阅读说明：本技术 一种咽拭子自动采集系统及采集方法 (Automatic collection system and collection method for throat swabs ) 是由 彭锋 陈丽敏 许允 周宁 王文龙 蒋永芳 于 2021-05-26 设计创作，主要内容包括：本发明公开了一种咽拭子自动采集系统及采集方法,涉及咽拭子采集技术领域,包括测试平台,所述测试平台的顶部固定连接有安装台,所述安装台的顶部设置有六轴轻型机器人,所述六轴轻型机器人的底部固定连接有机器人固定底座,所述机器人固定底座固定安装于安装台的顶部,所述安装台的一侧固定安装有用于支撑定位人体头部的人体固定支撑架,所述检测棉签抓手包括气缸。本发明通过将采集系统设立在单独隔离空间内,进而实现隔离采集,避免医护人员与被采集人员的直接接触,极大的降低了病毒传播的风险,同时利用六轴轻型机器人进行采集,从而使采集过程更加快捷,更加安全,同时也有效地降低了医护人员的劳动量。(The invention discloses an automatic collection system and a collection method for throat swabs, and relates to the technical field of throat swab collection. According to the invention, the acquisition system is arranged in the independent isolation space, so that isolated acquisition is realized, the medical care personnel are prevented from directly contacting with the acquired personnel, the risk of virus propagation is greatly reduced, and the acquisition is carried out by utilizing the six-axis light robot, so that the acquisition process is quicker and safer, and the labor capacity of the medical care personnel is effectively reduced.)

1. The utility model provides a pharynx swab automatic acquisition system and collection method, includes test platform (1), the top fixedly connected with mount table (2) of test platform (1), its characterized in that: the top of mount table (2) is provided with six lightweight robots (3), the bottom fixedly connected with robot unable adjustment base (4) of six lightweight robots (3), robot unable adjustment base (4) fixed mounting is in the top of mount table (2), one side fixed mounting of mount table (2) has human fixed stay frame (6) that are used for supporting the human head in location, it includes cylinder (51) to detect cotton swab tongs (5), cylinder (51) rotate to be installed in the end of six lightweight robots (3), the inside of cylinder (51) is provided with piston rod (52), the one end fixed mounting that piston rod (52) are located cylinder (51) inside has the piston, piston slidable mounting is in the inside of cylinder (51), cylinder (51) are close to the one end fixedly connected with trachea (53) of six lightweight robots (3), the clamping hand (54) is fixedly mounted at one end, located outside the air cylinder (51), of the piston rod (52), and the intelligent camera (55) is fixedly mounted outside the air cylinder (51).

2. A throat swab automatic collection system according to claim 1, wherein: four apex angles of the bottom of the test platform (1) are provided with height-adjustable foot cups (7).

3. A throat swab automatic collection system according to claim 1, wherein: a plurality of trundles (8) are fixedly installed at the bottom of the test platform (1).

4. A collection method for a pharyngeal swab automatic collection system according to claim 1, characterized in that it comprises the following steps:

step one, mounting a human body silica gel model on a human body fixing support frame (6), giving position parameters of the human body silica gel model, programming the six-axis lightweight robot (3) through a demonstrator, determining a walking route of the six-axis lightweight robot (3), and during actual detection, moving a person to be detected to the human body fixing support frame (6) and fixing the head in the human body fixing support frame (6);

step two, a cotton swab detection gripper (5) at the tail end of the six-axis light robot (3) moves to a cotton swab pre-grabbing position, sends a command to an intelligent camera (55) to take a picture, and gives position parameters of the cotton swab of the six-axis light robot (3);

thirdly, the six-axis light robot (3) further accurately moves to a cotton swab grabbing position according to the position parameters fed back by the intelligent camera (55), and grabs the cotton swab through a clamping hand (54);

step four, the six-axis light robot (3) drives the cotton swab to move to the front of the detection position of the human body fixed support frame (6) according to the determined walking route of the human body fixed support frame (6) in the moving direction, and sends a command to photograph the intelligent camera (55) to obtain the position information of the throat of the human body, and feeds back the position parameter of the throat of the human body to the six-axis light robot (3), and then the six-axis light robot (3) drives the detection cotton swab gripper (5) to accurately move to the position of the throat of the human body, and enables the cotton swab to be aligned with the throat of the human body;

and step five, using an air pump, slowly inputting air into the air cylinder (51) through the air pipe (53), pushing the piston rod (52) to extend forwards, further slightly extending the cotton swab clamped by the clamping hand (54) into the throat, and after the cotton swab is completely extended into the throat, controlling the air cylinder (51) to slowly rotate left and right for three times to complete collection.

And step six, moving the six-axis light robot (3) to a cotton swab storage position, storing the cotton swabs, and then grabbing new cotton swabs again to perform circular detection.

5. An automatic throat swab collection method according to claim 4, wherein: the disinfection spray is placed at the position of the human body fixing support frame (6), and the human body fixing support frame (6) is disinfected once without detection and collection.

6. An automatic throat swab collection method according to claim 4, wherein: the acquisition system is arranged in the independent isolation space, and medical personnel are positioned outside the isolation space to monitor the system in real time.

Technical Field

The invention relates to the technical field of throat swab acquisition, in particular to an automatic acquisition system and an automatic acquisition method for throat swabs.

Background

The novel coronavirus pneumonia is acute infectious pneumonia, initial symptoms of a new coronavirus pneumonia patient mainly comprise dry cough, fever and hypodynamia, and later symptoms gradually change into symptoms such as dyspnea and the like, and the symptoms are accompanied with centralized outbreak of various comprehensive diseases of the patient. According to medical clinical observation, the latent period of the virus is 1-14 days, and the latent period has strong infectivity, so that how to rapidly and accurately screen infected people becomes a main means for controlling epidemic situation spread. At present, the pharyngeal portion of a patient is often analyzed and judged in a way of collecting a flora sample by a swab.

As a main detection means, nucleic acid detection is widely applied to detection of new coronavirus infection. Among them, pharyngeal swabs are the most dominant sampling method. However, during sampling, medical staff need to be in close contact with a patient, the patient can cough, breathe with strength and the like to generate a large amount of spray or aerosol, the risk of cross infection is high, and due to the fact that the detection amount is large, the medical staff is greatly labored.

Disclosure of Invention

The invention aims to provide an automatic pharynx swab acquisition system and an automatic pharynx swab acquisition method, which aim to overcome the defects in the prior art.

In order to achieve the above purpose, the invention provides the following technical scheme: an automatic pharynx swab acquisition system and an automatic pharynx swab acquisition method comprise a test platform, wherein the top of the test platform is fixedly connected with an installation platform, the top of the installation platform is provided with a six-axis lightweight robot, the bottom of the six-axis lightweight robot is fixedly connected with a robot fixing base, the robot fixing base is fixedly installed at the top of the installation platform, one side of the installation platform is fixedly provided with a human body fixing support frame for supporting and positioning the head of a human body, the detection cotton swab gripper comprises an air cylinder, the air cylinder is rotatably installed at the tail end of the six-axis lightweight robot, a piston rod is arranged inside the air cylinder, one end of the piston rod, which is positioned inside the air cylinder, is fixedly provided with a piston, the piston is slidably installed inside the air cylinder, one end of the air cylinder, which is close to the six-axis lightweight robot, is fixedly connected with an air pipe, and one end of the piston rod, which is positioned outside the air cylinder, is fixedly provided with a gripper, and an intelligent camera is fixedly arranged outside the cylinder.

Preferably, the four top corners of the bottom of the test platform are respectively provided with a height-adjustable foot cup.

Preferably, a plurality of casters are fixedly installed at the bottom of the test platform.

An automatic collection method for throat swabs comprises the following steps:

the method comprises the following steps that firstly, a human body silica gel model is installed on a human body fixing support frame, position parameters of the human body silica gel model are given, the six-axis light robot is programmed to move through a demonstrator, the walking route of the six-axis light robot is determined, and when in actual detection, a person to be detected moves to the human body fixing support frame and fixes the head in the human body fixing support frame;

step two, detecting that a swab gripper at the tail end of the six-axis light robot moves to a swab pre-gripping position, sending a command to an intelligent camera to take a picture, and giving position parameters of a swab of the six-axis light robot;

step three, the six-axis light robot further accurately moves to a cotton swab grabbing position according to the position parameters fed back by the intelligent camera, and grabs the cotton swab through a clamping hand;

step four, the six-axis lightweight robot drives the cotton swabs to move to the front of the detection position of the human body fixed support frame according to the determined walking route of the human body fixed support frame, commands are sent to the intelligent camera to take pictures, the position information of the throat of the human body is obtained, the position parameter of the throat of the human body is fed back to the six-axis lightweight robot, then the six-axis lightweight robot drives the detection cotton swabs to move to the position of the throat of the human body accurately, and the cotton swabs are aligned with the throat of the human body;

and step five, using an air pump, slowly inputting air into the cylinder through an air pipe, pushing the piston rod to extend forwards, further slightly extending the cotton swab clamped by the clamping hand into the throat, and controlling the cylinder to slowly rotate left and right for three times after completely extending the cotton swab into the throat, so as to finish collection.

And step six, moving the six-axis light robot to a cotton swab storage position, storing the cotton swabs, and then grabbing new cotton swabs again to perform circular detection.

Preferably, the disinfection spray is placed at the position of the human body fixing support frame, and one person does not need to detect and collect the disinfection spray to disinfect the human body fixing support frame once.

Preferably, the acquisition system is arranged in a separate isolation space, and medical personnel are positioned outside the isolation space to monitor the system in real time.

In the technical scheme, the invention provides the following technical effects and advantages:

according to the invention, the acquisition system is arranged in the independent isolation space, so that isolated acquisition is realized, direct contact between medical personnel and the acquired personnel is avoided, the risk of virus propagation is greatly reduced, the six-axis lightweight robot is used for grabbing the cotton swab and driving the cotton swab to move to the front of the detection position of the human body fixing support frame, the position information of the throat of the human body is acquired through the intelligent camera and then fed back to the six-axis lightweight robot, the six-axis lightweight robot accurately and actually detects the position, air is slowly input into the cylinder, the piston rod is pushed to extend forwards, the cotton swab is slowly extended into the throat, after the cotton swab is completely extended, the cylinder is controlled to slowly rotate left and right for three times, acquisition is completed, so that the acquisition process is quicker and safer, and the labor amount of the medical personnel is effectively reduced.

Drawings

In order to more clearly illustrate the embodiments of the present application or technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings can be obtained by those skilled in the art according to the drawings.

FIG. 1 is a diagram of a system simulation test architecture of the present invention.

FIG. 2 is a schematic view of the overall structure of the swab gripper of the present invention.

Description of reference numerals:

1. a test platform; 2. an installation table; 3. a six-axis lightweight robot; 4. a robot fixing base; 5. detecting the cotton swab gripper; 51. a cylinder; 52. a piston rod; 53. an air tube; 54. clamping a hand; 55. a smart camera; 6. a human body fixing support frame; 7. a foot cup; 8. and a caster.

Detailed Description

In order to make the technical solutions of the present invention better understood, those skilled in the art will now describe the present invention in further detail with reference to the accompanying drawings.

The invention provides a pharynx swab automatic acquisition system and an acquisition method as shown in figures 1-2, comprising a test platform 1, wherein the top of the test platform 1 is fixedly connected with an installation platform 2, the top of the installation platform 2 is provided with a six-axis lightweight robot 3, the bottom of the six-axis lightweight robot 3 is fixedly connected with a robot fixing base 4, the robot fixing base 4 is fixedly arranged at the top of the installation platform 2, one side of the installation platform 2 is fixedly provided with a human body fixing support frame 6 for supporting and positioning the head of a human body, the detection cotton swab gripper 5 comprises an air cylinder 51, the air cylinder 51 is rotatably arranged at the tail end of the six-axis lightweight robot 3, a piston rod 52 is arranged inside the air cylinder 51, one end of the piston rod 52 positioned inside the air cylinder 51 is fixedly provided with a piston, and the piston is slidably arranged inside the air cylinder 51, an air pipe 53 is fixedly connected to one end of the air cylinder 51 close to the six-axis lightweight robot 3, a clamping hand 54 is fixedly installed at one end of the piston rod 52 positioned outside the air cylinder 51, and an intelligent camera 55 is fixedly installed outside the air cylinder 51;

further, in the above technical solution, height-adjustable foot cups 7 are mounted at four top corners of the bottom of the test platform 1;

further, in the above technical solution, a plurality of casters 8 are fixedly installed at the bottom of the testing platform 1;

an automatic collection method for throat swabs comprises the following steps:

step one, mounting a human body silica gel model on a human body fixed support frame 6, giving position parameters of the human body silica gel model, programming the six-axis lightweight robot 3 through a demonstrator, determining the walking route of the six-axis lightweight robot 3, moving a person to be detected to the human body fixed support frame 6 during actual detection, and fixing the head in the human body fixed support frame 6;

step two, the cotton swab gripper 5 at the tail end of the six-axis light robot 3 moves to a cotton swab pre-gripping position, sends a command to the intelligent camera 55 to take a picture, and gives position parameters of the cotton swab to the six-axis light robot 3;

step three, the six-axis lightweight robot 3 further accurately moves to a cotton swab grabbing position according to the position parameters fed back by the intelligent camera 55, and grabs the cotton swab through the clamping hand 54;

step four, the six-axis lightweight robot 3 drives the cotton swabs to move to the front of the detection position of the human body fixed support frame 6 according to the determined walking route of the human body fixed support frame 6, sends commands to shoot the intelligent camera 55 to obtain the position information of the throat of the human body, and feeds back the position parameters of the throat of the human body to the six-axis lightweight robot 3, and then the six-axis lightweight robot 3 drives the detection cotton swab gripper 5 to accurately move to the throat position of the human body and enables the cotton swabs to aim at the throat of the human body;

step five, using an air pump to slowly input air into the air cylinder 51 through the air pipe 53, pushing the piston rod 52 to extend forwards, further slightly extending the cotton swab clamped by the clamping hand 54 into the throat, and after the cotton swab is completely extended into the throat, controlling the air cylinder 51 to slowly rotate left and right for three times to complete collection;

moving the six-axis light robot 3 to a cotton swab storage position, storing the cotton swabs, and then grabbing new cotton swabs again to perform circular detection;

further, in the above technical scheme, a disinfection spray is placed at the human body fixing support frame 6, and one person is not detected and collected to disinfect the human body fixing support frame 6 once;

furthermore, in the technical scheme, the acquisition system is arranged in a separate isolation space, and medical personnel are positioned outside the isolation space to monitor the system in real time;

the implementation mode is specifically as follows: the acquisition system is arranged in an independent isolation space, so that isolated acquisition is realized, direct contact between medical staff and the acquired staff is avoided, the risk of virus propagation is greatly reduced, in the actual detection process, the staff to be detected moves towards the position of the human body fixing support frame 6 and fixes the head in the human body fixing support frame 6, the detection cotton swab gripper 5 at the tail end of the six-axis light robot 3 moves to the cotton swab pre-gripping position to grip the cotton swab and then moves to the front of the detection position of the human body fixing support frame 6, in the process, the intelligent camera 55 arranged acquires the throat position information of the human body and feeds the throat position information back to the six-axis light robot 3 so as to further adjust the position of the six-axis light robot 3, accurately and actually detect the position, air is slowly input into the air cylinder 51 through the air pipe 53, the piston rod 52 is pushed to extend forwards, and then the cotton swab clamped by the clamping hand 54 is slowly extended into the throat, after the medical staff completely extend into the collecting device, the cylinder 51 is controlled to rotate left and right slowly for three times to complete collection, so that the collecting process is quicker and safer, and the labor capacity of the medical staff is effectively reduced.

While certain exemplary embodiments of the present invention have been described above by way of illustration only, it will be apparent to those of ordinary skill in the art that the described embodiments may be modified in various different ways without departing from the spirit and scope of the invention. Accordingly, the drawings and description are illustrative in nature and should not be construed as limiting the scope of the invention.