CN111804615A - Device and method for detecting and sorting appearance quality of radioactive particles - Google Patents
Device and method for detecting and sorting appearance quality of radioactive particles Download PDFInfo
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- CN111804615A CN111804615A CN202010533814.7A CN202010533814A CN111804615A CN 111804615 A CN111804615 A CN 111804615A CN 202010533814 A CN202010533814 A CN 202010533814A CN 111804615 A CN111804615 A CN 111804615A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
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Abstract
The invention relates to a device and a method for detecting and sorting appearance quality of radioactive particles, wherein the device comprises a vibration system for supplying radioactive particles, a sensing system for judging information of the radioactive particles in the vibration system, an escapement system provided with a lifting system, a detection system for detecting the appearance quality of the radioactive particles, a first discharging platform for collecting qualified products and a second discharging platform for collecting unqualified products, and the device also comprises a control system arranged in an operation box; under the control of the control system, the escapement system sequentially finishes absorbing the radioactive particles from the vibration system and transferring the absorbed radioactive particles to the detection system to detect whether the appearance quality is qualified or not under the coordination of the lifting system, and respectively releases the detected radioactive particles into corresponding collection bottles according to qualified products and unqualified products. The device can automatically finish the appearance quality detection and sorting of the radioactive particles, has high production efficiency, and does not damage the radioactive particles.
Description
Technical Field
The invention relates to the technical field of quality control of medical radioactive particles, in particular to a device and a method for detecting and sorting appearance quality of radioactive particles.
Background
Malignant tumor is a serious disease threatening human health, and the radioactive particles implanted into tumor tissue for brachytherapy is a new tumor treatment technology developed in recent decades. The radioactive nuclide in the radioactive particle emits an emergent ray when decaying, and continuously irradiates the tumor cells at a short distance to kill and kill the tumor cells, so that the tumor cells lose the reproductive capacity, and the purpose of relieving and treating diseases is achieved. The technology is widely used for treating various tumors, such as prostate cancer, breast cancer, liver cancer, ovarian cancer, brain tumor, intraorbital tumor and the like, and has good treatment effect.
The radioactive particles used in brachytherapy are micro-radioactive sources containing radionuclides, such as those commonly used125I、103Pd、131Cs, and the like. The radioactive particles consist of a source core, usually microspheres or short rods containing radionuclides, and a sheath, usually a medical titanium tube (typically 0.05mm wall thickness) with good biocompatibility sealed at both ends. The sealing mode of the two ends of the cladding mainly comprises laser welding, plasma welding, electron beam welding, argon arc welding and the like. The radioactive particles are sealed without holes, the two ends are smooth, no burrs are formed, and the sizes are mostly 0.8 +/-0.03 mm in diameter and 4.5 +/-0.2 mm in length, and also 0.6 +/-0.03 mm in diameter and 4.5 +/-0.2 mm in length or other sizes. The radioactive particles need to be subjected to appearance quality detection before leaving a factory, the length, the outer diameter and the like of the radioactive particles are ensured to meet quality standards, the surfaces of the radioactive particles are smooth, two ends of the radioactive particles are sealed, the ends of the radioactive particles are smooth, and the radioactive particles do not have quality defects such as large or flat heads, burrs or welding beading, air holes or cracks.
At present, the appearance quality detection of radioactive particles is mainly carried out manually, an operator carries a lead glove behind lead glass, clamps the radioactive particles by using tweezers and places the radioactive particles under a magnifier, observes the appearance of the radioactive particles through the magnifier to check whether the surface is smooth, whether two ends are sealed and the ends are smooth, whether quality defects such as large or flat heads, burrs or welding beading, air holes or cracks exist, slowly rotates the radioactive particles during the check to ensure that the radioactive particles are detected from each angle, measures the length and the outer diameter of the radioactive particles without obvious quality defects by using a vernier caliper to check whether the size of the radioactive particles meets the quality standard, and respectively loads qualified radioactive particles and unqualified radioactive particles into different storage bottles after the detection. The radioactive particles are small in size and have radioactivity, the manual mode adopted by the existing radioactive particle appearance quality detection is inconvenient to operate and low in efficiency, the shell wall of the radioactive particle is very thin, the shell is easy to flatten when the radioactive particles are clamped by tweezers, dents are left, the labor intensity of operators is high (particularly, eyes are easy to fatigue), the dosage of the radiation received by the operators is high (particularly, the dosage of the radiation received by hands is high), and in addition, errors are easy to occur in the manual operation process.
Therefore, an apparatus and method for detecting and sorting the appearance quality of radioactive particles by mechanical automation are in need.
Disclosure of Invention
The invention aims to provide a device and a method for detecting and sorting the appearance quality of radioactive particles, aiming at solving the problems in the quality control work of the existing radioactive particles, the device can automatically detect the appearance quality of the radioactive particles, and can distinguish qualified products from unqualified products which have smooth surfaces, sealed two ends, smooth ends, no quality defects (such as large ends or flat ends, burrs or welding beading, air holes or cracks) and sizes meeting the quality standard, thereby improving the production efficiency, reducing the labor intensity and reducing the irradiation dose of operators.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a device for detecting and sorting appearance quality of radioactive particles comprises a vibration system for supplying radioactive particles, a sensing system for judging information of the radioactive particles in the vibration system, an escapement system provided with a lifting system, a detection system for detecting the appearance quality of the radioactive particles, a first discharging platform for collecting qualified products and a second discharging platform for collecting unqualified products, and further comprises a control system arranged in an operation box;
under the control of the control system, the escapement system is matched with the lifting system to sequentially complete the steps of absorbing radioactive particles from the vibration system, transferring the absorbed radioactive particles to the detection system to detect whether the appearance quality is qualified or not, respectively releasing the detected radioactive particles into corresponding collection bottles according to qualified products and unqualified products, and respectively placing the collection bottles on the first discharging platform and the second discharging platform.
Further, the vibration system consists of a spiral vibration disk, a vibrator and a vibration controller, wherein the spiral vibration disk is arranged on the vibrator, the vibrator is fixed on the workbench through a buffering base, and the vibration controller is arranged in the operation box;
the inner wall of the spiral vibration disc is provided with a spiral track, a plurality of blocking raised heads are arranged on the spiral track at intervals, the blocking raised heads are arranged near the inlet and the tail end of the spiral track respectively, and the tail end of the spiral track is provided with a baffle plate;
a plurality of radioactive particles move to the bottom edge of the spiral vibration disk under the action of the vibrator and continuously advance from the inlet of the spiral track to the tail end of the spiral track along the spiral track, the blocking convex head separates the overlapped radioactive particles on the spiral track, the radioactive particles move forwards in a row, the baffle enables the radioactive particles to stay at the tail end of the spiral track, and the vibration controller controls the vibrator to start or stop vibrating and adjusts the vibration speed and amplitude of the vibrator.
Furthermore, the induction system comprises a laser sensor with a sensor head and an amplifier, the sensor head of the laser sensor is arranged on an adjusting bracket, the adjusting bracket is arranged on a first precise fine adjustment platform, the first precise fine adjustment platform is fixed on the workbench through a first base, the amplifier of the laser sensor is fixed on the side surface of the first base, the induction system is positioned on one side of the vibrator, and the sensor head of the laser sensor is adjusted by the adjusting bracket and the first precise fine adjustment platform, so that the sensor head is opposite to the tail end of the spiral track of the spiral vibration disc;
the laser sensor comprises a sensor head, an amplifier, a laser transmitter, an optical fiber and a control system, wherein the sensor head of the laser sensor is connected with the amplifier through the optical fiber, the amplifier is internally provided with the laser transmitter and transmits visible infrared laser to the sensor head through the optical fiber, the sensor head is provided with a transmitting end and a receiving end, the transmitting end of the sensor head transmits light, the receiving end receives the light, the receiving end transmits the light back to the amplifier through the optical fiber, and the amplifier generates judgment information according to the transmitted light signal, the received light signal and set parameters and transmits the judgment information to the control.
In the scheme, the laser sensor can emit and receive linear light beams, judge the distance change information between the sensor head and the tail end of the spiral track and transmit the distance change information to the control system, when radioactive particles enter or leave the tail end of the spiral track, the distance is reduced or increased, and the control system confirms whether the tail end of the spiral track contains the radioactive particles through the distance change information transmitted by the laser sensor, so that the vibrator is controlled to stop or start vibration, and the movement of the radioactive particles on the spiral track is controlled.
When radioactive particles exist at the tail end of the spiral track, the control system sends a command to enable the vibrator to stop vibrating so that the escapement system can suck the radioactive particles at the tail end of the spiral track; when the end of the helical track is free of radioactive particles, the control system sends an instruction to cause the vibrator to start vibrating, thereby causing the radioactive particles to gradually move to the end of the helical track.
Further, the lifting system comprises an electric actuator fixed on the workbench through a first support, a first stepping motor driving the electric actuator, and a second support installed on the sliding table of the electric actuator, wherein the sliding table of the electric actuator is driven by the first stepping motor to move up and down along the sliding rail of the electric actuator, and the second support moves up and down along with the sliding table of the electric actuator.
Further, the escapement system comprises a suction type mechanical arm with four suction nozzles, a four-way rotary joint, a four-position integrated vacuum generator system and a filtering and reducing valve, wherein the suction type mechanical arm is arranged on the high-precision electric swing platform and is provided with four suction nozzles; the head of a suction nozzle of the suction type manipulator is in an inwards concave arc shape;
the four-position integrated vacuum generator system is fixed on the workbench through a third support;
the four vacuum generator units of the four-position integrated vacuum generator system are respectively connected with four air outlets of a four-way rotary joint through different first air pipes, four air inlets of the four-way rotary joint are respectively connected with four air outlets of a four-way central shaft of a high-precision electric swing table through different second air pipes, four air inlets of the four-way central shaft of the high-precision electric swing table are respectively connected with four suction nozzles of a suction type manipulator through different third air pipes, the four vacuum generator units of the four-position integrated vacuum generator system are respectively provided with a pressure switch, the pressure switches generate or finish negative pressure and sequentially pass through the corresponding first air pipes, the passages of the four-way rotary joint, the second air pipes, the passages of the four-way central shaft of the high-precision electric swing table and the third air pipes to be transmitted to the corresponding suction nozzles of the suction type manipulator, the radioactive particles are sucked or released by a suction nozzle of the suction type robot.
Furthermore, the detection system comprises a digital camera with a telecentric lens, a surface light source with a light source controller, a second stepping motor provided with a rotating head with a rubber ring, and a display screen arranged on the operation box and used for displaying the shooting information of the digital camera in real time;
the digital camera is installed on a second precise fine adjustment platform, the second precise fine adjustment platform is fixed on the workbench through a second base, the surface light source is fixed on the workbench through a fourth support, the height of the surface light source is adjusted through a height adjustment knob on the fourth support, a light source controller of the surface light source is installed in the operation box, the lighting state of on or off of the surface light source and the brightness of the surface light source are controlled, the second stepping motor is installed on a third precise fine adjustment platform through a fifth support, and the third precise fine adjustment platform is fixed on the workbench through a third base;
the suction nozzle of the suction type mechanical arm moves to the position above the rotating head of the second stepping motor along with the rotation of the suction type mechanical arm, the suction type mechanical arm moves downwards to enable the sucked radioactive particles to be clamped between the corresponding suction nozzle and the rotating head, the corresponding vacuum generator unit of the four-position container type vacuum generator system finishes negative pressure, the rotating head rotates under the driving of the second stepping motor, and the radioactive particles clamped between the suction nozzle and the rotating head rotate along with the rotation of the rotating head; the digital camera transmits the information of the radioactive particles to the control system in real time and displays the information on a display screen.
Further, the information shot by the digital camera is transmitted to the control system in real time, the control system identifies whether radioactive particles exist, when the radioactive particles exist, the control system judges whether the appearance quality of the radioactive particles is qualified according to preset appearance quality parameters of the radioactive particles, the appearance quality parameter information of the radioactive particles is displayed on a display screen, and the control system increases or decreases the appearance quality parameters of the radioactive particles according to needs.
Furthermore, a first groove is formed in the first discharging platform, qualified product collecting bottles are placed in the first groove, a second groove is formed in the second discharging platform, and unqualified product collecting bottles are placed in the second groove;
when the control system finishes the judgment of whether the appearance quality of the radioactive particles is qualified, the second stepping motor is closed, the rotating head stops rotating, the corresponding vacuum generator unit of the four-position container type vacuum generator system generates negative pressure, the corresponding suction nozzle of the suction type manipulator sucks the radioactive particles clamped between the suction type manipulator and the rotating head again, and the suction type manipulator moves upwards;
the qualified radioactive particles are judged by the control system to move above the first discharging platform along with the rotation of the suction type manipulator, and the corresponding vacuum generator unit of the four-position container type vacuum generator system finishes negative pressure and releases the qualified radioactive particles in the qualified product collecting bottle; and the control system judges that the unqualified radioactive particles move to the upper part of the second discharging table along with the rotation of the suction type manipulator, and the corresponding vacuum generator unit of the four-position container type vacuum generator system finishes negative pressure and releases the unqualified radioactive particles in an unqualified product collecting bottle.
Furthermore, the workbench is provided with four adjustable bearing pads, a transparent lead glass shielding chamber is arranged above the workbench, and four sides and the top of the transparent lead glass shielding chamber are provided with movable doors.
A method for detecting and sorting the appearance quality of radioactive particles comprises the following steps:
step S1: starting the vibrator to enable the radioactive particles to be arranged in a row along the spiral track and gradually move to the tail end of the spiral track;
step S2: the suction type mechanical arm moves downwards, a corresponding vacuum generator unit of the four-position container type vacuum generator system generates negative pressure, so that a suction nozzle positioned above the tail end of the spiral track is close to and sucks the radioactive particles at the tail end of the spiral track, and then the suction type mechanical arm moves upwards;
step S3: the suction type mechanical arm rotates by 90 degrees, so that the sucked radioactive particles move to the position above the rotating head of the second stepping motor, the suction type mechanical arm moves downwards, the sucked radioactive particles are clamped between the corresponding suction nozzle and the rotating head, the corresponding vacuum generator unit of the four-position container type vacuum generator system finishes negative pressure, the second stepping motor is started, and the radioactive particles clamped between the suction nozzle and the rotating head rotate along with the rotation of the rotating head;
step S4: the digital camera transmits the information of the radioactive particles to the control system in real time, the control system judges whether the appearance quality of the radioactive particles is qualified or not according to preset appearance quality parameters of the radioactive particles, and the information of the appearance quality parameters of the radioactive particles is displayed on a display screen;
step S5: the second step motor is closed, the corresponding vacuum generator unit of the four-position integrated vacuum generator system generates negative pressure, so that the corresponding suction nozzle of the suction type manipulator re-sucks the radioactive particles clamped between the suction type manipulator and the rotating head, and then the suction type manipulator moves upwards;
step S6: the suction type mechanical arm rotates by 90 degrees, if the control system judges that the appearance quality of the sucked radioactive particles is qualified, the corresponding vacuum generator unit of the four-position container type vacuum generator system finishes negative pressure, and the radioactive particles with qualified appearance quality are released into a qualified product collecting bottle placed in a first groove of a first discharging platform;
step S7: the suction type manipulator rotates by 90 degrees, if the control system judges that the appearance quality of the sucked radioactive particles is unqualified, the corresponding vacuum generator unit of the four-position container type vacuum generator system finishes negative pressure, and the radioactive particles with unqualified appearance quality are released in an unqualified product collecting bottle arranged in a second groove of a second discharging table;
step S8: the suction type mechanical arm rotates by 90 degrees, so that the corresponding suction nozzle of the suction type mechanical arm which releases the radioactive particles moves to the position above the tail end of the spiral track;
step S9: and repeating the steps S1 to S8 until the detection and sorting of the appearance quality of all the radioactive particles are completed.
In the method, when the first suction nozzle carries the absorbed radioactive particles to move above the rotating head of the second stepping motor along with the rotation of the suction type mechanical arm, the second suction nozzle adjacent to the first suction nozzle along the rotation direction of the suction type mechanical arm moves to the position above the tail end of the spiral track, the suction type mechanical arm moves downwards, the second suction nozzle is close to and absorbs the radioactive particles at the tail end of the spiral track, at the moment, the radioactive particles absorbed by the first suction nozzle move downwards along with the suction type mechanical arm and are clamped between the first suction nozzle and the rotating head, and a corresponding appearance quality detection program is started;
when the second suction nozzle carries the sucked radioactive particles to move above the rotating head of the second stepping motor along with the rotation of the suction type mechanical arm, the third suction nozzle adjacent to the second suction nozzle along the rotation direction of the suction type mechanical arm moves to the position above the tail end of the spiral track, the suction type mechanical arm moves downwards, the third suction nozzle is close to and sucks the radioactive particles at the tail end of the spiral track, at the moment, the first suction nozzle carries the sucked radioactive particles (the appearance quality detection is finished), the radioactive particles sucked by the second suction nozzle move downwards along with the suction type mechanical arm and are clamped between the second suction nozzle and the rotating head, and a corresponding appearance quality detection program is started;
when the third suction nozzle carries the sucked radioactive particles to move above the rotating head of the second stepping motor along with the rotation of the suction type mechanical arm, the fourth suction nozzle adjacent to the third suction nozzle along the rotation direction of the suction type mechanical arm moves to the position above the tail end of the spiral track, the suction type mechanical arm moves downwards, the fourth suction nozzle is close to and sucks the radioactive particles at the tail end of the spiral track, at the moment, the second suction nozzle carries the sucked radioactive particles (the appearance quality detection is finished), the radioactive particles sucked by the third suction nozzle move downwards along with the suction type mechanical arm and are clamped between the third suction nozzle and the rotating head, and a corresponding appearance quality detection program is started;
when the fourth suction nozzle carries the sucked radioactive particles to move above the rotating head of the second stepping motor along with the rotation of the suction type mechanical arm, the first suction nozzle adjacent to the fourth suction nozzle along the rotation direction of the suction type mechanical arm moves to the position above the tail end of the spiral track (at the moment, the first suction nozzle releases the radioactive particles sucked before in a corresponding qualified product or unqualified product collecting bottle according to the appearance quality detection result), the suction type mechanical arm moves downwards, the first suction nozzle is close to and sucks the radioactive particles at the tail end of the spiral track, at the moment, the third suction nozzle carries the sucked radioactive particles (the appearance quality detection is finished) to leave a detection position, the radioactive particles sucked by the fourth suction nozzle move downwards along with the suction type mechanical arm and are clamped between the fourth suction nozzle and the rotating head, and a corresponding appearance quality detection program is started.
As described above, the four suction nozzles of the suction type manipulator sequentially suck the radioactive particles from the tail end of the spiral track of the spiral vibration disk to perform appearance quality detection and sorting, and the circulation is repeated without interference, so that the efficiency of the appearance quality detection and sorting is improved. In addition, in the process of detecting and sorting the appearance quality of the radioactive particles, the radioactive particles can be added into the spiral vibration disk at any time, and the continuous operation of detecting and sorting the appearance quality of the radioactive particles is ensured.
The invention has the beneficial effects that: 1. the appearance quality detection and sorting of the radioactive particles can be automatically completed, namely the appearance quality of the radioactive particles can be automatically detected, qualified products and unqualified products are separated, and the production efficiency is high; 2. compared with the existing manual operation mode, the radioactive particles are not clamped by a tool, but are sucked by negative pressure, so that the negative pressure can be accurately adjusted, the cladding can not be flattened, dents can not be left on the cladding, and the radioactive particles can not be damaged; 3. compared with the existing manual operation mode, the error rate can be greatly reduced; 4. can effectively reduce the labor intensity of operators and the ionizing radiation received by the operators, and is favorable for labor protection.
Drawings
FIG. 1 is a schematic diagram of an apparatus for detecting and sorting the appearance quality of radioactive particles according to the present invention;
FIG. 2 is a partial schematic view of an apparatus for detecting and sorting the appearance of radioactive particles according to the present invention;
FIG. 3 is a partial schematic view of another aspect of the apparatus for detecting and sorting the appearance of radioactive particles according to the present invention;
FIG. 4 is a schematic top view of a spiral vibratory pan of the present invention;
fig. 5 is a schematic view of a suction robot of the present invention.
In the figure, 1, a spiral vibration disk, 2, a vibrator, 3, a vibration controller, 4, a buffer base, 5, a spiral track, 6, an inlet of the spiral track, 7, the tail end of the spiral track, 8, a blocking raised head, 9, a baffle, 10, a sensor head, 11, an amplifier, 12, an adjusting bracket, 13, a first precise fine tuning platform, 14, a first base, 15, a first bracket, 16, a first stepping motor, 17, an electric actuator, 18, a sliding rail of the electric actuator, 19, a sliding table of the electric actuator, 20, a second bracket, 21, a suction type manipulator, 22, a suction nozzle, 23, a high-precision electric swing table, 24, a four-way central shaft of the high-precision electric swing table, 25, an air outlet of the four-way central shaft of the high-precision electric swing table, 26, an air inlet of the four-way central shaft of the high-precision electric swing table, 27, a four-way rotary joint, 28, an air outlet of the four-, 29. the four-channel rotary joint comprises a four-position cartridge vacuum generator system, a four-channel rotary joint air inlet, a four-position cartridge vacuum generator system, a third support, a third air pipe, a second stepping motor, a rotating head, a fifth support, a third fine tuning platform, a third base, a high-speed digital camera, a high-resolution telecentric lens, a second fine tuning platform, a high-speed digital camera.
Detailed Description
As shown in fig. 1 to 5, an apparatus for detecting and sorting the appearance quality of radioactive particles comprises a vibration system for supplying radioactive particles, a sensing system for judging the information of the radioactive particles in the vibration system, an escapement system provided with a lifting system, a detection system for detecting the appearance quality of the radioactive particles, a first discharge platform 46 for collecting qualified products and a second discharge platform 47 for collecting unqualified products, and further comprises a control system 48 installed in an operation box 49;
under the control of the control system 48, the escapement system sequentially finishes absorbing radioactive particles from the vibration system and transferring the absorbed radioactive particles to the detection system to detect whether the appearance quality is qualified or not under the coordination of the lifting system, respectively releases the detected radioactive particles into corresponding collection bottles according to qualified products and unqualified products, and the collection bottles are respectively placed on the first discharge platform 46 and the second discharge platform 47.
Further, the vibration system is composed of a spiral vibration disk 1, a vibrator 2 and a vibration controller 3, wherein the spiral vibration disk 1 is installed on the vibrator 2, the vibrator 2 is fixed on a workbench 50 through a buffering base 4, and the vibration controller 3 is installed in an operation box 49;
the spiral vibration disk 1 is provided with a spiral track 5 on the inner wall, a plurality of blocking raised heads 8 are arranged on the spiral track 5 at intervals, wherein one blocking raised head 8 is arranged at each of the inlet 6 of the spiral track and the positions near the tail end 7 of the spiral track, a baffle plate 9 is arranged at the tail end 7 of the spiral track, and the distance between the blocking raised head 8 near the tail end 7 of the spiral track and the baffle plate 9 is larger than the length of one radioactive particle;
a plurality of radioactive particles move to the bottom edge of the spiral vibration disk 1 under the action of the vibrator 2 and continuously advance along the spiral track 5 from the spiral track inlet 6 to the spiral track end 7, the blocking projection 8 separates the overlapped radioactive particles on the spiral track 5, so that the radioactive particles move forward in a row, the baffle 9 makes the radioactive particles stay at the spiral track end 7, and the vibration controller 3 controls the vibrator 2 to start or stop vibrating and adjusts the vibration speed and amplitude of the vibrator 2.
Further, the sensing system comprises a laser sensor with a sensor head 10 and an amplifier 11, the sensor head 10 of the laser sensor is mounted on an adjusting bracket 12, the adjusting bracket 12 is mounted on a first fine tuning platform 13, the first fine tuning platform 13 is fixed on a workbench 50 through a first base 14, the amplifier 11 of the laser sensor is fixed on the side surface of the first base 14 (the amplifier 11 of the laser sensor can also be mounted in an operation box 49 or other suitable positions), the sensing system is located on one side of the vibrator 2, and the adjusting bracket 12 and the first fine tuning platform 13 adjust the sensor head 10 of the laser sensor, so that the sensor head 10 is opposite to the spiral track end 7 of the spiral vibration disk 1.
A sensor head 10 of the laser sensor is connected with an amplifier 11 through an optical cable, a laser transmitter is arranged in the amplifier 11 and transmits visible infrared laser to the sensor head 10 through an optical fiber, the sensor head 10 is provided with a transmitting end and a receiving end, the transmitting end of the sensor head 10 transmits light, the receiving end receives the light, the receiving end transmits the light back to the amplifier 11 through the optical fiber, the amplifier 11 generates judgment information according to the transmitted light signal, the received light signal and set parameters, and the judgment information is transmitted to a control system 48.
In this case, the laser sensor can emit and receive a line-shaped light beam, determine information on a change in distance between the sensor head 10 and the spiral track end 7, and transmit the information to the control system 48, wherein when radioactive particles enter or leave the spiral track end 7, the distance (the distance between the sensor head 10 and the spiral track end 7) is decreased or increased, and the control system 48 confirms whether the spiral track end 7 contains radioactive particles through the information on the change in distance transmitted by the laser sensor, thereby controlling the vibrator 2 to stop or start vibration, and controlling the movement of the radioactive particles on the spiral track 5.
When radioactive particles exist at the spiral track tail end 7, the control system 48 sends a command to enable the vibrator 2 to stop vibrating so that the escapement system absorbs the radioactive particles at the spiral track tail end 7; when the end of the helical track 7 is free of radioactive particles, the control system 48 sends an instruction to start the vibrator 2 to vibrate, thereby gradually moving the radioactive particles to the end of the helical track 7.
Further, the lifting system comprises an electric actuator 17 fixed on the worktable 50 through a first bracket 15, a first stepping motor 16 driving the electric actuator 17, and a second bracket 20 installed on a sliding table 19 of the electric actuator 17, wherein the sliding table 19 of the electric actuator moves up and down along a sliding rail 18 of the electric actuator under the driving of the first stepping motor 16, and the second bracket 20 moves up and down along with the sliding table 19 of the electric actuator.
Further, the escapement system comprises a suction type manipulator 21 with four suction nozzles 22, which is arranged on the high-precision electric swing platform 23, a four-way rotating joint 27 connected with the high-precision electric swing platform 23, a four-position integrated type vacuum generator system 30 connected with the four-way rotating joint 27 through a first air pipe, and a filtering and reducing valve with a pressure gauge and a drain valve, which is connected with an air supply port of the four-position integrated type vacuum generator system 30 through an air supply pipe; the head of a suction nozzle of the suction type manipulator is in an inwards concave arc shape;
the filtering and reducing valve is externally connected with an air compressor, the high-precision electric swing table 23 and the four-way rotary joint 27 are installed on the second support 20, the four-way rotary joint 27, the high-precision electric swing table 23 and the suction type manipulator 21 move up and down along with the second support 20, and the four-position integrated vacuum generator system 30 is fixed on the workbench 20 through the third support 31;
the four vacuum generator units of the four-position integrated vacuum generator system 30 are respectively connected with four air outlets 28 of a four-way rotary joint 27 through different first air pipes, four air inlets 29 of the four-way rotary joint 27 are respectively connected with four air outlets 25 of a four-way central shaft 24 of a high-precision electric swing table 23 through different second air pipes, four air inlets 26 of the four-way central shaft 24 of the high-precision electric swing table are respectively connected with four suction nozzles 22 of a suction type manipulator through different third air pipes 32, the four vacuum generator units of the four-position integrated vacuum generator system 30 are respectively provided with a pressure switch, the pressure switch generates or finishes negative pressure, and the negative pressure is transmitted to the corresponding suction nozzles 22 of the suction type manipulator 21 through the corresponding first air pipes, the passage of the four-way rotary joint 27, the second air pipes, the passage of the four-way central shaft 24 of the high-precision electric swing table and the third air pipes 32 in sequence, the radioactive particles are sucked or discharged by a suction nozzle 22 of the suction robot 21.
Further, the detection system comprises a high-speed digital camera 38 with a high-resolution telecentric lens 39, a surface light source 42 with a light source controller, a second stepping motor 33 provided with a rotating head 34 with a rubber ring, and a display screen 45 which is arranged on an operation box 49 and displays shooting information of the high-speed digital camera 38 in real time (the display screen 45 can display other information according to requirements);
the high-speed digital camera 38 is installed on the second precise fine adjustment platform 40, the second precise fine adjustment platform 40 is fixed on the workbench 50 through the second base 41, the surface light source 42 is fixed on the workbench 50 through the fourth support 43, the height of the surface light source 42 is adjusted through the height adjustment knob 44 on the fourth support 43, the light source controller of the surface light source 42 is installed in the operation box 49 to control the lighting state of on or off of the surface light source 42 and adjust the brightness of the surface light source 42, the second stepping motor 33 is installed on the third precise fine adjustment platform 36 through the fifth support 35, and the third precise fine adjustment platform 36 is fixed on the workbench 50 through the third base 37;
the radioactive particles sucked by the suction nozzle 22 of the suction type manipulator 21 from the spiral track end 7 of the spiral vibration disk 1 move to the position above the rotary head 34 of the second stepping motor 33 along with the rotation of the suction type manipulator 21, the suction type manipulator 21 moves downwards, so that the sucked radioactive particles are clamped between the corresponding suction nozzle 22 and the rotary head 34, the corresponding vacuum generator unit of the four-position container type vacuum generator system 30 finishes negative pressure, the rotary head 34 rotates under the driving of the second stepping motor 33, and the radioactive particles clamped between the suction nozzle 22 and the rotary head 34 rotate along with the rotation of the rotary head 34 (the rotary head 34 is provided with a rubber ring which has higher friction force and can drive the radioactive particles to rotate); the high speed digital camera 38 transmits the radioactive particle information to the control system 48 in real time and displayed on the display screen 45.
Further, the information shot by the high-speed digital camera 38 is transmitted to the control system 48 in real time, the control system 48 identifies whether radioactive particles exist, when radioactive particles exist, the control system 48 judges whether the appearance quality of the radioactive particles is qualified according to preset appearance quality parameters of the radioactive particles, the information of the appearance quality parameters of the radioactive particles is displayed on the display screen 45, the control system 48 increases or decreases the appearance quality parameters of the radioactive particles according to the requirement, when the radioactive particles do not exist, the control system 48 skips a detection program, and the control system 48 reminds that the radioactive particles are not detected, at the moment, the check is carried out, and whether the reason and the equipment are normal or not is confirmed.
Further, a first groove is formed in the first discharging table 46, qualified product collecting bottles are placed in the first groove, a second groove is formed in the second discharging table 47, and unqualified product collecting bottles are placed in the second groove;
after the control system 48 completes the determination of whether the external quality of the radioactive particles is qualified (in the detection process, the radioactive particles rotate along with the rotation of the rotating head 34, and the rotation of the radioactive particles is usually set to be not less than one cycle, so as to ensure that the radioactive particles are detected from each angle), the second stepping motor 33 is turned off, the rotating head 34 stops rotating, the corresponding vacuum generator unit of the four-position container type vacuum generator system 30 generates negative pressure, the corresponding suction nozzle 22 of the suction type manipulator 21 re-sucks the radioactive particles clamped between the suction type manipulator 21 and the rotating head 34, and the suction type manipulator 21 moves upwards;
the qualified radioactive particles are judged to move above the first discharging platform 46 along with the rotation of the suction type mechanical arm 21 by the control system 48, the corresponding vacuum generator unit of the four-position container type vacuum generator system 30 finishes negative pressure, and the radioactive particles fall down due to gravity, so that the qualified radioactive particles are released in the qualified product collecting bottle; the radioactive particles determined by the control system 48 to be unqualified move to the position above the second discharging table 47 along with the rotation of the suction type manipulator 21, the corresponding vacuum generator unit of the four-position container type vacuum generator system 30 finishes negative pressure, and the radioactive particles fall down due to gravity, so that the unqualified radioactive particles are released in the unqualified product collecting bottle.
In addition, for the stability, the security and the convenience of operation, workstation 50 is equipped with four adjustable bearing pads that can adjust workstation 50 level, is provided with transparent lead glass shielding room 51 above workstation 50, and there is the dodge gate at four sides and the top of transparent lead glass room 51.
Further, the method for detecting and sorting the appearance quality of the radioactive particles by adopting the device comprises the following steps:
step S1: activating the vibrator so that the radioactive particles are aligned along the spiral track 5 and gradually move to the end 7 of the spiral track;
step S2: the suction type manipulator 21 moves downward, the corresponding vacuum generator unit of the four-position cartridge type vacuum generator system 30 generates negative pressure, so that the suction nozzle 22 located above the spiral track end 7 is close to and sucks the radioactive particles at the spiral track end 7, and then the suction type manipulator 21 moves upward;
step S3: the suction robot 21 rotates 90 degrees so that the sucked radioactive particles move to above the spin head 34 of the second stepping motor 33, the suction robot 21 moves downward so that the sucked radioactive particles are sandwiched between the corresponding suction nozzle 22 and the spin head 34, the corresponding vacuum generator unit of the four-bit integrated vacuum generator system 30 finishes negative pressure, the second stepping motor 33 is started, and the radioactive particles sandwiched between the suction nozzle 22 and the spin head 34 rotate along with the rotation of the spin head 34;
step S4: the high-speed digital camera 38 transmits the information of the radioactive particles to the control system 48 in real time, and the control system 48 judges whether the appearance quality of the radioactive particles is qualified according to preset appearance quality parameters of the radioactive particles and displays the information of the appearance quality parameters of the radioactive particles on the display screen 45;
step S5: the second stepping motor 33 is turned off and the corresponding vacuum generator unit of the four-position integrated type vacuum generator system 30 generates negative pressure so that the corresponding suction nozzle 22 of the suction robot 21 re-sucks the radioactive seeds sandwiched between it and the spin head 34, and then the suction robot 21 moves upward.
Step S6: the suction type manipulator 21 rotates by 90 degrees, if the control system judges that the appearance quality of the sucked radioactive particles is qualified, the corresponding vacuum generator unit of the four-position container type vacuum generator system 30 finishes negative pressure, and the radioactive particles with qualified appearance quality are released in a qualified product collecting bottle arranged in a first groove of the first discharging table 46;
step S7: the suction type manipulator 21 rotates by 90 degrees, if the control system 48 judges that the appearance quality of the sucked radioactive particles is unqualified, the corresponding vacuum generator unit of the four-position container type vacuum generator system 30 finishes negative pressure, and the radioactive particles with unqualified appearance quality are released in an unqualified product collecting bottle arranged in a second groove of the second discharging table 47;
step S8: the suction robot 21 rotates by 90 degrees so that the corresponding suction nozzle 22 of the suction robot which has released the radioactive particles moves above the spiral track end 7.
Step S9: and repeating the steps S1 to S8 until the detection and sorting of the appearance quality of all the radioactive particles are completed.
In the method, when the first suction nozzle carries the absorbed radioactive particles to move above the rotating head 34 of the second stepping motor 33 along with the rotation of the suction type mechanical arm 21, the second suction nozzle adjacent to the first suction nozzle along the rotation direction of the suction type mechanical arm 21 moves above the tail end 7 of the spiral track, the suction type mechanical arm 21 moves downwards, the second suction nozzle is close to and absorbs the radioactive particles at the tail end 7 of the spiral track, at the moment, the radioactive particles absorbed by the first suction nozzle move downwards along with the suction type mechanical arm 21 and are clamped between the first suction nozzle and the rotating head 34, and a corresponding appearance quality detection program is started;
when the second suction nozzle carries the sucked radioactive particles to move above the rotating head 34 of the second stepping motor 33 along with the rotation of the suction type mechanical arm 21, the third suction nozzle adjacent to the second suction nozzle along the rotation direction of the suction type mechanical arm 21 moves to the position above the tail end 7 of the spiral track, the suction type mechanical arm 21 moves downwards, the third suction nozzle is close to and sucks the radioactive particles at the tail end 7 of the spiral track, at the moment, the first suction nozzle carries the sucked radioactive particles (the appearance quality detection is completed), the radioactive particles sucked by the second suction nozzle move downwards along with the suction type mechanical arm 21 and are clamped between the second suction nozzle and the rotating head 34, and a corresponding appearance quality detection program is started;
when the third suction nozzle carries the sucked radioactive particles to move above the rotating head 34 of the second stepping motor 33 along with the rotation of the suction type mechanical arm 21, the fourth suction nozzle adjacent to the third suction nozzle along the rotation direction of the suction type mechanical arm 21 moves to the position above the tail end 7 of the spiral track, the suction type mechanical arm 21 moves downwards, the fourth suction nozzle is close to and sucks the radioactive particles at the tail end 7 of the spiral track, at the moment, the second suction nozzle carries the sucked radioactive particles (the appearance quality detection is completed), the radioactive particles sucked by the third suction nozzle move downwards along with the suction type mechanical arm 21 and are clamped between the third suction nozzle and the rotating head 34, and a corresponding appearance quality detection program is started;
when the fourth suction nozzle carries the sucked radioactive seeds to move above the spin head 34 of the second stepping motor 33 as the suction robot 21 rotates, the first suction nozzle adjacent to the fourth suction nozzle against the rotation direction of the suction robot 21 moves above the spiral track end 7 (at this time, the first suction nozzle has released the radioactive particles sucked previously in the corresponding non-defective or non-defective collection bottle according to the appearance quality detection result), the suction robot 21 moves downward, the first suction nozzle approaches and sucks the radioactive particles at the spiral track end 7, and at this time, the third nozzle has carried the sucked radioactive particles (the appearance quality detection is completed) away from the detection position, the radioactive particles sucked by the fourth nozzle move downwards along with the suction type manipulator 21 and are clamped between the fourth nozzle and the rotary head 34, and a corresponding appearance quality detection program is started.
As described above, the four suction nozzles 22 of the suction robot 21 sequentially suck the radioactive particles from the spiral track end 7 of the spiral vibration plate 1 to perform the appearance quality detection and sorting, and thus the circulation is not interfered with each other, and the efficiency of the appearance quality detection and sorting is improved. In addition, in the process of detecting and sorting the appearance quality of the radioactive particles, the radioactive particles can be added into the spiral vibration disk at any time, and the continuous operation of detecting and sorting the appearance quality of the radioactive particles is ensured.
In conclusion, the device can automatically detect the appearance quality of the radioactive particles, and can separate qualified products from unqualified products, so that the production efficiency is high; compared with the existing manual operation mode, the radioactive particles are not clamped by a tool, but are sucked by negative pressure, so that the negative pressure can be accurately adjusted, the cladding can not be flattened, dents can not be left on the cladding, and the radioactive particles can not be damaged; compared with the existing manual operation mode, the error rate can be greatly reduced; can effectively reduce the labor intensity of operators and the ionizing radiation received by the operators, and is favorable for labor protection.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. A device for detecting and sorting appearance quality of radioactive particles comprises a vibration system for supplying radioactive particles, a sensing system for judging information of the radioactive particles in the vibration system, an escapement system provided with a lifting system, a detection system for detecting the appearance quality of the radioactive particles, a first discharging platform for collecting qualified products and a second discharging platform for collecting unqualified products, and further comprises a control system arranged in an operation box;
the radioactive particle detection device is characterized in that under the control of a control system, an escapement system is matched with a lifting system to sequentially complete the steps of absorbing radioactive particles from a vibration system, transferring the absorbed radioactive particles to a detection system to detect whether the appearance quality is qualified or not, respectively releasing the detected radioactive particles into corresponding collection bottles according to qualified products and unqualified products, and respectively placing the collection bottles on a first discharging platform and a second discharging platform.
2. The apparatus for detecting and sorting the appearance quality of radioactive particles according to claim 1, wherein the vibration system comprises a spiral vibration disk, a vibrator and a vibration controller, the spiral vibration disk is mounted on the vibrator, the vibrator is fixed on the worktable through a buffer base, and the vibration controller is mounted in the operation box;
the inner wall of the spiral vibration disc is provided with a spiral track, a plurality of blocking raised heads are arranged on the spiral track at intervals, the blocking raised heads are arranged near the inlet and the tail end of the spiral track respectively, and the tail end of the spiral track is provided with a baffle plate;
a plurality of radioactive particles move to the bottom edge of the spiral vibration disk under the action of the vibrator and continuously advance from the inlet of the spiral track to the tail end of the spiral track along the spiral track, the blocking convex head separates the overlapped radioactive particles on the spiral track, the radioactive particles move forwards in a row, the baffle enables the radioactive particles to stay at the tail end of the spiral track, and the vibration controller controls the vibrator to start or stop vibrating and adjusts the vibration speed and amplitude of the vibrator.
3. The apparatus for detecting and sorting the appearance quality of radioactive particles according to claim 2, wherein the sensing system comprises a laser sensor having a sensor head and an amplifier, the sensor head of the laser sensor is mounted on an adjusting bracket, the adjusting bracket is mounted on a first fine tuning platform, the first fine tuning platform is fixed on the worktable through a first base, the amplifier of the laser sensor is fixed on the side surface of the first base, the sensing system is located on one side of the vibrator, and the adjusting bracket and the first fine tuning platform adjust the sensor head of the laser sensor so that the sensor head faces the end of the spiral track of the spiral vibration disk;
the laser sensor comprises a sensor head, an amplifier, a laser transmitter, an optical fiber and a control system, wherein the sensor head of the laser sensor is connected with the amplifier through the optical fiber, the amplifier is internally provided with the laser transmitter and transmits visible infrared laser to the sensor head through the optical fiber, the sensor head is provided with a transmitting end and a receiving end, the transmitting end of the sensor head transmits light, the receiving end receives the light, the receiving end transmits the light back to the amplifier through the optical fiber, and the amplifier generates judgment information according to the transmitted light signal, the received light signal and set parameters and transmits the judgment information to the control.
4. The apparatus according to claim 2 or 3, wherein the lifting system comprises an electric actuator fixed on the table through a first support, a first stepping motor for driving the electric actuator, and a second support installed on a sliding table of the electric actuator, the sliding table of the electric actuator moves up and down along a sliding rail of the electric actuator under the driving of the first stepping motor, and the second support moves up and down along with the sliding table of the electric actuator.
5. The apparatus according to claim 4, wherein the escapement system comprises a suction manipulator with four suction nozzles mounted on the high-precision electric swing table, a four-way rotary joint connected to the high-precision electric swing table, a four-position integrated vacuum generator system connected to the four-way rotary joint through a first air pipe, and a filter pressure reducing valve with a pressure gauge and a drain valve connected to an air supply port of the four-position integrated vacuum generator system through an air supply pipe; the head of a suction nozzle of the suction type manipulator is in an inwards concave arc shape;
the four-position integrated vacuum generator system is fixed on the workbench through a third support;
the four vacuum generator units of the four-position integrated vacuum generator system are respectively connected with four air outlets of a four-way rotary joint through different first air pipes, four air inlets of the four-way rotary joint are respectively connected with four air outlets of a four-way central shaft of a high-precision electric swing table through different second air pipes, four air inlets of the four-way central shaft of the high-precision electric swing table are respectively connected with four suction nozzles of a suction type manipulator through different third air pipes, the four vacuum generator units of the four-position integrated vacuum generator system are respectively provided with a pressure switch, the pressure switches generate or finish negative pressure and sequentially pass through the corresponding first air pipes, the passages of the four-way rotary joint, the second air pipes, the passages of the four-way central shaft of the high-precision electric swing table and the third air pipes to be transmitted to the corresponding suction nozzles of the suction type manipulator, the radioactive particles are sucked or released by a suction nozzle of the suction type robot.
6. The apparatus for detecting and sorting the appearance quality of radioactive particles according to claim 5, wherein the detection system comprises a digital camera with a telecentric lens, a surface light source with a light source controller, a second stepping motor provided with a rotating head with a rubber ring, and a display screen arranged on the operation box and used for displaying the shooting information of the digital camera in real time;
the digital camera is installed on a second precise fine adjustment platform, the second precise fine adjustment platform is fixed on the workbench through a second base, the surface light source is fixed on the workbench through a fourth support, the height of the surface light source is adjusted through a height adjustment knob on the fourth support, a light source controller of the surface light source is installed in the operation box, the lighting state of on or off of the surface light source and the brightness of the surface light source are controlled, the second stepping motor is installed on a third precise fine adjustment platform through a fifth support, and the third precise fine adjustment platform is fixed on the workbench through a third base;
the suction nozzle of the suction type mechanical arm moves to the position above the rotating head of the second stepping motor along with the rotation of the suction type mechanical arm, the suction type mechanical arm moves downwards to enable the sucked radioactive particles to be clamped between the corresponding suction nozzle and the rotating head, the corresponding vacuum generator unit of the four-position container type vacuum generator system finishes negative pressure, the rotating head rotates under the driving of the second stepping motor, and the radioactive particles clamped between the suction nozzle and the rotating head rotate along with the rotation of the rotating head; the digital camera transmits the information of the radioactive particles to the control system in real time and displays the information on a display screen.
7. The apparatus as claimed in claim 6, wherein the information captured by the digital camera is transmitted to the control system in real time, the control system identifies whether radioactive particles exist, when radioactive particles exist, the control system determines whether the appearance quality of the radioactive particles is qualified according to preset appearance quality parameters of the radioactive particles, the information of the appearance quality parameters of the radioactive particles is displayed on the display screen, and the control system increases or decreases the appearance quality parameters of the radioactive particles as required.
8. The apparatus for detecting and sorting the appearance quality of radioactive particles according to claim 6 or 7, wherein a first groove is formed on the first discharging platform, a qualified product collecting bottle is placed in the first groove, a second groove is formed on the second discharging platform, and a defective product collecting bottle is placed in the second groove;
when the control system finishes the judgment of whether the appearance quality of the radioactive particles is qualified, the second stepping motor is closed, the rotating head stops rotating, the corresponding vacuum generator unit of the four-position container type vacuum generator system generates negative pressure, the corresponding suction nozzle of the suction type manipulator sucks the radioactive particles clamped between the suction type manipulator and the rotating head again, and the suction type manipulator moves upwards;
the qualified radioactive particles are judged by the control system to move above the first discharging platform along with the rotation of the suction type manipulator, and the corresponding vacuum generator unit of the four-position container type vacuum generator system finishes negative pressure and releases the qualified radioactive particles in the qualified product collecting bottle; and the control system judges that the unqualified radioactive particles move to the upper part of the second discharging table along with the rotation of the suction type manipulator, and the corresponding vacuum generator unit of the four-position container type vacuum generator system finishes negative pressure and releases the unqualified radioactive particles in an unqualified product collecting bottle.
9. The apparatus for detecting and sorting the appearance quality of radioactive particles according to claim 8, wherein the worktable has four adjustable load-bearing pads, a transparent lead glass shielding chamber is arranged above the worktable, and movable doors are arranged on the four sides and the top of the transparent lead glass shielding chamber.
10. A method for detecting and sorting the appearance quality of radioactive particles is characterized by comprising the following steps:
step S1: starting the vibrator to enable the radioactive particles to be arranged in a row along the spiral track and gradually move to the tail end of the spiral track;
step S2: the suction type mechanical arm moves downwards, a corresponding vacuum generator unit of the four-position container type vacuum generator system generates negative pressure, so that a suction nozzle positioned above the tail end of the spiral track is close to and sucks the radioactive particles at the tail end of the spiral track, and then the suction type mechanical arm moves upwards;
step S3: the suction type mechanical arm rotates by 90 degrees, so that the sucked radioactive particles move to the position above the rotating head of the second stepping motor, the suction type mechanical arm moves downwards, the sucked radioactive particles are clamped between the corresponding suction nozzle and the rotating head, the corresponding vacuum generator unit of the four-position container type vacuum generator system finishes negative pressure, the second stepping motor is started, and the radioactive particles clamped between the suction nozzle and the rotating head rotate along with the rotation of the rotating head;
step S4: the digital camera transmits the information of the radioactive particles to the control system in real time, the control system judges whether the appearance quality of the radioactive particles is qualified or not according to preset appearance quality parameters of the radioactive particles, and the information of the appearance quality parameters of the radioactive particles is displayed on a display screen;
step S5: the second step motor is closed, the corresponding vacuum generator unit of the four-position integrated vacuum generator system generates negative pressure, so that the corresponding suction nozzle of the suction type manipulator re-sucks the radioactive particles clamped between the suction type manipulator and the rotating head, and then the suction type manipulator moves upwards;
step S6: the suction type mechanical arm rotates by 90 degrees, if the control system judges that the appearance quality of the sucked radioactive particles is qualified, the corresponding vacuum generator unit of the four-position container type vacuum generator system finishes negative pressure, and the radioactive particles with qualified appearance quality are released into a qualified product collecting bottle placed in a first groove of a first discharging platform;
step S7: the suction type manipulator rotates by 90 degrees, if the control system judges that the appearance quality of the sucked radioactive particles is unqualified, the corresponding vacuum generator unit of the four-position container type vacuum generator system finishes negative pressure, and the radioactive particles with unqualified appearance quality are released in an unqualified product collecting bottle arranged in a second groove of a second discharging table;
step S8: the suction type mechanical arm rotates by 90 degrees, so that the corresponding suction nozzle of the suction type mechanical arm which releases the radioactive particles moves to the position above the tail end of the spiral track;
step S9: and repeating the steps S1 to S8 until the detection and sorting of the appearance quality of all the radioactive particles are completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010533814.7A CN111804615A (en) | 2020-06-12 | 2020-06-12 | Device and method for detecting and sorting appearance quality of radioactive particles |
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| CN202010533814.7A CN111804615A (en) | 2020-06-12 | 2020-06-12 | Device and method for detecting and sorting appearance quality of radioactive particles |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114377978A (en) * | 2022-03-23 | 2022-04-22 | 深圳超盈智能科技有限公司 | Defect detection device of semiconductor chip |
| CN115144404A (en) * | 2022-09-01 | 2022-10-04 | 茉丽特科技（深圳）有限公司 | Vision measuring instrument based on telecentric optics technology |
-
2020
- 2020-06-12 CN CN202010533814.7A patent/CN111804615A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114377978A (en) * | 2022-03-23 | 2022-04-22 | 深圳超盈智能科技有限公司 | Defect detection device of semiconductor chip |
| CN114377978B (en) * | 2022-03-23 | 2022-06-14 | 深圳超盈智能科技有限公司 | Defect detection device of semiconductor chip |
| CN115144404A (en) * | 2022-09-01 | 2022-10-04 | 茉丽特科技（深圳）有限公司 | Vision measuring instrument based on telecentric optics technology |
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