Automatic nuclide medicine split charging equipment and working method thereof

Abstract

The embodiment of the invention discloses nuclide medicine automatic subpackaging equipment and a working method thereof. The equipment comprises a subpackaging chamber, a mechanical arm, a labeling device, a lamp detection device, a cover opening and closing and needle pulling mechanism, a temporary storage positioning tray, a mother liquor pipeline butt joint device, an automatic liquid injection mechanism, a cover pressing mechanism and an activity detection mechanism. The cleaning device, the labeling device, the lamp inspection device, the cover opening and closing and needle pulling mechanism, the temporary storage positioning tray, the mother liquor pipeline butting device, the automatic liquid injection mechanism, the cover pressing mechanism and the activity detection mechanism are respectively mounted in the subpackaging chamber; the mechanical arm is connected with a clamping assembly. By implementing the equipment provided by the embodiment of the invention, the use of consumables and the complexity of manual operation can be reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic liquid medicine dispensing equipment, and in particular to automatic liquid medicine dispensing equipment and a working method thereof. Background Art

[0002] In the process of packaging radionuclide medicine, a large number of consumables such as three-way valves and pipelines are usually required to ensure accurate liquid medicine packaging. In this process, operators must manually connect various consumables, which not only makes the operation process cumbersome and complicated, but also greatly increases the risk of errors, which may lead to problems such as inaccurate packaging or liquid medicine leakage.

[0003] In addition, the use of longer tubes will cause drug liquid to remain on the tube wall, resulting in waste and contamination of the drug liquid. This residue phenomenon not only affects the quality of the drug, but may also have an adverse effect on the packaging of subsequent batches, thereby affecting the safety of patients' medication.

[0004] Since radionuclide medicines are radioactive, the related pipes and consumables need to be replaced regularly, especially when new radionuclide medicines are produced, almost all pipes and consumables are disposable. This means that operators need to replace a whole set of consumables after each subpackaging, which increases the complexity and time cost of the operation.

[0005] In addition, frequent replacement of these consumables also brings high economic costs, which not only increases the overall cost of production, but also may have a negative impact on the economic benefits of the enterprise. During the replacement process, the risk of operators directly contacting radioactive materials cannot be ignored, posing a threat to their health.

[0006] Therefore, it is necessary to design a new device to reduce the use of consumables and the complexity of manual operation. Summary of the invention

[0007] The technical problem to be solved by the present invention is to provide a radionuclide medicine automatic packaging device and a working method thereof.

[0008] In order to solve the above technical problems, the purpose of the present invention is achieved through the following technical solutions: to provide an automatic packaging equipment for radionuclide medicine, including: a packaging chamber, a robotic arm, a labeling device, a light inspection device, a switch cover and a needle removal mechanism, a temporary storage positioning tray, a mother liquid pipeline docking device, an automatic liquid injection mechanism, a capping mechanism and an activity detection mechanism; the labeling device, the light inspection device, the switch cover and the needle removal mechanism, the temporary storage positioning tray, the mother liquid pipeline docking device, the automatic liquid injection mechanism, the capping mechanism and the activity detection mechanism are respectively installed in the packaging chamber; the robotic arm is connected to a clamping component.

[0009] Its further technical solution is: the filling chamber is provided with a loading chamber, an injection and capping biopsy chamber and a labeling and light inspection recovery chamber, the number of the mechanical arms is at least two, one of the mechanical arms is arranged in the injection and capping biopsy chamber, and the other mechanical arm is arranged in the labeling and light inspection recovery chamber, the labeling device, light inspection device, switch cover and needle removal mechanism are respectively placed in the labeling and light inspection recovery chamber, the mother liquid pipeline docking device, automatic injection mechanism, capping mechanism and activity detection mechanism are respectively placed in the injection and capping biopsy chamber, and the injection and capping biopsy chamber is connected with the labeling and light inspection recovery chamber through a transmission channel.

[0010] Its further technical solution is: it also includes a cleaning device, which is connected to the mother liquid pipeline docking device, and the cleaning device is located in the feeding chamber. A connecting channel is provided between the feeding chamber and the injection liquid capping biopsy chamber, and an automatic door is provided on the side of the connecting channel close to the injection liquid capping biopsy chamber.

[0011] Its further technical solution is: the automatic liquid injection mechanism includes: a filling base, a screw liquid injection assembly, a placement base and a plug removal assembly, the placement base is located below the screw liquid injection assembly, the plug removal assembly is located on one side of the screw liquid injection assembly, the robotic arm, the screw liquid injection assembly and the placement base are respectively installed on the filling base; the filling base is placed in the filling chamber.

[0012] 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; the side of the syringe clamping seat away from the secondary motor screw module is recessed toward the direction close to the secondary motor screw module to form an open groove.

[0013] Its further technical solution is: the mother liquid pipeline docking device comprises a stand, a liquid receiving box, a moving assembly, a filter mounting seat and a mother liquid pipeline assembly, the moving assembly and the mother liquid pipeline assembly are respectively connected to the stand, the filter mounting seat is connected to the moving assembly, the filter mounting seat is located below the mother liquid pipeline assembly, the liquid receiving box is connected to one side of the stand, the liquid receiving box is located below the filter mounting seat, the stand is installed on the sub-packaging bottom plate, and the liquid receiving box is placed on the sub-packaging bottom plate;

[0014] The filter mounting seat is provided with a plurality of filter opening slots;

[0015] It also includes a ball screw. The filter mounting seat is provided with a plurality of mounting holes. The mounting holes are communicated with the filter opening grooves. The ball screw is located in the mounting holes.

[0016] Its further technical solution is: the switch cover and needle removal mechanism include: a base plate, a solid waste switch cover structure and a syringe fixing structure; the robotic arm is installed on the base plate, the solid waste switch cover structure is installed on the base plate, and the syringe fixing structure is connected to the fixed switch cover; a solid waste port is provided on the base plate, and a radiation-proof container is placed under the solid waste port; the base plate is installed in the filling chamber.

[0017] Its further technical solution is: the temporary storage positioning pallet includes: a pallet fixing component and a pallet orifice plate component, the pallet orifice plate component is provided with a through hole for placing the container, the pallet orifice plate component is installed above the pallet fixing component; the pallet fixing component is installed on the packaging bottom plate.

[0018] Its further technical solution is: it also includes a transfer structure for being compatible with filters and syringes, the transfer structure includes: a transfer base, a first fixing seat for placing bottles, and a second fixing seat for placing filters and syringes, the first fixing seat and the second fixing seat are respectively connected to the transfer base; the transfer base is connected to the filling chamber.

[0019] In addition, the technical problem to be solved by the present invention is to provide a working method performed by the above-mentioned radionuclide medicine automatic packaging equipment, comprising:

[0020] Send the mother solution bottles, sub-filling vials, filters and syringes to the temporary storage positioning tray;

[0021] The robot arm clamps the mother liquid bottle, filter and syringe to the mother liquid pipeline docking device through the clamping component for cleaning and mother liquid injection;

[0022] The robot arm clamps the mother liquid bottle and the syringe after injection to the automatic injection mechanism through the clamping component, and clamps the sub-filled syringe bottle to the automatic injection mechanism for sub-filling and injection;

[0023] The robot arm clamps the sub-filled vial after liquid filling through the clamping component to the capping mechanism and the activity detection mechanism for capping and activity detection;

[0024] The robot arm moves the vials that have been capped and tested for activity to the labeling device and light inspection device for labeling and light inspection through the gripping component;

[0025] The robot arm moves the syringe to the switch cover and needle removal mechanism through the clamping component to recycle the syringe.

[0026] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention provides a filling chamber, a robotic arm, a labeling device, a light inspection device, a switch cover and a needle removal mechanism, a temporary storage positioning tray, a mother liquid pipeline docking device, an automatic liquid injection mechanism, a capping mechanism and an activity detection mechanism; by integrating multiple functions into the filling chamber, the complexity of the equipment and the required consumables are reduced, thereby improving the efficiency and accuracy of the operation; the clamping assembly of the robotic arm is used to automatically complete the grabbing and filling of the drug, reducing manual intervention, and reducing errors and resource waste caused by manual operation; the mother liquid pipeline docking device is designed to optimize the connection and disconnection quickly and accurately, thereby improving the efficiency of drug injection and reducing the consumables required for multiple connections; the equipment adopts a modular design, so that different functional units can be flexibly replaced and maintained, simplifying the operating process, and reducing the overall maintenance cost and dependence on consumables.

[0027] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] 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.

[0029] Figure 1 A schematic diagram of the three-dimensional structure of an automatic packaging device for radionuclide medicine provided by an embodiment of the present invention;

[0030] Figure 2 A schematic cross-sectional structure diagram of an automatic radionuclide medicine dispensing device provided in an embodiment of the present invention;

[0031] Figure 3 A schematic diagram of the three-dimensional structure of a temporary storage positioning tray, a mother liquid pipeline docking device, an automatic liquid injection mechanism, a capping mechanism, an activity detection mechanism, and a transfer structure provided in an embodiment of the present invention;

[0032] Figure 4 A schematic diagram of the three-dimensional structure of a labeling device, a light inspection device, a switch cover and a needle removal mechanism provided in an embodiment of the present invention;

[0033] Figure 5 A schematic diagram of the three-dimensional structure of the automatic liquid injection mechanism provided in an embodiment of the present invention (including a mechanical arm and a clamping assembly);

[0034] Figure 6A schematic diagram of the three-dimensional structure of the automatic liquid injection mechanism provided in an embodiment of the present invention;

[0035] Figure 7 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;

[0036] Figure 8 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);

[0037] Fig. 9 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);

[0038] Fig.10 A schematic diagram of the three-dimensional structure of a rubber plug removal assembly provided in an embodiment of the present invention;

[0039] Fig.11 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);

[0040] Fig.12 A schematic diagram of the three-dimensional structure of a placement base provided in an embodiment of the present invention;

[0041] Fig.13 A schematic diagram of the three-dimensional structure of a workstation base provided in an embodiment of the present invention;

[0042] Fig.14 A schematic diagram of the three-dimensional structure of the automatic docking device for mother liquid pipelines provided in an embodiment of the present invention;

[0043] Fig.15 A schematic diagram of the three-dimensional structure of the automatic docking device for mother liquid pipelines provided in an embodiment of the present invention (without the protective cover);

[0044] Fig.16 A schematic diagram of the three-dimensional structure of a filter mounting seat provided in an embodiment of the present invention;

[0045] Fig.17 A schematic diagram of the three-dimensional structure of a cleaning mounting base provided in an embodiment of the present invention;

[0046] Fig.18 A schematic diagram of the three-dimensional structure of a cleaning fixing seat provided in an embodiment of the present invention;

[0047] Fig.19 A schematic diagram of the three-dimensional structure of a temporary storage and positioning tray provided in an embodiment of the present invention;

[0048] Fig. 20 A schematic diagram of the exploded structure of a temporary storage and positioning tray provided in an embodiment of the present invention;

[0049] Fig.21 Schematic diagram of the three-dimensional structure of the transfer structure provided in the embodiment of the present invention Figure 1 ;

[0050] Fig. 22 Schematic diagram of the three-dimensional structure of the transfer structure provided in the embodiment of the present invention Figure 2 ;

[0051] Fig.23 Schematic diagram of the explosion structure of the transfer structure provided in the embodiment of the present invention Figure 1 ;

[0052] Fig.24 Schematic diagram of the explosion structure of the transfer structure provided in the embodiment of the present invention Figure 2 ;

[0053] Fig.25 A schematic diagram of the three-dimensional structure of the switch cover and the needle removal mechanism provided in an embodiment of the present invention (including a mechanical arm and a clamping assembly);

[0054] Fig.26 A schematic diagram of the three-dimensional structure of a solid waste switch cover structure and a syringe fixing structure provided in an embodiment of the present invention;

[0055] Fig. 27 A schematic diagram of the solid waste switch cover structure, syringe fixing structure, and syringe stereoscopic structure provided in an embodiment of the present invention;

[0056] Fig.28 A schematic diagram of the three-dimensional structure of a clamping assembly provided in an embodiment of the present invention;

[0057] Description of the symbols in the figure:

[0058] 1. Packaging chamber; 11. Labeling light inspection recovery chamber; 111. Rear left door; 112. Transmission channel; 12. Injection liquid cap biopsy chamber; 121. Front right door; 122. Rear right door; 13. Loading chamber; 131. Front left door; 132. Communication channel; 2. Cleaning device; 3. Robotic arm; 4. Automatic injection mechanism; 410. Packaging bottom plate; 420. Screw injection assembly; 421. First-level motor screw module; 422. Second-level motor screw module; 423. Module adapter; 424. Syringe clamping seat; 4241. Opening groove; 425. Syringe clamping assembly; 4251. Syringe clamping cylinder; 4252. Cylinder clamping V-shaped left claw head; 4253. Cylinder clamping V-shaped right claw head; 426. Pull rod clamping claw fixing seat; 42 7. Tie rod clamping assembly; 4271. Tie rod clamping cylinder; 4272. Tie rod clamping V-shaped left claw head; 4273. Tie rod clamping V-shaped right claw head; 430. Placement base; 440. Take out rubber plug assembly; 441. Take out rubber plug cylinder; 442. Clamping block; 450. Weighing assembly; 451. Weighing sensor; 452. Station base; 4521. First retaining ring; 453. Sensor fixing seat; 460. Outer cover; 470. Protective cover; 5. Covering mechanism; 6. Activity detection mechanism; 7. Clamping assembly; 71. Clamping cylinder; 72. V-shaped left claw; 73. V-shaped right claw; 8. Temporary storage positioning tray; 81. Tray hole plate; 82. Through hole; 83. Positioning pin; 84. Adjusting screw; 85. Tray fixing seat; 86. Support rod; 87, second mounting hole; 88, third mounting hole; 9, transfer structure; 91, transfer base; 911, positioning pin; 92, first fixed seat; 921, first placement cavity; 922, retaining ring; 93, second fixed seat; 931, second placement cavity; 932, third placement cavity; 933, through groove; 934, opening; 94, bottle; 95, filter; 96, syringe; 10, mother liquid pipeline docking device; 1010, stand; 1011, extension plate; 1020, liquid receiving box; 1030, moving component; 1031, power source; 1032, power source mounting seat; 1033, drive plate; 1034, first slide rail; 1035, first slider; 1036, connecting plate; 1037, sensor sheet ; 1038, slot-type photoelectric sensor; 1040, filter mounting seat; 1041, filter opening slot; 1042, fourth mounting hole; 1050, mother liquid pipeline assembly; 1051, male connector; 1052, mother liquid pipeline; 1053, nut; 1060, ball screw; 1080, mother liquid bottle; 1090, cleaning assembly; 1091, cleaning fixing seat; 10911, mounting ring; 1092, cleaning mounting seat; 10921, inner retaining ring; 10922, mounting slot; 1093, cleaning connector; 10100, two-way valve; 20, switch cover and needle extraction mechanism; 2010, bottom plate; 2011, solid waste outlet; 2030, solid waste switch cover structure; 2031, support plate; 2032, second slide rail;2033, second slider; 2034, translation limit block; 2035, proximity switch; 2036, solid waste cover; 2037, longitudinal moving cylinder; 2038, adapter mounting plate; 2040, syringe fixing structure; 2041, separation seat; 2042, fixing seat; 20421, placement hole; 20422, notch; 21, light inspection device; 22, labeling device; b, labeling position; c, mother liquid bottle temporary storage position; d, temporary storage position for product bottles; e, temporary storage position for syringes; f, temporary storage position for filter membranes; g, temporary storage position for needle protection caps; h, rubber stopper grabber; i, aluminum cap grabber; j, weighing position; k, waste liquid bottle position; l, light inspection position; m, mother liquid bottle filling position; n, syringe installation position; o, capping position; p, activity detection position; q, mother liquid bottle receiving position; t, bubble point test position; u, solid waste port; v, solid waste port cover; x, product discharge port. ; DETAILED DESCRIPTION

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] In the process of packing radionuclide drugs, the use of consumables such as three-way valves and pipelines requires operators to manually connect, which makes the process complicated and increases the risk of errors. Long pipelines may cause the drug solution to remain on the pipe wall, causing waste and pollution, affecting the quality of the drug and the safety of patients. Due to the radioactivity of radionuclide drugs, consumables need to be replaced regularly, which increases the complexity and time cost of operations. Frequent replacement of consumables also brings high economic costs, affecting the economic benefits of the company. In addition, the risk of operators being exposed to radioactive substances cannot be ignored, posing a threat to their health.

[0064] To this end, an embodiment of the present invention provides an automatic radionuclide medicine packaging device and a working method thereof, which can reduce the use of consumables and the complexity of manual operation.

[0065] Specifically, the automatic dispensing equipment for radionuclide medicines includes multiple key components, such as a dispensing chamber 1, a robotic arm 3, a labeling device 22 and an automatic liquid injection mechanism 4. A loading chamber 13 and an injection and capping biopsy chamber 12 are provided inside the equipment, and at least two robotic arms 3 are equipped to improve work efficiency. The cleaning device 2 is connected to the mother liquid pipeline to ensure the cleanliness and accurate injection of the mother liquid. The working method of the system involves placing the mother liquid bottle 1080, the dispensing bottle and the syringe 96 on a temporary storage tray, and completing a series of automated operations such as cleaning, liquid injection, capping, activity detection and labeling through the robotic arm 3. The design of this equipment is intended to improve the efficiency and safety of dispensing radionuclide medicines.

[0066] 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.

[0067] See also Figure 1 and Figure 2 The above-mentioned radionuclide medicine automatic packaging equipment includes: a packaging chamber 1, a mechanical arm 3, a labeling device 22, a light inspection device 21, a switch cover and a needle removal mechanism 20, a temporary storage positioning tray 8, a mother liquid pipeline docking device 10, an automatic liquid injection mechanism 4, a capping mechanism 5 and an activity detection mechanism 6; the labeling device 22, the light inspection device 21, the switch cover and the needle removal mechanism 20, the temporary storage positioning tray 8, the mother liquid pipeline docking device 10, the automatic liquid injection mechanism 4, the capping mechanism 5 and the activity detection mechanism 6 are respectively installed in the packaging chamber 1; the mechanical arm 3 is connected with a clamping component.

[0068] Specifically, the mother liquid bottle 1080, the sub-filling bottle and the syringe 96 are placed on the temporary positioning tray 8 to ensure that the equipment is ready. The cleaning device 2 is automatically started, connected to the mother liquid pipeline, the filter 95 is cleaned to remove pollutants, and the mother liquid bottle 1080 is injected. The robot arm 3 grabs the mother liquid bottle 1080 after injection through the clamping component, and injects the liquid in the mother liquid bottle 1080 into the sub-filling vial through the automatic injection mechanism 4 to ensure accurate injection volume. The robot arm 3 moves the sub-filling vial to the capping mechanism 5 and the activity detection mechanism 6 for capping and activity detection; thereafter, the labeling device 22 affixes corresponding labels on the sub-filling vial to ensure accurate information. Thereafter, the syringe 96 is recovered, and the completed sub-filling bottle is moved to the finished product output position by the robot arm 3, waiting for subsequent processing or packaging.

[0069] During the whole process, the coordinated work of the robot arm 3 is combined with the automated operation of each mechanism, which greatly improves the packing efficiency and safety.

[0070] In one embodiment, see Figure 2 The above-mentioned filling chamber 1 is provided with a loading chamber 13, an injection and capping biopsy chamber 12 and a labeling and light inspection recovery chamber 11. The number of the mechanical arms 3 is at least two, one of which is arranged in the injection and capping biopsy chamber 12, and the other is arranged in the labeling and light inspection recovery chamber 11. The labeling device 22, the light inspection device 21, the switch cover and the needle removal mechanism 20 are respectively placed in the labeling and light inspection recovery chamber 11, the mother liquid pipeline docking device 10, the automatic injection mechanism 4, the capping mechanism 5 and the activity detection mechanism 6 are respectively placed in the injection and capping biopsy chamber 12, and the injection and capping biopsy chamber 12 is connected with the labeling and light inspection recovery chamber 11 through a transmission channel 112.

[0071] In this embodiment, by arranging different functional mechanisms in different areas, multiple functions can be realized in a limited space, thereby improving the space utilization of the packaging room 1. At least two mechanical arms 3 are provided, which can simultaneously perform multiple steps such as liquid injection, capping, light inspection and labeling, greatly improving the overall work efficiency and reducing the operation time. Separating different operations, especially separating the steps such as liquid injection and labeling, reduces the risk of cross contamination of drugs between different operations and ensures the quality of drugs.

[0072] By providing the transmission channel 112 to connect the liquid injection cavity and the labeling cavity, the operation process is smoother, unnecessary mechanical movement and time waste are reduced, and the degree of automation is improved.

[0073] Separating different devices makes maintenance and inspection more convenient and reduces downtime due to failures.

[0074] The operations in each chamber are carried out independently, reducing potential safety hazards caused by operational errors or failures, and protecting the safety of operators and drugs.

[0075] A special activity detection and light inspection device 21 is provided to monitor the status of the medicine in real time, ensure that each sub-filled bottle meets the standards, and improve the consistency and reliability of the product.

[0076] Through the combination of the robot arm 3 and the automation mechanism, the intelligence level of the system is enhanced, making the entire packaging process more intelligent and efficient.

[0077] In summary, this structural design not only improves production efficiency and drug quality, but also enhances safety and operational flexibility, providing good conditions for achieving high-standard drug packaging.

[0078] In one embodiment, see Figure 2 The above-mentioned automatic radionuclide medicine packaging equipment also includes a cleaning device 2, which is connected to the mother liquid pipeline docking device 10. The cleaning device 2 is located in the feeding chamber 13. A connecting channel 132 is provided between the feeding chamber 13 and the injection liquid capping biopsy chamber 12. An automatic door is provided on the side of the connecting channel 132 close to the injection liquid capping biopsy chamber 12.

[0079] In this embodiment, regular cleaning reduces the risk of cross-contamination between different batches of drugs during the drug production process, ensuring that the quality of drugs in each sub-bottle is consistent. The cleaning device 2 can achieve rapid cleaning, reduce the time and labor intensity of manual cleaning, and improve overall production efficiency. The design of the automatic door reduces the opportunity for operators to directly contact the equipment and reduces the risks caused by manual operation. The improvement of the cleanliness inside the equipment meets the high hygiene standards of drug production and helps to ensure the safety of drugs. The design of automatic cleaning and automatic doors makes the entire sub-packaging process more automated, simplifies the operating process, and improves the degree of automation of the production line. Regular cleaning can effectively remove residual substances inside the equipment, reduce the risk of corrosion and clogging, and thus extend the service life of the equipment. The design of the cleaning device 2 enables the equipment to adapt to the sub-packaging needs of different types of drugs, providing greater flexibility.

[0080] In summary, the introduction and design of the cleaning device 2 not only improves the working efficiency and hygiene standards of the equipment, but also enhances the safety and reliability of the overall operation.

[0081] In one embodiment, see Figure 3 The above-mentioned capping mechanism 5 and activity detection mechanism 6 are provided with a shell.

[0082] In one embodiment, see Figure 5 and Figure 6The automatic injection mechanism 4 includes: a filling base plate 410, a screw injection assembly 420, a placement base 430 and a plug removal assembly 440, the placement base 430 is located below the screw injection assembly 420, the robotic arm 3 is connected to the clamping assembly, the plug removal assembly 440 is located on one side of the screw injection assembly 420, the robotic arm 3, the screw injection assembly 420, and the placement base 430 are respectively installed on the filling base plate 410; the filling base plate 410 is placed in the filling chamber 1, specifically, it is set in the injection liquid cover biopsy cavity 12.

[0083] In this embodiment, the robot arm 3 is connected to the clamping assembly, which is responsible for clamping the mother liquid bottle 1080 and the syringe 96 and moving them to the specified position. The mother liquid bottle 1080 is placed on the placement base 430 to facilitate subsequent liquid injection operations. After positioning, the screw injection assembly 420 fixes the syringe barrel, pulls the pull rod of the syringe 96 to perform a liquid suction operation, and extracts the liquid into the syringe 96. The robot arm 3 moves the sub-packaging syringe bottle to the bottom of the plug removal assembly 440, and the upper operation causes the plug removal assembly 440 to remove the plug. Finally, the robot arm 3 puts the sub-packaging syringe bottle back to the placement base 430, and the screw injection assembly 420 accurately injects the liquid into the syringe bottle.

[0084] The robot arm 3 and the automatic liquid injection system can greatly improve the speed and efficiency of liquid filling and reduce manual intervention. The screw injection assembly 420 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 470 and a safety mechanism to ensure the safety of operators and reduce accidental risks. It can adapt to various specifications of mother liquid bottles 1080 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.

[0085] In one embodiment, see Figure 8 and Fig. 9 The above-mentioned screw injection assembly 420 includes a primary motor screw module 421, a secondary motor screw module 422, a module adapter 423, a syringe clamp seat 424, a syringe clamp assembly 425, a pull rod clamp claw fixing seat 426 and a pull rod clamp assembly 427. The primary motor screw module 421 is installed on the sub-packaging base plate 410, and the secondary motor screw module 422 is connected to the primary motor screw module 421 through the module adapter 423; the syringe clamp assembly 425 is connected to the bottom of the secondary motor screw module 422 through the syringe clamp seat 424, and the pull rod clamp assembly 427 is connected to the secondary motor screw module 422 through the pull rod clamp claw fixing seat 426, and the pull rod clamp assembly 427 is located above the syringe clamp seat 424.

[0086] In this embodiment, the primary motor screw module drives the secondary motor screw module 422, the module adapter 423, the syringe clamping seat 424, the syringe clamping assembly 425, the pull rod clamping claw fixing seat 426 and the pull rod clamping assembly 427 to move, and the secondary motor screw module 422 drives the pull rod clamping claw fixing seat 426 and the pull rod clamping assembly 427 to move.

[0087] Specifically, the secondary motor screw module 422 drives the syringe clamping assembly 425 to descend to a predetermined position; the syringe 96 is fixed by the syringe clamping seat 424 to ensure that it will not shift during the injection process; the robot arm 3 places the mother liquid bottle 1080 on a designated base to ensure its stability and facilitate subsequent operations.

[0088] The first-level motor screw module 421 starts, driving the entire assembly to the injection position; thereafter, the second-level motor screw module 422 starts, and drives the rod clamping claw fixing seat 426 through the second-level motor screw module 422, so that the rod clamping assembly 427 is adjusted to a suitable height, so as to smoothly absorb the mother liquid and absorb the mother liquid into the syringe 96; the first-level motor screw module 421 starts, driving the entire assembly to move upward, and thereafter, the robot arm 3 cooperates with the clamping assembly 7 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 421 starts, driving the entire assembly to move to the injection position, the second-level motor screw module 422 starts, and drives the rod clamping claw fixing seat 426 through the second-level motor screw module 422, so that the rod clamping assembly 427 drops to a suitable height, and the liquid is accurately injected into the vial. The rod clamping assembly 427 and the syringe clamping assembly 425 release the syringe 96, and the robot arm 3 moves the vial to the subsequent processing area.

[0089] Through the automated injection process, manual intervention and operation time are significantly reduced, and production efficiency is improved; the screw injection assembly 420 ensures the accuracy of the injection amount and avoids errors caused by human factors, thereby ensuring the quality and safety of the medicine; the system can be adjusted according to syringes 96 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.

[0090] In one embodiment, see Figure 7 and Figure 8 The side of the syringe clamping seat 424 away from the secondary motor screw module 422 is recessed toward the secondary motor screw module 422 to form an open groove 4241.

[0091] Specifically, when fixing the syringe 96, the robot arm 3 drives the clamping assembly 7, which clamps the syringe 96 and inserts the ear part of the syringe barrel into the opening groove 4241 to perform preliminary fixing, and then the syringe clamping assembly 425 and the pull rod clamping assembly 427 perform fine clamping.

[0092] In one embodiment, see Figure 7 and Figure 8 The above-mentioned syringe clamping assembly 425 includes a syringe clamping cylinder 4251 and a syringe barrel clamping claw. The syringe clamping cylinder 4251 is connected to the bottom of the syringe clamping seat 424. The syringe barrel clamping claw includes a barrel clamping V-shaped left claw head 4252 and a barrel clamping V-shaped right claw head 4253. The barrel clamping V-shaped left claw head 4252 and the barrel clamping V-shaped right claw head 4253 are respectively connected to the syringe clamping cylinder 4251.

[0093] In one embodiment, see Figure 7 and Figure 8 The above-mentioned tie rod clamping assembly 427 includes a tie rod clamping cylinder 4271 and a tie rod clamping air claw. The tie rod clamping cylinder 4271 is connected to the tie rod clamping claw fixing seat 426. The tie rod clamping air claw includes a tie rod clamping V-shaped left claw head 4272 and a tie rod clamping V-shaped right claw head 4273. The tie rod clamping V-shaped left claw head 4272 and the tie rod clamping V-shaped right claw head 4273 are respectively connected to the tie rod clamping cylinder 4271.

[0094] In one embodiment, see Figure 7 and Figure 8 The automatic liquid injection mechanism 4 further includes an outer cover 460 , in which the first-stage motor screw module 421 and the second-stage motor screw module 422 are respectively located, and the outer cover 460 is connected to the sub-packaging bottom plate 410 .

[0095] In this embodiment, the syringe clamping seat 424 is installed on the mechanism to ensure that it is well connected with the primary and secondary motor screw modules 422; ensure that the outer cover 460 is installed in place to protect the internal components.

[0096] The robot arm 3 starts, driving the clamping assembly 7 to approach the syringe 96; inserting the ear of the syringe 96 into the opening slot 4241 in the clamping seat, preliminarily fixes the syringe 96; the rod clamping cylinder 4271 is activated, and the rod clamping air claw operates the rod clamping air claw to clamp the rod of the syringe 96 to achieve precise positioning. The syringe barrel clamping air claw clamps the syringe barrel to ensure stability.

[0097] During the injection process, the primary motor screw module 421 and the secondary motor screw module 422 remain stable to ensure that the syringe 96 does not deviate. When the syringe 96 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 3 easily takes away the syringe barrel for transportation or replacement.

[0098] 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 425 and the pull rod clamping assembly 427 can adapt to different models of syringes 96, meet a variety of needs, and enhance the flexibility of the equipment. The design of the outer cover 460 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 robot arm 3, each operation step is simple and clear, and even non-professionals can quickly get started.

[0099] In one embodiment, see Fig.12 The placement base 430 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 96. So as to completely absorb the liquid in the mother liquid bottle 1080 into the syringe 96.

[0100] In one embodiment, see Fig.10 The automatic liquid injection mechanism 4 further comprises a protective cover 470 , which is located at one side of the outer cover 460 , and one end of the rubber plug assembly 440 is connected to the protective cover 470 .

[0101] In one embodiment, see Fig.10 and Fig.11 The above-mentioned plug removal assembly 440 includes a plug removal cylinder 441 and a plurality of clamping blocks 442 . The plurality of clamping blocks 442 are arranged at intervals around the center point of the lower end surface of the plug removal cylinder 441 , and the plurality of clamping blocks 442 are connected to the plug removal cylinder 441 .

[0102] In addition, an arc-shaped groove is provided on the inner side of the clamping block 442, and the arc-shaped grooves of several clamping blocks 442 facilitate the fixation of the rubber plug.

[0103] In this embodiment, the protective cover 470 is located on one side of the outer cover 460, and its main purpose is to protect the internal components from the external environment while ensuring operational safety.

[0104] The plug removal assembly 440 comprises a plug removal cylinder 441 and a plurality of clamping blocks 442. The clamping blocks 442 are arranged at intervals around the center point of the lower end surface of the cylinder to form a stable clamping structure.

[0105] When the plug-taking cylinder 441 is working, it causes the clamping block 442 to expand or contract outward to clamp or release the plug.

[0106] When the rubber plug needs to be removed, the rubber plug removal cylinder 441 is activated, and the clamping block 442 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 442 to pull out the rubber plug with a combined force, and the operation of removing the rubber plug is successfully completed.

[0107] The design of the protective cover 470 effectively protects the operator and equipment, and reduces the risk of accidents; the spacing arrangement of the clamp block 442 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 442 and the cylinder facilitates disassembly and replacement, reducing maintenance costs and time; the precise control of the plug removal cylinder 441 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.

[0108] Through these designs and functions, the rubber plug removal assembly 440 of the radionuclide medicine automatic injection mechanism 4 not only improves the safety and efficiency of operation, but also enhances the flexibility and reliability of the system.

[0109] In one embodiment, see Figures 5 to 7 The above-mentioned automatic liquid injection mechanism 4 also includes a weighing component 450, which includes a weighing sensor 451, a station base 452 and a sensor fixing seat 453. The weighing sensor 451 is connected to the outer cover 460 through the sensor fixing seat 453, and the station base 452 is placed above the weighing sensor 451.

[0110] In this embodiment, the mechanical arm 3 drives the clamping assembly 7 to clamp the vial with the stopper removed and place it on the station base 452. At this time, the weighing sensor 451 will monitor the weight of the container in real time; the weighing sensor 451 is connected to the outer cover 460 through the sensor fixing seat 453, 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 451 can be automatically calibrated according to the preset standard weight value to ensure the accuracy of subsequent data.

[0111] After the vial of injection liquid is filled, the robot arm 3 drives the clamping assembly 7 to clamp the vial of injection liquid 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 injection operation.

[0112] Through the monitoring of the weighing component 450, it can be ensured that the amount of medicine injected each time is accurate, which reduces human operation errors, reduces manual intervention, and improves production efficiency and operational safety; the real-time recording of weighing data provides a reliable basis for drug quality control and helps to meet regulatory requirements; the design is simple and clear, the operator only needs to place the container on the workstation base 452, 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.

[0113] In one embodiment, see Fig.13 A placement groove is provided on the workstation base 452, and a first retaining ring 4521 is provided in the placement groove. The first retaining ring 4521 and the bottom of the placement groove form a stepped shape.

[0114] In this embodiment, the station base 452 is provided with a cylindrical stepped notch, that is, a stepped notch formed by the placement groove and the first retaining ring 4521, which can adapt to bottles 94 and mother liquid bottles 1080 of different diameters. This stepped notch design enhances the compatibility and stability of the product and makes the operation more flexible and convenient.

[0115] In one embodiment, a sensing plate is arranged near one side of the above-mentioned pull rod clamp fixing seat 426, and a limit block is installed on the side of the secondary motor screw module 422 close to the primary motor screw module 421, and the limit block is connected to one side of the secondary motor screw module 422 through a limit block mounting seat, and a slot-type photoelectric sensor 1038 is installed on one side of the above-mentioned module adapter seat 423.

[0116] A limit block is installed on one side of the secondary motor screw module 422. This limit block is used to limit the range of motion of the motor to ensure that the secondary motor screw module 422 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 426 to detect the state of the secondary motor screw module 422. When the secondary motor screw module 422 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 422.

[0117] The working process of the automatic liquid injection mechanism 4 is as follows:

[0118] Preparation stage:

[0119] The robot arm 3 places the mother liquid bottle 1080 on the placement base 430 through the clamping component to ensure its stability and facilitate subsequent operations.

[0120] The robot arm 3 clamps the syringe 96 through the clamping assembly, and fixes the support ear of the syringe 96 on the syringe clamping seat 424, and then fixes the barrel and the pull rod part of the syringe 96 respectively by the syringe clamping assembly 425 and the pull rod clamping assembly 427.

[0121] Aspiration operation:

[0122] The first-stage motor screw module 421 is started to insert the needle portion of the syringe 96 into the mother liquid bottle 1080 .

[0123] The syringe clamping assembly 425 remains in position, and the syringe 96 is fixed by the clamping cylinder to avoid displacement during the injection process.

[0124] The secondary motor screw module 422 drives the rod clamping assembly 427 to rise, pulls the rod of the syringe 96 to perform the liquid suction operation, and sucks the mother liquid into the syringe 96.

[0125] The secondary motor screw module 422 remains stationary, and the primary motor screw module 421 is started to drive the entire structure to move upward.

[0126] Rubber plug removal:

[0127] The robot arm 3 clamps the sub-packaging vial through the clamping assembly and moves the sub-packaging vial to below the stopper removal assembly 440 .

[0128] The stopper removal assembly 440 is activated, and after the clamping block 442 clamps the stopper, the robot arm 3 pulls down the vial through the clamping assembly to remove the stopper and prepare for liquid injection.

[0129] Liquid injection operation:

[0130] The robot arm 3 puts the packaged vial back to the placement base 430.

[0131] The first-stage motor screw module 421 works to drive the whole to move downward, inserting the needle part of the syringe 96 into the sub-filling vial, and the second-stage motor screw module 422 works, and the syringe 96 starts to inject liquid into the sub-filling vial.

[0132] After the injection is completed, the secondary motor screw module 422 and the primary motor screw module 421 are returned to their positions, and the robot arm 3 drives the sub-packaging vial to the weighing component 450 through the clamping component 7 to monitor the weight of the vial to ensure the accuracy of the injection amount.

[0133] During the whole process, the protective cover 470 and safety mechanism ensure the safety of the operators and reduce the risk of accidents.

[0134] Each component of the modular design is easy to disassemble and maintain, reducing maintenance costs and time.

[0135] Through this series of highly integrated automated steps, the automatic injection mechanism 4 significantly improves the injection speed, accuracy and operational safety, reduces manual intervention and improves production efficiency.

[0136] In this embodiment, the above-mentioned clamping assembly includes a clamping cylinder 71 and a clamping jaw. The clamping cylinder 71 is connected to the robot arm 3. The clamping jaw includes a V-shaped left clamping jaw 72 and a V-shaped right clamping jaw 73. The V-shaped left clamping jaw 72 and the V-shaped right clamping jaw 73 are respectively connected to the clamping cylinder 71.

[0137] In this embodiment, the clamping cylinder 71 is used as a power source 1031, connected to the robot arm 3, and is responsible for controlling the opening and closing of the clamping jaws. The V-shaped left clamping jaw 72 and the V-shaped right clamping jaw 73 are connected to the clamping cylinder 71 through connecting rods, respectively. When the cylinder is activated, the two clamping jaws move in coordination.

[0138] After receiving the command, the gripping cylinder 71 drives the clamping jaws to move inward or outward. When the clamping jaws move inward, the V-shaped left clamping jaw 72 and the V-shaped right clamping jaw 73 will move closer to each other to clamp the target object. After the clamping jaws clamp, the robot arm 3 can move the object smoothly.

[0139] 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 transportation. The design of the V-shaped clamp enables it to clamp objects of various shapes, improving the applicability of the system. The clamping cylinder 71 responds quickly and can achieve rapid switching between clamping and releasing, thereby improving transportation efficiency. The V-shaped structure can apply pressure evenly during clamping, increasing the stability of the object and reducing shaking during transportation. The combination of the robotic arm 3 and the clamping cylinder 71 makes the operation more automated, reduces manual intervention, and improves operational convenience.

[0140] The automatic liquid injection mechanism 4 is provided with a sub-packaging bottom plate 410, a mechanical arm 3, a clamping assembly, a screw liquid injection assembly 420, a placement base 430 and a plug removal assembly 440. The placement base 430 is located below the screw liquid injection assembly 420, the mechanical arm 3 is connected to the clamping assembly, and the plug removal assembly 440 is located on one side of the screw liquid injection assembly 420. All components are installed on the sub-packaging bottom plate 410 to realize the automatic liquid injection operation, realize the sub-packaging of the radionuclide drug mother solution using the syringe 96, realize the automatic replacement and positioning of the syringe 96 consumables, and realize the automatic disassembly of the syringe 96, thereby improving the stability and efficiency of the sub-packaging.

[0141] In one embodiment, see Fig.14The above-mentioned mother liquid pipeline automatic docking device includes: a stand 1010, a liquid receiving box 1020, a moving assembly 1030, a filter mounting seat 1040 and a mother liquid pipeline assembly 1050. The moving assembly 1030 and the mother liquid pipeline assembly 1050 are respectively connected to the stand 1010, the filter mounting seat 1040 is connected to the moving assembly 1030, the filter mounting seat 1040 is located below the mother liquid pipeline assembly 1050, the liquid receiving box 1020 is connected to one side of the stand 1010, and the liquid receiving box 1020 is located below the filter mounting seat 1040. The stand 1010 is installed on the sub-packaging bottom plate 410, and the liquid receiving box 1020 is placed on the sub-packaging bottom plate 410.

[0142] The device can be used in conjunction with the robot arm 3, and each component is supported by the stand 1010, wherein the moving component 1030 and the mother liquid pipeline component 1050 are respectively connected to the stand 1010, and the movement of the moving component 1030 can be driven by the power source 1031 to control the movement of the filter mounting seat 1040 so that it can be accurately docked under the mother liquid pipeline component 1050. The liquid receiving box 1020 is connected to the stand 1010 at the side, and is located under the filter mounting seat 1040 to ensure that when the filter is automatically pulled out, the mother liquid is prevented from splashing on the machine panel, which causes problems such as poor cleaning. It can also further catch the mother liquid in time when the automation fails to prevent the mother liquid from splashing.

[0143] Reduce manual intervention, improve work efficiency, and reduce operational risks; the design of the mobile component 1030 ensures the precise connection between the filter 95 and the mother liquid pipeline component 1050 to avoid leakage and contamination; the modular design makes each part easy to disassemble and clean, and the maintenance is simple; the set filter 95 and the liquid receiving box 1020 can effectively prevent liquid leakage and improve safety; the compact design makes the equipment occupy a smaller space when in use, suitable for application in a variety of environments.

[0144] In one embodiment, see Fig.16 The above-mentioned filter mounting seat is provided with a plurality of filter opening grooves 10414241.

[0145] Specifically, the filter opening slot 10414241 includes an opening 934 that faces away from the stand 1010, and circular openings 934 are respectively provided at the upper and lower ends of the filter opening slot 10414241, so that the upper and lower ends of the circular openings 934 are respectively exposed when the filter 95 is placed.

[0146] In one embodiment, see Figures 14 to 16The above-mentioned mother liquid pipeline automatic docking device also includes a ball screw 1060. A plurality of fourth mounting holes 1042 are provided on the filter mounting seat. The fourth mounting holes 1042 are connected to the filter opening grooves 10414241. The ball screw 1060 is located in the fourth mounting hole 1042.

[0147] When the filter 95 is automatically grabbed by the robot arm 3 and placed in the filter opening groove 10414241, the glass bead screw will automatically push to the groove position at the upper end of the filter 95, thereby automatically clamping the filter 95, thereby facilitating the automatic docking of the filter 95 and the mother liquid pipeline assembly 1050.

[0148] The filter 95 is formed by combining a porous filter 95 and a non-porous filter 95. A groove is provided above the filter 95 to allow the glass bead screw to support and automatically clamp.

[0149] In this embodiment, the filter mount is used to conveniently install and fix multiple filters 95. The filter mount is provided with a plurality of filter opening slots 10414241, each opening slot 4241 including an opening 934 facing away from the stand 1010. This design allows the filter 95 to be conveniently inserted and fixed, while ensuring that the upper and lower portions of the filter 95 are accessible to the external environment.

[0150] The upper and lower ends of each filter opening slot 10414241 are provided with circular openings 934, and this design allows the filter 95 to be easily inserted during installation. The circular openings 934 at the upper and lower ends ensure that the filter 95 can be firmly fixed to avoid displacement during use.

[0151] The device is also equipped with a ball screw 1060. The filter mounting seat is provided with a plurality of fourth mounting holes 1042, which are connected to the filter opening slots 10414241. The ball screw 1060 is installed in these holes. When the robot arm 3 automatically puts the filter 95 into the filter opening slot 10414241, the ball screw 1060 automatically supports the groove at the top of the filter 95 to ensure that the filter 95 is firmly fixed in the opening slot 4241. This process realizes the automatic clamping of the filter 95.

[0152] The filter 95 used is composed of a porous filter 95 and a non-porous filter 95 to form an effective filtering system. A groove is provided on the top of the filter 95, which is specially used for the clamping of the ball screw 1060, thereby enhancing the connection stability between the filter 95 and the mother liquid pipeline assembly 1050.

[0153] The device realizes automatic grasping and placement of the filter 95 through the mechanical arm 3, reducing manual intervention. This not only improves work efficiency, but also reduces human errors and risks during operation. The ball screw 1060 can accurately support the groove of the filter 95, ensure the stability of the filter 95 in the opening groove 4241, and avoid displacement or falling off due to vibration or pressure changes. The design of the filter 95 makes it easy to disassemble and replace, and the maintenance process becomes simple and efficient. The user only needs to easily take out the filter 95 for cleaning or replacement without complicated disassembly and assembly steps. The combined use of porous and non-porous filters 95 can meet different filtering needs and enhance the applicability of the equipment. Users can choose different filters 95 according to specific needs, which improves the flexibility of the equipment. The design effectively avoids the risk of liquid leakage and enhances safety during operation, especially when handling chemical liquids or other volatile substances. The compact design of the device takes up less space and is suitable for use in a variety of environments, especially in laboratories or industrial sites with limited space.

[0154] Through the above principles and benefits, the mother liquid pipeline automatic docking device can provide an efficient, safe and reliable automation solution to meet the needs of modern industry and laboratories for fluid processing.

[0155] In one embodiment, see Fig.15 The above-mentioned moving component 1030 includes a power source 1031, a power source mounting seat 1032, a driving plate 1033, a first slide rail 1034, a first slider 1035 and a connecting plate 1036. The power source 1031 is connected to one side of the stand 1010 through the power source mounting seat 1032. The power source 1031 is connected to the driving plate 1033. One side of the driving plate 1033 is connected to the first slider 1035. The first slider 1035 is connected to the first slide rail 1034. The connecting plate 1036 is connected to the driving plate 1033. The first slide rail 1034 is connected to the stand 1010. The connecting plate 1036 is connected to one side of the filter mounting seat.

[0156] In one embodiment, see Figure 2 The above-mentioned mother liquid pipeline automatic docking device also includes a positioning component, which includes a sensing piece 1037 and a slot-type photoelectric sensor 1038. The slot-type photoelectric sensor 1038 is installed on the stand 1010, and the sensing piece 1037 is connected to one end of the driving plate 1033 close to the slot-type photoelectric sensor 1038.

[0157] In this embodiment, the power source 1031 is the core driving part of the system, and the power source 1031 is responsible for providing the necessary power. It is fixed to one side of the stand 1010 through the power source mounting seat 1032. The power source mounting seat 1032 provides a stable connection between the power source 1031 and the stand 1010, ensuring the stable operation of the power source 1031. The drive plate 1033 is connected to the power source 1031, receives the drive of the power source 1031, and transmits it to the first slider 1035. One side of the drive plate 1033 is connected to the first slide rail 1034 through the first slider 1035, allowing the first slider 1035 to slide along the first slide rail 1034. The first slide rail 1034 is installed on the stand 1010, and the first slider 1035 slides freely in the first slide rail 1034, so that the drive plate 1033 can move within a certain range. Through the movement of the first slider 1035, the drive plate 1033 can accurately control the position of the connecting plate 1036. The connecting plate 1036 is connected to the driving plate 1033 and is connected to one side of the filter mounting seat. Under the promotion of the first sliding block 1035, the connecting plate 1036 can perform accurate linear motion to ensure the accurate docking of the filter 95.

[0158] The slot-type photoelectric sensor 1038 is mounted on the stand 1010 and is used to monitor the position of the connecting plate 1036 and the filter 95 in real time. When the photoelectric sensor detects a signal from the sensing sheet 1037, it can be determined whether the current position meets the preset requirements.

[0159] The sensing sheet 1037 is connected to one end of the driving board 1033 near the slot-type photoelectric sensor 1038. The sensing sheet 1037 is used in conjunction with the photoelectric sensor to ensure that the system can feedback position information in a timely manner and provide necessary adjustment signals.

[0160] When the system is working, the power source 1031 drives the first slider 1035 to move along the first slide rail 1034 through the driving plate 1033, thereby controlling the position of the connecting plate 1036. Through the cooperation of the photoelectric sensor and the induction sheet 1037, the system can monitor and adjust the docking state of the connecting plate 1036 and the filter 95 in real time to ensure an accurate docking process.

[0161] The automatic docking device significantly improves the speed and efficiency of the docking of the filter 95 by automatically moving and positioning the components, reduces the time of manual operation, and ensures the smoothness of the work process. The combination of the slot-type photoelectric sensor 1038 and the induction sheet 1037 provides real-time position information feedback, so that the device can accurately judge and adjust the position of the connecting plate 1036. This high-precision positioning reduces the docking error and ensures the accurate connection of the filter 95. The stable design and efficient transmission system of the moving component 1030 ensure the reliability during long-term operation, reduce the probability of mechanical failure, and thus increase the service life of the equipment. The system is flexible in design and is suitable for a variety of filter 95 types. Users can adjust the equipment settings according to actual needs, which enhances the versatility of the equipment. The automated operation mode reduces the direct contact between the operator and the equipment and reduces safety hazards. At the same time, the real-time monitoring system ensures that the equipment can stop working in time under abnormal circumstances to ensure safe operation. Since the design takes into account the characteristics of easy disassembly and assembly, the process of maintaining and replacing the filter 95 becomes simpler, and users can quickly perform maintenance and reduce downtime.

[0162] Through the above working principles and benefits, the mother liquor pipeline automatic docking device demonstrates the modern industry's demand for automation and precision, and improves overall work efficiency and safety.

[0163] In one embodiment, see Fig.14 The above-mentioned mother liquid pipeline assembly 1050 includes a plurality of male connectors 1051 and a plurality of mother liquid pipelines 1052 . The male connectors 1051 are installed on the stand 1010 , and the mother liquid pipelines 1052 are connected to the male connectors 1051 .

[0164] The male connector 1051 is mounted on the stand 1010 via a nut 1053 .

[0165] In one embodiment, see Fig.14 The upper end of the above-mentioned stand 1010 extends horizontally outward to form an extension plate 1011, and a plurality of through holes 82 are provided on the extension plate 1011. The through holes 82 are aligned with the filter opening grooves 10414241, and the male connector 1051 is inserted into the through holes 82.

[0166] In one embodiment, the above-mentioned mother liquid pipeline automatic docking device further includes a protective cover 470 , and the protective cover 470 is connected to a side of the stand 1010 close to the moving component 1030 .

[0167] A plurality of male connectors 1051 are fixed to the stand 1010 by nuts 1053 to form a stable connection point. The male connector 1051 is connected to the mother liquid pipeline 1052, which is responsible for transporting the mother liquid to the filter 95. These pipelines are connected by the male connector 1051 to form a complete transport system to transport the mother liquid from the source to the target filter 95.

[0168] The upper end of the stand 1010 extends horizontally to form an extension plate 1011. The extension plate 1011 is provided with a plurality of through holes 82, which are aligned with the opening slots 4241 of the filter 95. The male connector 1051 is inserted into the through hole 82 to ensure smooth flow of the mother liquid. The design of the through hole 82 allows the male connector 1051 to be accurately docked with the filter 95, so that the mother liquid does not leak during the transmission process.

[0169] The protective cover 470 is installed on the side of the stand 1010 close to the moving component 1030. The protective cover 470 provides additional protection for the device to prevent external objects or environmental factors from interfering with and damaging the internal components.

[0170] When the system is running, the mother liquid pipeline 1052 delivers the mother liquid to the filter 95 through the male connector 1051. The extension plate 1011 of the stand 1010 and the through hole 82 ensure the accuracy and stability of the docking. At the same time, the protective cover 470 effectively protects the components inside the device and enhances the safety of the system.

[0171] The automatic docking device forms an efficient fluid transmission system by connecting multiple male connectors 1051 with the mother liquid pipeline 1052, greatly improving the delivery speed of the mother liquid and reducing the operation time. The extension plate 1011 and the through hole 82 design of the stand 1010 ensure the precise docking between the male connector 1051 and the filter 95, reduce the risk of leakage caused by improper docking, and ensure the reliability of the system. The structure of the male connector 1051 fixed by the nut 1053 ensures that it is not easy to loosen during long-term use, improves the stability and reliability of the system, and reduces the frequency of maintenance. The installation of the protective cover 470 effectively isolates external interference, protects internal components, and reduces the risk of failure caused by external factors. At the same time, the protective cover 470 also provides additional safety protection for operators. This design makes the disassembly and maintenance process of the equipment easier, and users can quickly perform daily inspections and maintenance, reduce downtime, and improve the availability of the equipment. The design of the male connector 1051 and the mother liquid pipeline 1052 allows the system to be adjusted and expanded according to actual needs, adapt to different production needs, and enhance the flexibility and versatility of the equipment.

[0172] In this embodiment, the mother liquid pipeline 1052 is connected to a mother liquid supply device or a foaming device to perform a foaming operation.

[0173] Through the analysis of the above working principles and benefits, the mother liquor pipeline automatic docking device effectively combines the design concepts of high efficiency, precision and reliability, meets the needs of modern industry for automation and safety, and improves the overall work efficiency and operational safety.

[0174] In one embodiment, see Fig.14 , Fig.17 and Fig.18 The above-mentioned mother liquid pipeline automatic docking device also includes a cleaning component 1090, which is connected to one side of the stand 1010. The cleaning component 1090 includes a cleaning fixed seat 1091, a cleaning mounting seat 1092 and a cleaning joint 1093. The cleaning fixed seat 1091 is connected to one side of the stand 1010, and the cleaning mounting seat 1092 is connected to the cleaning fixed seat 1091. The cleaning mounting seat 1092 is arranged in a circular ring shape, and an opening 934 is provided on one side of the cleaning seat. An inner retaining ring 10921 is provided in the cleaning mounting seat 1092, and the cleaning joint 1093 is placed in the cleaning mounting seat 1092, and the cleaning joint 1093 abuts against the inner retaining ring 10921.

[0175] In this embodiment, the above-mentioned cleaning fixing seat 1091 is arranged in an arc shape, and a mounting ring 1091 is provided on one side of the cleaning fixing seat 1091 close to the cleaning mounting seat 1092 . A mounting groove 10922 is provided on the outer side of the cleaning mounting seat 1092 , and the mounting ring 10911 is stuck in the mounting groove 10922 .

[0176] Specifically, the cleaning fixing seat 1091 is connected to one side of the stand 1010 to provide support and fixation for the cleaning assembly 1090 .

[0177] The cleaning mount 1092 is connected to the cleaning fixed seat 1091 and is designed in a circular ring shape. The inner retaining ring 10921 is located inside the cleaning mount 1092 to form a closed space for accommodating the cleaning connector 1093. The cleaning connector 1093 is arranged inside the cleaning mount 1092 and abuts against the inner retaining ring 10921, and is responsible for cleaning the filter 95 after docking the filter 95.

[0178] When cleaning is required, after the filter 95 is docked, the cleaning connector 1093 is connected to the cleaning equipment to deliver cleaning liquid to the filter 95 to achieve the purpose of cleaning.

[0179] A mounting ring 10911 is provided on one side of the cleaning fixing seat 1091 close to the cleaning mounting seat 1092. The mounting ring 10911 is stuck in the mounting groove 10922 on the outside of the cleaning mounting seat 1092 to form a stable connection, ensuring that the cleaning component 1090 is not easy to loosen during use.

[0180] The design of the cleaning component 1090 enables the cleaning liquid to effectively reach the filter 95, ensuring that the residual substances and impurities in the filter 95 are completely removed, thereby improving the cleaning efficiency. The structure of the cleaning component 1090 allows the operator to easily connect and disassemble the cleaning connector 1093, simplifying the cleaning process and saving time and labor costs. The arc-shaped design of the cleaning fixing seat 1091 cooperates with the mounting ring 10911 to ensure the stability of the cleaning component 1090 in long-term use and reduce the risk of failure caused by loose components. The structural design of the cleaning component 1090 makes maintenance work easier, and users can easily check and replace the cleaning liquid to keep the equipment in optimal working condition.

[0181] By adding the cleaning component 1090, the cleaning efficiency and operation convenience of the mother liquid pipeline automatic docking device are significantly improved. The structural design of the cleaning component 1090 not only enhances the functionality of the system, but also improves the reliability and safety of the equipment, providing users with a better use experience.

[0182] In one embodiment, a protrusion is provided on one side of the liquid receiving tray close to the stand 1010, and a recess is provided on one side of the stand 1010 close to the liquid receiving tray. The protrusion is embedded in the recess to achieve positioning and fixing effects.

[0183] In one embodiment, a two-way valve 10100 is installed on one side of the seat 1010 on which the moving assembly 1030 is installed. The two-way valve 10100 is installed on the seat 1010 through a valve mounting plate. The two-way valve 10100 is connected to the mother liquid pipeline 1052 to achieve control of the mother liquid pipeline 1052.

[0184] The working process of the mother liquid pipeline automatic docking device of this embodiment is as follows:

[0185] The mother liquid pipeline 1052 is connected to the male connector 1051 fixed on the stand 1010 to establish a channel for liquid transmission.

[0186] When liquid transfer is required, start the motor of the moving component 1030 to push the filter mounting seat 1040 installed on the connecting plate 1036 to complete the rising and falling movements of the filter 95, thereby docking and separating with the male connector 1051; when the pipeline is connected, the filter 95 can be used for foaming testing or pumping liquid.

[0187] When the mother liquid needs to be pumped, the robot arm 3 clamps the mother liquid bottle 1080 from the tray and places it under the needle of the filter 95 to receive the mother liquid; after receiving the liquid, the robot arm 3 puts the mother liquid bottle 1080 back to the tray to prepare for the next process.

[0188] During cleaning, the robot arm 3 places the filter 95 under the cleaning connector 1093 and rinses it after docking with it.

[0189] The above-mentioned mother liquid pipeline automatic docking device ensures that the various parts are tightly connected by arranging a stand 1010, a liquid receiving box 1020, a moving component 1030, a filter mounting seat 1040 and a mother liquid pipeline assembly 1050. The moving component 1030 is connected to the filter mounting seat 1040 and can be flexibly moved to facilitate the docking and liquid transfer between the filter 95 on the filter mounting seat 1040 and the mother liquid pipeline assembly 1050, and the filter 95 can effectively filter the liquid during docking; the liquid receiving box 1020 is located on one side of the stand 1010 and is lower than the filter mounting seat 1040. A mother liquid bottle 1080 is placed in the liquid receiving box 1020 to facilitate the collection of liquid flowing out through the filter 95. Driven by the moving component 1030, the filter mounting seat 1040 can automatically rise and fall to achieve quick connection and disconnection of the mother liquid pipeline, which simplifies the pipeline connection and packaging process as a whole, reduces the complexity of manual operation, thereby improving the overall operating efficiency and reducing the error rate.

[0190] See also Fig.19 , Fig.19 A three-dimensional structural schematic diagram of a temporary storage and positioning tray 8 provided in an embodiment of the present invention, wherein the container temporary storage and positioning tray 8 comprises: a tray fixing assembly and a tray orifice plate 81 assembly, wherein the tray orifice plate 81 assembly is provided with a through hole 82 for placing the container, and the tray orifice plate 81 assembly is installed above the tray fixing assembly, and the tray fixing assembly is installed on the packaging bottom plate 410.

[0191] In this embodiment, the through hole 82 is used to place containers, limiting containers such as syringe bottles, filters 95 and long needle cap combinations, rubber plugs, etc. The surface of the tray fixing assembly is a flat surface, which can be wiped after the tray orifice plate 81 assembly is removed, and the through hole 82 above the tray orifice plate 81 assembly can also be wiped.

[0192] In one embodiment, see Fig.19 and Fig. 20 The above-mentioned tray orifice plate 81 assembly includes a tray orifice plate 81, on which a through hole 82 is provided, and the tray orifice plate 81 is connected above the tray fixing assembly.

[0193] In one embodiment, see Fig. 20 The above-mentioned tray hole plate 81 assembly includes a positioning pin 83, and the tray hole plate 81 is connected to the tray fixing assembly through the positioning pin 83.

[0194] In one embodiment, see Fig. 20 A first mounting hole is provided at the lower end of the tray hole plate 81, and a positioning pin 83 is inserted into the first mounting hole.

[0195] In one embodiment, see Fig. 20 The above-mentioned tray orifice plate 81 assembly includes an adjustment structure, which is connected to the bottom of the tray orifice plate 81 and is connected to the tray fixing assembly.

[0196] In one embodiment, see Fig. 20 The above-mentioned adjustment structure includes an adjustment screw 84, the upper end of which is connected to the tray hole plate 81; and the lower end of which is connected to the tray fixing assembly. The adjustment screw 84 installed in the tray fixing assembly can be used to match the through hole 82 above the tray hole plate 81, so as to achieve the effect of mechanical anti-fool.

[0197] Specifically, the tray temporary storage and positioning tray 8 is composed of a tray fixing component and a tray orifice plate 81 component. The tray orifice plate 81 is provided with a plurality of through holes 82, which are specially used to place various containers, such as vials.

[0198] The tray orifice plate 81 is connected to the tray fixing assembly by a positioning pin 83 to ensure its stability. When the tray orifice plate 81 assembly needs to be removed, it can be disassembled with a simple operation for easy cleaning.

[0199] The adjustment structure includes an adjustment screw 84, which allows the user to adjust the height of the tray plate 81 according to actual needs to accommodate containers of different sizes or shapes. This design effectively prevents the container from tilting or sliding during use.

[0200] The setting of the adjusting screw 84 ensures the precise connection between the tray hole plate 81 and the tray fixing assembly, reduces the risk of misoperation, and enhances the overall safety and stability.

[0201] Due to the flat surface of the tray fixing assembly and the removable tray hole plate 81, it can be easily wiped and cleaned to maintain the hygiene of the operating environment. The height-adjustable design makes the tray suitable for a variety of containers, improving the adaptability and efficiency of the equipment. The fixation of the positioning pin 83 and the tightening of the adjustment screw 84 ensure the stability of the tray during use and reduce the risk of accidental tipping. The overall design simplifies the operation process, allowing users to quickly get started and reducing training costs. The mechanical fool-proofing design reduces the possibility of improper operation and ensures the safety of operators.

[0202] In summary, the container temporary storage and positioning tray 8 provides an efficient, flexible and safe container storage solution through reasonable design and structure.

[0203] In one embodiment, see Fig.19 and Fig. 20 The above-mentioned pallet fixing assembly includes a pallet fixing seat 85, and the pallet orifice plate 81 assembly is connected to the pallet fixing seat 85.

[0204] In one embodiment, see Fig. 20 The tray fixing seat 85 is provided with a second mounting hole 87 , and the lower end of the positioning pin 83 is inserted into the second mounting hole 87 .

[0205] In one embodiment, see Fig. 20 The above-mentioned tray fixing assembly also includes a support rod 86, and the support rod 86 is connected to the bottom of the tray fixing seat 85. The support rod 86 is installed on the sub-packaging bottom plate 410.

[0206] Specifically, the upper portion of the support rod 86 is connected to the tray fixing seat 85 via screws.

[0207] In one embodiment, see Fig. 20 The above-mentioned tray fixing assembly is provided with a third mounting hole 88 , and one end of the support rod 86 is inserted into the third mounting hole 88 .

[0208] The pallet support rod 86 is used to fix and support the pallet fixing seat 85. The pallet fixing seat 85 is equipped with a positioning pin 83, which is used to position and limit the pallet orifice plate 81, so as to achieve the purpose of quickly disassembling and installing the pallet orifice plate 81. The pallet fixing assembly is composed of the pallet fixing seat 85 and the pallet orifice plate 81 assembly. The pallet orifice plate 81 assembly is installed on the pallet fixing seat 85 to ensure the stability of the overall structure. The lower end of the positioning pin 83 is inserted into the second mounting hole 87 on the pallet fixing seat 85, which plays a role in fixing and positioning, and prevents the pallet orifice plate 81 assembly from moving during operation. The support rod 86 is connected to the bottom of the pallet fixing seat 85 and provides additional support and stability by inserting into the third mounting hole 88. This design helps to disperse the weight on the pallet and enhance the carrying capacity.

[0209] All components are combined through mounting holes and plug-in methods, making the overall structure not only stable but also easy to disassemble and clean, thereby improving the convenience of maintenance.

[0210] The design of the tray fixing seat 85 and the support rod 86 effectively increases the stability of the tray and avoids the risk of tilting or accidental collapse. The plug-in design allows for easy replacement and maintenance of components, improving flexibility and efficiency of use. The use of the positioning pin 83 ensures the accurate positioning of the tray orifice plate 81 component, reduces unstable factors during operation, and thus improves safety. The design of the support rod 86 enhances the carrying capacity of the tray, making it suitable for containers of more types and weights, and expanding the scope of application. Due to the detachable nature of each component, users can easily clean and maintain it to maintain a good sanitary environment.

[0211] In summary, the design of the above-mentioned pallet fixing assembly not only meets the functional requirements, but also improves the safety and convenience of use.

[0212] In one embodiment, the tray orifice plate 81 and the tray fixing seat 85 are respectively provided with aligned syringe 96 placement holes 20421 for placing the syringe 96 .

[0213] In the tray of this embodiment, the through holes 82 on the tray orifice plate 81 are designed to be of various sizes and shapes to be compatible with product bottles, mother liquid bottles 1080, filters 95 and syringes 96 of different specifications. This ensures that various containers are placed stably. The position and height of the orifice plate are changed by adjusting the structure (such as adjusting screws 84) to ensure that containers of different heights can be placed stably. A positioning pin 83 is set between the tray orifice plate 81 and the tray fixed component to ensure that each container is placed in the correct position to avoid incorrect placement. Different types of containers are designed with different shapes, such as round, square or specific shaped through holes 82, so that mismatched containers cannot be placed in to prevent operational errors.

[0214] The tray and well plate are made of smooth and corrosion-resistant materials such as stainless steel or chemical-resistant plastic, which is easy to clean and disinfect. The tray can be easily removed to facilitate the cleaning of each part separately and reduce the cleaning dead corners.

[0215] The support rod 86 enhances the stability of the tray to prevent tilting or collapse during operation, ensuring that the container is safely placed. The placement of the containers is designed reasonably to ensure that they do not interfere with each other during operation, thereby improving work efficiency. It can effectively achieve compatibility with multiple containers, facilitate cleaning and disassembly, and reduce the risk of misplacing, thereby improving work efficiency and safety.

[0216] The tray of this embodiment is an easy-to-clean, easy-to-disassemble and fool-proof tray. It can realize the positioning of compatible product bottles and mother liquid bottles 1080, and support the positioning of filters 95 and syringes 96. The tray adopts an adjustable orifice plate assembly, and realizes the adaptation of different containers through through holes 82. The positioning pin 83 ensures that each component is installed in the correct position to avoid misplacement. The tray structure simplifies the cleaning process and reduces the difficulty of operation. The overall design effectively reduces the cleaning burden and operation risk of the staff

[0217] The above-mentioned temporary storage positioning tray 8, by setting a tray fixing component and a tray orifice plate 81 component installed on the top, has a through hole 82 for placing the container, thereby achieving the positioning of compatible product bottles and mother liquid bottles 1080, and the positioning of filters 95 and syringes 96. It is easy to clean, easy to disassemble, and fool-proof, which reduces the difficulty of cleaning and operation for staff and reduces the risk of misplacing the tray.

[0218] In one embodiment, see Figure 1 and Fig.21The automatic dispensing equipment for radionuclide medicine further comprises a transfer structure 9 for being compatible with a filter 95 and a syringe 96, wherein the transfer structure 9 comprises a transfer base 91, a first fixing base 92 for placing a bottle 94, and a second fixing base 93 for placing a filter 95 and a syringe 96, wherein the first fixing base 92 and the second fixing base 93 are respectively connected to the transfer base 91. The transfer base 91 is connected in the dispensing chamber 1.

[0219] In this embodiment, as an overall support structure, a stable platform is provided to ensure the safety and reliability of each component during the transfer process. It is specifically used to place the bottle 94 to ensure that the bottle 94 is not easy to tip over or leak during the transfer process, which is convenient for operators to take it accurately. It is used to stabilize the filter 95 and the syringe 96 so that they remain stable during transfer and use to avoid contamination or damage caused by shaking.

[0220] By fixing the components, the risk of exposure to radioactive materials during manual handling is reduced, protecting the health of the operator. The reasonable structural design simplifies the transfer process, shortens the operation time, and improves work efficiency. The stable fixed seat 2042 design makes the filter 95 and the syringe 96 less susceptible to external contamination during the transfer process, ensuring the cleanliness of the operation. The compatibility is strong, and it can adapt to different types of bottles 94, filters 95 and syringes 96, increasing the flexibility of the equipment.

[0221] In summary, the transfer structure 9 not only improves the safety and efficiency of the operation, but also optimizes the hygiene and management during the nuclear medicine packaging process.

[0222] In one embodiment, see Fig.21 and Fig. 22 The transfer base 91 is provided with a positioning pin 83 shaft, and the first fixing base 92 and the second fixing base 93 are respectively connected to the positioning pin 83 shaft.

[0223] In one embodiment, see Fig.21 and Fig. 22 The top of the above-mentioned positioning pin 83 axis is provided with a guide angle.

[0224] In one embodiment, see Fig.21 and Fig. 22 The lower end of the first fixing seat 92 is provided with a plurality of first mounting holes, and the positioning pin 83 is axially inserted into the first mounting hole.

[0225] The upper surface of the transfer base 91 is designed with four protruding cylindrical positioning pins 83, and the heads of these positioning pins 83 have guide angles to facilitate more accurate docking. Correspondingly, the lower surfaces of the first fixing seat 92 and the second fixing seat 93 are provided with matching cylindrical holes. This design enables the first fixing seat 92 and the second fixing seat 93 to be accurately installed and disassembled, and facilitates daily cleaning and maintenance.

[0226] In one embodiment, see Fig.21 and Fig. 22 The upper end surface of the first fixing seat 92 is recessed downward to form a first placement cavity 921 for placing the bottle 94 .

[0227] In one embodiment, see Figure 1 and Figure 2 A second retaining ring 922 is disposed in the first placement cavity 921 , and the second retaining ring 922 and the bottom of the first placement cavity 921 form a stepped shape.

[0228] In this embodiment, the upper surface of the first fixing seat 92 is also provided with a cylindrical stepped notch, that is, a stepped notch formed by the first placement cavity 921 and the second retaining ring 922, which can accommodate bottles 94 and mother liquid bottles 1080 of different diameters. This stepped notch design enhances the compatibility and stability of the product and makes the operation more flexible and convenient.

[0229] In one embodiment, see Fig.23 and Fig.24 The lower end of the second fixing seat 93 is provided with a plurality of second mounting holes 87 , and the positioning pin 83 is axially inserted into the second mounting hole 87 .

[0230] In one embodiment, see Fig.23 and Fig.24 The upper end of the second fixing seat 93 is recessed downward to form a second placement cavity 931. A third placement cavity 932 is also provided on the second fixing seat 93. The third placement cavity 932 is located below the second placement cavity 931, and the third placement cavity 932 is connected to the second placement cavity 931.

[0231] In one embodiment, see Fig.23 and Fig.24 The second fixing seat 93 is provided with a through slot 933 , and the third placement cavity 932 is connected to the through slot 933 .

[0232] In this embodiment, openings 934 are formed on two sides of the second fixing seat 93 , and the openings 934 are communicated with the through slots 933 .

[0233] Specifically, the second fixing seat 93 is designed with a cylindrical and square notch, namely, a second placement cavity 931 and a third placement cavity 932, which can respectively adapt to the filter 95 and the syringe 96. At the same time, the fixing seat 2042 is also provided with a square notch, namely, openings 934 on both sides, so that it can cooperate with the robot arm 3 more conveniently, so that it can effectively grasp the syringe 96 equipped with a needle, and avoid taking up too much space during operation.

[0234] In this embodiment, the lower end of the second fixing seat 93 is provided with a plurality of second mounting holes 87 for inserting the positioning pin 83 shaft to ensure the stable installation of the assembly. At the same time, the upper end of the second fixing seat 93 is recessed downward to form a second placement cavity 931. In addition, the second fixing seat 93 also has a third placement cavity 932 located below the second placement cavity 931, and the two cavities are connected.

[0235] In order to improve functionality, a through slot 933 is provided inside the second fixing seat 93, so that the third placement cavity 932 is connected to the through slot 933. It is worth mentioning that openings 934 are provided on both sides of the second fixing seat 93, which are connected to the through slot 933 to facilitate the entry and exit of items.

[0236] The stability of the fixing seat 2042 is ensured by the cooperation between the locating pin 83 and the mounting hole.

[0237] The recessed placement cavity design saves space while accommodating more components.

[0238] The provision of the through slot 933 and the connecting hole 82 enhances the connectivity between different cavities and facilitates operation and maintenance.

[0239] In one embodiment, see Fig.23 and Fig.24 The above-mentioned transfer seat is provided with a connecting hole 82, and the connecting hole 82 is aligned with the through groove 933.

[0240] Finally, a connecting hole 82 is designed on the intermediate transfer seat, and the hole is aligned with the through groove 933, so as to achieve better fluid conduction and material processing.

[0241] In this embodiment, the transfer structure 9 can cooperate with the robot arm 3 more effectively to realize the automated transfer and processing of waste consumables in the field of nuclear medicine packaging, thereby avoiding the radioactive hazards caused by the manual transfer of waste consumables in traditional manual operations. At the same time, the overall structure is compactly designed, occupies very little space, and can simultaneously process a variety of waste consumables, such as bottles 94, mother liquid bottles 1080, filters 95, and syringes with needles 96. This design significantly reduces the requirements for the size of the hot room space.

[0242] The above-mentioned transfer structure 9 is compatible with the filter 95 and the syringe 96. By setting the transfer base 91, the first fixed base 92 and the second fixed base 93, the first fixed base 92 is used to place the bottle 94, and the second fixed base 93 is used to place the filter 95 and the syringe 96. Both are independently connected to the transfer base 91 to achieve efficient material transfer, and realize the automated transfer and processing of waste consumables in the field of nuclear medicine packaging in cooperation with the robotic arm 3, avoiding the radioactive hazards caused by the manual transfer of waste consumables in traditional manual packaging.

[0243] See also Fig.25 , Fig.25 A schematic diagram of the three-dimensional structure of the switch cover and needle removal mechanism 20 provided for an embodiment of the utility model; the above-mentioned switch cover and needle removal mechanism 20 include: a base plate 2010, a solid waste switch cover structure 2030, and a syringe fixing structure 2040; the robot arm 3 is installed on the base plate 2010, the solid waste switch cover structure 2030 is installed on the base plate 2010, and the syringe fixing structure 2040 is connected to the fixed switch cover; a solid waste port u2011 is provided on the base plate 2010, and a radiation-proof container is placed under the solid waste port u2011.

[0244] In this embodiment, the radiation protection container includes but is not limited to a lead barrel.

[0245] In this embodiment, the robot arm 3 is fixed on the bottom plate 2010 and is responsible for moving and operating the solid waste cover 2036, the syringe 96 and other components. When the solid waste does not need to be discarded, the solid waste switch cover will cover the solid waste port u2011 to prevent accidental leakage. The sensor monitors the position of the solid waste cover 2036 in real time to ensure that it is closed correctly.

[0246] The syringe 96 is securely fixed to the syringe fixing structure 2040 to ensure that it will not be displaced during the needle removal and disposal process.

[0247] The clamping assembly is at one end of the robotic arm 3 and can effectively clamp the syringe 96 to complete the needle removal and discarding operations.

[0248] When the syringe 96 needs to be discarded, the robot arm 3 clamps the syringe 96 to the specified position, first pulls out the needle and throws it into the solid waste channel, and then discards the syringe 96 body to the solid waste port u2011.

[0249] A radiation-proof container is placed under the solid waste outlet u2011 to ensure the safe storage and treatment of solid waste and avoid pollution to the environment.

[0250] Mechanized operation reduces manual contact, effectively reduces the risk of cross infection, and ensures the safety of operators. Automated robotic arms and sensor systems can quickly and accurately complete solid waste treatment, improve work efficiency, and reduce labor costs. Precise structural design and sensor feedback mechanism can reduce the risk of operational errors and ensure the reliability of the solid waste treatment process. The use of radiation-proof containers effectively controls the treatment of hazardous waste, meets environmental protection standards, and reduces negative impacts on the environment. Users only need to make simple settings to automatically handle solid waste, which reduces the difficulty of operation and is suitable for a variety of scenarios.

[0251] In one embodiment, see Fig.25 The above-mentioned solid waste switch cover structure 2030 is located above the solid waste outlet u2011.

[0252] In one embodiment, see Fig.26 and Fig. 27 The above-mentioned solid waste switch cover structure 2030 includes a transverse sliding component, a longitudinal sliding component and a solid waste cover 2036. The transverse sliding component is connected to the bottom plate 2010, the longitudinal sliding component is connected to the transverse sliding component, and the solid waste cover 2036 is connected above the longitudinal sliding cover component.

[0253] In one embodiment, see Fig.26 and Fig. 27 The above-mentioned transverse sliding assembly includes a support plate 2031, a second slide rail 2032 and a second slider 2033. The support plate 2031 is connected to the second slide rail 2032. One end of the support plate 2031 is connected to the bottom plate 2010. The second slider 2033 is connected to the second slide rail 2032. The second slider 2033 is also connected to the longitudinal sliding assembly. A sealing plate is provided on one side of the above-mentioned support plate 2031.

[0254] In one embodiment, see Fig.26 and Fig. 27 The above-mentioned lateral sliding assembly also includes a translation limit block 2034, and the translation limit blocks 2034 are installed on both sides of the second slide rail 2032.

[0255] In one embodiment, see Fig.26 and Fig. 27 The above-mentioned lateral sliding assembly also includes a proximity switch 2035, and the proximity switch 2035 is connected below the translation limit block 2034.

[0256] In one embodiment, see Fig.26 and Fig. 27 The above-mentioned longitudinal sliding assembly includes a longitudinal moving cylinder 2037 and a transfer mounting plate 2038. The longitudinal moving cylinder 2037 is connected to the second slider 2033, and the transfer mounting plate 2038 is connected to one end of the longitudinal moving cylinder 2037.

[0257] In this embodiment, the transverse sliding assembly includes a support plate 2031, a second slide rail 2032 and a second slider 2033. The support plate 2031 is fixed on the bottom plate 2010, the second slide rail 2032 provides a sliding path, and the second slider 2033 is connected to the second slide rail 2032 and can move freely on the second slide rail 2032.

[0258] The longitudinal sliding assembly includes a longitudinal moving cylinder 2037 and an adapter mounting plate 2038. The cylinder is connected to the transverse sliding assembly through a second slider 2033, allowing the solid waste cover 2036 to move in the longitudinal direction.

[0259] The translation limit block 2034 limits the movement range of the second slider 2033 to prevent it from exceeding the set position, and the proximity switch 2035 is used to detect whether the solid waste cover 2036 reaches the predetermined position to achieve automatic feedback control.

[0260] When it is necessary to open the solid waste port u2011, the robot arm 3 drives the clamping assembly to clamp the longitudinal moving cylinder 2037, drives the longitudinal moving cylinder 2037 to push the adapter mounting plate 2038, and the solid waste cover 2036 moves upward, so that the solid waste port u2011 moves from a closed state to an open state. After that, the robot arm 3 drives the clamping assembly to clamp the longitudinal moving cylinder 2037, drives the longitudinal moving cylinder 2037 to slide along the second slide rail 2032 until the syringe 96 fixing assembly is located directly above the solid waste port u2011.

[0261] When the solid waste is processed, the robot arm 3 drives the clamping assembly to clamp the longitudinal moving cylinder 2037, driving the longitudinal moving cylinder 2037 to operate in reverse, and the solid waste cover 2036 moves downward, so that the solid waste port u2011 is closed again, ensuring the sealing of the solid waste port u2011 and avoiding leakage.

[0262] It should be noted that after the solid waste is processed, before the solid waste cover 2036 moves downward, the robot arm 3 is required to drive the clamping assembly clamping column to move the cylinder 2037 longitudinally, drive the longitudinal moving cylinder 2037 to slide on the second slide rail 2032 to the top of the solid waste port u2011, and then drive the longitudinal moving cylinder 2037 to move downward, so that the solid waste cover 2036 moves downward and the solid waste port u2011 is closed again.

[0263] The positioning of the above process is achieved by the proximity switch 2035 and the translation limit plate.

[0264] The proximity switch 2035 monitors the position of the solid waste cover 2036 in real time. When the solid waste cover 2036 is fully closed or opened, the system will automatically feedback to ensure the accuracy and safety of the operation. The automated design reduces manual intervention, reduces the risk of cross infection, and protects the health and safety of operators. The mechanism of combining horizontal and vertical sliding makes the opening and closing of the solid waste cover 2036 quick and efficient, which meets the needs of rapid processing in emergency situations. The application of the proximity switch 2035 ensures that the solid waste cover 2036 is always in the correct position during operation to avoid erroneous operations caused by human factors. The design of the mechanical structure reduces the possibility of wear and failure and increases the overall service life of the equipment. The clear distribution and functional division of each component makes daily inspection and maintenance more convenient and improves the maintainability of the equipment. Ensuring the sealed treatment of solid waste reduces the risk of pollution to the environment, meets environmental protection requirements, and contributes to sustainable development.

[0265] In one embodiment, see Fig.26 and Fig. 27 The above-mentioned syringe fixing structure 2040 includes a separation seat 2041 and a fixing seat 2042 . The separation seat 2041 is connected to the top of the adapter mounting plate 2038 , and the fixing seat 2042 is connected to one side of the separation seat 2041 .

[0266] In one embodiment, see Fig.26 and Fig. 27 The fixing seat 2042 is provided with a placement hole 20421 , and a notch 20422 is provided on one side of the fixing seat 2042 , and the placement hole 20421 is communicated with the notch 20422 .

[0267] The separation seat 2041 is fixed above the adapter mounting plate 2038, providing a support platform that can effectively carry the syringe 96. The fixing seat 2042 is connected to one side of the separation seat 2041, and has a placement hole 20421 and a notch 20422 design.

[0268] When the syringe 96 needs to be fixed, the robot arm 3 drives the clamping assembly to clamp the syringe 96 and inserts the syringe 96 into the placement hole 20421. After the syringe 96 fixing assembly is aligned with the solid waste port u2011, the clamping assembly, driven by the robot arm 3, first pulls out the needle part of the syringe 96, causing it to fall from the solid waste port u2011 into the radiation-proof container. Then, the clamping assembly, driven by the robot arm 3, clamps the remaining part of the syringe 96, causing it to fall from the solid waste port u2011 into the radiation-proof container, thereby completing the entire syringe 96 recovery process.

[0269] The notch 20422 of the fixing seat 2042 allows the needle part of the syringe 96 to pass through, so that the main body of the syringe 96 can be firmly fixed in place. Due to the design of the notch 20422, the syringe 96 can be easily aligned when placed, and will not fall off at the same time, ensuring safety during use.

[0270] The structural design of the fixing seat 2042 enhances the stability of the syringe 96 and prevents it from tilting or moving during operation, thereby improving the accuracy of the operation.

[0271] By combining the separation seat 2041 and the fixing seat 2042 , the syringe 96 can remain stable during use, thereby reducing misoperation caused by instability.

[0272] The design of the placement hole 20421 and the notch 20422 simplifies the placement and removal process of the syringe 96, improves the operating efficiency, and facilitates the user to quickly perform an injection.

[0273] The fixed design prevents the syringe 96 from accidentally falling off, reduces the risk of needle stick injuries, and ensures the safety of the operator.

[0274] This structure can be applied to various models of syringes 96, has good versatility, and is adaptable to different usage scenarios.

[0275] It has a simple structure and a smooth surface, is easy to clean and disinfect, and meets the hygiene requirements of medical devices.

[0276] It adopts a simple mechanical design, has a relatively low manufacturing cost, and is practical and suitable for widespread use in medical environments.

[0277] Through the above working principles and benefits, the syringe fixing structure 2040 can effectively improve the safety and efficiency of the injection process and play an important role in promoting medical operations.

[0278] In one embodiment, see Fig.28 The above-mentioned clamping assembly includes a clamping cylinder 71 and a clamping jaw. The clamping cylinder 71 is connected to the robot arm 3. The clamping jaw includes a V-shaped left clamping jaw 72 and a V-shaped right clamping jaw 73. The V-shaped left clamping jaw 72 and the V-shaped right clamping jaw 73 are respectively connected to the clamping cylinder 71.

[0279] In this embodiment, the clamping cylinder 71 is used as a power source 1031, connected to the robot arm 3, and is responsible for controlling the opening and closing of the clamping jaws. The V-shaped left clamping jaw 72 and the V-shaped right clamping jaw 73 are connected to the clamping cylinder 71 through connecting rods, respectively. When the cylinder is activated, the two clamping jaws move in coordination.

[0280] After receiving the command, the clamping cylinder 71 drives the clamping jaws to move inward or outward. When the clamping jaws move inward, the V-shaped left clamping jaw 72 and the V-shaped right clamping jaw 73 will move closer to each other to clamp the target object. After the clamping jaws clamp, the robot arm 3 can move the object smoothly to complete the task of moving and pulling out the syringe 96.

[0281] 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 transportation. The design of the V-shaped clamp enables it to clamp objects of various shapes, improving the applicability of the system. The clamping cylinder 71 responds quickly and can achieve rapid switching between clamping and releasing, thereby improving transportation efficiency. The V-shaped structure can apply pressure evenly during clamping, increasing the stability of the object and reducing shaking during transportation. The combination of the robotic arm 3 and the clamping cylinder 71 makes the operation more automated, reduces manual intervention, and improves operational convenience.

[0282] The design of the gripping assembly reduces the risk of objects slipping, ensures safety during handling, and protects operators and equipment.

[0283] The gripping component can be widely used in various industrial and logistics scenarios, such as automated warehouses, assembly lines, etc., to meet different handling needs.

[0284] Through this gripping component, the system can achieve flexible, stable and efficient object handling, providing strong support for automated production and logistics.

[0285] The working process of the solid waste cover 2036 of the packaging equipment and the needle removal mechanism 20 of this embodiment is as follows:

[0286] When there is no need to discard the solid waste, the robot 3 drives the clamping assembly 7 to move the solid waste cover 2036 to the top of the solid waste port u2011. When the proximity sensor on one side of the solid waste port u2011 detects the solid waste switch cover structure 2030, the robot 3 drives the clamping assembly 7 to lower the longitudinal moving cylinder 2037 and block the solid waste port u2011 with the solid waste cover 2036.

[0287] When solid waste needs to be discarded, the robot arm 3 drives the clamping assembly 7 to move the longitudinal moving cylinder 2037 upward, so that the solid waste cover 2036 is separated from the solid waste opening u2011. At this time, the clamping assembly 7 moves the longitudinal moving cylinder 2037 to move along the second slide rail 2032, thereby moving the solid waste cover 2036 to the other side, ensuring that there is a certain space separation between the solid waste cover 2036 and the solid waste opening u2011, until the proximity sensor on the other side senses the solid waste switch cover structure 2030.

[0288] If the separated syringe 96 needs to be discarded, the robot arm 3 drives the clamping assembly 7 to first clamp the syringe 96 on the syringe 96 separation seat 2041. After the syringe 96 is in place, the robot arm 3 drives the clamping assembly 7 to move downward to pull out the needle and directly throw the needle into the solid waste port u2011. Then, the needle tube of the syringe 96 is clamped again and thrown into the solid waste port u2011.

[0289] This design utilizes the linkage of the vertical cylinder with the robotic arm 3 and the clamping assembly to realize the opening and closing of the solid waste cover 2036 and the removal of the needle, thereby overcoming the limitations of the existing mechanism and expanding the function of the solid waste cover 2036 opening and closing mechanism.

[0290] The above-mentioned switch cover and needle removal mechanism 20 includes a base plate 2010, a mechanical arm 3, a solid waste switch cover structure 2030, a syringe fixing structure 2040 and a clamping assembly. The mechanical arm 3 is installed on the base plate 2010, the solid waste switch cover structure 2030 is also fixed on the base plate 2010, the syringe fixing structure 2040 is connected to the solid waste switch cover, and the clamping assembly is located at one end of the mechanical arm 3. A solid waste port u2011 is provided on the base plate 2010, and a radiation-proof container is placed underneath to collect solid waste.

[0291] In this embodiment, doors are respectively provided on both sides of the above-mentioned transmission channel 112 and the connecting channel 132. The door of the transmission channel 112 close to the injection liquid capping biopsy chamber 12 is called the rear right door 122; the door of the transmission channel 112 close to the labeling light inspection recovery chamber 11 is called the rear left door 111; the door of the connecting channel 132 close to the loading chamber 13 is called the front left door 131; the door of the connecting channel 132 close to the injection liquid capping biopsy chamber 12 is called the front right door 121.

[0292] The process of the entire device is as follows:

[0293] The consumables and packaging materials used in production enter through the Class B clean area, i.e. the loading chamber 13, and are placed in the temporary storage position for feeding through the front left door 131. Then, the consumables and packaging materials in the temporary storage position for feeding are transferred from the Class A clean area, i.e. the injection-liquid cap biopsy chamber 12, to the Class A clean area for standby use.

[0294] The cleaning connector 1093 is taken out by the mechanical arm 3 and installed on the cleaning mounting seat 1092. After automatic connection, the pipeline cleaning device 2 is started for automatic cleaning. After the cleaning is completed, the cleaning connector 1093 and the filter 95 are automatically separated, and the filter 95 is cleaned in sequence.

[0295] The filter membrane is manually connected to the long needle and placed in the filter membrane temporary storage position f of the temporary storage positioning tray 8. Then the long needle is connected to the 5 ml syringe 96 and placed in the syringe temporary storage position e of the temporary storage positioning tray 8. At the same time, the two filter membranes are connected to the long needle and placed in the filter membrane temporary storage position f of the temporary storage positioning tray 8.

[0296] Take a 30ml empty bottle as a waste liquid bottle, discard its aluminum cap, put its rubber stopper in the rubber stopper temporary storage position of the temporary storage positioning tray 8, and place the bottle 94 in the waste liquid bottle position k of the temporary storage positioning tray 8. After unpacking, the remaining materials are placed in the corresponding positions in the tray for use.

[0297] The mechanical arm 3 is used to take out the syringe 96 and install it in the syringe installation position n of the automatic injection mechanism 4. Next, the needle protection cap is removed and placed in the needle protection cap temporary storage position g of the automatic injection mechanism 4.

[0298] The filter membrane with the needle is installed on the bracket of the mother liquid bottle receiving position q of the automatic injection mechanism 4 by using the mechanical arm 3 and connected automatically. Then the needle protection cap is removed again and placed in the needle protection cap temporary storage position g of the automatic injection mechanism 4.

[0299] Use the robot arm 3 to take out the mother liquid bottle 1080 from the mother liquid bottle temporary storage position c, and move it to the plug removal assembly 440 to remove the aluminum cover and the plug respectively, and then put it at the weighing position j for weighing.

[0300] Use the robot arm 3 to move the mother liquid bottle 1080 at the weighing position j to the mother liquid bottle receiving position q to receive the liquid medicine.

[0301] A prompt box pops up. After the synthesis end transmission is completed, click Confirm.

[0302] Use the robot arm 3 to move the mother liquid bottle 1080 from the receiving position to the weighing position j, automatically calculate the weight of the mother liquid and convert it into volume, and display it on the software interface.

[0303] Use the robot arm 3 to take out the mother liquid bottle 1080 at the weighing position j, move it to the stopper gripper h / aluminum cover gripper i to put the stopper on, and then transfer it to the activity detection position p to measure the activity and display it on the software interface.

[0304] Use the robot arm 3 to take out the mother solution bottle 1080 at the activity detection position p for mixing.

[0305] Use the robot arm 3 to move the mother liquid bottle 1080 to the plug removal assembly 440 to remove the plug, and then transfer it to the mother liquid bottle loading position m.

[0306] Use the robot arm 3 to take out the waste liquid bottle and move it to the rubber stopper assembly 440, cover it with the rubber stopper and the aluminum cover, and then move it to the waste liquid bottle position k.

[0307] The syringe 96 is moved into the mother liquid bottle 1080 and extracted according to the filling plan.

[0308] Use the robot arm 3 to move the product bottle, i.e., the sub-packaging vial, from the product bottle temporary storage position d to the stopper removal assembly 440, remove the aluminum cover and the stopper respectively, and then transfer to the weighing position j for weighing.

[0309] Use the robot arm 3 to move the product bottle at the weighing position j to below the syringe installation position n for liquid medicine packaging.

[0310] Use the robot arm 3 to move the product bottle to the weighing position j, automatically calculate the weight of the product bottle and convert it into volume, which is displayed on the software interface.

[0311] Use the robot arm 3 to take out the product bottle at the weighing position j, move it to the stopper gripper h to cover it with a stopper, and then transfer it to the activity detection position p for activity measurement.

[0312] If the packaging target is met, proceed to the next step; if not, repeat steps 16-19 above.

[0313] Use the robot arm 3 to move the product bottle at the weighing position j to the aluminum cap gripping head i to cover the aluminum cap, and then transfer it to the capping position o for capping.

[0314] The robot arm 3 is used to move the product bottle at the capping position o to the discharging temporary storage position, and the rear right door 122 is automatically controlled to open.

[0315] Use the robot arm 3 to take out the product bottle at the temporary storage position, move it to the light inspection position 1, and then the left door 111 is automatically controlled to open.

[0316] Use robot arm 3 to move the product bottle at light inspection position l to labeling position b for labeling.

[0317] Use robot arm 3 to move the product bottle at labeling position b to product discharge port x, put it into lead can and pass it out.

[0318] Repeat steps 15-25.

[0319] The filter integrity module passes the programmed self-test.

[0320] The two filter membranes are automatically separated, and the end filter membrane is removed by the mechanical arm 3 and installed on the joint of the bubble point test position t.

[0321] The waste liquid bottle is taken out by the robot arm 3, and after removing the aluminum cover and the rubber plug from the rubber plug assembly 440, it is moved to the bubble point test position t to start the bubble point test.

[0322] After the test is completed, use the robot arm 3 to move the waste liquid bottle to the waste liquid bottle position k, take the tray rubber plug to cover the waste liquid bottle, and then move the waste liquid bottle to the temporary storage position for material discharge. The rear right door 122 is automatically controlled to open, and then use the robot arm 3 to move the waste liquid bottle to the solid waste port u2011, which is then automatically controlled by the solid waste port u2011 cover and the rear left door 111.

[0323] Use the robot arm 3 to take out the mother liquid bottle 1080 and move it to the rubber stopper gripper h and the aluminum cover gripper i to cover the rubber stopper and the aluminum cover, and then transfer it to the capping position o for capping.

[0324] Use the robot arm 3 to move the mother liquid bottle 1080 at the capping position o to the activity detection position p for activity measurement.

[0325] Use the robot arm 3 to move the mother liquid bottle 1080 at the activity detection position p to the temporary storage position for discharging, and the rear right door 122 is automatically controlled to open. Then use the robot arm 3 to move the mother liquid bottle 1080 at the temporary storage position for discharging to the solid waste port u2011, and then it is automatically controlled by the solid waste port u2011 cover and the rear left door 111.

[0326] Use the robot arm 3 to remove the needle protection cap and install it on the needle of the syringe 96, then remove the syringe 96 and move it to the temporary storage position for material discharge, and then the right door 122 is automatically controlled to open.

[0327] Use robot arm 3 to move syringe 96 from the temporary storage position to syringe 96 support, and then throw the injection needle into the solid waste outlet u2011

[0328] Use the robotic arm 3 to remove the syringe 96 bracket and throw it into the solid waste port u2011, which is then automatically controlled by the solid waste cover 2036 and the rear left door 111.

[0329] Use the robot arm 3 to remove the filter membrane at the bubble point test position t and move it to the mother liquid bottle receiving position q, and the two filter membranes are automatically connected.

[0330] Use robot arm 3 to remove the needle protection cap and install it on the needle at the bubble point test position t.

[0331] Use the robot arm 3 to move the filter membrane at the mother liquid bottle receiving position q to the temporary storage position for discharging, and the rear right door 122 is automatically controlled to open. Then use the robot arm 3 to move the filter membrane at the temporary storage position for discharging to the solid waste port u2011, which is then automatically controlled by the solid waste port u2011 cover and the rear left door 111.

[0332] In this embodiment, the labeling device 22, the light inspection device 21, the capping mechanism 5 and the activity detection mechanism 6 can be implemented by using existing equipment, which will not be described in detail here.

[0333] The above-mentioned automatic packaging equipment for radionuclide drugs is provided with a packaging chamber 1, a robotic arm 3, a labeling device 22, a light inspection device 21, a switch cover and needle removal mechanism 20, a temporary storage positioning tray 8, a mother liquid pipeline docking device 10, an automatic injection mechanism 4, a capping mechanism 5 and an activity detection mechanism 6; by integrating multiple functions into the packaging chamber 1, the complexity of the equipment and the required consumables are reduced, thereby improving the efficiency and accuracy of the operation; the clamping component of the robotic arm 3 is used to automatically complete the grasping and packaging of the drug, reducing manual intervention, and reducing errors and resource waste caused by manual operation; the mother liquid pipeline docking device 10 is designed to optimize the connection and disconnection quickly and accurately, improving the efficiency of drug injection and reducing the consumables required for multiple connections; the equipment adopts a modular design, so that different functional units can be flexibly replaced and maintained, simplifying the operating process, and reducing the overall maintenance cost and dependence on consumables.

[0334] In one embodiment, a working method performed by the above-mentioned radionuclide medicine automatic packaging device is also provided, comprising:

[0335] Send the mother liquid bottle 1080, the sub-packaging vial, the filter 95 and the syringe 96 to the temporary storage positioning tray 8;

[0336] The robot arm 3 clamps the mother liquid bottle 1080, the filter 95 and the syringe 96 through the clamping assembly to the mother liquid pipeline docking device 10 for cleaning and mother liquid injection;

[0337] The robot arm 3 clamps the mother liquid bottle 1080 and the syringe 96 after injection to the automatic injection mechanism 4 through the clamping assembly, and clamps the sub-filled syringe bottle to the automatic injection mechanism 4 for sub-filling and injection;

[0338] The robot arm 3 clamps the sub-filled vial after liquid filling through the clamping assembly to the capping mechanism 5 and the activity detection mechanism 6 for capping and activity detection;

[0339] The robot arm 3 moves the vials after capping and activity testing to the labeling device 22 and the light inspection device 21 for labeling and light inspection through the gripping assembly;

[0340] The robot arm 3 moves the syringe 96 to the switch cover and needle removal mechanism 20 through the clamping assembly to recover the syringe 96.

[0341] It should be noted that technicians in the relevant field can clearly understand that the specific implementation process of the working method performed by the above-mentioned automatic packaging equipment for radionuclide medicines can refer to the corresponding description in the embodiment of the above-mentioned automatic packaging equipment for radionuclide medicines. For the convenience and conciseness of the description, it will not be repeated here.

[0342] 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 packaging device for radionuclide medicine, characterized in that: include: A filling chamber, a robotic arm, a labeling device, a light inspection device, a switch cover and a needle removal mechanism, a temporary storage positioning tray, a mother liquid pipeline docking device, an automatic liquid injection mechanism, a capping mechanism and an activity detection mechanism; the labeling device, the light inspection device, the switch cover and the needle removal mechanism, the temporary storage positioning tray, the mother liquid pipeline docking device, the automatic liquid injection mechanism, the capping mechanism and the activity detection mechanism are respectively installed in the filling chamber; the robotic arm is connected with a clamping component.

2. The automatic packaging equipment for radionuclide medicine according to claim 1, characterized in that: The filling chamber is provided with a loading chamber, an injection and capping biopsy chamber and a labeling and light inspection recovery chamber. The number of the mechanical arms is at least two, one of which is arranged in the injection and capping biopsy chamber, and the other is arranged in the labeling and light inspection recovery chamber. The labeling device, light inspection device, switch cover and needle removal mechanism are respectively placed in the labeling and light inspection recovery chamber, the mother liquid pipeline docking device, automatic injection mechanism, capping mechanism and activity detection mechanism are respectively placed in the injection and capping biopsy chamber, and the injection and capping biopsy chamber is connected with the labeling and light inspection recovery chamber through a transmission channel.

3. The automatic packaging equipment for radionuclide medicine according to claim 2, characterized in that: It also includes a cleaning device, which is connected to the mother liquid pipeline docking device. The cleaning device is located in the feeding chamber. A connecting channel is provided between the feeding chamber and the injection liquid capping biopsy chamber. An automatic door is provided on the side of the connecting channel close to the injection liquid capping biopsy chamber.

4. The automatic packaging equipment for radionuclide medicine according to claim 1, characterized in that: The automatic liquid injection mechanism includes: a filling base, a screw liquid injection assembly, a placement base and a plug removal assembly, the placement base is located below the screw liquid injection assembly, the plug removal assembly is located on one side of the screw liquid injection assembly, the mechanical arm, the screw liquid injection assembly and the placement base are respectively installed on the filling base; the filling base is placed in the filling chamber.

5. The automatic packaging equipment for radionuclide medicine according to claim 4, 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 lower side 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; the side of the syringe clamping seat away from the secondary motor screw module is recessed toward the direction close to the secondary motor screw module to form an open groove.

6. The automatic packaging equipment for radionuclide medicine according to claim 4, characterized in that: The mother liquid pipeline docking device comprises a stand, a liquid receiving box, a moving assembly, a filter mounting seat and a mother liquid pipeline assembly, wherein the moving assembly and the mother liquid pipeline assembly are respectively connected to the stand, the filter mounting seat is connected to the moving assembly, the filter mounting seat is located below the mother liquid pipeline assembly, the liquid receiving box is connected to one side of the stand, the liquid receiving box is located below the filter mounting seat, the stand is mounted on the sub-packaging bottom plate, and the liquid receiving box is placed on the sub-packaging bottom plate; The filter mounting seat is provided with a plurality of filter opening slots; It also includes a ball screw. The filter mounting seat is provided with a plurality of mounting holes. The mounting holes are communicated with the filter opening grooves. The ball screw is located in the mounting holes.

7. The automatic packaging equipment for radionuclide medicine according to claim 4, characterized in that: The switch cover and needle removal mechanism include: a base plate, a solid waste switch cover structure and a syringe fixing structure; the robotic arm is mounted on the base plate, the solid waste switch cover structure is mounted on the base plate, and the syringe fixing structure is connected to the fixed switch cover; a solid waste port is provided on the base plate, and a radiation-proof container is placed below the solid waste port; the base plate is mounted in the filling chamber.

8. The automatic packaging equipment for radionuclide medicine according to claim 4, characterized in that: The temporary storage positioning tray comprises: a tray fixing assembly and a tray orifice plate assembly, the tray orifice plate assembly is provided with through holes for placing containers, the tray orifice plate assembly is installed above the tray fixing assembly; the tray fixing assembly is installed on the sub-packaging bottom plate.

9. The automatic packaging equipment for radionuclide medicine according to claim 1, characterized in that: It also includes a transfer structure for compatible filters and syringes, the transfer structure includes: a transfer base, a first fixing seat for placing bottles, and a second fixing seat for placing filters and syringes, the first fixing seat and the second fixing seat are respectively connected to the transfer base; the transfer base is connected to the filling chamber.

10. A working method performed by the automatic packaging equipment for nuclide medicine according to any one of claims 1 to 9, characterized in that: include: Send the mother solution bottles, sub-filling vials, filters and syringes to the temporary storage positioning tray; The robot arm clamps the mother liquid bottle, filter and syringe to the mother liquid pipeline docking device through the clamping component for cleaning and mother liquid injection; The robot arm clamps the mother liquid bottle and the syringe after injection to the automatic injection mechanism through the clamping component, and clamps the sub-filled vial to the automatic injection mechanism for sub-filling and injection; The robot arm clamps the sub-filled vial after liquid filling through the clamping component to the capping mechanism and the activity detection mechanism for capping and activity detection; The robot arm moves the vials that have been capped and tested for activity to the labeling device and light inspection device for labeling and light inspection through the gripping component; The robot arm moves the syringe to the switch cover and needle removal mechanism through the clamping component to recycle the syringe.

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