Solid waste cover opening and closing and needle pulling mechanism of split charging equipment

Abstract

The utility model discloses a solid waste cover opening and closing and needle pulling mechanism of split charging equipment. The solid waste cover opening and closing and needle pulling mechanism comprises a bottom plate, a mechanical arm, a solid waste cover opening and closing structure, an injector fixing structure and a clamping assembly. The mechanical arm is installed on the bottom plate, the solid waste switch cover structure is installed on the bottom plate, and the injector fixing structure is connected with the fixed switch cover; the clamping assembly is connected to one end of the mechanical arm, a solid waste opening is formed in the bottom plate, and an anti-radiation container is placed below the solid waste opening. By means of the mechanism, the problems that the solid waste cover is too heavy and inconvenient to open and close can be solved, the needle head can be automatically pulled up before the solid waste cover is discarded, and therefore the risk of clamping is reduced, and the requirement for the size of a lead garbage can is reduced.

Description

Technical Field

[0001] This utility model relates to the technical field of needle recycling mechanisms, and in particular to a solid waste cover switch and needle removal mechanism for a dispensing equipment. Background Technology

[0002] In the field of radiopharmaceutical repackaging, hot chambers are equipped with solid waste outlets for disposing of used consumables and waste liquid bottles. These wastes have come into contact with radiopharmaceuticals and may contain radioactive residues, therefore they need to be sealed with solid waste caps to prevent radioactive leakage. Solid waste caps are usually made of high-density lead blocks to provide good shielding, and are quite thick, making them weigh five or six kilograms or more.

[0003] Due to the weight of solid waste covers, the design of the hot chamber is limited by cost and space, resulting in insufficient load capacity of the selected robotic arms and grippers, making it impossible to directly handle such heavy solid waste covers. Currently, the common method of opening covers is to use manual tools, such as extended pliers or tool rods, or to achieve partial automation by reducing the thickness of the solid waste cover.

[0004] Syringes typically have needles and are relatively long, posing a risk of getting stuck when automatically disposed of in the solid waste chute. They also require a relatively tall lead waste bin. Therefore, it would be necessary to automatically remove the needle before disposal, which would not only reduce the risk of clogging but also reduce the size requirements of the lead waste bin. Currently, there is no structure that automatically removes the syringe needle.

[0005] Therefore, it is necessary to design a new mechanism to solve the problems of excessive weight and inconvenient opening and closing of solid waste covers. This mechanism can automatically remove the needle before disposal, which not only reduces the risk of jamming but also reduces the size requirements of lead waste bins. Utility Model Content

[0006] The purpose of this utility model is to overcome the defects of the prior art and provide a solid waste cover switch and needle removal mechanism for a dispensing equipment.

[0007] To solve the above-mentioned technical problems, the purpose of this utility model is achieved through the following technical solution: providing a solid waste cover switch and needle removal mechanism for a dispensing device, comprising: a base plate, a robotic arm, a solid waste switch cover structure, a syringe fixing structure, and a clamping assembly; the robotic arm is mounted on the base plate, the solid waste switch cover structure is mounted on the base plate, and the syringe fixing structure is connected to the solid waste switch cover structure; the clamping assembly is connected to one end of the robotic arm, the base plate is provided with a solid waste port, and a radiation-proof container is placed below the solid waste port.

[0008] The further technical solution is as follows: the solid waste switch cover structure is located above the solid waste inlet.

[0009] Further technical solutions are as follows: the solid waste opening and closing cover structure comprises a horizontal sliding assembly, a vertical sliding assembly and a solid waste cover, the horizontal sliding assembly is connected with the bottom plate, the vertical sliding assembly is connected with the horizontal sliding assembly, and the solid waste cover is connected above the vertical sliding assembly.

[0010] Further technical solutions are as follows: the horizontal sliding assembly comprises a support plate, a sliding rail and a sliding block, the support plate is connected with the sliding rail, one end of the support plate is connected with the bottom plate, the sliding block is connected with the sliding rail, and the sliding block is further connected with the vertical sliding assembly.

[0011] Further technical solutions are as follows: the horizontal sliding assembly further comprises a translation limiting block, and the translation limiting block is installed on both sides of the sliding rail.

[0012] Further technical solutions are as follows: the horizontal sliding assembly further comprises a proximity switch, and the proximity switch is connected below the translation limiting block.

[0013] Further technical solutions are as follows: the vertical sliding assembly comprises a vertical movement air cylinder and an adapter mounting plate, the vertical movement air cylinder is connected with the sliding block, and the adapter mounting plate is connected with one end of the vertical movement air cylinder.

[0014] Further technical solutions are as follows: the syringe fixing structure comprises a separation seat and a fixing seat, the separation seat is connected above the adapter mounting plate, and the fixing seat is connected on one side of the separation seat.

[0015] Further technical solutions are as follows: the fixing seat is provided with a placing hole, one side of the fixing seat is provided with a notch, and the placing hole is in communication with the notch.

[0016] Further technical solutions are as follows: the clamping assembly comprises a clamping air cylinder and a clamping jaw, the clamping air cylinder is connected with the mechanical arm, the clamping jaw comprises a V-shaped left clamping jaw and a V-shaped right clamping jaw, and the V-shaped left clamping jaw and the V-shaped right clamping jaw are respectively connected with the clamping air cylinder.

[0017] The utility model discloses compared with prior art has beneficial effects that the utility model discloses a bottom plate, mechanical arm, solid waste opening and closing cover structure, syringe fixing structure and clamping assembly are included, the mechanical arm is installed on the bottom plate, and the solid waste opening and closing cover structure is also fixed on the bottom plate, the syringe fixing structure is connected with the solid waste opening and closing cover, and the clamping assembly is located one end of the mechanical arm, and the bottom plate is equipped with the solid waste mouth, and the below places the anti -radiation container to collect solid waste.

[0018] The utility model will be further described in connection with the drawings and specific embodiment. DRAWINGS

[0019] In order to more clearly illustrate the technical scheme of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings described in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0020] Figure 1 A three-dimensional structure schematic diagram of the solid waste cover opening and closing cover and needle pulling mechanism of the split charging equipment provided by the embodiments of the present application is provided.

[0021] Figure 2 A three-dimensional structure schematic diagram of the solid waste cover opening and closing cover structure and the syringe fixing structure provided by the embodiments of the present application is provided.

[0022] Figure 3 A three-dimensional structure schematic diagram of the solid waste cover opening and closing cover structure, the syringe fixing structure and the syringe provided by the embodiments of the present application is provided.

[0023] Figure 4 A three-dimensional structure schematic diagram of the clamping assembly provided by the embodiments of the present application is provided.

[0024] Explanation of the figure:

[0025] 10, bottom plate; 11, solid waste port; 20, mechanical arm; 30, solid waste cover opening and closing cover structure; 31, support plate; 32, sliding rail; 33, sliding block; 34, translation limiting block; 35, proximity switch; 36, solid waste cover; 37, longitudinal movement air cylinder; 38, adapter mounting plate; 40, syringe fixing structure; 41, separation seat; 42, fixed seat; 421, placement hole; 422, notch; 50, clamping assembly; 51, clamping air cylinder; 52, V-shaped left clamping jaw; 53, V-shaped right clamping jaw; 60, syringe. DETAILED DESCRIPTION

[0026] The technical scheme in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are some embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0027] It should be understood that when used in the specification and the appended claims, the terms "comprise" and "include" indicate the presence of the described features, integers, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0028] It is also to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting. As used in this specification and the appended claims, the singular forms "a," "an" and "the" include plural referents unless the context clearly dictates otherwise.

[0029] It is further to be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items, and that the term "at least one of' encompasses one or more items.

[0030] In the field of nuclear medicine dispensing, the hot cell is provided with a solid waste port 11 for discarding waste that has been in contact with nuclear medicine. These wastes need to be closed with a heavy lead solid waste cover 36 to prevent radioactive leakage. Since the weight of the solid waste cover 36 exceeds five or six kilograms, the existing mechanical arm 20 cannot directly handle it, and usually relies on manual tools to open the cover. The syringe 60 has a needle, and is easy to get stuck when discarded automatically. The height requirement for the lead garbage can is high, so the needle needs to be automatically pulled out before being discarded. At present, there is still a lack of effective structure design for automatically pulling out the needle.

[0031] Therefore, the embodiments of the present application provide a dispensing equipment solid waste cover opening and closing mechanism and a needle pulling mechanism, which can automatically pull out the needle before discarding, thereby not only reducing the risk of getting stuck, but also reducing the size requirement for the lead garbage can.

[0032] Specifically, the dispensing equipment solid waste cover opening and closing mechanism and the needle pulling mechanism include a bottom plate 10, a mechanical arm 20, a solid waste cover opening and closing structure 30, and a clamping assembly 50. The solid waste cover opening and closing structure 30 is connected to the bottom plate 10 through a sliding assembly and can move above the solid waste port 11. The syringe fixing structure 40 is connected to the solid waste cover 36 and has a separation seat 41 and a fixing seat 42. The clamping assembly 50 is composed of a clamping cylinder 51 and a clamping jaw, which ensures precise operation. This mechanism automatically completes the operation before discarding, reducing the risk of getting stuck. The design of the equipment reduces the size requirement for the lead garbage can, improves the convenience and safety of the overall operation. Through the horizontal and vertical sliding assemblies, the opening and closing of the solid waste cover 36 becomes more flexible. Overall, the efficiency and safety of the dispensing process are improved.

[0033] In order to better understand the above technical solutions, the above technical solutions will be described in detail below in conjunction with the drawings in the specification and specific embodiments.

[0034] Please refer to Figure 1 , Figure 1The utility model provides a kind of solid waste cover switch cover and needle pulling mechanism's three-dimensional structure schematic diagram provided for the embodiment of the utility model;The above-mentioned solid waste cover switch cover and needle pulling mechanism, it includes: bottom plate 10, mechanical arm 20, solid waste switch cover structure 30, syringe fixed structure 40 and clamping component 50;Mechanical arm 20 is installed on bottom plate 10, solid waste switch cover structure 30 is installed on bottom plate 10, syringe fixed structure 40 is connected with solid waste switch cover structure 30;Clamping component 50 is connected in one end of mechanical arm 20, bottom plate 10 is equipped with solid waste port 11, and radiation-proof container is placed below solid waste port 11.

[0035] In the embodiment, the radiation-proof container includes but is not limited to a lead barrel.

[0036] In the embodiment, the mechanical arm 20 is fixed on the bottom plate 10, responsible for moving and operating the solid waste cover 36, the syringe 60 and other components. When the solid waste is not needed to be discarded, the solid waste switch cover covers the solid waste port 11 to prevent accidental leakage. The sensor monitors the position of the solid waste cover 36 in real time to ensure that it is closed correctly.

[0037] The syringe 60 is safely fixed on the syringe fixed structure 40 to ensure that displacement does not occur during needle pulling and discarding.

[0038] The clamping component 50 is at one end of the mechanical arm 20, which can effectively clamp the syringe 60 to complete the needle pulling and discarding operation.

[0039] When the syringe 60 needs to be discarded, the mechanical arm 20 clamps the syringe 60 to the designated position, first pulls off the needle and discards it into the solid waste channel, and then discards the syringe 60 body into the solid waste port 11.

[0040] The radiation-proof container is placed below the solid waste port 11 to ensure the safe storage and disposal of solid waste and avoid pollution to the environment.

[0041] Through mechanized operation, manual contact is reduced, the risk of cross-infection is effectively reduced, and the safety of the operator is ensured. The automatic mechanical arm and sensor system can quickly and accurately complete the solid waste disposal, improve the work efficiency, and reduce the labor cost. Precise structural design and sensor feedback mechanism can reduce the risk of operation failure and ensure the reliability of the solid waste disposal process. The use of the radiation-proof container effectively controls the disposal of hazardous waste, meets the environmental protection standards, and reduces the negative impact on the environment. The user only needs to set up simply to automatically dispose of solid waste, which reduces the operation difficulty and is suitable for various scene applications.

[0042] In an embodiment, please refer to Figure 1 The solid waste switch cover structure 30 is above the solid waste port 11.

[0043] In an embodiment, please refer toFigure 2 and Figure 3 The solid waste switch cover structure 30 comprises a transverse sliding assembly, a longitudinal sliding assembly and a solid waste cover 36. The transverse sliding assembly is connected to the bottom plate 10. The longitudinal sliding assembly is connected to the transverse sliding assembly. The solid waste cover 36 is connected above the longitudinal sliding assembly.

[0044] In an embodiment, referring to Figure 2 and Figure 3 The transverse sliding assembly comprises a support plate 31, a sliding rail 32 and a sliding block 33. The support plate 31 is connected to the sliding rail 32. One end of the support plate 31 is connected to the bottom plate 10. The sliding block 33 is connected to the sliding rail 32. The sliding block 33 is also connected to the longitudinal sliding assembly. One side of the support plate 31 is provided with an enclosing plate.

[0045] In an embodiment, referring to Figure 2 and Figure 3 The transverse sliding assembly further comprises a translation limiting block 34. The translation limiting block 34 is installed on both sides of the sliding rail 32.

[0046] In an embodiment, referring to Figure 2 and Figure 3 The transverse sliding assembly further comprises a proximity switch 35. The proximity switch 35 is connected below the translation limiting block 34.

[0047] In an embodiment, referring to Figure 2 and Figure 3 The longitudinal sliding assembly comprises a longitudinal moving cylinder 37 and an adapter mounting plate 38. The longitudinal moving cylinder 37 is connected to the sliding block 33. The adapter mounting plate 38 is connected to one end of the longitudinal moving cylinder 37.

[0048] In this embodiment, the transverse sliding assembly comprises a support plate 31, a sliding rail 32 and a sliding block 33. The support plate 31 is fixed to the bottom plate 10. The sliding rail 32 provides a sliding path. The sliding block 33 is connected to the sliding rail 32 and can freely move on the sliding rail 32.

[0049] The longitudinal sliding assembly comprises a longitudinal moving cylinder 37 and an adapter mounting plate 38. The cylinder is connected to the transverse sliding assembly through the sliding block 33, allowing the solid waste cover 36 to move in the longitudinal direction.

[0050] The translation limiting block 34 limits the movement range of the sliding block 33 to prevent it from exceeding the set position. The proximity switch 35 is used to detect whether the solid waste cover 36 reaches the predetermined position, achieving automatic feedback control.

[0051] When the solid waste port 11 needs to be opened, the mechanical arm 20 drives the clamping assembly 50 to clamp the longitudinal movement cylinder 37, drives the longitudinal movement cylinder 37 to push the adapter mounting plate 38, and the solid waste cover 36 moves upward, so that the solid waste port 11 moves from the closed state to the open state. After that, the mechanical arm 20 drives the clamping assembly 50 to clamp the longitudinal movement cylinder 37, drives the longitudinal movement cylinder 37 to slide along the slide rail 32, until the syringe fixing assembly is located directly above the solid waste port 11.

[0052] When the solid waste treatment is completed, the mechanical arm 20 drives the clamping assembly 50 to clamp the longitudinal movement cylinder 37, drives the longitudinal movement cylinder 37 to operate in reverse, and the solid waste cover 36 moves downward, so that the solid waste port 11 is closed again, ensuring the sealing of the solid waste port 11 and avoiding leakage.

[0053] It should be noted that after the solid waste treatment is completed, before the solid waste cover 36 moves downward, the mechanical arm 20 drives the clamping assembly 50 to clamp the longitudinal movement cylinder 37, drives the longitudinal movement cylinder 37 to slide on the slide rail 32 to the position directly above the solid waste port 11, and then drives the longitudinal movement cylinder 37 to move downward, so that the solid waste cover 36 moves downward and the solid waste port 11 is closed again.

[0054] The positioning of the above process is realized by the cooperation of the proximity switch 35 and the translation limiting plate.

[0055] The proximity switch 35 monitors the position of the solid waste cover 36 in real time, and when the solid waste cover 36 is completely closed or opened, the system automatically feeds back to ensure the accuracy and safety of the operation. The automatic design reduces manual intervention and reduces the risk of cross infection, protecting the health and safety of the operator. The combination of horizontal and vertical sliding mechanisms makes the opening and closing of the solid waste cover 36 quick and efficient, adapting to the rapid processing needs in emergency situations. The application of the proximity switch 35 ensures that the solid waste cover 36 is always in the correct position during operation, avoiding errors caused by human factors. The use of mechanical structure design reduces the possibility of wear and failure, and improves the overall service life of the equipment. The clear distribution and functional division of each component make daily inspection and maintenance more convenient, improving the maintainability of the equipment. Ensuring the sealed treatment of solid waste reduces the risk of environmental pollution and meets environmental protection requirements, contributing to sustainable development.

[0056] In an embodiment, please refer to Figure 2 and Figure 3 The above-mentioned syringe fixing structure 40 includes a separation seat 41 and a fixing seat 42, the separation seat 41 is connected above the adapter mounting plate 38, and the fixing seat 42 is connected on one side of the separation seat 41.

[0057] In an embodiment, please refer to Figure 2 and Figure 3The fixing seat 42 is provided with a placement hole 421, and one side of the fixing seat 42 is provided with a notch 422, and the placement hole 421 is in communication with the notch 422.

[0058] The separation seat 41 is fixed above the adapter mounting plate 38 to provide a support platform that can effectively support the syringe 60. The fixing seat 42 is connected to one side of the separation seat 41 and has a placement hole 421 and a notch 422.

[0059] When it is necessary to fix the syringe 60, the mechanical arm 20 drives the clamping assembly 50 to clamp the syringe 60 and insert the syringe 60 into the placement hole 421. After the syringe 60 fixing assembly is aligned with the solid waste port 11, the clamping assembly 50 is driven by the mechanical arm 20 to pull out the needle part of the syringe 60, so that it falls into the anti-radiation container from the solid waste port 11. Then, the clamping assembly 50 is driven by the mechanical arm 20 to clamp the remaining part of the syringe 60, so that it falls into the anti-radiation container from the solid waste port 11, thereby completing the entire syringe 60 recycling process.

[0060] The notch 422 of the fixing seat 42 allows the needle part of the syringe 60 to pass through, so that the main body of the syringe 60 can be stably fixed in place. Due to the design of the notch 422, the syringe 60 can be conveniently aligned when placed, and will not fall off, ensuring safety during use.

[0061] The structural design of the fixing seat 42 enhances the stability of the syringe 60, preventing tilting or movement during operation, thereby improving the accuracy of operation.

[0062] Through the combination of the separation seat 41 and the fixing seat 42, the syringe 60 can remain stable during use, reducing the risk of misoperation caused by instability.

[0063] The design of the placement hole 421 and the notch 422 simplifies the placement and removal process of the syringe 60, improves operation efficiency, and facilitates users to quickly inject.

[0064] The fixed design prevents the syringe 60 from accidentally falling off, reduces the risk of needle stick injury, and ensures the safety of the operator.

[0065] The structure can be applied to various models of syringes 60, has good universality, and is suitable for different use scenarios.

[0066] The structure is simple and smooth in surface, easy to clean and disinfect, and meets the hygiene requirements of medical devices.

[0067] The simple mechanical design has relatively low manufacturing cost and practicality, and is suitable for wide application in medical environment.

[0068] Through the above working principle and benefits, the syringe fixing structure 40 can effectively improve the safety and efficiency of the injection process, and has an important promoting effect on medical operations

[0069] In an embodiment, referring to Figure 4 The above-mentioned clamping assembly 50 includes a clamping cylinder 51 connected with the mechanical arm 20 and clamping jaws including a V-shaped left clamping jaw 52 and a V-shaped right clamping jaw 53, which are respectively connected with the clamping cylinder 51.

[0070] In this embodiment, the clamping cylinder 51 serves as a power source and is connected with the mechanical arm 20, responsible for controlling the opening and closing of the clamping jaws. The V-shaped left clamping jaw 52 and the V-shaped right clamping jaw 53 are respectively connected with the clamping cylinder 51 through connecting rods, and the two clamping jaws move coordinately when the cylinder acts.

[0071] After receiving the instruction, the clamping cylinder 51 drives the clamping jaws to move inward or outward. When the clamping jaws move inward, the V-shaped left clamping jaw 52 and the V-shaped right clamping jaw 53 will approach each other, thereby clamping the target object. After the clamping jaws clamp, the mechanical arm 20 can move the object smoothly to complete the task of moving and pulling the syringe 60.

[0072] The V-shaped design enables the clamping jaws to better adapt to objects of different shapes and sizes, providing strong clamping force to prevent objects from slipping during handling. The design of the V-shaped clamping jaws enables them to clamp objects of various shapes, improving the applicability of the system. The clamping cylinder 51 responds quickly and can achieve quick switching between clamping and releasing, improving handling efficiency. The V-shaped structure can uniformly apply pressure when clamping, increasing the stability of the object and reducing shaking during handling. The combination of the mechanical arm 20 and the clamping cylinder 51 makes the operation more automated, reduces manual intervention, and improves operational convenience.

[0073] The design of the clamping assembly 50 reduces the risk of objects slipping and ensures safety during handling, protecting operators and equipment.

[0074] The clamping assembly 50 can be widely used in various industrial and logistics scenarios, such as automated warehouses, assembly lines, etc., to meet different handling needs.

[0075] Through this clamping assembly 50, the system can achieve flexible, stable and efficient object handling, providing strong support for automated production and logistics.

[0076] The working process of the split device solid waste cap opening and closing and needle pulling mechanism of the present embodiment is as follows:

[0077] When the solid waste is not needed to be discarded, the mechanical arm 20 drives the clamping assembly to move the solid waste cover 36 above the solid waste port 11. When the proximity sensor on one side of the solid waste port 11 detects the solid waste switch cover structure 30, the mechanical arm 20 drives the clamping assembly to clamp the longitudinal movement cylinder 37 to descend, and the solid waste port 11 is blocked by the solid waste cover 36.

[0078] When the solid waste is needed to be discarded, the mechanical arm 20 drives the clamping assembly to move the longitudinal movement cylinder 37 to ascend, so that the solid waste cover 36 is separated from the solid waste port 11. At this time, the clamping assembly drives the longitudinal movement cylinder 37 to move along the slide rail 32, so that the solid waste cover 36 is driven to the other side, and a certain space separation between the solid waste cover 36 and the solid waste port 11 is ensured until the proximity sensor on the other side senses the solid waste switch cover structure 30.

[0079] If the separated syringe 60 is needed to be discarded, the mechanical arm 20 drives the clamping assembly to first clamp the syringe 60 on the syringe 60 separation seat 41. After the syringe 60 is in place, the mechanical arm 20 drives the clamping assembly to move downward to pull out the needle, and the needle is directly discarded into the solid waste port 11. Then, the needle tube of the syringe 60 is clamped again and discarded into the solid waste port 11.

[0080] The design utilizes the linkage of the vertical cylinder, the mechanical arm 20 and the clamping assembly 50 to realize the opening and closing of the solid waste cover 36 and the pulling out of the needle, so that the limitations of the existing mechanism are overcome, and the function of the solid waste cover 36 opening and closing mechanism is expanded.

[0081] The solid waste cover opening and closing and needle pulling out mechanism of the above-described split packaging equipment comprises a bottom plate 10, a mechanical arm 20, a solid waste switch cover structure 30, a syringe fixing structure 40 and a clamping assembly 50. The mechanical arm 20 is installed on the bottom plate 10, the solid waste switch cover structure 30 is also fixed on the bottom plate 10, the syringe fixing structure 40 is connected with the solid waste switch cover, and the clamping assembly 50 is located at one end of the mechanical arm 20. The bottom plate 10 is provided with a solid waste port 11, and a radiation-proof container is placed below to collect solid waste.

[0082] The above merely describes the specific implementation of the present application, but the protection scope of the present application is not limited to this. Any skilled person in the art can easily think of various equivalent modifications or replacements within the technical range disclosed by the present application, and these modifications or replacements should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A split-packaging equipment solid waste cover opening and closing cover and needle pulling mechanism, characterized in that, The utility model relates to a medical waste treatment device, including: The bottom plate, the mechanical arm, the solid waste switch cover structure, the syringe fixed structure and the clamping assembly; The mechanical arm is installed on the bottom plate, the solid waste switch cover structure is installed on the bottom plate, and the syringe fixed structure is connected with the solid waste switch cover structure; The clamping assembly is connected to one end of the mechanical arm, a solid waste port is arranged on the bottom plate, and a radiation-proof container is placed below the solid waste port.

2. The opening and closing cover and needle pulling mechanism for the fixed waste cover of the split charging equipment according to claim 1, characterized in that, The solid waste switch cover structure is located above the solid waste port.

3. The unit-dose device solid waste cap opening and needle removal mechanism of claim 2, wherein, The solid waste switch cover structure includes a horizontal sliding assembly, a vertical sliding assembly and a solid waste cover, the horizontal sliding assembly is connected with the bottom plate, the vertical sliding assembly is connected with the horizontal sliding assembly, and the solid waste cover is connected above the vertical sliding assembly.

4. The unit-dose device solid waste cap opening and needle removal mechanism of claim 3, wherein, The horizontal sliding assembly includes a support plate, a sliding rail and a sliding block, the support plate is connected with the sliding rail, one end of the support plate is connected to the bottom plate, the sliding block is connected with the sliding rail, and the sliding block is also connected with the vertical sliding assembly.

5. The unit-dose device solid waste cap opening and needle removal mechanism of claim 4, wherein, The horizontal sliding assembly further includes a translation limiting block, and the translation limiting block is installed on both sides of the sliding rail.

6. The unit-dose device solid waste cap opening and needle removal mechanism of claim 5, wherein, The horizontal sliding assembly further includes a proximity switch, and the proximity switch is connected below the translation limiting block.

7. The unit-dose device solid waste cap opening and needle removal mechanism of claim 6, wherein, The vertical sliding assembly includes a vertical movement air cylinder and an adapter mounting plate, the vertical movement air cylinder is connected to the sliding block, and the adapter mounting plate is connected to one end of the vertical movement air cylinder.

8. The unit-dose device solid waste cap opening and needle removal mechanism of claim 7, wherein, The syringe fixed structure includes a separation seat and a fixed seat, the separation seat is connected above the adapter mounting plate, and the fixed seat is connected to one side of the separation seat.

9. The unit-dose device closure opening and needle extraction mechanism of claim 8, wherein, The fixed seat is provided with a placing hole, one side of the fixed seat is provided with a notch, and the placing hole is in communication with the notch.

10. The unit-dose device solid waste cap opening and needle removal mechanism of claim 1, wherein, The clamping assembly includes a clamping cylinder and a clamping jaw, the clamping cylinder is connected with the mechanical arm, the clamping jaw includes a V-shaped left clamping jaw and a V-shaped right clamping jaw, and the V-shaped left clamping jaw and the V-shaped right clamping jaw are respectively connected with the clamping cylinder.

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