CN115462838A

CN115462838A - Sampling mechanism and sampling robot

Info

Publication number: CN115462838A
Application number: CN202210931949.8A
Authority: CN
Inventors: 魏洪兴; 崔元洋; 吴倜; 邵乔林; 谢肇阳; 郭闯; 高培庆; 邱锦
Original assignee: Aubo Beijing Intelligent Technology Co ltd
Current assignee: Aubo Beijing Intelligent Technology Co ltd
Priority date: 2022-08-04
Filing date: 2022-08-04
Publication date: 2022-12-13

Abstract

The invention relates to the technical field of robots, in particular to a sampling mechanism and a sampling robot. The method comprises the following steps: an image acquisition unit that acquires a 3D image to locate a sampling position and a sampling depth; sampling; the detection unit is assembled on the sampling piece and comprises a moment detection unit and an angle detection unit, and the moment detection unit is suitable for the axial displacement of the sampling piece and detects the stress condition of the sampling piece; the angle detection unit is suitable for deflection of the sampling piece in two directions and detects deflection angles of the sampling piece in the two directions; the controller controls the motion path of the sampling piece according to the sampling position and the sampling depth, and adjusts the position of the sampling piece according to the axial displacement and the deflection angle detected by the detection unit. The technical problem that the oral cavity of a person to be sampled is easily injured in the existing automatic sampling is solved.

Description

Sampling mechanism and sampling robot

Technical Field

The invention relates to the technical field of robots, in particular to a sampling mechanism and a sampling robot.

Background

At present, infectious virus infection diseases spread worldwide, the virus infection detection means mainly collects samples for inspection, but the collection of the samples is a process with extremely high infection coefficient and certain operation skill. In the sampling process, the person to be sampled needs to open the mouth, the medical staff holds the cotton swab and extends into the mouth of the person to be sampled while wearing the protective clothing, and sampling is carried out at the position of the uvula near the tonsil. The medical staff need be just to the oral cavity of the person who is sampled, and medical staff's infected risk increases.

For example, the application document CN202110102710.5 discloses a method for sampling throat swabs based on visual analysis, and specifically discloses: a pharyngeal swab sampling method based on visual analysis comprises the following steps: step 1: the multi-degree-of-freedom mechanical arm clamps the throat swab and extends into the oral cavity of a patient; step 2: scanning the oral cavity environment of a patient based on a visual acquisition module, acquiring oral cavity point cloud data, and constructing an oral cavity three-dimensional scene; and step 3: performing visual analysis on the oral cavity three-dimensional scene to obtain the space coordinates of a small tongue, teeth and upper jaw organs in the oral cavity; and 4, step 4: and determining a sampling path of the real-time pharynx swab according to the space coordinates of the small tongue, the teeth and the upper jaw organ, and controlling the multi-degree-of-freedom mechanical arm to perform sampling operation based on the real-time sampling path. In the pharynx swab sampling method, the multi-degree-of-freedom mechanical arm is adopted to clamp the pharynx swab to extend into the oral cavity of a patient, manual sampling is replaced, risks of medical workers are reduced, the pharynx swab is driven by the mechanical arm to sample in the oral cavity of the human body, and once the pharynx swab is inaccurate in positioning, the oral cavity is easily injured by a sampler due to misoperation of the mechanical arm.

Disclosure of Invention

In order to solve the technical problem that the oral cavity of a person to be sampled is easily injured in the existing automatic sampling, the invention provides a sampling mechanism and a sampling robot, and the technical problem is solved. The technical scheme of the invention is as follows:

a sampling mechanism, comprising:

an image acquisition unit that acquires a 3D image to locate a sampling position and a sampling depth;

a sampling piece;

the detection unit is assembled on the sampling piece and comprises a moment detection unit and an angle detection unit, and the moment detection unit is suitable for the axial displacement of the sampling piece and detects the stress condition of the sampling piece; the angle detection unit is suitable for deflection of the sampling piece in two directions and detects deflection angles of the sampling piece in the two directions;

the controller controls the motion path of the sampling piece according to the sampling position and the sampling depth, and adjusts the position of the sampling piece according to the axial displacement and the deflection angle detected by the detection unit.

According to the sampling mechanism, the detection unit is arranged, the torque detection unit in the detection unit can adapt to the axial displacement of the sampling piece, the angle detection unit can adapt to the deflection of the sampling piece in two directions, and therefore even if the positioning is inaccurate, the sampling piece can avoid the oral cavity from being damaged in an axial avoiding mode and a deflection avoiding mode. On this basis, the atress condition of moment detecting element detectable sampling piece, the deflection angle of angle detecting element detectable sampling piece in two directions, foretell atress condition and deflection angle information can transmit to the controller, and the position of the adjustable sampling piece of controller guarantees the accuracy of sampling and prevents the unexpected injury that causes human oral cavity, improves the security, the accuracy of sampling, the comfort level.

According to one embodiment of the present invention, the angle detection unit includes a first shaft rotatably fitted on an inner frame and a second shaft rotatably fitted on an outer frame, the inner frame being connected with the second shaft in rotation, and hall sensors being fitted on both the first shaft and the second shaft.

According to one embodiment of the invention, the first shaft is arranged perpendicular to the second shaft, and the first shaft and the second shaft are both provided with a reset structure.

According to one embodiment of the invention, the sampling piece, the torque detection unit and the angle detection unit are sequentially and axially assembled, the torque detection unit comprises a first torque sensor, the first torque sensor is assembled between a first shaft sleeve and a second shaft sleeve, the assembling end of the sampling piece is assembled in the first shaft sleeve, and the second shaft sleeve is connected with the first shaft through a rocker.

According to one embodiment of the invention, the sampling piece, the angle detection unit and the moment detection unit are sequentially and axially assembled, the moment detection unit comprises a second moment sensor, the sampling piece is connected with the first shaft through a third shaft sleeve and a rocker, the outer frame is connected with a detection end of the second moment sensor, and the other end of the second moment sensor is fixedly assembled.

According to an embodiment of the invention, the image acquisition unit comprises a 3D camera, the optical axis of the 3D camera being perpendicular to the initial axis of the sample piece.

According to an embodiment of the invention, the image acquisition unit further comprises a light supplement structure, the light supplement structure comprises a light supplement plate, the light supplement plate is assembled on one side of the 3D camera where the lens is located, an opening is formed in the light supplement plate for the lens to pass through, lamp beads are distributed on the light supplement plate, and the 3D camera and the light supplement structure are integrally assembled in the installation box.

According to one embodiment of the invention, the controller comprises a control board, which is fitted on the side of the detection unit remote from the sample piece.

According to one embodiment of the invention, the image acquisition unit comprises a laser rangefinder.

According to one embodiment of the invention, the device further comprises a monitoring camera, wherein the monitoring camera is inclined towards the sampling piece, and the monitoring camera is used for detecting the surrounding environment of the sampling end of the sampling piece.

A sampling robot, comprising:

a sampling mechanism;

the sampling mechanism is assembled on the mechanical arm, and the mechanical arm drives the sampling piece to perform sampling action under the control of the controller.

Based on the technical scheme, the invention can realize the following technical effects:

1. according to the sampling mechanism, the detection unit is arranged, the moment detection unit in the detection unit can adapt to the axial displacement of the sampling piece, the angle detection unit can adapt to the deflection of the sampling piece in two directions, and therefore even if the positioning is inaccurate, the sampling piece can avoid the oral cavity from being injured in an axial avoiding mode and a deflection avoiding mode. On the basis, the moment detection unit can detect the stress condition of the sampling piece, the angle detection unit can detect the deflection angle of the sampling piece in two directions, the stress condition and the deflection angle information can be transmitted to the controller, and the controller can adjust the position of the sampling piece, so that the sampling accuracy is ensured, accidental injury to the oral cavity of a human body is prevented, and the sampling safety, accuracy and comfort are improved;

2. according to the sampling mechanism, the optical axis of the 3D camera is perpendicular to the initial axis of the sampling piece, and the 3D camera is rotated by 90 degrees after being used for shooting a 3D image, so that the sampling piece is aligned to a sampled area for sampling, therefore, the 3D camera cannot be influenced by the sampling piece and can be used for shooting close to the sampled area, and the accuracy of the shot image is high; a light supplementing structure is further arranged, so that the brightness can be improved, and the shooting definition can be enhanced; the light supplementing structure comprises a light supplementing plate, and lamp beads are distributed on the light supplementing plate, so that the light supplementing plate can be attached to one side of the 3D camera where the lens is located to form an opening for the lens to pass through, the overall size of the image acquisition unit can be reduced, and miniaturization is facilitated; in addition, the image acquisition unit can adopt a laser range finder besides a 3D camera, and also can simultaneously comprise the 3D camera and the laser range finder, so that the positioning accuracy is ensured;

3. according to the sampling mechanism, the angle detection unit comprises the first shaft and the second shaft, the sampling piece can rotate by taking the axes of the first shaft and the second shaft as central lines, and the sampling piece can deflect in two directions, so that the sampling piece can deflect and avoid when touching the inner wall of the oral cavity of a human body; the arrangement of the Hall sensor can detect the rotation angles of the first shaft and the second shaft; the first shaft and the second shaft are vertically arranged, so that the sampling piece can deflect at multiple angles; the first shaft and the second shaft are provided with a reset structure, so that the sampling piece can reset to an initial position under the action of the reset structure when the sampling piece is far away from the inner wall of the human oral cavity;

4. according to the sampling mechanism, the torque detection unit can be arranged between the sampling piece and the angle detection unit in the axial direction, and the sampling piece can axially move relative to the torque detection unit to trigger the first torque sensor; the sampling piece and the moment detection unit can deflect relative to the angle detection unit together; in addition, the angle detection unit can be arranged between the sampling piece and the torque detection unit in the axial direction, the sampling piece can deflect relative to the angle detection unit, the sampling piece and the angle detection unit can move axially relative to the torque detection unit together, and the sampling piece can be assembled in the two modes;

5. the sampling mechanism is also provided with a monitoring camera, the monitoring camera inclines towards the sampling piece, and the monitoring camera can monitor the surrounding environment of the sampling end of the sampling piece in real time so as to ensure the accuracy of sampling;

6. according to the sampling robot, the mechanical arm drives the sampling mechanism to move, so that automatic sampling can be realized, manual sampling is replaced, and the risk of infection of medical staff is reduced; the controller controls the mechanical arm to drive the motion path of the sampling piece according to the 3D image, and controls the mechanical arm to adjust the position of the sampling piece according to the axial displacement and the deflection angle detected by the detection unit, so that the mechanical arm and the sampling piece can be accurately controlled, and the safety, the accuracy and the comfort level of sampling are improved.

Drawings

Fig. 1 is a schematic structural diagram of a sampling mechanism according to a first embodiment of the present invention;

FIG. 2 is a schematic view of the sampling mechanism from another perspective;

FIG. 3 is a schematic view showing a structure in which a sampling member is mounted on a detection unit;

FIG. 4 is a cross-sectional view of the sample piece assembled with the torque sensing unit;

FIG. 5 is an enlarged view of portion A of FIG. 4;

FIG. 6 is a schematic structural diagram of an angle detecting unit;

FIG. 7 is a schematic structural view of a reset configuration;

FIG. 8 is a cross-sectional view of a reset configuration;

FIG. 9 is a schematic diagram of the inspection camera assembly;

fig. 10 is a schematic structural diagram of a sampling robot according to the first embodiment;

fig. 11 is a schematic structural diagram of a sampling mechanism according to a second embodiment of the present invention;

FIG. 12 is a sectional view of the sampling mechanism of the second embodiment;

FIG. 13 is an enlarged view of portion B of FIG. 12;

FIG. 14 is a schematic view showing a structure in which a sampling member is mounted on a detection unit;

FIG. 15 is a schematic view of the structure of an image capturing unit;

fig. 16 is a schematic structural view of the 3D camera and the light filling structure;

fig. 17 is a schematic structural view of a sampling robot according to a second embodiment;

in the figure: 1-an image acquisition unit; 11-3D camera; 12-a light supplementing structure; 121-light supplement plate; 122-lamp beads; 13-laser rangefinder; 14-mounting a box; 2-a sampling piece; 21-a sampling end; 22-an expansion sleeve; 3-a detection unit; 31-a torque detection unit; 311-a first torque sensor; 312-a first sleeve; 313-a second bushing; 314-a second torque sensor; 32-an angle detection unit; 321-a first axis; 322-a second axis; 323-inner frame; 324-an outer frame; 325-hall sensor; 326-a reset configuration; 3261-reset plate; 3262-connecting rod; 3263-sliding sleeve; 3264-elastic member; 327-a rocker; 33-a connecting frame; 4-control panel; 5-monitoring a camera; 51-a fixed ring; 61-a connector; 62-a protective cover; 621-a connecting part; 63-a first link frame; 64-a second link frame; 65-a third link; 66-outer cylinder; 661-front end plate; 662-middle plate; 663-rear end plate; 67-fourth link; 7-a mechanical arm; 8-third sleeve.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

For ease of description, spatially relative terms such as "over … …", "over … …", "over … …", "over", etc. may be used herein to describe the spatial positional relationship of one device or feature to another device or feature as shown in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.

Example one

As shown in fig. 1 to 10, the present embodiment provides a sampling mechanism, which includes an image acquisition unit 1, a sampling member 2, a detection unit 3, and a controller, wherein the image acquisition unit 1 acquires a 3D image to locate a sampling position and a sampling depth, and the controller controls a movement path of the sampling member 2 according to the sampling position and the sampling depth obtained by the locating; the sampling piece 2 is assembled on the detection unit 3, when the sampling piece 2 touches the inner wall of the oral cavity of the human body, the detection unit 3 can adapt to the axial displacement of the sampling piece 2 in the axial direction and the deflection in two directions, so that even if the positioning is not accurate, the sampling piece 2 can avoid, and the oral cavity of the human body cannot be damaged; in addition, the detection unit 3 can detect the stress condition and the deflection angle of the sampling member 2, and the controller adjusts according to the stress condition and the deflection angle.

The image acquisition unit 1, the sampling member 2 and the detection unit 3 are integrally assembled together and driven to move by the same movement mechanism. In this embodiment, the sampling member 2 is assembled on the detection unit 3, the connection member 61 is connected to the detection unit 3, and the detection unit 3 is connected to the movement mechanism through the connection member 61.

As a preferred technical scheme of the embodiment, the connecting piece 61 is vertically assembled at one end of the detection unit 3, a protective cover 62 is enclosed between the detection unit 3 and the connecting piece 61, a connecting part 621 extends from one end of the protective cover 62, and the image acquisition unit 1 is assembled on the connecting part 621 of the protective cover 62.

The image capturing unit 1 includes a 3D camera 11 and/or a laser range finder 13,3D camera 11 mounted on the connection portion 621 of the shield cover 62 through the first connection frame 63. Specifically, the first connecting member 63 is provided with a waist-shaped hole, the fixing member passes through the waist-shaped hole of the first connecting member 63 to movably fix the first connecting member 63 on the connecting portion 621, and the position of the first connecting member 63 can be adjusted relative to the connecting portion 621. The laser distance measuring instrument 13 is assembled on the connecting part 621 of the protective cover 62 through the second connecting part 64, the laser distance measuring instrument 13 adopts a high-precision laser distance measuring instrument, the position of the laser distance measuring instrument 13 is as close to the sampling piece 2 as possible, and the laser distance measuring instrument 13 is positioned below one side of the sampling piece 2 in the embodiment. The second connecting plate 64 is provided with a waist-shaped hole, the fixing element passes through the waist-shaped hole on the second connecting element 64 to movably fix the second connecting element 64 on the connecting part 621, and the position of the second connecting element 64 can be adjusted relative to the connecting part 621.

As a preferred technical solution of this embodiment, a light supplement structure 12 is further disposed beside the 3D camera 11, the light supplement structure 12 in this embodiment may be a light supplement lamp, two light supplement lamps are disposed in this embodiment, and the two light supplement lamps are fixed on the first connecting member 63 and are respectively located at two sides of the 3D camera. The light supplement lamp can be selected from but not limited to a square LED light supplement lamp.

As a preferred technical solution of this embodiment, the optical axis of the 3D camera 11 is perpendicular to the initial axis of the sampling member 2, so that when the 3D camera 11 takes a picture, the 3D camera 11 can approach the sampled area, and then rotate 90 degrees, and the sampling member 2 performs sampling.

One end of the sampling member 2 is a sampling end 21, the other end of the sampling member 2 is an assembling end, and the assembling end of the sampling member 2 is assembled on the detection unit 3. In this embodiment, the sampling part 2 is used for sampling the oral cavity of a human body, the sampling part 2 can be a cotton swab, a head sampling end 21 with a cotton ball of the cotton swab is arranged, and the other end of the cotton swab is an assembling end.

The detection unit 3 comprises a moment detection unit 31 and an angle detection unit 32, and the sampling piece 2, the moment detection unit 31 and the angle detection unit 32 are sequentially and axially assembled. Specifically, the torque detection unit 31 includes a first torque sensor 311, the first torque sensor 311 is limited by a first bushing 312 and a second bushing 313, specifically, the first bushing 312 may be disposed to extend into the second bushing 313 and be in threaded connection with the second bushing 313, a notch is formed on a side wall of the second bushing 313, and the first torque sensor 311 may be a film pressure sensor, for example, an FSR film pressure sensor may be selected; the detecting end of the first torque sensor 311 is located in the second bushing 313 and is limited by the end of the first bushing 312, and the other end of the first torque sensor 311 extends out of the notch. The fitting end of the sampling member 2 is fitted in the first boss 312, and the second boss 313 is connected to the angle detection unit 32.

As a preferable technical scheme of the embodiment, the expansion sleeve 22 is assembled in the first shaft sleeve 312 in a limiting way, and the assembling end of the sampling member 2 extends into the second shaft sleeve 312 and is assembled in the expansion sleeve 22. The expansion sleeve 22 can be arranged to adapt to sampling pieces with various specifications.

The angle detection unit 32 includes a first shaft 321 and a second shaft 322, the first shaft 321 and the second shaft 322 are arranged in a staggered manner, an included angle exists between the first shaft 321 and the second shaft 322, the first shaft 321 is rotatably assembled on the inner frame 323, the second shaft 322 is rotatably assembled on the outer frame 324, the inner frame 323 is connected with the second shaft 322 in a rotating manner, and the inner frame 323 is embedded in the outer frame 324.

As a preferred solution of this embodiment, the first shaft 321 and the second shaft 322 are equipped with hall sensors 325, and the hall sensors 325 are used for detecting the rotation angles of the first shaft 321 and the second shaft 322, so as to obtain the deflection angle of the sampling piece 2.

As a preferable technical solution of this embodiment, the first shaft 321 and the second shaft 322 are vertically arranged. The first shaft 321 is connected with the second shaft sleeve 313 through a rocker 327, specifically, a long hole is formed in the inner frame 323, one end of the rocker 327 is an arc-shaped portion, the arc-shaped portion extends into the long hole to be connected with the first shaft 321 in a follow-up manner, the other end of the rocker 327 extends into the second shaft sleeve 313 to be fixedly connected with the second shaft sleeve 313, when the sampling member 2 drives the rocker 327 to swing along the long hole, the first shaft 321 rotates along with the first shaft 321, and the hall sensor 325 detects a deflection angle of the first shaft 321.

As a preferable technical solution of this embodiment, the first shaft 321 and the second shaft 322 are provided with the restoring structure 326, the restoring structure 326 on the first shaft 321 and the second shaft 322 may be the same structure, taking the restoring structure 326 on the first shaft 321 as an example, the restoring structure 326 includes a restoring plate 3261, two connecting rods 3262 and a sliding sleeve 3263, the restoring plate 3261 is fixedly assembled on the first shaft 321, two ends of the restoring plate 3261 are symmetrically assembled with the first shaft 321 as a center, two sliding sleeves 3263 are assembled, the two sliding sleeves 3263 are fixed on the inner frame 323, the two sliding sleeves 3263 are arranged corresponding to the two connecting rods 3262, one end of the connecting rod 3262 is assembled on the restoring plate 3261, the other end of the connecting rod 3262 extends into the sliding sleeve 3263, the connecting rod 3262 can slide along the sliding sleeve 3263, an elastic member 3264 is provided in the sliding sleeve 3263, and two ends of the elastic member 3264 respectively act on the sliding sleeves 3263 and the connecting rod 3262. The resilient member 3264 may be selected from, but not limited to, a spring.

The first shaft 321 and the second shaft 322 of the angle detection unit 32 can realize automatic centering through the reset structure 326, and the hall sensor 325 can accurately detect the rotation angle of the first shaft 321 and the second shaft 322. The sampling piece 2 is connected with the angle detection unit 32, when the sampling piece 2 moves in the oral cavity to scrape and sample the inner wall of the oral cavity, the mutual contact force between the sampling piece 2 and the oral cavity can be displayed through the swinging of the sampling piece 2, the sampling piece 2 drives the first shaft 321 and/or the second shaft 322 to deflect, and the Hall sensor 325 accurately detects the deflection angle and feeds the deflection angle back to the host. The contact force of the sampling member 2 and the oral cavity is balanced by the first shaft 321 and the second shaft 322 and the reset structure 326 on the first shaft 321 and the second shaft 322, which is similar to the lever principle. The technician can adjust the initial force of the spring 3264 in the reset mechanism 326 to calibrate the magnitude of the sampling force.

With the angle detection unit 32, the detection sensitivity of the sampling piece 2 and the oral contact force and the detection accuracy of the force can be improved. Meanwhile, the initial force of the elastic element 3264 in the reset structure 326 can be adjusted to calibrate the contact pressure of the sampling element 2 to the oral cavity during sampling, so that the sampling comfort is improved.

In order to perform real-time detection on the sampling process, the sampling mechanism of the embodiment further includes a monitoring camera 5, the monitoring camera 5 is inclined toward the sampling member 2, and the monitoring camera 5 can be used for monitoring the surrounding environment of the sampling end 21 of the sampling member 2 in real time.

As a preferable aspect of the present embodiment, the monitoring camera 5 is assembled to the connecting member 61 through the third connecting frame 65, preferably, the monitoring camera 5 is assembled to the third connecting frame 65 through the fixing ring 51, and the posture of the monitoring camera 5 can be adjusted by adjusting the posture of the fixing ring 51 on the third connecting frame 65.

As a preferred technical solution of this embodiment, the monitoring pattern of the monitoring camera 5 may be transmitted to the controller, and the controller may adjust the position of the sampling member 2 according to the real-time monitoring pattern.

The embodiment also provides a sampling robot, the sampling robot comprises the sampling mechanism and a mechanical arm 7, the sampling mechanism is assembled on the mechanical arm 7, and the mechanical arm 7 drives the sampling piece 2 of the sampling mechanism to perform sampling action under the control of the controller.

The free end of the mechanical arm 7 is connected with the connecting piece 61, a groove is formed in the connecting end of the connecting piece 61, and the end of the mechanical arm 7 extends into the groove and is fixedly connected with the connecting piece 61.

Example two

As shown in fig. 11 to 17, the sampling mechanism of the present embodiment is substantially the same as the sampling mechanism of the first embodiment, except that in the present embodiment, the image capturing unit 1 includes a 3D camera 11 and a light supplementing structure 12,3D, the camera 11 and the light supplementing structure 12 are assembled together and accommodated in the mounting box 14, and the mounting box 14 is fixed on the detecting unit 3 through a fourth connecting frame 67. Specifically, in this embodiment, light filling structure 12 includes light filling board 121 and lamp pearl 122, and lamp pearl 122 distributes on light filling board 121, and light filling board 121 assembles in the camera lens place one end of 3D camera 11, is formed with the trompil on the light filling board 121 and supplies the camera lens to pass through, is formed with the trompil on the mounting box 14, makes things convenient for 3D camera 11 and light filling structure 12 to normally work. The optical axis of the 3D camera 11 is perpendicular to the initial axis of the sampling member 2. The lamp beads 122 may be selected from, but not limited to, LED lamp beads.

In this embodiment, the light supplement structure 12 is changed from the LED light supplement lamp integrated with the 3D camera to an LED light supplement lamp panel that is separated and arranged on both sides of the 3D camera in the first embodiment, and this optimization scheme solves some defects existing in the light supplement structure 12 in the first embodiment: (1) the light supplement lamp is large in size and occupies a large installation space; (2) the light filling lamp distributes in 3D camera both sides, and light is sheltered from by oral cavity both sides easily, can't carry out effectual illumination to oral cavity inside, leads to the unable normal work of 3D camera.

The light filling structure 12 in this embodiment solves the problem of installation space, greatly simplifies the requirements for installation space, and adopts 6 LED lamp beads to surround the camera shooting hole, thereby greatly improving the light filling effect for the cavity. Preferably, on this basis, still can install the luminance adjust knob on the light filling board 121, can carry out manual regulation according to the actual lighting conditions of user, the better light filling requirement that satisfies the actual scene.

The difference is that in the present embodiment, the sampling member 2, the angle detection unit 32 and the moment detection unit 31 are axially assembled in sequence, the sampling member 2 is connected with the rocker 327 of the angle detection unit 32 through the third bushing 8, and the outer frame 324 of the angle detection unit 32 is connected with the moment detection unit 31 through the connecting frame 33.

As a preferred solution of this embodiment, the expansion sleeve 22 is assembled in one end of the third shaft sleeve 8, the assembling end of the sampling member 2 is assembled by extending into the expansion sleeve 22, and the other end of the third shaft sleeve 8 is connected to the rocking bar 327.

As a preferable embodiment of the present embodiment, the detection unit 3 is assembled in the outer cylinder 66, the outer cylinder 66 is cylindrical, a front end plate 661 is fixed to one end of the outer cylinder 66 close to the sampling member 2, an intermediate plate 662 is fixed to an inner middle portion of the outer cylinder 66, a rear end plate 663 is fixed to the other end of the outer cylinder 66, and the detection unit 3 is assembled between the front end plate 661 and the intermediate plate 662. Specifically, the outer frame 324 of the angle detection unit 32 is fixed on the front end plate 661, and an opening is formed in the front end plate 661, so that the rocker 327 can conveniently pass through and be connected with the third shaft sleeve 8; the outer frame 324 of the angle detection unit 32 is also connected to the detection end of the moment detection unit 31 via the connecting bracket 33, and the other end of the moment detection unit 31 is fitted on the intermediate plate 662. In this embodiment, the torque detection unit 31 includes a second torque sensor 314, and the second torque sensor 314 may be a tension torque sensor, such as a DELY-106 tension sensor.

A controller is further disposed between the middle plate 662 and the rear end plate 663, in this embodiment, the controller includes a control board 4, the control board 4 may be fixed on the rear end plate 663, and the control board 4 may be an AO/AD interface board. The image acquisition unit 1, the moment detection unit 31, the angle detection unit 32 and the monitoring camera 5 can be electrically connected with the control panel 4, and the control panel 4 controls the posture of the mechanical arm 7 according to the received signals so as to adjust the position of the sampling piece 2; the controller 4 controls the mechanical arm 7 to move so as to drive the sampling piece 2 to sample.

The AO/AD interface board is arranged at the tail end of the integral structure, all cables are integrated through the AO/AD interface board and then are connected with the host at the tail end through the bus, and the scheme can solve the problems that cables are more and complicated and the wiring is difficult because the cables are required to be independently connected to the host at the early stage; meanwhile, the interface board is arranged at the position closest to the sampling structure, so that the follow-up maintenance and modification are facilitated.

In this embodiment, the free end of the mechanical arm 7 is fixedly connected to the outer surface of the rear end plate 663, a groove is formed in the outer surface of the rear end plate 663, and the end of the mechanical arm 7 extends into the groove and is fixedly connected to the rear end plate 663.

The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.

Claims

1. A sampling mechanism, comprising:

an image acquisition unit (1), the image acquisition unit (1) acquiring a 3D image to locate a sampling position and a sampling depth;

a sampling member (2);

the detection unit (3), the sampling piece (2) is assembled on the detection unit (3), the detection unit (3) comprises a moment detection unit (31) and an angle detection unit (32), the moment detection unit (31) adapts to the axial displacement of the sampling piece (2), and detects the stress condition of the sampling piece (2); the angle detection unit (32) is adapted to the deflection of the sampling piece (2) in two directions and detects the deflection angle of the sampling piece (2) in two directions;

the controller controls the movement path of the sampling piece (2) according to the sampling position and the sampling depth, and adjusts the position of the sampling piece (2) according to the stress condition and the deflection angle detected by the detection unit (3).

2. A sampling mechanism according to claim 1, characterized in that the angle detection unit (32) comprises a first shaft (321) and a second shaft (322), the first shaft (321) being rotatably mounted on an inner frame (323), the second shaft (322) being rotatably mounted on an outer frame (324), the inner frame (323) being rotatably connected to the second shaft (322), the first shaft (321) and the second shaft (322) each being mounted with a hall sensor (325).

3. A sampling mechanism according to claim 2, characterized in that the first shaft (321) is arranged perpendicular to the second shaft (322), and that the first shaft (321) and the second shaft (322) are each provided with a reset structure (326).

4. A sampling mechanism according to any one of claims 2-3, characterized in that the sampling member (2), the torque detection unit (31) and the angle detection unit (32) are axially assembled in sequence, the torque detection unit (31) comprising a first torque sensor (311), the first torque sensor (311) being assembled between a first bushing (312) and a second bushing (313), the assembling end of the sampling member (2) being assembled within the first bushing (312), the second bushing (313) being connected to the first shaft (321) by means of a rocker (327).

5. A sampling mechanism according to any one of claims 2-3, characterized in that the sampling member (2), the angle detection unit (32) and the torque detection unit (31) are axially assembled in turn, the torque detection unit (31) comprises a second torque sensor (314), the sampling member (2) is connected with the first shaft (321) through a third shaft sleeve (8) and a rocker (327), the outer frame (324) is connected with the detection end of the second torque sensor (314), and the other end of the second torque sensor (314) is fixedly assembled.

6. A sampling mechanism according to claim 5, characterized in that the image acquisition unit (1) comprises a 3D camera (11), the optical axis of the 3D camera (11) being perpendicular to the initial axis of the sampling member (2).

7. The sampling mechanism according to claim 6, wherein the image capturing unit (1) further comprises a light supplementing structure (12), the light supplementing structure (12) comprises a light supplementing plate (121), the light supplementing plate (121) is mounted on a side of the 3D camera (11) where the lens is located, an opening is formed in the light supplementing plate (121) for the lens to pass through, beads (122) are distributed on the light supplementing plate (121), and the 3D camera (11) and the light supplementing structure (12) are integrally mounted in a mounting box (14).

8. A sampling mechanism according to claim 1, characterized in that the controller comprises a control board (4), the control board (4) being fitted on the side of the detection unit (3) remote from the sampling member (2).

9. A sampling mechanism according to any one of claims 1-3, 6-8, characterized in that the image acquisition unit (1) comprises a laser range finder.

10. A sampling mechanism according to claim 1, further comprising a monitoring camera (5), said monitoring camera (5) being tilted towards said sampling member (2), said monitoring camera (5) being adapted to detect the surroundings of the sampling end (21) of said sampling member (2).

11. A sampling robot, comprising:

the sampling mechanism of any one of claims 1-10;

the sampling mechanism is assembled on the mechanical arm (7), and the mechanical arm (7) drives the sampling piece (2) to perform sampling action under the control of the controller.