Biaxial positioning nuclide dispensing device based on real-time activity correction

Abstract

The present application relates to the technical fields of nuclide split charging, and discloses a dual-shaft positioning nuclide split charging device based on activity real-time correction, which comprises a transverse U-shaped plate and a longitudinal U-shaped plate, the longitudinal U-shaped plate is vertically arranged below the transverse U-shaped plate, a split charging mechanical hand mounting plate is arranged below the longitudinal U-shaped plate, a first sliding block is slidingly arranged on the lower side of the transverse U-shaped plate, a first adjusting block is arranged on the lower side of the first sliding block, the lower side of the first adjusting block is fixedly connected with the longitudinal U-shaped plate, a second sliding block is slidingly arranged on the lower side of the longitudinal U-shaped plate, a second adjusting block is arranged on the lower side of the second sliding block, and the lower side of the second adjusting block is fixedly connected with the split charging mechanical hand mounting plate. The dual-shaft positioning nuclide split charging device based on activity real-time correction can adjust the transverse position and the longitudinal position of the split charging mechanical hand in a two-end mode, which can improve the adjustment efficiency and ensure the adjustment accuracy, and can greatly improve the efficiency of split charging work.

Description

Technical Field

[0001] This invention relates to the field of radionuclide dispensing technology, specifically to a biaxial positioning radionuclide dispensing device based on real-time activity correction. Background Technology

[0002] Medical radionuclides require precise dispensing of the mother liquor into multiple vials using a dispensing robot. Traditional radionuclide dispensing equipment uses a single-sided, single-motor, single-screw drive for the X and Y axes, resulting in a cantilevered, single-end adjustment structure. Single-end drive adjustment is slow, while some systems use direct cylinder drive, which struggles to guarantee accuracy. Each station change necessitates repeated fine-tuning, consuming significant time. This repeated calibration further reduces dispensing efficiency, failing to meet the high-volume, rapid dispensing needs of hospital nuclear medicine pharmacies. Summary of the Invention

[0003] 1. Technical problems to be solved: To address the shortcomings of existing technologies, this invention provides a dual-axis positioning nuclide dispensing device based on real-time activity correction. This device enables two-way adjustment of the lateral and longitudinal positions of the dispensing robot, thereby improving adjustment efficiency and ensuring adjustment accuracy. This significantly enhances the efficiency of dispensing operations and solves the problems mentioned in the background technology.

[0004] 2. Technical Solution: To achieve the above objectives, the present invention provides the following technical solution: a dual-axis positioning nuclide dispensing device based on real-time activity correction, comprising a transverse U-shaped plate and a longitudinal U-shaped plate, wherein the longitudinal U-shaped plate is vertically disposed below the transverse U-shaped plate, and a dispensing robot mounting plate is disposed below the longitudinal U-shaped plate; a first slider is slidably disposed on the lower side of the transverse U-shaped plate, and a first adjusting block is disposed on the lower side of the first slider; the lower side of the first adjusting block is fixedly connected to the longitudinal U-shaped plate; a second slider is slidably disposed on the lower side of the longitudinal U-shaped plate, and a second adjusting block is disposed on the lower side of the second slider; the lower side of the second adjusting block is fixedly connected to the dispensing robot mounting plate; the transverse U-shaped plate... The inner sides of the U-shaped plate and the longitudinal U-shaped plate are provided with guide mechanisms to keep the first slider and the second slider moving stably. Each side of the first slider and the second slider is provided with a precision adjustment mechanism, which can drive the first adjustment block and the second adjustment block to move precisely relative to the first slider and the second slider. The side walls of the transverse U-shaped plate and the longitudinal U-shaped plate are provided with rapid movement mechanisms, which can drive the first slider and the second slider to move rapidly relative to the first U-shaped plate and the second U-shaped plate. An L-shaped mounting bracket is provided on one side of the first U-shaped plate, and the side of the L-shaped mounting bracket closest to the first U-shaped plate is provided with a transmission mechanism that drives the first U-shaped plate to move longitudinally.

[0005] Preferably, the guiding mechanism includes crossbars and longitudinal bars. The two crossbars are fixedly disposed on the inner side of the transverse U-shaped plate, and the two sides of the first slider are slidably sleeved with the corresponding crossbars. The two longitudinal bars are fixedly disposed on the inner side of the longitudinal U-shaped plate, and the two sides of the second slider are slidably sleeved with the corresponding longitudinal bars.

[0006] Preferably, the precision adjustment mechanism includes an L-shaped plate and two lead screws. The two lead screws are respectively arranged parallel below the horizontal bar and the vertical bar. One end of the lead screw is rotatably connected to the corresponding first slider and second slider. The two L-shaped plates are threaded onto the wall of the corresponding lead screw. The horizontal ends of the two L-shaped plates are fixedly connected to the corresponding first adjusting block and second adjusting block. A first motor is fixedly installed on the side of the first adjusting block and the second adjusting block away from the corresponding lead screw. The output end of the first motor is fixedly connected to one end of the corresponding lead screw.

[0007] Preferably, the rapid movement mechanism includes a rotating rod and a lever. Side plates are fixedly installed on the rear side of one end of the transverse U-shaped plate and the left side of one end of the longitudinal U-shaped plate. The rotating rod is rotatably mounted on the lower side of the corresponding side plate. The lever is fixedly sleeved on the rod wall of the corresponding rotating rod. Transmission blocks are arranged parallel to each other below the transverse and longitudinal U-shaped plates. One side of each of the two transmission blocks is fixedly connected to the corresponding first and second sliders. A round pin is rotatably mounted on the upper surface of the transmission block. A slot is opened on the lower surface of the lever. The upper end of the round pin passes through the corresponding slot. A second motor is fixedly installed on the lower surface of the side plate. The output end of the second motor is fixedly connected to one end of the corresponding rotating rod.

[0008] Preferably, the transmission mechanism includes a hydraulic cylinder and a lifting plate. A vertical plate is fixedly installed on the outer wall of one end of the transverse U-shaped plate. The lifting plate is fixedly installed on the lower outer side of the vertical plate. The hydraulic cylinder is fixedly installed on the lower surface of the horizontal end of the L-shaped mounting bracket. The piston rod end of the hydraulic cylinder is fixedly connected to the lifting plate.

[0009] Preferably, a guide rod is provided parallel to one side of the lead screw, one end of the two guide rods is fixedly connected to the corresponding first adjusting block and second adjusting block respectively, and one side of the L-shaped plate is slidably sleeved with the corresponding guide rod.

[0010] Preferably, the upper end of the round pin is fixedly sleeved with an anti-detachment ring.

[0011] Preferably, a fixed tube is fixedly installed on the lower surface of the horizontal end of the L-shaped plate and on both sides of the hydraulic cylinder. A movable rod is slidably sleeved inside the fixed tube, and the lower end of the movable rod is fixedly connected to the lifting plate.

[0012] 3. Beneficial effects: Compared with the prior art, the present invention provides a biaxial positioning nuclide dispensing device based on real-time activity correction, which has the following beneficial effects: 1. This dual-axis positioning nuclide dispensing device based on real-time activity correction is equipped with a rapid movement mechanism and a precise adjustment mechanism in the horizontal and vertical directions, respectively. The second motor drives the lever to move the slider to quickly and coarsely adjust the mechanical manual position, which greatly shortens the time spent on large-range displacement and improves the adjustment efficiency.

[0013] 2. This dual-axis positioning nuclide dispensing device based on real-time activity correction starts the first motor to drive the lead screw for fine adjustment after coarse adjustment. Combined with the guide limit of the crossbar and longitudinal bar, it eliminates the problem of single-end cantilever offset and ensures the positioning accuracy of the robot arm.

[0014] 3. This dual-axis positioning nuclide dispensing device based on real-time activity correction can lift the entire dual-axis mechanism by means of a hydraulic cylinder. It is suitable for vials of different heights. The coarse and fine dual-stage adjustment combined with the dual-axis orthogonal layout reduces repeated correction processes and significantly improves the overall efficiency of nuclide dispensing. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the biaxial positioning nuclide dispensing device based on real-time activity correction proposed in this invention. Figure 2 for Figure 1 A second-person perspective stereoscopic view; Figure 3 for Figure 1 A stereoscopic view from a third-person perspective; Figure 4 for Figure 2 Enlarged view of part A of the structure; Figure 5 for Figure 3 Enlarged view of part B of the structure.

[0016] In the diagram: 1. Horizontal U-shaped plate; 2. Vertical U-shaped plate; 3. First slider; 4. First adjusting block; 5. Second slider; 6. Second adjusting block; 7. Assembly robot mounting plate; 8. Vertical plate; 9. L-shaped mounting bracket; 10. Lifting plate; 11. Hydraulic cylinder; 12. Fixed tube; 13. Movable rod; 14. Horizontal bar; 15. Vertical bar; 16. L-shaped plate; 17. Lead screw; 18. Guide rod; 19. First motor; 20. Transmission block; 21. Round pin; 22. Side plate; 23. Rotating rod; 24. Lever; 25. Second motor. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] Example 1: Please see Figure 1-5 A biaxial positioning nuclide dispensing device based on real-time activity correction includes a transverse U-shaped plate 1 and a longitudinal U-shaped plate 2. The longitudinal U-shaped plate 2 is vertically positioned below the transverse U-shaped plate 1. A dispensing robot mounting plate 7 is positioned below the longitudinal U-shaped plate 2. A first slider 3 is slidably mounted on the lower side of the transverse U-shaped plate 1. A first adjusting block 4 is positioned below the first slider 3. The lower side of the first adjusting block 4 is fixedly connected to the longitudinal U-shaped plate 2. A second slider 5 is slidably mounted on the lower side of the longitudinal U-shaped plate 2. A second adjusting block 6 is positioned below the second slider 5. The lower side of the second adjusting block 6 is fixedly connected to the dispensing robot mounting plate 7. The transverse U-shaped plate 1 and the longitudinal U-shaped plate 2... The inner side is provided with a guide mechanism to keep the first slider 3 and the second slider 5 moving stably. One side of the first slider 3 and the second slider 5 is provided with a precision adjustment mechanism. The precision adjustment mechanism can drive the first adjustment block 4 and the second adjustment block 6 to move precisely relative to the first slider 3 and the second slider 5. The side walls of the transverse U-shaped plate 1 and the longitudinal U-shaped plate 2 are provided with a rapid movement mechanism. The rapid movement mechanism can drive the first slider 3 and the second slider 5 to move rapidly relative to the first U-shaped plate and the second U-shaped plate. One side of the first U-shaped plate is provided with an L-shaped mounting bracket 9. The side of the L-shaped mounting bracket 9 closest to the first U-shaped plate is provided with a transmission mechanism that drives the first U-shaped plate to move longitudinally.

[0019] Example 2: Please see Figure 1-5 The guiding mechanism includes a horizontal bar 14 and a vertical bar 15. The two horizontal bars 14 are fixedly installed on the inner side of the transverse U-shaped plate 1. The two sides of the first slider 3 are slidably sleeved with the corresponding horizontal bars 14. The two vertical bars 15 are fixedly installed on the inner side of the longitudinal U-shaped plate 2. The two sides of the second slider 5 are slidably sleeved with the corresponding vertical bars 15.

[0020] Example 3: Please see Figure 1-5The precision adjustment mechanism includes an L-shaped plate 16 and two lead screws 17. The two lead screws 17 are respectively arranged parallel below the horizontal bar 14 and the vertical bar 15. One end of the lead screw 17 is rotatably connected to the corresponding first slider 3 and second slider 5. The two L-shaped plates 16 are threaded onto the wall of the corresponding lead screw 17. The horizontal ends of the two L-shaped plates 16 are fixedly connected to the corresponding first adjusting block 4 and second adjusting block 6. A first motor 19 is fixedly installed on the side of the first adjusting block 4 and the second adjusting block 6 away from the corresponding lead screw 17. The output end of the first motor 19 is fixedly connected to one end of the corresponding lead screw 17. A guide rod 18 is arranged parallel to one side of the lead screw 17. One end of the two guide rods 18 is fixedly connected to the corresponding first adjusting block 4 and the second adjusting block 6. One side of the L-shaped plate 16 is slidably sleeved with the corresponding guide rod 18, so that the first adjusting block 4 and the second adjusting block 6 can move stably relative to the first slider 3 and the second slider 5.

[0021] Example 4: Please see Figure 1-5 The rapid movement mechanism includes a rotating rod 23 and a lever 24. Side plates 22 are fixedly installed on the rear side of one end of the transverse U-shaped plate 1 and the left side of one end of the longitudinal U-shaped plate 2. The rotating rod 23 is rotatably installed on the lower side of the corresponding side plate 22. The lever 24 is fixedly sleeved on the rod wall of the corresponding rotating rod 23. Transmission blocks 20 are arranged parallel to each other below the transverse U-shaped plate 1 and the longitudinal U-shaped plate 2. One side of the two transmission blocks 20 is fixedly connected to the corresponding first slider 3 and second slider 5. A round pin 21 is rotatably installed on the upper surface of the transmission block 20. A strip-shaped opening is opened on the lower surface of the lever 24. The upper end of the round pin 21 passes through the corresponding strip-shaped opening. A second motor 25 is fixedly installed on the lower surface of the side plate 22. The output end of the second motor 25 is fixedly connected to one end of the corresponding rotating rod 23. An anti-detachment ring is fixedly sleeved on the upper end of the round pin 21 to prevent the round pin 21 from slipping out of the strip-shaped opening.

[0022] Example 5: Please see Figure 1-5 The transmission mechanism includes a hydraulic cylinder 11 and a lifting plate 10. A vertical plate 8 is fixedly installed on the outer wall of one end of the transverse U-shaped plate 1. The lifting plate 10 is fixedly installed on the lower outer side of the vertical plate 8. The hydraulic cylinder 11 is fixedly installed on the lower surface of the horizontal end of the L-shaped mounting bracket 9. The piston rod end of the hydraulic cylinder 11 is fixedly connected to the lifting plate 10. Fixed tubes 12 are fixedly installed on the lower surface of the horizontal end of the L-shaped plate 16 and on both sides of the hydraulic cylinder 11. A movable rod 13 is slidably sleeved inside the fixed tube 12. The lower end of the movable rod 13 is fixedly connected to the lifting plate 10, so that the lifting plate 10 can move stably.

[0023] In summary, this dual-axis positioning nuclide dispensing device based on real-time activity correction operates as follows: First, the dispensing robot is fixedly installed on the underside of the dispensing robot mounting plate 7. The hydraulic cylinder 11 is activated according to the vial height. The piston rod of the hydraulic cylinder 11 pushes and pulls the lifting plate 10, which in turn raises and lowers the vertical plate 8 and the horizontal U-shaped plate 1 as a whole. The fixed tube 12 and the movable rod 13 work together to guide the movement, ensuring smooth lifting of the entire dual-axis mechanism. Once adjusted to the appropriate dispensing height, when a large-scale movement of the robot is required, the corresponding second motors 25 (horizontal and vertical) are activated. The second motors 25 drive the rotating rod 23 to rotate, which in turn causes the lever 24 to swing. The lever 24 pushes the pin 21 through the slot, which drives the transmission block 20 and the first slider 3 to move quickly laterally along the crossbar 14. At the same time, the second slider 5 moves quickly longitudinally along the vertical bar 15, completing the coarse positioning of the robot. The crossbar 14 and the vertical bar 15 limit the slider throughout the entire process to prevent deviation. After the coarse positioning is completed, the corresponding first motor 19 is turned on. The first motor 19 drives the lead screw 17 to rotate. The lead screw 17 drives the L-shaped plate 16 to slide slightly along the guide rod 18. The L-shaped plate 16 simultaneously pulls the first adjusting block 4 and the second adjusting block 6 to move slightly, realizing precise fine-tuning of the dispensing robot in the horizontal and vertical directions and eliminating the residual positioning deviation of the coarse adjustment.

[0024] After alignment, the robotic arm performs the nuclide dispensing operation; after a single batch of dispensing is completed, the robotic arm is quickly switched to the next bottle station by the rapid traversal mechanism, fine-tuned and calibrated, and dispensing continues. Coarse traversal speeds up the station switching speed, and the lead screw micro-adjustment ensures the dispensing alignment accuracy, greatly improving the efficiency of continuous nuclide dispensing operations.

[0025] It should be noted that the term "comprising" or any other variation thereof is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0026] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A biaxial positioning nuclide dispensing device based on real-time activity correction, comprising a transverse U-shaped plate (1) and a longitudinal U-shaped plate (2), characterized in that: The longitudinal U-shaped plate (2) is vertically positioned below the transverse U-shaped plate (1). A dispensing robot mounting plate (7) is positioned below the longitudinal U-shaped plate (2). A first slider (3) is slidably positioned on the lower side of the transverse U-shaped plate (1). A first adjusting block (4) is positioned on the lower side of the first slider (3). The lower side of the first adjusting block (4) is fixedly connected to the longitudinal U-shaped plate (2). A second slider (5) is slidably positioned on the lower side of the longitudinal U-shaped plate (2). A second adjusting block (6) is positioned on the lower side of the second slider (5). The lower side of the second adjusting block (6) is fixedly connected to the dispensing robot mounting plate (7). A retaining first slider is positioned on the inner side of the transverse U-shaped plate (1) and the longitudinal U-shaped plate (2). (3) A guide mechanism for stable movement of the first slider (3) and the second slider (5). A precision adjustment mechanism is provided on one side of the first slider (3) and the second slider (5). The precision adjustment mechanism can drive the first adjustment block (4) and the second adjustment block (6) to move precisely relative to the first slider (3) and the second slider (5). A rapid movement mechanism is provided on the side wall of the transverse U-shaped plate (1) and the longitudinal U-shaped plate (2). The rapid movement mechanism can drive the first slider (3) and the second slider (5) to move rapidly relative to the first U-shaped plate and the second U-shaped plate. An L-shaped mounting bracket (9) is provided on one side of the first U-shaped plate. A transmission mechanism for driving the first U-shaped plate to move longitudinally is provided on the side of the L-shaped mounting bracket (9) close to the first U-shaped plate.

2. The biaxial positioning nuclide dispensing device based on real-time activity correction according to claim 1, characterized in that: The guiding mechanism includes a crossbar (14) and a longitudinal bar (15). The two crossbars (14) are fixedly disposed on the inner side of the transverse U-shaped plate (1). The two sides of the first slider (3) are slidably sleeved with the corresponding crossbars (14). The two longitudinal bars (15) are fixedly disposed on the inner side of the longitudinal U-shaped plate (2). The two sides of the second slider (5) are slidably sleeved with the corresponding longitudinal bars (15).

3. The biaxial positioning nuclide dispensing device based on real-time activity correction according to claim 1, characterized in that: The precision adjustment mechanism includes an L-shaped plate (16) and a lead screw (17). The two lead screws (17) are respectively arranged in parallel below the horizontal bar (14) and the vertical bar (15). One end of the lead screw (17) is rotatably connected to the corresponding first slider (3) and second slider (5). The two L-shaped plates (16) are threaded onto the wall of the corresponding lead screw (17). The horizontal ends of the two L-shaped plates (16) are fixedly connected to the corresponding first adjusting block (4) and second adjusting block (6). A first motor (19) is fixedly installed on the side of the first adjusting block (4) and the second adjusting block (6) away from the corresponding lead screw (17). The output end of the first motor (19) is fixedly connected to one end of the corresponding lead screw (17).

4. The biaxial positioning nuclide dispensing device based on real-time activity correction according to claim 1, characterized in that: The rapid movement mechanism includes a rotating rod (23) and a lever (24). Side plates (22) are fixedly installed on the rear side of one end of the transverse U-shaped plate (1) and the left side of one end of the longitudinal U-shaped plate (2). The rotating rod (23) is rotatably installed on the lower side of the corresponding side plate (22). The lever (24) is fixedly sleeved on the wall of the corresponding rotating rod (23). Transmission blocks (20) are arranged parallel to each other below the transverse U-shaped plate (1) and the longitudinal U-shaped plate (2). One side of the two transmission blocks (20) is fixedly connected to the corresponding first slider (3) and second slider (5). A round pin (21) is rotatably installed on the upper surface of the transmission block (20). A strip opening is opened on the lower surface of the lever (24). The upper end of the round pin (21) passes through the corresponding strip opening. A second motor (25) is fixedly installed on the lower surface of the side plate (22). The output end of the second motor (25) is fixedly connected to one end of the corresponding rotating rod (23).

5. The biaxial positioning nuclide dispensing device based on real-time activity correction according to claim 1, characterized in that: The transmission mechanism includes a hydraulic cylinder (11) and a lifting plate (10). A vertical plate (8) is fixedly installed on the outer wall of one end of the transverse U-shaped plate (1). The lifting plate (10) is fixedly installed on the lower outer side of the vertical plate (8). The hydraulic cylinder (11) is fixedly installed on the lower surface of the horizontal end of the L-shaped mounting bracket (9). The piston rod end of the hydraulic cylinder (11) is fixedly connected to the lifting plate (10).

6. The biaxial positioning nuclide dispensing device based on real-time activity correction according to claim 3, characterized in that: A guide rod (18) is arranged parallel to one side of the lead screw (17). One end of the two guide rods (18) is fixedly connected to the corresponding first adjusting block (4) and second adjusting block (6) respectively. One side of the L-shaped plate (16) is slidably sleeved with the corresponding guide rod (18).

7. The biaxial positioning nuclide dispensing device based on real-time activity correction according to claim 4, characterized in that: The upper end of the round pin (21) is fixedly sleeved with an anti-detachment ring.

8. The biaxial positioning nuclide dispensing device based on real-time activity correction according to claim 5, characterized in that: Fixed tubes (12) are fixedly installed on the lower surface of the horizontal end of the L-shaped plate (16) and on both sides of the hydraulic cylinder (11). A movable rod (13) is slidably sleeved inside the fixed tube (12), and the lower end of the movable rod (13) is fixedly connected to the lifting plate (10).

Images