CN108831580B - Device and method for automatically assembling and sealing radioactive particles - Google Patents
Device and method for automatically assembling and sealing radioactive particles Download PDFInfo
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- CN108831580B CN108831580B CN201810962143.9A CN201810962143A CN108831580B CN 108831580 B CN108831580 B CN 108831580B CN 201810962143 A CN201810962143 A CN 201810962143A CN 108831580 B CN108831580 B CN 108831580B
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- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21G—CONVERSION OF CHEMICAL ELEMENTS; RADIOACTIVE SOURCES
- G21G4/00—Radioactive sources
- G21G4/04—Radioactive sources other than neutron sources
- G21G4/06—Radioactive sources other than neutron sources characterised by constructional features
- G21G4/08—Radioactive sources other than neutron sources characterised by constructional features specially adapted for medical application
Abstract
The invention belongs to the field of radioactive particle preparation, and particularly relates to a device and a method for automatic assembly and welding sealing of radioactive particles. The device comprises two vibrating screw tables, a mechanical clamping system, an assembling table, a welding system, a discharging system and a control system, wherein the vibrating screw tables are respectively used for supplying titanium cups and source cores, the mechanical clamping system is used for extracting the titanium cups and the source cores from the vibrating screw tables in pairs, the mechanical clamping system is arranged on a sliding rail, the mechanical clamping system is used for transferring the pair of titanium cups and the source cores extracted from the vibrating screw tables onto the mechanical clamping system under the control of the control system, the titanium cups with the source cores are assembled into the titanium cups with the source cores on the assembling table, and then the titanium cups with the source cores are conveyed to the welding system by the mechanical clamping system through the sliding rail to be welded into radioactive particles and the radioactive particles are conveyed to the discharging system to be released; the titanium cup is a titanium tube with one end closed, and the source core is a carrier rod which can be filled in the titanium cup and is attached with radionuclide. The device has the advantages of high production efficiency, high product qualification rate and contribution to labor protection.
Description
Technical Field
The invention belongs to the field of radioactive particle preparation, and particularly relates to a device and a method for automatic assembly and welding sealing of radioactive particles.
Background
Malignant tumors have been serious diseases threatening human health, and brachytherapy by implanting radioactive particles into tumor tissue has been a new tumor treatment technology developed in recent decades. The radioactive nuclide in the radioactive particles emits rays when decaying, and the tumor cells are continuously irradiated in a short distance to kill the tumor cells, so that the purposes of relieving and treating diseases are achieved. The technology is widely used for treating various solid tumors, such as prostate cancer, breast cancer, liver cancer, ovarian cancer, brain tumor, intraorbital tumor and the like, has good treatment effect, and has wide application prospect, and clinical practice proves that the technology is safe and reliable, has good curative effect and small damage to normal tissues.
The radioactive particles for brachytherapy consist essentially of a source core and an envelope, the source core being typically adsorbed with 125 I、 103 Pd、 131 The carrier bar or microsphere of the radioactive nuclide such as Cs and the like is generally an ultrathin titanium tube (with the outer diameter of 0.8mm and the wall thickness of 0.05 mm) with two ends welded and sealed. The preparation process of the radioactive particles generally comprises the steps of firstly welding and sealing one end of a titanium tube to form a titanium cup, then filling a source core into the titanium cup, and finally welding and sealing the open end of the titanium cup, namely the other end of the titanium tube, so as to obtain the radioactive particles, wherein the two ends of a cladding of the radioactive particles are required to be welded and sealed well without leakage. The preparation of radioactive particles is generally carried out by adopting a manual assembly and semi-automatic welding sealing mode, firstly, vertically arranging a batch of titanium cups on a titanium cup holder, then, clamping a source core by forceps and placing the source core into the titanium cups, then, assembling the titanium cups 50 or 100 with the source cores into a specific feeding clamp, placing the clamp at the corresponding position of a welding machine, sequentially pushing each titanium cup with the source core to a welding position by a push rod, and welding the open ends of the titanium cups by electron beams or lasers and the like. The method adopts a manual assembly mode, because the source core and the titanium cup for preparing the radioactive particles are very small,the operators need to have good eyesight and skill, the labor intensity of the operators is high, the radiation dose received by the hands is very high, the welder bin is required to be opened frequently due to the semi-automatic batch welding mode, the feeding clamp is assembled and disassembled and replaced, the radionuclide overflows easily, the content of the radionuclide aerosol in the workshop is increased, the radiation dose received by the operators is further increased, and the radionuclide aerosol in the workshop can enter the body in an inhaled mode, so that the operators can irradiate unnecessarily.
Disclosure of Invention
The invention aims to provide a device and a method for preparing radioactive particles, which are used for automatically filling a source core into a titanium cup and welding and sealing the opening end of the titanium cup, namely, the automation of the preparation of the radioactive particles is better realized, so that a radioactive particle product with high qualification rate, attractive welding spots and no oxidative discoloration is provided, the production efficiency is further improved, and the labor intensity of operators and the received radiation dose are reduced.
In order to achieve the above purpose, the technical scheme adopted by the invention is that the device for automatically assembling and sealing radioactive particles comprises two vibrating screw tables for supplying titanium cups and source cores respectively, a mechanical clamping system, an assembling table, a welding system, a discharging system and a control system, wherein the mechanical clamping system is arranged on a sliding rail, the mechanical clamping system is used for extracting the titanium cups and the source cores from the vibrating screw tables in pairs, the mechanical clamping system is used for transferring the pair of titanium cups and the source cores extracted from the vibrating screw tables onto the mechanical clamping system under the control of the control system, the titanium cups with the source cores are assembled into the titanium cups with the source cores, and then the titanium cups with the source cores are conveyed to the welding system by the mechanical clamping system through the sliding rail to be welded into radioactive particles and the radioactive particles are conveyed to the discharging system to be released; the titanium cup is a titanium tube with one end closed, and the source core is a carrier rod which can be filled into the titanium cup and is attached with radionuclide.
Further, the two vibration screw tables are arranged side by side, each vibration screw table consists of a vibrator and a screw table, each screw table comprises a cylindrical feeding bin, a screw track arranged on the inner side of the side wall of the feeding bin, a plurality of blocking raised heads arranged on the screw track at intervals, and a screw track outlet positioned at the tail end of the screw track, wherein a plurality of titanium cups or source cores continuously advance from the feeding bin to the screw track outlet along the screw track under the action of the vibrator, and the blocking raised heads separate the titanium cups or the source cores overlapped on the screw track, so that the titanium cups or the source cores are arranged in a row to move forwards; the first induction probe is arranged at the outlet of the spiral track, when the first induction probe senses that the titanium cup or the source core is arranged at the outlet of the spiral track, an induction signal is transmitted to the control system, and the control system sends an instruction to enable the vibration screw table with the titanium cup or the source core at the outlet of the spiral track to stop vibrating, so that the mechanical arm system extracts the titanium cup or the source core at the outlet of the spiral track; when the first inductive probe senses that the titanium cup or the source core does not exist at the outlet of the spiral track, an inductive signal is transmitted to the control system, and the control system sends an instruction to enable the vibration spiral table without the titanium cup or the source core to start vibration at the outlet of the spiral track.
Further, the mechanical arm system comprises a suction type mechanical arm and a second inductive probe, wherein the suction type mechanical arm is arranged on the mechanical arm through a mechanical rotating head; the head of the suction type manipulator is provided with two pneumatic suction nozzles, and the side surface of the suction type manipulator is provided with a thimble; the mechanical arm can stretch and rotate, and the mechanical rotating head can rotate and turn over; one of the pneumatic suction nozzles is exclusively used for sucking the titanium cup at the outlet of the spiral track for supplying the titanium cup, and the other pneumatic suction nozzle is exclusively used for sucking the source core at the outlet of the spiral track for supplying the source core, wherein the sucking sequence is that firstly sucking the titanium cup and then sucking the source core; the sucked titanium cup and the source core are arranged in parallel in a linear manner on the suction type manipulator; the second inductive probe is arranged at the outlet of the spiral track of the vibration spiral table for supplying the titanium cup, the open end and the closed end of the titanium cup can be distinguished, when the second inductive probe senses that the open end of the titanium cup is positioned at the outlet of the spiral track, the second inductive probe controls the suction manipulator to suck the titanium cup through the pneumatic suction nozzle for sucking the titanium cup, when the second inductive probe senses that the closed end of the titanium cup is positioned at the outlet of the spiral track, the control system controls the mechanical swivel to drive the suction manipulator to overturn 180 degrees and then suck the titanium cup through the pneumatic suction nozzle for sucking the titanium cup, and then the control system controls the mechanical swivel to drive the suction manipulator to reversely overturn 180 degrees again to finish resetting.
Further, the mechanical clamping system comprises a mechanical clamping hand, a motor for driving the mechanical clamping hand to clamp, and a sliding table arranged on the sliding rail; the mechanical clamping hand is arranged on the sliding table, two clamping jaws which are oppositely arranged are arranged on the mechanical clamping hand, semicircular hole grooves corresponding to the diameters of the titanium cups are formed in the clamping jaws, and the two semicircular hole grooves jointly form a circular hole groove capable of clamping the titanium cups.
Further, the assembly table can be adjusted in position in the horizontal direction and in the vertical direction, so that the height of the titanium cup with the active core, which extends out of the circular hole groove, can be adjusted together with the mechanical clamping hand and the thimble.
Further, the welding system comprises a welding table, a welding gun, a welding machine, a cold water machine and an inert gas steel cylinder, wherein the welding gun can be adjusted in position in the horizontal direction and the vertical direction and can also rotate, so that the welding gun head of the welding gun can obtain the optimal welding position relative to the titanium cup with the active core.
Further, the unloading system comprises an unloading table, wherein an unloading manipulator is arranged above the unloading table, a first unloading ejector rod and a second unloading ejector rod are arranged at the lower end of the unloading manipulator, an unloading hole and a notch are formed in the unloading table, the unloading hole is divided into an upper part and a lower part by the notch, the unloading table is positioned below the second unloading ejector rod, and the second unloading ejector rod is coaxial with the unloading hole; the device also comprises a first finished product bin positioned below the first discharging ejector rod and a second finished product bin positioned below the discharging hole.
Further, the monitoring system comprises a first camera probe for shooting a position picture of the assembly table, a second camera probe for shooting a position picture of the welding gun head, a third camera probe, a fourth camera probe for shooting a position picture of the notch, a first display for displaying a picture shot by the first camera probe, a second display for displaying a picture shot by the second camera probe, a third display for displaying a picture shot by the third camera probe, and a fourth display for displaying a picture shot by the fourth camera probe, wherein the second camera probe and the third camera probe are arranged in a 90-degree included angle, arc radiation protection lenses are installed at the front ends of the second camera probe and the third camera probe, and the first camera probe, the second camera probe, the third camera probe and the fourth camera probe are all connected with a video amplifier.
Further, the radionuclide attached to the carrier rod is one or more, and the radionuclide comprises 125 I、 103 Pd、 131 Cs、 198 Au、 169 Yb、 192 Ir, but is not limited to these several; the size of the titanium cup is as follows: the outer diameter is 0.8mm, the length is 5.5+/-0.3 mm, the wall thickness is 0.05mm, but the size is not limited, and the titanium cup can be applied to titanium cups with other sizes by adjusting equipment; the carrier rod has the following dimensions: a diameter of 0.5mm and a length of 3mm, but is not limited to this size; the size of the carrier rod is taken as a reference of the corresponding titanium cup, so that the titanium cup can be filled, and meanwhile, the welding sealing of the titanium cup is not affected; the carrier rod comprises a silver rod.
In order to achieve the above object, the present invention also discloses a method for automatically assembling and sealing radioactive particles of the above-mentioned apparatus for automatically assembling and sealing radioactive particles, comprising the steps of:
step S1, arranging the titanium cups or the source cores in a row in the spiral tracks of two vibration spiral tables, and sequentially entering the spiral track outlets;
step S2, the suction type mechanical arm rotates to the outlet of the spiral track and sucks one titanium cup and one source core through the pneumatic suction nozzle, then the suction type mechanical arm moves to the position above the assembly table, at the moment, the opening end of the sucked titanium cup faces upwards, and the mechanical arm moves to the position between the pneumatic suction nozzle and the assembly table, so that the round hole groove is coaxial with the sucked titanium cup; in this step, one of the pneumatic suction nozzles is dedicated to suction the titanium cup located at the outlet of the spiral track for supplying the titanium cup, and the other pneumatic suction nozzle is dedicated to suction the source core located at the outlet of the spiral track for supplying the source core, the suction sequence is that the titanium cup is sucked first and then the source core is sucked; the sucked titanium cup and the source core are arranged in parallel in a linear manner on the suction type manipulator; when the second inductive probe senses that one end of the opening of the titanium cup is positioned at the outlet of the spiral track, the control system controls the suction manipulator to suck the titanium cup through the pneumatic suction nozzle sucking the titanium cup, when the second inductive probe senses that one closed end of the titanium cup is positioned at the outlet of the spiral track, the control system controls the mechanical rotary head to drive the suction manipulator to overturn 180 degrees, and then the pneumatic suction nozzle sucking the titanium cup is used for sucking the titanium cup, and then the control system controls the mechanical rotary head to drive the suction manipulator to reversely overturn 180 degrees again to finish resetting;
step S3, the suction type manipulator descends to place the sucked titanium cup into the round hole groove and loosens the pneumatic suction nozzle sucking the titanium cup, then the suction type manipulator ascends and adjusts the position to enable the sucked source core to be located above one end of an opening of the titanium cup and to be coaxial with the titanium cup, the suction type manipulator descends to place the sucked source core into the titanium cup and loosens the pneumatic suction nozzle sucking the source core, then the suction type manipulator ascends and adjusts the position to enable the thimble to be located above one end of the opening of the titanium cup and to be coaxial with the titanium cup, the suction type manipulator descends to enable the titanium cup with the source core to be pressed down to the bottom closed one end of the titanium cup through the thimble to be in contact with the assembly table, and the mechanical gripper clamps the titanium cup with the source core;
s4, the mechanical clamping hand moves the titanium cup with the active core to the lower part of the welding gun head along the sliding rail, so that one end of an opening of the titanium cup with the active core is coaxial with the welding gun head;
s5, opening inert gas to protect one end of the opening of the titanium cup with the active core, enabling the welding gun head to emit welding arc, and melting partial materials at one end of the opening of the titanium cup with the active core to form an end socket to finish the preparation of the radioactive particles;
s6, the mechanical clamping hand moves the radioactive particles along the sliding rail between the discharging hole and the second discharging ejector rod, and the radioactive particles are coaxial with the discharging hole;
s7, loosening the mechanical clamping hand, and descending the second discharging ejector rod to push the radioactive particles downwards so that the radioactive particles are released into the second finished product bin through the discharging hole;
step S8, repeating the step S1 to the step S7.
The invention has the beneficial effects that:
the source core can be automatically arranged in the titanium cup, and one end of the opening of the titanium cup is welded and sealed, so that the automatic preparation of radioactive particles is realized.
The automatic degree is high, the production efficiency is high, the product percent of pass is high, and the welding spots of the radioactive particles are attractive and have no oxidative discoloration.
The working intensity of operators and the received ionizing radiation can be greatly reduced, and the labor protection is facilitated.
Drawings
FIG. 1 is a schematic view of an apparatus for automated assembly and sealing of radioactive particles according to an embodiment of the present invention;
FIG. 2 is a schematic view of a vibratory screw table 1 (a vibratory screw table for a supply core) according to an embodiment of the invention;
fig. 3 is a schematic view of a vibrating screw table 1 according to an embodiment of the present invention (a vibrating screw table for supplying titanium cups is provided with a second inductive probe 24);
FIG. 4 is a schematic view of a robotic arm system 2 according to an embodiment of the invention;
FIG. 5 is a schematic view of the mechanical clamping system 3, the assembly table 4, the slide rail 5, the welding system 6, and the unloading system 7 according to the embodiment of the present invention;
FIG. 6 is a schematic view of a robot 33 according to an embodiment of the present invention;
FIG. 7 is a schematic view of a discharge robot 71 according to an embodiment of the present invention;
in the figure: 1-vibration screw table, 11-vibrator, 12-screw table, 121-feeding bin, 122-screw track, 123-blocking boss, 124-screw track outlet, 13-first sensing probe, 2-mechanical arm system, 21-mechanical arm, 22-mechanical rotating head, 23-suction type mechanical arm, 231-pneumatic suction nozzle, 232-thimble, 24-second sensing probe, 3-mechanical clamping system, 31-sliding table, 32-motor, 33-mechanical clamping arm, 331-clamping jaw, 332-semicircle orifice slot, 4-assembling table, 5-sliding rail, 6-welding system, 61-welding table, 62-welding gun, 621-welding gun head, 7-discharging system, 71-discharging mechanical arm, 71-first discharging mandril, 712-second discharging mandril, 72-discharging table, 721-discharging hole, 722-notch, 73-first finished product bin, 74-second finished product bin, 81-first camera, 82-second camera, 83-third probe, 84-fourth probe, 85-first display, 86-second display, 86-third display, 88-third display, and 9-camera system.
Detailed Description
The invention is further described below with reference to the drawings and examples.
As shown in fig. 1, the device for automatically assembling and sealing radioactive particles provided by the invention consists of a vibration screw table 1, a mechanical arm system 2, a mechanical clamping system 3, an assembling table 4, a sliding rail 5, a welding system 6, a discharging system 7, a monitoring system and a control system 9. The vibration screw table 1, the mechanical arm system 2, the mechanical clamp system 3, the assembly table 4, the sliding rail 5, the welding system 6 and the unloading system 7 are arranged on the workbench 10, the control system 9 is connected with the above systems remotely through pipelines, a display of the monitoring system is arranged together with the control system, and a camera, a video amplifier and the like of the monitoring system are arranged on the workbench 10.
As shown in fig. 1, 2 and 3, the vibrating screw table 1 has two tables, each vibrating screw table 1 is respectively composed of a vibrator 11, a screw table 12 and a first inductive probe 13, wherein the screw table 12 has a feeding bin 121, a screw track 122, four blocking raised heads 123 and a screw track outlet 124.
The titanium cups and the source cores are respectively placed in the feeding bins 121 of the two vibrating screw tables 1, the vibrator 11 drives the respective screw tables 12 to vibrate, the titanium cups and the source cores respectively move forwards along the two screw tracks 122, and the blocking raised heads 123 can separate the overlapped titanium cups and source cores on the screw tracks 122, so that the titanium cups and the source cores respectively have no overlapping and are arranged in a row along the respective screw tracks 122 and sequentially move to the respective screw track outlets 124.
As shown in fig. 3, a first induction probe 13 is arranged at a spiral track outlet 124 of the vibration spiral table 1 for loading the titanium cup, the first induction probe 13 is perpendicular to the spiral track outlet 124 of the vibration spiral table 1 for loading the titanium cup, when sensing that the titanium cup is arranged at the spiral track outlet 124 of the vibration spiral table 1 for loading the titanium cup, an induction signal is transmitted into the control system 9, the control system 9 sends a command, the vibration spiral table 1 for loading the titanium cup stops vibrating, and the titanium cup stops moving along a corresponding spiral track 122; when the first sensing probe 13 senses that no titanium cup exists at the spiral track outlet 124 of the titanium cup-loading vibration spiral table 1, a sensing signal is transmitted into the control system 9, the control system 9 sends a command, the titanium cup-loading vibration spiral table 1 starts vibration, and the titanium cup moves forwards along the corresponding spiral track 122.
As shown in fig. 2, a first sensing probe 13 is arranged at a spiral track outlet 124 of the vibration spiral table 1 of the loading source core, the first sensing probe 13 is perpendicular to the spiral track outlet 124 of the vibration spiral table 1 of the loading source core, when sensing the active core at the spiral track outlet 124 of the vibration spiral table 1 of the loading source core, a sensing signal is transmitted into the control system 9, the control system 9 sends an instruction, the vibration spiral table 1 of the loading source core stops vibrating, and the source core stops moving along the corresponding spiral track 122; when the first sensing probe 13 senses that the source core is not arranged at the spiral track outlet 124 of the vibrating spiral table 1 for loading the source core, a sensing signal is transmitted into the control system 9, the control system 9 sends a command, the vibrating spiral table 1 for loading the source core starts vibrating, and the source core moves forwards along the corresponding spiral track 122.
As shown in fig. 4, the mechanical arm system 2 is composed of a mechanical arm 21, a mechanical rotating head 22, a suction type mechanical arm 23 and a second inductive probe 24 (the second inductive probe 24 is shown in fig. 3), the suction type mechanical arm 23 is arranged on the mechanical arm 21 through the mechanical rotating head 22, the head of the suction type mechanical arm 23 is provided with two pneumatic suction nozzles 231, and the side face of the suction type mechanical arm is provided with a thimble 232.
The mechanical arm 21 can stretch and rotate, the mechanical arm 21 drives the suction type mechanical arm 23 to move through the mechanical rotating head 22, and the mechanical rotating head 22 can rotate and overturn.
The mechanical rotating head 22 rotates to enable two pneumatic suction nozzles 231 at the head of the suction type mechanical arm 23 to face downwards, titanium cups and source cores at the spiral track outlets 124 of the two vibration spiral tables 1 are sucked respectively, the titanium cups are sucked firstly, then the source cores are sucked, the sucked titanium cups and source cores are arranged in parallel in a linear mode on the suction type mechanical arm 23, the sucked titanium cups and source cores are perpendicular to the side face of the suction type mechanical arm 23, then the mechanical rotating head 22 rotates to enable the suction type mechanical arm 23 to be at a horizontal position, at the moment, the sucked titanium cups and source cores are located at vertical positions, and the mechanical arm system 2 drives the sucked titanium cups and source cores to be at the position of the assembly table 4.
The mechanical arm system 2 is provided with a second inductive probe 24, and is opposite to the spiral track outlet 124 of the vibration spiral table 1 for loading the titanium cup, when the second inductive probe 24 senses that the opening end of the titanium cup at the spiral track outlet 124 of the vibration spiral table 1 for loading the titanium cup is positioned in front, the pneumatic suction nozzle 231 for sucking the titanium cup by the suction type mechanical arm 23 sucks the titanium cup, and then the pneumatic suction nozzle 231 for sucking the source core by the suction type mechanical arm 23 sucks the source core; when the second sensing probe 24 senses that the closed end of the titanium cup at the spiral track outlet 124 of the vibration spiral table 1 for loading the titanium cup is positioned in front, the mechanical rotary head 22 drives the suction type mechanical arm 23 to turn over 180 degrees, the pneumatic suction nozzle 231 of the suction type mechanical arm 23 for sucking the titanium cup sucks the titanium cup, then the mechanical rotary head 22 drives the suction type mechanical arm 23 to turn over 180 degrees again, and then the pneumatic suction nozzle 231 of the suction type mechanical arm 23 for sucking the source core sucks the source core. In this way, no matter in which direction the open end of the titanium cup supplied at the spiral track outlet 124 is located, after being sucked by the suction type mechanical arm 23, the titanium cup and the source core are always kept at the same mutual position on the suction type mechanical arm 23, the open end of the titanium cup sucked on the suction type mechanical arm 23 is always kept in the same direction each time, when the mechanical arm system 2 drives the sucked titanium cup and the source core to the assembling table 4, the suction type mechanical arm 23 is in the horizontal position, the sucked titanium cup and the source core are all in the vertical position, and the open end of the sucked titanium cup is upward.
As shown in fig. 5 and 6, the mechanical clamping system 3 is composed of a sliding table 31, a motor 32 and a mechanical clamping hand 33, the mechanical clamping hand 33 is provided with two clamping jaws 331 which are arranged oppositely, a semicircular hole groove 332 with the diameter of 0.8mm is respectively arranged at the corresponding position of the front end of each clamping jaw 331, and the two semicircular hole grooves 332 can be spliced into one circular hole groove. The motor 32 generates power which can drive the two jaws 331 of the mechanical gripper 33 to grip or release. The mechanical gripper 33 is arranged on the sliding table 31, the sliding table 31 is arranged on the sliding rail 5, and the sliding table 31 can drive the mechanical gripper 33 to move along the sliding rail 5.
When the mechanical arm system 2 drives the sucked titanium cup and the source core to the position of the assembling table 4, the mechanical arm system 3 moves to the position of the assembling table 4 at the same time, the semicircular hole grooves 332 spliced by the front ends of the two clamping jaws 331 of the mechanical arm 33 are right above the assembling table 4, the suction type mechanical arm 23 with the titanium cup and the source core positioned in the middle of the mechanical arm system 2 and the assembling table 4, a thin gap is arranged between the two clamping jaws 331 of the mechanical arm 33, namely, the two clamping jaws 331 of the mechanical arm 33 are not completely clamped, the mechanical arm system 2 adjusts the position, so that the sucked titanium cup is right above the circular hole grooves of the mechanical arm 33, the sucked titanium cup is coaxial with the circular hole grooves of the mechanical arm 33, the mechanical arm system 2 drives the suction type mechanical arm 23 to descend, then the pneumatic suction nozzle 231 sucked with the titanium cup is loosened, the titanium cup is placed in the circular hole grooves of the mechanical arm 33, the opening end of the titanium cup faces upwards, then the mechanical arm system 2 drives the suction type mechanical arm 23 to ascend and adjust the position so that the sucked source core is positioned right above the opening end of the titanium cup placed in the circular hole groove of the mechanical clamping hand 33, the sucked source core is coaxial with the titanium cup placed in the circular hole groove of the mechanical clamping hand 33, the mechanical arm system 2 drives the suction type mechanical arm 23 to descend, then the pneumatic suction nozzle 231 of the suction type mechanical arm 23 is loosened, the source core is placed in the titanium cup, the mechanical arm system 2 drives the suction type mechanical arm 23 to ascend and adjust the position so that the thimble 232 on the side surface of the suction type mechanical arm 23 is positioned right above the titanium cup with the source core, the thimble 232 on the side surface of the suction type mechanical arm 23 is coaxial with the titanium cup with the source core, the mechanical arm system 2 drives the thimble 232 on the side surface of the suction type mechanical arm 23 to press down the titanium cup with the source core so that the bottom of the titanium cup with the source core contacts the assembly table 4, the mechanical clamping system 3 then clamps the two clamping jaws 331 of the mechanical clamping hand 33, thereby clamping the titanium cup with the active core.
As shown in fig. 1 and 5, the assembly table 4 may be adjusted in position from front to back, from left to right, or from up to down, so as to adjust the height of the titanium cup with the active core of the circular hole groove formed by the two semicircular hole grooves 332 formed by splicing the front ends of the two clamping jaws 331 extending out of the mechanical clamping hand 33.
As shown in fig. 1 and 5, the welding system 6 includes a welding table 61, a welding gun 62, a welder, a cold water machine, and an inert gas cylinder.
After the source core is loaded into the titanium cup at the position of the assembly table 4 and the two clamping jaws 331 of the mechanical clamping hand 33 clamp the titanium cup with the source core, the mechanical clamping hand 33 is driven by the sliding table 31 to move to the welding position along the sliding rail 5. The open end of the titanium cup with the active core is opposite to the welding gun head 621 of the welding gun 62, inert gas is started to protect the open end of the titanium cup with the active core, the welding gun head 621 of the welding gun 62 emits welding arc, the material of the part of the open end of the titanium cup with the active core is melted, and the melted material seals the open end of the titanium cup with the active core to form the sealing head.
The welding gun 62 of the welding system 6 can be adjusted in position in the horizontal direction, can be adjusted in position in the vertical direction, and can also be rotated so as to adjust the welding gun head 621 of the welding gun 62 to be positioned at the optimal welding position.
As shown in fig. 5, the discharging system 7 is composed of a discharging manipulator 71, a discharging table 72, a first finished product bin 73, and a second finished product bin 74.
As shown in fig. 5 and 7, the discharging manipulator 71 is located above the discharging table 72, a first discharging ejector rod 711 and a second discharging ejector rod 712 are provided at the lower end of the discharging manipulator 71, wherein a first finished product bin 73 is provided below the first discharging ejector rod 711, the discharging table 72 is provided below the second discharging ejector rod 712, the discharging table 72 is provided with a discharging hole 721 and a notch 722, the discharging hole 721 is opposite to the second discharging ejector rod 712, i.e. the discharging hole 721 is coaxial with the second discharging ejector rod 712, the notch 722 of the discharging table 72 divides the discharging hole 721 into an upper part and a lower part, and a second finished product bin 74 is provided below the discharging table 72, i.e. a second finished product bin 74 is provided below the discharging hole 721.
After the open end of the titanium cup with the active core is sealed at the welding position, radioactive particles are obtained, the mechanical clamping hand 33 is driven by the sliding table 31, and meanwhile, the radioactive particles are carried along, and move to the unloading position along the sliding rail 5.
The radioactive particles can move to the position right below the first discharging ejector rod 711, the two clamping jaws 331 of the mechanical clamping hand 33 are loosened, and meanwhile, the discharging mechanical hand 71 drives the first discharging ejector rod 711 to press down, and the radioactive particles fall into the first finished product bin 73; the radioactive particles can also move to the position right below the second discharge ejector rod 712 and right above the discharge hole 721 of the discharge table 72, namely, the position is positioned between the second discharge ejector rod 712 and the discharge hole 721 and is coaxial with the discharge hole 721, the two clamping jaws 331 of the mechanical clamping hand 33 are loosened, meanwhile, the discharge mechanical hand 71 drives the second discharge ejector rod 712 to press down, the radioactive particles fall into the discharge hole 721 of the discharge table 72, and fall into the second finished product bin 74 through the discharge hole 721. The radioactive particles can be subjected to quality detection while being released through the second discharging ejector rod 712 and the discharging hole 721, so that the radioactive particles with unqualified welding quality (such as radioactive particles with oversized welding position diameter, askew head and burrs on the surface) are intercepted.
As shown in fig. 1, the monitoring system is composed of four camera probes, four video amplifiers and four displays, and an operator can remotely observe and monitor the preparation process of the radioactive particles through the monitoring system.
When the mechanical clamping hand 33 is located at the position of the assembly table 4, the first camera probe 81 is opposite to a round hole groove formed by splicing semicircular hole grooves 332 at the front ends of two clamping jaws 331 of the mechanical clamping hand 33, and the process of placing a titanium cup into the round hole groove of the mechanical clamping hand 33 can be displayed on the first display 85 in real time through a video amplifier, and the process of placing a source core into the titanium cup can also be displayed on the first display 85 in real time.
The second camera probe 82 and the third camera probe 83 are located near the welding gun head 621 of the welding gun 62 of the welding system 6, when the mechanical gripper 33 clamps the titanium cup with the active core to be located at the welding position, the second camera probe 82 and the third camera probe 83 are opposite to the opening end part of the titanium cup with the active core clamped by the mechanical gripper 33, the second camera probe 82 and the third camera probe 83 are arranged at an included angle of 90 degrees, arc radiation protection lenses are installed at the front ends of the second camera probe 82 and the third camera probe 83, and the welding process is displayed on the second display 86 and the third display 87 in real time through a video amplifier respectively.
The fourth camera 84 is located near the notch 722 of the discharge table 72 and is opposite to the notch 722, and the process of the radioactive particles passing through the notch 722 can be displayed on the fourth display 88 in real time by the video amplifier, so that the images of the welding heads at the two ends of the radioactive particles can be observed on the fourth display 88.
The invention also provides a method for automatically assembling and sealing radioactive particles, which is used for the device for automatically assembling and sealing radioactive particles, and comprises the following steps:
step S1, arranging titanium cups or source cores in a row in the spiral tracks 122 of two vibration spiral tables 1, and sequentially entering the spiral track outlets 124;
step S2, the suction type mechanical arm 23 rotates to the position of the spiral track outlet 124 and sucks a titanium cup and a source core through the pneumatic suction nozzle 231, then the suction type mechanical arm 23 moves to the position above the assembly table 4, at the moment, the opening end of the sucked titanium cup faces upwards, the mechanical clamping arm 33 moves between the pneumatic suction nozzle 231 and the assembly table 4, and a round hole groove formed by splicing semicircular hole grooves at the front ends of the two clamping jaws 331 of the mechanical clamping arm 33 is coaxial with the sucked titanium cup;
step S3, the suction type mechanical arm 23 descends to place the sucked titanium cup into the circular hole groove and loosen the pneumatic suction nozzle 231 sucking the titanium cup, then the suction type mechanical arm 23 ascends and adjusts the position to enable the sucked source core to be located above one end of the opening of the titanium cup and coaxial with the titanium cup, the suction type mechanical arm 23 descends to place the sucked source core into the titanium cup and loosen the pneumatic suction nozzle 231 sucking the source core, then the suction type mechanical arm 23 ascends and adjusts the position to enable the thimble 232 to be located above one end of the opening of the titanium cup and coaxial with the titanium cup, the suction type mechanical arm 23 descends to press the titanium cup with the source core to the bottom closed one end of the titanium cup through the thimble 232 to contact the assembly table 4, and the mechanical clamp 33 clamps the titanium cup with the source core;
step S4, the mechanical clamping hand 33 moves the titanium cup with the active core to the lower part of the welding gun head 621 along the sliding rail 5, so that one end of the opening of the titanium cup with the active core is coaxial with the welding gun head 621;
step S5, opening an inert gas to protect one end of the opening of the titanium cup with the active core, enabling the welding gun head 621 to emit a welding arc, and melting partial materials at one end of the opening of the titanium cup with the active core to form a sealing head to finish the preparation of radioactive particles;
step S6, the mechanical gripper 33 moves the radioactive particles along the sliding rail 5 between the discharge hole 721 and the second discharge post 712, and the radioactive particles are coaxial with the discharge hole 721;
step S7, the mechanical clamping hand 33 is loosened, the second discharging ejector rod 712 descends, and the radioactive particles are pushed downwards, so that the radioactive particles are released into the second finished product bin 74 through the discharging hole 721;
step S8, repeating the steps S1 to S7.
The device according to the invention is not limited to the examples described in the specific embodiments, and a person skilled in the art obtains other embodiments according to the technical solution of the invention, which also belong to the technical innovation scope of the invention.
Claims (8)
1. An automatic radioactive particle assembling and sealing device is characterized in that: the device comprises two vibrating screw tables (1) respectively used for supplying titanium cups and source cores, a mechanical arm system (2) used for extracting the titanium cups and the source cores from the vibrating screw tables (1) in pairs, a mechanical clamping system (3) arranged on a sliding rail (5), an assembling table (4), a welding system (6), a discharging system (7) and a control system (9), wherein the mechanical arm system (2) transfers the pair of the titanium cups and the source cores extracted from the vibrating screw tables (1) onto the mechanical clamping system (3) on the assembling table (4) and assembles the titanium cups with the source cores, and then the mechanical clamping system (3) conveys the titanium cups with the source cores to the welding system (6) to be welded into radioactive particles through the sliding rail (5) and conveys the radioactive particles to the discharging system (7) to be released; the source core is a carrier rod which can be filled into the titanium cup and is attached with radionuclide;
the two vibration screw tables (1) are arranged side by side, the vibration screw tables (1) are composed of a vibrator (11) and a screw table (12), wherein the screw table (12) comprises a cylindrical feeding bin (121), screw tracks (122) arranged on the inner side of the side wall of the feeding bin (121), a plurality of blocking bosses (123) arranged on the screw tracks (122) at intervals, screw track outlets (124) arranged at the tail ends of the screw tracks (122), and a plurality of titanium cups or source cores continuously advance to the screw track outlets (124) along the screw tracks (122) from the feeding bin (121) under the action of the vibrator (11), and the blocking bosses (123) separate the titanium cups or the source cores overlapped on the screw tracks (122) so that the titanium cups or the source cores are arranged in a row to move forwards; the system further comprises a first inductive probe (13) arranged at the spiral track outlet (124), when the first inductive probe (13) senses that the titanium cup or the source core is arranged at the spiral track outlet (124), an inductive signal is transmitted into the control system (9), and the control system (9) sends an instruction to stop vibrating the vibrating spiral table (1) with the titanium cup or the source core at the spiral track outlet (124) so that the mechanical arm system (2) extracts the titanium cup or the source core at the spiral track outlet (124); when the first induction probe (13) senses that the titanium cup or the source core is not arranged at the spiral track outlet (124), an induction signal is transmitted to the control system (9), and the control system (9) sends an instruction to enable the vibration spiral table (1) without the titanium cup or the source core to start vibrating at the spiral track outlet (124);
the radionuclide attached to the carrier bar is one or more, and the radionuclide comprises 125 I、 103 Pd、 131 Cs、 198 Au、 169 Yb、 192 Ir。
2. The apparatus of claim 1, wherein: the mechanical arm system (2) comprises a suction type mechanical arm (23) and a second inductive probe (24), wherein the suction type mechanical arm (23) is arranged on the mechanical arm (21) through a mechanical rotating head (22); the head of the suction type manipulator (23) is provided with two pneumatic suction nozzles (231), and the side surface of the suction type manipulator (23) is provided with a thimble (232); the mechanical arm (21) can stretch and rotate, and the mechanical rotating head (22) can rotate and overturn; one of the pneumatic suction nozzles (231) is dedicated to sucking the titanium cup at the spiral track outlet (124) for supplying the titanium cup, and the other pneumatic suction nozzle (231) is dedicated to sucking the source core at the spiral track outlet (124) for supplying the source core, the sucking sequence is that the titanium cup is sucked first and then the source core is sucked; the sucked titanium cup and the source core are arranged in parallel lines on the suction manipulator (23); the second induction probe (24) is arranged at the spiral track outlet (124) of the vibration spiral table (1) for supplying the titanium cup, the open end and the closed end of the titanium cup can be distinguished, when the second induction probe (24) senses that the open end of the titanium cup is positioned at the spiral track outlet (124), the control system (9) controls the suction manipulator (23) to suck the titanium cup through the pneumatic suction nozzle (231) for sucking the titanium cup, when the second induction probe (24) senses that the closed end of the titanium cup is positioned at the spiral track outlet (124), the control system (9) controls the mechanical rotary head (22) to drive the suction manipulator (23) to overturn 180 degrees and then suck the titanium cup through the pneumatic suction nozzle (231) for sucking the titanium cup, and then the control system (9) controls the mechanical rotary head (22) to drive the suction manipulator (23) to overturn reversely again to reset 180 degrees.
3. The apparatus of claim 2, wherein: the mechanical clamping system (3) comprises a mechanical clamping hand (33), a motor (32) for driving the mechanical clamping hand (33) to clamp, and a sliding table (31) arranged on the sliding rail (5); the mechanical clamping hand (33) is arranged on the sliding table (31), two clamping jaws (331) which are oppositely arranged are arranged on the mechanical clamping hand (33), semicircular holes (332) corresponding to the diameter of the titanium cup are formed in the clamping jaws (331), and the two semicircular holes (332) jointly form a circular hole groove capable of clamping the titanium cup.
4. A device as claimed in claim 3, wherein: the assembling table (4) can adjust the position in the horizontal direction and the vertical height, so that the height of the titanium cup of the active core, which extends out of the circular hole groove, is adjusted together with the mechanical clamping hand (33) and the thimble (232).
5. The apparatus as claimed in claim 4, wherein: the welding system (6) comprises a welding table (61), a welding gun (62), a welding machine, a cold water machine and an inert gas steel cylinder, wherein the welding gun (62) can be adjusted in position in the horizontal direction and the vertical height and can also rotate, so that a welding gun head (621) of the welding gun (62) obtains an optimal welding position relative to the titanium cup with the active core.
6. The apparatus as claimed in claim 5, wherein: the discharging system (7) comprises a discharging table (72) provided with a discharging manipulator (71) above, a first discharging ejector rod (711) and a second discharging ejector rod (712) are arranged at the lower end of the discharging manipulator (71), a discharging hole (721) and a notch (722) are formed in the discharging table (72), the discharging hole (721) is divided into an upper part and a lower part by the notch (722), the discharging table (72) is positioned below the second discharging ejector rod (712), and the second discharging ejector rod (712) is coaxial with the discharging hole (721); also included is a first finished product bin (73) located below the first discharge ram (711), and a second finished product bin (74) located below the discharge aperture (721).
7. The apparatus of claim 6, wherein: the monitoring system comprises a first camera probe (81) for shooting a position picture of the assembly table (4), a second camera probe (82) for shooting a position picture of the welding gun head (621), a third camera probe (83), a fourth camera probe (84) for shooting a position picture of the notch (722), a first display (85) for displaying a picture shot by the first camera probe (81), a second display (86) for displaying a picture shot by the second camera probe (82), a third display (87) for displaying a picture shot by the third camera probe (83), a fourth display (88) for displaying a picture shot by the fourth camera probe (84), wherein the second camera probe (82) and the third camera probe (83) are arranged in a 90-degree included angle, arc radiation preventing lenses are arranged at the front ends of the second camera probe (82) and the third camera probe (83), and the first camera probe (81), the second camera probe (82), the third camera probe (83) and the fourth camera probe (84) are connected with an amplifying camera probe (84).
8. A method for automated assembly and sealing of radioactive particles for use in the apparatus of claim 6, comprising the steps of:
step S1, arranging the titanium cups or the source cores in a row in the spiral tracks (122) of the two vibration spiral tables (1), and sequentially entering the spiral track outlets (124);
step S2, the suction type mechanical arm (23) rotates to the position of the spiral track outlet (124) and sucks one titanium cup and one source core through the pneumatic suction nozzle (231), then the suction type mechanical arm (23) moves to the position above the assembly table (4), at the moment, the opening end of the sucked titanium cup faces upwards, and the mechanical clamping arm (33) moves to the position between the pneumatic suction nozzle (231) and the assembly table (4), so that the round hole groove is coaxial with the sucked titanium cup;
step S3, the suction type manipulator (23) descends to place the sucked titanium cup into the round hole groove and loosens the pneumatic suction nozzle (231) sucking the titanium cup, then the suction type manipulator (23) ascends and adjusts the position to enable the sucked source core to be located above one end of the opening of the titanium cup and to be coaxial with the titanium cup, the suction type manipulator (23) descends to place the sucked source core into the titanium cup and loosens the pneumatic suction nozzle (231) sucking the source core, then the suction type manipulator (23) ascends and adjusts the position to enable the ejector pin (232) to be located above one end of the opening of the titanium cup and to be coaxial with the titanium cup, the suction type manipulator (23) descends to enable the titanium cup with the source core to be pressed down to the bottom closed end of the titanium cup to be in contact with the assembly table (4), and the mechanical clamping hand (33) clamps the titanium cup with the source core;
step S4, the mechanical clamping hand (33) moves the titanium cup with the active core to the lower part of the welding gun head (621) along the sliding rail (5) so that one end of an opening of the titanium cup with the active core is coaxial with the welding gun head (621);
s5, opening inert gas to protect one end of an opening of the titanium cup with the active core, and enabling the welding gun head (621) to emit welding arc to melt partial materials at one end of the opening of the titanium cup with the active core to form an end socket, so as to finish the preparation of the radioactive particles;
step S6, the mechanical clamping hand (33) moves the radioactive particles along the sliding rail (5) between the discharging hole (721) and the second discharging ejector rod (712), and the radioactive particles are coaxial with the discharging hole (721);
step S7, the mechanical clamping hand (33) is loosened, the second discharging ejector rod (712) descends to push the radioactive particles downwards, and the radioactive particles are released into the second finished product bin (74) through the discharging hole (721);
step S8, repeating the step S1 to the step S7.
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| CN109754890B (en) * | 2018-12-26 | 2020-11-03 | 北京工业大学 | Method for manufacturing radioactive seed source core by utilizing electrohydrodynamic micro-droplet injection |
| CN111922565B (en) * | 2020-08-10 | 2022-07-05 | 广州花都通用集团有限公司 | Main driving welding machine for escalator |
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