Control system and method for disassembly of isotope target cylinder

Abstract

The invention provides a control system for disassembling an isotope target cylinder, and the system comprises a target cylinder harness which is used for placing and fixing a target cylinder needing to be disassembled; the target cylinder harness position sensor is used for judging the position of the target cylinder placed on the harness; the target barrel harness force sensor is used for measuring the clamping force when the target barrel harness clamps the target barrel; the target cylinder external pulling device is used for adjusting the position of the target cylinder on the harness along the axial direction of the target cylinder; the target barrel external pulling device force sensor is used for measuring the clamping force of the target barrel external pulling device on the target barrel; the movable sliding table is used for moving the target barrel cutting device and the target barrel pulling-out device; a moving slipway position sensor for measuring the displacement of the movement of the moving slipway; the target cylinder cutting device is used for cutting one end of the target cylinder; and the central control module is used for receiving the control parameters and completing the disassembly of the rake cylinder. The invention further provides a method for disassembling the isotope target cylinder. The working efficiency is improved, and the personnel radiation receiving amount is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of isotope target barrel disassembly, and in particular to a control system and method for disassembling an isotope target barrel. Background Art

[0002] At present, cardiovascular and cerebrovascular diseases, cancer, neurodegenerative diseases, etc. have become the main factors that seriously threaten human health. Using the unique advantages of medical isotopes for diagnosis and treatment is an important means to improve people's health.

[0003] In the isotope production process, disassembly of the target barrel after irradiation is one of the main process steps. However, in the current production process, the disassembly of the target barrel is done manually. The specific operation method is that the operator fixes the target barrel on the vise through the lead shielding gloves or master-slave manipulators in the box, and operates the electric saw to cut the target barrel according to the process requirements of the target barrel disassembly. The existing manual target barrel disassembly technology has the disadvantages of low work efficiency and high radiation dose received by the operator. Summary of the invention

[0004] The purpose of the present invention is to provide a control system and method for disassembling an isotope target barrel, which solves the problems of low work efficiency and large amount of radiation received by personnel due to manual operation in the prior art.

[0005] In order to achieve the above object, the present invention provides the following technical solutions:

[0006] A control system for disassembling an isotope target barrel comprises: a target barrel fixture for placing and fixing a target barrel to be disassembled; a target barrel fixture position sensor for judging the position of the target barrel in the fixture; a target barrel fixture force sensor for measuring the clamping force of the target barrel fixture when clamping the target barrel; a target barrel external extraction device for adjusting the position of the target barrel on the fixture along the axial direction of the target barrel; a target barrel external extraction device force sensor for measuring the clamping force of the target barrel external extraction device on the target barrel; a moving slide for moving a target barrel cutting device and the target barrel external extraction device; a moving slide position sensor for measuring the displacement of the moving slide; a target barrel cutting device for cutting one end of the target barrel; and a central control module for receiving various control parameters and completing the disassembly of the target barrel.

[0007] Furthermore, the central control module includes:

[0008] The identification unit obtains the parameters of each functional device in the target barrel disassembly device and transmits the obtained parameters to the judgment unit;

[0009] The determination unit determines the process step conditions of each disassembly process of the target barrel according to the various parameters input by the recognition unit and calculates the difference between the input parameters of the recognition unit and the preset target value;

[0010] The output adjustment unit is used to adjust the clamping stroke of the target barrel fixture, the clamping stroke of the external extraction device, and the moving speed and position of the moving slide.

[0011] Furthermore, the parameters include the distance of the target tube fixture end measured by the target tube fixture position sensor, the fixture clamping force measured by the target tube fixture force sensor, the clamping force of the target tube pull-out device on the target tube measured by the target tube pull-out device force sensor, and the moving slide displacement measured by the moving slide displacement sensor.

[0012] Furthermore, the adjustment output unit is connected to the target barrel fixture, and the clamping stroke of the target barrel fixture is adjusted according to the clamping force of the target barrel fixture fed back by the target barrel fixture force sensor, so that the clamping stroke of the target barrel fixture corresponds to the specified target barrel fixture force.

[0013] Furthermore, the adjustment output unit is connected to the target barrel pulling-out device, and the clamping stroke of the pulling-out device is adjusted according to the clamping force of the target barrel pulling-out device input by the judgment unit to the identification unit, so that the clamping force of the pulling-out device regulated by the clamping stroke of the pulling-out device corresponds to a preset target value.

[0014] Furthermore, the adjustment output unit is connected to the mobile slide, and the moving speed and position of the mobile slide are adjusted according to the difference between the position of the mobile slide input to the identification unit by the judgment unit and the preset target position, so that the target barrel cutting device and the target barrel pulling device on the mobile slide reach the preset working position.

[0015] A method for disassembling an isotope target barrel comprises the following steps:

[0016] S001: The target barrel is placed on the fixture of the target barrel disassembly device;

[0017] S002: The target barrel pulling device clamps the target barrel;

[0018] S003: The target barrel pulling device adjusts the target barrel into place;

[0019] S004: Target barrel fixture clamps the target barrel;

[0020] S005: The target barrel cutting device moves to the target cutting position by moving the slide to complete the cutting.

[0021] In S001, the determination unit determines whether the target barrel has met the first preset condition that the target barrel has been placed on the fixture. If the preset condition is met, the target barrel is subjected to the next process; if the preset condition is not met, the target barrel is reinstalled into the target barrel disassembly device.

[0022] Furthermore, the first preset condition is that the distance △L1 between the target barrel and the bottom of the V-groove of the fixture is less than 2 mm.

[0023] In S002, the target barrel pulling device calculates the distance △L3 between the end of the target barrel and the end of the fixture according to the distance △L2 between the target barrel and the end of the fixture fed back by the material position sensor, the length L between the fixture material position sensor and the end of the fixture, and the length L1 of the target barrel;

[0024] The preset target barrel fixture end position is (x, y), the axial direction of the target barrel is defined as the x-axis, and the radial direction of the target barrel and parallel to the operating surface is defined as the y-axis. According to the distance △L3 from the fixture end, the target barrel end position (x1, y1) = (x, y + △L3) is obtained;

[0025] The target position of the end of the target barrel is input to the recognition unit, and the position sensor of the movable slide table inputs the position (x2, y2) of the movable slide table to the recognition unit. The judgment unit calculates the difference △E1=(x2, y2)-(x1, y1) between the target position (x1, y1) of the end of the target barrel obtained by the recognition unit and the position of the movable slide table.

[0026] The regulating output unit adjusts the position and moving speed of the movable slide according to △E1 output by the judging unit, and makes the target barrel pulling device reach a predetermined working position by controlling the movable slide.

[0027] Further, when the difference △E1 obtained by the judgment unit from calculating the target position of the end of the target barrel obtained by the recognition unit and the position of the movable slide reaches a predetermined target value, the judgment unit, under the second preset condition, satisfies the clamping force Fy of the target barrel external extraction device according to the second preset condition F1≤Fy≤F2, wherein F1 and F2 are preset values;

[0028] The force sensor of the target barrel pulling-out device inputs the clamping force Fy of the target barrel pulling-out device on the target barrel to the identification unit, and the adjustment output unit adjusts the clamping stroke Sy of the target barrel pulling-out device according to the clamping force Fy of the target barrel pulling-out device on the target barrel identified by the identification unit, so that the clamping force Sy of the target barrel pulling-out device on the target barrel satisfies the preset condition Fy=k×Sy of the second judgment formula, wherein k is the elastic coefficient of the target barrel.

[0029] In S003, according to the third preset condition, the distance △L3 between the end of the target barrel and the end of the fixture satisfies △L3=L4, where L4 is a preset value;

[0030] The central control module controls the target barrel pulling device to adjust the distance L3 between the target barrel and the far end of the fixture. The movable slide position sensor inputs the position (x2, y2) of the movable slide to the recognition unit. The judgment unit calculates the distance △L3 between the end of the target barrel and the end of the fixture and the predetermined target pulling length value L4 to obtain the difference △E2=L4-△L3.

[0031] The adjusting output unit adjusts the position (x2, y2) of the movable slide according to △E2 output by the judging unit, and by controlling the position (x2, y2) of the movable slide, the control system for disassembling the isotope target barrel satisfies the third judging formula.

[0032] In S004, according to the fourth preset condition, the clamping force Fz of the target barrel fixture satisfies the preset condition F3≤Fz≤F4 of the fourth judgment formula, wherein F3 and F4 are preset values;

[0033] The target barrel fixture force sensor inputs the clamping force Fz of the target barrel fixture on the target barrel to the identification unit, and the adjustment output unit adjusts the clamping stroke Sz of the target barrel fixture according to the clamping force Fz of the target barrel fixture on the target barrel identified by the identification unit to meet the preset condition Fz=k×Sz of the fourth judgment formula, wherein k is the elastic coefficient of the target barrel.

[0034] In S005, the slide position (x2, y2) is moved according to the fifth preset condition to satisfy the fifth preset condition (x2, y2) = (x3, y3), wherein the target position (x3, y3) is the predetermined target;

[0035] The movable slide position sensor inputs the position (x2, y2) of the movable slide to the recognition unit, and the judgment unit calculates the distance between the position (x2, y2) of the movable slide and the predetermined cutting target position (x3, y3) to obtain the difference △E3 = (x3, y3) - (x2, y2);

[0036] The adjustment output unit adjusts the position (x2, y2) of the movable slide according to △E3 output by the judgment unit, and by controlling the position (x2, y2) of the movable slide, the target barrel cutting device completes the process of cutting the target target barrel.

[0037] Compared with the prior art, the control system and method for disassembling the isotope target barrel provided by the present invention have the following beneficial effects:

[0038] The control system provided by the present invention prevents operators from approaching the radiation source and reduces the amount of radiation received. The present invention replaces manual operation, has high reliability, and avoids the occurrence of safety accidents. The present invention improves work efficiency.

[0039] The method for disassembling an isotope target barrel provided by the present invention reduces manual intervention, and has the advantages of improving work efficiency and reducing the radiation received by personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solution of the present invention, the following briefly introduces the drawings required for description.

[0041] Figure 1 A schematic diagram of a control system for disassembling an isotope target barrel provided by the present invention;

[0042] Figure 2 A flow chart of the method for disassembling the isotope target barrel provided by the present invention;

[0043] Figure 3 A logic flow chart of the control system for disassembling the isotope target barrel provided by the present invention. DETAILED DESCRIPTION

[0044] The following is further explained in detail through specific implementation methods.

[0045] like Figure 1 As shown, the present invention provides an isotope target barrel disassembly and processing automation control system, comprising:

[0046] The target barrel fixture is used to place and fix the target barrel that needs to be disassembled.

[0047] The target barrel fixture position sensor is used to determine the position of the target barrel placed on the fixture. The position sensor can measure the distance △L1 from the end of the fixture when the target barrel is placed on the fixture.

[0048] The target barrel fixture force sensor is used to measure the clamping force F1 when the target barrel fixture clamps the target barrel, and then determine whether the target barrel is firmly fixed on the fixture.

[0049] The target barrel pulling device is used to adjust the position of the target barrel on the fixture along the axial direction of the target barrel, and pull the target to the far end of the fixture by a preset distance △L2, thereby reserving working space for the cutting device to cut.

[0050] The target barrel pulling device force sensor is used to measure the clamping force F2 of the target barrel pulling device on the target barrel. The clamping force is used to ensure that the target barrel pulling device clamps the target barrel firmly, and to prevent the target barrel from being deformed due to excessive clamping force of the target barrel pulling device.

[0051] The mobile slide is used to move the target barrel cutting device and the target barrel pulling device during operation. The target barrel cutting device and the target barrel pulling device are mounted on the mobile slide, and the target barrel cutting device and the target barrel pulling device are moved to the specified target position required for cutting and pulling by two degrees of freedom translation of the mobile slide on the horizontal plane.

[0052] The mobile slide position sensor is used to measure the displacement of the mobile slide, and determines the relationship between the target barrel cutting device and the target barrel pulling device and the predetermined target position based on the calculation of the target barrel cutting device and the target barrel pulling device at the installation position of the mobile slide and the displacement of the mobile slide.

[0053] The target tube cutting device is used to cut one end of the target tube so that the capsule inside the target tube can be poured out smoothly.

[0054] The central control module is a control device for receiving various control parameters and completing the disassembly of the rake barrel, which includes an identification unit, a determination unit and an adjustment output unit that are interconnected.

[0055] Specifically, the identification unit is connected to the position sensor, the force sensor and the material sensing sensor respectively, and is used to obtain the parameters of each functional device in the target barrel disassembly device (such as the target barrel fixture, the target barrel extraction device and the movable slide) and transmit the obtained parameters to the judgment unit. The parameters include the distance △L1 of the end of the target target tube fixture measured by the target barrel fixture position sensor, the clamping force F1 of the fixture measured by the target barrel fixture force sensor, the clamping force F2 of the target barrel extraction device on the target barrel measured by the target barrel extraction device force sensor, and the displacement of the movable slide measured by the displacement sensor of the movable slide.

[0056] The judgment unit judges the process step conditions of each disassembly of the target barrel according to the various parameters input by the recognition unit and calculates the difference between the input parameters of the recognition unit and the preset target value.

[0057] The adjustment output unit is connected to the target barrel fixture, the target barrel extraction device, and the mobile slide. The adjustment output unit is connected to the target barrel fixture to adjust the clamping stroke of the target barrel fixture according to the clamping force of the target barrel fixture fed back by the target barrel fixture force sensor, so that the clamping stroke of the target barrel fixture corresponds to the specified target barrel fixture force; the adjustment output unit is connected to the target barrel extraction device to adjust the clamping stroke of the extraction device according to the clamping force of the target barrel extraction device input by the judgment unit to the identification unit, so that the clamping force of the extraction device regulated by the clamping stroke of the extraction device corresponds to the preset target value; the adjustment output unit is connected to the mobile slide to adjust the moving speed and position of the mobile slide according to the difference between the position of the mobile slide input by the judgment unit to the identification unit and the preset target position, so that the target barrel cutting device and the target barrel extraction device on the mobile slide reach the preset working position.

[0058] like Figure 2 and Figure 3 As shown, the present invention provides an isotope target barrel disassembly and processing automation control method, comprising the following steps:

[0059] Step S001: The target barrel is placed on the target barrel fixture;

[0060] Step S002: the target barrel pulling device clamps the target barrel;

[0061] Step S003: the target barrel pulling device adjusts the target barrel into place;

[0062] Step S004: the target barrel fixture clamps the target barrel;

[0063] Step S005: The target barrel cutting device moves to the target cutting position by moving the slide to complete the cutting.

[0064] Furthermore, for the isotope target barrels in a single batch, whether a single step is completed is determined according to the following five judgment formulas, and then the next step is continued.

[0065] The first judgment formula is used by the judgment unit to judge whether the target barrel has met the preset condition that the target barrel has been placed on the fixture. If the preset condition is met, the target barrel is subjected to the next process, and the target barrel is judged using the second judgment formula.

[0066] The second judgment formula is a preset condition for the judgment unit to judge whether the clamping force of the target barrel on the target barrel by the target barrel pulling device has met. If the preset condition is met, the target barrel is judged by the third judgment formula.

[0067] The third judgment formula is that the judgment unit judges whether the target barrel pulling-out device pulls out the target barrel by a preset length through the movement of the moving slide. If the preset conditions are met, the next step is carried out and the fourth judgment formula is used to judge multiple target barrels.

[0068] The fourth judgment formula is for the judgment unit to judge whether the clamping force of the fixture on the target barrel has met the preset conditions of the fixture clamping force. If the preset conditions are met, the next step is carried out and the fifth judgment formula is used to judge multiple target barrels.

[0069] The fifth judgment formula is that the judgment unit judges whether the moving position of the cutting device on the moving slide has satisfied the preset condition that the cutting device on the moving slide has completed cutting the end of the target barrel. If the preset condition is satisfied, the disassembly of the target barrel is completed.

[0070] Furthermore, the determination unit determines whether the first preset determination formula is satisfied. According to the first preset condition, the distance △L1 between the target barrel and the bottom of the V-groove of the fixture is less than 2 mm. The distance △L1 between the target barrel and the bottom of the V-groove of the fixture fed back by the material position sensor. When the control system of the target barrel disassembly device satisfies the first determination formula, the target barrel disassembly device proceeds to the next step. If the control system of the target barrel disassembly device does not satisfy the first determination formula, the target barrel is reloaded into the target barrel disassembly device.

[0071] Furthermore, when the disassembly device satisfies the first judgment formula, the target barrel pulling-out device calculates the distance △L3 between the end of the target barrel and the end of the fixture according to the distance △L2 between the target barrel and the end of the fixture fed back by the material position sensor, the length L between the fixture material position sensor and the end of the fixture, and the length L1 of the target barrel, and △L3=△L2+L-L1.

[0072] The preset target barrel fixture end position is (x, y), the axial direction of the target barrel is defined as the x-axis, and the radial direction of the target barrel and parallel to the operating surface is defined as the y-axis. According to the distance △L3 from the fixture end, the target barrel end position (x1, y1) = (x, y + △L3) is obtained.

[0073] The target position at the end of the target barrel is input into the recognition unit, and at the same time, the moving slide position sensor inputs the position of the moving slide (x2, y2) into the recognition unit. The judgment unit calculates the difference △E1 between the target position (x1, y1) at the end of the target barrel obtained by the recognition unit and the position of the moving slide, △E1 = (x2, y2) - (x1, y1).

[0074] The regulating output unit adjusts the position and moving speed of the movable slide according to △E1 output by the judging unit, and makes the target barrel pulling device reach a predetermined working position by controlling the movable slide.

[0075] Further, when the difference △E1 obtained by the judgment unit from calculating the target position of the target barrel end obtained by the recognition unit and the position of the movable slide reaches a predetermined target value, the judgment unit, under the second preset condition, satisfies the following formula according to the second preset condition:

[0076] F1≤Fy≤F2

[0077] Among them, F1 and F2 are preset values.

[0078] The central control module controls the target barrel pulling device to clamp the end of the target barrel. The target barrel pulling device force sensor inputs the clamping force Fy of the target barrel pulling device on the target barrel to the identification unit, and the adjustment output unit adjusts the clamping stroke Sy of the target barrel pulling device according to the clamping force Fy of the target barrel pulling device on the target barrel identified by the identification unit, so that the clamping force Sy of the target barrel pulling device on the target barrel meets the preset condition of the second judgment formula:

[0079] Fy=k×Sy

[0080] Where k is the elastic coefficient of the target tube.

[0081] Further, when the disassembly device satisfies the second judgment formula, the next process is performed. The judgment unit is under the third preset condition, and according to the third preset condition, the distance △L3 between the end of the target barrel and the end of the fixture satisfies the following formula:

[0082] △L3=L4

[0083] Among them, L4 is a preset value.

[0084] The central control module controls the target barrel pulling device to adjust the target barrel to the far end distance L3 of the fixture. The mobile slide position sensor inputs the position of the mobile slide (x2, y2) to the recognition unit, and the judgment unit calculates the difference △E2 between the distance △L3 between the end of the target barrel and the end of the fixture and the predetermined target pulling length value L4, △E2 = L4-△L3.

[0085] The adjustment output unit adjusts the position (x2, y2) of the movable slide according to △E2 output by the judgment unit. By controlling the position (x2, y2) of the movable slide, the target disassembly control system satisfies the third judgment formula.

[0086] Further, when the disassembly device satisfies the third judgment formula, the next process is performed. The judgment unit satisfies the preset condition of the fourth judgment formula according to the fourth preset condition, the clamping force Fz of the target barrel fixture, under the fourth preset condition:

[0087] F3≤Fz≤F4

[0088] Among them, F3 and F4 are preset values.

[0089] The central control module controls the target barrel fixture to clamp the target barrel. The target barrel fixture force sensor inputs the clamping force Fz of the target barrel fixture on the target barrel to the recognition unit, and the adjustment output unit adjusts the clamping stroke Sz of the target barrel fixture according to the clamping force Fz of the target barrel fixture on the target barrel identified by the recognition unit to meet the preset conditions of the fourth judgment formula:

[0090] Fz=k×Sz

[0091] Where k is the elastic coefficient of the target tube.

[0092] Further, when the disassembly device satisfies the fourth judgment formula, the next process is performed. The judgment unit moves the slide position (x2, y2) according to the fifth preset condition under the fifth preset condition to meet the fifth preset condition:

[0093] (x2,y2)=(x3,y3)

[0094] Among them, the target position (x3, y3) is the predetermined target.

[0095] The movable slide position sensor inputs the position (x2, y2) of the movable slide to the recognition unit, and the judgment unit calculates the distance between the position (x2, y2) of the movable slide and the predetermined cutting target position (x3, y3) to obtain the difference △E3, △E3 = (x3, y3) - (x2, y2).

[0096] The adjustment output unit adjusts the position (x2, y2) of the movable slide according to △E3 output by the judgment unit, and by controlling the position (x2, y2) of the movable slide, the target barrel cutting device completes the process of cutting the target target barrel.

[0097] Therefore, the present invention realizes automatic control by detecting the distance between the target target barrel and the end of the fixture by the target barrel fixture position sensor, detecting the force of the target barrel on the fixture by the target barrel fixture force sensor, controlling and detecting the target barrel force by the target device outside the target barrel force sensor, and detecting the positions of the target barrel cutting device and the target barrel external extraction device by the moving slide position sensor, thereby avoiding the operator from getting close to the radiation source, reducing the amount of radiation received, replacing manual operation, having high reliability, avoiding the occurrence of safety accidents, and improving work efficiency.

[0098] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A control system for disassembling an isotope target barrel, characterized in that: include: Target barrel fixture, used to place and fix the target barrel that needs to be disassembled; The target barrel fixture position sensor is used to determine the position of the target barrel on the fixture; The target barrel fixture force sensor is used to measure the clamping force when the target barrel fixture clamps the target barrel; The target barrel external extraction device is used to adjust the position of the target barrel on the fixture along the axial direction of the target barrel; The target barrel pulling device force sensor is used to measure the clamping force of the target barrel pulling device on the target barrel; A movable slide, used to move the target barrel cutting device and the target barrel extraction device; A moving slide position sensor is used to measure the displacement of the moving slide; A target barrel cutting device, used for cutting one end of the target barrel; The central control module is used to receive various control parameters and complete the disassembly of the rake barrel.

2. The control system for disassembling the isotope target barrel according to claim 1, characterized in that: The central control module includes: The identification unit obtains the parameters of each functional device in the target barrel disassembly device and transmits the obtained parameters to the judgment unit; The determination unit determines the process step conditions of each disassembly process of the target barrel according to the various parameters input by the recognition unit and calculates the difference between the input parameters of the recognition unit and the preset target value; The output adjustment unit is used to adjust the clamping stroke of the target barrel fixture, the clamping stroke of the external extraction device, and the moving speed and position of the moving slide.

3. The control system for disassembling the isotope target barrel according to claim 2, characterized in that: The parameters include the distance to the end of the target tube fixture measured by the target tube fixture position sensor, the clamping force of the fixture measured by the target tube fixture force sensor, the clamping force of the target tube pull-out device on the target tube measured by the target tube pull-out device force sensor, and the displacement of the moving slide measured by the moving slide displacement sensor.

4. The control system for disassembling the isotope target barrel according to claim 3, characterized in that: The regulating output unit is connected to the target barrel fixture, and according to the clamping force of the target barrel fixture fed back by the target barrel fixture force sensor, the clamping stroke of the target barrel fixture is adjusted so that the clamping stroke of the target barrel fixture corresponds to the specified target barrel fixture force.

5. The control system for disassembling the isotope target barrel according to claim 2 or 3, characterized in that: The regulating output unit is connected to the target barrel pulling-out device, and adjusts the clamping stroke of the pulling-out device according to the clamping force of the target barrel pulling-out device input by the judging unit to the identifying unit, so that the clamping force of the pulling-out device regulated by the clamping stroke of the pulling-out device corresponds to a preset target value.

6. The control system for disassembling the isotope target barrel according to claim 2 or 3, characterized in that: The adjustment output unit is connected to the mobile slide. According to the difference between the position of the mobile slide input to the identification unit by the judgment unit and the preset target position, the moving speed and position of the mobile slide are adjusted so that the target barrel cutting device and the target barrel pulling device on the mobile slide reach the preset working position.

7. A method for disassembling an isotope target barrel, characterized in that: The following steps are involved: S001: The target barrel is placed on the fixture of the target barrel disassembly device; S002: The target barrel extraction device clamps the target barrel; S003: The target barrel pulling device adjusts the target barrel into place; S004: Target barrel fixture clamps the target barrel; S005: The target barrel cutting device moves to the target cutting position by moving the slide to complete the cutting.

8. The method for disassembling an isotope target barrel according to claim 7, characterized in that: In S001, the determination unit determines whether the target barrel has met the first preset condition that the target barrel has been placed on the fixture. If the preset condition is met, the target barrel is subjected to the next process; if the preset condition is not met, the target barrel is reinstalled into the target barrel disassembly device.

9. The method for disassembling an isotope target barrel according to claim 8, characterized in that: The first preset condition is that the distance △L1 between the target barrel and the bottom of the V-groove of the fixture is less than 2 mm.

10. The method for disassembling an isotope target barrel according to claim 7, characterized in that: In S002, The target barrel pulling device calculates the distance △L3 between the end of the target barrel and the end of the fixture according to the distance △L2 between the target barrel and the end of the fixture fed back by the material position sensor, the length L between the material position sensor of the fixture and the end of the fixture, and the length L1 of the target barrel; The preset target barrel fixture end position is (x, y), the axial direction of the target barrel is defined as the x-axis, and the radial direction of the target barrel and parallel to the operating surface is defined as the y-axis. According to the distance △L3 from the fixture end, the target barrel end position (x1, y1) = (x, y + △L3) is obtained; The target position of the end of the target barrel is input to the recognition unit, and the position sensor of the movable slide table inputs the position (x2, y2) of the movable slide table to the recognition unit. The judgment unit calculates the difference △E1=(x2, y2)-(x1, y1) between the target position (x1, y1) of the end of the target barrel obtained by the recognition unit and the position of the movable slide table. The regulating output unit adjusts the position and moving speed of the movable slide according to △E1 output by the judging unit, and makes the target barrel pulling device reach a predetermined working position by controlling the movable slide.

11. The method for disassembling an isotope target barrel according to claim 10, characterized in that: When the difference △E1 obtained by the judgment unit from calculating the target position of the end of the target barrel obtained by the recognition unit and the position of the movable slide reaches a predetermined target value, the judgment unit determines that the clamping force Fy of the target barrel pulling device satisfies F1≤Fy≤F2 under the second preset condition, wherein F1 and F2 are preset values; The force sensor of the target barrel pulling-out device inputs the clamping force Fy of the target barrel pulling-out device on the target barrel to the identification unit, and the adjustment output unit adjusts the clamping stroke Sy of the target barrel pulling-out device according to the clamping force Fy of the target barrel pulling-out device on the target barrel identified by the identification unit, so that the clamping force Sy of the target barrel pulling-out device on the target barrel satisfies the preset condition Fy=k×Sy of the second judgment formula, wherein k is the elastic coefficient of the target barrel.

12. The method for disassembling an isotope target barrel according to claim 7, characterized in that: In S003, According to the third preset condition, the distance △L3 between the end of the target barrel and the end of the fixture satisfies △L3=L4, where L4 is a preset value; The central control module controls the target barrel pulling device to adjust the distance L3 between the target barrel and the far end of the fixture. The movable slide position sensor inputs the position (x2, y2) of the movable slide to the recognition unit. The judgment unit calculates the distance △L3 between the end of the target barrel and the end of the fixture and the predetermined target pulling length value L4 to obtain the difference △E2=L4-△L3. The adjusting output unit adjusts the position (x2, y2) of the movable slide according to △E2 output by the judging unit, and by controlling the position (x2, y2) of the movable slide, the control system for disassembling the isotope target barrel satisfies the third judging formula.

13. The method for disassembling an isotope target barrel according to claim 7, characterized in that: In S004, According to the fourth preset condition, the clamping force Fz of the target barrel fixture satisfies the preset condition F3≤Fz≤F4 of the fourth judgment formula, wherein F3 and F4 are preset values; The target barrel fixture force sensor inputs the clamping force Fz of the target barrel fixture on the target barrel to the identification unit, and the adjustment output unit adjusts the clamping stroke Sz of the target barrel fixture according to the clamping force Fz of the target barrel fixture on the target barrel identified by the identification unit to meet the preset condition Fz=k×Sz of the fourth judgment formula, wherein k is the elastic coefficient of the target barrel.

14. The method for disassembling an isotope target barrel according to claim 7, characterized in that: In S005, According to the fifth preset condition, the slide position (x2, y2) is moved to meet the fifth preset condition (x2, y2) = (x3, y3), wherein the target position (x3, y3) is the predetermined target; The movable slide position sensor inputs the position (x2, y2) of the movable slide to the recognition unit, and the judgment unit calculates the distance between the position (x2, y2) of the movable slide and the predetermined cutting target position (x3, y3) to obtain the difference △E3 = (x3, y3) - (x2, y2); The adjustment output unit adjusts the position (x2, y2) of the movable slide according to △E3 output by the judgment unit, and by controlling the position (x2, y2) of the movable slide, the target barrel cutting device completes the process of cutting the target target barrel.

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