, and has to store and utilize enough cotton swabs. However, the nucleic acid sampling robots currently on the market have the following problems:

(1) Most of the cotton swabs stored in the nucleic acid sampling robots on the market at present are detached from the outer packaging bag, which has an influence on the safety and the cleanliness of the cotton swabs;

(2) On a conveying box of the cotton swab, the cotton swab is placed on a conveying 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 swab cannot be conveyed to a mechanical arm grabbing place, and when the vibration intensity and frequency are too large, the cotton swab is easy to be blocked, damaged and the like during conveying;

(3) Most of the nucleic acid sampling robots are used for transferring cotton swabs one by one, namely, each time nucleic acid is transferred, the efficiency is lower and the power consumption is higher.

Disclosure of Invention

The invention provides a swab delivering and bearing device recycling system based on a nucleic acid robot, which solves the technical problems.

In order to achieve the aim, the technical scheme adopted by the invention is that the cotton swab delivering and bearing device recycling system based on the nucleic acid robot comprises an empty locker, a bearing box capable of clamping a cotton swab packaging bag and a lifting table device capable of moving up and down and used for transporting the bearing box;

A plurality of empty chambers are arranged in the empty storage cabinet, and an optical sensor for identifying whether the cotton swab storage cabinet is provided with a bearing box or not is arranged on the inner wall of each empty chamber;

The bearing storage cabinet is internally provided with a placing cavity which is arranged corresponding to the number and the positions of the empty cavities of the empty storage cabinet and used for placing the bearing box, and a pushing device used for pushing out the bearing box is arranged in the cavity;

The pushing device comprises a push rod and a push rod power unit connected with the push rod, and is arranged in a rear cavity of the bearing storage cabinet;

The lifting platform device is positioned between the empty storage cabinet and the bearing storage cabinet and comprises a bottom sliding rail and a sliding block positioned on the bottom sliding rail, wherein a scissor type lifting platform is arranged on the sliding block, the scissor type lifting platform is controlled to ascend or descend through hydraulic drive, the sliding block is controlled to slide left and right through a servo control unit, the servo control unit is connected with a total control module, and the total control module is used for intelligently controlling the whole device and feeding back and processing information;

The cotton swab outer packaging bag unified cutting device comprises a connecting upright post on the left side and the right side and a cutting blade arranged between the left connecting upright post and the right connecting upright post, wherein a connecting seat where the cutting blade is arranged is connected with a control unit, and the control unit is used for providing power and cutting the bag opening of the cotton swab outer packaging bag;

the bearing locker is provided with a mechanical arm for clamping the cotton swabs.

The counting system is used for counting the number of the cotton swabs in the bearing boxes, the counting module is connected with the main control module, in the process of detecting nucleic acid, every time one cotton swab is taken out of the bearing boxes, the counting system is added with 1 until the number is added to 30, namely after all cotton swabs in one bearing box are taken out, the counting system returns to 0 from 30, and the cotton swabs in the next bearing box are waited to be counted after being used, and meanwhile, the lifting table starts to operate.

Further, the optical sensor is arranged at the rear part of each storage cabinet at one side of each blank space storage cabinet, and whether the blank storage cabinet is recovered by the carrying box is judged by judging the intensity of light in the storage cabinet.

Further, the lifting platform device controls the front and back movement and the up and down lifting through the optical sensor and the main control module so as to stop in front of the storage cabinet which is not recovered by the bearing box, and the table surface of the scissor type lifting platform and the bottom surface of the storage cabinet are coplanar.

Furthermore, the table surface of the scissor type lifting platform of the lifting platform device is made of alloy with high hardness, and the lifting ladder below the table surface and the bottommost sliding block moving back and forth are connected with electricity, and electric wires are built in to control the back and forth movement of the lifting platform and the up and down lifting of the lifting platform.

Further, the bearing box is a single-layer bearing box body and comprises 30 compartments for placing cotton swabs, and the head end of the cotton swabs is positioned at the inner side of each compartment.

Further, the optical sensor is installed at the rear part of the inner cavity of each empty locker, when the intensity of light is recognized to be weak, the value returned by the optical sensor to the total control module is 0, namely the locker is considered to be occupied, namely the locker is completed to recover the old bearing box, otherwise, the value returned by the optical sensor to the control system is 1, namely the locker which is considered to be blank is not used.

Further, the total control module, the lifting platform device, the empty storage cabinet and the bearing storage cabinet are points in a 0-xy two-dimensional coordinate system which is established in the real space and the control system and corresponds to the two, the control system randomly selects one coordinate with the returned value of 1 according to the value returned by the optical sensor and matches the coordinate with the coordinate of the lifting platform device, and then the lifting platform is controlled to change the coordinate in the control system to be the same as the coordinate of the given storage cabinet, namely, the position of the lifting platform is changed in the real space to be the same as the coordinate of the given storage cabinet in the real space.

Further, the mechanical arm is provided with an outwards extending pipeline opening at the end clamping position, and the cotton swab stick is clamped by an internal device of the mechanical arm through the pipeline opening.

The system method further comprises the following steps that firstly, equipment is started, when the optical sensors 6 are used according to the condition that whether each empty locker is occupied or not transmitted by each optical sensor 6, when the weak light intensity is recognized, the value returned by the optical sensors 6 to the total control module is 0, namely the locker is considered to be occupied, namely the locker is completed to recover the old carrying box;

The total control module randomly selects one coordinate with the return value of 1 according to the value returned by the optical sensor 6, matches the coordinate with the coordinate of the lifting platform device 4, and then changes the coordinate in the control system to be the same as the coordinate of the given storage cabinet through the electric power control lifting platform device 4, namely, changes the position of the lifting platform in the real space to be the same as the coordinate of the given storage cabinet in the real space;

thirdly, after the lifting platform device 4 reaches a proper coordinate position, after the coordinates of the empty and white storage cabinets are matched with the coordinates of the lifting platform and waiting for a plurality of seconds, the pushing device 5 is started to push the new bearing box 3 into the lifting platform and indirectly push the old bearing box into the blank storage cabinet;

The uniform cutting device 8 of the cotton swab outer packaging bag is positioned above the surface of the bearing box 3 above the lifting table device 4, which is plugged into one side of the cotton swab, when a new bearing box 3 is placed on the lifting table, after the cotton swab outer packaging bag is stopped, the cutter is controlled by the system to rapidly cut down, the outer packaging bag is cut off into a mouth, and the mouth is positioned at a point distance aside by the cotton swab stick, so that the mouth is larger to allow the mechanical arm 7 to pick up;

step five, after the unified cutting device 8 of the cotton swab outer packaging bag is cut, the mechanical arm 7 starts to work, clamps one by one, a counting system is arranged under a main system of the robot, in the process of detecting nucleic acid, every time one cotton swab is taken out of a bearing box, the counting system is added with 1 until the cotton swab is added to 30, namely after all cotton swabs in one bearing box are taken out, the counting system returns to 0 from 30, and the cotton swabs in the next bearing box are waited to be counted after being used, and meanwhile, the lifting platform starts to operate and enter a next coordinate point.

The swab delivery and bearing device recycling system based on the nucleic acid robot has the beneficial effects that:

1. Through the system, the full-automatic and manual-free nucleic acid detection can be realized for a long time, the cross infection of patients and medical staff can be avoided, the safety is improved, the labor cost is reduced, and the problem of insufficient human resources is solved.

2. Through the bearing of the bearing box on the cotton swabs, the cotton swabs can be delivered to the mechanical arm workbench as much as possible in each transportation, and compared with the traditional condition that one cotton swab is delivered at a time and then the cotton swabs are continuously delivered during working, the invention reduces the electric power cost and simultaneously lightens the workload of a machine during working.

3. Through the optical sensor, can accurately discern which locker is empty can park the bearing box of having used up the cotton swab, through thrust device, elevating platform, optical sensor's cooperation, can accomplish smooth integral type with old bearing box recovery with the delivery of new bearing box, improved work efficiency.

4. Through the external a little mouth of pipe of arm, can be convenient for grasp the cotton swab rod, through the tight knot of arm internal device to the cotton swab rod, prevent the cotton swab rod landing, this all helps improving efficiency and the security when the robot carries out the nucleic acid sampling.

Drawings

FIG. 1 is a schematic diagram of the structure of the present invention;

FIG. 2 is a schematic view of a side of the storage cabinet according to the present invention;

FIG. 3 is an enlarged schematic view of the structure A of FIG. 2 according to the present invention

FIG. 4 is a schematic view of the structure of one side of the empty locker of the present invention;

FIG. 5 is a schematic enlarged view of the structure B of FIG. 4 in accordance with the present invention;

FIG. 6 is a schematic view of a carrying case according to the present invention;

Fig. 7 is a schematic view of the structure of the carrying case of the present invention mounted on the elevating platform assembly.

In the figure, 1, an empty locker, 2, a bearing locker, 3, a bearing box, 4, a lifting platform device, 41, a bottom sliding rail, 42, a sliding block, 43, a scissor type lifting platform, 5, a pushing device, 51, a push rod, 6, an optical sensor, 7, a mechanical arm, 8, a cotton swab outer packaging bag unified incision device, 81, a connecting upright post, 82 and a cutting blade.

Description of the embodiments

The present invention will be further described in detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the detailed description and specific examples, while indicating the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, and the terms used herein in this description of the invention are for the purpose of describing particular embodiments only and are not intended to be limiting of the invention.

As shown in fig. 1 to 6, a nucleic acid robot-based swab delivering and carrying device recycling system comprises an empty locker 1, a carrying locker 2, a carrying box 3 capable of clamping swab packaging bags, and a lifting table device 4 capable of moving up and down for transporting the carrying box 3;

A plurality of empty chambers are arranged in the empty locker 1, and an optical sensor 6 for identifying whether the cotton swab locker 2 is provided with the bearing box 3 or not is arranged on the inner wall of each empty chamber;

the bearing locker 2 is internally provided with a placing cavity which is arranged corresponding to the number and the positions of the cavity chambers of the empty locker 1 and used for placing the bearing box 3, and the cavity is internally provided with a pushing device 5 used for pushing out the bearing box 3;

The pushing device 5 comprises a push rod 51 and a push rod power unit connected with the push rod 51, wherein the pushing device 5 is arranged in a rear cavity in the carrying storage cabinet 2;

the lifting platform device 4 is positioned between the empty storage cabinet 1 and the bearing storage cabinet 2 and comprises a bottom sliding rail 41 and a sliding block 42 positioned on the bottom sliding rail 41, wherein a scissor type lifting platform 43 is arranged on the sliding block 42, the scissor type lifting platform 43 is controlled to ascend or descend through hydraulic drive, the sliding block 42 is controlled to slide left and right through a servo control unit, the servo control unit is connected with a total control module, and the total control module is used for intelligently controlling the whole device and feeding back and processing information;

The cutting fork type lifting platform 43 is provided with a uniform cutting device 8 of the cotton swab outer packaging bag, wherein the uniform cutting device 8 of the cotton swab outer packaging bag comprises a connecting upright post 81 on the left side and the right side and a cutting blade 82 positioned between the left connecting upright post and the right connecting upright post 81, a connecting seat where the cutting blade 82 is positioned is connected with a control unit, and the control unit is used for providing power and cutting the bag mouth of the cotton swab outer packaging bag;

the mechanical arm 7 for clamping the cotton swabs is arranged on the bearing locker 2.

The embodiment preferably further comprises a counting module for counting the number of the cotton swabs in the bearing box 3, wherein the counting module is connected with the main control module, and in the process of detecting nucleic acid, every time one cotton swab is taken out of the bearing box, the counting system is added with 1 until 30, namely, after all cotton swabs in one bearing box are taken out, the counting system returns to 0 from 30, and the cotton swabs in the next bearing box are waited for counting after being used, and meanwhile, the lifting table starts to operate.

Preferably, the optical sensor is installed at the rear part of each storage cabinet at one side of each blank space storage cabinet, and whether the blank storage cabinet is recovered by the carrying box is distinguished by judging the intensity of light in the storage cabinet.

In this embodiment, the lifting platform device 4 controls the front-back movement and the up-down lifting by the optical sensor and the main control module to stop in front of the storage cabinet which is not recovered by the bearing box, and the table surface of the scissor lift platform 43 and the bottom surface of the storage cabinet are coplanar.

In this embodiment, preferably, the table surface of the scissor lift platform 43 of the lift table device 4 is made of alloy with high hardness, and the lift below the table surface and the lowermost sliding block 42 moving back and forth are connected with electricity, and electric wires are built in to control the back and forth movement of the lift table and the up and down movement of the lift table.

In this embodiment, the carrying case 3 is preferably a single-layer carrying case body, which comprises 30 compartments for placing cotton swabs, and the head end of the cotton swabs is located at the inner side of the compartments.

In this embodiment, preferably, the optical sensor 6 is installed at the rear of the inner chamber of each empty locker 1, and when the intensity of light is recognized to be weak, the value returned from the optical sensor 6 to the overall control module is 0, i.e. the locker is considered to be occupied, i.e. the locker has completed recycling the old carrying case, whereas the value returned from the optical sensor to the control system is 1, i.e. the locker is considered to be blank, and is not used.

In this embodiment, preferably, the total control module, the lifting platform device 4, the empty storage cabinet 1 and the bearing storage cabinet 2 are points in a 0-xy two-dimensional coordinate system corresponding to the two points established in the real space and the control system, the control system randomly selects one coordinate with the return value of 1 according to the value returned by the optical sensor 6, and matches the coordinate with the coordinate of the lifting platform device 4, and then the lifting platform is controlled to change the coordinate in the control system to be the same as the coordinate of the given storage cabinet, namely, the position of the lifting platform is changed in the real space to be the same as the coordinate of the given storage cabinet in the real space.

In this embodiment, preferably, the mechanical arm 7 is provided with an outwardly extending pipe opening at its end gripping position, and the swab stick is gripped by the internal device of the mechanical arm through the pipe opening.

The working principle comprises the following steps of,

Firstly, starting equipment, namely, according to whether each empty locker is occupied or not transmitted by each optical sensor 6, when the weak light intensity is identified, the value returned by the optical sensor 6 to the total control module is 0, namely, the locker is considered to be occupied, namely, the locker is recovered by the old bearing box, otherwise, the value returned by the optical sensor 6 to the total control module is 1, namely, the locker is considered to be a blank locker and is not used;

The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, or alternatives falling within the spirit and principles of the invention.

Claims

1. A cotton swab delivery and carrier device reuse system based on a nucleic acid robot, characterized in that it comprises an empty storage cabinet (1), a carrier storage cabinet (2), a carrier box (3) capable of clamping a cotton swab packaging bag, and a lifting platform device (4) capable of moving forward, backward, up and down for transporting the carrier box (3);

The empty storage cabinet (1) is provided with a plurality of empty chambers, and an optical sensor (6) for identifying whether the cotton swab storage cabinet (2) is equipped with a carrying box (3) is provided on the inner wall of the empty chamber;

The load-bearing storage cabinet (2) is provided with a placement chamber for placing the load-bearing box (3) arranged in a number and position corresponding to the empty chambers of the empty storage cabinet (1), and the chamber is provided with a pushing device (5) for pushing out the load-bearing box (3);

The pushing device (5) comprises a pushing rod (51) and a pushing rod power unit connected to the pushing rod (51); the pushing device (5) is arranged in a rear chamber inside the load-bearing storage cabinet (2);

The lifting platform device (4) is located between the empty storage cabinet (1) and the load storage cabinet (2), and comprises a bottom slide rail (41) and a slider (42) located on the bottom slide rail (41); a scissor-type lifting platform (43) is arranged on the slider (42); the scissor-type lifting platform (43) is controlled to rise or fall by hydraulic drive; the slider (42) is controlled to slide left and right by a servo control unit; the servo control unit is connected to a general control module; the general control module is used to perform intelligent control, information feedback and processing on the entire device;

The scissor-type lifting platform (43) is provided with a unified cutting device (8) for outer packaging bags of cotton swabs; the unified cutting device (8) for outer packaging bags of cotton swabs comprises connecting columns (81) on left and right sides and a cutting blade (82) located between the two connecting columns (81) on left and right sides; the connecting seat where the cutting blade (82) is located is connected to a control unit, and the control unit is used to provide power and cut the bag opening of the outer packaging bag of cotton swabs;

The load-bearing storage cabinet (2) is provided with a mechanical arm (7) for clamping cotton swabs.

2. A cotton swab delivery and carrier device reuse system based on a nucleic acid robot according to claim 1, characterized in that it also includes a counting module; the module is used to count the number of cotton swabs in the carrier box (3), and the counting module is connected to the main control module. During the nucleic acid detection process, each time a cotton swab is taken out from the carrier box, the counting system will add 1 until it reaches 30, that is, after all the cotton swabs in a carrier box are taken out, the counting system will return from 30 to 0, waiting for the cotton swabs in the next carrier box to be used before counting again. At the same time, the lifting platform starts to operate.

3. According to a nucleic acid robot-based cotton swab delivery and carrier device reuse system as described in claim 1, it is characterized in that the optical sensor is installed at the rear of each locker on the side of each empty locker, and by judging the intensity of light in the locker, it is determined whether the empty locker has completed the recovery of the carrier box.

4. A cotton swab delivery and carrier device reuse system based on a nucleic acid robot according to claim 1, characterized in that the lifting platform device (4) controls the forward and backward movement and the up and down lifting through an optical sensor and a main control module to stop in front of a locker where the carrier box recovery has not been completed, and the table top of the scissor-type lifting platform (43) and the bottom surface of the locker cabinet are coplanar.

5. According to a nucleic acid robot-based cotton swab delivery and carrier device reuse system as described in claim 1, it is characterized in that the table top of the scissor-type lifting platform (43) of the lifting platform device (4) is made of high-hardness alloy material, and the lifting ladder below the table top and the bottom forward and backward moving slider (42) are both connected to electricity and have built-in wires to control the forward and backward movement of the lifting platform and the up and down movement of the lifting platform.

6. A cotton swab delivery and carrier device reuse system based on a nucleic acid robot according to claim 1, characterized in that the carrier box (3) is a single-layer carrier box body, which contains 30 compartments for placing cotton swabs; the head end of the cotton swab is located on the inner side of the compartment.

7. A cotton swab delivery and carrier device reuse system 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 chamber of each empty locker (1), and when it is recognized that the light intensity is weak, the optical sensor (6) returns a value of 0 to the main control module, that is, it is considered that the locker is occupied, that is, the locker has completed the recycling of the old carrier box; conversely, the optical sensor returns a value of 1 to the control system, that is, it is considered that the locker is still an empty locker and is not used.

8. A cotton swab delivery and carrier device reuse system based on a nucleic acid robot according to claim 1, characterized in that the general control module, the lifting platform device (4), the empty locker (1), and the load locker (2) are all points in a 0-xy two-dimensional coordinate system corresponding to each other established in the real space and the control system, and the control system randomly selects a coordinate with a return value of 1 based on the value returned by the optical sensor (6), matches it with the coordinate of the lifting platform device (4), and then controls the lifting platform to change the coordinate in the control system to be the same as the coordinate of the given locker, that is, changes the position of the lifting platform in the real space to be the same as the coordinate of the given locker in the real space.

9. A cotton swab delivery and carrier device reuse system based on a nucleic acid robot according to claim 1, characterized in that the robotic arm (7) is provided with a pipe opening extending outward 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.

10. According to a method of a cotton swab delivery and carrier device reuse system based on a nucleic acid robot as described in claim 1, it is characterized in that it comprises the following steps: step 1: first, the device is turned on, at this time, according to the information transmitted by each optical sensor (6) regarding whether each empty locker is occupied, when it is recognized that the light intensity is weak, the optical sensor (6) returns a value of 0 to the main control module, that is, it is considered that the locker is occupied, that is, the locker has completed the recycling of the old carrier box; otherwise, the optical sensor (6) returns a value of 1 to the main control module, that is, it is considered that the locker is still an empty locker and is not used;

Step 2: The main control module randomly selects a coordinate with a return value of 1 according to the value returned by the optical sensor (6), matches it with the coordinate of the lifting platform device (4), and then changes the coordinate in the control system to be the same as the coordinate of the given locker through electric control of the lifting platform device (4), that is, changes the position of the lifting platform in the real space to be the same as the coordinate of the given locker in the real space;

Step 3: When the lifting platform device (4) reaches the appropriate coordinate position, after waiting for a few seconds when the coordinates of the blank locker match the coordinates of the lifting platform, the pushing device (5) starts to push the new carrier box (3) into the lifting platform and indirectly push the old carrier box into the blank locker;

Step 4: The uniform cutting device (8) for the outer packaging bag of the cotton swab is located above the surface of the carrier box (3) on the lifting platform device (4) on the side where the cotton swabs are inserted. When a new carrier box (3) is placed on the lifting platform, after it stops, the cutter is controlled by the system to move downward quickly to cut a hole in the outer packaging bag. The incision is located at a little distance from the cotton swab stick, so that the incision allows the robot arm (7) to pick it up;

Step 5: After the uniform cutting device (8) of the outer packaging bag of the cotton swabs is 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 test, every time a cotton swab is taken out from the carrier box, the counting system will add 1 until it reaches 30. That is, after all the cotton swabs in a carrier box are taken out, the counting system returns from 30 to 0 and waits for the cotton swabs in the next carrier box to be used before counting again. At the same time, the lifting platform starts to operate and enters the next coordinate point.