Device and method for detecting and sorting appearance quality of radioactive particles

Abstract

The present invention relates to a device and method for detecting and sorting the appearance quality of radioactive particles. The device includes a vibration system for supplying radioactive particles, an induction system for judging the information of radioactive particles in the vibration system, an escapement system provided with a lifting system, a detection system for detecting the appearance quality of radioactive particles, a first discharge table for collecting qualified products, and a second discharge table for collecting unqualified products. The device further includes a control system installed in an operation box. Under the control of the control system, the escapement system, in cooperation with the lifting system, sequentially completes the operations of sucking radioactive particles from the vibration system, transferring the sucked radioactive particles to the detection system to detect whether the appearance quality is qualified, and releasing the detected radioactive particles into corresponding collection bottles according to whether they are qualified or unqualified. This device can automatically complete the detection and sorting of the appearance quality of radioactive particles, has high production efficiency, and does not damage radioactive particles.

Description

Technical Field

[0001] The present invention relates to the technical field of quality control of medical radioactive seeds, and particularly relates to a device and method for detecting and sorting the appearance quality of radioactive seeds. Background Technique

[0002] Malignant tumors have always been major diseases threatening human health. Implanting radioactive seeds into tumor tissues for brachytherapy is a new tumor treatment technology developed in recent decades. When the radionuclides in the radioactive seeds decay, they emit rays to continuously irradiate the tumor cells at close range, kill the tumor cells, and make the tumor cells lose their reproductive ability, so as to achieve the purpose of relieving and treating diseases. This technology has been widely used in the treatment of various tumors, such as prostate cancer, breast cancer, liver cancer, ovarian cancer, brain tumors, intraorbital tumors, etc., and has achieved good treatment effects. Clinical practice has proved that this technology is safe and reliable, has good curative effects, and causes little damage to normal tissues, and has broad application prospects.

[0003] The radioactive seeds for brachytherapy are micro radiation sources containing radionuclides. Commonly used radionuclides include 125 I, 103 Pd, 131 Cs, etc. The radioactive seeds are composed of a source core and a cladding. The source core is usually a microsphere or short rod containing radionuclides, and the cladding is usually a medical titanium tube with good biocompatibility sealed at both ends (the wall thickness is generally 0.05 mm). The main sealing methods at both ends of the cladding include laser welding, plasma welding, electron beam welding, argon arc welding, etc. The radioactive seeds are sealed without holes, with smooth ends, no burrs, no unevenness, and most of them have a size of diameter 0.8 ± 0.03 mm and length 4.5 ± 0.2 mm, or there are also sizes of diameter 0.6 ± 0.03 mm and length 4.5 ± 0.2 mm or other sizes. Before leaving the factory, the radioactive seeds must be subjected to appearance quality inspection to ensure that the length, outer diameter, etc. of the radioactive seeds meet the quality standards. The radioactive seeds should have a smooth surface, be sealed at both ends and the ends should be smooth, without quality defects such as big heads or flat heads, burrs or weld beads, air holes or cracks.

[0004] At present, the appearance quality inspection of radioactive particles is mainly carried out manually. The operator wears lead gloves behind the lead glass, picks up the radioactive particles with tweezers, places them under a magnifying glass, observes the appearance of the radioactive particles through the magnifying glass, checks whether the surface is smooth, whether the two ends are sealed and whether the ends are smooth, and whether there are quality defects such as big heads or flat heads, burrs or weld beads, pores or cracks. During the inspection, the radioactive particles need to be slowly rotated to ensure that the radioactive particles are detected from each angle. For radioactive particles without obvious quality defects, a vernier caliper is also needed to measure the length and outer diameter to check whether the size of the radioactive particles meets the quality standards. The qualified radioactive particles and the unqualified radioactive particles are respectively loaded into different storage bottles. The radioactive particles are tiny and radioactive. The current manual method for inspecting the appearance quality of radioactive particles is inconvenient to operate and has low efficiency. Since the cladding wall of the radioactive particles is very thin, it is easy to flatten the cladding when picking up the radioactive particles with tweezers, leaving dents. Moreover, the labor intensity of the operator is high (especially the eyes are prone to fatigue), and the radiation dose received is high (especially the radiation dose received by the hands). In addition, it is easy to make mistakes during the manual operation process.

[0005] Therefore, there is an urgent need for a device and method for automatically detecting and sorting the appearance quality of radioactive particles. Summary of the Invention

[0006] Aiming at the problems existing in the current quality control work of radioactive particles, the purpose of the present invention is to provide a device and method for detecting and sorting the appearance quality of radioactive particles. This device can automatically detect the appearance quality of radioactive particles, and distinguish the radioactive particles with smooth surfaces, sealed ends and smooth ends, no quality defects (such as big heads or flat heads, burrs or weld beads, pores or cracks, etc.), and sizes meeting the quality standards as qualified products from unqualified products, so as to improve production efficiency, reduce labor intensity, and reduce the radiation dose received by the operator.

[0007] In order to achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0008] A device for detecting and sorting the appearance quality of radioactive particles includes a vibration system for supplying radioactive particles, an induction system for judging the information of radioactive particles in the vibration system, an escapement system provided with a lifting system, a detection system for detecting the appearance quality of radioactive particles, a first discharge platform for collecting qualified products, and a second discharge platform for collecting unqualified products. The device also includes a control system installed in the operation box;

[0009] Under the control of the control system, the escapement system, in cooperation with the lifting system, successively completes the task of absorbing radioactive particles from the vibration system, transferring the absorbed radioactive particles to the detection system to detect whether the appearance quality is qualified, and releasing the tested radioactive particles into corresponding collection bottles according to qualified and unqualified products. The collection bottles are placed on the first unloading platform and the second unloading platform respectively.

[0010] Furthermore, the vibration system consists of a spiral vibration plate, a vibrator, and a vibration controller. The spiral vibration plate is mounted on the vibrator, the vibrator is fixed to the workbench through a buffer base, and the vibration controller is mounted in the operating box.

[0011] The inner wall of the spiral vibrating disk is provided with a spiral track, on which a number of blocking protrusions are arranged at intervals, one blocking protrusion is provided near the entrance and the end of the spiral track, and a baffle is provided at the end of the spiral track;

[0012] Under the action of the vibrator, several radioactive particles move to the bottom edge of the spiral vibrating disk and continuously move along the spiral track from the entrance to the end of the spiral track. The blocking head separates the overlapping radioactive particles on the spiral track, making the radioactive particles move forward in a row. The baffle makes the radioactive particles stay at the end of the spiral track. The vibration controller controls the vibrator to start or stop vibration and adjust the vibration speed and amplitude of the vibrator.

[0013] Furthermore, the sensing system includes a laser sensor with a sensor head and an amplifier, the sensor head of the laser sensor is mounted on an adjustment bracket, the adjustment bracket is mounted on a first precision fine-tuning platform, the first precision fine-tuning platform is fixed to a workbench through a first base, the amplifier of the laser sensor is fixed to a side of the first base, the sensing system is located on one side of the vibrator, and the adjustment bracket and the first precision fine-tuning platform adjust the sensor head of the laser sensor so that the sensor head is facing the end of the spiral track of the spiral vibrating disk;

[0014] The sensor head of the laser sensor is connected to the amplifier through an optical cable. The amplifier has a built-in laser transmitter that emits visible infrared laser, which is transmitted to the sensor head through optical fiber. The sensor head has a transmitting end and a receiving end. The transmitting end of the sensor head emits light, and the receiving end receives the light. The receiving end transmits the light back to the amplifier through optical fiber. The amplifier generates judgment information based on the emitted light signal, the received light signal and the set parameters, and transmits the judgment information to the control system.

[0015] In this case, the laser sensor can emit and receive a linear beam, judge the change information of the distance between the sensor head and the end of the spiral track, and transmit it to the control system. When radioactive particles enter or leave the end of the spiral track, the distance will become smaller or larger. The control system confirms whether there are radioactive particles at the end of the spiral track through the distance change information transmitted by the laser sensor, so as to control the vibrator to stop or start vibrating, thereby controlling the movement of radioactive particles on the spiral track.

[0016] When there are radioactive particles at the end of the spiral track, the control system sends an instruction to make the vibrator stop vibrating so that the escapement system can absorb the radioactive particles located at the end of the spiral track; when there are no radioactive particles at the end of the spiral track, the control system sends an instruction to make the vibrator start vibrating, so that the radioactive particles gradually move to the end of the spiral track.

[0017] Furthermore, the lifting system includes an electric actuator fixed to the workbench through a first bracket, a first stepping motor for driving the electric actuator, a second bracket installed on the sliding table of the electric actuator. The sliding table of the electric actuator moves up and down along the slide rail of the electric actuator under the drive of the first stepping motor, and the second bracket moves up and down with the sliding table of the electric actuator.

[0018] Furthermore, the escapement system includes a suction type manipulator with four suction nozzles installed on a high-precision electric swing table, a four-way rotary joint connected to the high-precision electric swing table, a four-position integrated vacuum generator system connected to the four-way rotary joint through a first air pipe, and a filter pressure reducing valve with a pressure gauge and a drain valve connected to the air supply port of the four-position integrated vacuum generator system through a supply air pipe; the suction nozzle head of the suction type manipulator is in an inward concave circular arc shape;

[0019] The filter pressure reducing valve is externally connected to an air compressor. The high-precision electric swing table and the four-way rotary joint are installed on the second bracket. The four-way rotary joint, the high-precision electric swing table, and the suction type manipulator move up and down with the second bracket. The four-position integrated vacuum generator system is fixed to the workbench through a third bracket;

[0020] The vacuum ports of the four vacuum generator units of the four - unit integrated vacuum generator system are respectively connected to the four air outlets of the four - way rotary joint through different first air pipes. The four air inlets of the four - way rotary joint are respectively connected to the four air outlets of the four - way central shaft of the high - precision electric swing table through different second air pipes. The four air inlets of the four - way central shaft of the high - precision electric swing table are respectively connected to the four suction nozzles of the suction - type manipulator through different third air pipes. The four vacuum generator units of the four - unit integrated vacuum generator system are all equipped with pressure switches. The pressure switches generate or end negative pressure, which is transmitted to the corresponding suction nozzles of the suction - type manipulator through the corresponding first air pipes, the passages of the four - way rotary joint, the second air pipes, the passages of the four - way central shaft of the high - precision electric swing table, and the third air pipes in sequence, and the suction - type manipulator sucks or releases radioactive particles through the suction nozzles.

[0021] Furthermore, the detection system includes a digital camera with a telecentric lens, a surface light source with a light source controller, a second stepping motor equipped with a rotating head with a rubber ring, and a display screen installed on the operation box for real - time displaying the information captured by the digital camera.

[0022] The digital camera is installed on the second precision fine - tuning platform. The second precision fine - tuning platform is fixed on the workbench through the second base. The surface light source is fixed on the workbench through the fourth bracket. The height of the surface light source is adjusted by the height - adjusting knob on the fourth bracket. The light source controller of the surface light source is installed inside the operation box to control the lighting state of the surface light source (on or off) and adjust the brightness of the surface light source. The second stepping motor is installed on the third precision fine - tuning platform through the fifth bracket, and the third precision fine - tuning platform is fixed on the workbench through the third base.

[0023] The radioactive particles sucked by the suction nozzle of the suction - type manipulator from the end of the spiral track of the spiral vibrating disk move to above the rotating head of the second stepping motor as the suction - type manipulator rotates. The suction - type manipulator moves downward so that the sucked radioactive particles are clamped between the corresponding suction nozzle and the rotating head. The corresponding vacuum generator unit of the four - unit integrated vacuum generator system ends the negative pressure. The rotating head rotates driven by the second stepping motor, and the radioactive particles clamped between the suction nozzle and the rotating head rotate as the rotating head rotates. The digital camera transmits the information of the radioactive particles to the control system in real - time and displays it on the display screen.

[0024] Furthermore, the information captured by the digital camera is transmitted to the control system in real - time. The control system identifies whether there are radioactive particles. When there are radioactive particles, the control system judges whether the appearance quality of the radioactive particles is qualified according to the preset appearance quality parameters of the radioactive particles, and displays the appearance quality parameter information of the radioactive particles on the display screen. The control system increases or decreases the appearance quality parameters of the radioactive particles as needed.

[0025] Further, a first groove is provided on the first unloading platform, and a qualified product collection bottle is placed in the first groove. A second groove is provided on the second unloading platform, and a non-conforming product collection bottle is placed in the second groove;

[0026] When the control system completes the judgment on whether the appearance quality of the radioactive particles is qualified, the second stepping motor is turned off, the rotating head stops rotating, the corresponding vacuum generator unit of the four-position integrated vacuum generator system generates negative pressure, and the corresponding suction nozzle of the suction manipulator re-sucks the radioactive particles clamped between it and the rotating head, and the suction manipulator moves upward;

[0027] The radioactive particles determined to be qualified by the control system move above the first unloading platform as the suction manipulator rotates. The corresponding vacuum generator unit of the four-position integrated vacuum generator system ends the negative pressure and releases the qualified radioactive particles into the qualified product collection bottle; the radioactive particles determined to be unqualified by the control system move above the second unloading platform as the suction manipulator rotates. The corresponding vacuum generator unit of the four-position integrated vacuum generator system ends the negative pressure and releases the unqualified radioactive particles into the non-conforming product collection bottle.

[0028] Further, the workbench is provided with four adjustable load-bearing feet, and a transparent lead glass shielding chamber is arranged above the workbench. The four sides and the top of the transparent lead glass shielding chamber are provided with movable doors.

[0029] A method for detecting and sorting the appearance quality of radioactive particles includes the following steps:

[0030] Step S1: Start the vibrator so that the radioactive particles are arranged in a row along the spiral track and gradually move to the end of the spiral track;

[0031] Step S2: The suction manipulator moves downward, and the corresponding vacuum generator unit of the four-position integrated vacuum generator system generates negative pressure, so that the suction nozzle located above the end of the spiral track approaches and sucks the radioactive particles at the end of the spiral track, and then the suction manipulator moves upward;

[0032] Step S3: The suction manipulator rotates 90 degrees, so that the sucked radioactive particles move above the rotating head of the second stepping motor. The suction manipulator moves downward so that the sucked radioactive particles are clamped between the corresponding suction nozzle and the rotating head. The corresponding vacuum generator unit of the four-position integrated vacuum generator system ends the negative pressure, and the second stepping motor is started. The radioactive particles clamped between the suction nozzle and the rotating head rotate as the rotating head rotates;

[0033] Step S4: The digital camera transmits the information of the radioactive particles to the control system in real time. The control system determines whether the appearance quality of the radioactive particles is qualified according to the preset appearance quality parameters of the radioactive particles, and displays the appearance quality parameter information of the radioactive particles on the display screen;

[0034] Step S5: The second feeding motor is turned off, and the corresponding vacuum generator unit of the four-position integrated vacuum generator system generates negative pressure, so that the corresponding suction nozzle of the suction manipulator re-sucks the radioactive particle clamped between it and the rotating head, and then the suction manipulator moves upward;

[0035] Step S6: The suction manipulator rotates 90 degrees. If the control system determines that the appearance quality of the sucked radioactive particle is qualified, the corresponding vacuum generator unit of the four-position integrated vacuum generator system ends the negative pressure, and releases the radioactive particle with qualified appearance quality into the qualified product collection bottle placed in the first groove of the first unloading table;

[0036] Step S7: The suction manipulator rotates 90 degrees. If the control system determines that the appearance quality of the sucked radioactive particle is unqualified, the corresponding vacuum generator unit of the four-position integrated vacuum generator system ends the negative pressure, and releases the radioactive particle with unqualified appearance quality into the unqualified product collection bottle placed in the second groove of the second unloading table;

[0037] Step S8: The suction manipulator rotates 90 degrees, so that the corresponding suction nozzle of the suction manipulator that has released the radioactive particle moves above the end of the spiral track;

[0038] Step S9: Repeat Step S1 to Step S8 until all the appearance quality inspection and sorting of the radioactive particles are completed.

[0039] In the above method, when the first suction nozzle moves above the rotating head of the second feeding motor with the sucked radioactive particle as the suction manipulator rotates, the second suction nozzle adjacent to the first suction nozzle in the reverse direction of the rotation of the suction manipulator moves above the end of the spiral track. The suction manipulator moves downward, and the second suction nozzle approaches and sucks the radioactive particle at the end of the spiral track. At this time, the radioactive particle sucked by the first suction nozzle moves downward with the suction manipulator and is clamped between the first suction nozzle and the rotating head, and the corresponding appearance quality inspection program is started;

[0040] When the second suction nozzle moves to above the rotating head of the second stepping motor with the sucked radioactive particles as the sucking manipulator rotates, the third suction nozzle adjacent to the second suction nozzle against the rotating direction of the sucking manipulator moves to above the end of the spiral track. The sucking manipulator moves downward, and the third suction nozzle approaches and sucks the radioactive particles at the end of the spiral track. At this time, the first suction nozzle has carried the sucked radioactive particles (the appearance quality inspection has been completed) and left the inspection position. The radioactive particles sucked by the second suction nozzle move downward with the sucking manipulator and are clamped between the second suction nozzle and the rotating head, and the corresponding appearance quality inspection program is started;

[0041] When the third suction nozzle moves to above the rotating head of the second stepping motor with the sucked radioactive particles as the sucking manipulator rotates, the fourth suction nozzle adjacent to the third suction nozzle against the rotating direction of the sucking manipulator moves to above the end of the spiral track. The sucking manipulator moves downward, and the fourth suction nozzle approaches and sucks the radioactive particles at the end of the spiral track. At this time, the second suction nozzle has carried the sucked radioactive particles (the appearance quality inspection has been completed) and left the inspection position. The radioactive particles sucked by the third suction nozzle move downward with the sucking manipulator and are clamped between the third suction nozzle and the rotating head, and the corresponding appearance quality inspection program is started;

[0042] When the fourth suction nozzle moves to above the rotating head of the second stepping motor with the sucked radioactive particles as the sucking manipulator rotates, the first suction nozzle adjacent to the fourth suction nozzle against the rotating direction of the sucking manipulator moves to above the end of the spiral track (at this time, the first suction nozzle has released the previously sucked radioactive particles into the corresponding qualified product or unqualified product collection bottle according to the appearance quality inspection result). The sucking manipulator moves downward, and the first suction nozzle approaches and sucks the radioactive particles at the end of the spiral track. At this time, the third suction nozzle has carried the sucked radioactive particles (the appearance quality inspection has been completed) and left the inspection position. The radioactive particles sucked by the fourth suction nozzle move downward with the sucking manipulator and are clamped between the fourth suction nozzle and the rotating head, and the corresponding appearance quality inspection program is started.

[0043] As described above, the four suction nozzles of the sucking manipulator sequentially suck the radioactive particles from the end of the spiral track of the spiral vibrating disk for appearance quality inspection and sorting. In this way, the cycle repeats without interference, improving the efficiency of appearance quality inspection and sorting. In addition, during the appearance quality inspection and sorting of radioactive particles, radioactive particles can be added to the spiral vibrating disk at any time to ensure the continuous progress of the appearance quality inspection and sorting work of radioactive particles.

[0044] The beneficial effects of the present invention are as follows: 1. It can automatically complete the appearance quality detection and sorting of radioactive particles, that is, it can automatically detect the appearance quality of radioactive particles and separate the qualified products from the unqualified products, with high production efficiency; 2. Compared with the existing manual operation method, the radioactive particles are not clamped by tools, but sucked by negative pressure. The magnitude of the negative pressure can be precisely adjusted, and the cladding will not be flattened or leave dents on the cladding, that is, the radioactive particles will not be damaged; 3. Compared with the existing manual operation method, the error rate can be greatly reduced; 4. It can effectively reduce the labor intensity of the operators and the ionizing radiation they receive, which is beneficial to labor protection. Brief Description of the Drawings

[0045] Figure 1 is a schematic diagram of the device for detecting and sorting the appearance quality of radioactive particles in the present invention;

[0046] Figure 2 is a partial schematic diagram of the device for detecting and sorting the appearance quality of radioactive particles in the present invention;

[0047] Figure 3 is another partial schematic diagram of the device for detecting and sorting the appearance quality of radioactive particles in the present invention from another angle;

[0048] Figure 4 is a top view schematic diagram of the spiral vibrating disk in the present invention;

[0049] Figure 5 is a schematic diagram of the suction type manipulator in the present invention.

[0050] In the figure, 1. spiral vibrating tray, 2. vibrator, 3. vibration controller, 4. buffer base, 5. spiral track, 6. spiral track inlet, 7. end of the spiral track, 8. blocking projection, 9. baffle, 10. sensor head, 11. amplifier, 12. adjustment bracket, 13. first precision fine adjustment platform, 14. first base, 15. first bracket, 16. first stepping motor, 17. electric actuator, 18. slide rail of the electric actuator, 19. slide table of the electric actuator, 20. second bracket, 21. suction manipulator, 22. suction nozzle, 23. high-precision electric swing table, 24. four-way central axis of the high-precision electric swing table, 25. air outlet of the four-way central axis of the high-precision electric swing table, 26. air inlet of the four-way central axis of the high-precision electric swing table, 27. four-way rotary joint, 28. air outlet of the four-way rotary joint, 29. air inlet of the four-way rotary joint, 30. four-position integrated vacuum generator system, 31. third bracket, 32. third air pipe, 33. second stepping motor, 34. rotating head, 35. fifth bracket, 36. third precision fine adjustment platform, 37. third base, 38. high-speed digital camera, 39. high-resolution telecentric lens, 40. second precision fine adjustment platform, 41. second base, 42. surface light source, 43. fourth bracket, 44. height adjustment knob, 45. display screen, 46. first discharge table, 47. second discharge table, 48. control system, 49. operation box, 50. workbench, 51. transparent lead glass shielding room. Detailed implementation mode

[0051] As Figures 1 to 5 shown, a device for detecting and sorting the appearance quality of radioactive particles includes a vibration system for supplying radioactive particles, a sensing system for judging the information of radioactive particles in the vibration system, an escapement system provided with a lifting system, a detection system for detecting the appearance quality of radioactive particles, a first discharge table 46 for collecting qualified products and a second discharge table 47 for collecting unqualified products. The device further includes a control system 48 installed in the operation box 49;

[0052] Under the control of the control system 48, the escapement system, in cooperation with the lifting system, sequentially completes the operations of sucking radioactive particles from the vibration system, transferring the sucked radioactive particles to the detection system to detect whether the appearance quality is qualified, and releasing the detected radioactive particles into the corresponding collection bottles according to whether they are qualified or unqualified. The collection bottles are respectively placed on the first discharge table 46 and the second discharge table 47.

[0053] Further, the vibration system is composed of a spiral vibrating tray 1, a vibrator 2, and a vibration controller 3. The spiral vibrating tray 1 is installed on the vibrator 2, and the vibrator 2 is fixed on the workbench 50 through a buffer base 4. The vibration controller 3 is installed in the operation box 49;

[0054] A spiral track 5 is provided on the inner wall of the spiral vibrating disk 1. A plurality of blocking protrusions 8 are provided at intervals on the spiral track 5. There is a blocking protrusion 8 near the spiral track entrance 6 and near the spiral track end 7. A baffle 9 is provided at the spiral track end 7. The distance between the blocking protrusion 8 near the spiral track end 7 and the baffle 9 is greater than the length of a radioactive particle.

[0055] Under the action of the vibrator 2, a number of radioactive particles move to the bottom edge of the spiral vibrating disk 1, and continuously move along the spiral track 5 from the spiral track entrance 6 to the spiral track end 7. The blocking head 8 separates the overlapping radioactive particles on the spiral track 5, so that the radioactive particles move forward in a row. The baffle 9 makes the radioactive particles stay at the spiral track end 7. The vibration controller 3 controls the vibrator 2 to start or stop vibration and adjust the vibration speed and amplitude of the vibrator 2.

[0056] Furthermore, the sensing system includes a laser sensor with a sensor head 10 and an amplifier 11. The sensor head 10 of the laser sensor is installed on an adjustment bracket 12, the adjustment bracket 12 is installed on a first precision fine-tuning platform 13, the first precision fine-tuning platform 13 is fixed to the workbench 50 through a first base 14, and the amplifier 11 of the laser sensor is fixed on the side of the first base 14 (the amplifier 11 of the laser sensor can also be installed in the operating box 49 or other suitable positions). The sensing system is located on one side of the vibrator 2, and the adjustment bracket 12 and the first precision fine-tuning platform 13 adjust the sensor head 10 of the laser sensor so that the sensor head 10 is facing the end 7 of the spiral track of the spiral vibration disk 1.

[0057] The sensor head 10 of the laser sensor is connected to the amplifier 11 through an optical cable. The amplifier 11 has a built-in laser emitter that emits visible infrared laser, which is transmitted to the sensor head 10 through optical fiber. The sensor head 10 has a transmitting end and a receiving end. The transmitting end of the sensor head 10 emits light, and the receiving end receives the light. The receiving end transmits the light back to the amplifier 11 through the optical fiber. The amplifier 11 generates judgment information based on the emitted light signal, the received light signal and the set parameters, and transmits the judgment information to the control system 48.

[0058] In this case, the laser sensor is able to emit and receive a linear light beam and determine the distance change information between the sensor head 10 and the end 7 of the spiral track and transmit it to the control system 48. When radioactive particles enter or leave the end 7 of the spiral track, the distance (the distance between the sensor head 10 and the end 7 of the spiral track) will become smaller or larger. The control system 48 confirms whether there are radioactive particles at the end 7 of the spiral track through the distance change information transmitted by the laser sensor, thereby controlling the vibrator 2 to stop or start vibration, thereby controlling the movement of radioactive particles on the spiral track 5.

[0059] The radioactive particle information in the vibration system judged by the induction system, that is, whether there are radioactive particles at the end 7 of the spiral track obtained from the distance change information between the sensor head 10 and the end 7 of the spiral track. When there are radioactive particles at the end 7 of the spiral track, the control system 48 sends an instruction to stop the vibration of the vibrator 2 so that the escapement system can absorb the radioactive particles located at the end 7 of the spiral track; when there are no radioactive particles at the end 7 of the spiral track, the control system 48 sends an instruction to start the vibration of the vibrator 2, so that the radioactive particles gradually move to the end 7 of the spiral track.

[0060] Further, the lifting system includes an electric actuator 17 fixed on the workbench 50 through a first bracket 15, a first stepping motor 16 for driving the electric actuator 17, a second bracket 20 mounted on the slide table 19 of the electric actuator 17. The slide table 19 of the electric actuator moves up and down along the slide rail 18 of the electric actuator under the drive of the first stepping motor 16, and the second bracket 20 moves up and down with the slide table 19 of the electric actuator.

[0061] Further, the escapement system includes a suction type manipulator 21 with four suction nozzles 22 mounted on a high-precision electric swing table 23, a four-way rotary joint 27 connected to the high-precision electric swing table 23, a four-position integrated vacuum generator system 30 connected to the four-way rotary joint 27 through a first air pipe, and a filter pressure reducing valve with a pressure gauge and a drain valve connected to the air supply port of the four-position integrated vacuum generator system 30 through a supply air pipe; the suction nozzle head of the suction type manipulator is in an inward concave arc shape;

[0062] The filter pressure reducing valve is externally connected to an air compressor. The high-precision electric swing table 23 and the four-way rotary joint 27 are mounted on the second bracket 20. The four-way rotary joint 27, the high-precision electric swing table 23, and the suction type manipulator 21 move up and down with the second bracket 20. The four-position integrated vacuum generator system 30 is fixed on the workbench 20 through a third bracket 31;

[0063] The vacuum ports of the four vacuum generator units of the four - unit integrated vacuum generator system 30 are respectively connected to the four air outlets 28 of the four - way rotary joint 27 through different first air pipes. The four air inlets 29 of the four - way rotary joint 27 are respectively connected to the four air outlets 25 of the four - way central shaft 24 of the high - precision electric swing table 23 through different second air pipes. The four air inlets 26 of the four - way central shaft 24 of the high - precision electric swing table are respectively connected to the four suction nozzles 22 of the suction - type manipulator through different third air pipes 32. Each of the four vacuum generator units of the four - unit integrated vacuum generator system 30 is equipped with a pressure switch. The pressure switch generates or ends negative pressure, which is transmitted to the corresponding suction nozzle 22 of the suction - type manipulator 21 through the corresponding first air pipe, the passage of the four - way rotary joint 27, the second air pipe, the passage of the four - way central shaft 24 of the high - precision electric swing table, and the third air pipe 32 in sequence, and the radioactive particles are sucked or released through the suction nozzle 22 of the suction - type manipulator 21.

[0064] Further, the detection system includes a high - speed digital camera 38 with a high - resolution telecentric lens 39, a surface light source 42 with a light source controller, a second stepping motor 33 equipped with a rotary head 34 with a rubber ring, and a display screen 45 installed on the operation box 49 to display the information captured by the high - speed digital camera 38 in real time (according to needs, the display screen 45 can display other information);

[0065] The high - speed digital camera 38 is installed on the second precision fine - tuning platform 40. The second precision fine - tuning platform 40 is fixed on the workbench 50 through the second base 41. The surface light source 42 is fixed on the workbench 50 through the fourth support 43. The height of the surface light source 42 is adjusted by the height - adjusting knob 44 on the fourth support 43. The light source controller of the surface light source 42 is installed in the operation box 49 to control the lighting state of the surface light source 42 (on or off) and adjust the brightness of the surface light source 42. The second stepping motor 33 is installed on the third precision fine - tuning platform 36 through the fifth support 35. The third precision fine - tuning platform 36 is fixed on the workbench 50 through the third base 37;

[0066] The radioactive particles sucked by the suction nozzle 22 of the suction - type manipulator 21 from the end 7 of the spiral track of the spiral vibrating disk 1 move to above the rotary head 34 of the second stepping motor 33 as the suction - type manipulator 21 rotates. The suction - type manipulator 21 moves downward so that the sucked radioactive particles are clamped between the corresponding suction nozzle 22 and the rotary head 34. The corresponding vacuum generator unit of the four - unit integrated vacuum generator system 30 ends the negative pressure. The rotary head 34 rotates driven by the second stepping motor 33, and the radioactive particles clamped between the suction nozzle 22 and the rotary head 34 rotate as the rotary head 34 rotates (the rotary head 34 is equipped with a rubber ring, and the rubber ring has a large frictional force, which can drive the radioactive particles to rotate); the high - speed digital camera 38 transmits the information of the radioactive particles to the control system 48 in real time and displays it on the display screen 45.

[0067] Further, the information captured by the high-speed digital camera 38 is transmitted to the control system 48 in real time. The control system 48 identifies whether there are radioactive particles. When there are radioactive particles, the control system 48 determines whether the appearance quality of the radioactive particles is qualified according to the preset appearance quality parameters of the radioactive particles, and displays the appearance quality parameter information of the radioactive particles on the display screen 45. The control system 48 increases or decreases the appearance quality parameters of the radioactive particles as needed. When there are no radioactive particles, the control system 48 skips the detection program and reminds that no radioactive particles are detected. At this time, an inspection is carried out to confirm the reason and whether the equipment is normal or to debug the equipment.

[0068] Further, a first groove is provided on the first discharge table 46, and a qualified product collection bottle is placed in the first groove. A second groove is provided on the second discharge table 47, and an unqualified product collection bottle is placed in the second groove;

[0069] When the control system 48 completes the judgment on whether the appearance quality of the radioactive particles is qualified (during the detection process, the radioactive particles rotate with the rotation of the rotating head 34. Usually, it is set that the radioactive particles rotate no less than one week to ensure that the radioactive particles are detected from each angle), the second stepping motor 33 is turned off, the rotating head 34 stops rotating, and the corresponding vacuum generator unit of the four-position integrated vacuum generator system 30 generates negative pressure. The corresponding suction nozzle 22 of the suction type manipulator 21 re-sucks the radioactive particle clamped between it and the rotating head 34, and the suction type manipulator 21 moves upward;

[0070] The radioactive particles determined to be qualified by the control system 48 move above the first discharge table 46 with the rotation of the suction type manipulator 21. The corresponding vacuum generator unit of the four-position integrated vacuum generator system 30 ends the negative pressure, and the radioactive particles fall due to gravity, so as to release the qualified radioactive particles into the qualified product collection bottle; The radioactive particles determined to be unqualified by the control system 48 move above the second discharge table 47 with the rotation of the suction type manipulator 21. The corresponding vacuum generator unit of the four-position integrated vacuum generator system 30 ends the negative pressure, and the radioactive particles fall due to gravity, so as to release the unqualified radioactive particles into the unqualified product collection bottle.

[0071] In addition, for the stability, safety and convenience of operation, the workbench 50 is provided with four adjustable load-bearing feet that can adjust the level of the workbench 50. A transparent lead glass shielding chamber 51 is provided above the workbench 50, and the four sides and the top of the transparent lead glass chamber 51 are provided with movable doors.

[0072] Further, a method for detecting and sorting the appearance quality of radioactive particles by using this device includes the following steps:

[0073] Step S1: Start the vibrator to align the radioactive particles in a row along the spiral track 5 and gradually move them to the end 7 of the spiral track;

[0074] Step S2: The suction manipulator 21 moves downward, and the corresponding vacuum generator unit of the four-in-one integrated vacuum generator system 30 generates negative pressure, causing the suction nozzle 22 above the end 7 of the spiral track to approach and suck the radioactive particles at the end 7 of the spiral track, and then the suction manipulator 21 moves upward;

[0075] Step S3: The suction manipulator 21 rotates 90 degrees, causing the sucked radioactive particles to move above the rotating head 34 of the second stepping motor 33. The suction manipulator 21 moves downward, sandwiching the sucked radioactive particles between the corresponding suction nozzle 22 and the rotating head 34. The corresponding vacuum generator unit of the four-in-one integrated vacuum generator system 30 ends the negative pressure, and the second stepping motor 33 starts. The radioactive particles sandwiched between the suction nozzle 22 and the rotating head 34 rotate as the rotating head 34 rotates;

[0076] Step S4: The high-speed digital camera 38 transmits the information of the radioactive particles to the control system 48 in real time. The control system 48 determines whether the appearance quality of the radioactive particles is qualified according to the preset appearance quality parameters of the radioactive particles, and displays the appearance quality parameter information of the radioactive particles on the display screen 45;

[0077] Step S5: The second stepping motor 33 is turned off, and the corresponding vacuum generator unit of the four-in-one integrated vacuum generator system 30 generates negative pressure, causing the corresponding suction nozzle 22 of the suction manipulator 21 to suck the radioactive particles sandwiched between it and the rotating head 34 again, and then the suction manipulator 21 moves upward.

[0078] Step S6: The suction manipulator 21 rotates 90 degrees. If the control system determines that the appearance quality of the sucked radioactive particles is qualified, the corresponding vacuum generator unit of the four-in-one integrated vacuum generator system 30 ends the negative pressure, and releases the radioactive particles with qualified appearance quality into the qualified product collection bottle placed in the first groove of the first discharge table 46;

[0079] Step S7: The suction manipulator 21 rotates 90 degrees. If the control system 48 determines that the appearance quality of the sucked radioactive particles is unqualified, the corresponding vacuum generator unit of the four-in-one integrated vacuum generator system 30 ends the negative pressure, and releases the radioactive particles with unqualified appearance quality into the unqualified product collection bottle placed in the second groove of the second discharge table 47;

[0080] Step S8: The suction manipulator 21 rotates 90 degrees, causing the corresponding suction nozzle 22 of the suction manipulator that has released the radioactive particles to move above the end 7 of the spiral track.

[0081] Step S9: Repeat steps S1 to S8 until all radioactive particles have completed the appearance quality inspection and sorting.

[0082] In the above method, when the first suction nozzle carries the sucked radioactive particle and moves above the rotating head 34 of the second stepping motor 33 as the suction manipulator 21 rotates, the second suction nozzle adjacent to the first suction nozzle in the reverse direction of the rotation of the suction manipulator 21 moves above the end 7 of the spiral track. The suction manipulator 21 moves downward, and the second suction nozzle approaches and sucks the radioactive particle at the end 7 of the spiral track. At this time, the radioactive particle sucked by the first suction nozzle moves downward with the suction manipulator 21 and is clamped between the first suction nozzle and the rotating head 34, and the corresponding appearance quality inspection program is started;

[0083] When the second suction nozzle carries the sucked radioactive particle and moves above the rotating head 34 of the second stepping motor 33 as the suction manipulator 21 rotates, the third suction nozzle adjacent to the second suction nozzle in the reverse direction of the rotation of the suction manipulator 21 moves above the end 7 of the spiral track. The suction manipulator 21 moves downward, and the third suction nozzle approaches and sucks the radioactive particle at the end 7 of the spiral track. At this time, the first suction nozzle has carried the sucked radioactive particle (the appearance quality inspection has been completed) and left the inspection position. The radioactive particle sucked by the second suction nozzle moves downward with the suction manipulator 21 and is clamped between the second suction nozzle and the rotating head 34, and the corresponding appearance quality inspection program is started;

[0084] When the third suction nozzle carries the sucked radioactive particle and moves above the rotating head 34 of the second stepping motor 33 as the suction manipulator 21 rotates, the fourth suction nozzle adjacent to the third suction nozzle in the reverse direction of the rotation of the suction manipulator 21 moves above the end 7 of the spiral track. The suction manipulator 21 moves downward, and the fourth suction nozzle approaches and sucks the radioactive particle at the end 7 of the spiral track. At this time, the second suction nozzle has carried the sucked radioactive particle (the appearance quality inspection has been completed) and left the inspection position. The radioactive particle sucked by the third suction nozzle moves downward with the suction manipulator 21 and is clamped between the third suction nozzle and the rotating head 34, and the corresponding appearance quality inspection program is started;

[0085] When the fourth nozzle carrying the aspirated radioactive particles moves above the rotating head 34 of the second stepping motor 33 as the aspirating manipulator 21 rotates, the first nozzle adjacent to the fourth nozzle in the reverse direction of the rotation of the aspirating manipulator 21 moves above the end 7 of the spiral track (at this time, the first nozzle has released the previously aspirated radioactive particles into the corresponding qualified or unqualified product collection bottles according to the appearance quality inspection results). The aspirating manipulator 21 moves downward, and the first nozzle approaches and aspirates the radioactive particles at the end 7 of the spiral track. At this time, the third nozzle has carried the aspirated radioactive particles (the appearance quality inspection has been completed) and left the inspection position. The radioactive particles aspirated by the fourth nozzle move downward with the aspirating manipulator 21 and are clamped between the fourth nozzle and the rotating head 34, and the corresponding appearance quality inspection program is started.

[0086] As described above, the four nozzles 22 of the aspirating manipulator 21 sequentially aspirate radioactive particles from the end 7 of the spiral track of the spiral vibrating disk 1 for appearance quality inspection and sorting. In this way, the cycle repeats without interference, improving the efficiency of appearance quality inspection and sorting. In addition, during the appearance quality inspection and sorting of radioactive particles, radioactive particles can be added to the spiral vibrating disk at any time to ensure the continuous progress of the appearance quality inspection and sorting work of radioactive particles.

[0087] In summary, the device can automatically detect the appearance quality of radioactive particles and separate qualified products from unqualified products, with high production efficiency; compared with the existing manual operation method, radioactive particles do not need to be clamped by tools, but are aspirated by negative pressure, and the magnitude of the negative pressure can be precisely adjusted, without flattening the cladding and leaving dents on the cladding, that is, without damaging radioactive particles; compared with the existing manual operation method, the error rate can be greatly reduced; it can effectively reduce the labor intensity of operators and the ionizing radiation received, which is beneficial to labor protection.

[0088] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art of this industry should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification is only the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection required by the present invention is defined by the appended claims and their equivalents.

Claims

1. A device for inspecting and sorting the appearance quality of radioactive particles, comprising a vibration system for supplying radioactive particles, a sensing system for determining information about the radioactive particles in the vibration system, an escapement system equipped with a lifting system, a detection system for inspecting the appearance quality of the radioactive particles, a first unloading platform for collecting qualified products, and a second unloading platform for collecting unqualified products. The device also includes a control system installed in an operating box. It is characterized in that Under the control of the control system, the escapement system, in cooperation with the lifting system, sequentially completes the process of sucking radioactive particles from the vibration system, transferring the sucked radioactive particles to the inspection system for inspection of appearance quality, and releasing the inspected radioactive particles into corresponding collection bottles according to whether they are qualified or unqualified. The collection bottles are placed on the first unloading platform and the second unloading platform respectively. The vibration system consists of a spiral vibration plate, a vibrator, and a vibration controller. Under the action of the vibrator, a number of radioactive particles move to the bottom edge of the spiral vibration plate and continuously move along the spiral track from the entrance to the end of the spiral track. The spiral vibration plate is mounted on the vibrator, and the vibrator is fixed to the workbench through a buffer base. The workbench has four adjustable load-bearing feet. The sensing system includes a laser sensor with a sensor head and an amplifier. The sensor head is directly opposite the end of the spiral track of the spiral vibrating disk. The sensor head has a transmitting end and a receiving end. The transmitting end of the sensor head emits light, and the receiving end receives the light. The receiving end transmits the light back to the amplifier through an optical fiber. The amplifier generates judgment information based on the emitted light signal, the received light signal, and the set parameters, and transmits the judgment information to the control system. The escapement system includes a suction-type manipulator with four suction nozzles mounted on a high-precision electric swing table, a four-way rotary joint connected to the high-precision electric swing table, and a four-position containerized vacuum generator system connected to the four-way rotary joint via a first air pipe, and sucks or releases radioactive particles through the suction nozzles of the suction-type manipulator; The detection system includes a digital camera with a telecentric lens, a surface light source with a light source controller, a second stepper motor equipped with a rotating head with a rubber ring, and a display screen installed on an operating box for displaying the shooting information of the digital camera in real time; the radioactive particles sucked by the suction nozzle of the suction manipulator from the end of the spiral track of the spiral vibration disk move to the top of the rotating head of the second stepper motor as the suction manipulator rotates, and the suction manipulator moves downward so that the sucked radioactive particles are clamped between the corresponding suction nozzle and the rotating head, the corresponding vacuum generator unit of the four-position containerized vacuum generator system ends the negative pressure, and the rotating head rotates under the drive of the second stepper motor, and the radioactive particles clamped between the suction nozzle and the rotating head rotate as the rotating head rotates; the digital camera transmits the information of the radioactive particles to the control system in real time and displays it on the display screen.

2. The device for detecting and sorting the appearance quality of radioactive particles according to claim 1, characterized in that, The vibration controller is installed in the operation box; The inner wall of the spiral vibrating disk is provided with a spiral track, on which a number of blocking protrusions are arranged at intervals, one blocking protrusion is provided near the entrance and the end of the spiral track, and a baffle is provided at the end of the spiral track; The blocking convex head separates the overlapping radioactive particles on the spiral track, so that the radioactive particles move forward in a row. The baffle makes the radioactive particles stay at the end of the spiral track. The vibration controller controls the vibrator to start or stop vibration and adjust the vibration speed and amplitude of the vibrator.

3. The device for detecting and sorting the appearance quality of radioactive particles according to claim 2, characterized in that, The sensor head of the laser sensor is mounted on an adjustment bracket, which is mounted on a first precision fine-tuning platform. The first precision fine-tuning platform is fixed to a workbench via a first base. The amplifier of the laser sensor is fixed to a side of the first base. The sensing system is located on one side of the vibrator. The adjustment bracket and the first precision fine-tuning platform adjust the sensor head of the laser sensor so that the sensor head faces the end of the spiral track of the spiral vibrating disk. The sensor head of the laser sensor is connected to the amplifier through an optical cable. The amplifier has a built-in laser transmitter that emits visible infrared laser and transmits it to the sensor head through the optical fiber.

4. An apparatus for detecting and sorting the appearance quality of radioactive particles according to claim 2 or 3, characterized in that, The lifting system includes an electric actuator fixed to a workbench via a first bracket, a first stepper motor driving the electric actuator, and a second bracket mounted on a slide of the electric actuator. The slide of the electric actuator moves up and down along a slide rail of the electric actuator driven by the first stepper motor, and the second bracket moves up and down along with the slide of the electric actuator.

5. The device for detecting and sorting the appearance quality of radioactive particles according to claim 4, characterized in that, A filter pressure reducing valve with a pressure gauge and a drain valve is connected to the air supply port of the four-position manifold vacuum generator system through an air supply pipe; the suction nozzle head of the suction manipulator is in a concave arc shape; The filter pressure reducing valve is connected to an external air compressor, and the high-precision electric swing table and four-way rotary joint are installed on the second bracket. The four-way rotary joint, high-precision electric swing table, and suction manipulator move up and down with the second bracket. The four-position containerized vacuum generator system is fixed to the workbench through the third bracket. The vacuum ports of the four vacuum generator units of the four-position assembled vacuum generator system are respectively connected to the four air outlets of the four-way rotary joint through different first air pipes, the four air inlets of the four-way rotary joint are respectively connected to the four air outlets of the four-way center axis of the high-precision electric swing table through different second air pipes, the four air inlets of the four-way center axis of the high-precision electric swing table are respectively connected to the four suction nozzles of the suction manipulator through different third air pipes. The four vacuum generator units of the four-position assembled vacuum generator system are all equipped with pressure switches. The pressure switches generate or end negative pressure, which is transmitted to the corresponding suction nozzles of the suction manipulator through the corresponding first air pipe, the passage of the four-way rotary joint, the second air pipe, the passage of the four-way center axis of the high-precision electric swing table, and the third air pipe in turn. Radioactive particles are absorbed or released through the suction nozzles of the suction manipulator.

6. The device for detecting and sorting the appearance quality of radioactive particles according to claim 5, characterized in that, The digital camera is installed on the second precision fine-tuning platform, the second precision fine-tuning platform is fixed to the workbench through the second base, the surface light source is fixed to the workbench through the fourth bracket, the height of the surface light source is adjusted by the height adjustment knob on the fourth bracket, the light source controller of the surface light source is installed in the operation box, controls the lighting state of the surface light source on or off, and adjusts the brightness of the surface light source, the second stepper motor is installed on the third precision fine-tuning platform through the fifth bracket, and the third precision fine-tuning platform is fixed to the workbench through the third base.

7. The device for detecting and sorting the appearance quality of radioactive particles according to claim 6, characterized in that, The information captured by the digital camera is transmitted to the control system in real time. The control system identifies whether there are radioactive particles. When there are radioactive particles, the control system determines whether the appearance quality of the radioactive particles is qualified according to the preset appearance quality parameters of the radioactive particles, and displays the appearance quality parameter information of the radioactive particles on the display screen. The control system increases or decreases the appearance quality parameters of the radioactive particles as needed.

8. A device for detecting and sorting the appearance quality of radioactive particles according to claim 6 or 7, characterized in that, A first groove is provided on the first unloading platform, and a qualified product collection bottle is placed in the first groove. A second groove is provided on the second unloading platform, and an unqualified product collection bottle is placed in the second groove. When the control system completes the judgment on whether the appearance quality of the radioactive particles is qualified, the second stepping motor is turned off, the rotating head stops rotating, the corresponding vacuum generator unit of the four-in-one integrated vacuum generator system generates negative pressure, and the corresponding suction nozzle of the suction manipulator re-sucks the radioactive particle clamped between it and the rotating head, and the suction manipulator moves upward. The radioactive particles determined to be qualified by the control system move above the first unloading platform as the suction manipulator rotates. The corresponding vacuum generator unit of the four-in-one integrated vacuum generator system ends the negative pressure and releases the qualified radioactive particles into the qualified product collection bottle. The radioactive particles determined to be unqualified by the control system move above the second unloading platform as the suction manipulator rotates. The corresponding vacuum generator unit of the four-in-one integrated vacuum generator system ends the negative pressure and releases the unqualified radioactive particles into the unqualified product collection bottle.

9. A method for detecting and sorting the appearance quality of radioactive particles, the method being based on a device for detecting and sorting the appearance quality of radioactive particles according to any one of claims 1-8, characterized in that, It includes the following steps: Step S1: Start the vibrator to make the radioactive particles line up along the spiral track and gradually move to the end of the spiral track. Step S2: The suction manipulator moves downward, and the corresponding vacuum generator unit of the four-in-one integrated vacuum generator system generates negative pressure, so that the suction nozzle located above the end of the spiral track approaches and sucks the radioactive particle at the end of the spiral track, and then the suction manipulator moves upward. Step S3: The suction manipulator rotates 90 degrees to make the sucked radioactive particle move above the rotating head of the second stepping motor. The suction manipulator moves downward to clamp the sucked radioactive particle between the corresponding suction nozzle and the rotating head. The corresponding vacuum generator unit of the four-in-one integrated vacuum generator system ends the negative pressure, and the second stepping motor starts. The radioactive particle clamped between the suction nozzle and the rotating head rotates as the rotating head rotates. Step S4: The digital camera transmits the information of the radioactive particle to the control system in real time. The control system determines whether the appearance quality of the radioactive particle is qualified according to the preset appearance quality parameters of the radioactive particle, and displays the appearance quality parameter information of the radioactive particle on the display screen. Step S5: The second stepping motor is turned off, and the corresponding vacuum generator unit of the four-in-one integrated vacuum generator system generates negative pressure, so that the corresponding suction nozzle of the suction manipulator re-sucks the radioactive particle clamped between it and the rotating head, and then the suction manipulator moves upward. Step S6: The suction manipulator rotates 90 degrees. If the control system determines that the appearance quality of the sucked radioactive particles is qualified, the corresponding vacuum generator unit of the four-position integrated vacuum generator system ends the negative pressure, and releases the radioactive particles with qualified appearance quality into the qualified product collection bottle placed in the first groove of the first discharge table; Step S7: The suction manipulator rotates 90 degrees. If the control system determines that the appearance quality of the sucked radioactive particles is unqualified, the corresponding vacuum generator unit of the four-position integrated vacuum generator system ends the negative pressure, and releases the radioactive particles with unqualified appearance quality into the unqualified product collection bottle placed in the second groove of the second discharge table; Step S8: The suction manipulator rotates 90 degrees so that the corresponding suction nozzle of the suction manipulator that has released the radioactive particles moves above the end of the spiral track; Step S9: Repeat Step S1 to Step S8 until all radioactive particle appearance quality inspections and sorting are completed.

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