CN202063700U

CN202063700U - Robot for extracting, determining and sub-packaging medical radionuclide

Info

Publication number: CN202063700U
Application number: CN2011201494104U
Authority: CN
Inventors: 王智圣; 何晓鹏; 何茂海
Original assignee: Individual
Current assignee: He Xiaopeng
Priority date: 2011-05-12
Filing date: 2011-05-12
Publication date: 2011-12-07
Anticipated expiration: 2021-05-12

Abstract

The utility model discloses a robot for extracting, determining and sub-packaging medical radionuclide. The robot comprises a robot body, wherein a needle tube storehouse, an ampoule frame, a metering and extracting manipulator, an activity measuring manipulator, a lead sheath storage and a nuclide measuring meter are arranged on the robot body, the ampoule frame, the needle tube storehouse, the nuclide measuring meter and the lead sheath storage are arranged in a line, the ampoule frame is arranged at one side of the metering and extracting manipulator, an extracting finger of the metering and extracting manipulator is arranged below the ampoule frame, the activity measuring manipulator is arranged at one side of the nuclide measuring meter, an activity measuring finger of the activity measuring manipulator is arranged above the lead sheath storage, a main manipulator transverse-moving mechanism is arranged on the robot body, and a main manipulator is arranged on the main manipulator transverse-moving mechanism. The robot can be used for replacing manual operations of extracting, determining and sub-packaging the medical radionuclide, so that an operator can avoid the injury of nuclear radiation; and the robot has high operation accuracy and fast speed and can greatly improve the working efficiency, the robot has the advantages of concise and compact structure, low production cost and simplicity and is convenient and safe to operate.

Description

Medical radionuclide extraction, mensuration, packing robot

Technical field

The utility model relates to a kind of medical radionuclide extraction, mensuration, packing robot.

Background technology

In the detection and treatment of medical science, radiopharmaceutical quantitatively need be taken out by different use amounts from radiopharmaceutical source (ampoule), be respectively charged into different injection needles, in measuring the nucleic gauge, measure installed radiopharmaceutic activity in these needle tubings respectively then, and appropriateness increase and decrease medication amount makes and reaches predefined activity value---this process may repeated multiple times, puts every the plumbous cover of radiation in order to using at last these needle tubings.For the operation of said process, present known mode is with manually carrying out, thereby makes the operator must bear radioactive radiation, and operator's health is caused the grievous injury that can not exempt to keep away.

The utility model content

The purpose of this utility model has provided a kind of medical radionuclide extraction, mensuration, packing robot, and it can make the operator avoid bearing radioactive radiation, and can increase work efficiency, thereby can solve the problem that prior art exists.

The purpose of this utility model is achieved through the following technical solutions: medical radionuclide extracts, measure, the packing robot, comprise body, the needle tubing storehouse is installed on the body, the ampoule frame, manipulator is extracted in metering, survey the activity manipulator, plumbous cover storehouse and measurement nucleic gauge, the ampoule frame, the needle tubing storehouse, it is in one line with plumbous cover storehouse to measure the nucleic gauge, the ampoule chord position extracts a side of manipulator in metering, the extraction finger that manipulator is extracted in metering is positioned at ampoule frame below, survey the activity manipulator and be positioned at a side of measuring the nucleic gauge, the survey activity finger of surveying the activity manipulator is positioned at the top in plumbous cover storehouse; The master manipulator transverse-moving mechanism is installed on the body, on the master manipulator transverse-moving mechanism master manipulator is installed.

For further realizing the purpose of this utility model, can also realize by the following technical solutions: described needle tubing storehouse comprises the needle tubing support, and the needle tubing support is captiveed joint with body, installs clamp and bottom plate on the needle tubing support.Described master manipulator comprises pedestal, pedestal is connected with the traversing parts of described master manipulator transverse-moving mechanism, vertical shift mechanism is installed on the pedestal, in the vertical shift mechanism base portion is installed, vertical shift mechanism is installed on the base portion, on the Lift Part of vertical shift mechanism palm is installed, is installed the finger assembly on the palm and point assembly down; Last mechanical finger assembly comprises that left-hand seat refers to vertical shift mechanism, on point vertical shift mechanism and be connected with palm, on point in the vertical shift mechanism and install finger; Following mechanical finger assembly comprises reversing device, and finger down is installed on the reversing device.Described ampoule frame comprises support body, support body is connected with body, vertically offer V-shaped groove on the support body, the top fixed installation footstock of support body is installed several pull bars on the footstock, bottom plate is installed in the bottom of pull bar, offer port on the bottom plate, the upper end of pull bar passes footstock back-up ring is installed outward, and the periphery of pull bar is installed compression spring, and compression spring is between back-up ring and footstock; The ampoule bottle pinch device is installed on footstock or the support body.Installation positioner on described footstock or the support body is offered pilot hole on the steady arm, installing and locating pin in the pilot hole is installed cylindrical pin on the locating dowel pin, and the lower end periphery of cylindrical pin is provided with the convex edge, the periphery mounting spring of cylindrical pin, and spring is between convex edge and steady arm; The pressing lever is installed on the steady arm, and the pressing lever is hinged by second bearing pin and steady arm, an end of pressing lever and the upper articulation of locating dowel pin.Described metering is extracted manipulator and is comprised the assembling frame, on the assembling frame lifting mechanism is installed, and installs on the lifting mechanism and extracts palm, extracts to install on the palm and extracts finger.Described survey activity manipulator comprises fixed support, and lift system is installed on the fixed support, and the 4th cylinder and guide frame are installed on the lift system, installs on the piston rod of the 4th cylinder and surveys the activity palm, surveys to install on the activity palm and surveys the activity finger; Install the 5th on the guide frame and lead thick stick, the 5th leads thick stick is connected with survey activity palm.Described plumbous cover storehouse comprises bracing frame, and the 3rd stepping motor is installed on the bracing frame, and installation shaft end disc on the output shaft of the 3rd stepping motor is offered several through holes and several U type grooves on the axle head disk; Through hole is identical with the quantity of U type groove, and staggered uniform along the circumference of axle head disk; Respectively install one in each through hole every the plumbous cover of radiation.Groove is offered at the middle part of described axle head disk, and two slide blocks are installed in the groove, and every slide block is provided with a croisillon de joint homocinetique, between two slide blocks compression spring is installed; Fixedly mount dowel disc on the axle head disk, open several square through holes on the dowel disc, square through hole equates and corresponding one by one communicating with the quantity of through hole, several locating pieces is set on the dowel disc, locating piece equates with square through hole quantity and is corresponding one by one that square through hole constitutes V-shaped groove on locating piece; The saturating groove of bar shaped is offered at the middle part of dowel disc, and two croisillon de joint homocinetiques pass the saturating groove of bar shaped a pressing plate respectively is installed outward; Be positioned at through hole and square through hole every the plumbous cover of radiation, and with pressing plate and locating piece closed contact.Described body comprises left side board and right side board, is connected and fixed by head rod between left side board and the right side board; Second pipe link is installed on the left side board, on second pipe link medium frame plate is installed; The second short-range missile thick stick and the first short-range missile thick stick are installed between medium frame plate and the left side board; Between medium frame plate and the right side board transverse frame plate is installed; Metering is installed on the first short-range missile thick stick extracts manipulator, needle tubing storehouse and ampoule frame are installed on the second short-range missile thick stick; Install and measure nucleic gauge, plumbous cover storehouse on the transverse frame plate and survey the activity manipulator; Described master manipulator transverse-moving mechanism is installed between left side board and the right side board.

Good effect of the present utility model is: its alternative work of manually carrying out radionuclide extraction, mensuration and packing, and can make the operator avoid being subjected to nuclear radiation injury, and, its performance accuracy height, speed is fast, can significantly increase work efficiency.The utility model also has compactness simple for structure, advantage cheap for manufacturing cost and easy to operate and safe.

Description of drawings

Fig. 1 is the structural representation of medical radionuclide extraction described in the utility model, mensuration, packing robot; Fig. 2 is the B-B cutaway view structural representation of Fig. 1, saves metering among the figure and extracts manipulator and ampoule frame; Fig. 3 is the C-C sectional structure scheme drawing of Fig. 1, the needle tubing storehouse of saving among the figure; Fig. 4 is the plan structure scheme drawing of Fig. 1; Fig. 5 is the A-A sectional structure scheme drawing of Fig. 1; Fig. 6 is the E-E sectional structure scheme drawing of Fig. 1; Fig. 7 is the F-F sectional structure scheme drawing of Fig. 6; Fig. 8 is the G-G sectional structure scheme drawing of Fig. 6; Fig. 9 is that the D of Fig. 6 is to the TV structure scheme drawing; Figure 10 is the structural representation of master manipulator; Figure 11 is that the K of Figure 10 is to the structure for amplifying scheme drawing; Figure 12 is the N-N sectional structure scheme drawing of Figure 11; The H of Figure 13 Figure 10 is to view; Figure 13-the 1st, the B1-B1 sectional structure scheme drawing of Figure 13; Figure 14 is the B3-B3 sectional structure scheme drawing of Figure 13; Figure 15 is the B2-B2 cutaway view of Figure 13; Figure 16 is the V-V sectional structure scheme drawing of Figure 13; Figure 17 is the I-I sectional structure scheme drawing of Figure 13; 17-1 is the J-J sectional structure scheme drawing of Figure 17; Figure 18 is the structural representation of described ampoule frame; Figure 19 is the L-L sectional structure scheme drawing of Figure 18; Figure 20 is the M-M sectional structure scheme drawing of Figure 18; Figure 21 is the structural representation that manipulator is extracted in described metering; Figure 22 is that the P of Figure 21 is to structural representation; Figure 23 is the O-O partial view of Figure 21; Figure 23-the 1st, the O1-O1 sectional structure scheme drawing of Figure 23; Figure 24 is the Q structure for amplifying scheme drawing of Fig. 4; Figure 24-the 1st, the structural representation of the Q2-Q2 of Figure 24; Figure 25 is the local structure for amplifying scheme drawing of Fig. 4; Figure 26 is the Q1-Q1 sectional structure scheme drawing of Figure 24; Figure 27 is a structural representation of measuring the nucleic gauge; Figure 28 is the R-R sectional structure scheme drawing of Figure 27; Figure 29 is the S-S sectional structure scheme drawing of Figure 27; Figure 30 is that the T-T of Figure 29 analyses and observe the rotational structure scheme drawing.

Reference numeral: 1 needle tubing storehouse, 2 master manipulators, 3 ampoule framves, manipulator is extracted in 4 meterings, 5 survey the activity manipulator, 6 plumbous cover storehouses, 7 bodies, 8 measure the nucleic gauge, 9 needle tubing supports, 10 bottom plates, the 10a open trough, clamp on 11, the 11a notch, 12 sliding shoes, 13 double-screw bolts, 14 setting nuts, 15 spacing sleeves, 16 needle tubings, 17 first leading screws, the 18 long thick sticks of leading, 19 first nuts, 20 second nuts, 21 first sliding sleeves, 22 base portions, 23 first cylinders, 24 first lead thick stick, 25 pipe links, 26 second lead thick stick, 27 main body upper plates, 28 main body lower plates, 29 link spans, 30 pedestals, 31 first oscillating bearings, 32 first supports, 33 bearings, 34 second sliding sleeves, finger on 35,35aV type breach, 36 times fingers, 36aV type notch, 37 second leading screws, 38 palms, 39 the 3rd nuts, 40 the 4th nuts, 41 first stepping motors, 42 first coders, 43 sliding sleeve lower brackets, 44 sliding sleeve upper brackets, 45 second cylinders, 46 the 3rd lead thick stick, 47 sliding shoes, 48 second joint bearings, 49 second supports, 50 the 3rd supports, 51 locating dowel pins, the 51a supporting sleeve, 52 the 3rd cylinders, 53 locating wheels, 54 driving levers, 55 three-knuckle bearings, 56 slowspeed machines, 57 small synchronous pulleys, 58 synchronous cog belts, 59 big synchronous pulleys, 60 footstocks, 61 support bodys, 61aV shape groove, 62 linings, the 62a rectangular channel, 63 back-up rings, 64 bottom plates, the 64a skewed slot, 65 ampoule bottles, 66 pull bars, 67 compression springs, 68 back-up rings, 69 clamping cylinders, 70 briquettings, 71 briquetting seats, 72 first bearing pins, 73 needle holder, 74 flexible pipe locks, 75 brake shoes, 76 handwheels, 77 steady arms, 78 locating dowel pins, 79 springs, 80 second bearing pins, 81 pressing levers, 82 extract finger, the 82a cutting edge, 83 ball-screws, 84 the 4th lead thick stick, 85 lower carrier plates, 86 upper supporting plates, 87 ball nut pairs, 88 cliding seats, 89 extract palm, 90 second stepping motors, 91 small pulleys, 92 synchronous cog belts, 93 big belt wheels, 94 second coders, 95 pipe links, 96 fixed blocks, 97 survey the activity finger, 97a plane jaw, 98 the 4th cylinders, 99 the 5th lead thick stick, 100 medium-height trestles, 101 elevating brackets, 102 three-knuckle bearings, 103 survey the activity palm, 104 after poppets, 105 front frames, 106 first fine-tuning nuts, 107 spacers, 108 pipe links, 109 the 5th cylinders, 110 the 6th lead thick stick, bearing in 111,112 undersettings, 113 upper brackets, 114 bases, the 114a minor axis, 115 the 4th oscillating bearings, 116 second fine-tuning nuts, 117 lower support tubes, support tube in 118,119 upper support tubes, 120 pipe links, 121 vertical shaft seats, 122 bases, 123 struts, 124 vertical shafts, 124a axle head disk, 124b through hole 124cU type groove, the 124d groove, 125 the 3rd stepping motors, 126 suspension rods, 127 motor cabinets, 128 slide blocks, 129 compression springs, 130 croisillon de joint homocinetiques, 131 pressing plates, 132 dowel discs, the 132a locating piece, the 132b square through hole, 133 every the plumbous cover of radiation, 134 left side boards, 135 right side boards, 136 head rods, 137 second pipe links, 138 medium frame plates, 139 pieces, 140 transverse frame plates, 141 first short-range missile thick sticks, 142 second short-range missile thick sticks, 143 the 4th stepping motors, 144 main pulleys, 145 the 3rd coders, 146 from belt wheel, 147 synchronous cog belts, 148 support body through holes, 149 ports, 150 cylindrical pin, the saturating groove of 151 bar shapeds, 152 horizontal slots, 153 pilot holes, 154 pins, 155 guide groove 156n-n rotating shafts, 157 positioning ports.

The specific embodiment

Medical radionuclide described in the utility model extracts, measure, the packing robot, comprise body 7, needle tubing storehouse 1 is installed on the body 7, ampoule frame 3, manipulator 4 is extracted in metering, survey activity manipulator 5, plumbous cover storehouse 6 and measurement nucleic gauge 8, ampoule frame 3, needle tubing storehouse 1, it is in one line with plumbous cover storehouse 6 to measure nucleic gauge 8, ampoule frame 3 is positioned at the side that manipulator 4 is extracted in metering, the extraction finger 82 that manipulator 4 is extracted in metering is positioned at ampoule frame 3 belows, survey activity manipulator 5 and be positioned at a side of measuring nucleic gauge 8, the survey activity finger 97 of surveying activity manipulator 5 is positioned at the top in plumbous cover storehouse 6; The master manipulator transverse-moving mechanism is installed on the body 7, master manipulator 2 is installed on the master manipulator transverse-moving mechanism.As shown in figure 33, described master manipulator transverse-moving mechanism can be led thick stick 18, first leading screw 17, be connected and composed from belt wheel 146, synchronous cog belt 147, main pulley 144 and the 4th stepping motor 143 by length, parallel installation length is led the thick stick 18 and first leading screw 17 on the body 7, one end of first leading screw 17 is installed from belt wheel 146, main pulley 144 is installed on the output shaft of the 4th stepping motor 143, main pulley 144 with from installation synchronous cog belt 147 between the belt wheel 146.On first leading screw 17 nut is installed, length is led the movable master manipulator 2 of installing on the thick stick 18, and master manipulator 2 is captiveed joint with nut.As shown in figure 12, described nut can be made up of first nut 19 and second nut 20, and first nut 19 and second nut 20 are threaded with first leading screw 17 respectively.Can eliminate drive gap by the relative installation of regulating first nut 19 and second nut 20.The 4th stepping motor 143 can pass through main pulley 144, synchronous cog belt 147, drive 17 rotations of first leading screw from belt wheel 146, and 17 rotations of first leading screw can make master manipulator 2 lead thick stick 18 horizontal straight lines along length and move.Make master manipulator 2 can be convenient to move to ampoule frame 3, needle tubing storehouse 1, plumbous cover 6 places, storehouse carry out the operation of each link.Described master manipulator transverse-moving mechanism also can be that existing other can drive the mechanism of master manipulator 2 moving linearlies, but it is lower that the master manipulator transverse-moving mechanism of above-mentioned feed screw nut formula has cost, the mobile accuracy advantage of higher.

The algorithm of medical radionuclide extraction described in the utility model, mensuration, packing robot is as follows: 1. before the start, at first must set the value of the radiopharmaceutical of intending each needle tubing of suction, then needle tubing 16 is packed on the needle tubing storehouse 1, again ampoule bottle 65 is gone into ampoule frame 3, and in ampoule bottle 65, inject radiopharmaceutical; 2. after the start, master manipulator 2 at first takes off needle tubing 16 from needle tubing storehouse 1, and the needle tubing cap is stayed on the needle tubing storehouse 1; 3. master manipulator 2 clamping needle tubings 16 move to ampoule frame 3, syringe needle are thrust the rubbery plug lid of ampoule bottle 65 through port 149; 4. the plunger handle of metering extraction manipulator 4 clamping needle tubings 16 is done the pull motion, presses predefined value with radiopharmaceutical suction needle tubing 16; 5. master manipulator 2 clampings have been extracted radiopharmaceutic needle tubing 16 and have been back to needle tubing storehouse 1, make needle tubing 16 wear the back stitching pipe cap again, and then leave needle tubing storehouse 1; 6. the master manipulator 2 clampings needle tubing that extracted radiopharmaceutical and worn the back stitching pipe cap moves to and surveys activity manipulator 5, and needle tubing 16 passed to surveys activity manipulator 5; 7. survey the needle tubing 16 that 5 clampings of activity manipulator have extracted radiopharmaceutical and worn the back stitching pipe cap it is sent in the test chamber of measuring nucleic gauge 8, to measure the activity value of the radiopharmaceutical that sucks; 8. if the activity value of surveying has reached setting value, then survey activity manipulator 5 clamping needle tubings 16, be inserted into the stand-by in the plumbous cover 133 of radiation of plumbous cover storehouse 6.Master manipulator 2 takes off another needle tubing 16 from needle tubing storehouse 1 then, repeats the new actuation cycle by step 2 beginning; 9. if the activity value of surveying does not reach setting value, then survey activity manipulator 5 clamping needle tubings 16 and pass it back master manipulator 2.Master manipulator 2 clamping needle tubings are sent it back to needle tubing storehouse 1, the needle tubing cap of needle tubing 16 is stayed on the needle tubing storehouse 1, and take off needle tubing 16 once more, master manipulator 2 clamping needle tubings 16 are back to ampoule frame 3 then, the syringe needle of needle tubing 16 is thrust again the rubbery plug lid of ampoule bottle 65, the plunger handle that manipulator 4 clamping needle tubings 16 are extracted in metering extracts or withdraws from an amount of radiopharmaceutical, repeats to begin subsequent action to step 8 by step 5 thereupon.To shown in Figure 9, described needle tubing storehouse 1 comprises needle tubing support 9 as Fig. 6, and needle tubing support 9 is captiveed joint with body 7, installs clamp 11 and bottom plate 10 on the needle tubing support 9.Last clamp 11 is used for promptly needle tubing cap, and bottom plate 10 is used to hold the needle tubing cap of needle tubing 16, by the fixing whole needle tubing 16 of needle tubing cap, thereby is that master manipulator 2 is extractd the condition that facilitates with the needle tubing cap of needle tubing 16.Hang a needle tubing 16 on every group on clamp 11 and the bottom plate 10.

Be the convenient front and back position relation of adjusting bottom plate 10 and last clamp 11 relative needle tubing supports 9, offer two guide grooves 155 on the needle tubing support 9, in each guide groove 155 sliding shoe 12 is installed, as shown in Figure 6, sliding shoe 12 can move with respect to guide groove 155 horizontal linears; Double-screw bolt 13 of peace on each sliding shoe 12, an end of double-screw bolt 13 is installed a pair of setting nut 14, lays respectively at the inside and outside both sides of guide groove 155 with right setting nut 14; Bottom plate 10 and last clamp 11 respectively are fixed on the sliding shoe 12.Can adjust the position of sliding shoe 12 in guide groove 155 by turn setting nut 14, thereby adjust the position relation of bottom plate 10 and last clamp 11 relative needle tubing supports 9.For ease of the last clamp 11 needle tubing cap of needle tubing 16 promptly, go up as shown in Figure 7 on two clamps of clamp 11 and respectively offer a notch 11a.Hold the needle tubing cap of needle tubing 16 for ease of bottom plate 10, as shown in Figure 8, have the open trough 10a that has at the bottom of the deep-slotted chip breaker on two supporting plates of bottom plate 10.As shown in Figure 9, can be provided with a plurality of needle tubing supports 9 on the needle tubing storehouse 1, between any two needle tubing supports 9 spacing sleeve 15 can be installed.A bottom plate 10 and last clamp 11 respectively are installed on each needle tubing support 9.

Extremely shown in Figure 17 as Figure 10, described master manipulator 2 comprises pedestal 30, pedestal 30 is connected with the traversing parts of described master manipulator transverse-moving mechanism, vertical shift mechanism is installed on the pedestal 30, base portion 22 is installed in the vertical shift mechanism, vertical shift mechanism is installed on the base portion 22, palm 38 is installed on the Lift Part of vertical shift mechanism, install finger assembly and following finger assembly on the palm 38; Last finger over contract is drawn together finger vertical shift mechanism, on point vertical shift mechanism and be connected with palm 38, on point to install in the vertical shift mechanism and point 35; Under point over contract and draw together reversing device, finger 36 down is installed on the reversing device.Pedestal 30 is connected with second nut 20 with first nut 19, and pedestal 30 is provided with first sliding sleeve, 21, the first sliding sleeves 21 and long thick stick 18 bearing fits of leading.First leading screw 17 with a long technical characterstic of leading the transmission guiding pair of thick stick 18 formation is: the axis of first leading screw 17 must be not more than the axial length of first sliding sleeve 21 to the long distance of leading the axis of thick stick 18.

As Figure 13 and shown in Figure 15, described vertical shift mechanism comprises that first cylinder 23, first leads thick stick 24, first support 32 and second sliding sleeve 34, the rear and front end, bottom of pedestal 30 respectively is provided with bearing 33, thick stick 24 is led in two first of parallel installations between two bearings 33, the bottom of pedestal 30 is provided with link span 29, and first cylinder 23 is installed on the link span 29; First leads on the thick stick 24 and second sliding sleeve, 34, the second sliding sleeves 34 to be installed can relative first to lead thick stick 24 linear slide, second sliding sleeve, 34 base portions, 22 captive joints, and described base portion 22 is provided with first support, 32, the first supports 32 and is connected with the piston rod of first cylinder 23.As shown in figure 13, first cylinder 23 can drive entire body part 22 and moves as horizontal linear relative to pedestal 30.Described vertical shift mechanism can also be that existing other can drive base portion 22 relative to mechanism that pedestal 30 horizontal linears move, screw-nut body for example, but because the mobile accuracy of first cylinder 23 can satisfy the requirement of the mobile accuracy at this place, and the cost of silk tool nut body is higher, therefore, described vertical shift mechanism selects the above-mentioned scheme that contains first cylinder 23 more favourable.First cylinder 23 and first is led the secondary technical characterstic of transmission guiding that thick stick 24 forms: the axis to the first of first cylinder 23 is led the distance of the axis of thick stick 24, must be not more than to be enclosed within same first and to lead the distance of 34 of a pair of second sliding sleeves on the thick stick 24.As Figure 13 and shown in Figure 14, described base portion 22 comprises main body upper plate 27 and main body lower plate 28, pipe link 25 and second is installed between main body upper plate 27 and the main body lower plate 28 is led thick stick 26, and main body upper plate 27 is provided with first support 32 and second sliding sleeve 34.As Figure 13 and shown in Figure 16, described vertical shift mechanism comprises first stepping motor 41, first stepping motor 41 is installed on the main body lower plate 28, second leading screw 37 is installed on the output shaft of first stepping motor 41, second leading screw, 37 upper ends and main body upper plate 27 flexibly connect, on second leading screw 37 nut is installed, nut can be made of the 3rd nut 39 and the 4th nut 40.Palm 38 is installed on the 3rd nut 39 and the 4th nut 40.Palm 38 is led thick stick 26 bearing fits by sliding sleeve lower bracket 43 and sliding sleeve upper bracket 44 and second.Sliding sleeve upper bracket 44 is captiveed joint with the 4th nut 40 or the 3rd nut 39.Adjust the relative installation of the 3rd nut 39 and the 4th nut 40 and can eliminate drive gap.Described vertical shift mechanism can also be that existing other can drive palm 38 and do straight-line mechanism up and down, but it is lower that the vertical shift mechanism of above-mentioned feed screw nut formula has cost, the mobile accuracy advantage of higher.For realizing automatic guidance, as shown in figure 13, first coder 42 is installed on first stepping motor 41.Second leading screw 37 and second is led the secondary technical characterstic of transmission guiding that thick stick 26 forms: the distance that the axis to the second of second leading screw 37 is led the axis of thick stick 26 must be not more than the distance of 44 of sliding sleeve lower bracket 43 and sliding sleeve upper brackets.

As Figure 13 and shown in Figure 14, the described finger over contract that goes up is drawn together second support 49 and the 3rd support 50, second support 49 is captiveed joint with palm 38 respectively with the 3rd support 50, install the 3rd between second support 49 and the 3rd support 50 and lead thick stick 46, the 3rd leads the sliding shoe 47 that is slidingly installed on the thick stick 46, and second cylinder 45 and last finger 35 are installed on the sliding shoe 47.The piston rod of second cylinder 45 is connected with second support 49.Specifically the piston rod front end of second cylinder 45 can be connected with second support 49 by second joint bearing 48, and second support 49 is captiveed joint with palm 38.For ease of last finger 35 syringe needle of needle tubing 16 promptly, as shown in figure 14, on point 35 two clamping plate inboards and be provided with v-notch 35a.The secondary technical characterstic of transmission guiding that second cylinder 45 and the 3rd is led thick stick 46 formation is: the distance that the axis to the three of second cylinder 45 is led the axis of thick stick 46 must be not more than the length of sliding shoe 47 along direction of slip.

As 13 and shown in Figure 17, the described over contract of finger is down drawn together n-n rotating shaft 156 and slowspeed machine 56, and n-n rotating shaft 156 is installed on the palm 38, and n-n rotating shaft 156 can be rotated relative to palm 38, finger 36 down is installed in the n-n rotating shaft 156, and big synchronous pulley 59 is installed in the rear end of n-n rotating shaft 156; Slowspeed machine 56 is installed on the palm 38, small synchronous pulley 57 is installed on the output shaft of slowspeed machine 56, small synchronous pulley 57 is connected with big synchronous pulley 59 by synchronous cog belt 58.Slowspeed machine 56 can pass through small synchronous pulley 57, synchronous cog belt 58, big synchronous pulley 59 and n-n rotating shaft 156 and drive finger 36 rotations down, realizes 180 degree upsets of needle tubing 16.For to pointing 36 location positioning of rotating down, as shown in figure 17, mounting support cover 51a on the palm 38, installing and locating pin 51 in the supporting sleeve 51a, locating dowel pin 51 can move relative to supporting sleeve 51a straight line, the piston rod that the 3rd cylinder 52, the three cylinders 52 are installed on the palm 38 is connected with locating dowel pin 51 by driving lever 54; Installing and locating wheel 53 is offered two positioning ports 157 in the n-n rotating shaft 156 on the locating wheel 53, as shown in figure 35, and two positioning port 157 intervals 180 degree.Positioning port 157 can be a v-notch.Usually locating dowel pin 51 cooperates with a positioning port 157, limits the position of finger 36 down.Before n-n rotating shaft 156 rotation, should shilling the 3rd cylinder 52 drive locating dowel pins 51 and break away from positioning port 157, restart slowspeed machine 56 and drive down that finger 36 turns over turnback; After 180 degree were rotated in n-n rotating shaft 156, the 3rd cylinder 52 drove locating dowel pin 51 and cooperates the location with another positioning port 157.Firmly grasp needle tubing 16 for convenient finger down 36, as shown in figure 34, a V-slot mouth 36a is respectively offered in two clamping plate inboards of following finger 36.The 3rd cylinder 52 with a technical characterstic of the kinematic pair that locating dowel pin 51 forms is: the axis of the 3rd cylinder 52 must be not more than the axial length of supporting sleeve 51a to the distance of the axis of locating dowel pin 51.

Principle of work: master manipulator 2 can extract manipulator 4 station cross motions to surveying activity manipulator 5 one plumbous cover storehouses 6 stations by needle tubing storehouse 1 station shown in Figure 1 through ampoule frame 3--metering successively, this is because the transmission of first leading screw 17 as shown in Figure 10 and Figure 11 can make master manipulator 2 whole edge length lead thick stick 18 and make the horizontal cross straight-line motion.Master manipulator 2 is when 1 station of needle tubing storehouse, and master manipulator 2 is the some needle tubings 16 on the lateral alignment needle tubing storehouse 1, and this needle tubing 16 is got from the needle tubing storehouse 1 and the needle tubing cap of this needle tubing 16 is stayed on the needle tubing storehouse 1, leaves needle tubing storehouse 1 then.Concrete course of action is as follows: 1, as Figure 13, the base portion 22 of master manipulator 2 under the promotion of first cylinder 23 in Figure 13 left lead thick stick 24 along first and do the horizontal linear displacement and put in place.This moment 1 in base portion 22 and needle tubing storehouse relative position as shown in Figure 2; As Figure 13 and shown in Figure 14, on point 35 and move relative to pedestal 30 in base portion 22 with following finger 36, all be in open configuration near before the needle tubing storehouse 1, when relative pedestal 30 mobile ends of base portion 22 on finger 35 still keep opening and following 36 closures of pointing.At this moment as shown in figure 13, the lower end of the V-slot mouth 36a grip needle cannula 16 on the following finger 36; 2, as Figure 16, transmission through second leading screw 37, can make palm 38 lead thick stick 26 moving linearly vertically downward along second, because last finger 35 and following finger 36 all are installed on the palm 38, therefore will move downward synchronously, thereby make finger 36 down that needle tubing 16 is dragged needle tubing cap from as shown in Figure 2 downwards together with syringe needle, and the needle tubing cap is still stayed on the needle tubing storehouse 1.As Figure 13 and Figure 14, on point 35 closures, on point syringe needle root on the v-notch 35a grip needle cannula 16 on 35; 3, as Figure 13, base portion 22 is right-hand in figure under the pulling of first cylinder 23 to be led thick stick 24 along first and does straight-line displacement, thereby clamping needle tubing 16 is recessed needle tubing storehouse 1.4, through the transmission of as shown in figure 10 first leading screw 17, master manipulator 2 clamping needle tubings 16 are whole to be made the horizontal cross straight-line motion and extracts manipulators 4 stations to 3 one meterings of ampoule frame along the long thick stick 18 of leading, this moment needle tubing 16 with the line of centers lateral alignment of ampoule bottle 65.At this station, as shown in Figure 3, master manipulator 2 longitudinally moves clamping needle tubing 16, makes syringe needle aim at the center of ampoule bottle 65 vertically upward, and the plunger handle of while needle tubing 16 is sitting at the extraction of open metering extraction manipulator 4 and points 82.Master manipulator 2 clamping needle tubings 16 upward movements thrust ampoule bottle 65 with it through port 149, the plunger handle do straight-line displacement vertically downward of manipulator 4 clamping needle tubings 16 is extracted in metering then, this straight-line displacement is proportional to predefined extraction dosage, thereby with the radiopharmaceutical suction needle tubing 16 of predetermined close.Last master manipulator 2 is extracted the rubbery plug lid of ampoule bottle 65 downwards with the syringe needle of needle tubing 16, and then integral body is longitudinally left ampoule frame 3.Master manipulator 2 must be made following action: a, as shown in figure 13 in turn for this reason, the base portion 22 of master manipulator 2 under the promotion of first cylinder 23 in figure left lead thick stick 24 along first and do straight-line displacement.This moment, the syringe needle of needle tubing 16 was aimed at its as shown in Figure 3 ampoule bottle 65 gag centers, top, and the plunger handle of needle tubing 16 is sitting at open metering and extracts extractions of manipulator 4 and point 82; B, as Figure 16, transmission through second leading screw 37, can make palm 38 lead thick stick 26 moving linearly vertically upward along second, because last finger 35 and following finger 36 all are installed on the palm 38, therefore with synchronous upward movement, thereby make needle tubing 16 at last finger 35 with point under 36 the clamping ampoule bottle 65 rubbery plug lids that syringe needle thrust as shown in Figure 3 down.When master manipulator 2 is finished above-mentioned action, the open extraction finger 82 of manipulator 4 is extracted in metering will make synchronous upward movement thereupon.C, this moment, master manipulator 2 wholely kept motionless, made needle tubing 16 keep syringe needles to thrust the state of ampoule bottle 65.And that the extraction finger of manipulator 4 is extracted in metering is closed 82 this moments, and the plunger handle of grip needle cannula 16 is done straight-line displacement vertically downward, and this straight-line displacement is proportional to predefined extraction dosage, thereby with the radiopharmaceutical suction needle tubing 16 of predetermined close; D, as shown in figure 16, transmission through second leading screw 37, make palm 38 lead thick stick 26 moving linearly vertically downward along second, because last finger 35 and following finger 36 all are installed on the palm 38, therefore will make needle tubing 16 under the clamping of last finger 35 and following finger 36, syringe needle be extracted the rubbery plug lid of ampoule bottle 65 along with moving downward.When master manipulator 2 is done above-mentioned action, the extraction finger 82 that manipulator 4 is extracted in the metering of clamping needle tubing 16 plunger handle will open, and along with moving downward synchronously; E, as shown in figure 13, the base portion 22 of master manipulator 2 is right-hand in figure under the pulling of first cylinder 23 to be led thick stick 24 along first and does straight-line displacement.This moment, needle tubing 16 under the clamping of last finger 35 and following finger 36 left ampoule bottle 65 gag centers as shown in Figure 3, thereby recessed ampoule frame 3.5, through the transmission of as shown in figure 10 first leading screw 17, master manipulator 2 clamping needle tubings 16 are whole to be made the horizontal cross straight-line motion and returns needle tubing storehouse 1 station along the long thick stick 18 of leading, and make needle tubing 16 lateral alignment when step 2 finishes, still stay needle tubing cap on the needle tubing storehouse 1, and it is turned back to the needle tubing cap again, the master manipulator 2 clampings needle tubing 16 of heavily wearing the needle tubing cap is longitudinally recessed needle tubing storehouse 1 then.Above-mentioned concrete course of action is as follows: a, as shown in figure 13, the base portion 22 of master manipulator 2 under the promotion of first cylinder 23 in figure left lead thick stick 24 along first and do the horizontal linear displacement.Upwards aligned the center of needle tubing cap this moment by the syringe needle of the needle tubing 16 of master manipulator 2 clampings; B, as shown in figure 14, the finger 35 of going up of master manipulator 2 opens release of needle; C, as shown in figure 16 through the transmission of second leading screw 37, can make palm 38 lead thick stick 26 moving linearly vertically upward along second, because finger 36 is installed on the palm 38 down, thereby makes needle tubing 16 syringe needle be inserted the needle tubing cap pointing down under 36 the clamping; D, at first the last clamp 11 in needle tubing storehouse 1 unclamps the needle tubing cap, and then, as shown in figure 13, the base portion 22 of master manipulator 2 is right-hand in figure under the pulling of first cylinder 23 to be led thick stick 24 along first and do the horizontal linear displacement; To longitudinally be recessed needle tubing storehouse 1 by the needle tubing of heavily wearing the needle tubing cap 16 of finger 36 clampings under the master manipulator 2 this moment; 6, through the transmission of as shown in figure 10 first leading screw 17, master manipulator 2 clamping needle tubings 16 are whole makes the transverse horizontal straight-line motion along the long thick stick 18 of leading to surveying the plumbous cover of activity manipulator 5-storehouse 6 stations.The following finger 36 clamping needle tubings 16 of master manipulator 2 are around n-n rotating shaft 156 Rotate 180 degree among this moment Figure 13, make the syringe needle of needle tubing 16 by vertically transferring to vertically down up.The following action of above-mentioned concrete course of action: a, as Figure 13 and shown in Figure 14, the finger 35 of going up of master manipulator 2 is in open configuration, and right-handly in figure under the promotion of second cylinder 45 lead thick stick 46 along the 3rd and do the horizontal linear displacement, thereby make the syringe needle of needle tubing 16 deviate to go up the clamping zone of finger 35; The directional tagging that b, the 3rd leads thick stick 46 is so to realize: as Figure 13 and Figure 14, two the 3rd two ends of leading thick stick 46 that are parallel to each other are separately fixed on second support 49 and the 3rd support 50, and this two the 3rd is led thick stick 46 and also pass two sliding eyes on the sliding shoe 47 respectively simultaneously.The 3rd support 50 is captiveed joint with palm 38 respectively with second support 49; C, as shown in figure 17, locating dowel pin 51 makes the tapered end of locating dowel pin 51 recess the positioning port 157 of locating wheel 53, thereby has freed the positioning and locking to n-n rotating shaft 156 doing straight-line displacement below in figure under the promotion of the 3rd cylinder 52; The impetus of d, 52 pairs of locating dowel pins 51 of the 3rd cylinder is so to realize: as shown in figure 17, the 3rd cylinder 52 is fixed on the palm 38; The piston rod front end of the 3rd cylinder 52 is connecting driving lever 54; And driving lever 54 promotes locating dowel pin 51 by three-knuckle bearing 55; E, locating dowel pin 51 are bearing among the supporting sleeve 51a and can be free to slide therein, and supporting sleeve 51a is connected on the palm 38; Under the driving of the slowspeed machine 56 of the following finger 36 among f, Figure 13 in Figure 10, in Figure 10, rotate counterclockwise 180 degree, thereby make that the needle tubing 16 of finger 36 clampings transfers syringe needle up to down by syringe needle down around n-n rotating shaft 156; The driving action of g, slowspeed machine 56 is so to realize: as Figure 10, slowspeed machine 56 is fixed on the palm 38; The axle head of slowspeed machine 56 is equipped with small synchronous pulley 57, makes n-n rotating shaft 156 rotate by synchronous cog belt 58 and the transmission that is contained in the big synchronous pulley 59 of n-n rotating shaft 156 ends.As shown in figure 13, following finger 36 is fixed in the n-n rotating shaft 156; H, as shown in figure 17, locating dowel pin 51 makes the tapered end of locating dowel pin 51 insert the positioning port 157 of locating wheel 53, thereby finishes the positioning and locking to n-n rotating shaft 156 doing straight-line displacement above in figure under the pulling of the 3rd cylinder 52.7. through the transmission of as shown in figure 10 first leading screw 17, long thick stick 18 horizontal cross of leading in master manipulator 2 clamping needle tubings 16 whole edges move to the plumbous cover of survey activity manipulator 5--storehouse 6 stations, at this moment as shown in Figure 4, the line of centers of survey activity finger 97 overlaps the line of centers lateral alignment of U type groove 124c on the storehouse 6 before this with lead; And this moment master manipulator 2 following finger 36 line of centers also with lead cover storehouse 6 on the line of centers lateral alignment of U type groove 124c.And as shown in Figure 5, the survey activity finger 97 of surveying activity manipulator 5 is in its extreme lower position, in opened condition, master manipulator 2 longitudinally is passed to needle tubing 16 between two fingers of the survey activity finger 97 of surveying activity manipulator 5, survey activity and point the plunger handle of 97 clamping needle tubings 16 and it is sent into measure nucleic gauge 8, to measure the activity value of the radiopharmaceutical that needle tubing 16 sucks.Above-mentioned concrete work is as follows: a, as shown in figure 13, the base portion 22 of master manipulator 2 under the promotion of first cylinder 23 in figure left lead thick stick 24 along first and do the horizontal linear displacement, thereby the needle tubing 16 that will be pointed 36 clampings down deliver to survey activity point 97 opened two refer between.The following finger 36 of b, master manipulator 2 opens, thereby removes the clamping to needle tubing 16.Meanwhile, survey the survey activity of activity manipulator 5 and point 97 closures, clamp the plunger handle of needle tubing 16; C, as shown in figure 13, the base portion 22 of master manipulator 2 is right-hand in figure under the promotion of first cylinder 23 to be led thick stick 24 along first and does the horizontal linear displacement, make the following finger 36 of master manipulator 2 reset, thereby the action of activity manipulator 5 is surveyed in unlikely interference.Survey then activity finger 97 with the clamping syringe needle down 16 do a series of actions: rise, retreat, descend---needle tubing 16 is sent in the survey activity chamber of measuring nucleic gauge 8, to measure the activity value of the radiopharmaceutical that needle tubing 16 sucks; Whether the activity value of radiopharmaceutical reaches setting value in d, the judgement institute chaining pin pipe 16, one of carry out in the following action with decision master manipulator 2: if the degree value has reached setting value, master manipulator 2 integral body are back to needle tubing storehouse 1 station, prepare to take out next needle tubing 16, restart the actuation cycle of above steps.The plumbous simultaneously storehouse 6 transposition certain angles that overlap make and aim at the needle tubing 16 that the activity value has reached setting value every the plumbous cover 133 of radiation that the needle tubing 16 that survey activity manipulator 5 clamping activity values have reached setting value is inserted into every the plumbous cover 133 of radiation.If the activity value does not reach setting value, survey activity manipulator 5 clamping needle tubings 16 and send it following finger 36 of master manipulator 2 back to, master manipulator 2 clamping needle tubings 16 were sent it back to needle tubing storehouse 1 station before this, stay the needle tubing cap on the needle tubing storehouse 1 and take off needle tubing 16, master manipulator 2 clamping needle tubings 16 are sent it back to ampoule frame 3--metering and are extracted manipulator 4 stations then, and the syringe needle of needle tubing 16 thrust ampoule bottle 65 once more, metering is extracted the plunger handle of manipulator 4 grip needle cannula 16 and is done suitable displacement, extract or withdraw from an amount of radiopharmaceutical, below carry out preceding step 5 actuation cycle afterwards; Shown in Figure 18 to 20, described ampoule frame 3 comprises support body 61, support body 61 is connected with body 7, vertically offers V-shaped groove 61a on the support body 61, the top fixed installation footstock 60 of support body 61, several pull bars 66 are installed on the footstock 60, bottom plate 64 is installed in the bottom of pull bar 66, offers port 149 on the bottom plate 64, and the upper end of pull bar 66 passes the footstock 60 outer back-up rings 68 of installing, the periphery of pull bar 66 is installed compression spring 67, and compression spring 67 is between back-up ring 68 and footstock 60; The ampoule bottle pinch device is installed on footstock 60 or the support body 61.Described dress ampoule bottle pinch device can be a clamping cylinder 69.For both conveniently compressing ampoule bottle 65, can not cause damage again, as shown in figure 19 to the surface of ampoule bottle 65, briquetting seat 71 is installed on the piston rod of clamping cylinder 69, briquetting 70 is installed on the briquetting seat 71, and briquetting 70 is connected briquetting 70 mounted on surface elastic cushion blocks by first bearing pin 72 with briquetting seat 71.As Figure 18 and Figure 20, the quantity of pull bar 66 can be four, and four pull bars 66 are connected on four angles of bottom plate 64, and these four pull bars 66 also pass four through holes on the footstock 60 simultaneously respectively.For convenient ampoule bottle 65 is installed in the ampoule frame 3, is the convenient soup that in ampoule bottle 65, injects simultaneously.As shown in figure 20, installation positioner 77 on described footstock 60 or the support body 61, offer pilot hole 153 on the steady arm 77, installing and locating pin 78 in the pilot hole 153, cylindrical pin 150 is installed on the locating dowel pin 78, and the lower end periphery of cylindrical pin 150 is provided with the convex edge, the periphery mounting spring 79 of cylindrical pin 150, spring 79 is between convex edge and steady arm 77, and spring 79 provides downward predetermincd tension for locating dowel pin 78; Pressing lever 81 is installed on the steady arm 77, and pressing lever 81 is hinged with steady arm 77 by second bearing pin 80, an end of pressing lever 81 and the upper articulation of locating dowel pin 78; Offer through hole on the sidewall of support body 61, mounting bush 62 in the through hole, support body 61 is connected with body 7 by lining 62; Support body 61 can rotate relative to lining 62, offers two rectangular channel 62a on the lining 62, two rectangular channel 62a interval 90 degree, and peg graft with one of them rectangular channel 62a and cooperate in the lower end of locating dowel pin 78.Because the upper end of locating dowel pin 78 is promoted downwards by spring 79, so locating dowel pin 78 often is in the lower end of its stroke, and inserts in the rectangular channel 62a of lining 62.Whole ampoule frame 3 is positioned plumbness or horizontality cooperating with two rectangular channel 62a by locating dowel pin 78 when the cylindrical of lining 62 rotates with support body 61.When adjusting the position of ampoule frame 3, press an end of pressing lever 81, the other end of pressing lever 81 can upwards lift locating dowel pin 78, thereby locating dowel pin 78 is extracted in rectangular channel 62a, whole ampoule frame 3 can revolve around the cylindrical of lining 62 with support body 61 and turn 90 degrees this moment, unclamp the pressing end of pressing lever 81 then, locating dowel pin 78 will insert under the promotion of spring 79 in another rectangular channel 62a of lining 62, make whole ampoule frame 3 can be positioned plumbness or horizontality.For preventing that support body 61 from moving axially along lining 62, as shown in figure 19, back-up ring 63 was installed the last week of lining 62.Because pressing lever 81 is done circular motion with the coupling end of locating dowel pin 78, and the moving linearly of locating dowel pin 78, therefore, driving locating dowel pin 78 for ease of pressing lever 81 moves, as shown in figure 20, offer horizontal slot 152 on the locating dowel pin 78, pressing lever 81 is provided with pin 154, and pin 154 cooperates with horizontal slot 152.In the process that pressing lever 81 drive locating dowel pins 78 move, pin 154 is horizontal slot 152 linear slide relatively.

As Figure 18 and shown in Figure 20, bottom plate 64 is upwards pressed to the bottom of support body 61 by the elastic force of compression spring 67, behind the ampoule bottle 65 of packing into, then compress the rubbery plug lid of ampoule bottle 65, the rubbery plug lid of ampoule bottle 65 is corresponding with port 149, thereby makes the bottom of ampoule bottle 65 be adjacent to the lower plane of footstock 60.Concrete structure is as follows:

As Figure 20, a side of bottom plate 64 has skewed slot 64a, so that can push along the inclined-plane when packing ampoule bottle 65 into.

As Figure 18 and Figure 20, the upper end of four compression springs 67 jacking respectively the back-up ring of installing on four pull bars 66 68, and the lower end of four compression springs 67 all is supported on the place, last plane of footstock 60.

As Figure 18 and shown in Figure 19, can on footstock 60, fixedly mount clamping cylinder 69.The plane of symmetry of V-shaped groove 61a overlaps on the axis of clamping cylinder 69 and the support body 61.When the piston rod of clamping cylinder 69 stretched out, the briquetting 70 of piston rod end was pressed to V-shaped groove 61a.The mounting structure of briquetting 70 is as follows: the piston rod end briquetting seat 71 that is being connected; First bearing pin 72 is installed in briquetting 70 on the briquetting seat 71, rocks thereby briquetting 70 can be done slightly around first bearing pin 72.Elastic cushion block is equipped with in the front portion of briquetting 70.

Be the convenient soup that injects to ampoule bottle 65 in, as shown in figure 18, the lower plane place of bottom plate 64 two needle holder 73 that are being connected have inclined hole on the needle holder 73, the centre hole of this inclined hole sensing bottom plate 64.As shown in figure 18, flexible pipe lock 74 is equipped with at the place, last plane of footstock 60.Its structure is: a vertical through hole is arranged on the flexible pipe lock 74, and flexible pipe can upwards pass along this hole.In the horizontal slot of flexible pipe lock 74, be equipped with can parallel motion brake shoe 75.The afterbody of brake shoe 75 is screw rods, and this screw rod screws in a handwheel 76, by turn handwheel 76, brake shoe 75 is moved along the groove straight line, to compress or to unclamp flexible pipe.As shown in figure 18, respectively each inserts rubbery plug lid of ampoule bottle 65 with a syringe needle at left and right both sides needle holder 73 inclined hole places, and the flexible pipe of the right syringe needle is upwards passed vertical through hole on the flexible pipe lock 74.

The process of ampoule bottle 65 of packing in start forward direction ampoule frame 3 is as follows: at first make ampoule frame 3 be positioned plumbness; Then the skewed slot 64a of ampoule bottle 65 mouth downs along bottom plate 64 sides pushed, make recline V-shaped groove 61a on the support body 61 of the small jar body face of cylinder of ampoule bottle 65, and make the lower plane of the footstock 60 that reclines at the bottom of the small jar, this moment, bottom plate 64 upwards compressed the rubbery plug lid of ampoule bottle 65 according to the elastic force of compression spring 67, and the port 149 of bottom plate 64 is aimed at the center of rubbery plug lids; Start clamping cylinder 69 at last, make the briquetting 70 of piston rod end press to the face of cylinder of small jar body, thereby finish packing into of ampoule bottle 65.

Pack into behind the ampoule bottle 65, in ampoule bottle 65, inject radiopharmaceutical: at first make ampoule frame 3 be positioned horizontality; Each inserts rubbery plug lid of ampoule bottle 65 with a syringe needle respectively from left and right both sides shown in Figure 180 needle holder 73 inclined holes then, and the flexible pipe of the right syringe needle is upwards passed vertical through hole on the flexible pipe lock 74, and must make brake shoe 75 be in releasing orientation this moment; Radiopharmaceutical is injected ampoule bottle 65 by left side syringe needle.After treating that injection is finished, compress to seal with the flexible pipe of brake shoe 75 with the right syringe needle; At last, after waiting to inject radiopharmaceutical, make ampoule frame 3 recover plumbness, this moment, ampoule frame 3 integral body were in readiness for action.

Described metering is extracted manipulator 4 and is comprised the assembling frame, on the assembling frame lifting mechanism is installed, and installs on the lifting mechanism and extracts palm 89, extracts to install on the palm 89 and extracts finger 82.Described lifting mechanism can be the screw-nut body that contains ball-screw 83.Described assembling frame can be by upper supporting plate 86, lower carrier plate the 85, the 4th leads thick stick 84 and pipe link 95 connects and composes; Specifically, as Figure 22 and Figure 21, lower carrier plate 85 and upper supporting plate 86 lead thick stick 84 by two the 4th and " pipe link " 95 is fixed into an integral body.

As Figure 22 and Figure 21, the extraction finger 82 of manipulator 4 is extracted in metering can lead the quantitative exercise that thick stick 84 is done vertical direction along the 4th under the transmission of ball-screw 83.The gearing of ball-screw 83 is so to realize: as Figure 22 and shown in Figure 21, ball-screw 83 by bearing installation on lower carrier plate 85 and upper supporting plate 86.What spin together with ball-screw 83 is ball nut pair 87, and the cliding seat 88 that is being connected on the ball nut pair 87, and the extraction palm 89 that is being connected on the cliding seat 88 extract to install on the palm 89 and extract finger 82.Second stepping motor 90 is housed on the upper supporting plate 86, rotation is reached ball-screw 83 by small pulley 91, synchronous cog belt 92 that is contained in motor shaft end and the big belt wheel 93 that is contained in ball-screw 83 axle heads.For realizing automation control, another axle head of ball-screw 83 is equipped with second coder 94.The 4th directional tagging of leading thick stick 84 is so to realize: as shown in figure 22, and two the 4th leading thick stick 84 and pass bearing fit hole on the cliding seat 88 of being parallel to each other; And the 4th two ends of leading thick stick 84 are separately fixed on lower carrier plate 85 and the upper supporting plate 86.The secondary technical characterstic of transmission guiding that ball-screw 83 and the 4th is led thick stick 84 formation is: the distance that the axis to the four of ball-screw 83 is led the axis of thick stick 84 must be not more than the length of cliding seat 88 along direction of slip.As shown in figure 36, extract the cutting edge 82a that has blade-like on the finger 82, in order to the plunger handle of clamping needle tubing 16.Adopt Pneumatic paw to take on and extract finger 82, the folding of therefore extracting finger 82 drives with air pressure.

Metering is extracted manipulator 4 and must be cooperated master manipulator 2 to finish following action: 1, when master manipulator 2 clamping needle tubings 16, manipulator 4 stations are extracted in needle tubing 16 horizontal cross straight-line motions to ampoule frame 3--metering, and during the line of centers lateral alignment of needle tubing 16 and ampoule bottle 65, measure the extraction finger 82 that extracts manipulator 4 and be in extreme lower position, and two fingers of extraction finger 82 open.When master manipulator 2 clamping needle tubings 16 are done horizontal linear longitudinal movement, when syringe needle was aimed at the ampoule bottle 65 rubbery plug lid centers of its top, this moment, the plunger handle of needle tubing 16 was sitting at 82 on open extraction finger; 2, when master manipulator 2 clamping needle tubings 16 upwards thrust the rubbery plug lid of ampoule bottle 65 with syringe needle, the open extraction finger 82 of manipulator 4 is extracted in metering this moment will make synchronous upward movement thereupon; 3, after master manipulator 2 clamping needle tubings 16 thrust ampoule with syringe needle, master manipulator 2 will temporarily keep motionless.This moment metering is extracted the extraction of manipulator 4 and is pointed 82 closures, does vertically downward straight-line displacement with the plunger handle of cutting edge 82a grip needle cannula 16, and this straight-line displacement is proportional to predefined extraction dosage, thereby with the radiopharmaceutical suction needle tubing 16 of predetermined close; 4, after extraction is finished, extract finger 82 and open, remove clamping to needle tubing 16 plunger handle.This moment, master manipulator 2 clamping needle tubings 16 moved downward, and syringe needle is extracted the rubbery plug lid of ampoule bottle 65, and the extraction finger 82 of manipulator 4 is extracted in metering simultaneously will be along with moving downward to extreme lower position synchronously, and next actuation cycle is carried out in preparation.

Described survey activity manipulator 5 comprises fixed support, and lift system is installed on the fixed support, and the 4th cylinder 98 and guide frame is installed on the lift system, installs on the piston rod of the 4th cylinder 98 and surveys activity palm 103, surveys to install on the activity palm 103 and surveys activity finger 97; Installing the 5th on the guide frame leads thick stick 99, the five and leads thick stick 99 and be connected with survey activity palm 103.Described fixed support is connected and composed by base 114, undersetting 112, middle bearing 111, lower support tube 117, pipe link 120, middle support tube 118, upper support tube 119 and upper bracket 113.Described lift system can be led thick stick 110, elevating bracket 101, medium-height trestle 100, after poppet 104 and front frame 105 by the 5th cylinder the 109, the 6th and be connected and composed.

As Figure 24 and Fig. 4, the survey activity finger 97 of surveying activity manipulator 5 can along continuous straight runs under the promotion of the 4th cylinder 98 be led thick stick 99 with the 5th and is moved to the front position by the rearmost position, and vice versa.

The driving action of the 4th cylinder 98 is so to realize: as Figure 24 and shown in Figure 4, the 4th cylinder 98 is fixed on the medium-height trestle 100, and medium-height trestle 100 is fixed together with elevating bracket 101.The piston rod front end of the 4th cylinder 98 is connected with survey activity palm 103 by three-knuckle bearing 102, and surveys the survey activity finger 97 that is being connected on the activity palm 103.The 5th directional tagging of leading thick stick 99 is so to realize: as Fig. 4 and Figure 24, and two the 5th leading thick stick 99 and pass bearing fit hole on after poppet 104 and the front frame 105 of being parallel to each other, and after poppet 104 is fixed together with elevating bracket 101.The 5th front end of leading thick stick 99 is fixed together with survey activity palm 103.The 4th cylinder 98 and the 5th is led the secondary technical characterstic of transmission guiding that thick stick 99 forms: the distance that the axis to the five of the 4th cylinder 98 is led the axis of thick stick 99 must be not more than the spacing of after poppet 104 and front frame 105.The annexation that front frame 105 and medium-height trestle are 100 is as follows: as Fig. 4, the two is spaced from each other with the spacer 107 that has first fine-tuning nut 106, with pipe link 108 the two is linked into an integrated entity again.Can adjust the two spacing and degree of being parallel to each other by turn first fine-tuning nut 106.Another program is: with fastener after poppet 104 and medium-height trestle 100 are installed on the elevating bracket 101, also adopt the spacer 107 that has first fine-tuning nut 106 that after poppet 104 and medium-height trestle 100 are spaced from each other, use pipe link 108 that three's (containing front frame 105) is linked into an integrated entity again, and adjust triangular spacing and degree of being parallel to each other by turn first fine-tuning nut 106.

As Figure 24, the survey activity finger 97 of surveying activity manipulator 5 can be vertically under the promotion of the 5th cylinder 109 be led thick stick 110 with the 6th and is moved to the extreme higher position by extreme lower position, and vice versa.The driving action of the 5th cylinder 109 is so to realize: as Figure 24 and Figure 26, the 5th cylinder 109 is fixed on the middle bearing 111, and middle bearing 111 and undersetting 112 and upper bracket 113 etc. are fixed together with base 114.The piston rod front end of the 5th cylinder 109 is connected with elevating bracket 101 by the 4th oscillating bearing 115.

The 6th directional tagging of leading thick stick 110 is so to realize: as Figure 24 and Figure 26, and two the 6th leading thick stick 110 and pass bearing fit hole on undersetting 112 and the upper bracket 113 of being parallel to each other; The 6th front end and the elevating bracket 101 of leading thick stick 110 is fixed together.The 5th cylinder 109 and the 6th is led the secondary technical characterstic of transmission guiding that thick stick 110 forms: the distance that the axis to the six of the 5th cylinder 109 is led the axis of thick stick 110 must be not more than the spacing of undersetting 112 and upper bracket 113.

The annexation that undersetting 112, middle bearing 111 and upper bracket 113 and base are 114 is as follows: as Figure 26, be spaced from each other with the lower support tube 117, middle support tube 118 and the upper support tube 119 that have second fine-tuning nut 116 between four, link into an integrated entity four with pipe link 120 again.Can adjust spacing and the parallelism of former three by turn second fine-tuning nut 116 with respect to base 114.

Surveying the survey activity finger 97 of activity manipulator 5 can be closed or open.As shown in Figure 4, has the activity of survey finger 97 on the survey activity finger 97, in order to the plunger handle of clamping needle tubing 16.Adopt Pneumatic paw to take on and survey activity finger 97, the folding of therefore surveying activity finger 97 drives with air pressure.

Survey being connected of activity manipulator 5 and body 7: as shown in figure 26 and consult Fig. 5, there is minor axis 114a at the base 114 bottom centre place that surveys activity manipulator 5, during installation this minor axis 114a is inserted on the transverse frame plate 140 of body 7 in the corresponding hole, and with screw base 114 is fastened on the transverse frame plate 140, be connected with body 7 thereby will survey activity manipulator 5.

Surveying activity manipulator 5 must cooperate master manipulators 2 finish following action: 1, when the survey activity finger 97 of surveying activity manipulator 5 is in the extreme lower position of the most preceding and vertical direction of horizontal direction, two fingers surveying activity finger 97 open, and are as the criterion with the line of centers of finger with the following finger 36 of master manipulator 2 and align.When the following finger 36 of master manipulator 2 reaches needle tubing 16 between two fingers of surveying activity finger 97, survey activity and point 97 closures, thereby the plunger handle of clamping needle tubing 16, rise to the rearmost position of the extreme higher position of vertical direction → retreat to horizontal direction → the reduce to extreme lower position of vertical direction then, thereby needle tubing 16 is sent in the survey activity chamber of measuring nucleic gauge 8, to measure the activity value of the radiopharmaceutical that needle tubing 16 sucks.If the 2 activity values of surveying have reached specified value, then survey activity and point the front position of the extreme higher position that 97 clamping needle tubings 16 rise to vertical direction → proceed to horizontal direction → the reduce to extreme lower position of vertical direction, plumbous before this cover storehouse 6 is the transposition certain angle, make central aperture be in the needle tubing 16 of this extreme lower position every the plumbous cover 133 of radiation, survey 97 clampings of unclamping of activity finger this moment, thereby needle tubing 16 is fallen into every the plumbous cover 133 of radiation needle tubing 16.3, if the activity value of surveying does not reach specified value, survey activity finger 97 still clamping needle tubing 16 rise to the front position of the extreme higher position of vertical direction → proceed to horizontal direction → the reduce to extreme lower position of vertical direction, this moment master manipulator 2 following finger 36 opened and with survey activity finger 97 line of centerss and be as the criterion and align with finger, the following finger 36 of master manipulator 2 advances and clamping needle tubing 16, survey 97 clampings of unclamping of activity finger simultaneously to needle tubing 16, master manipulator 2 clamping needle tubings 16 retreat and send it back to ampoule frame 3--metering and extract manipulator 4 stations then, to adjust the dosage of the radiopharmaceutical that sucks.

Shown in Figure 30 and 30, described plumbous cover storehouse 6 comprises bracing frame, and installation shaft end disc 124a on the output shaft of installation the 3rd stepping motor 125, the three stepping motors 125 offers several through holes 124b and several U type grooves 124c on the bracing frame on the axle head disk 124a; Through hole 124b is identical with the quantity of U type groove 124c, and staggered uniform along the circumference of axle head disk 124a; Respectively install one in each through hole 124b every the plumbous cover 133 of radiation.Described bracing frame can be connected and composed by base 122, vertical shaft seat 121 and strut 123.For making things convenient for installation shaft end disc 124a, the output shaft of the 3rd stepping motor 125 can be connected with axle head disk 124a by vertical shaft 124.For reducing the pivoting friction of vertical shaft 124 and vertical shaft seat 121.As Figure 27, the vertical shaft 124 that can freely rotate is housed in the bearing of vertical shaft seat 121.

For convenient fixing every the plumbous cover 133 of radiation, shown in Figure 30 to 30, groove 124d is offered at the middle part of described axle head disk 124a, two slide blocks 128 are installed in the groove 124d, every slide block 128 is provided with a croisillon de joint homocinetique 130, compression spring 129 is installed between two slide blocks 128, and compression spring 129 makes two slide blocks 128 that the trend that is separated from each other be arranged all the time for slide block 128 provides predetermincd tension; Axle head disk 124a goes up fixed installation dowel disc 132, open several square through holes 132b on the dowel disc 132, square through hole 132b equates and corresponding one by one communicating with the quantity of through hole 124b, several locating pieces 132a is set on the dowel disc 132, locating piece 132a equates with square through hole 132b quantity and is corresponding one by one that square through hole 132b constitutes V-shaped groove on locating piece 132a; The middle part of dowel disc 132 is offered 151, two croisillon de joint homocinetiques 130 of the saturating groove of bar shaped and is passed that the saturating groove of bar shaped 151 is outer respectively installs a pressing plate 131, and this pressing plate 131 can freely swing around croisillon de joint homocinetique 130; Be positioned at through hole 124b and square through hole 132b every the plumbous cover 133 of radiation, and with pressing plate 131 and locating piece 132a closed contact.

As Figure 27, drive its rotation with vertical shaft 124 lower end bonded assemblys the 3rd stepping motor 125.The mounting means of the 3rd stepping motor 125 is: several suspension rods 126 are being connected on the lower end plane of vertical shaft seat 121; Adopt double-type nut to link to each other with motor cabinet 127 in the lower end of each suspension rod 126; The 3rd stepping motor 125 is connected on the motor cabinet 127; The suitable above-mentioned paired nut of turn can be adjusted the right alignment of 124 on the power take-off shaft of the 3rd stepping motor 125 and vertical shaft.As Fig. 5, the base 122 in plumbous cover storehouse 6 is connected on the transverse frame plate 140 of body 7.Before start, will be every the plumbous cover 133 of the radiation plumbous cover storehouse 6 of packing into.Process is as follows: as Figure 27 and Figure 29, pull a pressing plate 131 away from a pair of locating piece 132a relative with it.Insert space between pressing plate 131 and two locating piece 132a with two respectively every the plumbous cover 133 of radiation, make, unclamp pressing plate 131 again two are overlapped 133 and compress every radiation is plumbous every the cylindrical of the plumbous cover 133 of radiation V-slot near locating piece 132a.All the other pack into every the plumbous cover 133 of radiation with method.After start, plumbous cover storehouse 6 cooperates master manipulators 2 that following function is arranged: 1, as Fig. 4, start beginning certainly, groove just is in automatically that position of readiness---the diad of this groove is vertical with the direction of master manipulator 2 cross motions one of among the U type groove 124c.2, as Fig. 4, when master manipulator 2 clamping needle tubings 16 horizontal cross move to the plumbous cover of survey activity manipulator 5--storehouse 6 stations, under this moment master manipulator 2 finger 36 line of centers just with the line of centers lateral alignment of U type groove 124c, and the surveys activity of surveying activity manipulator 5 is pointed 97 line of centers and is alignd with the line of centers that lead overlaps the U type groove 124c on the storehouse 6 before this.3, master manipulator 2 longitudinally is passed to needle tubing 16 between two fingers of the survey activity finger 97 of surveying activity manipulator 5, and this moment, needle tubing 16 just was arranged in the U type groove 124c on the plumbous cover storehouse 6.4, after the activity value of the radiopharmaceutical of measuring needle tubing 16 suctions has reached setting value, vertical shaft 124 transposition certain angle under the driving of the 3rd stepping motor 125 in plumbous cover storehouse 6, thereby the position when the plumbous cover 133 of radiation is indexed into U type groove 124c in start on the drive axle head disk 124a.Survey activity manipulator 5 clamping needle tubings 16 and be inserted in the centre hole of the plumbous cover 133 of radiation this moment, and the state after the insertion as shown in figure 30.

Shown in Fig. 1 to 33, described body 7 comprises left side board 134 and right side board 135, is connected and fixed by head rod 136 between left side board 134 and the right side board 135; Install on the left side board 134 medium frame plate 138 is installed on second pipe link, 137, the second pipe links 137; The second short-range missile thick stick 142 and the first short-range missile thick stick 141 are installed between medium frame plate 138 and the left side board 134; Transverse frame plate 140 is installed between medium frame plate 138 and the right side board 135, specifically,, is adopted two pieces 139 that the two ends of transverse frame plate 140 are connected in respectively on medium frame plate 138 and the right side board 135 as Fig. 1 and shown in Figure 32.Metering is installed on the first short-range missile thick stick 141 extracts installation needle tubing storehouse 1 and ampoule frame 3 on manipulator 4, the second short-range missile thick sticks 142; Install and measure nucleic gauge 8, plumbous cover storehouse 6 on the transverse frame plate 140 and survey activity manipulator 5; Described master manipulator transverse-moving mechanism is installed between left side board 134 and the right side board 135.

Body 7 is as follows with being connected of this device other parts: 1, captive joint with the second short-range missile thick stick 142 by each needle tubing support 9 in needle tubing storehouse 1.2, as shown in figure 33, the 4th stepping motor 143 is installed on left side board 134 or the right side board 135, and an axle head of the 4th stepping motor 143 is equipped with the 3rd coder 145.The two ends of first leading screw 17 respectively by bearing installation on left side board 134 and right side board 135.Two long lead the two end supports of thick stick 18 and be fastened on left side board 134 and right side board 135 on.Master manipulator 2 is led thick stick 18 cooperations by first sliding sleeve 21 and length and is connected with body 7.3, as shown in figure 20, the second short-range missile thick stick 142 is connected with lining 62, and ampoule frame 3 is connected with body 7 by lining 62.4, as shown in figure 22, a fixed block 96 respectively is installed on upper supporting plate 86 and the lower carrier plate 85, and two first short-range missile thick sticks 141 on the body 7 are entangled in the hole on this two fixed block 96 respectively, and with fastening so that its location of screw, extract manipulator 4 and are fixedly mounted on the body 7 thereby will measure.5, as shown in Figure 1, surveying activity manipulator 5, plumbous cover storehouse 6 and measurement nucleic gauge 8 is mounted on respectively on the transverse frame plate 140 of body 7.Described bottom plate 10, go up clamp 11, on to point 35, point 36 down, extract finger 82, survey activity finger 97 all are Pneumatic paws.

Technical scheme described in the utility model is not restricted in the scope of embodiment described in the utility model.The utility model not technology contents of detailed description is known technology.

Claims

1. medical radionuclide extracts, measure, the packing robot, it is characterized in that: comprise body (7), body (7) is gone up needle tubing storehouse (1) is installed, ampoule frame (3), manipulator (4) is extracted in metering, survey activity manipulator (5), plumbous cover storehouse (6) and measurement nucleic gauge (8), ampoule frame (3), needle tubing storehouse (1), measurement nucleic gauge (8) and plumbous cover storehouse (6) are in one line, ampoule frame (3) is positioned at the side that manipulator (4) is extracted in metering, the extraction finger (82) that manipulator (4) is extracted in metering is positioned at ampoule frame (3) below, survey activity manipulator (5) and be positioned at a side of measuring nucleic gauge (8), the survey activity finger (97) of surveying activity manipulator (5) is positioned at the top in plumbous cover storehouse (6); Body (7) is gone up the master manipulator transverse-moving mechanism is installed, and master manipulator (2) is installed on the master manipulator transverse-moving mechanism.

2. medical radionuclide extraction according to claim 1, mensuration, packing robot, it is characterized in that: described needle tubing storehouse (1) comprises needle tubing support (9), needle tubing support (9) is captiveed joint with body (7), installs clamp (11) and bottom plate (10) on the needle tubing support (9).

3. medical radionuclide extraction according to claim 1, mensuration, packing robot, it is characterized in that: described master manipulator (2) comprises pedestal (30), pedestal (30) is connected with the traversing parts of described master manipulator transverse-moving mechanism, pedestal (30) is gone up vertical shift mechanism is installed, base portion (22) is installed in the vertical shift mechanism, base portion (22) goes up installs vertical shift mechanism, palm (38) is installed on the Lift Part of vertical shift mechanism, is installed the finger assembly on the palm (38) and point assembly down; Last mechanical finger assembly comprises that left-hand seat refers to vertical shift mechanism, on point vertical shift mechanism and be connected with palm (38), on point and install finger (35) in the vertical shift mechanism; Following mechanical finger assembly comprises reversing device, and finger (36) down is installed on the reversing device.

4. medical radionuclide according to claim 1 extracts, measure, the packing robot, it is characterized in that: described ampoule frame (3) comprises support body (61), support body (61) is connected with body (7), vertically offer V-shaped groove (61a) on the support body (61), the top fixed installation footstock (60) of support body (61), footstock (60) is gone up several pull bars (66) is installed, bottom plate (64) is installed in the bottom of pull bar (66), offer port (149) on the bottom plate (64), the upper end of pull bar (66) passes the outer back-up ring (68) of installing of footstock (60), the periphery of pull bar (66) is installed compression spring (67), and compression spring (67) is positioned between back-up ring (68) and the footstock (60); Footstock (60) or support body (61) are gone up the ampoule bottle pinch device are installed.

5. medical radionuclide extraction according to claim 4, mensuration, packing robot, it is characterized in that: described footstock (60) or support body (61) are gone up installation positioner (77), offer pilot hole (153) on the steady arm (77), the interior installing and locating pin of pilot hole (153) (78), locating dowel pin (78) is gone up cylindrical pin (150) is installed, the lower end periphery of cylindrical pin (150) is provided with the convex edge, the periphery mounting spring (79) of cylindrical pin (150), spring (79) are positioned between convex edge and the steady arm (77); Steady arm (77) is gone up pressing lever (81) is installed, and pressing lever (81) is hinged by second bearing pin (80) and steady arm (77), the upper articulation of an end of pressing lever (81) and locating dowel pin (78).

6. medical radionuclide extraction according to claim 1, mensuration, packing robot, it is characterized in that: described metering is extracted manipulator (4) and is comprised the assembling frame, on the assembling frame lifting mechanism is installed, install on the lifting mechanism and extract palm (89), extraction palm (89) is gone up to install and is extracted finger (82).

7. medical radionuclide extraction according to claim 1, mensuration, packing robot, it is characterized in that: described survey activity manipulator (5) comprises fixed support, lift system is installed on the fixed support, the 4th cylinder (98) and guide frame are installed on the lift system, install on the piston rod of the 4th cylinder (98) and survey activity palm (103), survey activity palm (103) is gone up to install and is surveyed activity finger (97); Install the 5th on the guide frame and lead thick stick (99), the 5th leads thick stick (99) is connected with survey activity palm (103).

8. medical radionuclide extraction according to claim 1, mensuration, packing robot, it is characterized in that: described plumbous cover storehouse (6) comprises bracing frame, the 3rd stepping motor (125) is installed on the bracing frame, installation shaft end disc (124a) on the output shaft of the 3rd stepping motor (125) is offered several through holes (124b) and several U type grooves (124c) on the axle head disk (124a); Through hole (124b) is identical with the quantity of U type groove (124c), and staggered uniform along the circumference of axle head disk (124a); Respectively install one in each through hole (124b) every the plumbous cover of radiation (133).

9. medical radionuclide extraction according to claim 8, mensuration, packing robot, it is characterized in that: groove (124d) is offered at the middle part of described axle head disk (124a), two slide blocks (128) are installed in the groove (124d), every slide block (128) is provided with a croisillon de joint homocinetique (130), and compression spring (129) is installed between two slide blocks (128); Axle head disk (124a) is gone up fixed installation dowel disc (132), open several square through holes (132b) on the dowel disc (132), square through hole (132b) equates and corresponding one by one communicating with the quantity of through hole (124b), several locating pieces (132a) are set on the dowel disc (132), locating piece (132a) equates with square through hole (132b) quantity and is corresponding one by one that square through hole (132b) is gone up at locating piece (132a) and constituted V-shaped groove; The saturating groove of bar shaped (151) is offered at the middle part of dowel disc (132), and two croisillon de joint homocinetiques (130) pass the outer pressing plate (131) of respectively installing of the saturating groove of bar shaped (151); Be positioned at through hole (124b) and square through hole (132b) every the plumbous cover of radiation (133), and with pressing plate (131) and locating piece (132a) closed contact.

10. medical radionuclide extraction according to claim 1, mensuration, packing robot, it is characterized in that: described body (7) comprises left side board (134) and right side board (135), is connected and fixed by head rod (136) between left side board (134) and the right side board (135); Left side board (134) is gone up second pipe link (137) is installed, and second pipe link (137) is gone up medium frame plate (138) is installed; The second short-range missile thick stick (142) and the first short-range missile thick stick (141) are installed between medium frame plate (138) and the left side board (134); Between medium frame plate (138) and the right side board (135) transverse frame plate (140) is installed; The first short-range missile thick stick (141) is gone up metering extraction manipulator (4) is installed, and the second short-range missile thick stick (142) is gone up needle tubing storehouse (1) and ampoule frame (3) are installed; Install and measure nucleic gauge (8), plumbous cover storehouse (6) on the transverse frame plate (140) and survey activity manipulator (5); Described master manipulator transverse-moving mechanism is installed between left side board (134) and the right side board (135).