Automatic radioactive particle filling device and filling method

Abstract

The invention discloses an automatic radioactive particle filling device and method. The device comprises a support assembly, a magazine assembly with a containing cavity, a particle conveying assembly and a particle discharging assembly, and the particle conveying assembly comprises a vibration mechanism, a funnel, a channel plate and a pushing assembly; a first channel extending in the vertical direction is formed in the bottom of the funnel, a second channel extending in the vertical direction and a third channel extending in the left-right direction are formed in the channel plate, the second channel communicates with the first channel, the particle conveying assembly further comprises a rotating part rotationally arranged in the channel plate, and a fourth channel is formed in the rotating part; the rotating piece is provided with a first position and a second position, and the fourth channel is communicated with the second channel at the first position; at the second position, the fourth channel is communicated with the third channel, and the pushing assembly can push the radioactive particles out of the channel plate. The device can realize automatic filling of radioactive particles, is high in production efficiency, and can reduce the labor intensity of operators and the risk of radiation.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to an automatic radioactive particle loading device and a loading method. Background Art

[0002] Malignant tumors and cancer have always been major diseases that threaten human health. There are two main conventional treatment methods: chemotherapy and surgical resection. Chemotherapy can easily harm the patient's body and is not easy to cure; while surgical resection can easily spread the tumor. The advancement of science and technology has greatly improved tumor treatment technology. Among them, radioactive particle implantation surgery is widely used in the treatment of various tumors, such as prostate cancer, breast cancer, liver cancer, ovarian cancer, brain tumors, orbital tumors, etc., and has achieved good therapeutic effects. The basic principle is to implant a radioactive source into the tumor. When the radioactive particle nuclide decays, it will emit radiation, which will continuously irradiate the tumor cells at close range, kill the tumor cells, and make the tumor cells lose their ability to reproduce, thereby alleviating and treating tumor diseases.

[0003] This treatment technology has been proven through a large number of clinical practices. It is safe, reliable, effective, and causes little damage to normal tissues. It has broad application prospects.

[0004] The radioactive particles used for close-range radiotherapy are miniature radioactive sources containing radioactive nuclides. Commonly used radioactive nuclides include 125I, 103Pd, 131Cs, etc. Radioactive particles are generally coated with medical titanium tubes on the outside, sealed without holes, and smooth at both ends. Most of the sizes are 0.8±0.03mm in diameter and 4.5±0.2mm in length. There are also sizes of 0.6±0.03mm in diameter and 4.5±0.2mm in length or other sizes. The overall shape is similar to a cylinder. When performing a radioactive particle implantation operation, it is necessary to first use imaging methods such as CT, MRI, and ultrasound to determine the number and location of the radioactive particles to be implanted, and then load the required number of radioactive particles into the magazine, and install the magazine into the radioactive particle implantation gun. The radioactive particle implantation gun is used to implant multiple particles one by one into the malignant tumor in the patient's body for intertissue close-range precision radiotherapy.

[0005] At present, most of the loading of radioactive particle magazines is done manually. The operator wears lead gloves and stands behind the lead glass. He uses tweezers to pick up the middle position of the radioactive particles, puts the particles one by one from the opening of the particle bin, and pulls the particles down along the channel groove, stacking the particles until the predetermined number of radioactive particles are loaded into the particle bin. Radioactive particles are small in size and have radiation. Medical staff need to wear lead gloves when loading particles, which makes the operation inconvenient and inefficient. It is also easy to cause eye fatigue, resulting in errors in the loading quantity, and particles may also fall. Although there are protective measures, long-term exposure to radiation is still harmful to the health of medical staff.

[0006] Based on this, some automatic loading devices for radioactive particles have appeared on the market. For example, Chinese patent CN214018903U discloses an automatic loading clip device for particles, including a control console, a base plate and a vibration plate. The control console is provided with a vertical manipulator, and a conveying arm that moves up and down is installed on the front side of the lower end. The vibration plate is installed on the left part of the base plate, and its output port corresponds to the lower end of the vertical manipulator. A clamping mold aligned with the output port of the vibration plate is arranged in the middle of the upper surface of the base plate. This patent realizes the transportation of particles through pneumatic principles. First, the vibration plate arranges and conveys the particles. After that, when the particles are delivered to the right place, the vertical manipulator moves to the left end and controls the conveying arm to move down, starts the pneumatic valve, sucks the particles, and then moves the conveying arm up, and conveys it to the clamping mold through the vertical manipulator, and then moves the conveying arm down, and the conveying end of the conveying arm is inserted into the clamping mold, and then the pneumatic valve is closed to realize automatic loading of particles. In the above-mentioned loading method, particles are transported by sucking particles by negative pressure. This method of transporting particles is noisy and difficult to control when small cylindrical particles are sucked by negative pressure, which makes particle absorption inconvenient. In addition, there are also some automatic radioactive particle loading devices that use a robot to grab particles for particle transport. In this method of transporting particles, the robot is expensive and the particles are easily damaged due to the external force of the robot gripping the particles. Summary of the invention

[0007] The purpose of the present invention is to provide a radioactive particle automatic loading device with stable particle delivery, simple control and no particle damage in view of the deficiencies in the prior art.

[0008] In order to achieve the above object, the technical solution adopted by the present invention is:

[0009] A radioactive particle automatic loading device, comprising:

[0010] Bracket assembly;

[0011] A magazine assembly is arranged on the support assembly, and a receiving cavity for receiving radioactive particles is arranged in the magazine assembly;

[0012] A particle conveying assembly is arranged on the support assembly, comprising a vibration mechanism for arranging radioactive particles neatly and outputting them one by one, a funnel arranged at the outlet of the vibration mechanism, a channel plate arranged below the funnel and connected to the outlet of the funnel, and a pushing assembly for pushing the radioactive particles out of the channel plate; a first channel extending in the up-down direction is arranged at the bottom of the funnel, a second channel extending in the up-down direction and a third channel extending in the left-right direction are arranged in the channel plate, and the second channel is connected to the first channel; the particle conveying assembly also includes a rotating member rotatably arranged in the channel plate, and a fourth channel is arranged on the rotating member; the rotating member has a first position and a second position, when the rotating member is in the first position, the fourth channel is connected to the second channel; when the rotating member is in the second position, the fourth channel is connected to the third channel; when the rotating member is in the second position, the pushing assembly can extend into the fourth channel and push the radioactive particles to the outside of the channel plate along the third channel;

[0013] The particle discharge assembly is arranged on the support assembly and is used for receiving the radioactive particles pushed out from the channel plate and placing the radioactive particles into the accommodating cavity.

[0014] In some embodiments, the particle discharge assembly includes a particle supporting member for supporting the radioactive particles, the particle supporting member can be slidably arranged on the bracket assembly up and down and forward and backward, and the particle supporting member is provided with a receiving portion for receiving the radioactive particles; the magazine assembly includes a magazine arranged on the bracket assembly, the receiving cavity is arranged in the magazine, and the magazine is also provided with a slot connected to the receiving cavity; the size of the receiving cavity along the left and right directions matches the length size of the radioactive particles, the size of the slot along the left and right directions is smaller than the size of the receiving cavity along the left and right directions, the receiving portion cooperates with the slot, and the particle supporting member can move in the forward and backward directions so that the receiving portion extends from the slot into the receiving cavity, or escapes from the receiving cavity.

[0015] In some embodiments, the particle discharging component further includes a lifting drive mechanism for driving the particle supporting member to slide up and down, the lifting drive mechanism includes a lifting slider that can be slid up and down, the particle discharging component further includes a protection component for protecting the radioactive particles when the particle supporting member is discharging, the protection component includes a protection block that can be slid up and down on the lifting slider, and the particle supporting member is arranged on the protection block; when the particle supporting member contacts and squeezes the radioactive particles, the protection block slides upward relative to the lifting slider;

[0016] The protection component also includes a first sensing device for sensing whether the particle support member contacts and squeezes the radioactive particles, the first sensing device including a first sensor disposed on one of the lifting slider and the protection block and a first sensing sheet disposed on the other; when the particle support member does not contact the radioactive particles placed in the accommodating cavity, the first sensing sheet is located within the sensing range of the first sensor; when the particle support member contacts and squeezes the radioactive particles placed in the accommodating cavity, the protection block slides upward relative to the lifting slider under the action of a reaction force, and the first sensing sheet leaves the sensing range of the first sensor;

[0017] The particle discharge assembly also includes a lifting screw that can be rotatably arranged on the bracket assembly, and a lifting motor that is arranged on the bracket assembly and connected to the lifting screw to drive the lifting screw to rotate. The lifting screw extends in the up and down directions, and the lifting slider is connected to the lifting screw by threaded cooperation.

[0018] In some embodiments, the magazine assembly also includes a push rod for compressing the radioactive particles in the accommodating chamber, and the push rod is slidably disposed at the top of the accommodating chamber. The magazine assembly also includes a first elastic member disposed between the push rod and the magazine to drive the push rod to automatically move downward to compress the radioactive particles, and a locking mechanism to lock the relative position of the push rod, and the two ends of the first elastic member are respectively disposed on the magazine and the push rod.

[0019] In some embodiments, a first magazine channel is provided at the bottom of the magazine for outputting the radioactive particles to the outside of the magazine, and the first magazine channel is connected to the bottom of the accommodating chamber; the magazine assembly also includes a top column for preventing the radioactive particles from entering the first magazine channel when discharging materials in the accommodating chamber, and the top column can be slidably arranged up and down in the magazine; the magazine assembly also includes a second elastic member for driving the top column to automatically slide and block the entrance of the first magazine channel, and the two ends of the second elastic member are respectively arranged on the magazine and the top column.

[0020] In some embodiments, the pushing assembly includes a push rod slidably disposed on the bracket assembly in the left-right direction, and when the rotating member is in the second position, the push rod can move in the left-right direction and extend into the fourth channel;

[0021] The pushing assembly also includes a left-right driving mechanism for driving the push rod to slide in the left-right direction, the left-right driving mechanism includes a translation slider that can slide left-right, and the push rod is fixed on the translation slider; the left-right driving mechanism also includes a translation screw that can be rotatably arranged on the bracket assembly, and a translation motor that is arranged on the bracket assembly and connected to the translation screw to drive the translation screw to rotate, the translation screw extends in the left-right direction, and the translation slider is connected to the translation screw by threaded cooperation.

[0022] In some embodiments, the vibration mechanism includes a silo for storing the radioactive particles, a straight vibration guide rail for arranging the radioactive particles neatly and outputting them one by one, and a straight vibrator arranged below the straight vibration guide rail for driving the straight vibration guide rail to vibrate. The straight vibration guide rail is provided with a guide groove for the radioactive particles to pass through, and the guide groove extends along the length direction of the straight vibration guide rail. The silo is arranged above the straight vibration guide rail, and the outlet of the silo corresponds to the position of the inlet of the guide groove. The funnel is arranged at the outlet position of the guide groove and is located below the straight vibration guide rail; there is a spacing distance between the funnel and the straight vibration guide rail so that the two do not contact each other;

[0023] The silo comprises a silo body and a hatch cover rotatably arranged on the top of the silo body, and the silo body is fixedly arranged above the straight vibration guide rail.

[0024] In some embodiments, the particle delivery assembly further comprises a rotary motor for driving the rotary member to rotate relative to the channel plate and a counter disposed at the position of the rotary motor, wherein when the rotary motor drives the rotary member to rotate from the first position to the second position and rotates in the opposite direction from the second position back to the first position, the counter sends a signal to increase the count by one;

[0025] The particle transport assembly also includes a second sensor device disposed in the channel plate, the second sensor device being used to sense whether the radioactive particles enter the fourth channel. When the radioactive particles enter the fourth channel, the second sensor device sends a signal to control the rotating member to switch from the first position to the second position.

[0026] The present invention also provides a method for automatically loading radioactive particles, using a loading device as described in any one of the above to load radioactive particles, the method comprising:

[0027] (1) arranging the radioactive particles in an orderly manner through the vibration mechanism and dropping them into the funnel one by one;

[0028] (2) under the guidance of the funnel and the action of its own gravity, the radioactive particles move vertically downward along the first channel and enter the fourth channel through the second channel;

[0029] (3) the rotating member rotates to connect the fourth channel with the third channel and convert the radioactive particles into a horizontal state;

[0030] (4) The pushing assembly moves into the fourth channel, pushing the radioactive particles to move along the fourth channel and the third channel until they are separated from the channel plate and enter the particle discharging assembly;

[0031] (5) The particle discharge assembly includes a particle support member for supporting the radioactive particles. The particle support member drives the radioactive particles to descend and places the radioactive particles into the accommodating cavity. When the particle support member descends,

[0032] When the radioactive particles are not placed in the accommodating chamber, the stopping position of the particle supporting member when descending is within a set distance range from the bottom of the accommodating chamber;

[0033] When the radioactive particles have been placed in the accommodating chamber, the stopping position of the particle supporting member when descending is within a set distance range from the top of the uppermost radioactive particle.

[0034] In some embodiments, in step (5), the number of the radioactive particles loaded in the containing cavity is counted, and the downward distance of the particle support is calculated according to the number of the radioactive particles loaded in the containing cavity to control the stopping position of the particle support when it is descending.

[0035] Due to the application of the above technical solution, the automatic radioactive particle loading device of the present invention has the following advantages compared with the prior art:

[0036] (1) The present invention can realize automatic loading of radioactive particles with high production efficiency, while reducing the labor intensity of operators and the risk of radiation exposure.

[0037] (2) When the present invention is conveying particles, the particles move downward in the vertical direction under the action of their own gravity and enter the rotating member. By rotating the rotating member, the particles are converted to the horizontal direction, so that the particles can be pushed into the particle discharge component under the action of the pushing component. This method of conveying particles does not require external force to clamp the particles, so the particles will not be damaged; at the same time, it does not require the particles to be sucked by negative pressure, making the operation and control simple; and in the process of particle conveying, the particles fall under the action of their own gravity, and the extension direction of the particle channel when the particles fall is consistent with the falling direction of the particles, so that the channel for conveying particles is not easily blocked, thereby ensuring the stable conveying of particles and improving efficiency.

[0038] (3) The present invention has a simple structure and low equipment cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Attached Figure 1 is a three-dimensional schematic diagram of the automatic radioactive particle loading device of this embodiment;

[0040] Attached Figure 2 This is a three-dimensional schematic diagram of the automatic radioactive particle loading device of this embodiment with the outer shell removed;

[0041] Attached Figure 3 For the corresponding Figure 2 A schematic front view of the state;

[0042] Attached Figure 4 For the corresponding Figure 2 A top view of the state;

[0043] Attached Figure 5 For the corresponding Figure 2 A side view schematic diagram of the state;

[0044] Attached Figure 6 This is a three-dimensional schematic diagram of the particle conveying assembly of this embodiment after removing the vibration mechanism and the funnel on the support assembly (the rotating member is in the first position);

[0045] Attached Figure 7 For the corresponding Figure 6 A front view schematic diagram of the state (the rotating member is in the first position);

[0046] Attached Figure 8 For attachment Figure 7 A schematic cross-sectional view along line AA;

[0047] Attached Fig. 9 For Figure 6 A front view schematic diagram of the rotating member after rotating 90 degrees in the state (the rotating member is in the second position);

[0048] Attached Fig.10 is a front view schematic diagram of the process of the push rod pushing the radioactive particles along the third channel;

[0049] Attached Fig.11 is a three-dimensional schematic diagram of the particle discharge assembly of this embodiment;

[0050] Attached Fig.12 is a side view schematic diagram of the particle discharge assembly of this embodiment;

[0051] Attached Fig.13 is a rear view schematic diagram of the particle discharging assembly of this embodiment;

[0052] Attached Fig.14 is a three-dimensional schematic diagram of the magazine of this embodiment;

[0053] Attached Fig.15 is a front view schematic diagram of the magazine of this embodiment;

[0054] Attached Fig.16 is a schematic side view of the magazine of this embodiment;

[0055] Attached Fig.17 For attachment Fig.16 A schematic cross-sectional view along line AA;

[0056] Attached Fig.18 This is a three-dimensional schematic diagram of pushing radioactive particles into a particle support member by a push rod in this embodiment;

[0057] Attached Fig.19 This is a three-dimensional schematic diagram of the particle support member in this embodiment releasing radioactive particles into the magazine.

[0058] Wherein: 11. support frame; 12. housing;

[0059] 2. Magazine assembly; 21. Magazine; 211. First magazine channel; 212. Slot; 213. Second magazine channel; 22. Push rod; 221. Operating part; 23. First elastic member; 24. Push column; 25. Second elastic member; 26. Magazine fixing seat;

[0060] 3. Particle conveying assembly; 3111. Bin body; 3112. Bin cover; 312. Straight vibration guide rail; 3121. Guide groove; 313. Straight vibrator; 314. Straight vibration controller; 32. Funnel; 33. Channel plate; 331. Second channel; 332. Third channel; 34. Rotating member; 341. Fourth channel; 35. Pipe; 36. Rotating motor; 371. Push rod; 372. Translation slider; 373. Translation screw rod; 374. Translation motor; 38. Second sensing device;

[0061] 4. Particle discharge assembly; 41. Particle support; 42. Linear motor; 43. Lifting slider; 44. Lifting screw rod; 45. Lifting motor; 46. Protective block; 471. First sensor; 472. First induction sheet; 481. Second sensor; 482. Second induction sheet;

[0062] 5. Control panel; 61. Display screen; 62. Emergency stop button; 63. Count button; 64. Start / stop button; 7. Power supply unit; 800. Radioactive particles. DETAILED DESCRIPTION

[0063] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0064] In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like are based on the directions or positional relationships shown in the accompanying drawings, such as Figure 3 In the figure, the left side direction is "left", the right side direction is "right", the upper side direction is "up", the lower side direction is "down", and the directions perpendicular to the paper plane in the figure are "front" and "back", which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0065] like Figure 1 to Figure 5 As shown, the automatic radioactive particle loading device of the present invention includes a support assembly, a magazine assembly 2, a particle conveying assembly 3, a particle discharging assembly 4 and a control panel 5.

[0066] The support assembly includes a support frame 11 and a housing 12 covered on the support frame 11. The particle conveying assembly 3, the particle discharging assembly 4 and the control panel 5 are all arranged on the support frame 11 and accommodated in the housing 12. The magazine assembly 2 is arranged on the support frame 11 and is located outside the housing 12.

[0067] The magazine assembly 2 includes a magazine 21 arranged on a support frame 11, and a receiving cavity is arranged in the magazine 21. The size of the receiving cavity matches the size of the radioactive particle 800. The matching here means that the size of the receiving cavity in the left and right directions, that is, the width of the receiving cavity is slightly larger than the length of the radioactive particle 800, and the receiving cavity is used to place the radioactive particle 800.

[0068] like Fig.17 As shown, the magazine assembly also includes a push rod 22. When a set number of radioactive particles 800 are loaded in the magazine 21, the push rod 22 is pressed above the top radioactive particle 800, thereby pressing the radioactive particle 800 tightly into the receiving cavity of the magazine 21. This can prevent the radioactive particles 800 from shaking in the receiving cavity of the magazine 21 when the magazine 21 is carried. In this way, on the one hand, the radioactive particles 800 can be prevented from being damaged; on the other hand, the position of the radioactive particles 800 in the receiving cavity can be prevented from changing, resulting in the radioactive particles 800 not being smoothly transferred from the magazine 21 to the radioactive particle implantation gun.

[0069] The push rod 22 is slidably disposed at the top of the receiving chamber of the magazine 21. During the process of loading the radioactive particles 800 into the receiving chamber of the magazine 21, the push rod 22 slides to the upper part of the receiving chamber and is locked by a locking mechanism so that the push rod 22 cannot slide downward.

[0070] like Fig.17 As shown, the magazine assembly 2 further includes a first elastic member 23, which is disposed between the upper portion of the push rod 22 and the upper portion of the magazine 21. When a set number of radioactive particles 800 are loaded into the magazine 21, the locking mechanism is unlocked, and the push rod 22 can automatically slide downward under the elastic force of the first elastic member 23, thereby being pressed above the uppermost radioactive particle 800.

[0071] In this embodiment, the push rod 22 is located in the accommodating cavity of the magazine 21. In order to facilitate the operation of the push rod 22 to slide relative to the magazine 21, an operating portion 221 is fixedly provided on the push rod 22, and the operating portion 221 extends to the outside of the accommodating cavity of the magazine 21, such as Fig.14 and Fig.15 The locking mechanism can be arranged between the top rod 22 and the magazine 21, or between the operating part 221 and the magazine 21. The locking mechanism can adopt the structure in the prior art.

[0072] like Fig.17 As shown, a first magazine channel 211 is provided at the bottom of the magazine 21, one end of the first magazine channel 21 is connected to the bottom of the accommodating cavity, and the other end leads to the outside of the magazine 21, so that the radioactive particles 800 in the accommodating cavity can be pushed one by one along the first magazine channel 211 from the bottom of the accommodating cavity into the radioactive particle implantation gun.

[0073] like Fig.17 As shown, the magazine assembly also includes a top column 24. During the process of loading the radioactive particles 800 into the receiving cavity of the magazine 21, the top column 24 blocks the entrance of the first magazine channel 211, thereby preventing the radioactive particles from entering the first magazine channel 211 from the receiving cavity of the magazine 21.

[0074] The top column 24 is slidably disposed in the magazine 21. In the process of loading the radioactive particles 800 into the receiving chamber of the magazine 21, the top column 24 blocks the entrance of the first magazine passage 211, so that the first magazine passage 211 is not connected to the bottom of the receiving chamber. When the magazine 21 is connected to the radioactive particle implantation gun, the channel disposed in the top column 24 enables the first magazine passage 211 to communicate with the bottom of the receiving chamber.

[0075] like Fig.17 As shown, the magazine assembly 2 further includes a second elastic member 25, which is used to drive the top column 24 to automatically slide and block the entrance of the first magazine passage 211. The two ends of the second elastic member 25 are respectively arranged on the magazine 21 and the top column 24. In this embodiment, the elastic force of the second elastic member 25 drives the top column 24 to automatically slide downward and block the entrance of the first magazine passage 211. When the magazine 21 is connected to the radioactive particle implantation gun, the top column 24 is driven to automatically slide upward, so that the channel in the top column 24, the first magazine passage 211 and the bottom of the accommodating cavity are connected.

[0076] The magazine assembly 2 further includes a magazine fixing seat 26 , which is fixedly disposed on the support frame 11 , and the magazine 21 is detachably connected to the magazine fixing seat 26 .

[0077] like Figure 2 to Figure 4 As shown, the particle transport assembly 3 includes a vibration mechanism, a funnel 32, a channel plate 33 and a pushing assembly.

[0078] The vibration mechanism includes a material bin, a direct vibration guide rail 312 , a direct vibration device 313 and a direct vibration controller 314 .

[0079] The silo includes a silo body 3111 and a silo cover 3112. The silo body 3111 is used to store radioactive particles 800. The silo cover 3112 is rotatably connected to the upper part of the silo body 3111. When the device is dormant, the silo cover 3112 is placed on the upper part of the silo body 3111 to prevent dust and impurities from entering the silo body 3111. When the device is in use, the silo cover 3112 is flipped to the outside of the silo body 3111 to open the silo, so as to pour radioactive particles 800 into the silo body 3111.

[0080] The straight vibration guide rail 312 is used to arrange the radioactive particles 800 neatly and output them one by one. The straight vibration guide rail 312 is provided with a guide groove 3121 for the radioactive particles 800 to pass through. The guide groove 3121 extends along the length direction of the straight vibration guide rail 312 and passes through the two ends of the length direction of the straight vibration guide rail 312. The silo is arranged above the straight vibration guide rail 312, and the outlet of the silo corresponds to the position of the inlet of the guide groove 3121, so that the radioactive particles 800 in the silo can fall into the guide groove 3121 and move along the extension direction of the guide groove 3121.

[0081] The direct vibrator 313 is disposed on the support frame 11 and supported below the direct vibrator guide rail 312. The direct vibrator 313 drives the direct vibrator guide rail 312 to vibrate, thereby arranging the radioactive particles in the guide groove 3121 and outputting them one by one. The direct vibrator 313 can preferably be a piezoelectric direct vibrator.

[0082] The direct vibration controller 314 is disposed on the support frame 11. The direct vibration controller 314 is electrically connected to the direct vibrator 313, and the voltage and amplitude of the direct vibrator 313 can be adjusted by the direct vibration controller 314 to control the falling speed of the radioactive particles 800. The direct vibration controller 314 is electrically connected to the control board 5 to control the start and stop of the direct vibration controller 314.

[0083] The structural volume of the vibration mechanism in this embodiment is relatively small, thereby reducing the structural size of the entire filling device.

[0084] The cross-sectional area of ​​the guide groove 3121 is V-shaped, so that the radioactive particles 800 can be positioned so that the radioactive particles 800 are arranged neatly and can be output one by one.

[0085] like Figure 2 and Figure 3 As shown, the funnel 32 is arranged on the support frame 11, and is arranged below the straight vibration guide rail 312, and is located at the exit position of the guide groove 3121, so that the radioactive particles 800 on the straight vibration guide rail 312 can fall into the funnel 32 one by one. There is a spacing distance between the upper end of the funnel 32 and the straight vibration guide rail 312, so that the two do not contact, thereby avoiding affecting the vibration of the straight vibration guide rail 312, thereby affecting the transportation of the radioactive particles 800.

[0086] The channel plate 33 is disposed on the support frame 11 and is located below the funnel 32 .

[0087] The lower portion of the funnel 32 is provided with a first passage extending in the up-down direction.

[0088] like Figure 6 to Figure 10 As shown, a second channel 331 and a third channel 332 are provided in the channel plate 33. The second channel 331 extends in the up-down direction, and the third channel 332 extends in the left-right direction.

[0089] The first channel, the second channel 331 and the third channel 332 are all matched with the radioactive particles 800. The matching here means that the diameter of each channel is slightly larger than the diameter of the radioactive particles 800, so that the radioactive particles 800 can pass through each channel smoothly, and the radioactive particles 800 will not tilt in each channel, thereby blocking the channel.

[0090] like Figure 6 to Figure 10As shown, a rotating member 34 is rotatably disposed in the channel plate 33, and a fourth channel 341 is disposed on the rotating member 34. The rotating member 34 has a first position and a second position. When the rotating member 34 is in the first position, the fourth channel 341 extends in the up-down direction. Figure 6 to Figure 8 When the rotating member 34 is in the second position, the fourth channel 341 extends in the left-right direction, as shown in FIG. Fig. 9 and Fig.10 The fourth channel 341 matches the radioactive particle 800 , and the matching here means that the diameter of the fourth channel 341 is slightly larger than the diameter of the radioactive particle 800 , and the length of the fourth channel 341 is slightly larger than the length of the radioactive particle 800 .

[0091] The first channel and the second channel 331 can be connected directly or through a pipe 35. The diameter of the pipe 35 is also slightly larger than the diameter of the radioactive particle 800. The pipe 35 is fixedly arranged on the upper part of the channel plate 33 or the bottom of the funnel 32. Figure 6 to Figure 10 When the rotating member 34 is in the first position, the fourth channel 341 is connected to the second channel 331, as shown in FIG. Figure 6 to Figure 8 When the rotating member 34 is in the second position, the fourth channel 341 is connected to the third channel 332, as shown in FIG. Fig. 9 and Fig.10 shown.

[0092] Thus, when the radioactive particles 800 enter the funnel 32, under the action of their own gravity and the guidance of the funnel 32, the radioactive particles 800 enter the first channel in the vertical direction, and enter the second channel 331 through the pipe 35. When the rotating member 34 is in the first position, the radioactive particles 800 enter the fourth channel 341. The rotating member 34 rotates toward the second position relative to the channel plate 33, driving the radioactive particles 800 to rotate synchronously. When the rotating member 34 is in the second position, the radioactive particles 800 are in a horizontal state, and can enter the third channel 332 from the fourth channel 341.

[0093] The front side of the funnel 32, the pipe 35 and the channel plate 33 can be set to a transparent material, so that the movement of the radioactive particles 800 in the funnel 32, the pipe 35 and the channel plate 33 can be easily observed to facilitate troubleshooting and subsequent maintenance.

[0094] The particle conveying assembly 3 further includes a rotary motor 36, which is disposed on the support frame 11 and connected to the rotary member 34 to drive the rotary member 34 to rotate relative to the channel plate 33. The rotary motor 36 is electrically connected to the control board 5.

[0095] The push assembly includes a push rod 371, which is slidably disposed on the support frame 11 in the left-right direction, and one end of the push rod 371 extends into the channel plate 33. Figure 6 , Figure 7 , Fig. 9 and Fig.10 When the rotating member 34 is in the second position, the push rod 371 can abut against the radioactive particles 800 in the fourth channel 341. When the push rod 371 slides in the left and right directions, the radioactive particles 800 can be pushed out of the fourth channel 341 and pushed out to the outside of the channel plate 33 along the third channel 332. Fig. 9 and Fig.10 shown.

[0096] The pushing assembly also includes a left-right driving mechanism, through which the push rod 371 is driven to slide in the left-right direction. The left-right driving mechanism includes a translation slider 372 that can slide left-right, and the push rod 371 is fixedly arranged on the translation slider 372. The left-right driving mechanism also includes a translation screw 373 that can be rotatably arranged on the support frame 11 and a translation motor 374 arranged on the support frame 11. The translation motor 374 is connected to the translation screw 373 to drive the translation screw 373 to rotate, and the translation motor 374 is electrically connected to the control board 5. The translation screw 373 extends in the left-right direction, and the translation slider 372 is connected to the translation screw 373 by threaded cooperation. When the translation motor 374 drives the translation screw 373 to rotate, it drives the translation slider 372 to move along the length extension direction of the translation screw 373, driving the push rod 371 to move synchronously. Figure 2 , Figure 6 , Figure 7 , Fig. 9 and Fig.10 shown.

[0097] like Figure 6 to Figure 10 As shown, the particle conveying assembly 3 also includes a second sensor device 38, which is arranged on the channel plate 33, and the sensing end of the second sensor device 38 extends to the position of the rotating member 34, and the second sensor device 38 is electrically connected to the control board 5. When the rotating member 34 is in the first position, the second sensor device 38 senses whether there are radioactive particles 800 entering the fourth channel 341. When the second sensor device 38 senses that there are radioactive particles 800 entering the fourth channel 341, the second sensor device 38 sends a signal to the control board 5, and the control board 5 controls the rotating motor 36 to start, so that the rotating member 34 rotates from the first position to the second position. In this embodiment, the second sensor device 38 adopts a proximity sensor.

[0098] The particle discharge assembly 4 is used to receive the radioactive particles 800 pushed out from the channel plate 33 and place the radioactive particles 800 into the receiving cavity of the magazine 21 .

[0099] like Figure 11 to Figure 13 As shown, the particle discharge assembly 4 includes a particle support member 41 for supporting radioactive particles 800, and the particle support member 41 is slidably arranged on the support frame 11 up and down and forward and backward. The particle support member 41 is provided with a receiving portion 411, and the receiving portion 411 is used to place the radioactive particles 800.

[0100] The magazine 21 is also provided with a slot 212 extending in the up-down direction, the slot 212 is connected to the receiving cavity of the magazine 21, the size of the slot 212 in the left-right direction is smaller than the size of the receiving cavity in the left-right direction, and the receiving portion 411 matches the slot 212, that is, the size of the receiving portion 411 is smaller than the length of the radioactive particle 800. The particle support member 41 can move in the front-back direction, so that the receiving portion 411 extends from the slot 212 into the receiving cavity of the magazine 21, or escapes from the receiving cavity of the magazine 21.

[0101] The particle discharging assembly 4 further includes a linear motor 42 for driving the particle supporting member 41 to move in the front-rear direction, and the particle supporting member 41 is disposed on the linear motor 42 .

[0102] like Fig.17 As shown, the magazine 21 is further provided with a second magazine channel 213, one end of the second magazine channel 213 is communicated with the accommodating cavity of the magazine 21, and the other end extends to the outside of the magazine 21. The second magazine channel 213 is communicated with the third channel 332.

[0103] When the radioactive particle 800 is pushed out of the third channel 332 to the outside of the channel plate 33 by the push rod 371, the radioactive particle 800 enters the second magazine channel 213 and moves along the second magazine channel 213 to the receiving portion 411 of the particle support member 41 located in the receiving cavity. After the particle support member 41 moves downward to the set position, when the particle support member 41 moves backward to make the receiving portion 411 escape from the receiving cavity of the magazine 21, the radioactive particle 800 cannot move backward with the particle support member 41 due to the blocking of the radioactive particle 800 by the side wall of the slot 212. The radioactive particle 800 is separated from the particle support member 41 and falls into the receiving cavity of the magazine 21 under the action of its own gravity. Fig.18 and Fig.19 shown.

[0104] like Figure 11 to Figure 13As shown, the particle discharge assembly 4 also includes a lifting drive mechanism, through which the particle support 41 is driven to slide in the up and down direction. The lifting drive mechanism includes a lifting slider 43 that can slide up and down, and a linear motor 42 is directly or indirectly arranged on the lifting slider 43. The lifting drive mechanism also includes a lifting screw 44 that can be rotatably arranged on the support frame 11 and a lifting motor 45 arranged on the support frame 11. The lifting motor 45 is connected to the lifting screw 44 to drive the lifting screw 44 to rotate, and the lifting motor 45 is electrically connected to the control board 5. The lifting screw 44 extends in the up and down direction, and the lifting slider 43 is connected to the lifting screw 44 by threaded matching. When the lifting motor 45 drives the lifting screw 44 to rotate, it drives the lifting slider 43 to move along the length extension direction of the translation screw 43, driving the particle support 41 to rise and fall.

[0105] The particle discharge assembly 4 also includes a protection assembly. When the receiving portion 411 of the particle support 41 extends into the receiving cavity of the magazine 21 to discharge the particles, the protection assembly protects the radioactive particles 800 to prevent the particle support 41 from descending too far and pressing the radioactive particles 800 loaded in the receiving cavity.

[0106] like Figure 11 to Figure 13 As shown, the protection assembly includes a protection block 46 that can slide up and down on the lifting slider 43, and the linear motor 42 is arranged on the protection block 46. When the particle support member 41 descends too far and contacts and squeezes the radioactive particle 800, the radioactive particle 800 provides an upward reaction force to make the protection block 46 slide upward relative to the lifting slider 43, thereby making the particle support member 41 slide upward as well, thus avoiding damage to the radioactive particle 800.

[0107] In this embodiment, the protection block 46 is slidably connected to the lifting slider 43 via a guide column and a linear bearing.

[0108] The protection assembly further includes a first sensor device, which is used to sense whether the particle support member 41 contacts and squeezes the radioactive particle 800, and the first sensor device is electrically connected to the control board 5. Fig.13 As shown, the first sensing device includes a first sensor 471 disposed on one of the lifting slider 43 and the protection block 46, and a first sensing sheet 472 disposed on the other. When the particle support member 41 is not in contact with the radioactive particle 800, the first sensing sheet 472 is located within the sensing range of the first sensor 471. When the particle support member 41 contacts and squeezes the radioactive particle 800, the protection block 46 moves upward relative to the lifting slider 43, so that the first sensing sheet 472 is out of the sensing range of the first sensor 471.

[0109] The particle discharge assembly 4 also includes a third sensor device, which is used to detect whether the particle support member 41 moves forward and backward. Fig.11 As shown, the third sensing device includes a second sensor 481 disposed on one of the particle support member 41 and the protection block 46 and a second sensing sheet 482 disposed on the other. When the particle support member 41 moves forward to make the receiving portion 411 extend into the receiving cavity of the magazine 21 to a set position, the second sensing sheet 482 enters the sensing range of the second sensor 481. When the particle support member 41 moves backward to make the receiving portion 411 escape from the receiving cavity of the magazine 21, the second sensing sheet 482 leaves the sensing range of the second sensor 481.

[0110] The loading device further includes a counter, which is electrically connected to the control board 5, and counts the number of radioactive particles 800 loaded in the accommodating cavity of the magazine 21 through the calculator. In this embodiment, the counter is arranged at the position of the rotating motor 36, and the counter is used to measure the rotation angle of the rotating motor 36. When the rotating motor 36 drives the rotating member 34 to rotate from the first position to the second position, and rotates in the reverse direction from the second position back to the first position, that is, after the rotating member 34 rotates 90° and rotates in the reverse direction to reset, the count of the counter increases by one.

[0111] The housing 12 is provided with a display screen 61, which is electrically connected to the control panel 5. The display screen 61 can display the number of radioactive particles 800 loaded in the magazine 21. The housing 12 is also provided with an emergency stop button 62, a counting button 63, and a start / stop button 64. The start / stop button 64 controls the start and stop of the loading device. The counting button 63 controls the start and reset of the count. The emergency stop button 62 is used to stop the loading device in an emergency. Figure 1 shown.

[0112] The loading device further comprises a power supply device 7 , and each motor, control panel 5 , and sensor device are all electrically connected to the power supply device 7 .

[0113] The working principle of the filling device is as follows:

[0114] (1) In the initial state, the rotating member 34 is in the first position, the receiving portion 411 of the particle supporting member 41 extends into the receiving cavity of the magazine 21 , and the position of the receiving portion 411 in the vertical direction corresponds to the position of the second magazine channel 213 .

[0115] (2) Pour a certain amount of radioactive particles 800 into the silo.

[0116] (3) The direct vibrator 313 is started to arrange the radioactive particles 800 one by one in the guide groove 3121 of the direct vibrating guide rail 312 through vibration, and the radioactive particles 800 fall into the funnel 32 one by one.

[0117] (4) The radioactive particles 800 fall vertically into the first channel at the bottom of the funnel 32 under the guidance of the funnel 32 and due to their own gravity, enter the second channel 331 in the channel plate 33 through the channel 35, and finally fall into the fourth channel 341 of the rotating member 34.

[0118] (5) After the proximity sensor senses that the radioactive particles 800 have entered the fourth channel 341, the control board 5 controls the oscillator 313 to stop working, and controls the rotating motor 36 to start, so that the rotating part 34 rotates 90°, converts the vertical direction of the radioactive particles 800 into the horizontal direction, and connects the fourth channel 341 with the third channel 332.

[0119] (6) Start the translation motor 374 to drive the push rod 371 into the fourth channel 341 and push against the radioactive particle 800 in the fourth channel 341, thereby pushing the radioactive particle 800 out of the fourth channel 341 and out of the channel plate 33 along the third channel 332, so that the radioactive particle 800 enters the second magazine channel 213 and moves along the second magazine channel 213 to the receiving portion 411 located in the particle support member 41.

[0120] (7) Start the lifting motor 45 to drive the particle support member 41 to move the radioactive particles 800 downward a certain distance; drive the particle support member 41 to move backward relative to the magazine 21 through the linear motor 42, so that the receiving portion 411 of the particle support member 41 is disengaged from the receiving cavity of the magazine 21, and the radioactive particles 800 fall into the receiving cavity of the magazine 21.

[0121] During the loading process of the radioactive particles 800, the distance of each downward movement of the particle support member 41 is calculated according to the number of radioactive particles 800 loaded on the display screen 61, so as to control the downward movement distance of the particle support member 41 through the control panel 5, so as to control the stopping position of the particle support member 41 when it is downward. When no radioactive particles 800 are placed in the receiving chamber of the magazine 21, the stopping position of the particle support member 41 is within the set distance range from the bottom of the receiving chamber; when radioactive particles 800 are placed in the receiving chamber of the magazine 21, the stopping position of the particle support member 41 is within the set distance range from the top of the radioactive particle 800. The setting of the set distance ensures that the radioactive particles 800 will not be damaged after falling off the particle support member 41, and their posture will not change when falling, so that the particle support member 41 can be loaded in the receiving chamber of the magazine 21 in an orderly manner, which can improve the loading efficiency. In this embodiment, the set distance is 1-4 mm.

[0122] (8) The particle support member 41 is reset, the push rod 371 is reset, and the oscillator 313 is started, and another radioactive particle 800 is dropped into the funnel 32. In this way, the downward distance of the particle support member 41 is continuously reduced, but the position where the particle support member 41 stops each time is located 1-4 mm above the radioactive particle 800 loaded in the magazine 21.

[0123] The above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable people familiar with the technology to understand the content of the present invention and implement it accordingly, and they cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic radioactive particle loading device, characterized in that: include: Bracket assembly; A magazine assembly, arranged on the support assembly, wherein a receiving cavity for receiving radioactive particles is arranged in the magazine assembly; A particle conveying assembly is arranged on the support assembly, comprising a vibration mechanism for arranging radioactive particles neatly and outputting them one by one, a funnel arranged at the outlet of the vibration mechanism, a channel plate arranged below the funnel and connected to the outlet of the funnel, and a pushing assembly for pushing the radioactive particles out of the channel plate; a first channel extending in the up-down direction is arranged at the bottom of the funnel, a second channel extending in the up-down direction and a third channel extending in the left-right direction are arranged in the channel plate, and the second channel is connected to the first channel; the particle conveying assembly also includes a rotating member rotatably arranged in the channel plate, and a fourth channel is arranged on the rotating member; the rotating member has a first position and a second position, when the rotating member is in the first position, the fourth channel is connected to the second channel; when the rotating member is in the second position, the fourth channel is connected to the third channel; when the rotating member is in the second position, the pushing assembly can extend into the fourth channel and push the radioactive particles to the outside of the channel plate along the third channel; The particle discharge assembly is arranged on the support assembly and is used for receiving the radioactive particles pushed out from the channel plate and placing the radioactive particles into the accommodating cavity.

2. The automatic radioactive particle loading device according to claim 1, characterized in that: The particle discharge assembly includes a particle supporting member for supporting the radioactive particles, the particle supporting member can be slidably arranged on the bracket assembly up and down and forward and backward, and a receiving portion for receiving the radioactive particles is arranged on the particle supporting member; the magazine assembly includes a magazine arranged on the bracket assembly, the receiving cavity is arranged in the magazine, and the magazine is also provided with a slot connected to the receiving cavity; the size of the receiving cavity along the left and right directions matches the length size of the radioactive particles, the size of the slot along the left and right directions is smaller than the size of the receiving cavity along the left and right directions, the receiving portion cooperates with the slot, and the particle supporting member can move in the forward and backward directions so that the receiving portion extends from the slot into the receiving cavity, or escapes from the receiving cavity.

3. The automatic radioactive particle loading device according to claim 2, characterized in that: The particle discharging component further includes a lifting drive mechanism for driving the particle supporting member to slide up and down, the lifting drive mechanism includes a lifting slider that can be slid up and down, the particle discharging component further includes a protection component for protecting the radioactive particles when the particle supporting member is discharging, the protection component includes a protection block that can be slid up and down on the lifting slider, and the particle supporting member is arranged on the protection block; when the particle supporting member discharges the particles, contacts and squeezes the radioactive particles, the protection block slides upward relative to the lifting slider; The protection component also includes a first sensing device for sensing whether the particle support member contacts and squeezes the radioactive particles, the first sensing device including a first sensor disposed on one of the lifting slider and the protection block and a first sensing sheet disposed on the other; when the particle support member does not contact the radioactive particles placed in the accommodating cavity, the first sensing sheet is located within the sensing range of the first sensor; when the particle support member contacts and squeezes the radioactive particles placed in the accommodating cavity, the protection block slides upward relative to the lifting slider under the action of a reaction force, and the first sensing sheet leaves the sensing range of the first sensor; The lifting drive mechanism also includes a lifting screw that can be rotatably arranged on the bracket assembly, and a lifting motor that is arranged on the bracket assembly and connected to the lifting screw to drive the lifting screw to rotate. The lifting screw extends in the up and down directions, and the lifting slider is connected to the lifting screw by threaded cooperation.

4. The automatic radioactive particle loading device according to claim 2, characterized in that: The magazine assembly also includes a push rod for compressing the radioactive particles in the accommodating chamber, and the push rod is slidably arranged at the top of the accommodating chamber. The magazine assembly also includes a first elastic member arranged between the push rod and the magazine to drive the push rod to automatically move downward to compress the radioactive particles, and a locking mechanism to lock the relative position of the push rod, and the two ends of the first elastic member are respectively arranged on the magazine and the push rod.

5. The automatic radioactive particle loading device according to claim 2, characterized in that: A first magazine channel for outputting the radioactive particles to the outside of the magazine is provided at the bottom of the magazine, and the first magazine channel is connected to the bottom of the accommodating chamber; the magazine assembly also includes a top column for preventing the radioactive particles from entering the first magazine channel when discharging materials in the accommodating chamber, and the top column can be slidably arranged in the magazine up and down; the magazine assembly also includes a second elastic member for driving the top column to automatically slide and block the entrance of the first magazine channel, and the two ends of the second elastic member are respectively arranged on the magazine and the top column.

6. The automatic radioactive particle loading device according to claim 1, characterized in that: The pushing assembly includes a push rod slidably arranged on the bracket assembly in the left-right direction, and when the rotating member is in the second position, the push rod can move in the left-right direction and extend into the fourth channel; The pushing assembly also includes a left-right driving mechanism for driving the push rod to slide in the left-right direction, the left-right driving mechanism includes a translation slider that can slide left-right, and the push rod is fixed on the translation slider; the left-right driving mechanism also includes a translation screw that can be rotatably arranged on the bracket assembly, and a translation motor that is arranged on the bracket assembly and connected to the translation screw to drive the translation screw to rotate, the translation screw extends in the left-right direction, and the translation slider is connected to the translation screw by threaded cooperation.

7. The automatic radioactive particle loading device according to claim 1, characterized in that: The vibration mechanism includes a silo for storing the radioactive particles, a straight vibration guide rail for arranging the radioactive particles neatly and outputting them one by one, and a straight vibrator arranged below the straight vibration guide rail for driving the straight vibration guide rail to vibrate. The straight vibration guide rail is provided with a guide groove for the radioactive particles to pass through, and the guide groove extends along the length direction of the straight vibration guide rail. The silo is arranged above the straight vibration guide rail, and the outlet of the silo corresponds to the position of the inlet of the guide groove. The funnel is arranged at the outlet position of the guide groove and is located below the straight vibration guide rail. There is a spacing distance between the funnel and the straight vibration guide rail so that the two do not contact each other. The silo comprises a silo body and a hatch cover rotatably arranged on the top of the silo body, and the silo body is fixedly arranged above the straight vibration guide rail.

8. The automatic radioactive particle loading device according to claim 1, characterized in that: The particle delivery assembly further includes a rotary motor for driving the rotary member to rotate relative to the channel plate and a counter disposed at the position of the rotary motor, wherein when the rotary motor drives the rotary member to rotate from the first position to the second position and rotates in the reverse direction from the second position back to the first position, the counter sends a signal to increase the count by one; The particle transport assembly also includes a second sensor device disposed in the channel plate, the second sensor device being used to sense whether the radioactive particles enter the fourth channel. When the radioactive particles enter the fourth channel, the second sensor device sends a signal to control the rotating member to switch from the first position to the second position.

9. A method for automatically loading radioactive particles, characterized in that: The method of loading radioactive particles using a loading device as claimed in any one of claims 1 to 8 comprises: (1) arranging the radioactive particles in an orderly manner through the vibration mechanism and dropping them into the funnel one by one; (2) under the guidance of the funnel and the action of its own gravity, the radioactive particles move vertically downward along the first channel and enter the fourth channel through the second channel; (3) the rotating member rotates to connect the fourth channel with the third channel and convert the radioactive particles into a horizontal state; (4) The pushing assembly moves into the fourth channel, pushing the radioactive particles to move along the fourth channel and the third channel until they are separated from the channel plate and enter the particle discharging assembly; (5) The particle discharge assembly includes a particle support member for supporting the radioactive particles. The particle support member drives the radioactive particles to descend and places the radioactive particles into the accommodating cavity. When the particle support member descends: When the radioactive particles are not placed in the accommodating chamber, the stopping position of the particle supporting member when descending is within a set distance range from the bottom of the accommodating chamber; When the radioactive particles have been placed in the accommodating chamber, the stopping position of the particle supporting member when descending is within a set distance range from the top of the uppermost radioactive particle.

10. The method for automatically loading radioactive particles according to claim 9, characterized in that: In step (5), the number of the radioactive particles loaded in the accommodating cavity is counted, and the downward distance of the particle support is calculated according to the number of the radioactive particles loaded in the accommodating cavity to control the stopping position of the particle support when descending.

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