Nuclide medicine split charging equipment and sorting device
By using the robotic arm and sorting device of the radiopharmaceutical dispensing equipment in tandem, the problems of accuracy and efficiency in manual material import and sorting have been solved, realizing automated material import and sorting and improving operational accuracy and sorting efficiency.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-27
- Publication Date
- 2026-03-17
AI Technical Summary
In existing technologies, manual import and sorting of consumables suffers from poor operational accuracy and low sorting efficiency.
The radiopharmaceutical dispensing equipment includes an operating chamber, a robotic arm, and a sorting device. Through the coordinated operation of the robotic arm and the sorting device, and utilizing a tray base, tray assembly, and moving mechanism, the equipment enables automated import and sorting of consumables, improving operational accuracy and sorting efficiency.
It improves the operational precision and sorting efficiency of consumables, reduces the probability of consumables falling, and enhances the convenience and stability of the sorting device.
Smart Images
Figure CN224001035U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of radiopharmaceutical packaging technology, and in particular to a radiopharmaceutical packaging equipment and sorting 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, the entry and sorting of consumables (such as vials, syringes, etc.) require operators to manually guide the consumables into the dispensing compartment of the dispensing equipment and sort them using mechanical extension arm grippers.
[0004] However, manually importing and sorting consumables suffers from poor operational accuracy and low sorting efficiency. Utility Model Content
[0005] This application provides a radiopharmaceutical dispensing device and a sorting apparatus to solve the problems of poor operational accuracy and low sorting efficiency when manually introducing and sorting consumables.
[0006] To achieve the above objectives, the technical solution of this application is as follows:
[0007] In a first aspect, this application provides a radiopharmaceutical dispensing device, comprising: an operating chamber, the operating chamber including an inlet chamber and a dispensing chamber arranged along a first direction, a transfer inlet provided between the inlet chamber and the dispensing chamber, and a liquid injection device provided in the dispensing chamber; a robotic arm disposed in the dispensing chamber, the robotic arm being used to introduce consumables located in the inlet chamber into the dispensing chamber through the transfer inlet and to sort the consumables; and a sorting device disposed in the dispensing chamber and located between the liquid injection device and the transfer inlet, the sorting device including a tray base, a tray assembly, and a moving mechanism, the tray base having a bearing surface, the tray assembly being disposed on the bearing surface and detachably disposed from the tray base, the tray assembly being used to place consumables, and the moving mechanism including a driving member and a moving member, the tray base being connected to the moving member, the driving member being connected to the moving member, the driving member driving the moving member to move the tray base reciprocally relative to the operating chamber along a second direction, so that the tray base is positioned closer to or further away from the robotic arm, the first direction and the second direction being intersecting.
[0008] In one possible implementation, the radiopharmaceutical dispensing equipment provided in this application includes a drive motor as the driving component and a lead screw and a nut assembly that matches the lead screw as the moving component. The lead screw is connected to the output end of the drive motor, and the nut assembly is fixedly connected to the tray base.
[0009] In one possible implementation, the radiopharmaceutical dispensing equipment provided in this application further includes a collision detection device. The collision detection device is disposed on the side of the tray base facing the robotic arm. The collision detection device is used to obtain distance information between the tray base and the robotic arm. The collision detection device includes at least one of a photoelectric sensor, a laser rangefinder sensor, and a vision sensor.
[0010] In one possible implementation, the radiopharmaceutical dispensing device provided in this application has a first recess on the bearing surface, and a first magnetic positioning part is disposed in the first recess, the surface of the first magnetic positioning part being flush with the bearing surface; the tray assembly has a second recess on the side facing the bearing surface, and a second magnetic positioning part is disposed in the second recess, the surface of the second magnetic positioning part being flush with the tray assembly, and the second magnetic positioning part and the first magnetic positioning part being magnetically connected.
[0011] In one possible implementation, the radiopharmaceutical dispensing device provided in this application further includes a tray base with multiple sets of guides located on the bearing surface, the multiple sets of guides being arranged along a second direction; the tray assembly includes multiple consumable trays, the consumable trays being configured in one-to-one correspondence with the guides, and the consumable trays being slidably connected to the corresponding guides.
[0012] In one possible implementation, the radiopharmaceutical dispensing equipment provided in this application includes a pair of guide bars in each set of guide components. The pair of guide bars are spaced apart along a second direction and form a sliding channel. The consumable tray is located in the sliding channel and is slidably connected to the guide bars. The guide bars extend along a first direction and are aligned with the two ends of the bearing surface in the first direction.
[0013] In one possible implementation, the radiopharmaceutical dispensing device provided in this application includes a consumable tray comprising a tray and a clamping interface connected to the tray. The tray has multiple independently configured limiting grooves for accommodating consumables.
[0014] In one possible implementation, the radiopharmaceutical dispensing equipment provided in this application has a circular groove for limiting the groove. Along the circumference of the limiting groove itself, a locking part is provided on the inner sidewall of the limiting groove. The locking part can extend and retract relative to the limiting groove along the radial direction of the limiting groove itself, and the side of the locking part away from the limiting groove has an arc-shaped contact surface.
[0015] In one possible implementation, the radiopharmaceutical dispensing device provided in this application has a difference in the radial dimensions of the circular grooves on at least two of the multiple consumable trays; and / or, a difference in the radial dimensions of the two circular grooves on at least one of the multiple consumable trays.
[0016] Secondly, this application provides a sorting device for sorting consumables together with a robotic arm, including a tray base, a tray assembly, and a moving mechanism. The tray base has a bearing surface, the tray assembly is disposed on the bearing surface and detachably disposed from the tray base, the tray assembly is used to place consumables, and the moving mechanism includes a drive member and a moving member. The tray base is connected to the moving member, the drive member is connected to the moving member and drives the moving member to move the tray base back and forth along a second direction, so that the tray base is positioned closer to or further away from the robotic arm.
[0017] The radiopharmaceutical dispensing equipment and sorting device provided in this application include an operating chamber, a robotic arm, and a sorting device. The operating chamber includes an inlet chamber and a dispensing chamber arranged along a first direction, with a transfer inlet between them. The dispensing chamber is equipped with a liquid injection device. The robotic arm is positioned in the dispensing chamber and is capable of introducing consumables located in the dispensing chamber through the transfer inlet and sorting the consumables. A sorting device is positioned between the liquid injection device and the transfer inlet, and is used to sort consumables together with the robotic arm. The sorting device includes a tray base, a tray assembly, and a moving mechanism. The tray assembly is used to place consumables and is detachably mounted on the bearing surface of the tray base, making the placement and removal of consumables more convenient. The moving mechanism includes a driving component and a moving component. The tray base is connected to the moving component. Driven by the driving component, the moving component can drive the tray base to reciprocate relative to the operating cavity along a second direction intersecting the first direction, so that the tray base can move closer to or further away from the robotic arm. Through the coordinated operation of the sorting device and the robotic arm, consumables can be conveniently introduced into the dispensing chamber and sorted sequentially to the liquid injection device, thereby effectively improving the operating accuracy and sorting efficiency. 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 for Figure 1 Schematic diagram of the middle sorting device;
[0021] Figure 3 This is a schematic diagram of the movement of the sorting device provided in the embodiments of this application;
[0022] Figure 4This is a schematic diagram of the structure of the consumable tray provided in an embodiment of this application.
[0023] Explanation of reference numerals in the attached figures:
[0024] 1- Radiopharmaceutical dispensing equipment;
[0025] 10-Operating chamber; 11-Feeding chamber; 12-Dispensing chamber; 13-Transfer inlet; 14-Liquid injection device;
[0026] 20-Robotic arm;
[0027] 30 - Sorting device;
[0028] 100 - Pallet seat; 110 - Bearing surface; 120 - Guide element; 121 - Guide strip; 122 - Sliding channel;
[0029] 200 - Pallet assembly; 210 - Consumables pallet; 211 - Pallet; 211a - Limiting groove; 212 - Clamping interface;
[0030] 300 - Moving mechanism; 310 - Driving component; 320 - Moving component; 321 - Lead screw; 322 - Nut pair;
[0031] 2-Consumables;
[0032] X - First direction; Y - Second direction.
[0033] 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
[0034] 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.
[0035] 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.
[0036] 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.
[0037] 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.
[0038] 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.
[0039] In related technologies, the entry and sorting of consumables (such as vials, syringes, etc.) require operators to manually guide the consumables into the dispensing compartment of the dispensing equipment and sort them using mechanical extension arm grippers.
[0040] However, manually importing and sorting consumables suffers from poor operational accuracy and low sorting efficiency.
[0041] In view of this, the radiopharmaceutical dispensing equipment and sorting device provided in this application include an operating chamber, a robotic arm, and a sorting device. The operating chamber includes an inlet chamber and a dispensing chamber arranged along a first direction, with a transfer inlet between the inlet chamber and the dispensing chamber. The dispensing chamber is equipped with a liquid injection device. The robotic arm is disposed in the dispensing chamber and is capable of introducing consumables located in the dispensing chamber into the dispensing chamber through the transfer inlet and sorting the consumables. A sorting device is disposed between the liquid injection device and the transfer inlet, and the sorting device is used to sort consumables together with the robotic arm. The sorting device includes a tray base, a tray assembly, and a moving mechanism. The tray assembly is used to place consumables and is disposed on the bearing surface of the tray base and detachably disposed from the tray base, making the placement and removal of consumables more convenient. The moving mechanism includes a driving component and a moving component. The tray base is connected to the moving component. Driven by the driving component, the moving component can drive the tray base to reciprocate relative to the operating cavity along a second direction intersecting the first direction, so that the tray base can move closer to or further away from the robotic arm. Through the coordinated operation of the sorting device and the robotic arm, consumables can be conveniently introduced into the dispensing chamber and sorted sequentially to the liquid injection device, thereby effectively improving the operating accuracy and sorting efficiency.
[0042] The present application will now be described in detail with reference to the accompanying drawings and specific embodiments.
[0043] See Figures 1 to 3 This application provides a radionuclide drug dispensing device 1, including an operating chamber 10, a robotic arm 20, and a sorting device 30. The operating chamber 10 includes an inlet chamber 11 and a dispensing chamber 12 arranged along a first direction X. A transfer inlet 13 is provided between the inlet chamber 11 and the dispensing chamber 12. The dispensing chamber 12 is equipped with a liquid injection device 14. The robotic arm 20 is disposed in the dispensing chamber 12 and is used to introduce consumables 2 located in the inlet chamber 11 into the dispensing chamber 12 via the transfer inlet 13 and to sort the consumables 2. The sorting device 30 is disposed in the dispensing chamber 12 and located between the liquid injection device 14 and the transfer inlet 13. The sorting device 30 includes a tray base 100, a tray assembly 200 and a moving mechanism 300. The tray base 100 has a bearing surface 110. The tray assembly 200 is disposed on the bearing surface 110 and detachably disposed from the tray base 100. The tray assembly 200 is used to place consumables 2. The moving mechanism 300 includes a drive member 310 and a moving member 320. The tray base 100 is connected to the moving member 320. The drive member 310 is connected to the moving member 320. The drive member 310 drives the moving member 320 to move the tray base 100 back and forth relative to the operating chamber 10 along the second direction Y, so that the tray base 100 is positioned closer to or further away from the robotic arm 20. The first direction X and the second direction Y intersect.
[0044] 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.
[0045] The operating chamber 10 includes an infeed chamber 11 and a dispensing chamber 12. The dispensing chamber 12 is located downstream of the infeed chamber 11. A transfer inlet 13 is provided between the infeed chamber 11 and the dispensing chamber 12. This arrangement simplifies the transfer process of consumable 2 while maintaining the relative enclosure between the infeed chamber 11 and the dispensing chamber 12. In specific implementation, the infeed chamber 11 can be configured as a Class B environment according to Good Manufacturing Practice (GMP) for the preparation and temporary storage of consumable 2, and the dispensing chamber 12 can be configured as a Class A environment according to GMP for the dispensing of consumable 2.
[0046] The robotic arm 20 is disposed within the dispensing chamber 12. Optionally, the robotic arm 20 may include an articulated robotic arm, which consists of multiple rotary joints connected in series, enabling three-dimensional motion to grasp the consumable 2. This configuration, compared to manual operation, improves the automation level of the radiopharmaceutical dispensing equipment 1, while also enhancing operational accuracy and grasping efficiency. Furthermore, in related technologies, operators observe the operating chamber 10 through the viewing window of the radiopharmaceutical dispensing equipment 1 and manually manipulate the mechanical extension arm gripper to grasp the consumable 2. This is prone to causing the consumable 2 to fall due to limited visibility and unstable manual operation. The robotic arm 20 provided in this application can grasp the consumable 2 through the rotation of multiple rotary joints, improving stability compared to manual operation and thus reducing the probability of the consumable 2 falling.
[0047] Consumable 2 may include vials, syringes, etc.
[0048] Understandably, in practical applications, as dispensing equipment gradually becomes smaller and more diversified, the operating space of the dispensing chamber continues to decrease, resulting in a limited working range of the robotic arm 20. In order to facilitate the rapid sorting of consumables 2 within the working range of the robotic arm 20, the radiopharmaceutical dispensing equipment 1 may also include a sorting device 30 to work with the robotic arm 20 to introduce and sort consumables 2.
[0049] Specifically, the sorting device 30 may include a tray base 100, a tray assembly 200, and a moving mechanism 300. The tray base 100 has a bearing surface 110, and the tray assembly 200 is placed on the bearing surface 110 and used to hold consumables 2. The moving mechanism 300 may include a driving member 310 and a moving member 320. The moving member 320 is connected to the tray assembly 200 and can drive the tray base 100 to reciprocate along the second direction Y under the driving action of the driving member 310.
[0050] For example, when the robotic arm 20 needs to introduce the consumable 2 located in the feeding chamber 11 into the dispensing chamber 12 through the transfer inlet 13, the drive component 310 can drive the moving component 320 to move the tray seat 100 to the transfer inlet 13. This makes it easier for the robotic arm 20 to place the consumable 2 into the tray assembly 200 connected to the tray seat 100, thereby improving the introduction efficiency of the consumable 2.
[0051] When the robotic arm 20 needs to sort the consumables 2 in the tray assembly 200 to the liquid injection device 14 so that the liquid injection device 14 can inject and dispense the consumables 2, the moving component 320 can drive the tray base 100 to move relative to the robotic arm 20 along the second direction Y, so that the tray base 100 enters or leaves the working range of the robotic arm 20. The working range of the robotic arm 20 includes a fan-shaped area with a radius of R centered on the mounting base of the robotic arm 20, and the moving distance of the tray base 100 in the second direction Y is L, where L≥R.
[0052] The working range of the robotic arm 20 can be understood as the area that the robotic arm 20 can reach in its maximum extended state. The moving path of the tray base 100 can cover at least part of the working range, so as to cooperate with the robotic arm 20 to quickly sort the consumables 2 within its working range, thereby improving the operation accuracy and sorting efficiency.
[0053] Optionally, the driving component 310 may include a drive motor, a rotary motor, etc., and the moving component 320 may include a threaded slider, a sliding seat, etc.
[0054] See Figure 3 In some embodiments, the drive component 310 includes a drive motor, and the moving component 320 includes a lead screw 321 and a nut assembly 322 that matches the lead screw 321. The lead screw 321 is connected to the output end of the drive motor, and the nut assembly 322 is fixedly connected to the tray base 100.
[0055] Understandably, the output end of the drive motor is connected to the lead screw 321, enabling the drive motor to efficiently transmit its rotational power to the lead screw 321. The drive motor has excellent speed regulation performance and stable operating characteristics, thus ensuring that the lead screw 321 maintains a constant speed and torque during rotation, thereby providing a stable and controllable driving force to the nut assembly 322.
[0056] When the lead screw 321 rotates under the drive of the drive motor, the nut assembly 322 moves linearly along the threaded trajectory of the lead screw 321. It is understood that the cooperation between the nut assembly 322 and the lead screw 321 provides good precision and stability, thereby ensuring the smoothness and reliability of the tray base 100 during movement.
[0057] The tray base 100 can be fixedly connected to the nut pair 322. Thus, when the nut pair 322 moves, it can drive the tray base 100 to move synchronously, thereby realizing the auxiliary sorting of consumables 2 by the sorting device 30.
[0058] It should also be noted that the combined use of the motor, lead screw 321 and nut pair 322 provides higher control precision compared to the cylinder moving structure or hydraulic cylinder moving structure. This ensures the displacement accuracy of the sorting device 30 when sorting consumable 2, thereby better cooperating with the robotic arm 20 to sort consumable 2 to the liquid injection device 14, improving operational accuracy and sorting efficiency.
[0059] In some embodiments, the sorting device 30 further includes a collision detection component disposed on the side of the tray seat 100 facing the robotic arm 20. The collision detection component is used to obtain distance information between the tray seat 100 and the robotic arm 20. The collision detection component includes at least one of a photoelectric sensor, a laser rangefinder sensor, and a vision sensor.
[0060] Understandably, the anti-collision detection device is positioned on the side of the pallet seat 100 facing the robotic arm 20, facilitating the acquisition of distance information between the pallet seat 100 and the robotic arm 20. The anti-collision detection device may include a detection unit and an alarm unit electrically connected to the detection unit. When the distance between the pallet seat 100 and the robotic arm 20 becomes too close, for example, less than 3 cm, the alarm unit can issue an alarm, allowing the operator to control the pallet seat 100 to stop moving or move away from the robotic arm 20, thereby effectively reducing the risk of collision between the pallet seat 100 and the robotic arm 20 during movement.
[0061] To obtain distance information between the tray base 100 and the robotic arm 20, the detection unit may include at least one of a photoelectric sensor, a laser rangefinder, and a vision sensor.
[0062] Among them, the photoelectric sensor measures distance by emitting and receiving light signals, and has the advantages of fast response speed and high measurement accuracy. The laser rangefinder utilizes the linear propagation characteristic of the laser beam to calculate the distance by measuring the time it takes for the laser beam to travel from emission to reflection. The vision sensor uses image processing technology to identify and analyze the relative positional relationship between the tray base 100 and the robotic arm 20.
[0063] In some embodiments, the bearing surface 110 has a first recess, and a first magnetic positioning part is disposed in the first recess. The surface of the first magnetic positioning part is flush with the bearing surface 110. The tray assembly 200 has a second recess on the side facing the bearing surface 110. A second magnetic positioning part is disposed in the second recess. The surface of the second magnetic positioning part is flush with the tray assembly 200. The second magnetic positioning part and the first magnetic positioning part can be magnetically connected.
[0064] It should be noted that the first recess on the bearing surface 110 provides installation space for the first magnetic positioning part. In specific implementation, the first magnetic positioning part is embedded in the first recess so as to be flush with the bearing surface 110, thereby preventing the tray assembly 200 from getting stuck during placement.
[0065] In addition, a second recess is provided on the side of the pallet assembly 200 facing the bearing surface 110. The second recess is fitted with a second magnetic positioning part, and the second magnetic positioning part is flush with the surface of the pallet assembly 200. This ensures the stability and smoothness of the pallet assembly 200 during placement.
[0066] In practical use, when the tray assembly 200 is placed on the bearing surface 110, the second magnetic positioning part will abut against the first magnetic positioning part, achieving an adsorption connection through magnetic force. This configuration not only ensures a stable and reliable connection but also provides excellent convenience and flexibility. The robotic arm 20 only needs to place the tray assembly 200 on the bearing surface 110, and the magnetic force will automatically complete the positioning and fixation without additional operation or tools. Furthermore, it prevents the tray assembly 200 from moving relative to the tray base 100 during the sorting process, thus ensuring the accuracy of the sorting operation. Simultaneously, due to the reversibility of the magnetic connection, the robotic arm 20 can easily separate the tray assembly 200 from the bearing surface 110 for subsequent replacement or maintenance operations. This improves the efficiency and convenience of the sorting device 30.
[0067] Optionally, the first magnetic positioning part and the second magnetic positioning part may include magnets.
[0068] See Figure 2In some embodiments, the tray base 100 further includes multiple sets of guide members 120 located on the bearing surface 110, and the multiple sets of guide members 120 are arranged along the second direction Y; the tray assembly 200 includes multiple consumable trays 210, the consumable trays 210 and the guide members 120 are respectively arranged in a one-to-one correspondence, and the consumable trays 210 and the corresponding guide members 120 are slidably connected.
[0069] By setting multiple sets of guide members 120 on the bearing surface 110, multiple consumable trays 210 can be placed on the tray seat 100 at the same time. Thus, multiple and various consumables 2 can be introduced into the dispensing chamber 12 at the same time, and then the consumables 2 are sorted in sequence, thereby improving the sorting efficiency.
[0070] It should be noted that each consumable tray 210 can be slidably connected to the corresponding guide 120. The slidable connection ensures the stability and smoothness of the consumable tray 210 during movement, and also allows the robotic arm 20 to easily adjust the position of the consumable tray 210 according to actual needs.
[0071] In actual use, when the robotic arm 20 needs to place the consumable tray 210 on the tray base 100, it simply slides the consumable tray 210 smoothly into the tray base 100 along the guiding direction of the guide 120. This makes it more convenient and faster to replace or adjust the consumable tray 210, improving the operating efficiency of the sorting device 30.
[0072] In addition, the guide 120 not only provides reliable support and guidance for the consumable tray 210, but also limits the consumable tray 210 to prevent the tray assembly 200 from moving relative to the tray base 100 during the sorting process.
[0073] See Figure 2 In some embodiments, each set of guide members 120 includes a pair of guide bars 121, the pair of guide bars 121 are arranged at intervals along the second direction Y and form a sliding channel 122, the consumable tray 210 is located in the sliding channel 122 and is slidably connected to the guide bars 121; the guide bars 121 extend along the first direction X and are aligned with the two ends of the bearing surface 110 in the first direction X.
[0074] In a specific implementation, each set of guide members 120 may include a pair of guide strips 121. The two guide strips 121 are arranged at intervals along the second direction Y, forming a sliding channel 122 together. This provides sliding space and guidance for the sliding connection with the consumable tray 210, and also ensures the stability and accuracy of the consumable tray 210 during movement, allowing the consumable tray 210 to move smoothly and steadily along the sliding channel 122 under the guidance of the guide strips 121.
[0075] It should be noted that the guide strip 121 extends along the first direction X and is aligned with both ends of the bearing surface 110 in the first direction X. Thus, the sliding channel 122 formed by the two guide strips 121 can be a passageway extending along the first direction X. In practical applications, the consumable tray 210 can also first place the consumable 2 in the feeding chamber 11, and then the robotic arm 20 can clamp the consumable tray 210 and guide it into the dispensing chamber 12 through the sliding channel 122. This can improve the efficiency of consumable 2 introduction.
[0076] See Figure 4 In some embodiments, the consumable tray 210 includes a tray 211 and a clamping interface 212 connected to the tray 211. The tray 211 has a plurality of independently provided limiting grooves 211a, which are used to accommodate consumables 2.
[0077] Understandably, the function of the limiting groove 211a is to accommodate the consumable 2, ensuring that the consumable 2 can be stably placed on the tray 211 and preventing it from sliding during movement or operation. In addition, adjacent limiting grooves 211a can be arranged at intervals to prevent the consumable 2 from colliding with each other.
[0078] The clamping interface 212 serves as a connection between the consumable tray 210 and the robotic arm 20. It is typically designed to match the shape and size of the clamping device of the robotic arm 20 to ensure that the robotic arm 20 can accurately clamp the consumable tray 210 and move it.
[0079] In some embodiments, the limiting groove 211a is a circular groove. Along the circumference of the limiting groove 211a itself, the inner sidewall of the limiting groove 211a is provided with a locking part. The locking part can extend and retract relative to the limiting groove 211a along the radial direction of the limiting groove 211a itself, and the side of the locking part away from the limiting groove 211a has an arc-shaped contact surface.
[0080] It should be noted that the locking part can extend and retract relative to the limiting groove 211a along its own radial direction to facilitate the insertion and removal of the consumable 2. This design allows the consumable tray 210 to accommodate consumables 2 of different specifications, thereby improving the versatility and adaptability of the consumable tray 210. Specifically, when the consumable 2 is placed in the limiting groove 211a, the locking part will extend or retract according to the diameter of the consumable 2 to abut against the outer surface of the consumable 2, thereby fixing the consumable 2.
[0081] Furthermore, an arc-shaped contact surface can be provided on the side of the locking part that is away from the limiting groove 211a. This design can reduce friction between the locking part and the consumable 2.
[0082] Optionally, a telescopic spring can be provided between the locking part and the limiting groove 211a to realize the telescopic movement of the locking part relative to the limiting groove 211a.
[0083] See Figure 2 In some embodiments, at least two of the multiple consumable trays 210 have a difference in the radial dimensions of their circular slots. In other embodiments, at least one of the multiple consumable trays 210 has a difference in the radial dimensions of two circular slots on its two circular slots.
[0084] It should be noted that in practical applications, consumables 2 vary in variety and size. In order to improve the adaptability of consumable tray 210, the radial dimensions of the circular grooves of at least two consumable trays 210 can differ, thereby ensuring that consumables 2 of different sizes can be supported and fixed, thus improving the stability and safety of consumable storage.
[0085] Furthermore, to further enhance the flexibility and compatibility of the consumable tray 210, at least one consumable tray 210 is provided with at least two types of circular grooves with different radial dimensions. This arrangement not only meets the need to store consumables 2 of different sizes on the same consumable tray 210, but also optimizes the spatial layout of the consumable tray 210, thereby improving the utilization efficiency of the consumable tray 210.
[0086] 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, include: An operating cavity, comprising a feeding chamber and a dispensing chamber arranged along a first direction, wherein a transfer inlet is provided between the feeding chamber and the dispensing chamber, and the dispensing chamber is provided with a liquid injection device; A robotic arm is disposed in the dispensing chamber. The robotic arm is used to introduce consumables located in the feeding chamber into the dispensing chamber through the transfer inlet and to sort the consumables. A sorting device is disposed in the dispensing chamber and located between the liquid injection device and the transfer inlet. The sorting device includes a tray base, a tray assembly, and a moving mechanism. The tray base has a bearing surface. The tray assembly is disposed on the bearing surface and detachably disposed from the tray base. The tray assembly is used to place the consumables. The moving mechanism includes a drive member and a moving member. The tray base is connected to the moving member, and the drive member is connected to the moving member. The drive member drives the moving member to move the tray base reciprocally relative to the operating chamber along a second direction, so that the tray base is positioned closer to or further away from the robotic arm. The first direction and the second direction intersect.
2. The nuclide pharmaceutical dispensing apparatus according to claim 1, wherein The driving component includes a drive motor, and the moving component includes a lead screw and a nut assembly that matches the lead screw. The lead screw is connected to the output end of the drive motor, and the nut assembly is fixedly connected to the tray base.
3. The nuclide pharmaceutical dispensing apparatus according to claim 1, wherein The sorting device further includes a collision detection component, which is disposed on the side of the tray base facing the robotic arm. The collision detection component is used to obtain distance information between the tray base and the robotic arm. The collision detection component includes at least one of a photoelectric sensor, a laser rangefinder sensor, and a vision sensor.
4. The nuclide pharmaceutical dispensing apparatus according to claim 1, wherein The bearing surface has a first recessed portion, and a first magnetic positioning portion is provided in the first recessed portion. The surface of the first magnetic positioning portion is flush with the bearing surface. The tray assembly has a second recess on the side facing the bearing surface, and a second magnetic positioning part is provided in the second recess. The surface of the second magnetic positioning part is flush with the tray assembly, and the second magnetic positioning part and the first magnetic positioning part can be magnetically connected.
5. The nuclide medicine dispensing apparatus according to any one of claims 1 to 4, characterized by The pallet seat also includes multiple sets of guide members located on the bearing surface, and the multiple sets of guide members are arranged along the second direction; The tray assembly includes multiple consumable trays, each consumable tray being configured in a one-to-one correspondence with a guide member, and the consumable trays being slidably connected to the corresponding guide members.
6. The nuclide pharmaceutical dispensing apparatus according to claim 5, wherein Each set of guide components includes a pair of guide strips, which are spaced apart along the second direction and form a sliding channel. The consumable tray is located in the sliding channel and is slidably connected to the guide strips. The guide strip extends along the first direction and is aligned with both ends of the bearing surface in the first direction.
7. The nuclide pharmaceutical dispensing apparatus according to claim 5, wherein The consumable tray includes a tray and a clamping interface connected to the tray. The tray has multiple independently provided limiting grooves for accommodating the consumables.
8. The nuclide pharmaceutical dispensing apparatus according to claim 7, wherein The limiting groove is a circular groove, and a clamping portion is arranged on the inner side wall of the limiting groove along the circumferential direction of the limiting groove. The clamping portion is telescopic relative to the limiting groove along the radial direction of the limiting groove, and the side of the clamping portion away from the limiting groove has an arc-shaped contact surface.
9. The nuclide pharmaceutical dispensing apparatus according to claim 8, wherein Among the plurality of consumable trays, the radial dimensions of the circular grooves of at least two of the consumable trays have a difference; And / or, among the plurality of consumable trays, the radial dimensions of the two circular grooves on at least one of the consumable trays have a difference.
10. A sorting device for sorting consumables in cooperation with a robot arm, characterized in that, The tray seat body has a bearing surface, the tray assembly is arranged on the bearing surface and is detachably arranged with the tray seat body, the tray assembly is used for placing the consumable, the moving mechanism includes a driving member and a moving member, the tray seat body is connected with the moving member, the driving member is connected with the moving member and drives the moving member to drive the tray seat body to reciprocally move along a second direction, so that the tray seat body is arranged close to or away from the mechanical arm.