Automatic liquid injection mechanism for nuclide medicine

Abstract

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

Description

Technical Field

[0001] The utility model relates to the technical field of automatic liquid injection mechanisms, in particular to an automatic liquid injection mechanism for nuclide medicine. Background Art

[0002] In the field of nuclear medicine packaging, radioactive mother liquid often needs to be precisely divided into multiple small doses for hospital use. Traditional methods rely on peristaltic pumps for packaging, or manual operation in an isolation chamber wearing protective clothing. These methods have several problems, such as the complex piping of peristaltic pumps, the large amount of consumables required, and the residual drug solution after packaging, which not only affects the accuracy of the packaging but also poses a radiological hazard to operators replacing consumables.

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

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

[0005] The purpose of the utility model is to overcome the defects of the prior art and provide an automatic liquid injection mechanism for nuclide medicine.

[0006] In order to solve the above technical problems, the purpose of the present utility model is achieved through the following technical solutions: providing an automatic liquid injection mechanism for radionuclide medicine, comprising: a packaging base, a robotic arm, a clamping assembly, a screw injection assembly, a placement base and a plug removal assembly, the placement base is located below the screw injection assembly, the robotic arm is connected to the clamping assembly, the plug removal assembly is located on one side of the screw injection assembly, and the robotic arm, screw injection assembly and placement base are respectively installed on the packaging base.

[0007] Its further technical solution is: 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.

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

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

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

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

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

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

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

[0015] A further technical solution is as follows: a placement groove is provided on the workstation base, a retaining ring is provided in the placement groove, and the retaining ring and the bottom of the placement groove form a stepped shape.

[0016] Compared with the prior art, the present invention has the following advantages: the present invention comprises a sub-packaging base, a robotic arm, a gripping assembly, a screw injection assembly, a placement base, and a plug removal assembly. The placement base is located below the screw injection assembly, the robotic arm is connected to the gripping assembly, and the plug removal assembly is located on one side of the screw injection assembly. All components are mounted on the sub-packaging base to achieve automated injection operations, enabling the use of syringes to dispense radionuclide drug mother solutions, and achieving automatic replacement and positioning of syringe consumables. Furthermore, the present invention can also achieve automatic disassembly of syringes, thereby improving the stability and efficiency of sub-packaging.

[0017] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] 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.

[0019] Figure 1 A schematic diagram of the three-dimensional structure of an automatic injection mechanism for nuclide medicine provided in an embodiment of the present utility model;

[0020] Figure 2 A schematic diagram of the three-dimensional structure of an automatic injection mechanism for nuclide medicine provided in an embodiment of the present utility model (excluding the mechanical arm and the clamping assembly);

[0021] Figure 3 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 utility model;

[0022] Figure 4 Schematic diagram of the three-dimensional structure of the screw injection assembly provided in the embodiment of the utility model Figure 1 (remove outer cover);

[0023] Figure 5 Schematic diagram of the three-dimensional structure of the screw injection assembly provided in the embodiment of the utility model Figure 2 (remove outer cover);

[0024] Figure 6 A schematic diagram of the three-dimensional structure of the rubber plug removal assembly provided in an embodiment of the present utility model;

[0025] Figure 7 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);

[0026] Figure 8A schematic diagram of the three-dimensional structure of a placement base provided in an embodiment of the present utility model;

[0027] Figure 9 A schematic diagram of the three-dimensional structure of the workstation base provided in an embodiment of the present utility model;

[0028] Description of the symbols in the figure:

[0029] 10. Packaging base plate; 20. Robotic arm; 30. Gripping assembly; 40. Screw injection assembly; 41. First-stage motor screw module; 42. Second-stage motor screw module; 43. Module adapter; 44. Syringe clamping seat; 441. Opening slot; 45. Syringe clamping assembly; 451. Syringe clamping cylinder; 452. V-shaped left clamping jaw; 453. V-shaped right clamping jaw; 46. Pull rod clamp Fixed seat; 47, tie rod clamping assembly; 471, tie rod clamping cylinder; 472, tie rod clamping V-shaped left claw head; 473, tie rod clamping V-shaped right claw head; 50, placement base; 60, rubber plug removal assembly; 61, rubber plug removal cylinder; 62, clamping block; 70, weighing assembly; 71, weighing sensor; 72, work station base; 721, retaining ring; 73, sensor fixing seat; 80, outer cover; 90, protective cover. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0031] It will be understood that when used in this specification and the appended claims, the terms “comprises” and “comprising” indicate the presence of 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.

[0032] It should also be understood that the terms used in this utility model specification are only for the purpose of describing specific embodiments and are not intended to limit the utility model. As used in this utility model specification and the appended claims, the singular forms "a", "an" and "the" are intended to include plural forms unless the context clearly indicates otherwise.

[0033] It should be further understood that the term “and / or” used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0034] In the field of nuclear medicine packaging, radioactive mother liquids must be precisely divided into small doses for hospital use. Traditional methods rely on peristaltic pumps or manual operation, but these methods present challenges such as complex piping, residual drug solution, and operator radiation risks. Furthermore, the manual removal and installation of syringes is cumbersome, and different operator habits can affect the accuracy and stability of the packaging.

[0035] To this end, an embodiment of the utility model provides an automatic liquid injection mechanism for radionuclide medicine, which realizes the packaging of radionuclide medicine mother liquid using a syringe, and realizes automatic replacement and positioning of syringe consumables, and can also realize automatic disassembly of the syringe, thereby improving the stability and efficiency of packaging.

[0036] Specifically, this automatic liquid injection mechanism for radionuclide pharmaceuticals is designed to automate the liquid dispensing process. It comprises a robotic arm 20, a screw injection assembly 40, and a stopper removal assembly 60, capable of efficiently gripping and moving parenteral solution bottles and syringes. Through aspiration and injection, the system accurately injects liquid into dispensing vials. A weighing assembly 70 is also included to ensure dispensing accuracy. The overall structure is compact and features a protective cover 90 for enhanced safety.

[0037] 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.

[0038] See also Figures 1 to 3 The above-mentioned automatic injection mechanism for radionuclide medicine includes: a packaging base plate 10, a robotic arm 20, a clamping assembly 30, a screw injection assembly 40, a placement base 50 and a plug removal assembly 60. The placement base 50 is located below the screw injection assembly 40, the robotic arm 20 is connected to the clamping assembly 30, the plug removal assembly 60 is located on one side of the screw injection assembly 40, and the robotic arm 20, the screw injection assembly 40, and the placement base 50 are respectively installed on the packaging base plate 10.

[0039] In this embodiment, the robotic arm 20 is connected to the clamping assembly 30, which is responsible for clamping the mother liquid bottle and the syringe and moving them to the designated position. The mother liquid bottle is placed on the placement base 50 to facilitate subsequent liquid injection operations. After positioning, the screw injection assembly 40 fixes the syringe barrel and pulls the pull rod of the syringe to perform the liquid suction operation to extract the liquid into the syringe. The robotic arm 20 moves the sub-packaging syringe bottle to the bottom of the stopper removal assembly 60, and the upward operation causes the stopper removal assembly 60 to remove the stopper. Finally, the robotic arm 20 puts the sub-packaging syringe bottle back to the placement base 50, and the screw injection assembly 40 accurately injects the liquid into the syringe bottle.

[0040] The robotic arm 20 and automated liquid injection system significantly improve the speed and efficiency of liquid dispensing, reducing manual intervention. A screw-type liquid injection assembly 40 ensures accurate injection volume, reduces human error, and improves drug quality. The equipment design includes a protective cover 90 and safety mechanisms to ensure operator safety and mitigate accidental risks. It can accommodate a variety of sizes of mother liquor bottles 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.

[0041] In one embodiment, see Figure 4 and Figure 5 The above-mentioned screw injection assembly 40 includes a first-level motor screw module 41, a second-level motor screw module 42, a module adapter 43, a syringe clamping seat 44, a syringe clamping assembly 45, a pull rod clamping claw fixing seat 46 and a pull rod clamping assembly 47. The first-level motor screw module 41 is installed on the packaging base plate 10, and the second-level motor screw module 42 is connected to the first-level motor screw module 41 through the module adapter 43; the syringe clamping assembly 45 is connected to the bottom of the second-level motor screw module 42 through the syringe clamping seat 44, and the pull rod clamping assembly 47 is connected to the second-level motor screw module 42 through the pull rod clamping claw fixing seat 46, and the pull rod clamping assembly 47 is located above the syringe clamping seat 44.

[0042] In this embodiment, the first-level motor screw module drives the second-level motor screw module 42, the module adapter 43, the syringe clamping seat 44, the syringe clamping assembly 45, the pull rod clamping claw fixing seat 46 and the pull rod clamping assembly 47 to move, and the second-level motor screw module 42 drives the pull rod clamping claw fixing seat 46 and the pull rod clamping assembly 47 to move.

[0043] Specifically, the secondary motor screw module 42 drives the syringe clamping assembly 45 to descend to a predetermined position; the syringe is fixed by the syringe clamping seat 44 to ensure that it will not shift during the injection process; the robotic arm 20 places the mother liquid bottle on a designated base to ensure its stability and facilitate subsequent operations.

[0044] The first-stage motor screw module 41 starts, driving the entire assembly to the injection position. Thereafter, the second-stage motor screw module 42 starts, driving the rod clamping claw fixed seat 46 through the second-stage motor screw module 42, so that the rod clamping assembly 47 is adjusted to the appropriate height to smoothly draw the mother liquid into the syringe. The first-stage motor screw module 41 starts, driving the entire assembly upward. Thereafter, the robotic arm 20 cooperates with the clamping assembly to clamp the sub-filled syringe bottle after the stopper is removed and place it in the placement seat. The first-stage motor screw module 41 starts, driving the entire assembly to the injection position. The second-stage motor screw module 42 starts, driving the rod clamping claw fixed seat 46 through the second-stage motor screw module 42, so that the rod clamping assembly 47 descends to the appropriate height, and the liquid is accurately injected into the syringe bottle. The rod clamping assembly 47 and the syringe clamping assembly 45 release the syringe, and the robotic arm 20 moves the syringe bottle to the subsequent processing area.

[0045] By automating the injection process, manual intervention and operation time are significantly reduced, thereby improving production efficiency; the screw injection assembly 40 ensures the accuracy of the injection volume, avoids errors caused by human factors, and thus ensures the quality and safety of drugs; the system can be adjusted according to syringes and vials of different specifications to meet diverse production needs; the entire operation process is highly integrated, and operators only need to perform simple settings, which is easy to use; mechanized operation reduces the risk of direct contact for staff, and the system design includes multiple safety protections to ensure safe operation; automated equipment reduces 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.

[0046] In one embodiment, see Figure 3 and Figure 4 The side of the syringe clamping seat 44 away from the secondary motor screw module 42 is recessed toward the secondary motor screw module 42 to form an open groove 441.

[0047] Specifically, when fixing the syringe, the robot arm 20 drives the clamping assembly, which clamps the syringe and inserts the ear part of the syringe barrel into the opening groove 441 to perform preliminary fixing, and then the syringe clamping assembly 45 and the pull rod clamping assembly 47 perform fine clamping.

[0048] In one embodiment, see Figure 3 and Figure 4The above-mentioned syringe clamping assembly 45 includes a syringe clamping cylinder 451 and a syringe barrel clamping claw. The syringe clamping cylinder 451 is connected to the bottom of the syringe clamping seat 44. The syringe barrel clamping claw includes a barrel clamping V-shaped left claw head 452 and a barrel clamping V-shaped right claw head 453. The barrel clamping V-shaped left claw head 452 and the barrel clamping V-shaped right claw head 453 are respectively connected to the syringe clamping cylinder 451.

[0049] In one embodiment, see Figure 3 and Figure 4 The above-mentioned tie rod clamping assembly 47 includes a tie rod clamping cylinder 471 and a tie rod clamping air claw. The tie rod clamping cylinder 471 is connected to the tie rod clamping claw fixing seat 46. The tie rod clamping air claw includes a tie rod clamping V-shaped left claw head 472 and a tie rod clamping V-shaped right claw head 473. The tie rod clamping V-shaped left claw head 472 and the tie rod clamping V-shaped right claw head 473 are respectively connected to the tie rod clamping cylinder 471.

[0050] In one embodiment, see Figure 3 and Figure 4 The above-mentioned automatic injection mechanism for radionuclide medicine further includes an outer cover 80 , wherein the first-stage motor screw module 41 and the second-stage motor screw module 42 are respectively located in the outer cover 80 , and the outer cover 80 is connected to the sub-packaging bottom plate 10 .

[0051] In this embodiment, the syringe holder 44 is installed on the mechanism to ensure that it is well connected with the primary and secondary motor screw modules 42; and the outer cover 80 is installed in place to protect the internal components.

[0052] Robotic arm 20 activates, driving the clamping assembly toward the syringe. Inserting the syringe's lug into the opening 441 in the clamping seat initially secures the syringe. The rod clamping cylinder 471 activates, operating the rod clamping grippers to clamp the syringe's rod for precise positioning. The syringe barrel clamping grippers secure the syringe barrel, ensuring stability.

[0053] During the injection process, the primary motor screw module 41 and the secondary motor screw module 42 remain stable, ensuring that the syringe does not deflect. When the syringe needs to be replaced, the syringe barrel clamping claws and the pull rod clamping claws simultaneously open, releasing the clamping force, and the robot arm 20 easily removes the syringe barrel for transport or replacement.

[0054] The V-shaped left and right claws make the clamping more stable, reduce errors caused by vibration or external force, and improve the accuracy of injection; the automated clamping and unlocking mechanism reduces human intervention, improves injection speed and work efficiency; the syringe clamping assembly 45 and the pull rod clamping assembly 47 can adapt to different types of syringes, meet a variety of needs, and enhance the flexibility of the equipment. The design of the outer cover 80 protects the internal components, prevents dust or other external factors from affecting the performance of the equipment, and also ensures the safety of the operator. The modular design makes it easy to disassemble and replace each component, reducing maintenance costs and time. Controlled by the robotic arm 20, each operating step is simple and clear, and even non-professionals can quickly get started.

[0055] In one embodiment, see Figure 8 The placement base 50 is provided with a placement cavity, the bottom of which is tilted toward the syringe, so that the liquid in the mother liquid bottle can be completely drawn into the syringe.

[0056] In one embodiment, see Figure 6 The above-mentioned automatic injection mechanism for radionuclide medicine further includes a protective cover 90 , which is located on one side of the outer cover 80 , and one end of the plug assembly 60 is connected to the protective cover 90 .

[0057] In one embodiment, see Figure 6 and Figure 7 The above-mentioned plug removal assembly 60 includes a plug removal cylinder 61 and a plurality of clamping blocks 62. The plurality of clamping blocks 62 are arranged at intervals around the center point of the lower end surface of the plug removal cylinder 61, and the plurality of clamping blocks 62 are connected to the plug removal cylinder 61.

[0058] In addition, an arc-shaped groove is provided on the inner side of the clamping block 62, and the arc-shaped grooves of several clamping blocks 62 facilitate the fixation of the rubber plug.

[0059] In this embodiment, the protective cover 90 is located on one side of the outer cover 80 , with the main purpose of protecting the internal components from the external environment while ensuring operational safety.

[0060] The plug removal assembly 60 comprises a plug removal cylinder 61 and a plurality of clamping blocks 62. The clamping blocks 62 are arranged at intervals around the center point of the lower end surface of the cylinder to form a stable clamping structure.

[0061] When the plug-removing cylinder 61 is in operation, it causes the clamping block 62 to expand or contract outwards, thereby clamping or releasing the plug.

[0062] When the plug needs to be removed, the plug-taking cylinder 61 is activated, and the clamping block 62 moves downward and clamps the plug to ensure that it is firmly grasped. After completing the clamping, the cylinder drives the clamping block 62 to pull the plug out with a combined force, and the operation of taking the plug is successfully completed.

[0063] The design of the protective cover 90 effectively protects operators and equipment, reducing the risk of accidents; the spaced arrangement of the clamps 62 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 62 and the cylinder facilitates disassembly and replacement, reducing maintenance costs and time; the precise control of the plug removal cylinder 61 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.

[0064] Through these designs and functions, the rubber plug removal assembly 60 of the automatic injection mechanism for radionuclide medicine not only improves the safety and efficiency of operation, but also enhances the flexibility and reliability of the system.

[0065] In one embodiment, see Figures 1 to 3 The above-mentioned automatic injection mechanism for radionuclide medicine also includes a weighing component 70, which includes a weighing sensor 71, a workstation base 72 and a sensor fixing seat 73. The weighing sensor 71 is connected to the outer cover 80 through the sensor fixing seat 73, and the workstation base 72 is placed above the weighing sensor 71.

[0066] In this embodiment, the robotic arm 20 drives the gripping assembly, which grips the dispensing vial with the stopper removed and places it on the workstation base 72. At this point, a load cell 71 monitors the container's weight in real time. The load cell 71 is connected to the housing 80 via a sensor mount 73 and transmits 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 71 can then be automatically calibrated based on a preset standard weight value to ensure the accuracy of subsequent data.

[0067] After the vial is filled with the injection liquid, the robot arm 20 drives the gripper assembly to grip 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 standards are met, the system will end the injection operation.

[0068] The monitoring of the weighing assembly 70 ensures that the amount of medicine injected each time is accurate, reduces human operation errors, reduces manual intervention, and improves production efficiency and operational safety. The real-time recording of weighing data provides a reliable basis for drug quality control, which helps to meet regulatory requirements. The design is simple and clear. The operator only needs to place the container on the workstation base 72, and the system will automatically complete the rest of the work, 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.

[0069] In one embodiment, see Figure 9 A placement groove is provided on the workstation base 72, and a retaining ring 721 is provided in the placement groove. The retaining ring 721 and the bottom of the placement groove form a stepped shape.

[0070] In this embodiment, the station base 72 is provided with a cylindrical stepped notch, namely, a stepped notch formed by the placement groove and the retaining ring 721, which can accommodate bottles and mother liquid bottles of different diameters. This stepped notch design enhances the compatibility and stability of the product and makes operation more flexible and convenient.

[0071] In one embodiment, an induction plate is provided near one side of the above-mentioned pull rod clamp fixing seat 46, and a limit block is installed on the side of the secondary motor screw module 42 close to the primary motor screw module 41. The limit block is connected to one side of the secondary motor screw module 42 through a limit block mounting seat, and a slot-type photoelectric sensor is installed on one side of the above-mentioned module adapter seat 43.

[0072] A limit block is installed on one side of the secondary motor screw module 42. This limit block is used to limit the range of motion of the motor, ensuring that the secondary motor screw module 42 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 operation, to maintain the safety and accuracy of operation. The induction plate is set near one side of the pull rod clamp fixing seat 46 and is used to detect the status of the secondary motor screw module 42. When the secondary motor screw module 42 reaches the specified position, the induction plate can provide real-time feedback to help the system determine the status of the secondary motor screw module 42.

[0073] The workflow of the above-mentioned automatic injection mechanism for radionuclide medicine is as follows:

[0074] Preparation stage:

[0075] The robotic arm 20 places the mother liquid bottle on the placement base 50 through the clamping assembly 30 to ensure its stability and facilitate subsequent operations.

[0076] The robot arm 20 clamps the syringe through the clamping assembly 30 and fixes the support ear of the syringe on the syringe clamping seat 44. The syringe clamping assembly 45 and the pull rod clamping assembly 47 then fix the barrel and pull rod part of the syringe respectively.

[0077] Aspiration operation:

[0078] The first-stage motor screw module 41 is started to insert the needle portion of the syringe into the mother liquid bottle.

[0079] The syringe clamping assembly 45 remains in position and the syringe is fixed by the clamping cylinder to avoid displacement during the injection process.

[0080] The secondary motor screw module 42 drives the pull rod clamping assembly 47 to rise, pulls the pull rod of the syringe to perform the liquid aspiration operation, and sucks the mother liquid into the syringe.

[0081] The secondary motor screw module 42 remains stationary, and the primary motor screw module 41 is started, driving the entire unit to move upward.

[0082] Remove the rubber plug:

[0083] The robotic arm 20 clamps the sub-packaging vial through the clamping assembly 30 and moves the sub-packaging vial to below the stopper removal assembly 60 .

[0084] The stopper removal assembly 60 is activated, and after the clamping block 62 clamps the stopper, the robotic arm 20 pulls down the vial through the clamping assembly 30 to remove the stopper and prepare for liquid injection.

[0085] Liquid injection operation:

[0086] The robotic arm 20 places the subpackaged vial back onto the placement base 50 .

[0087] The first-stage motor screw module 41 works, driving the whole to move downward, inserting the needle part of the syringe into the sub-filling vial, and the second-stage motor screw module 42 works, and the syringe starts to inject liquid into the sub-filling vial.

[0088] After the injection is completed, the secondary motor screw module 42 and the primary motor screw module 41 are returned to their positions, and the robotic arm 20 drives the sub-packaging vial to the weighing assembly 70 through the clamping assembly to monitor the weight of the vial to ensure the accuracy of the injection amount.

[0089] During the entire process, the protective cover 90 and safety mechanism ensure the safety of the operator and reduce the risk of accidents.

[0090] Each component of the modular design is easy to disassemble and maintain, reducing maintenance costs and time.

[0091] Through this series of highly integrated automated steps, the automatic injection mechanism significantly improves injection speed, accuracy and operational safety, reduces manual intervention and improves production efficiency.

[0092] In this embodiment, the above-mentioned clamping assembly 30 includes a clamping cylinder and a clamping claw. The clamping cylinder is connected to the robotic arm 20. The clamping claw includes a V-shaped left clamping claw and a V-shaped right clamping claw. The V-shaped left clamping claw and the V-shaped right clamping claw are respectively connected to the clamping cylinder.

[0093] In this embodiment, a gripping cylinder serves as a power source and is connected to the robotic arm 20, responsible for controlling the opening and closing of the gripping jaws. The V-shaped left and right gripping jaws are each connected to the gripping cylinder via a connecting rod. When the cylinder is actuated, the two gripping jaws move in coordination.

[0094] Upon receiving the command, the gripping cylinder drives the gripping jaws inward or outward. When the gripping jaws move inward, the V-shaped left and right gripping jaws move closer together, thereby gripping the target object. Once the gripping jaws are gripped, the robotic arm 20 can move the object smoothly.

[0095] The V-shaped design enables the gripper to better adapt to objects of different shapes and sizes, providing a stronger clamping force to prevent objects from slipping during handling. The design of the V-shaped gripper enables it to clamp objects of various shapes, improving the applicability of the system. The clamping cylinder responds quickly and can achieve rapid switching between clamping and releasing, improving handling efficiency. The V-shaped structure can apply pressure evenly during clamping, increasing the stability of the object and reducing shaking during handling. The combination of the robotic arm 20 and the clamping cylinder makes the operation more automated, reduces manual intervention, and improves operational convenience.

[0096] The aforementioned automatic liquid injection mechanism for radionuclide medicine comprises a dispensing base plate 10, a robotic arm 20, a gripping assembly 30, a screw injection assembly 40, a placement base 50, and a plug removal assembly 60. The placement base 50 is located below the screw injection assembly 40, the robotic arm 20 is connected to the gripping assembly 30, and the plug removal assembly 60 is located on one side of the screw injection assembly 40. All components are mounted on the dispensing base plate 10 to achieve automated liquid injection operations, enabling the use of syringes to dispense radionuclide medicine mother solutions, and achieving automatic replacement and positioning of syringe consumables. It can also achieve automatic disassembly of syringes, thereby improving the stability and efficiency of dispensing.

[0097] 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 injection mechanism for nuclide medicine, characterized in that: include: The sub-packaging base plate, the robotic arm, the clamping assembly, the screw injection assembly, the placement base and the plug removal assembly, the placement base is located below the screw injection assembly, the robotic arm is connected to the clamping assembly, the plug removal assembly is located on one side of the screw injection assembly, and the robotic arm, the screw injection assembly and the placement base are respectively installed on the sub-packaging base plate.

2. The automatic injection mechanism for nuclide medicine according to claim 1, characterized in that: 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.

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

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

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

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

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

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

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

10. The automatic injection mechanism for nuclide medicine according to claim 9, characterized in that: A placement groove is provided on the workstation base, a retaining ring is provided in the placement groove, and the retaining ring and the bottom of the placement groove form a stepped shape.

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