Nuclear medicine storage suspension type robot carrying system

Abstract

The invention discloses a nuclear medicine storage suspension type robot carrying system, which comprises a suspension type rail network, a carrying robot running along a rail, an automatic low-temperature storage cabinet, a workstation and a central control system, and is characterized in that the carrying robot comprises a sliding seat main body which is arranged on the suspension type rail network in a sliding manner; the rotary dispatching mechanism is arranged on the sliding seat main body; the plurality of independent and closed storage bins are carried by the rotary dispatching mechanism; the mechanical arm is fixedly mounted on the front side of the sliding seat main body; the self-adaptive clamping mechanism is mounted at the output end of the mechanical arm; and the rotary dispatching mechanism is configured to rotate and adjust any storage bin to a fixed operation station corresponding to the self-adaptive clamping mechanism.

Description

Technical Field

[0001] This invention relates to the field of radiopharmaceutical transportation technology, specifically a suspended robotic handling system for nuclear pharmaceutical storage. Background Technology

[0002] The storage and handling of radiopharmaceuticals (nucleopharmaceuticals) face multiple stringent challenges: they need to be stored at low temperatures to maintain their activity; their radioactivity requires full radiation shielding and strict adherence to the traceability requirement of "one product, one code, one track"; at the same time, nucleopharmaceuticals come in various packaging forms, including cylindrical lead cans and rectangular lead boxes, and are very valuable, requiring extremely high safety and precision in handling.

[0003] Currently, automated nuclear medicine warehousing mainly adopts two models: one is automated storage and retrieval systems (AS / RS), which has low storage and retrieval efficiency and is difficult to handle urgent orders; the other is suspended single-piece handling robots, which can achieve precise point-to-point handling, but can only carry one smallest packaging unit at a time. When faced with complex orders containing multiple varieties and packaging specifications, such systems require robots to make multiple round trips, resulting in a high empty-run rate and a bottleneck in the overall system throughput.

[0004] Therefore, it is necessary to provide a suspended robotic handling system for nuclear medicine storage to solve the problems mentioned in the background art. Summary of the Invention

[0005] To achieve the above objectives, the present invention provides the following technical solution: a suspended robotic handling system for nuclear pharmaceutical storage, comprising a suspended track network, a handling robot running along the track, an automated cryogenic storage cabinet, a workstation, and a central control system, wherein the handling robot includes: The slide body is slidably mounted on the suspended track network; A rotary scheduling mechanism is mounted on the slide body; Multiple independent and sealed storage compartments are carried by the rotating scheduling mechanism; A robotic arm fixedly installed on the front side of the slide body and an adaptive clamping mechanism installed at the output end of the robotic arm; The rotating scheduling mechanism is configured to rotate any of the storage bins to a fixed operating position corresponding to the adaptive clamping mechanism.

[0006] Furthermore, preferably, the rotating scheduling mechanism includes: A support rod is rotatably mounted on the bottom of the slide body in a vertical direction; Two storage unit mounting brackets are respectively rotatably mounted at both ends of the support rod; Each of the storage units has two storage compartments fixedly installed on its mounting frame.

[0007] Furthermore, as a preferred embodiment, the storage unit mounting bracket includes a first rod and a second rod, which have a preset included angle and are fixedly connected, and its pivot connection point with the support rod is located at the connection between the first rod and the second rod. Two mounting plates are fixedly installed at both ends of the support rod. An arc-shaped limiting deflection groove is opened in the mounting plate, and an arc-shaped hydraulic cavity is opened at one end of the limiting deflection groove. The storage unit mounting bracket is provided with a deflection block that cooperates with the limiting deflection groove. The deflection block is slidably disposed along the limiting deflection groove, and an arc-shaped hydraulic rod is fixedly disposed on the deflection block. The arc-shaped hydraulic rod is slidably disposed along the arc-shaped hydraulic cavity.

[0008] Furthermore, as a preferred embodiment, the storage compartment is a rectangular hexahedral compartment with an access port on one side. The access port is equipped with an openable and closable shielded door, and a positioning and clamping mechanism is slidably installed inside the storage compartment. The positioning and clamping mechanism includes a first driving member disposed on the upper and lower sides and the back side inside the storage compartment and a second driving member symmetrically disposed on the left and right sides inside the storage compartment. The ends of the first driving member and the second driving member are fixedly provided with positioning push blocks.

[0009] Furthermore, preferably, the second driving member is tilted so that the direction of movement of its output end forms an acute angle with the side wall of the storage compartment; Furthermore, the positioning push block disposed on the second driving member has a compensating angle with the output end of the second driving member; The acute angle and the compensation angle are configured such that when the second driving member pushes the positioning push block into the compartment, the clamping surface of the positioning push block remains parallel to the corresponding side wall of the storage compartment.

[0010] Furthermore, preferably, the adaptive clamping mechanism includes: A bidirectional telescopic column is rotatably mounted on the output end of the robotic arm; Two sets of clamping units are fixedly installed at both ends of the bidirectional telescopic column. Each set of clamping units includes a clamping column and a flexible clamping rod mechanism rotatably disposed at both ends of the clamping column. The flexible clamping rod mechanism includes a clamping rod formed by multiple clamping blocks connected in series through a rotating joint, and a driving mechanism for driving the shape of the clamping rod to change.

[0011] Furthermore, as a preferred embodiment, in the flexible clamping mechanism, two adjacent clamping blocks are connected by hinges to form a rotating joint, and at least one linear actuator is provided between each pair of adjacent clamping blocks, with the two ends of the linear actuator being hinged to the two clamping blocks respectively.

[0012] Furthermore, as a preferred embodiment, the clamping surface of the clamping block is provided with an anti-slip structure and a pressure sensor, the rotating joint is integrated with an angle sensor, and the driving mechanism includes a control unit, a power source, and a valve group. The control unit controls the action of the linear actuator based on the feedback signals of the pressure sensor and the angle sensor, thus forming a closed-loop servo control system.

[0013] Furthermore, as a preferred embodiment, the central control system includes a task scheduling module, which is configured to merge multiple dispersed access tasks and plan a single-trip path for the handling robot, enabling it to access multiple target locations in one trip.

[0014] Compared with the prior art, the present invention provides a suspended robotic handling system for nuclear drug storage, which has the following advantages: This invention, through its unique rotating scheduling mechanism physical architecture of "support rod combined with double V-shaped independent pitch storage unit mounting frame," deeply collaborates with a dynamic balance control system based on real-time sensor data and hierarchical optimization algorithms, producing significant beneficial effects: For the first time, under suspended track constraints, this system achieves reliable load-bearing and efficient scheduling of four independent temperature-controlled shielded storage compartments by a single robot. It not only improves storage throughput efficiency through task aggregation and single-cycle path planning, but also revolutionarily solves the core safety problem of center of gravity shift caused by real-time load changes under multi-load conditions. The mechanism provides multi-degree-of-freedom adjustment... The system's capabilities enable it to proactively and precisely redistribute mass, prioritizing lateral stability and thus achieving smooth operation during batch handling. Simultaneously, the combination of a fixed-station operation mode and an adaptive clamping mechanism allows the system to smoothly grasp various packaging boxes, from cylindrical lead canisters to rectangular lead containers, without requiring fixture changes, ensuring the safe handling of high-value radiopharmaceuticals. Furthermore, the modular and compact design minimizes equipment space requirements while ensuring radiation shielding and the integrity of the entire cold chain, thereby overcoming the bottlenecks of existing radiopharmaceutical warehousing automation technologies in terms of efficiency, safety, adaptability, and reliability. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the rotating scheduling mechanism in this invention; Figure 3 for Figure 2 Enlarged schematic diagram of section A in the middle; Figure 4 This is a schematic diagram of the adaptive clamping mechanism in this invention; Figure 5 This is a schematic diagram of the flexible clamping rod mechanism in this invention; In the diagram: 1. Slide body; 2. Rotation scheduling mechanism; 21. Support rod; 211. Mounting plate; 212. Limiting deflection groove; 213. Arc-shaped hydraulic chamber; 22. Storage unit mounting frame; 221. First rod; 222. Second rod; 223. Deflection block; 224. Arc-shaped hydraulic rod; 3. Storage compartment; 31. Shielded compartment door; 32. First driving component; 33. Second driving component; 34. Positioning push block; 4. Robotic arm; 5. Adaptive clamping mechanism; 51. Bidirectional telescopic column; 52. Clamping unit; 53. Clamping column; 54. Flexible clamping rod mechanism; 541. Clamping block; 542. Linear actuator; 543. Anti-slip structure. Detailed Implementation

[0016] Please see Figures 1-5 In this embodiment of the invention, a suspended robotic handling system for nuclear pharmaceutical storage includes a suspended track network, a handling robot running along the track, an automated cryogenic storage cabinet, a workstation, and a central control system. The handling robot includes: The slide body 1 is slidably mounted on the suspended track network; A rotary scheduling mechanism 2 is mounted on the slide body 1; Multiple independent and sealed storage compartments 3 are carried by the rotating scheduling mechanism 2; A robotic arm 4 is fixedly installed on the front side of the slide body 1 and an adaptive clamping mechanism 5 is installed on the output end of the robotic arm 4; The rotating scheduling mechanism 2 is configured to rotate any of the storage bins 3 to a fixed operating position corresponding to the adaptive clamping mechanism 5.

[0017] In this embodiment, the rotating scheduling mechanism 2 includes: A support rod 21 is rotatably mounted on the bottom of the slide body 1 in a vertical direction; Two storage unit mounting brackets 22 are respectively rotatably mounted at both ends of the support rod 21; Each of the storage unit mounting frames 22 has two storage compartments 3 fixedly installed on it.

[0018] In addition, the power for the support rod 21 to rotate along the slide body 1 comes from an external drive mechanism, such as a gear ring mechanism, a worm gear, or a hydraulic drive mechanism.

[0019] In this embodiment, the storage unit mounting frame 22 includes a first rod 221 and a second rod 222, which have a preset included angle and are fixedly connected. The pivot connection point between the frame and the support rod 21 is located at the connection between the first rod 221 and the second rod 222. Two mounting plates 211 are fixedly installed at both ends of the support rod 21. An arc-shaped limiting deflection groove 212 is provided in the mounting plate 211, and an arc-shaped hydraulic cavity 213 is provided at one end of the limiting deflection groove 212. The storage unit mounting bracket 22 is provided with a deflection block 223 that cooperates with the limiting deflection groove 212. The deflection block 223 is slidably arranged along the limiting deflection groove 212, and an arc-shaped hydraulic rod 224 is fixedly arranged on the deflection block 223. The arc-shaped hydraulic rod 224 is slidably arranged along the arc-shaped hydraulic cavity 213.

[0020] Specifically, the storage unit mounting frame 22 has an overall "V" shaped structure. A first absolute encoder is provided at the pivot connection between the storage unit mounting frame 22 and the support rod 21 to measure the pitch angle of the storage unit mounting frame 22 in real time. A second absolute encoder is provided on the rotation axis of the support rod 21 to measure its azimuth angle in real time. Each storage compartment 3 has a weighing sensor integrated at its bottom to acquire its load data in real time.

[0021] The central control system integrates a dynamic balance control module, which receives real-time data from the aforementioned sensors. The module has a built-in kinematic and mass model of the robot system. Based on the fixed position of storage compartment 3 on the mounting frame, the geometric dimensions of the mounting frame, and the real-time angle, the model can accurately calculate the coordinates of the four storage compartments in three-dimensional space, and then combine the load to calculate the center of gravity coordinates of the entire robot system in real time.

[0022] The core algorithm of the control module is the dynamic equilibrium control algorithm, which adopts a hierarchical optimization strategy: The primary safety objective is to minimize the shift of the center of gravity in the direction perpendicular to the track, thus eliminating the risk of overturning as the absolute priority.

[0023] Secondary performance objective: After meeting the primary objective, optimize the offset of the center of gravity along the track direction to balance the load on the front and rear wheelsets.

[0024] The dynamic balance control algorithm, under mechanical constraints (angle limit), solves a set of optimal angle adjustment amounts in real time and drives the drive mechanism of the support rod 21 and the storage unit mounting frame 22 to perform the adjustment. This process is continuous and closed-loop, and can actively maintain the robot's operational stability under any load combination and access sequence, without relying on any predetermined medicine box specifications or access sequence rules, ensuring that the robot will not tip over during transportation.

[0025] In particular, a double-layer scheduling mechanism consisting of support rod 21 and two independently tiltable V-shaped storage units mounted on a frame 22 is adopted. This mechanism can greatly enhance the ability to actively adjust the spatial position of the system's center of gravity by increasing the degree of tilt freedom. This provides a physical basis for realizing the dynamic balance control algorithm. It not only realizes the load-bearing capacity of multiple compartments, but also provides multi-dimensional center of gravity adjustment capability. This enables the system to cope with various complex and uneven load conditions and reliably maintain the center of gravity within the safe area. At the same time, the V-shaped convergence layout makes the equipment more compact when not in operation, which further optimizes space efficiency.

[0026] In this embodiment, the storage compartment 3 is a rectangular hexahedral compartment with an access port on one side. An openable and closable shielded door 31 is provided at the access port, and a positioning and clamping mechanism is slidably provided inside the storage compartment 3. The positioning and clamping mechanism includes a first driving member 32 disposed on the upper and lower sides and the back side inside the storage compartment 3, and a second driving member 33 symmetrically disposed on the left and right sides inside the storage compartment 3. The ends of the first driving member 32 and the second driving member 33 are fixedly provided with positioning push blocks 34.

[0027] In addition, the first driving component 32 is either an electric push rod or a hydraulic telescopic rod.

[0028] In this embodiment, the second driving member 33 is inclined so that the direction of movement of its output end forms an acute angle with the side wall of the storage compartment 3; Furthermore, the positioning push block 34 disposed on the second driving member 33 has a compensating angle with the output end of the second driving member 33; The acute angle and the compensation angle are configured such that when the second driving member 33 pushes the positioning push block 34 into the compartment, the clamping surface of the positioning push block 34 remains parallel to the corresponding side wall of the storage compartment 3.

[0029] Specifically, the positioning and clamping mechanism can position and clamp the medicine box stored in the storage compartment 3, so that the medicine box will be located in the center of the storage compartment 3 after entering the storage compartment 3, and ensure that the medicine box will not be shifted during transportation, thereby ensuring the safety of transportation.

[0030] It should be noted that the second drive components 33 on the left and right sides inside the storage compartment 3 are tilted so that the second drive components 33 have forces in two directions when clamping the medicine box, namely the lateral clamping force and the pushing force that pushes the medicine box into the compartment. This ensures that the medicine box is subjected to a uniform and balanced clamping force inside the storage compartment 3, thereby ensuring that the medicine box is firmly clamped in the center of the storage compartment 3, and at the same time, it makes it easier to adjust the gravity of the rotating scheduling mechanism 2.

[0031] In this embodiment, the adaptive clamping mechanism 5 includes: A bidirectional telescopic column 51 is rotatably mounted on the output end of the robotic arm 4; Two sets of clamping units 52 are fixedly installed at both ends of the bidirectional telescopic column 51. Each set of clamping units 52 includes a clamping column 53 and a flexible clamping rod mechanism 54 rotatably disposed at both ends of the clamping column 53. The flexible clamping rod mechanism 54 includes a clamping rod formed by multiple clamping blocks 541 connected in series through a rotating joint, and a driving mechanism for driving the shape change of the clamping rod.

[0032] In this embodiment, in the flexible clamping rod mechanism 54, two adjacent clamping blocks 541 are connected by hinges to form a rotating joint, and at least one linear actuator 542 is provided between each pair of adjacent clamping blocks 541. The two ends of the linear actuator 542 are respectively hinged to the two clamping blocks 541. The linear actuator 542 is one of an electric push rod and a hydraulic telescopic rod.

[0033] In other words, the flexible clamping rod composed of multiple clamping blocks 541 can adaptively adjust according to the specifications and shape of the medicine box, thus satisfying the clamping of medicine boxes with large differences such as cylindrical medicine boxes and rectangular medicine boxes, and thus meeting the transportation work of medicine boxes and medicines of various specifications without changing the clamps.

[0034] In this embodiment, the clamping surface of the clamping block 541 is provided with an anti-slip structure 543 and a pressure sensor, the rotating joint is integrated with an angle sensor, and the driving mechanism includes a control unit, a power source and a valve group. The control unit controls the action of the linear actuator 542 based on the feedback signals of the pressure sensor and the angle sensor, thus forming a closed-loop servo control system.

[0035] It should be noted that the anti-slip structure 543 is mainly an anti-slip strip, and the anti-slip strip protrudes from the clamping surface of the clamping block 541, and its height is higher than the rotating joint. This setting ensures that no matter what clamping body the clamping block 541 is in, the anti-slip strip 543 always adheres to the medicine box, and the rotating joint will not contact the medicine box. This allows the flexible clamping rod to adapt to the shape and specifications of the medicine box.

[0036] In this embodiment, the central control system includes a task scheduling module, which is configured to merge multiple dispersed access tasks and plan a single-trip path for the handling robot, so that it can access multiple target locations in one trip.

[0037] In summary, this invention, through its unique physical architecture of a rotating scheduling mechanism 2 consisting of a support rod 21 and a double V-shaped independent pitch storage unit mounting frame 22, deeply collaborates with a dynamic balance control system based on real-time sensor data and hierarchical optimization algorithms, producing significant beneficial effects: For the first time, under suspended track constraints, this system achieves reliable load-bearing and efficient scheduling of four independent temperature-controlled shielded storage bins 3 by a single robot. It not only improves storage throughput efficiency through task aggregation and single-cycle path planning, but also revolutionarily solves the core safety problem of center of gravity shift caused by real-time load changes under multi-load conditions. Its mechanism provides multiple... The system's ability to adjust its degrees of freedom enables it to proactively and precisely redistribute mass, prioritizing lateral stability and thus achieving smooth operation during batch handling. Simultaneously, the combination of a fixed-station operation mode and the adaptive clamping mechanism 5 allows the system to smoothly grasp various packaging boxes, from cylindrical lead cans to rectangular lead boxes, without requiring fixture changes, ensuring the safe handling of high-value radiopharmaceuticals. Furthermore, the modular and compact design minimizes equipment space requirements while ensuring radiation shielding and the integrity of the entire cold chain, thereby overcoming the bottlenecks of existing radiopharmaceutical warehousing automation technologies in terms of efficiency, safety, adaptability, and reliability.

[0038] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A suspended robotic handling system for nuclear medicine storage, comprising a suspended track network, a handling robot running along the track, an automated cryogenic storage cabinet, a workstation, and a central control system, characterized in that, Handling robots include: The slide body (1) is slidably mounted on the suspended track network; A rotary scheduling mechanism (2) is disposed on the slide body (1); Multiple independent and sealed storage compartments (3) are carried by the rotating scheduling mechanism (2); A robotic arm (4) fixedly installed on the front side of the slide body (1) and an adaptive clamping mechanism (5) installed on the output end of the robotic arm (4); The rotating scheduling mechanism (2) is configured to rotate any of the storage bins (3) to a fixed operating position corresponding to the adaptive clamping mechanism (5).

2. The suspended robotic handling system for nuclear drug storage according to claim 1, characterized in that, The rotating scheduling mechanism (2) includes: A support rod (21) is rotatably mounted on the bottom of the slide body (1) in the vertical direction; Two storage unit mounting brackets (22) are respectively rotatably mounted at both ends of the support rod (21); Each of the storage unit mounting frames (22) has two storage compartments (3) fixedly installed on it.

3. The suspended robotic handling system for nuclear drug storage according to claim 2, characterized in that, The storage unit mounting bracket (22) includes a first rod (221) and a second rod (222), which have a preset included angle and are fixedly connected. The pivot connection point between the first rod (221) and the second rod (222) is located at the connection between the first rod (221) and the second rod (222). The support rod (21) has two mounting plates (211) fixedly installed at both ends. The mounting plates (211) have arc-shaped limiting deflection grooves (212) and one end of the limiting deflection grooves (212) has an arc-shaped hydraulic cavity (213). The storage unit mounting bracket (22) is provided with a deflection block (223) that cooperates with the limiting deflection groove (212). The deflection block (223) is slidably arranged along the limiting deflection groove (212), and an arc-shaped hydraulic rod (224) is fixedly arranged on the deflection block (223). The arc-shaped hydraulic rod (224) is slidably arranged along the arc-shaped hydraulic cavity (213).

4. The suspended robotic handling system for nuclear drug storage according to claim 1, characterized in that, The storage compartment (3) is a rectangular hexahedral compartment with an access port on one side. An openable and closable shielded door (31) is provided at the access port, and a positioning and clamping mechanism is slidably provided inside the storage compartment (3). The positioning and clamping mechanism includes a first driving member (32) disposed on the upper and lower sides and the back side inside the storage compartment (3) and a second driving member (33) symmetrically disposed on the left and right sides inside the storage compartment (3). The ends of the first driving member (32) and the second driving member (33) are fixedly provided with positioning push blocks (34).

5. A suspended robotic handling system for nuclear drug storage according to claim 4, characterized in that, The second drive unit (33) is inclined so that the direction of movement of its output end forms an acute angle with the side wall of the storage compartment (3); Furthermore, the positioning push block (34) disposed on the second driving member (33) has a compensating angle with the output end of the second driving member (33); The acute angle and the compensation angle are configured such that when the second driving member (33) pushes the positioning push block (34) into the compartment, the clamping surface of the positioning push block (34) remains parallel to the corresponding side wall of the storage compartment (3).

6. The suspended robotic handling system for nuclear drug storage according to claim 1, characterized in that, The adaptive clamping mechanism (5) includes: A bidirectional telescopic column (51) is rotatably mounted on the output end of the robotic arm (4); Two sets of clamping units (52) are fixedly installed at both ends of the bidirectional telescopic column (51). Each set of clamping units (52) includes a clamping column (53) and a flexible clamping rod mechanism (54) rotatably disposed at both ends of the clamping column (53). The flexible clamping rod mechanism (54) includes a clamping rod formed by multiple clamping blocks (541) connected in series through a rotating joint, and a driving mechanism for driving the shape change of the clamping rod.

7. A suspended robotic handling system for nuclear drug storage according to claim 6, characterized in that, In the flexible clamping mechanism (54), two adjacent clamping blocks (541) are connected by a hinge to form a rotating joint, and at least one linear actuator (542) is provided between each pair of adjacent clamping blocks (541), with the two ends of the linear actuator (542) respectively hinged to the two clamping blocks (541).

8. A suspended robotic handling system for nuclear drug storage according to claim 7, characterized in that, The clamping surface of the clamping block (541) is provided with an anti-slip structure (543) and a pressure sensor. An angle sensor is integrated at the rotating joint. The driving mechanism includes a control unit, a power source, and a valve group. The control unit controls the action of the linear actuator (542) based on the feedback signals of the pressure sensor and the angle sensor, thus forming a closed-loop servo control system.

9. A suspended robotic handling system for nuclear drug storage according to claim 1, characterized in that, The central control system includes a task scheduling module, which is configured to merge multiple dispersed access tasks and plan a single-trip path for the transport robot, enabling it to visit multiple target locations in one trip.

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