Fully automatic liquid scintillation instrument

Abstract

The invention discloses a fully automatic liquid scintillation instrument. It comprises: a sample placement mechanism, which is used to place a reagent bottle to be detected; a detection mechanism, which is arranged opposite to the sample placement mechanism and is used to detect the reagent bottle; a grabbing mechanism, which is arranged above the sample placement mechanism and is used to grab and transfer the reagent bottle between the sample placement mechanism and the detection mechanism; wherein the detection mechanism comprises: a lead box; a low background light chamber, which is arranged in the lead box; a detection box, which is arranged in the low background light chamber and is used to place the reagent bottle; a scintillator, which is wrapped on the outer surface of the low background light chamber and is used to detect the radiation in the environment; a plurality of photomultiplier tubes, which are respectively connected to the low background light chamber through the scintillator and are spaced apart along the circumferential direction of the low background light chamber, and are used to convert the detected radiation in the reagent bottle into an electrical signal and amplify it; a high-frequency bus, which is arranged to be connected to the photomultiplier tube and is used to transmit the electrical signal. The invention can realize mechanical grabbing of reagent bottles and can autonomously and fully automatically perform batch liquid scintillation detection.

Description

Technical Field

[0001] The invention belongs to the technical field of nuclear detection, and in particular relates to a full-automatic liquid scintillation instrument. Background Art

[0002] Liquid scintillation counter, also commonly known as liquid scintillation instrument, is mainly used to detect radioactive samples of some low-energy β-nuclide tracer atoms. It has been widely used in nuclide tracing and nuclear radiation measurement in scientific research work in the fields of industry, agriculture, biomedicine, molecular biology, environmental science, archaeology and geological structure.

[0003] At present, the detection process of liquid scintillation instrument is mostly manual operation, which involves manually placing the reagent bottle filled with the liquid to be tested into a lead box for testing, and then manually taking it out after the test is completed. This operation is inefficient and cannot be used for batch testing. It is also easy to cause damage to the testing instrument due to improper and unskilled operation of the operator. Summary of the invention

[0004] In view of this, some embodiments disclose a fully automatic liquid scintillation instrument, comprising:

[0005] A sample placing mechanism, configured to place the reagent bottle to be tested;

[0006] A detection mechanism, arranged opposite to the sample placement mechanism, for detecting the reagent bottle;

[0007] A grabbing mechanism, arranged above the sample placement mechanism, for grabbing and transferring the reagent bottle between the sample placement mechanism and the detection mechanism;

[0008] The testing agencies include:

[0009] Lead box;

[0010] A low-background light chamber, set in a lead box;

[0011] A detection box, which is arranged in the low-background light room and is used to place reagent bottles;

[0012] Scintillator, wrapped around the outer surface of the low-background light chamber, used to detect the amount of radiation in the environment;

[0013] A plurality of photomultiplier tubes are connected to the low-background light chamber through the scintillator, respectively, and are spaced apart along the circumference of the low-background light chamber, and are used to convert the detected radiation in the reagent bottle into an electrical signal and amplify it;

[0014] A high frequency bus is arranged to be connected to the photomultiplier tube and is used for transmitting electrical signals.

[0015] In some embodiments of the fully automatic liquid scintillator disclosed herein, at least two scintillators are provided.

[0016] In some embodiments of the fully automatic liquid scintillation instrument disclosed, the sample placement mechanism includes:

[0017] Drawers with light-proof function;

[0018] The reagent box is adapted to the drawer, is arranged in the drawer, and is used for placing reagent bottles.

[0019] In some embodiments of the fully automatic liquid scintillation instrument disclosed, the drawer includes a front panel and a drawer box, wherein:

[0020] An annular shading strip is arranged on the inner side of the front panel, and an annular groove is arranged on the front panel along the outer edge of the annular shading strip;

[0021] An annular bracket is fixedly arranged at the opening of the drawer, and the annular bracket is used to be adaptably mounted on the outside of the annular shading strip; and an annular protrusion is arranged on the surface of the annular bracket opposite to the front panel, and the annular protrusion is adapted to the annular groove; when the drawer is in a closed state, the annular bracket is adaptably mounted on the annular shading strip, and the annular protrusion is adaptably arranged in the annular groove, so as to prevent light from entering the drawer box from the edge of the front panel.

[0022] In some embodiments of the fully automatic liquid scintillation instrument disclosed, a sensor lock device is provided on the drawer for locking the drawer during detection.

[0023] In some embodiments of the fully automatic liquid scintillation instrument, a flexible protective medium is provided in the reagent box for protecting the reagent bottle.

[0024] In some embodiments of the fully automatic liquid scintillation instrument disclosed, the grabbing mechanism includes:

[0025] Three-degree-of-freedom actuator;

[0026] The anti-fall gripper is arranged on the three-degree-of-freedom actuator and moves synchronously with the three-degree-of-freedom actuator.

[0027] Some embodiments disclose a fully automatic liquid scintillation instrument, wherein the anti-drop gripper comprises:

[0028] A support base, wherein a through hole is provided on the support base, and a plurality of positioning grooves are provided on the upper surface of the support base, wherein the plurality of positioning grooves are arranged at intervals around the through hole;

[0029] A grabbing assembly is installed below the supporting base and is used to grab the reagent bottle;

[0030] A driving assembly is arranged and installed above the supporting base, and is used to provide power to the grabbing assembly;

[0031] Among them, the crawling components include:

[0032] A sleeve, one end of which is arranged and installed in the through hole;

[0033] A rotating shaft is arranged in the sleeve, one end of which is connected to the driving assembly, and the other end of which is connected to a clamping claw for grabbing the reagent bottle;

[0034] The self-locking component has one end connected to the rotating shaft and the other end set in the positioning groove, so that the clamping claw part is in a self-locking state.

[0035] In some embodiments of the fully automatic liquid scintillation instrument disclosed, the self-locking component includes:

[0036] A positioning pin, used to be arranged in the positioning groove;

[0037] The torsion spring is sleeved on the rotating shaft, one end of the torsion spring is connected to the rotating shaft, and the other end is connected to the positioning pin.

[0038] The fully automatic liquid scintillation instrument disclosed in some embodiments further includes a control system, which is arranged below the sample placement mechanism and is used to control the grabbing mechanism and / or the detection mechanism.

[0039] The fully automatic liquid scintillation instrument disclosed in the embodiment of the present invention can realize mechanical grabbing of reagent bottles and transfer between the sample placement mechanism and the detection mechanism, and can autonomously and fully automatically perform batch liquid scintillation detection, and can improve the efficiency and safety of liquid scintillation detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 Example 1: Schematic diagram of the structure of a fully automatic liquid scintillation instrument Figure 1 ;

[0041] Figure 2 Example 1: Schematic diagram of the structure of a fully automatic liquid scintillation instrument Figure 2 ;

[0042] Figure 3 Partially enlarged view of the fully automatic liquid scintillation instrument of Example 1;

[0043] Figure 4 Example 1 Schematic diagram of the structure of the detection mechanism Figure 1 ;

[0044] Figure 5 Example 1 Schematic diagram of the structure of the detection mechanism Figure 2 ;

[0045] Figure 6 Schematic diagram of the structure of the anti-fall gripper of Example 2;

[0046] Figure 7 Partial enlargement of the anti-fall gripper in Example 2 Figure 1 ;

[0047] Figure 8 Partial enlargement of the anti-fall gripper in Example 2 Figure 2 ;

[0048] Fig. 9 Partial disassembly diagram of the anti-fall gripper of Example 2.

[0049] Reference numerals

[0050] 1 Sample placement mechanism 2 Detection mechanism

[0051] 3 Grabbing mechanism 4 Control system

[0052] 11 Drawer 12 Induction lock device

[0053] 21 Low background light chamber 22 Detection box

[0054] 23 Scintillator 231 Scintillator receiving port

[0055] 24 Photomultiplier tube 25 High frequency bus

[0056] 5 Three-degree-of-freedom actuator 51 First motion component

[0057] 52 second motion component 53 third motion component

[0058] 511 First synchronous pulley 512 First screw

[0059] 513 first guide rod 514 first slide

[0060] 521 Second synchronous pulley 522 Second screw rod

[0061] 523 second guide rod 524 second slide

[0062] 531 The third synchronous pulley 532 The third screw

[0063] 533 Third guide bar 6 Anti-fall gripper

[0064] 61 Support base 62 Driving assembly

[0065] 63 Grab assembly 611 Through hole

[0066] 612 positioning slot 621 motor bracket

[0067] 622 Motor 623 Drive shaft

[0068] 631 sleeve 632 self-locking assembly

[0069] 633 Clamping claw 634 Rotating shaft

[0070] 64 cylindrical spur gear 65 spring coupling

[0071] 6321 Positioning pin 6322 Torsion spring

[0072] 66 Photoelectric switch a Fixed guide component

[0073] b first rack c second rack

[0074] d First clamping jaw d1 Clamping jaw fixing plate

[0075] d2 curved plate clamp e second clamp

[0076] 100 reagent bottles 200 support racks DETAILED DESCRIPTION

[0077] The word "embodiment" used here as an "exemplary" does not necessarily mean that any embodiment described is superior to or better than other embodiments. Unless otherwise specified, the performance index tests in the embodiments of this application are performed using conventional test methods in the art. It should be understood that the terms described in this application are only used to describe specific implementation methods and are not used to limit the content disclosed in this application.

[0078] Unless otherwise specified, the technical and scientific terms used in this document have the same meanings as commonly understood by ordinary technicians in the technical field to which this application belongs; other experimental methods and technical means not specifically specified in this application refer to experimental methods and technical means commonly used by ordinary technicians in this field.

[0079] The terms "substantially" and "approximately" used herein are used to describe small fluctuations. For example, they can refer to less than or equal to ±5%, such as less than or equal to ±2%, such as less than or equal to ±1%, such as less than or equal to ±0.5%, such as less than or equal to ±0.2%, such as less than or equal to ±0.1%, such as less than or equal to ±0.05%. The numerical data represented or presented in the range format herein are used only for convenience and brevity, and should therefore be flexibly interpreted as including not only the values ​​clearly listed as the limits of the range, but also all independent values ​​or sub-ranges contained in the range. For example, the numerical range of "1-5%" should be interpreted as including not only the clearly listed values ​​of 1% to 5%, but also the independent values ​​and sub-ranges within the range shown. Therefore, independent values ​​such as 2%, 3.5% and 4% and sub-ranges such as 1%-3%, 2%-4% and 3%-5% are included in this numerical range. This principle also applies to the range of only one numerical value. In addition, such an interpretation applies regardless of the width of the range or the characteristics described.

[0080] In this document, including in the claims, transitional words such as "comprises," "includes," "with," "having," "containing," "involving," "accommodating," etc. are understood to be open-ended, i.e., meaning "including but not limited to." Only the transitional words "consisting of" and "composed of" are closed transitional words.

[0081] In order to better illustrate the content of the present application, numerous specific details are provided in the specific examples below. It should be understood by those skilled in the art that the present application can also be implemented without certain specific details. In the embodiments, some methods, means, instruments, equipment, etc. well known to those skilled in the art are not described in detail in order to highlight the main purpose of the present application.

[0082] Under the premise of no conflict, the technical features disclosed in the embodiments of the present application can be arbitrarily combined, and the obtained technical solutions belong to the contents disclosed in the embodiments of the present application. It should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like mentioned in the present application indicate the orientation or position relationship based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the technical features and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention, unless it conflicts with the context. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance, unless it conflicts with the context.

[0083] In some embodiments, a fully automatic liquid scintillation instrument comprises:

[0084] A sample placing mechanism, configured to place the reagent bottle to be tested;

[0085] The detection mechanism is arranged opposite to the sample placement mechanism and is used to detect the reagent bottle; generally, the sample placement mechanism and the detection mechanism are arranged adjacent to each other so as to reduce the moving distance of the reagent bottle to be tested, reduce the detection risk, and improve the detection efficiency;

[0086] Wherein, a middle partition is provided between the sample placement mechanism and the detection mechanism to separate the sample placement mechanism and the detection mechanism;

[0087] The grabbing mechanism is arranged above the sample placement mechanism and is used to grab and transfer the reagent bottle between the sample placement mechanism and the detection mechanism. Generally, the grabbing mechanism is used to grab the reagent bottle and can move the reagent bottle. For example, it can grab the reagent bottle to be detected placed in the sample placement mechanism and transfer it to the detection mechanism for detection, and can also grab the reagent bottle in the detection mechanism and transfer it to the sample placement mechanism. Usually, the grabbing and transfer of the reagent bottle by the grabbing mechanism is automatically performed according to the detection program configured in the liquid scintillation instrument.

[0088] The testing agencies include:

[0089] Lead box, used to isolate radiation from the external environment of the testing organization;

[0090] A low-background light chamber, set in a lead box;

[0091] A detection box, which is arranged in the low-background light room and is used to place the reagent bottles to be detected;

[0092] Scintillator, wrapped around the outer surface of the low-background light chamber, used to detect the amount of radiation in the environment;

[0093] A plurality of photomultiplier tubes are connected to the low-background light chamber through the scintillator, respectively, and are spaced apart along the circumference of the low-background light chamber, and are used to convert the detected radiation in the reagent bottle into an electrical signal and amplify it;

[0094] A high frequency bus is arranged to be connected to the photomultiplier tube and is used for transmitting electrical signals.

[0095] In some embodiments, at least two scintillators are provided. At least two scintillators can more effectively wrap the low-background light chamber, improve the detection accuracy of the environmental radiation, and further help improve the detection accuracy of the test agent in the reagent bottle.

[0096] As an optional implementation, the detection box is a cylindrical cavity, which is arranged at the center of the low background light chamber.

[0097] As an optional implementation, two scintillators are provided, which are sequentially sleeved on the outer surface of the low-background light chamber and are not connected to the detection box.

[0098] As an optional implementation, three photomultiplier tubes are arranged, distributed at intervals of 120° along the circumference of the low background light chamber and connected to the low background light chamber through the scintillator, and each photomultiplier tube is connected to a high-frequency bus, and the measurements of the photomultiplier tubes do not interfere with each other. Each photomultiplier tube independently converts the radiation entering it into an electrical signal and amplifies it, and the amplified electrical signal is transmitted through the high-frequency bus for noise reduction; wherein, three photomultiplier tubes are arranged at intervals of 120° along the circumference of the low background light chamber and connected to the low background light chamber through the scintillator, which can more comprehensively detect the radiation in the reagent bottle and ensure the quality of the detection value. The radiation of the test agent in the reagent bottle is equal to the radiation captured by the photomultiplier tube minus the radiation in the environment detected by the scintillator.

[0099] In some embodiments, the sample placement mechanism comprises:

[0100] Drawers with light-proof function;

[0101] The reagent box is adapted to the drawer, is arranged in the drawer, and is used for placing reagent bottles.

[0102] In some embodiments, the drawer includes a front panel and a drawer box. Usually, the size of the front panel is slightly larger than the size of the drawer box to facilitate pushing / pulling the drawer box, wherein:

[0103] An annular shading strip is provided on the inner side of the front panel, and an annular groove is provided on the front panel along the outer edge of the annular shading strip; generally, one end of the drawer box connected to the front panel is surrounded by the annular shading strip, and when the drawer is in a closed state, light can be prevented from entering the drawer box from the connection between the drawer box and the front panel;

[0104] An annular bracket is fixedly arranged at the opening of the drawer, and the annular bracket is used to be adaptably mounted on the outside of the annular shading strip; and an annular protrusion is arranged on the surface of the annular bracket opposite to the front panel, and the annular protrusion is adapted to the annular groove; when the drawer is in a closed state, the annular bracket is adaptably mounted on the annular shading strip, and the annular protrusion is adaptably arranged in the annular groove, so as to prevent light from entering the drawer box from the edge of the front panel.

[0105] In some embodiments, a flexible light-shielding strip is provided on the inner surface of the annular bracket, which can increase the airtightness of the drawer and prevent or reduce damage caused by pulling out the drawer box.

[0106] In some embodiments, a flexible shading strip is provided on the outer surface of the annular shading strip, which can increase the airtightness of the drawer and prevent or reduce damage caused by pulling out the drawer box.

[0107] In some embodiments, the width of the annular bracket is smaller than the width of the annular light-shielding strip, which can ensure that when the drawer is closed, the drawer box is in a completely sealed and light-proof state.

[0108] As an optional implementation, the height of the annular protrusion is equal to the depth of the annular groove, which can ensure that the annular bracket and the front panel are in a sealed state when the drawer is closed.

[0109] As an optional embodiment, the annular protrusion is arranged at the inner edge of the surface of the annular bracket opposite to the front panel, and the annular groove is arranged on the front panel opposite to the position of the annular protrusion.

[0110] As an optional embodiment, the annular protrusion is arranged at a middle position of the surface of the annular bracket opposite to the front panel, and the annular groove is arranged on the front panel opposite to the position of the annular protrusion.

[0111] As an optional implementation, the annular shading strip is a rectangular strip frame.

[0112] As an optional implementation, the flexible shading strip is a black velvet brush. During the process of pushing and pulling the drawer box, the black velvet brush is in close contact with the drawer box to block the entry of light. At the same time, the soft velvet will not damage the reagent bottles placed in the drawer.

[0113] In some embodiments, a positioning pin is provided in the drawer box for fixing the reagent box to prevent damage to the reagent bottles caused by the reagent box moving randomly in the drawer box.

[0114] In some embodiments, an induction lock device is provided on the drawer to lock the drawer during detection to prevent the drawer from opening due to operational errors during the detection process.

[0115] In some embodiments, a flexible protective medium is provided in the reagent box for protecting the reagent bottles. Generally, the reagent box is provided with regularly arranged reagent bottle positions, in which the flexible protective medium is provided, and the flexible protective medium is generally provided as sponge or rubber, which can protect the reagent bottles from impact.

[0116] In some embodiments, the gripping mechanism comprises:

[0117] Three-degree-of-freedom actuator;

[0118] The anti-fall gripper is arranged on the three-degree-of-freedom actuator and moves synchronously with the three-degree-of-freedom actuator.

[0119] In some embodiments, the three-degree-of-freedom actuator includes:

[0120] The first motion assembly comprises a first stepper motor, a first screw rod, a first guide rod and a first slide, wherein the first screw rod is arranged in parallel with the first guide rod; the first screw rod is connected to the first stepper motor through a first synchronous pulley, and the first slide is installed on the first screw rod and the first guide rod; when the first stepper motor drives the first synchronous pulley to drive the first screw rod to rotate, the first slide moves along the first guide rod driven by the first screw rod, and at the same time, the first slide also serves as a support seat for the second motion assembly;

[0121] The second motion assembly includes a second stepping motor, a second screw rod, a second guide rod and a second slide, the end of the second screw rod is rotatably connected to the first slide, the end of the second guide rod is fixedly connected to the first slide, the second screw rod and the second guide rod are parallel to each other, the second screw rod is connected to the second stepping motor through a second synchronous pulley, and the second slide is installed on the second screw rod and the second guide rod; when the second stepping motor drives the second synchronous pulley to drive the second screw rod to rotate, the second slide moves along the second guide rod driven by the second screw rod, and at the same time, the second slide also serves as a support seat for the third motion assembly;

[0122] A third motion assembly, which includes a third stepping motor, a third screw rod, and a third guide rod. The end of the third screw rod is rotatably connected to the second slide, the end of the third guide rod is fixedly connected to the second slide, the third screw rod and the third guide rod are parallel to each other, the third screw rod is connected to the third stepping motor through a third synchronous pulley, and the anti-drop gripper is installed on the third screw rod and the third guide rod through a supporting base; when the third stepping motor drives the third synchronous pulley to drive the third screw rod to rotate, the anti-drop gripper moves on the third screw rod along the direction of the third guide rod;

[0123] Among them, the setting directions of the first motion component, the second motion component and the third motion component are perpendicular to each other; when the first slide moves along the direction of the first guide rod, the second motion component and the third motion component are displaced synchronously with the first slide, and when the second slide moves along the direction of the second guide rod, the third motion component is displaced synchronously with the second slide, driving the anti-drop gripper to displace synchronously. The setting of the three-degree-of-freedom actuator enables the anti-drop gripper to achieve precise displacement in three-dimensional space, and accurately grasp and transfer the reagent bottles.

[0124] In some embodiments, the anti-fall gripper comprises:

[0125] A support base, wherein a through hole is provided on the support base, and a plurality of positioning grooves are provided on the upper surface of the support base, wherein the plurality of positioning grooves are arranged at intervals around the through hole;

[0126] A grabbing assembly is installed below the supporting base and is used to grab the reagent bottle;

[0127] A driving assembly is arranged and installed above the supporting base, and is used to provide power to the grabbing assembly;

[0128] Among them, the crawling components include:

[0129] A sleeve, one end of which is arranged and installed in the through hole;

[0130] The rotating shaft is arranged in the sleeve, one end of which is connected to the driving assembly, and the other end is connected to a clamping claw part for grabbing the reagent bottle; the opening and / or closing of the clamping claw part is usually controlled by the rotation direction of the rotating shaft; for example, when the gear set rotates clockwise, the clamping claw part is closed; when the gear set rotates counterclockwise, the clamping claw part is opened;

[0131] A self-locking component has one end connected to the rotating shaft and the other end set in a positioning groove, so that the clamping jaw is in a self-locking state. In a natural state or when the clamping jaw grabs the reagent bottle, the clamping jaw is in a self-locking state, which can prevent the clamping jaw from accidentally opening or loosening and prevent the reagent bottle from falling.

[0132] Generally speaking, in the initial state or natural state without grabbing the reagent bottle, the self-locking component is usually in a stressed state, and its reaction force can act on the rotating shaft, so that the rotating shaft drives the clamping jaw part to remain in a closed state. After the clamping jaw part grabs the reagent bottle, even if the rotating shaft cannot act on the reagent bottle under the control of the motor, the force of the self-locking component can prevent the rotating shaft from rotating at will, thereby avoiding the reagent bottle from falling due to unexpected situations such as power failure.

[0133] In some embodiments, a cylindrical spur gear is connected to the end of the rotating shaft, and the clamping jaw portion includes:

[0134] The first rack and the second rack are parallel to each other and are adaptively arranged on both sides of the cylindrical spur gear. The first rack and the second rack are arranged to move relative to each other under the drive of the cylindrical spur gear. Generally, the first rack and the second rack are respectively meshed with the cylindrical spur gear and move in opposite directions under the drive of the cylindrical spur gear.

[0135] The fixed guide components have a shape that matches the inner surface of the sleeve, and the two fixed guide components are adaptively arranged in the sleeve; the two fixed guide components respectively have planes that match the first rack and the second rack, and the two fixed guide components arranged in the sleeve respectively serve as guide rails for the first rack and the second rack to move; generally, the fixed guide components are arranged and installed in the sleeve, and the planes of the fixed guide components that match the first rack and the second rack are perpendicular to the sleeve axis, and the first rack and the second rack are arranged to perform linear reciprocating motion in the radial plane of the sleeve under the drive of the rotating shaft;

[0136] The first clamp is mounted on the first rack and is configured to move synchronously with the first rack; the second clamp is mounted on the second rack and is configured to move synchronously with the second rack. During the relative movement of the first rack and the second rack driven by the rotating shaft, the first clamp and the second clamp are driven to move relative to each other, and the distance between the first clamp and the second clamp changes. When it is necessary to grab a reagent bottle, the reagent bottle is set between the first clamp and the second clamp, and the reagent bottle can be clamped between the first clamp and the second clamp by reducing the distance between the two; when it is necessary to release the clamped reagent bottle, the distance between the two can be increased.

[0137] In some embodiments, the first clamping jaw and the second clamping jaw are configured identically; wherein the first clamping jaw comprises:

[0138] A clamping jaw fixing plate, having a structure adapted to the first rack and used for being fixedly connected to the first rack;

[0139] The arc-shaped plate clamp is connected to the clamp fixing plate, and its setting direction is perpendicular to the moving direction of the first rack.

[0140] Generally, a clamping plate fixedly connected to the first rack is located in the sleeve, and the clamping plate and the first rack move back and forth linearly in the radial plane of the sleeve, and the range of movement is within the sleeve; accordingly, the movement range of the arc plate clamp is consistent with it; similarly, the clamping plate specified with the second rack is also located in the sleeve, and the clamping plate and the second rack move back and forth linearly in the radial plane of the sleeve, and the range of movement is within the sleeve, and accordingly, the movement range of the arc plate clamp is consistent with it.

[0141] By adjusting the length of the clamp fixing plate, its moving distance in the sleeve can be adjusted; by adjusting the installation position of the clamp fixing plate on the first rack, its moving distance in the sleeve can be adjusted; by adjusting the installation position of the clamp fixing plate on the second rack, its moving distance in the sleeve can be adjusted.

[0142] The first clamping jaw and the second clamping jaw are configured identically, which is beneficial for the two to cooperate with each other and safely grasp the reagent bottle.

[0143] Generally, the end of the arc plate clamp needs to extend a certain distance from the sleeve in order to grab the reagent bottle. Usually, part of the arc plate clamp can be set in the sleeve, and the rest is set outside the sleeve. In this case, the moving distance of the arc plate clamp is within the radial distance of the sleeve. The arc plate clamp can also be set outside the sleeve, and its moving range is not limited by the sleeve. In this case, it is necessary to adjust the shape and structure of the clamp fixing plate to facilitate the installation of the arc plate clamp located outside the sleeve.

[0144] As an optional embodiment, an anti-skid pad is provided on the arc plate clamping jaw to increase the friction between the arc plate clamping jaw and the reagent bottle and enhance the clamping stability. As an optional embodiment, the anti-skid pad is arranged in a strip shape. Usually, a plurality of strip anti-skid pads can be arranged at intervals on the arc plate clamping jaw.

[0145] In some embodiments, the self-locking assembly includes:

[0146] A positioning pin, used to be arranged in the positioning groove;

[0147] The torsion spring is sleeved on the rotating shaft, one end of the torsion spring is connected to the rotating shaft, and the other end is connected to the positioning pin. Generally, the torsion spring is sleeved on the rotating shaft, and one end of the torsion spring is connected to the rotating shaft, and the other end is connected to the positioning pin. After the torsion spring is deformed, it acts on the rotating shaft, and further acts on the clamping claw part to adjust the clamping degree of the clamping claw part. When the torsion spring is connected to the positioning pins in different positioning grooves, the torsion degree of the torsion spring is different. Therefore, the torsion tightness of the torsion spring can be adjusted by adjusting the setting position of the positioning pin, and then the clamping force of the clamping claw part can be adjusted. For example, the greater the torsion angle of the torsion spring, the greater the reaction force of the torsion spring on the rotating shaft, the greater the force on the clamping claw part, and the greater the clamping force of the clamping claw part on the reagent bottle. Under normal circumstances, after the clamping claw part grabs the reagent bottle, the torsion spring is tightened and twisted, in a stressed state, and reacts to the rotating shaft, which can not only assist in clamping the reagent bottle, but also prevent the reagent bottle from loosening and falling when the rotating shaft rotates, loosens, shakes, etc. accidentally; in some cases, the torsion spring can be loosened in the counterclockwise direction by manpower to reduce or eliminate its force on the rotating shaft, and the reagent bottle can be removed from the anti-drop gripper.

[0148] As an optional embodiment, the torsion spring is detachably connected to the rotating shaft so that the torsion spring can be removed or replaced. The torsion spring is detachably connected to the positioning pin so that the torsion spring can be removed from a certain positioning pin and connected to another positioning pin.

[0149] In some embodiments, the drive assembly includes:

[0150] A motor bracket, fixedly connected to the supporting base;

[0151] The motor is mounted on the motor bracket, and its setting position is opposite to the position of the through-type through hole;

[0152] A driving shaft has one end connected to the motor and the other end connected to the rotating shaft.

[0153] In some embodiments, the rotating shaft is connected to the driving shaft via a coupling. As an optional embodiment, the coupling is a spring coupling, and the rotating shaft and the driving shaft are connected via the spring coupling, so that the driving shaft and the rotating shaft can rotate together and transmit torque, and can buffer, reduce vibration, and improve the dynamic performance of the shaft system.

[0154] In some embodiments, the anti-fall gripper further includes a limit assembly, which includes:

[0155] Photoelectric switch, installed on the motor bracket;

[0156] The sensing rod is arranged to be mounted on the driving shaft.

[0157] When the driving shaft rotates, the sensing rod will rotate synchronously. When the sensing rod rotates to a position relative to the photoelectric switch, the photoelectric switch senses the sensing rod and then controls the motor to stop, thereby preventing the rotating shaft from rotating excessively.

[0158] As an optional embodiment, the motor bracket is a Z-shaped bracket, which includes a vertical panel and two transverse panels vertically fixed to the vertical panel and extending in opposite directions.

[0159] In some embodiments, a camera is further included, and the camera is arranged on the sleeve. Usually, the camera is arranged near the clamping jaw portion and is adapted thereto, and the camera can obtain image information of the reagent bottle so as to accurately locate the reagent bottle and accurately grasp it, and can also prevent the clamping jaw portion from clamping empty.

[0160] In some embodiments, the support base is also provided with a through guide hole and a through threaded hole. Generally, the anti-drop gripper is used to be installed on the fully automatic liquid scintillator, and is used to automatically grab the reagent bottle and place the reagent bottle at a preset position. For this purpose, the anti-drop gripper needs to be installed at an appropriate position of the liquid scintillator; usually, the support base can be used for connection and installation with the liquid scintillator; for example, the support base can be provided with a through guide hole and a through threaded hole, and the direction of the through threaded hole and the through guide hole is parallel to the direction of the through hole on which the grab assembly is fixedly installed on the support base; when the support base is installed on the liquid scintillator, the support base can be connected to the third guide rod and the third screw rod of the three-degree-of-freedom actuator through the through guide hole and the through threaded hole; the third screw rod can drive the support base to move along the third guide rod to adjust the position of the support base, thereby adjusting the position of the anti-drop gripper, so as to facilitate grabbing of reagent bottles at different positions and transfer of reagent bottles.

[0161] In some embodiments, the fully automatic liquid scintillation instrument further includes a control system, which is disposed below the sample placement mechanism and is used to control the grabbing mechanism and / or the detection mechanism.

[0162] In some embodiments, the fully automatic liquid scintillation instrument further comprises a supporting frame, and the sample placement mechanism, the detection mechanism, the grasping mechanism and the control system are all arranged on the supporting frame.

[0163] In some embodiments, the radiation amount of the reagent is detected using a fully automatic liquid scintillation instrument, and the detection method includes:

[0164] Place the reagent bottles to be tested into the reagent box in the order in which they are arranged;

[0165] Using the grabbing mechanism to sequentially grab the reagent bottles to be tested in the reagent box;

[0166] The grabbed reagent bottle is moved to the detection box in the detection mechanism through the grabbing mechanism;

[0167] The control system controls the detection mechanism to detect and analyze the reagent bottle. During the detection process, the photomultiplier tube converts the detected radiation in the reagent bottle into an electrical signal and amplifies it, which is then transmitted through a high-frequency bus.

[0168] After the test and analysis are completed, the gripping mechanism puts the reagent bottles in the test box back to their original positions in the reagent box.

[0169] The technical details are further illustrated below in conjunction with embodiments.

[0170] Example 1

[0171] Figure 1 The structure of the fully automatic liquid scintillation instrument disclosed in Example 1 is shown in FIG. Figure 1 ; Figure 2 The structure of the fully automatic liquid scintillation instrument disclosed in Example 1 is shown in FIG. Figure 2 ; Figure 3 It is a partial enlarged view of the fully automatic liquid scintillation instrument disclosed in Example 1; Figure 4 The structure of the detection mechanism disclosed in Example 1 is shown in FIG. Figure 1 ; Figure 5 The structure of the detection mechanism disclosed in Example 1 is shown in FIG. Figure 2 .

[0172] like Figure 1 , Figure 2 and Figure 3 As shown, the fully automatic liquid scintillation instrument includes:

[0173] A square support frame 200, which includes a bottom plate, a left panel and a right panel;

[0174] The sample placement mechanism 1 comprises a drawer 11 with a light-shielding function and a reagent box matched with the drawer. The reagent box is usually installed in the drawer and is used to place a reagent bottle 100 to be tested. The drawer is installed at the upper half of the left panel of the support frame 200, and an induction lock device 12 is installed on the right side panel of the drawer. When the induction lock device 12 senses that the drawer is closed, it will automatically lock the drawer to prevent the drawer from being opened by mistake during the detection process.

[0175] A control system 4, which is mounted on the bottom plate of the support frame 200 and is located below the sample placement mechanism 1, and is used to control the grasping mechanism and / or the detection mechanism;

[0176] The detection mechanism 2 is arranged on the bottom plate of the support frame 200 and is located on the right side of the sample placement mechanism 1; Figure 4 and Figure 5 As shown, the detection mechanism 2 includes a lead box, a low-background light chamber 21 arranged in the lead box, a cylindrical detection box 22 arranged at the center of the low-background light chamber 21, two scintillators 23 sequentially sleeved on the outer surface of the low-background light chamber, and three photomultiplier tubes 24 distributed along the circumference of the low-background light chamber at intervals of 120° and connected to the low-background light chamber through the scintillators, wherein the scintillators and the detection box are not connected to each other, and a scintillator receiving port 231 is provided on the scintillator for detecting the radiation in the environment; a high-frequency bus 25 is respectively provided and connected to the three photomultiplier tubes, and each photomultiplier tube independently converts the radiation entering thereinto into an electrical signal and amplifies it, and the amplified electrical signal is transmitted through the high-frequency bus for noise reduction;

[0177] A gripping mechanism 3, which is arranged above the sample placement mechanism; wherein the gripping mechanism includes a three-degree-of-freedom actuator 5 and an anti-drop gripper 6 arranged on the three-degree-of-freedom actuator, wherein the three-degree-of-freedom actuator 5 includes: a first motion component 51, a second motion component 52 and a third motion component 53, which are arranged in directions perpendicular to each other;

[0178] Wherein, the first motion component 51 includes a first stepper motor, a first screw rod 512, a first guide rod 513 and a first slide 514, the two ends of the first screw rod 512 are rotatably connected to the left panel and the right panel of the support frame 200 respectively, the two ends of the first guide rod 513 are fixedly connected to the left panel and the right panel of the support frame 200 respectively, and the first screw rod 512 and the first guide rod 513 are parallel to each other; the first screw rod 512 is connected to the first stepper motor through the first synchronous pulley 511, and the first slide 514 is installed on the first screw rod and the first guide rod; when the first stepper motor drives the first synchronous pulley 511 to drive the first screw rod 512 to rotate, the first slide 514 moves along the first guide rod 513 driven by the first screw rod 512, and at the same time, the first slide 514 also serves as a support seat for the second motion component 52;

[0179] The second motion assembly 52 includes a second stepping motor, a second screw rod 522, a second guide rod 523 and a second slide 524. The end of the second screw rod 522 is rotatably connected to the first slide 514, and the end of the second guide rod 523 is fixedly connected to the first slide 514. The second screw rod 522 and the second guide rod 523 are parallel to each other. The second screw rod 522 is connected to the second stepping motor through the second synchronous pulley 521, and the second slide 524 is installed on the second screw rod 522 and the second guide rod 523. When the second stepping motor drives the second synchronous pulley 521 to drive the second screw rod 522 to rotate, the second slide 524 moves along the second guide rod 523 driven by the second screw rod 522. At the same time, the second slide 524 also serves as a support seat for the third motion assembly 53.

[0180] The third motion assembly 53 includes a third stepping motor, a third screw rod 532, and a third guide rod 533. The end of the third screw rod 532 is rotatably connected to the second slide 524, and the end of the third guide rod 533 is fixedly connected to the second slide 524. The third screw rod 532 and the third guide rod 533 are parallel to each other. The third screw rod 532 is connected to the third stepping motor through a third synchronous pulley 531. The anti-drop gripper 6 is installed on the third screw rod 532 and the third guide rod 533 through a supporting base. When the third stepping motor drives the third synchronous pulley 531 to drive the third screw rod 532 to rotate, the anti-drop gripper 6 moves on the third screw rod 532 along the direction of the third guide rod 533.

[0181] When the first slide moves along the direction of the first guide rod, the second motion component and the third motion component are displaced synchronously with the first slide. When the second slide moves along the direction of the second guide rod, the third motion component is displaced synchronously with the second slide, driving the anti-drop gripper to displace synchronously. The setting of the three-degree-of-freedom actuator enables the anti-drop gripper to achieve precise displacement in three-dimensional space, and accurately grasp and transfer the reagent bottles.

[0182] When the fully automatic liquid scintillation instrument disclosed in Example 1 is used to detect nuclear radiation, the detection method includes:

[0183] Place the reagent bottles to be tested into the reagent box in the order in which they are arranged;

[0184] Using the grabbing mechanism to sequentially grab the reagent bottles to be tested in the reagent box;

[0185] The grabbed reagent bottle is moved to the detection box in the detection mechanism through the grabbing mechanism;

[0186] The control system controls the detection mechanism to detect and analyze the reagent bottle. During the detection process, the photomultiplier tube converts the detected radiation in the reagent bottle into an electrical signal and amplifies it, which is then transmitted through a high-frequency bus.

[0187] After the test and analysis are completed, the gripping mechanism puts the reagent bottles in the test box back to their original positions in the reagent box.

[0188] Example 2

[0189] Figure 6 This is a schematic diagram of the structure of the anti-fall gripper disclosed in Example 2; Figure 7 A partial enlargement of the anti-fall gripper disclosed in Example 2 Figure 1 ; Figure 8 A partial enlargement of the anti-fall gripper disclosed in Example 2 Figure 2 ; Fig. 9 This is a partial disassembly diagram of the anti-fall gripper disclosed in Example 2.

[0190] Combination Figure 6 , Figure 7 , Figure 8 and Fig. 9 As shown, the anti-fall gripper includes a support base 61, a driving assembly 62 is arranged above the support base 61, a grabbing assembly 63 is arranged below the support base, and the driving assembly 62 and the grabbing assembly 63 are connected to each other;

[0191] The support base 61 is provided with a through hole 611, and the upper surface of the support base 61 is provided with a plurality of positioning grooves 612, and the plurality of positioning grooves 612 are arranged at intervals around the through hole 611;

[0192] The driving assembly 62 includes a motor bracket 621, a motor 622 and a driving shaft 623; the motor bracket 621 is a Z-shaped bracket, which includes a vertical panel and two horizontal panels vertically fixed to the vertical panel and extending in opposite directions, one horizontal panel of the Z-shaped bracket is fixedly connected to the support base next to the through-hole 611, and the other horizontal panel is located above the through-hole 611; the motor 622 is installed on the horizontal panel of the motor bracket 621 located above the through-hole 611; one end of the driving shaft 623 passes through the motor bracket 621 and is connected to the motor 622;

[0193] The grab assembly 63 includes a sleeve 631, a rotating shaft 634, a self-locking assembly 632 and a clamping claw portion 633; ​​the upper end of the sleeve 631 is arranged and installed in the through-type through hole 611, and a camera is installed at the lower end of the sleeve 631; the rotating shaft 634 is arranged in the sleeve 631, the upper end of the rotating shaft 634 is connected to the driving shaft 623 through a spring coupling 65, and the lower end of the rotating shaft 634 is arranged and connected with the clamping claw portion 633;

[0194] Among them, the lower end of the rotating shaft 634 is provided with a cylindrical spur gear 64; the clamping jaw part 633 includes a first rack b and a second rack c parallel to each other, two fixed guide components a, a first clamping jaw d and a second clamping jaw e; the first rack b and the second rack c are adaptively arranged on both sides of the cylindrical spur gear, and the first rack b and the second rack c are arranged to move relative to each other under the drive of the cylindrical spur gear 64. Generally, the first rack b and the second rack c are respectively meshed with the cylindrical spur gear 64 and move in opposite directions under the drive of the cylindrical spur gear 64; the two fixed guide components a are adaptively arranged in the sleeve 631, and the two fixed guide components a respectively have planes adapted to the first rack b and the second rack c, and the two fixed guide components a arranged in the sleeve 631 serve as guide rails for the movement of the first rack b and the second rack c respectively; generally, the fixed guide component a is arranged and installed in the sleeve 63 1, the plane in which the fixed guide component a fits with the first rack b and the second rack c is perpendicular to the sleeve axis, and the first rack b and the second rack c are arranged to make linear reciprocating motion in the radial plane of the sleeve 631 under the drive of the rotating shaft 634; the first clamping jaw d is arranged and installed on the first rack b, and is arranged to move synchronously with the first rack b, and the second clamping jaw e is arranged and installed on the second rack c, and is arranged to move synchronously with the second rack c. In the process of relative movement of the first rack b and the second rack c driven by the rotating shaft 634, the first clamping jaw b and the second clamping jaw c are driven to move relatively, and the distance between the first clamping jaw and the second clamping jaw changes. When it is necessary to grab a reagent bottle, the reagent bottle is arranged between the first clamping jaw and the second clamping jaw, and the distance between the two can be reduced to clamp the reagent bottle between the first clamping jaw and the second clamping jaw; when it is necessary to release the clamped reagent bottle, the distance between the two can be increased;

[0195] Among them, the first clamping jaw is configured in the same manner as the second clamping jaw. The first clamping jaw d includes a clamping jaw fixing plate d1 and an arc plate clamping jaw d2. The clamping jaw fixing plate d1 has a structure adapted to the first rack b and is used for being fixedly connected to the first rack b. The arc plate clamping jaw d2 is connected to the clamping jaw fixing plate d1, and its setting direction is perpendicular to the movement direction of the first rack b. The clamping jaw fixing plate fixedly connected to the first rack is located in the sleeve, and the clamping jaw fixing plate and the first rack move linearly back and forth in the radial plane of the sleeve, and the range of movement is within the sleeve; accordingly, the moving range of the arc plate clamping jaw is consistent with them; similarly, the clamping jaw fixing plate configured in accordance with the second rack is also located in the sleeve, and the clamping jaw fixing plate and the second rack move linearly back and forth in the radial plane of the sleeve, and the range of movement is within the sleeve, and accordingly, the moving range of the arc plate clamping jaw is consistent with them;

[0196] The self-locking assembly 632 includes a positioning pin 6321 and a torsion spring 6322. The positioning pin 6321 is fixedly arranged in the positioning groove 612. The upper end of the torsion spring 6322 is fixedly connected to the rotating shaft by a screw, and the lower end is sleeved on the positioning pin. Generally, after the clamping claw grasps the reagent bottle, the torsion spring is tightened and twisted, and is in a stressed state, reacting to the rotating shaft, so that the clamping claw remains in a closed state, which can prevent the reagent bottle from falling due to power failure.

[0197] The anti-drop gripper for the fully automatic liquid scintillation instrument also includes a limit assembly, which includes a photoelectric switch 66 and a sensing rod (not shown in the figure); the photoelectric switch 66 is installed on the motor bracket 621, and the sensing rod is installed on the driving shaft. When the driving shaft rotates, the sensing rod will rotate synchronously. When the sensing rod rotates to a position relative to the photoelectric switch, the photoelectric switch senses the sensing rod, and then controls the motor to stop, which can prevent the rotating shaft from rotating excessively.

[0198] The fully automatic liquid scintillation instrument disclosed in the embodiment of the present invention can realize mechanical grabbing of reagent bottles and transfer between the sample placement mechanism and the detection mechanism, and can autonomously and fully automatically perform batch liquid scintillation detection, and can improve the efficiency and safety of liquid scintillation detection.

[0199] The technical solutions disclosed in the present invention and the technical details disclosed in the embodiments are merely illustrative of the inventive concept of the present invention and do not constitute a limitation on the technical solutions of the present invention. Any conventional changes, substitutions or combinations of the technical details disclosed in the embodiments of the present invention have the same inventive concept as the present invention and are within the protection scope of the claims of the present invention.

Claims

1. Fully automatic liquid scintillation instrument, characterized in that: include: A sample placing mechanism, configured to place the reagent bottle to be tested; A detection mechanism, arranged opposite to the sample placement mechanism, and used for detecting the reagent bottle; A gripping mechanism is arranged above the sample placement mechanism and is used to grip and transfer the reagent bottle between the sample placement mechanism and the detection mechanism; the gripping mechanism comprises: Three-degree-of-freedom actuator; The anti-drop gripper is arranged on the three-degree-of-freedom actuator and moves synchronously with the three-degree-of-freedom actuator; the anti-drop gripper comprises: A support base, wherein a through-hole is provided on the support base, and a plurality of positioning grooves are provided on the upper surface of the support base, wherein the plurality of positioning grooves are arranged at intervals around the through-hole; A grabbing assembly is arranged and installed below the supporting base, and is used to grab the reagent bottle; the grabbing assembly comprises: A sleeve, one end of which is arranged and installed in the through-hole; A rotating shaft is arranged in the sleeve, one end of which is connected to the driving assembly, and the other end of which is connected to a clamping claw for grabbing the reagent bottle; A self-locking component, one end of which is connected to the rotating shaft and the other end is set in the positioning groove, so that the clamping claw part is in a self-locking state; the self-locking component includes: a positioning pin, which is used to be set in the positioning groove; A torsion spring is sleeved on the rotating shaft, one end of the torsion spring is connected to the rotating shaft, and the other end is connected to the positioning pin; after the clamping claw grabs the reagent bottle, the torsion spring is tightened and twisted, and is in a stressed state, reacting to the rotating shaft, so that the clamping claw remains in a closed state; A driving assembly is arranged and installed above the supporting base, and is used to provide power to the grabbing assembly; the driving assembly includes a motor bracket, a motor and a driving shaft; the motor bracket is a Z-shaped bracket, which includes a vertical panel and two horizontal panels vertically fixed to the vertical panel and extending in opposite directions, one horizontal panel of the Z-shaped bracket is fixedly connected to the supporting base beside the through-type through hole, and the other horizontal panel is located above the through-type through hole; the motor is installed on the horizontal panel of the motor bracket located above the through-type through hole; one end of the driving shaft passes through the motor bracket and is connected to the motor; Wherein, the detection mechanism includes: Lead box; a low background light chamber, disposed in the lead box; A detection box, arranged in the low background light chamber, for placing the reagent bottle; A scintillator, wrapped on the outer surface of the low-background light chamber, used to detect the amount of radiation in the environment; A plurality of photomultiplier tubes, respectively passing through the scintillator and communicating with the low-background light chamber, and spaced apart along the circumference of the low-background light chamber, for converting the detected radiation in the reagent bottle into an electrical signal and amplifying the signal; A high-frequency bus is arranged to be connected to the photomultiplier tube and is used to transmit the electrical signal.

2. The fully automatic liquid scintillation instrument according to claim 1, characterized in that: At least two scintillators are provided.

3. The fully automatic liquid scintillation instrument according to claim 1, characterized in that: The sample placing mechanism comprises: Drawers with light-proof function; A reagent box is matched with the drawer, arranged in the drawer, and is used for placing the reagent bottles.

4. The fully automatic liquid scintillation instrument according to claim 3, characterized in that: The drawer comprises a front panel and a drawer box; An annular shading strip is arranged on the inner side of the front panel, and an annular groove is arranged on the front panel along the outer edge of the annular shading strip; An annular bracket is fixedly arranged at the opening of the drawer, and the annular bracket is used to be adaptively mounted on the outside of the annular shading strip; and an annular protrusion is arranged on the surface of the annular bracket opposite to the front panel, and the annular protrusion is adapted to the annular groove; when the drawer is in a closed state, the annular bracket is adaptively mounted on the annular shading strip, and the annular protrusion is adaptively arranged in the annular groove to prevent light from entering the drawer box from the edge of the front panel.

5. The fully automatic liquid scintillation instrument according to claim 3, characterized in that: The drawer is provided with an induction lock device for locking the drawer during detection.

6. The fully automatic liquid scintillation instrument according to claim 3, characterized in that: A flexible protective medium is arranged in the reagent box to protect the reagent bottle.

7. The fully automatic liquid scintillation instrument according to claim 1, characterized in that: The upper end of the sleeve is installed in the through-type through hole, and the lower end of the sleeve is installed with a camera; the upper end of the rotating shaft is connected to the driving shaft through a spring coupling, and the lower end of the rotating shaft is connected with the clamping claw; Wherein, the lower end of the rotating shaft is provided with a cylindrical spur gear; the clamping jaw portion includes a first rack and a second rack parallel to each other, two fixed guide components, a first clamping jaw and a second clamping jaw; the first rack and the second rack are adaptively arranged on both sides of the cylindrical spur gear, and the first rack and the second rack are respectively configured to mesh with the cylindrical spur gear and move in opposite directions under the drive of the cylindrical spur gear; the two fixed guide components are adaptively arranged in the sleeve, and the two fixed guide components respectively have planes adapted to the first rack and the second rack, and the two fixed guide components arranged in the sleeve The first rack and the second rack are respectively used as guide rails for the movement of the first rack and the second rack; the planes on which the fixed guide component is adapted to the first rack and the second rack are perpendicular to the sleeve axis, and the first rack and the second rack are configured to perform linear reciprocating motion in the radial plane of the sleeve under the drive of the rotating shaft; the first clamping jaw is mounted on the first rack and is configured to move synchronously with the first rack, and the second clamping jaw is mounted on the second rack and is configured to move synchronously with the second rack, and the first rack and the second rack are driven to move relative to each other during the relative movement of the first rack and the second rack under the drive of the rotating shaft. Among them, the first clamping jaw and the second clamping jaw are configured to be the same, the first clamping jaw includes a clamping jaw fixing plate and an arc plate clamping jaw, the clamping jaw fixing plate has a structure adapted to the first rack and is used for being fixedly connected to the first rack, the arc plate clamping jaw is arranged and connected to the clamping jaw fixing plate, and its setting direction is perpendicular to the movement direction of the first rack; the clamping jaw fixing plate fixedly connected to the first rack is located in the sleeve, and the clamping jaw fixing plate and the first rack are configured to move linearly back and forth in the radial plane of the sleeve, and the moving range is within the sleeve; the clamping jaw fixing plate specified with the second rack is located in the sleeve, and the clamping jaw fixing plate and the second rack are configured to move linearly back and forth in the radial plane of the sleeve, and the moving range is within the sleeve.

8. The fully automatic liquid scintillation instrument according to claim 1, characterized in that: The three-degree-of-freedom actuator comprises: The first motion assembly comprises a first stepper motor, a first screw rod, a first guide rod and a first slide, wherein the first screw rod is arranged in parallel with the first guide rod; the first screw rod is connected to the first stepper motor through a first synchronous pulley, and the first slide is installed on the first screw rod and the first guide rod; when the first stepper motor drives the first synchronous pulley to drive the first screw rod to rotate, the first slide moves along the first guide rod driven by the first screw rod, and at the same time, the first slide also serves as a support seat for the second motion assembly; The second motion assembly includes a second stepping motor, a second screw rod, a second guide rod and a second slide, the end of the second screw rod is rotatably connected to the first slide, the end of the second guide rod is fixedly connected to the first slide, the second screw rod and the second guide rod are parallel to each other, the second screw rod is connected to the second stepping motor through a second synchronous pulley, and the second slide is installed on the second screw rod and the second guide rod; when the second stepping motor drives the second synchronous pulley to drive the second screw rod to rotate, the second slide moves along the second guide rod driven by the second screw rod, and at the same time, the second slide also serves as a support seat for the third motion assembly; A third motion assembly, which includes a third stepping motor, a third screw rod, and a third guide rod. The end of the third screw rod is rotatably connected to the second slide, the end of the third guide rod is fixedly connected to the second slide, the third screw rod and the third guide rod are parallel to each other, the third screw rod is connected to the third stepping motor through a third synchronous pulley, and the anti-drop gripper is installed on the third screw rod and the third guide rod through a supporting base; when the third stepping motor drives the third synchronous pulley to drive the third screw rod to rotate, the anti-drop gripper moves on the third screw rod along the direction of the third guide rod; Among them, the setting directions of the first motion component, the second motion component and the third motion component are perpendicular to each other; when the first slide moves along the direction of the first guide rod, the second motion component and the third motion component are displaced synchronously with the first slide, and when the second slide moves along the direction of the second guide rod, the third motion component is displaced synchronously with the second slide, driving the anti-drop gripper to displace synchronously. The setting of the three-degree-of-freedom actuator enables the anti-drop gripper to achieve precise displacement in three-dimensional space, and accurately grasp and transfer the reagent bottles.

9. The fully automatic liquid scintillation instrument according to claim 1, characterized in that: It also includes a control system, which is arranged below the sample placement mechanism and is used to control the grabbing mechanism and / or the detection mechanism.

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