Automatic nuclide medicine dispensing device and working method thereof

Abstract

The embodiment of the application discloses a kind of radionuclide medicine automatic subpackaging equipment and working method thereof, the equipment includes: subpackaging chamber, mechanical arm, labeling device, lamp inspection device, switch cover and needle pulling mechanism, temporary storage positioning tray, mother liquor pipeline docking device, automatic liquid injection mechanism, gland mechanism and activity detection mechanism;The cleaning device, labeling device, lamp inspection device, switch cover and needle pulling mechanism, temporary storage positioning tray, mother liquor pipeline docking device, automatic liquid injection mechanism, gland mechanism and activity detection mechanism are respectively installed in the subpackaging chamber;Mechanical arm is connected with clamping component on it.By implementing the equipment of the embodiment of the application, the complexity of consumable use and manual operation can be reduced.

Description

Technical Field

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

[0002] The packaging of radionuclide drugs typically requires numerous consumables, such as three-way valves and piping, to ensure accurate drug solution dispensing. During this process, operators must manually connect each consumable, which not only complicates the workflow but also significantly increases the risk of error, potentially leading to inaccurate dispensing or drug solution leakage.

[0003] Furthermore, using longer tubing can lead to drug residue on the tubing walls, resulting in drug waste and contamination. This residue not only affects drug quality but can also adversely affect subsequent batches of packaging, further impacting patient safety.

[0004] Because radionuclide medicines are radioactive, the associated piping and consumables need to be replaced regularly. This is especially true when producing new radionuclide medicines, as almost all of these piping and consumables are single-use. This means that operators need to replace a complete set of consumables after each repackaging, increasing operational complexity and time costs.

[0005] Furthermore, frequent replacement of these consumables carries significant economic costs, increasing overall production expenses and potentially negatively impacting the company's profitability. During the replacement process, operators are exposed to the risk of direct exposure to radioactive materials, posing a significant health risk.

[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 an automatic packaging device for radionuclide medicine 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: providing 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, light inspection device, switch cover and needle removal mechanism, temporary storage positioning tray, mother liquid pipeline docking device, automatic liquid injection mechanism, capping mechanism and activity detection mechanism are respectively installed in the packaging chamber; the robotic arm is connected to a clamping assembly.

[0009] Further technical solutions thereof are that the sub-packaging chamber is internally provided with a feeding cavity, a liquid injection and cap pressing cavity, and a labeling and light inspection and recycling cavity; the number of the mechanical arms is at least two, one of which is arranged in the liquid injection and cap pressing cavity, and the other is arranged in the labeling and light inspection and recycling cavity; the labeling device, the light inspection device, the switch cover, and the needle head pulling mechanism are respectively arranged in the labeling and light inspection and recycling cavity; the mother liquor pipeline docking device, the automatic liquid injection mechanism, the cap pressing mechanism, and the activity detection mechanism are respectively arranged in the liquid injection and cap pressing cavity; and the liquid injection and cap pressing cavity and the labeling and light inspection and recycling cavity are communicated through a transmission channel.

[0010] Further technical solutions thereof are that the cleaning device is connected with the mother liquor pipeline docking device, is arranged in the feeding cavity, and is provided with a communication channel between the feeding cavity and the liquid injection and cap pressing cavity, and an automatic door is arranged on the side of the communication channel close to the liquid injection and cap pressing cavity.

[0011] Further technical solutions thereof are that the automatic liquid injection mechanism comprises a sub-packaging bottom plate, a screw rod liquid injection assembly, a placement base, and a rubber plug taking assembly; the placement base is arranged below the screw rod liquid injection assembly; the rubber plug taking assembly is arranged on one side of the screw rod liquid injection assembly; and the mechanical arm, the screw rod liquid injection assembly, and the placement base are respectively mounted on the sub-packaging bottom plate; and the sub-packaging bottom plate is arranged in the sub-packaging chamber.

[0012] Further technical solutions thereof are that the screw rod liquid injection assembly comprises a primary motor screw rod module, a secondary motor screw rod module, a module adapter seat, a syringe clamping seat, a syringe clamping assembly, a pull rod clamping jaw fixing seat, and a pull rod clamping assembly; the primary motor screw rod module is mounted on the sub-packaging bottom plate; the secondary motor screw rod module is connected with the primary motor screw rod module through the module adapter seat; the syringe clamping assembly is connected below the secondary motor screw rod module through the syringe clamping seat; the pull rod clamping assembly is connected on the secondary motor screw rod module through the pull rod clamping jaw fixing seat; the pull rod clamping assembly is arranged above the syringe clamping seat; and the side of the syringe clamping seat away from the secondary motor screw rod module is recessed towards the secondary motor screw rod module, forming an open groove.

[0013] Further technical solutions thereof are that the mother liquor pipeline docking device comprises a stand, a liquid receiving box, a moving assembly, a filter mounting seat, and a mother liquor pipeline assembly; the moving assembly and the mother liquor pipeline assembly are respectively connected on the stand; the filter mounting seat is connected with the moving assembly; the filter mounting seat is arranged below the mother liquor pipeline assembly; the liquid receiving box is connected on one side of the stand; the liquid receiving box is arranged below the filter mounting seat; the stand is mounted on the sub-packaging bottom plate; and the liquid receiving box is arranged 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 slots. 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 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.

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

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

[0021] The robotic arm uses the clamping assembly to clamp the mother liquid bottle, filter and syringe to the mother liquid pipeline docking device for cleaning and mother liquid injection;

[0022] The robotic arm uses the gripping assembly to clamp the mother liquid bottle and the syringe after injection to the automatic injection mechanism, and clamps the sub-filled syringe bottle to the automatic injection mechanism for sub-filling and injection;

[0023] The robotic arm uses the gripping assembly to grip the sub-filled vial and transfers it to the capping mechanism and the activity detection mechanism for capping and activity detection.

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

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

[0026] The beneficial effects of the present invention compared with the prior art are as follows: the present invention is provided with a filling chamber, a robotic arm, a labeling device, a light inspection device, a switch cover and a needle removal mechanism, a temporary 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 packaging of the drug, reducing manual intervention and reducing errors and resource waste caused by manual operation; the optimized mother liquid pipeline docking device can be connected and disconnected 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.

[0027] The present invention will be further described below with reference to 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 following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these 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 view of an automatic packaging device for radionuclide medicines according to an embodiment of the present invention;

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

[0032] Figure 4 A schematic diagram of the three-dimensional structure of the labeling device, light inspection device, switch cover and 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 robotic 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 the screw injection assembly, the plug removal assembly, and the 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 outer cover);

[0037] Figure 9 Schematic diagram of the three-dimensional structure of the screw injection assembly provided in the embodiment of the present invention Figure 2 (remove outer cover);

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

[0039] Figure 11 A schematic diagram of the three-dimensional structure of the plug removal assembly provided in an embodiment of the present invention (without the protective cover);

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

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

[0042] Figure 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] Figure 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] Figure 16 A schematic diagram of the three-dimensional structure of a filter mounting base provided in an embodiment of the present invention;

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

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

[0047] Figure 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] Figure 20 A schematic diagram of the exploded structure of a temporary storage and positioning tray provided in an embodiment of the present invention;

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

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

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

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

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

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

[0055] Figure 27 Schematic diagram of the solid waste switch cover structure, syringe fixing structure, and syringe stereoscopic structure provided by an embodiment of the present invention;

[0056] Figure 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. Connecting channel; 2. Cleaning device; 3. Robotic arm; 4. Automatic injection mechanism; 410. Packaging bottom plate; 420. Screw injection assembly; 421. First-stage motor screw module; 422. Second-stage motor screw module; 423. Module adapter; 424. Syringe clamping seat; 4241. Opening slot; 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 clamp 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. Remove plug assembly; 441. Remove 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 clamping jaw; 73. V-shaped right clamping jaw; 8. Temporary 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 plate ; 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 removal 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 limiting block; 2035, proximity switch; 2036, solid waste cover; 2037, longitudinal movement cylinder; 2038, adapter mounting plate; 2040, syringe fixing structure; 2041, separation seat; 2042, fixing seat; 20421, placing hole; 20422, notch; 21, lamp inspection device; 22, labeling device; b, labeling position; c, mother liquor bottle temporary storage position; d, product bottle temporary storage position; e, syringe temporary storage position; f, filter membrane temporary storage position; g, needle protection cap temporary storage position; h, rubber plug grabbing head; i, aluminum cap grabbing head; j, weighing position; k, waste liquid bottle position; l, lamp inspection position; m, mother liquor bottle dispensing position; n, syringe installation position; o, capping position; p, activity detection position; q, mother liquor 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 technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the protection scope of the present application.

[0060] It should be understood that the terms “comprise” and “include” as used in the specification and the appended claims indicate the presence of the described features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0061] It should also be understood that the terms used in the present application specification are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in the present application specification and the appended claims, unless otherwise clearly indicated by the context, the singular forms “a”, “an” and “the” are intended to include the plural forms.

[0062] It should be further understood that the term “and / or” as used in the present application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes these combinations.

[0063] During the packaging process of radionuclide drugs, operators must manually connect consumables such as three-way valves and tubing, complicating the process and increasing the risk of error. Long tubing can cause drug residue to form on the tube walls, resulting in waste and contamination, impacting drug quality and patient safety. Due to the radioactivity of radionuclide drugs, consumables must be regularly replaced, increasing operational complexity and time costs. Frequent consumable replacement also carries high financial costs, impacting the company's profitability. Furthermore, the risk of operator exposure to radioactive materials is significant and poses a health threat.

[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 operations.

[0065] Specifically, the automatic filling equipment for radionuclide medicines includes multiple key components, such as a filling 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 filling bottle, and the syringe 96 on a temporary tray, and completing a series of automated operations such as cleaning, filling, capping, activity detection, and labeling through the robotic arm 3. The design of this equipment is intended to improve the efficiency and safety of the filling of radionuclide medicines.

[0066] In order to better understand the above technical solution, the above technical solution will be described in detail below with reference to the accompanying drawings and specific implementation methods.

[0067] See also Figure 1 and Figure 2 The above-mentioned automatic filling equipment for radionuclide medicine includes: a filling 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 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 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 filling chamber 1; and a gripping assembly is connected to the robotic arm 3.

[0068] Specifically, the mother liquor bottle 1080, the sub-packaging 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, and the mother liquor pipeline is connected to clean the filter 95 to remove contaminants, and the mother liquor bottle 1080 is filled with liquid. The mechanical arm 3 grabs the mother liquor bottle 1080 after filling with liquid through the grabbing assembly, and the liquid in the mother liquor bottle 1080 is injected into the sub-packaging vial through the automatic filling mechanism 4 to ensure accurate injection volume. The mechanical arm 3 moves the sub-packaging vial to the capping mechanism 5 and the activity detection mechanism 6 to perform capping and activity detection. Then the labeling device 22 is used to label the corresponding label on the sub-packaging vial to ensure accurate information. Thereafter, the syringe 96 is recycled, and the completed sub-packaging bottle is moved to the finished product output position by the mechanical arm 3, waiting for subsequent processing or packaging.

[0069] During the entire process, the coordinated work of the mechanical arm 3 and the automatic operation of each mechanism greatly improve the sub-packaging efficiency and safety.

[0070] In an embodiment, referring to Figure 2 The sub-packaging chamber 1 described above is provided with a loading cavity 13, a liquid filling, capping and activity detection cavity 12, and a labeling, light detection and recycling cavity 11. The number of mechanical arms 3 is at least two, one of which is arranged in the liquid filling, capping and activity detection cavity 12, and the other is arranged in the labeling, light detection and recycling cavity 11. The labeling device 22, the light detection device 21, the cap opening and needle pulling mechanism 20 are respectively placed in the labeling, light detection and recycling cavity 11. The mother liquor pipeline connection device 10, the automatic liquid filling mechanism 4, the capping mechanism 5 and the activity detection mechanism 6 are respectively placed in the liquid filling, capping and activity detection cavity 12. The liquid filling, capping and activity detection cavity 12 and the labeling, light detection and recycling cavity 11 are connected through a transmission channel 112.

[0071] In this embodiment, by partitioning the mechanisms with different functions, multiple functions can be realized in a limited space, improving the space utilization of the sub-packaging chamber 1. There are at least two mechanical arms 3, which can simultaneously perform multiple steps such as liquid filling, capping, light detection and labeling, greatly improving the overall work efficiency and reducing the operation time. By partitioning different operations, especially separating the liquid filling and labeling steps, the risk of cross-contamination of drugs between different operations is reduced, ensuring drug quality.

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

[0073] By separating different devices, maintenance and inspection can be more convenient, and downtime caused by faults can be reduced.

[0074] The operations in each chamber are carried out independently, reducing 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 equipped to monitor the status of the medicine in real time, ensuring that each sub-filled bottle meets the standards and improving the consistency and reliability of the product.

[0076] Through the combination of the robotic 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 packaging equipment for radionuclide medicine 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 loading chamber 13. A connecting channel 132 is provided between the loading 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 improved 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 blockage, 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 liquid injection mechanism 4 includes: a filling base plate 410, a screw liquid injection component 420, a placement base 430 and a plug removal component 440. The placement base 430 is located below the screw liquid injection component 420. The robotic arm 3 is connected to the clamping component. The plug removal component 440 is located on one side of the screw liquid injection component 420. The robotic arm 3, the screw liquid injection component 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 robotic 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 designated 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 and pulls the pull rod of the syringe 96 to perform a liquid suction operation to extract the liquid into the syringe 96. The robotic arm 3 moves the sub-packaging syringe bottle to the bottom of the stopper removal assembly 440, and the upward operation causes the stopper removal assembly 440 to remove the stopper. Finally, the robotic 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 robotic arm 3 and automated liquid injection system significantly improve the speed and efficiency of liquid dispensing, reducing manual intervention. A screw injection assembly 420 ensures accurate injection volume, reduces human error, and improves drug quality. The equipment design includes a protective cover 470 and safety mechanisms to ensure operator safety and mitigate accidental risks. It can accommodate various sizes of mother liquor bottles 1080 and dispensing vials to meet diverse needs. The entire dispensing process is highly integrated and streamlined, making operations more convenient and contributing to improved production efficiency.

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

[0086] In this embodiment, the first-level motor screw module drives the second-level 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 second-level 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 robotic arm 3 places the mother liquid bottle 1080 on the designated base to ensure its stability and facilitate subsequent operations.

[0088] The first-stage motor screw module 421 starts, driving the entire assembly to the injection position. Thereafter, the second-stage motor screw module 422 starts, driving the rod clamping claw fixed seat 426 through the second-stage motor screw module 422, causing the rod clamping assembly 427 to adjust to the appropriate height to facilitate the smooth aspiration of the mother liquid into the syringe 96. The first-stage motor screw module 421 starts, driving the entire assembly upward. Thereafter, the robotic arm 3 cooperates with the clamping assembly 7 to clamp the sub-filled vial with the stopper removed and place it in the placement seat. The first-stage motor screw module 421 starts, driving the entire assembly to the injection position. The second-stage motor screw module 422 starts, driving the rod clamping claw fixed seat 426 through the second-stage motor screw module 422, causing the rod clamping assembly 427 to descend to the appropriate 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 robotic arm 3 moves the vial to the subsequent processing area.

[0089] By automating the injection process, manual intervention and operation time are significantly reduced, thereby improving production efficiency; the screw injection assembly 420 ensures the accuracy of the injection volume, avoiding errors caused by human factors, thereby ensuring the quality and safety of drugs; 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 operators only need to perform simple settings, making it easy to get started; 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 workers' labor intensity, reduces fatigue, and improves job satisfaction; the automated system can record data for 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 , wherein the first-stage motor screw module 421 and the second-stage motor screw module 422 are respectively located in the outer cover 460 , and the outer cover 460 is connected to the sub-packaging bottom plate 410 .

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

[0096] Robotic arm 3 activates, driving clamping assembly 7 toward syringe 96. The lugs of syringe 96 are inserted into openings 4241 in the clamping base, initially securing syringe 96. Rod clamping cylinder 4271 activates, operating the rod clamping grippers to clamp the rod of syringe 96 for precise positioning. The syringe barrel clamping grippers secure the syringe barrel to ensure stability.

[0097] During the injection process, the primary motor lead screw module 421 and the secondary motor lead screw module 422 remain stable to ensure that the syringe 96 does not deviate. When it is necessary to replace the syringe 96, the syringe barrel clamping air claw and the pull rod clamping air claw are opened simultaneously to release the clamping force; the mechanical arm 3 easily removes the syringe barrel for transportation or replacement.

[0098] The V-shaped left and right claw head design makes clamping more stable, reduces errors caused by vibration or external force, and improves the accuracy of injection; the automatic clamping and unlocking mechanism reduces human intervention and 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 various needs, and improve the flexibility of the equipment. The design of the outer cover 460 protects the internal components from dust or other external factors that affect 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. Through the control of the mechanical arm 3, each operation step is simple and clear, and even non-professionals can quickly get started.

[0099] In an embodiment, referring to Figure 12 The placement base 430 described above is provided with a placement cavity, and the bottom of the placement cavity is inclined to the direction close to the syringe 96. This is to facilitate the complete absorption of the liquid in the mother liquor bottle 1080 into the syringe 96.

[0100] In an embodiment, referring to Figure 10 The automatic liquid injection mechanism 4 described above further includes a protective cover 470 located on one side of the outer cover 460, and one end of the rubber plug assembly 440 is connected in the protective cover 470.

[0101] In an embodiment, referring to Figure 10 and Figure 11 The rubber plug assembly 440 described above includes a rubber plug cylinder 441 and a plurality of clamping blocks 442. The plurality of clamping blocks 442 are arranged around the center point of the lower end surface of the rubber plug cylinder 441 at intervals, and the plurality of clamping blocks 442 are connected with the rubber plug cylinder 441.

[0102] In addition, the inner side of the clamping block 442 is provided with an arc-shaped groove, and the arc-shaped grooves of the plurality of 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, the main purpose is to protect the internal components from the external environment, while ensuring the safety of operation.

[0104] The rubber plug assembly 440 includes a rubber plug cylinder 441 and a plurality of clamping blocks 442. The plurality of clamping blocks 442 are arranged around the center point of the lower end surface of the cylinder at intervals, forming a stable clamping structure.

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

[0106] When the plug needs to be removed, the plug removal cylinder 441 is activated, and the clamping block 442 moves downward and clamps the plug to ensure that it is firmly grasped. After the clamping is completed, the cylinder drives the clamping block 442 to pull out the plug with a combined force, and the plug removal operation is successfully completed.

[0107] The design of the protective cover 470 effectively protects operators and equipment, reducing the risk of accidents; the spaced arrangement of the clamps 442 and the function of the cylinder make the plug removal process quick and stable, greatly improving work efficiency; this structure can adapt to plugs of different models and specifications to meet diverse usage requirements; the modular design of the clamps 442 and the cylinder facilitates disassembly and replacement, reducing maintenance costs and time; the precise control of the plug removal cylinder 441 ensures moderate clamping force to avoid damage to the plug, while ensuring accuracy in removal. The automated design reduces manual intervention, thereby reducing the possibility of operational errors and improving overall operational reliability. 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 automatic injection mechanism 4 for radionuclide medicine 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 workstation 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 workstation base 452 is placed above the weighing sensor 451.

[0110] In this embodiment, the robotic arm 3 drives the gripping assembly 7, which grips the dispensing vial with the stopper removed and places it on the workstation base 452. At this point, a load cell 451 monitors the container's weight in real time. The load cell 451 is connected to the housing 460 via a sensor mount 453, transmitting real-time container weight data to the control system. This data is used to determine the accuracy and dosage of the drug. The load cell 451 can be automatically calibrated based on a 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 and weigh it again to ensure that the target dosage has been reached and that the amount of drug injected meets the predetermined requirements. If the standard is met, the system will end the injection operation.

[0112] Monitoring by the weighing assembly 450 ensures the accuracy of each drug injection, reduces human operational errors, minimizes manual intervention, and improves production efficiency and operational safety. Real-time recording of weighing data provides a reliable basis for drug quality control, helping 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, making it easy to use. Precise control of the injection volume can effectively reduce drug waste, especially in the case of high-value radionuclide drugs, which can better reflect its economic benefits.

[0113] In one embodiment, see Figure 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 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 operation more flexible and convenient.

[0115] In one embodiment, an induction plate is provided 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. 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, thereby avoiding 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, to maintain the safety and accuracy of the operation. The induction plate is set near one side of the pull rod clamp fixing seat 426 and is used to detect the status of the secondary motor screw module 422. When the secondary motor screw module 422 reaches the specified position, the induction plate can provide real-time feedback information to help the system determine the status 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 robotic 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 pull rod parts 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, and the needle portion of the syringe 96 is inserted 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 pull rod clamping assembly 427 to rise, pulls the pull rod of the syringe 96 to perform the liquid aspiration 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, driving the entire structure to move upward.

[0126] Remove the rubber plug:

[0127] The robotic arm 3 grips the sub-filled vial through the gripping assembly and moves the sub-filled 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 robotic 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 robotic arm 3 places the subpackaged vial back onto the placement base 430 .

[0131] The first-stage motor screw module 421 works, driving 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 robotic 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 entire 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 liquid injection mechanism 4 significantly improves the liquid 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 robotic 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 gripping cylinder 71 serves as the power source 1031 and is connected to the robotic arm 3, responsible for controlling the opening and closing of the gripping jaws. The V-shaped left gripping jaw 72 and the V-shaped right gripping jaw 73 are each connected to the gripping cylinder 71 via a connecting rod. When the cylinder is actuated, the two gripping jaws move in coordination.

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

[0139] The V-shaped design enables the clamping jaws 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 clamping jaws 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 base plate 410, a robotic arm 3, a clamping assembly, 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, and the plug removal assembly 440 is located on one side of the screw injection assembly 420. All components are mounted on the sub-packaging base plate 410 to realize automated liquid injection operations, realize the sub-packaging of radionuclide drug mother liquid using a 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 sub-packaging.

[0141] In one embodiment, see Figure 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, and 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 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] This device can be used in conjunction with a robotic arm 3, with a stand 1010 supporting various components. The mobile assembly 1030 and the mother liquid pipeline assembly 1050 are each connected to the stand 1010. The movement of the mobile assembly 1030 is driven by a power source 1031, controlling the movement of the filter mounting base 1040, ensuring that it is accurately docked below the mother liquid pipeline assembly 1050. The liquid collection box 1020 is laterally connected to the stand 1010, located below the filter mounting base 1040. This ensures that when the filter is automatically removed, mother liquid is prevented from splashing onto the machine panel, making it difficult to clean. Furthermore, it can promptly collect mother liquid in the event of an automation failure to prevent 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 simple to maintain; the set filter 95 and liquid collection box 1020 can effectively prevent liquid leakage and improve safety; the compact design makes the equipment take up less space when in use, suitable for application in a variety of environments.

[0144] In one embodiment, see Figure 16 The filter mounting seat is provided with a plurality of filter opening slots 10414241.

[0145] Specifically, the filter opening slot 10414241 includes an opening 934, which 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. The circular openings 934 facilitate the upper and lower ends of the filter 95 to be exposed when the filter 95 is placed.

[0146] In one embodiment, see Figures 14 to 16The mother liquor pipeline automatic docking device further comprises a glass bead screw 1060. The filter mounting seat is provided with a plurality of fourth mounting holes 1042, which are in communication with the filter opening slots 1041 4241. The glass bead screw 1060 is located in the fourth mounting hole 1042.

[0147] When the filter 95 is automatically placed in the filter opening slot 1041 4241 by the mechanical arm 3, the glass bead screw will automatically top the groove position at the upper end of the filter 95, achieving automatic clamping of the filter 95, thereby facilitating automatic docking of the filter 95 and the mother liquor pipeline assembly 1050.

[0148] The filter 95 is formed by combining a porous filter 95 and a non-porous filter 95. The top of the filter 95 is provided with a groove for the glass bead screw to top and automatically clamp.

[0149] In this embodiment, the filter mounting seat is used to conveniently install and fix a plurality of filters 95. The filter mounting seat is provided with a plurality of filter opening slots 1041 4241. Each opening slot 4241 comprises 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 parts of the filter 95 can be accessed by the external environment.

[0150] The upper end and the lower end of each filter opening slot 1041 4241 are provided with circular openings 934, which make it easy to place the filter 95 when installing. The circular openings 934 at the upper end and the lower end ensure that the filter 95 can be firmly fixed, avoiding displacement during use.

[0151] The device is also equipped with a glass bead screw 1060. The filter mounting seat is provided with a plurality of fourth mounting holes 1042, which are connected to the filter opening slots 1041 4241. The glass bead screw 1060 is installed in these holes. When the mechanical arm 3 automatically places the filter 95 in the filter opening slot 1041 4241, the glass bead screw 1060 will automatically top the groove at the top of the filter 95, ensuring that the filter 95 is firmly fixed in the opening slot 4241. This process achieves automatic clamping of the filter 95.

[0152] The filter 95 used is formed by combining a porous filter 95 and a non-porous filter 95, forming an effective filtration system. The top of the filter 95 is provided with a groove specially designed for clamping of the glass bead screw 1060, thereby enhancing the stability of the connection between the filter 95 and the mother liquor pipeline assembly 1050.

[0153] The device uses a robotic arm 3 to automatically grasp and place the filter 95, 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, ensuring the stability of the filter 95 in the open slot 4241 and preventing displacement or falling off due to vibration or pressure changes. The design of the filter 95 makes it easy to disassemble and replace, making the maintenance process simple and efficient. Users only need to easily remove the filter 95 for cleaning or replacement without complicated disassembly and assembly steps. The combination of porous and non-porous filters 95 can meet different filtering needs, enhancing the applicability of the equipment. Users can choose different filters 95 according to their specific needs, which increases the flexibility of the equipment. This 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 little 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 Figure 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 serves as the core driving part of the system and is responsible for providing the necessary power. It is fixed to one side of the stand 1010 via a power source mounting base 1032. The power source mounting base 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 from 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 via the first slider 1035, allowing the first slider 1035 to slide along the first slide rail 1034. The first slide rail 1034 is mounted on the stand 1010, and the first slider 1035 slides freely within the first slide rail 1034, allowing the drive plate 1033 to 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 a side of the filter mounting seat. Under the promotion of the first slide block 1035, the connecting plate 1036 can carry out 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 sensor sheet 1037, it can determine whether the current position meets the preset requirements.

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

[0160] During operation, the power source 1031 drives the first slider 1035 along the first slide rail 1034 via the drive plate 1033, thereby controlling the position of the connecting plate 1036. The system monitors and adjusts the docking state between the connecting plate 1036 and the filter 95 in real time through the cooperation of the photoelectric sensor and the induction plate 1037, ensuring a precise docking process.

[0161] This automatic docking device significantly improves the speed and efficiency of filter 95 docking by automating the movement and positioning of components, reducing manual operation time and ensuring a smooth workflow. The combination of the slot-shaped photoelectric sensor 1038 and the sensor plate 1037 provides real-time position feedback, enabling the device to accurately determine and adjust the position of the connecting plate 1036. This high-precision positioning reduces docking errors and ensures accurate connection of the filter 95. The robust design of the moving assembly 1030 and its efficient transmission system ensure long-term reliability, reducing the probability of mechanical failure and thus extending the device's service life. The system's flexible design accommodates a variety of filter 95 types, allowing users to adjust device settings according to their specific needs, enhancing the device's versatility. Automated operation reduces direct operator contact with the device, minimizing safety hazards. Furthermore, a real-time monitoring system ensures that the device can be shut down promptly in the event of an abnormality, ensuring safe operation. Designed for easy assembly and disassembly, the process of maintaining and replacing the filter 95 is simplified, allowing users to quickly perform maintenance and reducing 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 Figure 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 Figure 14 The upper end of the above-mentioned stand 1010 extends horizontally outward to form an extension plate 1011. The extension plate 1011 is provided with a plurality of through holes 82. 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 aforementioned mother liquid pipeline automatic docking device further includes a protective cover 470 , which is connected to a side of the stand 1010 close to the moving component 1030 .

[0167] The plurality of male connectors 1051 are secured to the stand 1010 by nuts 1053, forming stable connection points. The male connectors 1051 are connected to the mother liquor pipes 1052, responsible for transporting the mother liquor to the filter 95. These pipes are connected through the male connectors 1051, forming a complete delivery system that transports the mother liquor from the source to the target filter 95.

[0168] The upper end of the stand 1010 extends horizontally, forming an extension plate 1011. The extension plate 1011 is provided with a plurality of through holes 82, which are aligned with the open slots 4241 of the filter 95. The male connectors 1051 are inserted into the through holes 82, ensuring the smooth flow of the mother liquor. The design of the through holes 82 allows the male connectors 1051 to accurately interface with the filter 95, so that the mother liquor does not leak during transmission.

[0169] The protective cover 470 is installed on the side of the stand 1010 close to the moving assembly 1030, providing additional protection for the equipment, preventing external objects or environmental factors from interfering with and damaging the internal components.

[0170] During system operation, the mother liquor pipes 1052 transport the mother liquor to the filter 95 through the male connectors 1051. The extension plate 1011 of the stand 1010 and the through holes 82 ensure the accuracy and stability of the interface. At the same time, the protective cover 470 effectively protects the internal components of the equipment, enhancing the safety of the system.

[0171] The automatic docking device forms an efficient fluid transmission system through the connection of the plurality of male connectors 1051 and the mother liquor pipes 1052, significantly improving the delivery speed of the mother liquor and reducing the operation time. The design of the extension plate 1011 and the through holes 82 of the stand 1010 ensures the accurate docking between the male connectors 1051 and the filter 95, reducing the risk of leakage due to improper docking and ensuring the reliability of the system. The structure of the male connectors 1051 fixed by the nuts 1053 ensures that they do not easily loosen during long-term use, improving the stability and reliability of the system and reducing the frequency of maintenance. The installation of the protective cover 470 effectively isolates external interference and protects internal components, reducing the risk of failure caused by external factors. At the same time, the protective cover 470 also provides additional safety protection for the operator. This design makes the disassembly and maintenance of the equipment more convenient, allowing users to quickly perform daily inspections and maintenance, reducing downtime and improving the availability of the equipment. The design of the male connectors 1051 and the mother liquor pipes 1052 allows the system to be adjusted and expanded according to actual needs, adapting to different production requirements and enhancing the flexibility and versatility of the equipment.

[0172] In this embodiment, the mother liquor pipes 1052 are connected to the mother liquor supply equipment or the foaming equipment for 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 Figure 14 、 Figure 17 and Figure 18 The above-mentioned mother liquor 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 the 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 component 1090 .

[0177] Cleaning mount 1092 is connected to cleaning fixture 1091 and is designed in a circular ring. An inner retaining ring 10921 is located within cleaning mount 1092, forming an enclosed space for accommodating cleaning connector 1093. Cleaning connector 1093 is located within cleaning mount 1092 and abuts against inner retaining ring 10921, responsible for docking filter 95 and cleaning it.

[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 1091 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 fluid to effectively reach the filter 95, ensuring that residual substances and impurities in the filter 95 are completely removed, thereby improving the efficiency of cleaning. The structure of the cleaning component 1090 allows operators 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 fixture 1091, in conjunction with the mounting ring 10911, ensures the stability of the cleaning component 1090 during long-term use and reduces 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 fluid to keep the equipment in optimal working condition.

[0181] By adding cleaning assembly 1090, the mother liquor line automatic docking device has significantly improved cleaning efficiency and operational convenience. The structural design of cleaning assembly 1090 not only enhances the system's functionality, but also improves the reliability and safety of the equipment, providing users with a better user experience.

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

[0183] In one embodiment, a two-way valve 10100 is installed on one side of the above-mentioned stand 1010 for installing the moving component 1030. The two-way valve 10100 is installed on the stand 1010 through a valve mounting plate. The two-way valve 10100 is connected to the mother liquid pipeline 1052 to realize 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, the motor of the moving component 1030 is started 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 picks up 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 and prepares for the next process.

[0188] During cleaning, the robot arm 3 places the filter 95 under the cleaning connector 1093 and then connects it to the cleaning connector for flushing.

[0189] The above-mentioned automatic docking device for the mother liquid pipeline ensures that the various parts are tightly connected by setting a stand 1010, a liquid receiving box 1020, a moving component 1030, a filter mounting seat 1040 and a mother liquid pipeline component 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 component 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 overall operational efficiency and reducing error rate.

[0190] See also Figure 19 , Figure 19 A schematic diagram of the three-dimensional structure 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 includes: a tray fixing component and a tray orifice plate 81 component, wherein the tray orifice plate 81 component is provided with a through hole 82 for placing the container, and the tray orifice plate 81 component is installed above the tray fixing component, and the tray fixing component 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 stoppers, etc. The surface of the tray fixing assembly is a flat surface, which can be wiped after the tray hole plate 81 assembly is removed, and the through hole 82 above the tray hole plate 81 assembly can also be wiped.

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

[0193] In one embodiment, see Figure 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 Figure 20 The lower end of the tray hole plate 81 is provided with a first mounting hole, and the positioning pin 83 is inserted into the first mounting hole.

[0195] In an embodiment, referring to Figure 20 The tray hole plate 81 assembly described above includes an adjustment structure connected below the tray hole plate 81 and connected with the tray fixing assembly.

[0196] In an embodiment, referring to Figure 20 The adjustment structure described above includes an adjustment screw 84, the upper end of which is connected with the tray hole plate 81; the lower end of which is connected with the tray fixing assembly. The adjustment screw 84 installed by the tray fixing assembly can be used to match the through hole 82 above the tray hole plate 81, so as to achieve the mechanical foolproof effect.

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

[0198] The tray hole plate 81 is connected with the tray fixing assembly through the positioning pin 83, ensuring its stability. When it is necessary to remove the tray hole plate 81 assembly, it can be easily disassembled by simple operation, facilitating cleaning.

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

[0200] The setting of the adjustment screw 84 ensures the accurate 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 detachable tray hole plate 81, it can be easily wiped and cleaned, keeping the operating environment sanitary. The height-adjustable design makes the tray suitable for a variety of containers, improving the adaptability and use efficiency of the equipment. Through the fixation of the positioning pin 83 and the fastening of the adjustment screw 84, the stability of the tray during use is ensured, reducing the risk of accidental tipping. The overall design simplifies the operation process, so that users can quickly get started and reduce training costs. The mechanical foolproof design reduces the possibility of improper operation, ensuring the safety of the operating personnel.

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

[0203] In an embodiment, referring to Figure 19 and Figure 20 The tray fixing assembly described above includes a tray fixing seat 85, and the tray hole plate 81 assembly is connected on the tray fixing seat 85.

[0204] In one embodiment, see Figure 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 Figure 20 The above-mentioned tray fixing assembly also includes a support rod 86, which is connected to the bottom of the tray fixing seat 85. The support rod 86 is mounted 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 Figure 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 for positioning and limiting 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 consists 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 to play a fixing and positioning role, preventing 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 being inserted 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 holder 85 and support rod 86 effectively increases the stability of the tray, avoiding the risk of tilting or accidental collapse. The plug-in design allows for easy replacement and maintenance of components, improving flexibility and efficiency. The use of locating pins 83 ensures the accurate positioning of the tray orifice plate 81 assembly, reducing instability during operation and thus improving safety. The design of support rod 86 enhances the tray's load-bearing capacity, making it suitable for more types and weights of containers and expanding its range of applications. The detachable nature of each component allows for easy cleaning and maintenance, maintaining 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 securely. The position and height of the orifice plate are changed by adjusting the structure (such as adjusting the screw 84) ​​to ensure that containers of different heights can be placed stably. A positioning pin 83 is provided between the tray orifice plate 81 and the tray fixed component to ensure that each container is placed in the correct position, thereby avoiding 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, preventing operational errors.

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

[0215] Support rods 86 enhance the tray's stability, preventing it from tilting or collapsing during operation and ensuring safe container placement. Container placement is strategically designed to prevent interference during operation, improving work efficiency. This allows for effective compatibility with a variety of containers, facilitates cleaning and disassembly, and reduces the risk of misplacement, thereby enhancing both efficiency and safety.

[0216] The tray of this embodiment is easy to clean, easy to disassemble and foolproof. It can realize the positioning of compatible product bottles and mother liquid bottles 1080, and supports the positioning of filters 95 and syringes 96. The tray adopts an adjustable orifice plate assembly, and realizes the adaptation of different containers through the through hole 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 is provided with a tray fixing component and a tray orifice plate 81 component installed above. The orifice plate is provided with a through hole 82 for placing the container, which can achieve 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, reducing the difficulty of cleaning and operation for staff and reducing the risk of misplacing the tray.

[0218] In one embodiment, see Figure 1 and Figure 21The automatic dispensing equipment for radionuclide medicine further includes a transfer structure 9 for a compatible filter 95 and a syringe 96. The transfer structure 9 includes a transfer base 91, a first fixing base 92 for placing a bottle 94, and a second fixing base 93 for placing the filter 95 and the syringe 96. 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 to the dispensing chamber 1.

[0219] In this embodiment, the support structure provides a stable platform, ensuring the safety and reliability of all components during transfer. It is specifically designed to hold bottle 94, preventing it from tipping over or leaking during transfer, and facilitating accurate access by the operator. It also secures filter 95 and syringe 96, ensuring they remain stable during transfer and use, preventing contamination or damage from shaking.

[0220] By securing the components, the risk of exposure to radioactive materials during manual handling is reduced, protecting the health of operators. The rational structural design simplifies the transfer process, shortens operation time, and improves work efficiency. The stable mounting base 2042 prevents contamination of the filter 95 and syringe 96 during transfer, ensuring clean operation. The device's high compatibility allows it to accommodate different types of bottles 94, filters 95, and syringes 96, increasing its flexibility.

[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 Figure 21 and Figure 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 connected to the positioning pin 83 shaft respectively.

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

[0224] In one embodiment, see Figure 21 and Figure 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 top surface of the transfer base 91 features four protruding cylindrical locating pins 83. The heads of these pins 83 are angled for precise docking. Correspondingly, the bottom surfaces of the first and second mounting bases 92, 93 are provided with matching cylindrical holes. This design allows for precise installation and removal of the first and second mounting bases 92, 93, facilitating routine cleaning and maintenance.

[0226] In one embodiment, see Figure 21 and Figure 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 provided 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 further provided with a cylindrical stepped notch, namely, the 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 operation more flexible and convenient.

[0229] In one embodiment, see Figure 23 and Figure 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 Figure 23 and Figure 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 Figure 23 and Figure 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 both sides of the second fixing seat 93 , and the openings 934 are communicated with the through slot 933 .

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

[0234] In this embodiment, the lower end of the second fixing base 93 is provided with a plurality of second mounting holes 87 for inserting the locating pins 83 to ensure secure assembly installation. Furthermore, the upper end of the second fixing base 93 is recessed downward to form a second placement cavity 931. Furthermore, the second fixing base 93 also has a third placement cavity 932 located below the second placement cavity 931, and the two cavities are interconnected.

[0235] To improve functionality, a through slot 933 is provided inside the second fixing base 93, connecting the third placement cavity 932 to the through slot 933. It is worth mentioning that openings 934 are provided on both sides of the second fixing base 93, connecting 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 communicating hole 82 enhances the intercommunication between different cavities and facilitates operation and maintenance.

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

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

[0241] In this embodiment, the transfer structure 9 can more effectively cooperate with the robotic arm 3 to achieve automated transfer and processing of waste consumables in the nuclear medicine packaging field, thereby avoiding the radioactive hazards caused by manual transfer of waste consumables during traditional manual operations. Furthermore, the overall structure is compact, occupying minimal space, and can simultaneously process multiple waste consumables, such as bottles 94, mother liquid bottles 1080, filters 95, and syringes with needles 96. This design significantly reduces the space requirements of the hot cell.

[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 fixing base 92 and the second fixing base 93, the first fixing base 92 is used to place the bottle 94, and the second fixing 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 Figure 25 , Figure 25 A schematic diagram of the three-dimensional structure of the switch cover and needle removal mechanism 20 provided in an embodiment of the present invention; 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 robotic 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-proof container includes but is not limited to a lead barrel.

[0245] In this embodiment, the robotic arm 3 is fixed to the base plate 2010 and is responsible for moving and operating components such as the solid waste cover 2036 and the syringe 96. When solid waste is not being discarded, the solid waste opening u2011 is covered by the solid waste opening cover to prevent accidental leakage. Sensors monitor the position of the solid waste cover 2036 in real time to ensure it is properly closed.

[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 robotic arm 3 clamps the syringe 96 to the designated position, first removes 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 operations reduce manual contact, effectively lowering the risk of cross-infection and ensuring operator safety. Automated robotic arms and sensor systems quickly and accurately handle solid waste, improving efficiency and reducing labor costs. Precise structural design and sensor feedback mechanisms 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 handling of hazardous waste, meeting environmental standards and minimizing negative environmental impacts. Users can automate solid waste treatment with simple settings, simplifying operation and making it suitable for a variety of scenarios.

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

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

[0253] In one embodiment, see Figure 26 and Figure 27 The 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 base 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 support plate 2031.

[0254] In one embodiment, see Figure 26 and Figure 27 The above-mentioned horizontal 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 Figure 26 and Figure 27 The above-mentioned lateral sliding assembly also includes a proximity switch 2035, which is connected below the translation limit block 2034.

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

[0257] In the present embodiment, the lateral sliding assembly comprises a support plate 2031, a second sliding rail 2032 and a second sliding block 2033. The support plate 2031 is fixed on the bottom plate 2010, the second sliding rail 2032 provides a sliding path, and the second sliding block 2033 is connected to the second sliding rail 2032 and can freely move on the second sliding rail 2032.

[0258] The longitudinal sliding assembly comprises a longitudinal moving cylinder 2037 and an adapter mounting plate 2038. The cylinder is connected to the lateral sliding assembly through the second sliding block 2033, allowing the solid waste cover 2036 to move longitudinally.

[0259] The translation limiting block 2034 limits the movement range of the second sliding block 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 the solid waste port u2011 needs to be opened, the mechanical 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 the closed state to the open state. After that, the mechanical arm 3 drives the clamping assembly to clamp the longitudinal moving cylinder 2037, drives the longitudinal moving cylinder 2037 to slide along the second sliding rail 2032, until the syringe 96 fixing assembly is located directly above the solid waste port u2011.

[0261] When the solid waste treatment is completed, the mechanical arm 3 drives the clamping assembly to clamp the longitudinal moving cylinder 2037, drives 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 when the solid waste treatment is completed, before the solid waste cover 2036 moves downward, the mechanical arm 3 needs to drive the clamping assembly to clamp the longitudinal moving cylinder 2037, drive the longitudinal moving cylinder 2037 to slide on the second sliding rail 2032 to the position directly above 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 realized by the cooperation of the proximity switch 2035 and the translation limiting plate.

[0264] Proximity switch 2035 monitors the position of solid waste cover 2036 in real time. When solid waste cover 2036 is fully closed or open, the system automatically provides feedback to ensure accurate and safe operation. The automated design reduces manual intervention, lowers the risk of cross-infection, and protects the health and safety of operators. The combined lateral and longitudinal sliding mechanism enables quick and efficient opening and closing of solid waste cover 2036, adapting to the needs of rapid emergency response. The use of proximity switch 2035 ensures that solid waste cover 2036 is always in the correct position during operation, avoiding operational errors caused by human factors. The mechanical design reduces the possibility of wear and failure, thereby increasing the overall service life of the equipment. The clear layout and functional division of each component facilitates daily inspection and maintenance, improving the maintainability of the equipment. Ensuring the sealed handling of solid waste reduces the risk of environmental pollution, complies with environmental protection requirements, and contributes to sustainable development.

[0265] In one embodiment, see Figure 26 and Figure 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 Figure 26 and Figure 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.

[0268] When the syringe 96 needs to be fixed, the robotic 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 robotic 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 robotic 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, enabling the body of the syringe 96 to be firmly fixed in place. Due to the design of the notch 20422, the syringe 96 can be conveniently aligned when placed, while also preventing it from falling off, ensuring safety during use.

[0270] The structural design of the fixing seat 2042 enhances the stability of the syringe 96, preventing tilting or movement during operation, thereby improving the accuracy of the operation.

[0271] Through the combination of the separation seat 2041 and the fixing seat 2042, the syringe 96 can remain stable during use, reducing the risk of 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, improving operational efficiency and making it convenient for users to quickly perform injections.

[0273] The fixed design prevents accidental falling of the syringe 96, reducing the risk of needlestick injuries and ensuring the safety of the operator.

[0274] This structure can be applied to various models of syringes 96, has good universality, and is suitable for different use scenarios.

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

[0276] The simple mechanical design has relatively low manufacturing costs, while being practical and suitable for widespread application in medical environments.

[0277] Through the above working principle and benefits, the syringe fixing structure 2040 can effectively improve the safety and efficiency of the injection process, and has an important promoting effect on medical operations

[0278] In an embodiment, referring to Figure 28 The above-mentioned clamping assembly includes a clamping cylinder 71 and clamping jaws, the clamping cylinder 71 is connected with the mechanical arm 3, and the clamping jaws include a V-shaped left clamping jaw 72 and a V-shaped right clamping jaw 73, and the V-shaped left clamping jaw 72 and the V-shaped right clamping jaw 73 are respectively connected with the clamping cylinder 71.

[0279] In this embodiment, the clamping cylinder 71 serves as a power source 1031 and is connected with the mechanical 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 respectively connected with the clamping cylinder 71 through connecting rods, and when the cylinder acts, the two clamping jaws move coordinately.

[0280] Upon receiving the command, the gripping cylinder 71 drives the jaws inward or outward. When the jaws move inward, the V-shaped left jaw 72 and the V-shaped right jaw 73 move closer together, thereby gripping the target object. Once the jaws are gripped, the robotic arm 3 can smoothly move the object, completing the task of moving and extracting the syringe 96.

[0281] The V-shaped design enables the clamping jaws 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 clamping jaws 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] This 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 opening and closing cover and the needle removal mechanism 20 of the packaging equipment of this embodiment is as follows:

[0286] When solid waste does not need to be discarded, robotic arm 3 activates gripping assembly 7 to move solid waste cover 2036 above solid waste port u2011. When the proximity sensor on the side of solid waste port u2011 detects solid waste cover structure 2030, robotic arm 3 activates gripping assembly 7, engaging longitudinal movement cylinder 2037 to descend, blocking solid waste port u2011 with solid waste cover 2036.

[0287] When solid waste needs to be discarded, robotic arm 3 drives clamping assembly 7, moving longitudinal cylinder 2037 upward, allowing solid waste cover 2036 to disengage from solid waste opening u2011. At this point, clamping assembly 7 actuates longitudinal cylinder 2037, causing it to move along second slide rail 2032, thereby sliding solid waste cover 2036 to the other side, ensuring a certain distance between solid waste cover 2036 and solid waste opening u2011, until the proximity sensor on the other side senses the solid waste cover opening / closing structure 2030.

[0288] If the detached syringe 96 needs to be discarded, the robotic arm 3 drives the clamping assembly 7 to first clamp the syringe 96 onto the syringe 96 separation seat 2041. Once the syringe 96 is in place, the robotic arm 3 drives the clamping assembly 7 downward to remove the needle and directly discard it into the solid waste outlet u2011. Subsequently, the syringe 96 needle is re-clamped and discarded into the solid waste outlet 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 opening and closing mechanism of the solid waste cover 2036.

[0290] The above-mentioned switch cover and needle removal mechanism 20 includes a base plate 2010, a robotic arm 3, a solid waste switch cover structure 2030, a syringe fixing structure 2040 and a clamping assembly. The robotic 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 robotic 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, namely 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 to the Class A clean area for standby use by the Class A clean area, namely the injection-molded biopsy chamber 12.

[0294] Use the robot arm 3 to take out the cleaning connector 1093 and install it on the cleaning mounting base 1092. After automatic connection, start the pipeline cleaning device 2 for automatic cleaning. After cleaning, the cleaning connector 1093 and the filter 95 are automatically separated and the filter 95 is cleaned in turn.

[0295] Manually connect the filter membrane to the long needle and place it in the filter membrane temporary storage position f on the temporary storage positioning tray 8. Next, connect the long needle to the 5ml syringe 96 and place it in the syringe temporary storage position e on the temporary storage positioning tray 8. Simultaneously, connect the two filter membranes to the long needle and place them in the filter membrane temporary storage position f on the temporary storage positioning tray 8.

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

[0297] The syringe 96 is taken out by the robot arm 3 and installed 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 mechanical arm 3 is used to install the filter membrane with the needle on the bracket of the mother liquid bottle receiving position q of the automatic injection mechanism 4 and automatically connect it. 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 robotic arm 3 to take out the mother liquid bottle 1080 from the mother liquid bottle temporary storage position c, move it to the stopper removal assembly 440, remove the aluminum cover and the stopper respectively, and then place it at the weighing position j for weighing.

[0300] Use the robotic 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 will pop up. After the synthesis end transfer is completed, click Confirm.

[0302] Use the robotic 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 robotic 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 perform activity measurement and display it on the software interface.

[0304] Use the robotic arm 3 to take out the mother solution bottle 1080 at the activity detection position p and mix it.

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

[0306] Use the robotic arm 3 to take out the waste liquid bottle and move it to the stopper removal assembly 440, cover it with the stopper and 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 packaging plan.

[0308] Use the robotic 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 cap and the stopper respectively, and then transfer it to the weighing position j for weighing.

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

[0310] Use the robotic 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, and display it on the software interface.

[0311] Use the robotic 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 amount meets the packaging target, proceed to the next step; if not, repeat steps 16-19 above.

[0313] Use the robotic arm 3 to move the product bottle at the weighing position j to the aluminum cap gripping head i to cover it with 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 discharge temporary storage position, and the rear right door 122 is automatically controlled to open.

[0315] Use the robotic 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 the product discharge port x, put it into the 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 using the robotic arm 3 and installed on the connector of the bubble point test position t.

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

[0322] After the test is completed, use the robotic 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 robotic arm 3 to move the waste liquid bottle 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.

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

[0324] Use the robotic 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 robotic 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 robotic arm 3 to move the mother liquid bottle 1080 at the temporary storage position for discharging to the solid waste port u2011, and then 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 discharging materials, and then the right door 122 is automatically controlled to open.

[0327] Use robot arm 3 to move syringe 96 from the temporary discharge position to syringe 96 support, and then throw the syringe 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 robotic 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 bubble point test needle.

[0331] Use the robotic arm 3 to move the filter membrane at the mother liquid bottle receiving position q to the temporary storage position for discharge, and the rear right door 122 is automatically controlled to open. Then use the robotic arm 3 to move the filter membrane at the temporary storage position for discharge to the solid waste outlet u2011, and then automatically controlled by the solid waste outlet 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 liquid 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 grabbing and packaging of the drug, reducing manual intervention and reducing errors and resource waste caused by manual operation; the optimized design of the mother liquid pipeline docking device 10 can be connected and disconnected 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] The mother solution bottle 1080, the sub-packaging vial, the filter 95 and the syringe 96 are sent to the temporary storage positioning tray 8;

[0336] The robot arm 3 uses the clamping assembly to clamp the mother liquid bottle 1080, the filter 95 and the syringe 96 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 component, and clamps the sub-filled syringe bottle to the automatic injection mechanism 4 for sub-filling and injection;

[0338] The robot arm 3 uses the gripping assembly to grip the sub-filled vial after filling and transfer it to the capping mechanism 5 and the activity detection mechanism 6 for capping and activity detection;

[0339] The robot arm 3 moves the subpackaged 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 component to recycle the syringe 96.

[0341] It should be noted that technical personnel in the relevant field can clearly understand that the specific implementation process of the working method performed by the above-mentioned automatic 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 description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and such modifications or substitutions are intended to be within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. An automatic packaging equipment for radionuclide medicine, characterized in that: include: A filling chamber, a robotic arm, a labeling device, a light inspection device, an opening and closing cover and a needle removal mechanism, a temporary storage and positioning tray, a mother liquid pipeline docking device, an automatic liquid injection mechanism, a capping mechanism, and an activity detection mechanism; the labeling device, light inspection device, opening and closing cover and a needle removal mechanism, a temporary storage and positioning tray, a mother liquid pipeline docking device, an automatic liquid injection mechanism, a capping mechanism, and an activity detection mechanism are respectively installed in the filling chamber; the robotic arm is connected to a gripping assembly; The packaging 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 robotic 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. The injection and capping biopsy chamber is connected to the labeling and light inspection recovery chamber through a transmission channel. The automatic liquid injection mechanism includes: a filling base, a screw filling assembly, a placement base, and a plug removal assembly, wherein the placement base is located below the screw filling assembly, and the plug removal assembly is located on one side of the screw filling assembly. The robotic arm, the screw filling assembly, and the placement base are respectively mounted on the filling base; the filling base is placed in the filling chamber; The screw injection assembly includes a first-level motor screw module, a second-level 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 first-level motor screw module is installed on the packaging base plate, and the second-level motor screw module is connected to the first-level motor screw module through the module adapter; the syringe clamping assembly is connected to the bottom of the second-level motor screw module through the syringe clamping seat, and the pull rod clamping assembly is connected to the second-level 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 second-level motor screw module is recessed toward the direction close to the second-level motor screw module to form an open groove.

2. The automatic packaging equipment for radionuclide medicine according to claim 1, 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.

3. The automatic packaging equipment for radionuclide medicine according to claim 2, characterized in that: The mother liquid pipeline docking device includes a stand, a liquid receiving box, a mobile assembly, a filter mounting seat and a mother liquid pipeline assembly, the mobile assembly and the mother liquid pipeline assembly are respectively connected to the stand, the filter mounting seat is connected to the mobile 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; 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 slots. The ball screw is located in the mounting holes.

4. The automatic packaging equipment for radionuclide medicine according to claim 1, characterized in that: The switch cover and needle removal mechanism includes: 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 solid waste switch cover structure; 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.

5. The automatic packaging equipment for radionuclide medicine according to claim 1, characterized in that: The temporary storage positioning tray includes: a tray fixing assembly and a tray orifice plate assembly. The tray orifice plate assembly is provided with a through hole for placing a container. The tray orifice plate assembly is installed above the tray fixing assembly; the tray fixing assembly is installed on the subpackaging bottom plate.

6. 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, and 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.

7. A working method performed by the automatic packaging equipment for nuclide medicine according to any one of claims 1 to 6, characterized in that: include: Send the mother solution bottles, sub-filling vials, filters and syringes to the temporary storage positioning tray; The robotic arm uses the clamping assembly to clamp the mother liquid bottle, filter and syringe to the mother liquid pipeline docking device for cleaning and mother liquid injection; The robotic arm uses the gripping assembly to clamp the mother liquid bottle and the syringe after injection to the automatic injection mechanism, and clamps the sub-filled syringe bottle to the automatic injection mechanism for sub-filling and injection; The robotic arm uses the gripping assembly to grip the sub-filled vial and transfers it to the capping mechanism and the activity detection mechanism for capping and activity detection. The robotic arm moves the vials that have been capped and tested for activity to the labeling device and light inspection device through the gripping component for labeling and light inspection; The robotic arm moves the syringe to the switch cover and needle removal mechanism through the clamping component to recycle the syringe.

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