Automatic liquid injection mechanism for nuclide medicine and working method of automatic liquid injection mechanism

Abstract

The invention discloses an automatic liquid injection mechanism for nuclide medicine and a working method thereof.The mechanism comprises a subpackaging bottom plate, a mechanical arm, a clamping assembly, a lead screw liquid injection assembly, a containing base and a rubber plug taking assembly, the containing base is located below the lead screw liquid injection assembly, the mechanical arm is connected with the clamping assembly, and the clamping assembly is connected with the rubber plug taking assembly; the rubber plug taking assembly is located on one side of the lead screw liquid injection assembly, and the mechanical arm, the lead screw liquid injection assembly and the containing base are installed on the subpackaging bottom plate. By implementing the automatic liquid injection mechanism provided by the invention, the nuclide medicine mother liquid can be sub-packaged by using the injector, automatic replacement and positioning of injector consumables are realized, automatic disassembly of the injector can also be realized, and the sub-packaging stability and efficiency are improved.

Description

Technical Field

[0001] The invention relates to the technical field of automatic liquid injection mechanisms, and in particular to an automatic liquid injection mechanism for nuclide medicine and a working method thereof. Background Art

[0002] In the field of nuclear medicine packaging, radioactive mother liquid usually needs to be accurately packaged into multiple small doses for hospital use. Traditional methods mainly rely on peristaltic pumps for packaging, or manually operate in an isolation cabin wearing protective clothing. These methods have some problems, such as the complex pipelines of peristaltic pumps, the need for a large number of consumables, and the residual liquid after packaging, which not only affects the accuracy of packaging, but also poses a radioactive hazard to operators who replace consumables.

[0003] In addition, the traditional method of using syringes for packaging requires manual disassembly and installation, which is cumbersome and the operating habits of different operators may lead to different tightness of syringe assembly, thus affecting the accuracy and stability of packaging.

[0004] Therefore, it is necessary to design a new mechanism to realize the packaging of radionuclide mother solution using a syringe, and to realize the automatic replacement and positioning of syringe consumables, and also to realize the automatic disassembly of the syringe, thereby improving the stability and efficiency of packaging. Summary of the invention

[0005] The purpose of the present invention is to overcome the defects of the prior art and provide an automatic injection mechanism for nuclide medicine and a working method thereof.

[0006] To solve the above technical problems, the objective of the present invention is achieved through the following technical solutions: to provide an automatic liquid injection mechanism for radionuclide medicine, comprising: a filling base, a robotic arm, a clamping assembly, a screw liquid injection assembly, a placement base and a plug removal assembly, wherein the placement base is located below the screw liquid injection assembly, the robotic arm is connected to the clamping assembly, the plug removal assembly is located on one side of the screw liquid injection assembly, and the robotic arm, the screw liquid injection assembly and the placement base are respectively mounted on the filling base.

[0007] Its further technical solution is: the screw injection assembly includes a primary motor screw module, a secondary motor screw module, a module adapter, a syringe clamping seat, a syringe clamping assembly, a pull rod clamping claw fixing seat and a pull rod clamping assembly; the primary motor screw module is installed on the packaging base plate; the secondary motor screw module is connected to the primary motor screw module through the module adapter; the syringe clamping assembly is connected to the bottom of the secondary motor screw module through the syringe clamping seat; the pull rod clamping assembly is connected to the secondary motor screw module through the pull rod clamping claw fixing seat; and the pull rod clamping assembly is located above the syringe clamping seat.

[0008] A further technical solution is as follows: a side of the syringe clamping seat away from the secondary motor screw module is recessed toward the secondary motor screw module to form an open groove.

[0009] Its further technical solution is: the syringe clamping assembly includes a syringe clamping cylinder and a syringe barrel clamping claw, the syringe clamping cylinder is connected to the bottom of the syringe clamping seat, the syringe barrel clamping claw includes a barrel clamping V-shaped left claw head and a barrel clamping V-shaped right claw head, the barrel clamping V-shaped left claw head and the barrel clamping V-shaped right claw head are respectively connected to the syringe clamping cylinder.

[0010] Its further technical solution is: the tie rod clamping assembly includes a tie rod clamping cylinder and a tie rod clamping air claw, the tie rod clamping cylinder is connected to the tie rod clamping claw fixing seat, the tie rod clamping air claw includes a tie rod clamping V-shaped left claw head and a tie rod clamping V-shaped right claw head, the tie rod clamping V-shaped left claw head and the tie rod clamping V-shaped right claw head are respectively connected to the tie rod clamping cylinder.

[0011] Its further technical solution is: it also includes an outer cover, the first-level motor screw module and the second-level motor screw module are respectively located in the outer cover, and the outer cover is connected to the sub-packaging bottom plate.

[0012] A further technical solution thereof is: it also includes a protective cover, the protective cover is located on one side of the outer cover, and one end of the rubber plug removal assembly is connected inside the protective cover.

[0013] Its further technical solution is: the plug removal assembly includes a plug removal cylinder and a plurality of clamping blocks, the plurality of clamping blocks are arranged at intervals around the center point of the lower end surface of the plug removal cylinder, and the plurality of clamping blocks are connected to the plug removal cylinder.

[0014] Its further technical solution is: it also includes a weighing component, the weighing component includes a weighing sensor, a station base and a sensor fixing seat, the weighing sensor is connected to the outer cover through the sensor fixing seat, and the station base is placed above the weighing sensor.

[0015] In addition, in order to overcome the defects of the prior art, the present invention also provides a working method performed by the above-mentioned automatic injection mechanism for nuclide medicine, which is characterized by comprising:

[0016] The mechanical arm drives the clamping assembly to clamp the mother liquid bottle and place it in the placement base;

[0017] The mechanical arm drives the clamping assembly to clamp the syringe and place it at the designated position of the screw injection assembly;

[0018] After the screw injection assembly moves the syringe to the specified position, the syringe barrel is fixed and the syringe rod is pulled to perform the liquid aspiration operation;

[0019] The robotic arm drives the clamping assembly to clamp the sub-packaging vial to the bottom of the stopper removal assembly, and pushes up the sub-packaging vial, so that the stopper removal assembly removes the stopper of the sub-packaging vial;

[0020] The robotic arm drives the clamping assembly to clamp the sub-packaging vial and place it in the base, and the screw injection assembly injects the liquid into the sub-packaging vial.

[0021] Compared with the prior art, the present invention has the following beneficial effects: the present invention is provided with a sub-packaging base plate, a mechanical arm, a clamping assembly, a screw injection assembly, a placement base and a plug removal assembly. The placement base is located below the screw injection assembly, the mechanical arm is connected to the clamping assembly, and the plug removal assembly is located on one side of the screw injection assembly. All the components are mounted on the sub-packaging base plate to realize the automatic injection operation, realize the sub-packaging of the radionuclide drug mother solution using a syringe, realize the automatic replacement and positioning of the syringe consumables, and realize the automatic disassembly of the syringe, thereby improving the stability and efficiency of the sub-packaging.

[0022] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0024] Figure 1 A schematic diagram of the three-dimensional structure of an automatic injection mechanism for nuclide medicine provided in an embodiment of the present invention;

[0025] Figure 2 A schematic diagram of the three-dimensional structure of an automatic injection mechanism for radionuclide medicine provided in an embodiment of the present invention (excluding the mechanical arm and the clamping assembly);

[0026] Figure 3 A schematic diagram of the three-dimensional structure of a screw injection assembly, a rubber plug removal assembly and a weighing assembly provided in an embodiment of the present invention;

[0027] Figure 4 Schematic diagram of the three-dimensional structure of the screw injection assembly provided in the embodiment of the present invention Figure 1 (remove the outer cover);

[0028] Figure 5 Schematic diagram of the three-dimensional structure of the screw injection assembly provided in the embodiment of the present invention Figure 2 (remove the outer cover);

[0029] Figure 6 A schematic diagram of the three-dimensional structure of a rubber plug removal assembly provided in an embodiment of the present invention;

[0030] Figure 7 A schematic diagram of the three-dimensional structure of the rubber plug removal assembly provided in an embodiment of the present invention (without the protective cover);

[0031] Figure 8 A schematic diagram of the three-dimensional structure of a placement base provided in an embodiment of the present invention;

[0032] Fig. 9 A schematic diagram of the three-dimensional structure of a workstation base provided in an embodiment of the present invention;

[0033] Description of the symbols in the figure:

[0034] 10. Packing base plate; 20. Robotic arm; 30. Gripping assembly; 40. Screw injection assembly; 41. Primary motor screw module; 42. Secondary motor screw module; 43. Module adapter; 44. Syringe clamping seat; 441. Opening slot; 45. Syringe clamping assembly; 451. Syringe clamping cylinder; 452. V-shaped left clamping claw head; 453. V-shaped right clamping claw head; 46. Pull rod clamping claw Fixed seat; 47, tie rod clamping assembly; 471, tie rod clamping cylinder; 472, tie rod clamping V-shaped left claw head; 473, tie rod clamping V-shaped right claw head; 50, placing base; 60, rubber plug removal assembly; 61, rubber plug removal cylinder; 62, clamping block; 70, weighing assembly; 71, weighing sensor; 72, work station base; 721, retaining ring; 73, sensor fixing seat; 80, outer cover; 90, protective cover. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0037] It should also be understood that the terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0038] It should be further understood that the term "and / or" used in the present description and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0039] In the field of nuclear medicine packaging, radioactive mother liquid needs to be accurately packaged into small doses for hospital use. Traditional methods rely on peristaltic pumps or manual operations, but there are problems such as complex pipelines, residual liquid medicine, and radioactive risks to operators. In addition, the process of manually disassembling and installing syringes is cumbersome, and the habits of different operators may affect the accuracy and stability of packaging.

[0040] To this end, an embodiment of the present invention provides an automatic injection mechanism for radionuclide medicine and a working method thereof, which can realize the packaging of radionuclide medicine mother liquid using a syringe, and realize the automatic replacement and positioning of syringe consumables, and can also realize the automatic disassembly of the syringe, thereby improving the stability and efficiency of packaging.

[0041] Specifically, the automatic liquid injection mechanism for nuclide medicine is designed for the automated liquid filling process. It includes a mechanical arm 20, a screw liquid injection assembly 40 and a plug removal assembly 60, which can efficiently clamp and move the mother liquid bottle and the syringe. The system accurately injects the liquid into the filling vial through aspiration and injection operations. It is also equipped with a weighing assembly 70 to ensure the filling accuracy. The overall structure is compact and is provided with a protective cover 90 to improve safety.

[0042] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0043] See also Figures 1 to 3 The above-mentioned automatic injection mechanism for radionuclide medicine includes: a packaging base plate 10, a mechanical arm 20, a clamping assembly 30, a screw injection assembly 40, a placement base 50 and a plug removal assembly 60, the placement base 50 is located below the screw injection assembly 40, the mechanical arm 20 is connected to the clamping assembly 30, the plug removal assembly 60 is located on one side of the screw injection assembly 40, and the mechanical arm 20, the screw injection assembly 40, and the placement base 50 are respectively installed on the packaging base plate 10.

[0044] In the present embodiment, the robot arm 20 is connected to the clamping assembly 30, which is responsible for clamping the mother liquid bottle and the syringe and moving them to the designated position. The mother liquid bottle is placed on the placement base 50 to facilitate the subsequent liquid injection operation. After positioning, the screw injection assembly 40 fixes the syringe barrel, pulls the pull rod of the syringe to perform the liquid suction operation, and extracts the liquid into the syringe. The robot arm 20 moves the sub-packed syringe bottle to the bottom of the plug removal assembly 60, and the upper push operation causes the plug removal assembly 60 to remove the plug. Finally, the robot arm 20 puts the sub-packed syringe bottle back to the placement base 50, and the screw injection assembly 40 accurately injects the liquid into the syringe bottle.

[0045] The robot arm 20 and the automatic liquid injection system can greatly improve the speed and efficiency of liquid filling and reduce manual intervention. The screw injection assembly 40 is used to ensure the accuracy of the injection amount, reduce human errors, and improve the quality of drugs. The design of the equipment includes a protective cover 90 and a safety mechanism to ensure the safety of operators and reduce accidental risks. It can adapt to various specifications of mother liquid bottles and sub-filled vials to meet different needs. The entire sub-packaging process is highly integrated and simplified, making the operation more convenient and helping to improve production efficiency.

[0046] In one embodiment, see Figure 4 and Figure 5 The above-mentioned screw injection assembly 40 includes a primary motor screw module 41, a secondary motor screw module 42, a module adapter 43, a syringe clamping seat 44, a syringe clamping assembly 45, a pull rod clamping claw fixing seat 46 and a pull rod clamping assembly 47. The primary motor screw module 41 is installed on the sub-packaging base plate 10, and the secondary motor screw module 42 is connected to the primary motor screw module 41 through the module adapter 43; the syringe clamping assembly 45 is connected to the bottom of the secondary motor screw module 42 through the syringe clamping seat 44, and the pull rod clamping assembly 47 is connected to the secondary motor screw module 42 through the pull rod clamping claw fixing seat 46, and the pull rod clamping assembly 47 is located above the syringe clamping seat 44.

[0047] In this embodiment, the primary motor screw module drives the secondary motor screw module 42, the module adapter 43, the syringe clamping seat 44, the syringe clamping assembly 45, the pull rod clamping claw fixing seat 46 and the pull rod clamping assembly 47 to move, and the secondary motor screw module 42 drives the pull rod clamping claw fixing seat 46 and the pull rod clamping assembly 47 to move.

[0048] Specifically, the secondary motor screw module 42 drives the syringe clamping assembly 45 to descend to a predetermined position; the syringe is fixed by the syringe clamping seat 44 to ensure that it will not shift during the injection process; the robotic arm 20 places the mother liquid bottle on a designated base to ensure its stability and facilitate subsequent operations.

[0049] The first-level motor screw module 41 starts, driving the entire assembly to the injection position; thereafter, the second-level motor screw module 42 starts, and the second-level motor screw module 42 drives the rod clamping claw fixing seat 46, so that the rod clamping assembly 47 is adjusted to a suitable height to smoothly absorb the mother liquid into the syringe; the first-level motor screw module 41 starts, driving the entire assembly to move upward, and thereafter, the robotic arm 20 cooperates with the clamping assembly to clamp the sub-packaged vial after the rubber plug is removed and place it in the placement seat, the first-level motor screw module 41 starts, driving the entire assembly to move to the injection position, the second-level motor screw module 42 starts, and the second-level motor screw module 42 drives the rod clamping claw fixing seat 46, so that the rod clamping assembly 47 drops to a suitable height, and the liquid is accurately injected into the vial. The rod clamping assembly 47 and the syringe clamping assembly 45 release the syringe, and the robotic arm 20 moves the vial to the subsequent processing area.

[0050] Through the automated injection process, manual intervention and operation time are significantly reduced, thereby improving production efficiency; the screw injection assembly 40 ensures the accuracy of the injection volume and avoids errors caused by human factors, thereby ensuring the quality and safety of the medicine; the system can be adjusted according to syringes and vials of different specifications to meet diverse production needs; the entire operation process is highly integrated, and the operator only needs to make simple settings, which is easy to use; mechanized operation reduces the risk of direct contact for staff, and the system design includes multiple safety protections to ensure safe operation; automated equipment reduces the labor intensity of workers, reduces fatigue, and improves job satisfaction; the automated system can record the data of each injection, providing a basis for subsequent production management, quality control and traceability.

[0051] In one embodiment, see Figure 3 and Figure 4 The side of the syringe clamping seat 44 away from the secondary motor screw module 42 is recessed toward the secondary motor screw module 42 to form an open groove 441.

[0052] Specifically, when fixing the syringe, the robot arm 20 drives the clamping assembly, which clamps the syringe and inserts the ear portion of the syringe barrel into the opening groove 441 to perform preliminary fixing, and then the syringe clamping assembly 45 and the pull rod clamping assembly 47 perform fine clamping.

[0053] In one embodiment, see Figure 3 and Figure 4The above-mentioned syringe clamping assembly 45 includes a syringe clamping cylinder 451 and a syringe barrel clamping claw. The syringe clamping cylinder 451 is connected to the bottom of the syringe clamping seat 44. The syringe barrel clamping claw includes a barrel clamping V-shaped left claw head 452 and a barrel clamping V-shaped right claw head 453. The barrel clamping V-shaped left claw head 452 and the barrel clamping V-shaped right claw head 453 are respectively connected to the syringe clamping cylinder 451.

[0054] In one embodiment, see Figure 3 and Figure 4 The above-mentioned tie rod clamping assembly 47 includes a tie rod clamping cylinder 471 and a tie rod clamping air claw. The tie rod clamping cylinder 471 is connected to the tie rod clamping claw fixing seat 46. The tie rod clamping air claw includes a tie rod clamping V-shaped left claw head 472 and a tie rod clamping V-shaped right claw head 473. The tie rod clamping V-shaped left claw head 472 and the tie rod clamping V-shaped right claw head 473 are respectively connected to the tie rod clamping cylinder 471.

[0055] In one embodiment, see Figure 3 and Figure 4 The above-mentioned automatic injection mechanism for nuclide medicine also includes an outer cover 80, a first-level motor screw module 41 and a second-level motor screw module 42 are respectively located in the outer cover 80, and the outer cover 80 is connected to the packaging bottom plate 10.

[0056] In this embodiment, the syringe holder 44 is installed on the mechanism to ensure that it is well connected with the primary and secondary motor screw modules 42; ensure that the outer cover 80 is installed in place to protect the internal components.

[0057] The robot arm 20 starts, driving the clamping assembly to approach the syringe; inserting the support ear of the syringe into the opening slot 441 in the clamping seat, preliminarily fixes the syringe; the rod clamping cylinder 471 is activated, and the rod clamping air gripper operates the rod clamping air gripper to clamp the rod of the syringe to achieve precise positioning. The syringe barrel clamping air gripper clamps the syringe barrel to ensure stability.

[0058] During the injection process, the primary motor screw module 41 and the secondary motor screw module 42 remain stable to ensure that the syringe does not deviate. When the syringe needs to be replaced, the syringe barrel clamping air claw and the pull rod clamping air claw are opened at the same time to release the clamping force; the robot arm 20 easily removes the syringe barrel for transportation or replacement.

[0059] The V-shaped left and right claws make the clamping more stable, reduce errors caused by vibration or external force, and improve the accuracy of injection; the automated clamping and unlocking mechanism reduces human intervention, improves injection speed and work efficiency; the syringe clamping assembly 45 and the pull rod clamping assembly 47 can adapt to different types of syringes, meet a variety of needs, and enhance the flexibility of the equipment. The design of the outer cover 80 protects the internal components, prevents dust or other external factors from affecting the performance of the equipment, and also ensures the safety of the operator. The modular design makes it easy to disassemble and replace each component, reducing maintenance costs and time. Controlled by the robotic arm 20, each operating step is simple and clear, and even non-professionals can quickly get started.

[0060] In one embodiment, see Figure 8 The placement base 50 is provided with a placement cavity, and the bottom of the placement cavity is tilted, and the tilting direction is the direction close to the syringe, so as to completely absorb the liquid in the mother liquid bottle into the syringe.

[0061] In one embodiment, see Figure 6 The above-mentioned automatic injection mechanism for radionuclide medicine also includes a protective cover 90, which is located on one side of the outer cover 80, and one end of the rubber plug assembly 60 is connected to the protective cover 90.

[0062] In one embodiment, see Figure 6 and Figure 7 The above-mentioned plug removal assembly 60 includes a plug removal cylinder 61 and a plurality of clamping blocks 62 . The plurality of clamping blocks 62 are arranged at intervals around the center point of the lower end surface of the plug removal cylinder 61 , and the plurality of clamping blocks 62 are connected to the plug removal cylinder 61 .

[0063] In addition, an arc groove is provided on the inner side of the clamp block 62, and the arc grooves of several clamp blocks 62 facilitate the fixation of the rubber plug.

[0064] In this embodiment, the protective cover 90 is located on one side of the outer cover 80, and its main purpose is to protect the internal components from the external environment while ensuring operational safety.

[0065] The plug removal assembly 60 comprises a plug removal cylinder 61 and a plurality of clamping blocks 62. The clamping blocks 62 are arranged at intervals around the center point of the lower end surface of the cylinder to form a stable clamping structure.

[0066] When the plug-taking cylinder 61 is working, it causes the clamping block 62 to expand or contract outwards to clamp or release the plug.

[0067] When the rubber plug needs to be taken out, the rubber plug taking cylinder 61 is activated, and the clamping block 62 moves downward and clamps the rubber plug to ensure that it is firmly grasped. After the clamping is completed, the cylinder drives the clamping block 62 to pull out the rubber plug with a combined force, and the operation of taking out the rubber plug is successfully completed.

[0068] The design of the protective cover 90 effectively protects the operator and equipment, and reduces the risk of accidents; the spacing arrangement of the clamp block 62 and the function of the cylinder make the plug removal process quick and stable, greatly improving work efficiency; the structure can adapt to plugs of different models and specifications to meet diverse usage requirements; the modular design of the clamp block 62 and the cylinder facilitates disassembly and replacement, reducing maintenance costs and time; the precise control of the plug removal cylinder 61 can ensure that the clamping force is moderate, avoid damage to the plug, and ensure the accuracy of removal. The automated design reduces human intervention, thereby reducing the possibility of operational errors and improving the reliability of the overall operation. The automation and high efficiency of the overall system enable rapid response during drug injection and processing, improving the overall efficiency of the production line.

[0069] Through these designs and functions, the rubber plug removal assembly 60 of the radionuclide medicine automatic injection mechanism not only improves the safety and efficiency of operation, but also enhances the flexibility and reliability of the system.

[0070] In one embodiment, see Figures 1 to 3 The above-mentioned automatic injection mechanism for radionuclide medicine also includes a weighing component 70, which includes a weighing sensor 71, a workstation base 72 and a sensor fixing seat 73. The weighing sensor 71 is connected to the outer cover 80 through the sensor fixing seat 73, and the workstation base 72 is placed above the weighing sensor 71.

[0071] In this embodiment, the robot arm 20 drives the clamping assembly to clamp the vial with the plug removed and place it on the station base 72. At this time, the weighing sensor 71 will monitor the weight of the container in real time; the weighing sensor 71 is connected to the outer cover 80 through the sensor fixing seat 73, and transmits the weight data of the container to the control system in real time. These data are used to determine the accuracy and dosage of the drug, and the weighing sensor 71 can be automatically calibrated according to the preset standard weight value to ensure the accuracy of subsequent data.

[0072] After the vial is filled with liquid, the robot arm 20 drives the clamping assembly to clamp the vial and weigh it again to ensure that the target dose is reached and the amount of medicine injected meets the predetermined requirements. If it meets the standards, the system will end the round of liquid injection operation.

[0073] By monitoring the weighing assembly 70, it can be ensured that the amount of medicine injected each time is accurate, reducing human operation errors, reducing manual intervention, and improving production efficiency and operational safety; the real-time recording of weighing data provides a reliable basis for drug quality control, which helps to meet regulatory requirements; the design is simple and clear, the operator only needs to place the container on the workstation base 72, and the system will automatically complete the rest of the work, which is easy to use; accurate control of the injection volume can effectively reduce the waste of medicines, especially in high-value radionuclide medicines, which can better reflect its economic benefits.

[0074] In one embodiment, see Fig. 9 A placement groove is provided on the workstation base 72, a retaining ring 721 is provided in the placement groove, and the retaining ring 721 and the bottom of the placement groove form a stepped shape.

[0075] In this embodiment, the station base 72 is provided with a cylindrical stepped notch, that is, a stepped notch formed by the placement groove and the retaining ring 721, which can adapt to bottles and mother liquid bottles of different diameters. This stepped notch design enhances the compatibility and stability of the product and makes the operation more flexible and convenient.

[0076] In one embodiment, a sensing plate is provided near one side of the above-mentioned pull rod clamp fixing seat 46, and a limit block is installed on the side of the secondary motor screw module 42 close to the primary motor screw module 41, and the limit block is connected to one side of the secondary motor screw module 42 through a limit block mounting seat, and a slot-type photoelectric sensor is installed on one side of the above-mentioned module adapter seat 43.

[0077] A limit block is installed on one side of the secondary motor screw module 42. This limit block is used to limit the range of motion of the motor to ensure that the secondary motor screw module 42 does not exceed the predetermined stroke during operation to avoid mechanical damage or clamping failure; when the induction plate or photoelectric sensor detects a specific state or object, the control system will respond accordingly, such as stopping the motor operation, etc., to maintain the safety and accuracy of the operation. The induction plate is set on one side close to the pull rod clamp fixing seat 46 to detect the state of the secondary motor screw module 42. When the secondary motor screw module 42 reaches the specified position, the induction plate can feedback information in real time to help the system determine the state of the secondary motor screw module 42.

[0078] The workflow of the above-mentioned automatic injection mechanism for radionuclide medicine is as follows:

[0079] Preparation stage:

[0080] The robot arm 20 places the mother liquid bottle on the placement base 50 through the clamping assembly 30 to ensure its stability and facilitate subsequent operations.

[0081] The robot arm 20 clamps the syringe through the clamping assembly 30 and fixes the support ear of the syringe on the syringe clamping seat 44, and then the syringe clamping assembly 45 and the pull rod clamping assembly 47 respectively fix the barrel and the pull rod part of the syringe.

[0082] Liquid aspiration operation:

[0083] The first-stage motor screw module 41 is started to insert the needle part of the syringe into the mother liquid bottle.

[0084] The syringe clamping assembly 45 remains in position, and the syringe is fixed by the clamping cylinder to avoid displacement during the injection process.

[0085] The secondary motor screw module 42 drives the rod clamping assembly 47 to rise, pulls the rod of the syringe to perform the liquid suction operation, and sucks the mother liquid into the syringe.

[0086] The secondary motor screw module 42 remains stationary, and the primary motor screw module 41 is started, driving the entirety to move upward.

[0087] Rubber plug removal:

[0088] The robot arm 20 clamps the sub-packaging vial through the clamping assembly 30 and moves the sub-packaging vial to below the stopper removal assembly 60 .

[0089] The stopper removal assembly 60 is activated, and after the clamping block 62 clamps the stopper, the robot arm 20 pulls down the vial through the clamping assembly 30 to remove the stopper and prepare for liquid injection.

[0090] Liquid injection operation:

[0091] The robot arm 20 puts the packaged vial back to the placement base 50.

[0092] The first-stage motor screw module 41 works, driving the whole to move downward, inserting the needle part of the syringe into the sub-filling vial, and the second-stage motor screw module 42 works, and the syringe starts to inject liquid into the sub-filling vial.

[0093] After the injection is completed, the secondary motor screw module 42 and the primary motor screw module 41 are returned to their positions, and the robot arm 20 drives the sub-packed vial to the weighing component 70 through the clamping component to monitor the weight of the vial to ensure the accuracy of the injection amount.

[0094] During the whole process, the protective cover 90 and the safety mechanism ensure the safety of the operators and reduce the risk of accidents.

[0095] Each component of the modular design is easy to disassemble and maintain, reducing maintenance costs and time.

[0096] Through this series of highly integrated automated steps, the automatic injection mechanism significantly improves the injection speed, accuracy and operational safety, reduces manual intervention and improves production efficiency.

[0097] In this embodiment, the above-mentioned clamping assembly 30 includes a clamping cylinder and a clamping jaw. The clamping cylinder is connected to the mechanical arm 20. The clamping jaw includes a V-shaped left clamping jaw and a V-shaped right clamping jaw. The V-shaped left clamping jaw and the V-shaped right clamping jaw are respectively connected to the clamping cylinder.

[0098] In this embodiment, the clamping cylinder is used as a power source and is connected to the mechanical arm 20 to control the opening and closing of the clamping jaws. The V-shaped left clamping jaw and the V-shaped right clamping jaw are connected to the clamping cylinder through connecting rods. When the cylinder is activated, the two clamping jaws move in coordination.

[0099] After receiving the command, the gripping cylinder drives the gripper to move inward or outward. When the gripper moves inward, the V-shaped left gripper and the V-shaped right gripper will move closer to each other, thereby gripping the target object. After the gripper grips, the robot arm 20 can move the object smoothly.

[0100] The V-shaped design enables the clamp to better adapt to objects of different shapes and sizes, providing a stronger clamping force to prevent objects from slipping during handling. The design of the V-shaped clamp enables it to clamp objects of various shapes, improving the applicability of the system. The clamping cylinder responds quickly and can achieve rapid switching between clamping and releasing, improving handling efficiency. The V-shaped structure can apply pressure evenly during clamping, increasing the stability of the object and reducing shaking during handling. The combination of the robot arm 20 and the clamping cylinder makes the operation more automated, reduces manual intervention, and improves operational convenience.

[0101] The above-mentioned automatic liquid injection mechanism for radionuclide medicine is provided with a sub-packaging base plate 10, a mechanical arm 20, a clamping assembly 30, a screw injection assembly 40, a placement base 50 and a plug removal assembly 60. The placement base 50 is located below the screw injection assembly 40, the mechanical arm 20 is connected to the clamping assembly 30, and the plug removal assembly 60 is located on one side of the screw injection assembly 40. All components are installed on the sub-packaging base plate 10 to realize the automatic liquid injection operation, realize the sub-packaging of the radionuclide medicine mother solution using a syringe, realize the automatic replacement and positioning of the syringe consumables, and realize the automatic disassembly of the syringe, thereby improving the stability and efficiency of the sub-packaging.

[0102] In one embodiment, a working method performed by the above-mentioned automatic injection mechanism for radionuclide medicine is also provided, comprising:

[0103] The mechanical arm 20 drives the clamping assembly to clamp the mother liquid bottle and place it in the placement base 50;

[0104] The mechanical arm 20 drives the clamping assembly to clamp the syringe and place it at a designated position of the screw injection assembly 40;

[0105] After the screw injection assembly 40 moves the syringe to the specified position, the syringe barrel is fixed and the pull rod of the syringe is pulled to perform the liquid aspiration operation;

[0106] The robot arm 20 drives the clamping assembly to clamp the sub-packaging vial to the bottom of the stopper removal assembly 60, and pushes up the sub-packaging vial, so that the stopper removal assembly 60 removes the stopper of the sub-packaging vial;

[0107] The robot arm 20 drives the clamping assembly to clamp the sub-packaging vial and place it in the base 50, and the screw injection assembly 40 injects the liquid into the sub-packaging vial.

[0108] It should be noted that technical personnel in the relevant field can clearly understand that the specific implementation process of the working method performed by the above-mentioned automatic injection mechanism for radionuclide medicine can refer to the corresponding description in the above-mentioned embodiment of the automatic injection mechanism for radionuclide medicine, and for the convenience and conciseness of description, it will not be repeated here.

[0109] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. An automatic liquid injection mechanism for nuclide medicine, characterized in that: include: A packaging base plate, a robotic arm, a clamping assembly, a screw injection assembly, a placement base and a plug removal assembly, wherein the placement base is located below the screw injection assembly, the robotic arm is connected to the clamping assembly, the plug removal assembly is located on one side of the screw injection assembly, and the robotic arm, the screw injection assembly and the placement base are respectively mounted on the packaging base plate.

2. The automatic injection mechanism for nuclide medicine according to claim 1, characterized in that: The screw injection assembly includes a primary motor screw module, a secondary motor screw module, a module adapter, a syringe clamping seat, a syringe clamping assembly, a pull rod clamping claw fixing seat and a pull rod clamping assembly. The primary motor screw module is installed on the packaging base plate, and the secondary motor screw module is connected to the primary motor screw module through the module adapter; the syringe clamping assembly is connected to the bottom of the secondary motor screw module through the syringe clamping seat, and the pull rod clamping assembly is connected to the secondary motor screw module through the pull rod clamping claw fixing seat, and the pull rod clamping assembly is located above the syringe clamping seat.

3. The automatic injection mechanism for nuclide medicine according to claim 2, characterized in that: The side of the syringe clamping seat away from the secondary motor screw module is recessed toward the secondary motor screw module to form an open groove.

4. The automatic liquid injection mechanism for nuclide medicine according to claim 3, characterized in that: The syringe clamping assembly includes a syringe clamping cylinder and a syringe barrel clamping claw, the syringe clamping cylinder is connected below the syringe clamping seat, the syringe barrel clamping claw includes a barrel clamping V-shaped left claw head and a barrel clamping V-shaped right claw head, the barrel clamping V-shaped left claw head and the barrel clamping V-shaped right claw head are respectively connected to the syringe clamping cylinder.

5. The automatic liquid injection mechanism for nuclide medicine according to claim 4, characterized in that: The tie rod clamping assembly includes a tie rod clamping cylinder and a tie rod clamping air claw, the tie rod clamping cylinder is connected to the tie rod clamping claw fixing seat, the tie rod clamping air claw includes a tie rod clamping V-shaped left claw head and a tie rod clamping V-shaped right claw head, the tie rod clamping V-shaped left claw head and the tie rod clamping V-shaped right claw head are respectively connected to the tie rod clamping cylinder.

6. The automatic injection mechanism for nuclide medicine according to claim 2, characterized in that: It also includes an outer cover, the first-level motor screw module and the second-level motor screw module are respectively located in the outer cover, and the outer cover is connected to the sub-packaging bottom plate.

7. The automatic injection mechanism for nuclide medicine according to claim 6, characterized in that: It also includes a protective cover, which is located on one side of the outer cover, and one end of the rubber plug removal assembly is connected inside the protective cover.

8. The automatic liquid injection mechanism for nuclide medicine according to claim 7, characterized in that: The rubber plug removing assembly comprises a rubber plug removing cylinder and a plurality of clamping blocks, wherein the plurality of clamping blocks are arranged at intervals around the center point of the lower end surface of the rubber plug removing cylinder, and the plurality of clamping blocks are connected to the rubber plug removing cylinder.

9. The automatic injection mechanism for nuclide medicine according to claim 6, characterized in that: It also includes a weighing assembly, which includes a weighing sensor, a station base and a sensor fixing seat. The weighing sensor is connected to the outer cover through the sensor fixing seat, and the station base is placed above the weighing sensor.

10. A working method performed by the automatic injection mechanism for nuclide medicine according to any one of claims 1 to 9, characterized in that: include: The mechanical arm drives the clamping assembly to clamp the mother liquid bottle and place it in the placement base; The mechanical arm drives the clamping assembly to clamp the syringe and place it at the designated position of the screw injection assembly; After the screw injection assembly moves the syringe to the specified position, the syringe barrel is fixed and the syringe rod is pulled to perform the liquid aspiration operation; The robotic arm drives the clamping assembly to clamp the sub-packaging vial to the bottom of the stopper removal assembly, and pushes up the sub-packaging vial, so that the stopper removal assembly removes the stopper of the sub-packaging vial; The robotic arm drives the clamping assembly to clamp the sub-packaging vial and place it in the base, and the screw injection assembly injects the liquid into the sub-packaging vial.

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