Nuclide medicine split charging equipment

Abstract

The utility model relates to the technical field of nuclide medicine subpackaging, in particular to nuclide medicine subpackaging equipment. The nuclide medicine sub-packaging equipment comprises a sub-packaging cavity, the sub-packaging cavity comprises a feeding cavity and a sub-packaging cavity which are arranged in the first direction, a feeding port is formed in the side, away from the sub-packaging cavity, of the feeding cavity, and a transfer inlet is formed between the feeding cavity and the sub-packaging cavity; the feeding automatic butt joint device is arranged in the feeding cavity and comprises a bearing assembly and a moving assembly, the bearing assembly can be switched between a first working position and a second working position under driving of the moving assembly, and at the first working position, the bearing assembly is close to the feeding port relative to the conveying inlet and can bear the consumables guided in through the feeding port; at the second working position, the bearing assembly is close to the transfer inlet relative to the feeding opening; and the mechanical arm is arranged in the sub-loading cavity and used for transferring the consumables borne by the bearing assembly located at the second working position to the sub-loading cavity through the feeding automatic butt joint device.

Description

Technical Field

[0001] This application relates to the field of radiopharmaceutical packaging technology, and more particularly to a radiopharmaceutical packaging device. Background Technology

[0002] Radiopharmaceutical dispensing equipment is a core device in radiopharmaceutical preparation, used to quantitatively inject radiopharmaceutical solutions into syringes or vials. Radiopharmaceutical dispensing equipment typically employs a lead-shielded structure and an airtight seal design to ensure the radiation safety of operators while performing aseptic dispensing of radiopharmaceuticals.

[0003] In related technologies, consumables (such as vials, syringes, etc.) need to be transferred from the feed hopper of the dispensing equipment to the dispensing hopper through a transfer window. Operators need to use mechanical extension arm grippers to manually pass the consumables through the transfer window and guide them into the dispensing hopper.

[0004] However, the aforementioned manual operation method has poor transmission stability and low transmission efficiency. Utility Model Content

[0005] This application provides a radiopharmaceutical dispensing device to solve the problems of poor operational stability and low delivery efficiency of current manual operation methods.

[0006] To achieve the above objectives, the technical solution of this application is as follows:

[0007] This application provides a radionuclide drug dispensing device, comprising: a dispensing chamber, the dispensing chamber including an inlet chamber and a dispensing chamber arranged along a first direction, wherein the inlet chamber is located upstream of the dispensing chamber, an inlet is provided on the side of the inlet chamber away from the dispensing chamber, and a transfer inlet is provided between the inlet chamber and the dispensing chamber, the inlet and the transfer inlet being arranged opposite to each other along the first direction; an automatic feeding docking device, disposed in the inlet chamber and including a bearing component and a moving component, wherein along the first direction, the orthographic projection of the bearing component is located within the orthographic projection of the inlet and the transfer inlet, and the moving component includes a driving member having a driving part and a moving part, the bearing component being positioned within the first direction. The carrier component is fixedly connected to the moving part, and the drive part is connected to the moving part. The drive part can drive the moving part and the carrier component to reciprocate along the first direction between the feed inlet and the transfer inlet, so that the carrier component switches between the first working position and the second working position. In the first working position, the carrier component is close to the feed inlet relative to the transfer inlet and can carry the consumables introduced through the feed inlet. In the second working position, the carrier component is positioned close to the transfer inlet relative to the feed inlet. A robotic arm is set in the dispensing chamber. The robotic arm is used to transfer the consumables carried by the carrier component in the second working position to the dispensing chamber via the automatic feeding docking device.

[0008] In one possible implementation, the radiopharmaceutical dispensing apparatus provided in this application further includes a mounting housing connected to a dispensing cavity; the mounting housing has a receiving cavity and an output port communicating with the receiving cavity, at least a portion of the driving member is located within the receiving cavity, and the driving member is configured to drive the moving member to move so that the moving member extends out of or is received in the receiving cavity via the output port.

[0009] In one possible implementation, the radiopharmaceutical dispensing equipment provided in this application has a carrier component and a moving component stacked along the height direction of the automatic feeding docking device itself, and the carrier component protrudes from the mounting housing along the height direction; a transfer part is provided on the side of the carrier component facing the moving component, and the carrier component is fixedly connected to the moving part through the transfer part.

[0010] In one possible implementation, the radiopharmaceutical dispensing equipment provided in this application further includes a consumable tray connected to the carrier component. The consumable tray includes a tray body and a handle. The tray body has multiple independently arranged receiving slots for receiving consumables. The handle is located on the side of the tray body facing the transfer inlet. A robotic arm is configured to grip the handle to transfer the consumable tray to the dispensing chamber.

[0011] In one possible implementation, the radiopharmaceutical dispensing device provided in this application includes a carrier component, a consumable tray slidably disposed on the carrier component, and a pair of first guide portions disposed on the side of the carrier component facing the moving component along a second direction; a pair of second guide portions disposed on the side of the moving component facing the carrier component along the second direction, and the pair of second guide portions are respectively located on opposite sides of the moving component in the second direction, and the first guide portions and the second guide portions are slidably connected; wherein the first direction and the second direction are intersecting.

[0012] In one possible implementation, the radiopharmaceutical dispensing device provided in this application has a lubricating coating on the side of the first guide section and the second guide section facing each other.

[0013] In one possible implementation, the radiopharmaceutical dispensing device provided in this application has a carrier having a first end and a second end opposite to each other along a first direction, the second end being away from the transfer inlet relative to the first end; the carrier has a limiting part on the side opposite to the moving assembly, and the limiting part is disposed close to the second end relative to the first end.

[0014] In one possible implementation, the radiopharmaceutical dispensing equipment provided in this application further includes a pair of sliding guide bars in the carrier component. The pair of sliding guide bars are located on the side of the carrier component away from the moving component. The pair of sliding guide bars are spaced apart along a second direction. The tray body is located between the pair of sliding guide bars and is slidably connected to the sliding guide bars.

[0015] In one possible implementation, the radiopharmaceutical dispensing equipment provided in this application includes a drive unit comprising one of a pneumatic cylinder and a hydraulic cylinder, and a moving unit comprising a piston rod.

[0016] In one possible implementation, the radiopharmaceutical dispensing equipment provided in this application, including an automatic feeding docking device, further includes a pressure sensor. The pressure sensor is disposed on the bearing component and is used to acquire the bearing information of the bearing component.

[0017] The radiopharmaceutical dispensing equipment provided in this application includes a dispensing chamber, an automatic feeding docking device, and a robotic arm. The dispensing chamber includes an inlet chamber and a dispensing chamber arranged along a first direction, with the inlet chamber located upstream of the dispensing chamber. An inlet port is located on the side of the inlet chamber away from the dispensing chamber. A transfer inlet port is provided between the inlet chamber and the dispensing chamber, and the inlet port and transfer inlet port are positioned opposite each other along the first direction. The automatic feeding docking device is located in the inlet chamber and includes a carrying component and a moving component. The moving component includes a driving component, which comprises a driving part and a moving part. The carrying component is fixedly connected to the moving part, and the driving part is connected to the moving part, so that the moving part, driven by the driving part, can drive the carrying component to reciprocate along the first direction between the inlet port and the transfer inlet port, thereby allowing the carrying component to switch between a first working position and a second working position. Furthermore, along the first direction, the orthographic projection of the carrying component lies within the orthographic projections of the inlet port and the transfer inlet port. Therefore, in the first working position, the carrying component is positioned close to the feed inlet relative to the transfer inlet and is capable of carrying the consumables introduced through the feed inlet. In the second working position, the carrying component is positioned close to the transfer inlet relative to the feed inlet, thereby enabling the robotic arm to transfer the consumables carried by the carrying component in the second working position to the dispensing chamber. By switching between the first and second working positions using the automatic feeding docking device, and through the coordinated use of the robotic arm, the stability and efficiency of consumable transfer can be improved. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the structure of the radionuclide drug dispensing equipment provided in the embodiments of this application;

[0020] Figure 2 This is a schematic diagram of the structure of the automatic feeding docking device provided in the embodiments of this application;

[0021] Figure 3 for Figure 2 A diagram from another perspective;

[0022] Figure 4 for Figure 2 A diagram from another perspective;

[0023] Figure 5 This is a schematic diagram of the movement of the automatic feeding docking device provided in the embodiments of this application.

[0024] Explanation of reference numerals in the attached figures:

[0025] 1- Radiopharmaceutical dispensing equipment;

[0026] 10-Dispensing chamber; 11-Feeding chamber; 12-Dispensing chamber; 13-Feeding inlet; 14-Transfer inlet;

[0027] 20 - Automatic feeding docking device;

[0028] 100 - Bearing assembly; 110 - Bearing element; 111 - First end; 112 - Second end; 113 - Limiting part; 120 - First guide part; 130 - Sliding guide bar;

[0029] 200 - Moving component; 210 - Driving element; 211 - Driving part; 212 - Moving part; 220 - Mounting housing; 221 - Receiving cavity; 222 - Output port; 230 - Second guide part;

[0030] 300-Adapter Section;

[0031] 400 - Consumables tray; 410 - Tray body; 411 - Receiving slot; 420 - Handle;

[0032] 30 - Robotic arm;

[0033] 2-Consumables;

[0034] X - First direction; Y - Second direction; Z - Height direction.

[0035] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the preferred embodiments of this application will be described in more detail below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this application, not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0037] It should be noted that in the description of the embodiments of this application, the terms "upper", "lower", "inner", "outer" and other terms indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of description, and do not indicate or imply that the device or component must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the embodiments of this application.

[0038] Furthermore, it should be noted that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0039] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "fixation," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0040] In related technologies, consumables (such as vials, syringes, etc.) need to be transferred from the feed hopper of the dispensing equipment to the dispensing hopper through a transfer window. Operators need to manually pass the consumables through the transfer window and guide them into the dispensing hopper using a mechanical extension arm gripper. However, the above-mentioned manual operation method has poor transfer stability and low transfer efficiency.

[0041] In view of this, the radiopharmaceutical dispensing equipment provided in this application includes a dispensing chamber, an automatic feeding docking device, and a robotic arm. The dispensing chamber includes an inlet chamber and a dispensing chamber arranged along a first direction, with the inlet chamber located upstream of the dispensing chamber. An inlet port is provided on the side of the inlet chamber away from the dispensing chamber, and a transfer inlet is provided between the inlet chamber and the dispensing chamber, with the inlet port and transfer inlet positioned opposite each other along the first direction. The automatic feeding docking device is disposed in the inlet chamber and includes a carrying component and a moving component. The moving component includes a driving member, which comprises a driving part and a moving part. The carrying component is fixedly connected to the moving part, and the driving part is connected to the moving part, so that the moving part, driven by the driving part, can drive the carrying component to reciprocate along the first direction between the inlet port and the transfer inlet, thereby enabling the carrying component to switch between a first working position and a second working position. Furthermore, along the first direction, the orthographic projection of the carrying component lies within the orthographic projections of the inlet port and the transfer inlet. Therefore, in the first working position, the carrying component is positioned close to the feed inlet relative to the transfer inlet and is capable of carrying the consumables introduced through the feed inlet. In the second working position, the carrying component is positioned close to the transfer inlet relative to the feed inlet, thereby enabling the robotic arm to transfer the consumables carried by the carrying component in the second working position to the dispensing chamber. By switching between the first and second working positions using the automatic feeding docking device, and through the coordinated use of the robotic arm, the stability and efficiency of consumable transfer can be improved.

[0042] The present application will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0043] See Figure 1 , Figure 2 and Figure 5This application provides a radionuclide drug dispensing device 1, including a dispensing chamber 10, an automatic feeding docking device 20, and a robotic arm 30. The dispensing chamber 10 includes an inlet chamber 11 and a dispensing chamber 12 arranged along a first direction X. The inlet chamber 11 is located upstream of the dispensing chamber 12. An inlet 13 is provided on the side of the inlet chamber 11 away from the dispensing chamber 12. A transfer inlet 14 is provided between the inlet chamber 11 and the dispensing chamber 12, and the inlet 13 and the transfer inlet 14 are arranged opposite to each other along the first direction X. An automatic feeding docking device 20 is disposed in the feeding chamber 11 and includes a carrying component 100 and a moving component 200. Along the first direction X, the orthographic projection of the carrying component 100 is located within the orthographic projection of the feeding port 13 and the transfer inlet 14. The moving component 200 includes a driving member 210, which has a driving part 211 and a moving part 212. The carrying component 100 is fixedly connected to the moving part 212, and the driving part 211 is connected to the moving part 212. The driving part 211 can drive the moving part 212 and the carrying component 100 to reciprocate along the first direction X between the feeding port 13 and the transfer inlet 14, so that the carrying component 100 switches between a first working position and a second working position. In the first working position, the carrying component 100 is close to the feeding port 13 relative to the transfer inlet 14 and can carry the consumable 2 introduced through the feeding port 13. In the second working position, the carrying component 100 is disposed close to the transfer inlet 14 relative to the feeding port 13. The robotic arm 30 is located in the dispensing chamber 12. The robotic arm 30 is used to transfer the consumable 2 carried by the bearing component 100 located in the second working position to the dispensing chamber 12 via the automatic feeding docking device 20.

[0044] Here, the first direction X can be understood as the length direction of the radionuclide dispensing device 1. Consumables 2 may include vials, syringes, etc.

[0045] It should be noted that the dispensing chamber 10 may include an infeed chamber 11 and a dispensing chamber 12, with the infeed chamber 11 located upstream of the dispensing chamber 12. An inlet 13 is provided on the side of the infeed chamber 11 away from the dispensing chamber 12, so that the operator can introduce the consumable 2 into the infeed chamber 11 through the inlet 13.

[0046] Furthermore, a transfer inlet 14 is provided between the feeding chamber 11 and the dispensing chamber 12, and the feeding port 13 and the transfer inlet 14 are arranged opposite each other along the first direction X. That is, along the first direction X, the orthographic projection of the feeding port 13 can overlap with the orthographic projection of the transfer inlet 14. This arrangement facilitates the transfer of consumables 2.

[0047] In practice, the feeding chamber 11 can be set as a Class B environment in accordance with Good Manufacturing Practice (GMP) for the preparation and temporary storage of consumable 2, and the dispensing chamber 12 can be set as a Class A environment in accordance with Good Manufacturing Practice (GMP) for the dispensing of consumable 2.

[0048] To transfer consumable 2 from inlet 13 to inlet 14, the radiopharmaceutical dispensing equipment 1 may include an automatic feeding docking device 20, which is installed inside the inlet chamber 11. The automatic feeding docking device 20 may include a support component 100 and a moving component 200.

[0049] In specific implementation, along the first direction X, the orthographic projection of the carrier component 100 is located within the orthographic projection of the inlet 13, and the orthographic projection of the carrier component 100 is located within the orthographic projection of the transfer inlet 14. This arrangement facilitates the operator to place the consumable 2 on the carrier component 100 located in the inlet chamber 11 through the inlet 13, and facilitates the robotic arm 30 to transfer the consumable 2 located on the carrier component 100 to the dispensing chamber 12 through the transfer inlet 14.

[0050] It should be noted that the moving component 200 includes a driving component 210, which may include a driving part 211 and a moving part 212. Under the drive of the driving part 211, the moving part 212 can drive the carrying component 100 to reciprocate between the feed port 13 and the transfer port 14 along the first direction X, so that the carrying component 100 can switch between the first working position and the second working position.

[0051] When the carrier component 100 needs to carry the consumable 2 that enters through the inlet 13, the moving part 212 drives the carrier component 100 to move toward the inlet 13 to the first working position of the carrier component 100, that is, the position where the carrier component 100 can dock with the inlet 13, so as to successfully receive the consumable 2 introduced through the inlet 13.

[0052] When the carrier component 100 needs to transfer the consumable 2 to the transfer inlet 14, the moving part 212 drives the carrier component 100 to move toward the transfer inlet 14 to the second working position of the carrier component 100, that is, the position where the carrier component 100 can dock with the transfer inlet 14, so as to facilitate the transfer operation of the consumable 2 by the robotic arm 30.

[0053] A robotic arm 30 is positioned within the dispensing chamber 12. Optionally, the robotic arm 30 may include an articulated robotic arm, which consists of multiple rotary joints connected in series, enabling three-dimensional motion to transfer the consumable 2. This configuration, compared to manual operation, enhances the automation level of the radiopharmaceutical dispensing equipment 1 and improves operational stability, thereby reducing the probability of the consumable 2 falling. Through the precise operation of the robotic arm 30, the consumable 2 can be smoothly and efficiently transferred from the carrier component 100 to the dispensing chamber 12.

[0054] It should also be noted that by setting up the automatic feeding docking device 20, the consumable 2 can be smoothly transferred from the feed port 13 to the transfer inlet 14. Therefore, the robotic arm 30 does not need to receive the consumable 2 from the feed port 13, thereby reducing the range of motion of the robotic arm 30 and reducing the structural complexity of the robotic arm 30.

[0055] Thus, by flexibly switching between the first and second working positions using the automatic feeding docking device 20, and with the cooperation of the robotic arm 30, the transfer stability and efficiency of the radiopharmaceutical dispensing equipment 1 during the transfer of consumables 2 are improved.

[0056] See Figure 2 In some embodiments, the moving assembly 200 further includes a mounting housing 220 connected to the dispensing cavity 10; the mounting housing 220 has a receiving cavity 221 and an output port 222 communicating with the receiving cavity 221, at least a portion of the driving member 210 is located within the receiving cavity 221, and the driving part 211 is configured to drive the moving part 212 to move such that the moving part 212 extends out of or is received in the receiving cavity 221 via the output port 222.

[0057] It is understood that by providing a receiving cavity 221 within the mounting housing 220, at least a portion of the drive member 210 can be disposed within the receiving cavity 221, thereby ensuring the stability of the drive member 210.

[0058] In order to enable the moving part 212 to drive the bearing assembly 100 to switch between the first working position and the second working position, the mounting housing 220 may also be provided with an output port 222 that communicates with the receiving cavity 221. By providing the output port 222, the moving part 212 can extend or retract into the receiving cavity 221 under the driving action of the driving member 210.

[0059] Furthermore, by providing the mounting housing 220 and placing at least a portion of the drive unit 210 within the receiving cavity 221, the structure of the moving assembly 200 becomes more compact, thereby optimizing the space utilization of the feed chamber 11.

[0060] See Figure 2In some embodiments, the bearing component 100 and the moving component 200 are stacked along the height direction Z of the automatic feeding docking device 20, and the bearing component 100 protrudes from the mounting housing 220 along the height direction Z; a connecting part 300 is provided on the side of the bearing component 100 facing the moving component 200, and the bearing component 100 is fixedly connected to the moving part 212 through the connecting part 300.

[0061] It is understandable that by stacking the carrier component 100 and the moving component 200 along the height direction Z, the space utilization of the feeding chamber 11 can be optimized, ensuring the smooth switching of the carrier component 100 between the first working position and the second working position. In other words, if the moving component 200 and the carrier component 100 are arranged along the first direction X, the movable range of the carrier component 100 in the first direction X will be reduced, thereby affecting the transfer of consumable 2 by the carrier component 100.

[0062] In order to enable the moving part 212 to drive the support assembly 100 to move along the first direction X, the support assembly 100 is provided with a connecting part 300 on the side facing the moving part 212. That is, along the height direction Z, the support assembly 100 can be fixedly connected to the moving part 212 through the connecting part 300.

[0063] It should be noted that when the moving part 212 is housed in the receiving cavity 221, the adapter 300 can be located at the output port 222. This arrangement not only realizes the connection between the bearing component 100 and the moving part 212, but also avoids interference with the structure inside the receiving cavity 221.

[0064] Optionally, the adapter 300 may be a connecting rod extending along the height direction Z. The two opposite ends of the connecting rod along the height direction Z may be fixedly connected to the moving part 212 and the bearing assembly 100 respectively by welding, threaded connection or other means.

[0065] See Figure 2 In some embodiments, the automatic feeding docking device 20 further includes a consumable tray 400 connected to the carrying component 100. The consumable tray 400 includes a tray body 410 and a handle 420. The tray body 410 has a plurality of independently arranged receiving slots 411 for receiving consumables 2. The handle 420 is located on the side of the tray body 410 facing the transfer inlet 14. The robotic arm 30 is configured to grip the handle 420 to transfer the consumable tray 400 to the dispensing chamber 12.

[0066] Understandably, by setting up multiple independent storage slots 411, the tray body 410 can store multiple consumables 2 simultaneously and avoid interference between them. This not only improves the space utilization of the tray body 410 but also makes the management of consumables 2 more organized and efficient.

[0067] In addition, to facilitate the transfer of the consumable tray 400 to the dispensing chamber 12 by the robotic arm 30, the consumable tray 400 is also provided with a handle 420. When the consumable tray 400 is placed on the support component 100, the handle 420 is located on the side of the tray body 410 facing the transfer inlet 14. This arrangement allows the robotic arm 30 to easily and accurately grip the consumable tray 400 and transfer it smoothly into the dispensing chamber 12.

[0068] See Figure 2 In some embodiments, the carrier component 100 includes a carrier member 110, and a consumable tray 400 is slidably disposed on the carrier member 110. Along the second direction Y, the carrier member 110 has a pair of first guide portions 120 on the side facing the moving component 200; along the second direction Y, the moving component 200 has a pair of second guide portions 230 on the side facing the carrier member 110, and the pair of second guide portions 230 are respectively located on opposite sides of the moving component 212 in the second direction Y. The first guide portions 120 and the second guide portions 230 are slidably connected; wherein the first direction X and the second direction Y are intersecting.

[0069] For example, the carrier 110 may include a carrier plate.

[0070] It should be noted that the first direction X can be understood as the length direction of the radiopharmaceutical dispensing device 1, and the second direction Y can be understood as the width direction of the radiopharmaceutical dispensing device 1. The first direction X and the second direction Y can be perpendicular to each other.

[0071] To enhance the support effect of the moving component 200 on the carrier 110 and ensure that the moving component 200 drives the carrier 110 to move along the first direction X, the carrier 110 has a pair of first guide portions 120 on the side facing the moving component 200, and the moving component 200 has a pair of second guide portions 230 on the side facing the carrier 110. The first guide portions 120 and the second guide portions 230 correspond one-to-one and are slidably connected, so that the moving component 200 provides guidance and support for the movement of the carrier 110 along the first direction X, avoiding the offset or shaking of the carrier 110 during the movement, and improving the stability and reliability of the automatic feeding docking device 20.

[0072] In addition, the paired second guide portions 230 are located on opposite sides of the moving portion 212 in the second direction Y, which can improve the guiding effect and effectively prevent the carrier 110 from shifting or shaking during the movement.

[0073] Optionally, the second guide portion 230 may include a groove or slide rail extending along the first direction X. The first guide portion 120 may include a slider that matches the groove or slide rail.

[0074] In some embodiments, the first guide portion 120 and the second guide portion 230 are both provided with a lubricating coating on the side facing each other.

[0075] It is understandable that by setting a lubricating coating, the frictional resistance during the sliding process of the first guide part 120 can be reduced, wear can be reduced, and the service life of the first guide part 120 and the second guide part 230 can be extended.

[0076] Optionally, the lubricating coating may include a borax lubricating coating, a polytetrafluoroethylene lubricating coating, etc., which can reduce the frictional resistance between the first guide portion 120 and the second guide portion 230. This embodiment does not impose any limitations on this.

[0077] See Figure 3 In some embodiments, along the first direction X, the carrier 110 has a first end 111 and a second end 112 opposite to each other, the second end 112 being away from the transfer inlet 14 relative to the first end 111; the carrier 110 has a limiting portion 113 on the side opposite to the moving assembly 200, and the limiting portion 113 is disposed close to the second end 112 relative to the first end 111.

[0078] It should be noted that a limiting part 113 may be provided on the side of the carrier 110 away from the moving component 200. By providing the limiting part 113, the consumable tray 400 placed on the carrier 110 can be constrained and limited. That is to say, when the operator passes the consumable tray 400 to the carrier 110 through the inlet 13 and makes the consumable tray 400 abut against the limiting part 113, the consumable tray 400 can be positioned.

[0079] In addition, the limiting part 113 is positioned close to the second end 112 relative to the first end 111, which can prevent interference with the consumable tray 400 when it is placed on the carrier 110, and can also prevent the consumable tray 400 from detaching from the carrier 110 in the direction toward the feed port 13.

[0080] For example, the limiting part 113 may include a limiting block.

[0081] See Figure 2 In some embodiments, the carrier component 100 further includes a pair of sliding guide bars 130, the pair of sliding guide bars 130 being located on the side of the carrier 110 away from the moving component 200, the pair of sliding guide bars 130 being spaced apart along the second direction Y, and the tray body 410 being located between the pair of sliding guide bars 130 and slidably connected to the sliding guide bars 130.

[0082] By setting the sliding guide bar 130, the pallet body 410 can slide under the guidance of the sliding guide bar 130, and the pallet body 410 can also be effectively prevented from deviating or shaking during the movement, thereby improving the stability and reliability of the automatic feeding docking device 20.

[0083] In addition, by setting the sliding guide bar 130, when the bearing component 100 is in the second working position, the robotic arm 30 can easily grip the consumable tray 400 and drag the consumable tray 400 into the dispensing chamber 12 along the sliding guide bar 130. This setting can further improve the transmission stability and reduce the risk of the consumable 2 falling.

[0084] See Figure 4 In some embodiments, the drive unit 211 includes one of a pneumatic cylinder and a hydraulic cylinder, and the moving unit 212 includes a piston rod.

[0085] It is understood that the drive unit 211 may include a cylinder, which has the advantages of simple structure and easy control. The cylinder drives the moving unit 212 by using compressed air inside, that is, the piston rod moves linearly back and forth relative to the cylinder body, thereby enabling the moving unit 212 to drive the bearing assembly 100 to move.

[0086] Alternatively, the drive unit 211 can also be a hydraulic cylinder, which utilizes the incompressibility and pressure transmission properties of liquids to provide power. Inside the hydraulic cylinder, a hydraulic pump forces liquid into the cylinder body, pushing the piston rod to move linearly, thereby enabling the moving unit 212 to drive the load-bearing assembly 100 to move.

[0087] In some embodiments, the automatic feeding docking device 20 further includes a pressure sensor disposed on the bearing component 100, and the pressure sensor is used to obtain the bearing information of the bearing component 100.

[0088] For example, when the pressure sensor detects that the bearing pressure on the bearing assembly 100 is greater than 0N, that is, the bearing assembly 100 has carried the consumable 2, the drive unit 211 can be activated so that the drive unit 211 drives the moving unit 212 to move the bearing assembly 100 along the first direction X to the second working position, that is, to move the bearing assembly 100 relative to the feed port 13 and close to the transfer inlet 14 so that the robotic arm 30 can transfer the consumable 2 to the dispensing chamber 12.

[0089] When the pressure sensor detects that the bearing pressure on the bearing assembly 100 is 0N, that is, the bearing assembly 100 is in an unloaded state, the drive unit 211 can be activated so that the drive unit 211 drives the moving unit 212 to move the bearing assembly 100 along the first direction X to the first working position, that is, to move the bearing assembly 100 closer to the feed port 13 relative to the transfer inlet 14 so as to be able to carry the consumable 2 introduced through the feed port 13.

[0090] This configuration enables the carrier component 100 to switch between the first working position and the second working position, thereby improving the automation level of the automatic feeding docking device 20.

[0091] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A radionuclide pharmaceutical dispensing apparatus, characterized by, The application relates to a material feeding device. The material feeding device comprises a material feeding cavity, an automatic docking device and a mechanical arm. The material feeding cavity comprises a feeding chamber and a material dispensing chamber arranged along a first direction, and the feeding chamber is arranged upstream of the material dispensing chamber. The feeding chamber is provided with a feeding port on a side away from the material dispensing chamber.

2. The nuclide pharmaceutical dispensing apparatus according to claim 1, wherein The feeding chamber and the material dispensing chamber are provided with a transfer inlet. The automatic docking device is arranged in the feeding chamber and comprises a bearing assembly and a moving assembly.

3. The nuclide pharmaceutical dispensing apparatus according to claim 2, wherein The bearing assembly is arranged in the feeding port and the transfer inlet. The moving assembly comprises a driving member.

4. The nuclide medicine dispensing apparatus according to claim 1, wherein The driving member has a driving part and a moving part. The bearing assembly is fixedly connected with the moving part.

5. The nuclide pharmaceutical dispensing apparatus according to claim 4, wherein The driving part is connected with the moving part. The driving part can drive the moving part and the bearing assembly to reciprocally move along the first direction and between the feeding port and the transfer inlet. The bearing assembly can be switched between a first working position and a second working position. In the first working position, the bearing assembly is arranged close to the feeding port relative to the transfer inlet and can bear the consumables introduced through the feeding port. In the second working position, the bearing assembly is arranged close to the transfer inlet relative to the feeding port. The mechanical arm is arranged in the material dispensing chamber. The mechanical arm is used for transferring the consumables borne by the bearing assembly in the second working position to the material dispensing chamber through the automatic docking device. The moving assembly further comprises a mounting shell connected with the material dispensing cavity. The mounting shell has a containing cavity and an output port in communication with the containing cavity. At least part of the driving member is arranged in the containing cavity. The driving part is configured to drive the moving part to move so that the moving part is extended out of or accommodated in the containing cavity through the output port. The bearing assembly and the moving assembly are arranged in a stacking mode along a height direction of the automatic docking device. The bearing assembly protrudes from the mounting shell along the height direction. The bearing assembly is fixedly connected with the moving part through an adapter. The automatic docking device further comprises a consumable tray connected with the bearing assembly. The consumable tray comprises a tray body and a handle part. The tray body is provided with a plurality of independently arranged containing grooves for containing the consumables. The handle part is arranged on a side of the tray body facing the transfer inlet. The mechanical arm is configured to clamp the handle part so as to transfer the consumable tray to the material dispensing chamber. The bearing assembly comprises a bearing member. The consumable tray is slidably arranged in the bearing member. Along a second direction, a side of the bearing member facing the moving assembly is provided with a pair of first guide parts. In the second direction, the moving assembly has a pair of second guide portions on a side of the carrier facing the moving assembly, and the pair of second guide portions are respectively located on two opposite sides of the moving portion in the second direction, and the first guide portion and the second guide portion are in sliding connection. The first direction and the second direction are arranged in intersection.

6. The nuclide pharmaceutical dispensing apparatus according to claim 5, wherein The first guide portion and the second guide portion are provided with a lubricating coating on a side facing each other.

7. The nuclide pharmaceutical dispensing apparatus according to claim 5, wherein In the first direction, the carrier has opposite first and second end portions, and the second end portion is away from the transfer inlet relative to the first end portion. The carrier has a limiting portion on a side facing away from the moving assembly, and the limiting portion is arranged close to the second end portion relative to the first end portion.

8. The nuclide pharmaceutical dispensing apparatus according to claim 5, wherein The carrier assembly further comprises a pair of sliding guide strips, and the pair of sliding guide strips are located on a side of the carrier facing away from the moving assembly, and the pair of sliding guide strips are arranged in interval in the second direction, and the tray body is located between the pair of sliding guide strips and in sliding connection with the sliding guide strips.

9. The nuclide medicine dispensing apparatus according to any one of claims 1 to 8, characterized by The driving portion comprises one of a pneumatic cylinder and a hydraulic cylinder, and the moving portion comprises a piston rod.

10. The nuclide pharmaceutical dispensing apparatus according to any one of claims 1 to 8, characterized by The automatic feeding butt joint device further comprises a pressure sensing member arranged on the carrier assembly, and the pressure sensing member is used to obtain the carrying information of the carrier assembly.

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