An automated production system for iridium components

Abstract

The present application relates to an automated production system for iridium components, and belongs to the field of automated production technology. The automated production system for iridium components includes a feeding device, a detection device, a storage device, a transfer device, and a control module; the feeding device is used to deliver the cladding and end cap of the iridium component to the loading position and the grabbing position respectively; the detection device is used to detect the actual radioactivity of the iridium sheet and all the iridium sheets in the cladding located at the loading position; the storage device stores the target radioactivity of the iridium sheet and the iridium component; the transfer device includes a robotic arm, and the control module controls the robotic arm to grab the iridium sheet for detection and then fill it into the cladding; the detection device is also equipped with a filling sheet for filling the cladding, and the control module controls whether the robotic arm continues to fill the iridium sheet into the cladding; the control module also controls the robotic arm to grab the iridium sheet or the filling sheet and fill it into the cladding. The embodiment of the present application provides an automated production system for iridium components, which can improve the product qualification rate of iridium components.

Description

Technical Field

[0001] The present application relates to the field of automated production technology, and in particular to an automated production system for iridium components. Background Art

[0002] Iridium components (i.e. iridium radioactive sources) are mainly used in medical and industrial fields. Iridium radioactive sources are mainly composed of iridium sheets and shells (composed of cladding and end caps). During the production process of iridium radioactive sources, the produced iridium sheets are placed in bars for transportation, and then packaged, activity measured, placed in claddings, and then the claddings and end caps are welded to form iridium components.

[0003] The existing iridium element production operations all require operators to observe through a peep window outside the hot room and operate the master-slave manipulators. In particular, when loading iridium sheets and filling sheets (usually stainless steel sheets) into the cladding, it is necessary to manually control and measure the activity of a single iridium sheet so that the radioactivity of the final iridium element can be close to the target value. Then, based on the activity of the single iridium sheet, one or more stainless steel sheets are placed after (or before) the iridium sheet with excessive radioactivity, so that the radioactivity emitted from various parts of the iridium element is similar.

[0004] However, when using traditional fully non-standard automation equipment, most of the precision detection equipment such as limit and positioning sensors cannot be used in strong gamma ray radiation scenarios (i.e. strong radiation scenarios). After losing these precision detection equipment, the precision non-standard automation device cannot adjust the number of iridium sheets and filler sheets placed in the cladding according to the difference in the radioactive activity of each iridium sheet, resulting in a large error between the actual radioactive activity of the produced iridium components and the product requirements, and a large difference in the radioactive activity emitted by different parts of the iridium components. Summary of the invention

[0005] The purpose of this application is to provide an automated production system for iridium components in order to solve the above problems, so as to improve the product qualification rate of iridium components and improve the above problems.

[0006] This application is achieved through the following technical solutions:

[0007] The present application provides an automated production system for iridium components, which comprises a loading device, a detection device, a storage device, a transfer device and a control module; the loading device is used to deliver the cladding and end cover of the iridium component to a loading position and a grabbing position respectively; the detection device is used to detect the actual radioactivity of the iridium sheet and all the iridium sheets in the cladding located at the loading position; the storage device stores the target radioactivity of the iridium sheet and the target radioactivity of the iridium component; the transfer device comprises a robotic arm, and the control module controls the robotic arm to grab the iridium sheet for detection and then fill it into the cladding; wherein the detection device is also provided with a filling sheet for filling the cladding, and the control module controls the robotic arm whether to continue to fill the iridium sheet into the cladding based on the target radioactivity of the iridium component and the actual radioactivity of all the iridium sheets in the cladding; the control module also controls the robotic arm to grab the iridium sheet or the filling sheet and fill it into the cladding based on the target radioactivity of the iridium sheet and the actual radioactivity of the iridium sheet.

[0008] In the technical solution of the embodiment of the present application, the feeding device is used to deliver the cladding and end cover of the iridium element to the loading position and the grabbing position respectively. The feeding device only delivers one cladding and one end cover to the loading position and the loading position at a time. The cladding delivered to the loading position and the loading position is adapted to the size of the end cover, so that the robot arm grabs the end cover and covers it on the cladding; the detection device is used to detect the actual radioactivity of each iridium sheet to be loaded and the actual radioactivity of the cladding at the loading position; the transfer device includes a memory, a control module and a robot arm, the memory stores the target radioactivity of the iridium sheet and the target radioactivity of the iridium element; the control module controls the robot arm to grab a single iridium sheet and move it to the detection position of the detection device for detection, Then, the iridium sheets that have been tested are grabbed and filled into the cladding. The iridium sheets grabbed by the robotic arm are placed in the detection device to compare the actual radioactivity of the iridium sheets measured by the detection device with the target radioactivity. If the error is too large (generally, the actual radioactivity is greater than the target radioactivity), it may be formed by pasting multiple iridium sheets together. The robotic arm can transfer these iridium sheets with large errors to the recovery area and notify the operator for subsequent processing, so as to screen out the iridium sheets with large radioactivity errors, reduce the risk of uneven radioactivity of the iridium sheets due to excessive local radioactivity of the produced iridium originals, and reduce the risk of the iridium sheets with large radioactivity errors being filled into the cladding, resulting in a sharp increase in the radioactivity of the iridium originals exceeding the target radioactivity of the iridium originals, and thus The risk of unqualified products; the control module controls the robot arm to continue to fill the iridium sheets into the cladding based on the target radioactivity of the cladding and the actual radioactivity of the cladding. The actual radioactivity of the cladding will increase each time the iridium sheets are filled. The detection device can detect the radioactivity of all the iridium sheets in the cladding being loaded in real time. The control module compares the actual radioactivity of the cladding after each increase with the target radioactivity. When the actual radioactivity is less than the target radioactivity, the control arm controls the robot arm to continue to fill the iridium sheets into the cladding at the loading position; when the actual radioactivity is greater than or close to the target radioactivity, the control module controls the robot arm to stop filling the iridium sheets into the cladding at the loading position, and the cladding loading is completed. The iridium sheets are sent to subsequent processing stations so that the radioactivity of the produced iridium components can be close to the rated target radioactivity of the iridium components, thereby improving the product qualification rate of the iridium components. When the detection device detects that the actual radioactivity of the iridium sheet to be filled into the cladding is greater than the target radioactivity but does not reach the screening value, a filling sheet can be filled into the cladding after the iridium sheet is filled into the cladding, so that the iridium sheet with excessively high actual radioactivity is separated from the subsequent iridium sheets by the filling sheet, thereby reducing the overall radioactivity of the iridium sheets with excessively high actual radioactivity and the subsequent iridium sheets, making the overall radioactivity intensity of the produced iridium components more uniform, thereby reducing the probability that the local radioactivity of the iridium components is too strong and affecting the use effect of the iridium components as a radiation source.

[0009] In some embodiments, the memory also stores a target total number of fillers in the cladding, and the control module controls whether the robotic arm continues to fill filling sheets into the cladding based on the sum of the number of iridium sheets and the number of filling sheets already filled into the cladding and the target total number of fillers in the cladding.

[0010] In the technical solution of the embodiment of the present application, the memory also stores the target total number of fillers in the cladding. After the iridium sheets are filled, the control module controls the robot arm to continue to fill the filling sheets into the cladding based on the sum of the number of iridium sheets and the number of filling sheets that have been filled into the cladding and the target total number of fillers in the cladding. When the sum of the number of iridium sheets and the number of filling sheets that have been filled into the cladding is the same as the target total number of fillers in the cladding, the control module controls the robot arm to stop continuing to fill the filling sheets into the cladding. When the sum of the number of iridium sheets and the number of filling sheets that have been filled into the cladding is less than the target total number of fillers in the cladding, the control module controls the robot arm to continue filling the filling sheets into the cladding until the sum of the number of iridium sheets and the number of filling sheets that have been filled into the cladding is equal to the target total number of fillers in the cladding, so that the internal cavity of the produced iridium original is filled with iridium sheets and the filling sheets to fill the cladding of the iridium original. On the one hand, the weight of each iridium original can be similar, and on the other hand, the iridium sheets are prevented from moving inside the iridium original and making noise or causing uneven radioactivity in various parts of the iridium original.

[0011] In some embodiments, the detection device includes a parts tray, and the parts tray is provided with a plurality of placement grooves for placing filling sheets, and the thickness of the filling sheets exceeds the depth of the placement grooves.

[0012] In the technical solution of the embodiment of the present application, the parts tray is provided with a plurality of placement grooves for placing filling pieces, and each placement groove can correspond to one filling piece, so as to avoid the situation where the robot arm grabs multiple filling pieces at one time to fill the cladding, resulting in the radioactivity of the parts of the iridium original corresponding to the multiple filling pieces being weaker. The thickness of the filling piece exceeds the depth of the placement groove, so that a part of the filling piece placed in the placement groove can extend out of the placement groove, which is convenient for the robot arm to grab the filling piece.

[0013] In some embodiments, the loading device includes a first loading mechanism and a second loading mechanism, the first loading mechanism includes a first base, a first clip and a second clip with the same structure, the first clip and the second clip are fixedly installed on the first base, the first clip is loaded with multiple shells, and the second clip is loaded with multiple end covers; the second loading mechanism is used to send the shells and end covers in the first clip and the second clip to the loading position and the grasping position in turn, the second loading device includes a second base, and the first base is detachably installed on the second base.

[0014] In the technical solution of the embodiment of the present application, the first loading mechanism includes a first base, a first clip and a second clip with the same structure, the first clip and the second clip are fixedly installed on the first base, the first clip is loaded with multiple cladding shells, and the second clip is loaded with multiple end covers, the first clip and the second clip can send the cladding shells and the end covers to the loading position and the grabbing position in sequence until the cladding shells and end covers loaded by themselves are used up, so that the cladding shells and end covers can be sent to the hot chamber in batches, eliminating the trouble of frequently opening and closing the hot chamber to replenish the cladding shells and end covers, and speeding up production efficiency; the second loading device includes a second base, and the first base is detachably installed on the second base, so that the first loading mechanism can quickly determine its own installation position according to the position of the second base after replenishing the cladding shells and end covers outside the hot chamber, thereby reducing the positioning time required for the first loading mechanism.

[0015] In some embodiments, the second loading device also includes a pushing member and a driving member, the pushing member is provided with a first push groove for accommodating the packaging shell and a second push groove for accommodating the end cover, and the pushing member can switch between a loading state and a feeding state under the drive of the driving member; when the pushing member is in the loading state, the first push groove is opposite to the output end of the first clip, and the second push groove is opposite to the output end of the second clip; when the pushing member is in the feeding state, the first push groove is in the loading position, and the second push groove is in the grabbing position.

[0016] In the technical solution of the embodiment of the present application, the pushing member is provided with a first push groove for accommodating the packaging shell and a second push groove for accommodating the end cover. The first push groove and the second push groove can limit the packaging shell and the end cover, so that the pushing member can push the packaging shell and the end cover. The pushing member can switch between the loading state and the feeding state under the drive of the driving member; when the pushing member is in the loading state, the first push groove is opposite to the output end of the first clip, and the second push groove is opposite to the output end of the second clip. The first clip and the second clip push the packaging shell and the end cover into the first push groove and the second push groove respectively through their own output ends; when the pushing member is in the feeding state, the first push groove is in the loading position, and the second push groove is in the grabbing position. The pushing member will fix the packaging shell and the end cover in the loading position and the grabbing position respectively until the end cover is covered on the packaging shell.

[0017] In some embodiments, a welding device is also included, which includes a turntable and a welding execution module. The turntable is provided with a positioning groove for installing the cladding. The turntable is used to drive the cladding and the end cover to switch between a rotating state and a stationary state. The welding execution module is used to weld the rotating cladding and the end cover into an iridium original part; when the pushing member is in a feeding state, the pushing member presses the cladding against the outer wall surface of the turntable.

[0018] In the technical solution of the embodiment of the present application, the turntable is provided with a positioning groove for installing the cladding, and the turntable is used to drive the cladding and the end cover to switch between rotating and stationary states. When the turntable drives the cladding and the end cover provided on the cladding to rotate together, the welding execution module can weld the risk between the cladding and the end cover, and the welding execution module is used to weld the rotating cladding and the end cover into an iridium original part; when the pushing member is in the feeding state, the pushing member presses the cladding against the outer wall surface of the turntable, and cooperates with the outer wall surface of the turntable through the first push groove to clamp the cladding, so as to facilitate the detection device to measure the actual radioactive activity of the cladding.

[0019] In some embodiments, the turntable is provided with a guide groove extending along the radius of the turntable, the guide groove extending from the positioning groove to the outer wall of the turntable, and the driving member drives the pushing member to push the loaded cladding into the positioning groove along the guide groove.

[0020] In the technical solution of the embodiment of the present application, the turntable is provided with a guide groove extending along the radius of the turntable. During the loading process, the guide groove and the pushing member are staggered. After the loading is completed, the turntable is rotated so that the guide groove is opposite to the pushing member. The driving member drives the pushing member to push the loaded cladding into the positioning groove along the guide groove. The guide groove can limit the moving direction of the pushing member and the cladding, so that the cladding can be accurately delivered to the positioning groove.

[0021] In some embodiments, the memory also stores the position information of the positioning groove and the grabbing position of the end cap. The control module controls the robotic arm to grab the end cap and cover the shell in the positioning groove based on the grabbing position of the end cap and the position information of the positioning groove.

[0022] In the technical solution of the embodiment of the present application, the control module controls the robotic arm to grab the end cover and cover the shell in the positioning groove based on the grabbing position of the end cover and the position information of the positioning groove, and completes the assembly process between the shell and the end cover mechanically, thereby speeding up production efficiency and reducing labor costs.

[0023] In some embodiments, an identification device is also included, which is used to identify the position information of multiple iridium sheets; the memory stores the loading position of the cladding, the detection position of the detection device and the position information of the filling sheet, and the control module controls the robotic arm to grab the iridium sheet for detection and then fill it into the cladding, or grab the filling sheet and fill it into the cladding based on the loading position of the cladding, the detection position of the detection device, the position information of the filling sheet and the position information of multiple iridium sheets.

[0024] In the technical solution of the embodiment of the present application, the control module controls the robotic arm to grab a single iridium sheet according to the position information of the multiple iridium sheets and move it to the detection position of the detection device for detection based on the position information of the multiple iridium sheets obtained by the identification device, the detection position of the detection device and the filling position of the cladding, and then grabs the iridium sheet after the detection and fills it into the cladding. In the automated production system of iridium components provided by the present application, the position of each processing is fixed, and the control module controls the robotic arm to perform each processing step. The operation process can also be adjusted according to the real-time data obtained by the identification device and the detection device, so that the production process of iridium components can be automatically carried out without the assistance of precision detection equipment that is easily affected by radiation, thereby increasing production efficiency and reducing labor costs.

[0025] In some embodiments, a disassembling device is further included, wherein the disassembling device is used to disassemble the material rod to obtain a plurality of iridium sheets, and the disassembling device can dump the plurality of iridium sheets into the identification device.

[0026] The technical solution of the embodiment of the present application also includes a disassembly device, which is used to disassemble the material rod to obtain multiple iridium sheets. The disassembly device allows the material rod to be disassembled within the hot chamber, thereby reducing the risk of the radiation of the iridium sheets affecting the environment outside the hot chamber.

[0027] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0029] Figure 1 A schematic diagram of the overall structure of an automated production system for iridium components provided in some embodiments of the present application;

[0030] Figure 2 A partial structural top view of an iridium component automated production system provided in some embodiments of the present application;

[0031] Figure 3 A partial structural schematic diagram of an iridium component automated production system provided in some other embodiments of the present application;

[0032] Figure 4 A partial structural schematic diagram of an iridium component automated production system provided in some embodiments of the present application;

[0033] Figure 5 A top view of the partial structure of an automated production system for iridium components provided in some other embodiments of the present application.

[0034] Icons: 2. Feeding device; 20. First feeding mechanism; 200. First base; 201. First clip; 202. Second clip; 21. Second feeding mechanism; 210. Second base; 211. Pushing member; 2110. First push groove; 2111. Second push groove; 3. Identification device; 4. Detection device; 40. Parts tray; 5. Transfer device; 6. Welding device; 60. Turntable; 600. Positioning groove; 601. Guide groove; 61. Welding execution unit; 7. Disassembly device. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0036] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as those commonly understood by technicians in the technical field of this application; the terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned drawings and any variations thereof are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order or a primary and secondary relationship.

[0037] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments.

[0038] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "attached" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0039] The term "and / or" in this application is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this application generally indicates that the associated objects before and after are in an "or" relationship.

[0040] The term "multiple" as used in the present application refers to more than two (including two). Similarly, the term "multiple groups" refers to more than two groups (including two groups), and the term "multiple sheets" refers to more than two sheets (including two sheets).

[0041] According to some embodiments of the present application, optionally, Figure 1~Figure 5 As shown, the present application provides an automated production system for iridium components, which includes a loading device 2, a detection device 4, a storage device, a transfer device 5 and a control module; the loading device 2 is used to deliver the cladding and end cover of the iridium component to the loading position and the grabbing position respectively; the detection device 4 is used to detect the actual radioactivity of the iridium sheet and all the iridium sheets in the cladding located at the loading position; the storage device stores the target radioactivity of the iridium sheet and the target radioactivity of the iridium component; the transfer device 5 includes a robotic arm, and the control module controls the robotic arm to grab the iridium sheet for detection and then fill it into the cladding; wherein the detection device 4 is also provided with a filling sheet for filling the cladding, and the control module controls the robotic arm whether to continue to fill the iridium sheet into the cladding based on the target radioactivity of the iridium component and the actual radioactivity of all the iridium sheets in the cladding; the control module also controls the robotic arm to grab the iridium sheet or the filling sheet and fill it into the cladding based on the target radioactivity of the iridium sheet and the actual radioactivity of the iridium sheet.

[0042] Since iridium sheets and iridium components have strong radioactivity, the production process of iridium components needs to be carried out in a hot chamber.

[0043] A hot cell is a small shielded room used for high-radioactivity testing and operations. It is isolated from the surrounding environment and the inner wall is usually covered with stainless steel for easy flushing and decontamination. The outer wall is a heavy concrete structure to protect against gamma radiation.

[0044] The loading device 2 can load the cladding and the end cover outside the hot chamber, and then send them to the inside of the hot chamber.

[0045] Multiple observation windows and remote cameras are also provided inside the hot chamber to facilitate operators to observe and supervise the production process of the iridium original component automated production system provided in this application. When an accident occurs in the production process, remote intervention and adjustment can be carried out in a timely manner to reduce the risk of safety accidents in the production process.

[0046] The iridium sheets can be placed on the identification device 3 after being dispersed; or, the iridium sheets can be dispersed on the identification device 3, and the identification device 3 identifies the dispersed iridium sheets and detects their position information, so that the robot arm can only grab one iridium sheet each time, thereby reducing the risk that the robot arm grabs multiple iridium sheets at a time to fill the cladding, causing a sharp increase in the actual radioactivity of the cladding, and ultimately resulting in a large gap between the actual radioactivity of the produced iridium originals and the rated target radioactivity.

[0047] Activity refers to the average number of atomic decays per second. The physical quantity that measures the strength of radioactive isotopes is called the activity of radioactive substances.

[0048] The detection device 4 has no less than two detection windows, at least one of which is vertically facing upwards so that the robot arm can place the iridium sheet, allowing the detection window to measure the radioactive activity of the iridium sheet. At least one detection window of the detection device 4 is facing the loading position of the cladding, allowing the detection window to measure the radioactive activity of the cladding being loaded in real time.

[0049] The material of the filling piece can be a non-radioactive metal, preferably stainless steel.

[0050] The size of the filler sheet is the same as that of the iridium sheet.

[0051] The feeding device 2 is used to deliver the cladding and end cap of the iridium element to the loading position and the grabbing position respectively. The feeding device 2 delivers only one cladding and one end cap to the loading position and the feeding position at a time. The cladding delivered to the loading position and the feeding position is adapted to the size of the end cap, so that the robot arm grabs the end cap and covers it on the cladding; the detection device 4 is used to detect the actual radioactivity of each iridium sheet to be loaded and the actual radioactivity of the cladding at the loading position; the transport device 5 includes a memory, a control module and a robot arm, and the memory stores the target radioactivity of the iridium sheet and the target radioactivity of the iridium element; the control module controls the robot arm to grab a single iridium sheet and move it to the detection position of the detection device 4 for detection, and then grabs it for detection The completed iridium sheets are then filled into the cladding, and the iridium sheets grabbed by the robot arm are placed in the detection device 4 to compare the actual radioactivity of the iridium sheets measured by the detection device 4 with the target radioactivity. If the error is too large (generally, the actual radioactivity is greater than the target radioactivity), it may be formed by pasting multiple iridium sheets together. The robot arm can transfer these iridium sheets with too large errors to the recovery area and notify the operator for subsequent processing, so as to screen out the iridium sheets with too large radioactivity errors, reduce the risk of uneven radioactivity of the entire iridium sheet due to excessive local radioactivity of the produced iridium original, and reduce the risk of the iridium sheet with too large radioactivity error being filled into the cladding, causing the radioactivity of the iridium original to increase sharply beyond the target radioactivity of the iridium original, thereby making the product undesirable. The control module controls the robot arm to continue to fill the iridium sheets into the cladding based on the target radioactivity of the cladding and the actual radioactivity of the cladding. The actual radioactivity of the cladding will increase each time the iridium sheets are filled. The detection device 4 can detect the radioactivity of all the iridium sheets in the cladding being loaded in real time. The control module compares the actual radioactivity of the cladding after each increase with the target radioactivity. When the actual radioactivity is less than the target radioactivity, the control module controls the robot arm to continue to fill the iridium sheets into the cladding at the loading position; when the actual radioactivity is greater than or close to the target radioactivity, the control module controls the robot arm to stop filling the iridium sheets into the cladding at the loading position, and the cladding is sent to the Subsequent processing stations can make the radioactivity of the produced iridium originals close to the rated target radioactivity of the iridium originals, thereby improving the product qualification rate of the iridium originals; when the detection device 4 detects that the actual radioactivity of the iridium sheet to be filled into the cladding is greater than the target radioactivity but does not reach the screening value, after the iridium sheet is filled into the cladding, a filling sheet can be filled into the cladding to separate the iridium sheet with an actual excessive radioactivity from the subsequent iridium sheet by the filling sheet, thereby reducing the overall radioactivity of the iridium sheet with an actual excessive radioactivity and the subsequent iridium sheet, making the overall radioactivity intensity of the produced iridium originals more uniform, thereby reducing the probability that the local radioactivity of the iridium original is too strong and affects the use effect of the iridium original as a radiation source.

[0052] According to some embodiments of the present application, optionally, the memory also stores a target total number of fillers in the cladding, and the control module controls whether the robotic arm continues to fill filling sheets into the cladding based on the sum of the number of iridium sheets already filled into the cladding and the number of filling sheets and the target total number of fillers in the cladding.

[0053] The weight of the filler sheet is similar to or the same as the weight of the iridium sheet.

[0054] When the sum of the number of iridium sheets and the number of filling sheets in the cladding is equal to the target total number of fillers in the cladding, the iridium sheets and the filling sheets fill the cladding.

[0055] The memory also stores the target total number of fillers in the cladding. After the iridium sheets are filled, the control module controls the robot arm to continue to fill the filling sheets into the cladding based on the sum of the number of iridium sheets and the number of filling sheets that have been filled into the cladding and the target total number of fillers in the cladding. When the sum of the number of iridium sheets and the number of filling sheets that have been filled into the cladding is the same as the target total number of fillers in the cladding, the control module controls the robot arm to stop filling the filling sheets into the cladding. When the sum of the number of iridium sheets and the number of filling sheets that have been filled into the cladding is less than the target total number of fillers in the cladding, the control module controls the robot arm to continue filling the filling sheets into the cladding until the sum of the number of iridium sheets and the number of filling sheets that have been filled into the cladding is equal to the target total number of fillers in the cladding, so that the internal cavity of the produced iridium original is filled with iridium sheets and the filling sheets to fill the cladding of the iridium original. On the one hand, the weight of each iridium original can be similar, and on the other hand, the iridium sheets are prevented from moving inside the iridium original and making noise or causing uneven radioactivity in various parts of the iridium original.

[0056] According to some embodiments of the present application, optionally, Figure 1~Figure 3 As shown, the detection device 4 includes a component tray 40, and the component tray 40 is provided with a plurality of placement grooves for placing filling sheets, and the thickness of the filling sheets exceeds the depth of the placement grooves.

[0057] The part tray 40 can be composed of a tray body and a support body. The support body is arranged inside the tray body and is detachably connected to the tray body. The placement groove is arranged on the support body. The tray body is fixedly connected to the detection part. The support body can be taken away from the tray body and a filling sheet can be placed in it, and then the support body can be put back into the tray body. On the one hand, the loading and unloading process of the filling sheet can be completed without being completed in the hot chamber, reducing the difficulty of loading the filling sheet. On the other hand, the installation position of the support body in the hot chamber can be determined by the position of the tray body fixed to the detection device 4, reducing the time required for positioning the support body and speeding up production efficiency.

[0058] The parts tray 40 is provided with a plurality of placement grooves for placing filling pieces, and each placement groove can accommodate a corresponding filling piece, so as to avoid the situation where the robot arm grabs multiple filling pieces at one time and fills them into the cladding, resulting in the radioactivity of the parts of the iridium original corresponding to the multiple filling pieces being weaker. The thickness of the filling piece exceeds the depth of the placement groove, so that a part of the filling piece placed in the placement groove can extend out of the placement groove, which is convenient for the robot arm to grab the filling piece.

[0059] According to some embodiments of the present application, optionally, Figure 1~Figure 2 , Figure 4~Figure 5 As shown, the feeding device 2 includes a first feeding mechanism 20 and a second feeding mechanism 21. The first feeding mechanism 20 includes a first base 200, a first clip 201 and a second clip 202 of the same structure. The first clip 201 and the second clip 202 are fixedly installed on the first base 200. The first clip 201 is loaded with multiple shells, and the second clip 202 is loaded with multiple end covers. The second feeding mechanism 21 is used to send the shells and end covers in the first clip 201 and the second clip 202 to the loading position and the grasping position in turn. The second feeding device 2 includes a second base 210. The first base 200 is detachably installed on the second base 210.

[0060] The first base 200 can be installed on the second base 210 by screw connection, mortise and tenon connection, snap connection, etc.

[0061] The second base 210 is fixedly disposed in the heat chamber.

[0062] The number of the first clip 201 and the number of the second clip 202 can be multiple, and the multiple first clips 201 correspond to the multiple second clips 202 one by one. The sizes of the shells filled in the multiple first clips 201 can be different. The size of the end cap filled in the second clip 202 is adapted to the size of the shells filled in the corresponding first clip 201.

[0063] The first loading mechanism 20 includes a first base 200, a first clip 201 and a second clip 202 of the same structure, the first clip 201 and the second clip 202 are fixedly mounted on the first base 200, the first clip 201 is loaded with a plurality of claddings, and the second clip 202 is loaded with a plurality of end caps, the first clip 201 and the second clip 202 can sequentially deliver the claddings and the end caps to the loading position and the grabbing position until the claddings and the end caps loaded by themselves are used up, so that the claddings and the end caps can be delivered to the hot chamber in batches, eliminating the trouble of frequently opening and closing the hot chamber to replenish the claddings and the end caps, and speeding up production efficiency; the second loading device 2 includes a second base 210, the first base 200 is detachably mounted on the second base 210, so that the first loading mechanism 20 can quickly determine its own installation position according to the position of the second base 210 after replenishing the claddings and the end caps outside the hot chamber, thereby reducing the positioning time required for the first loading mechanism 20.

[0064] According to some embodiments of the present application, optionally, Figure 2 , Figure 4~Figure 5 As shown, the second feeding device 2 also includes a pushing member 211 and a driving member. The pushing member 211 is provided with a first pushing groove 2110 for accommodating the package shell and a second pushing groove 2111 for accommodating the end cover. The pushing member 211 can switch between a loading state and a feeding state under the drive of the driving member; when the pushing member 211 is in the loading state, the first pushing groove 2110 is opposite to the output end of the first clip 201, and the second pushing groove 2111 is opposite to the output end of the second clip 202; when the pushing member 211 is in the feeding state, the first pushing groove 2110 is in a loading position, and the second pushing groove 2111 is in a grabbing position.

[0065] A limiting groove can be provided on the second base 210, and the pushing member 211 can move along the limiting groove under the drive of the driving member, thereby reducing the risk of the pushing member 211 deviating from the preset direction when moving; and the side wall of the limiting groove can be provided with an opening facing the output end of the first clip 201 and the output end of the second clip 202, so that the pushing member 211 can be directly opposite to the output end of the first clip 201 and the output end of the second clip 202 when switching to the loading state, so that the end cover can be smoothly sent into the second push groove 2111, and the shell can be smoothly sent into the first push groove 2110.

[0066] A pushing device may be provided inside the first clip 201 and the second clip 202 to push the cladding and the end cap out from the output end.

[0067] The pushing member 211 is provided with a first pushing groove 2110 for accommodating the package shell and a second pushing groove 2111 for accommodating the end cover. The first pushing groove 2110 and the second pushing groove 2111 can limit the package shell and the end cover, so that the pushing member 211 can push the package shell and the end cover. The pushing member 211 can switch between the loading state and the feeding state under the drive of the driving member; when the pushing member 211 is in the loading state, the first pushing groove 2110 is opposite to the output end of the first clip 201, and the second pushing groove 2111 is opposite to the output end of the second clip 202. The first clip 201 and the second clip 202 push the package shell and the end cover into the first pushing groove 2110 and the second pushing groove 2111 through their own output ends respectively; when the pushing member 211 is in the feeding state, the first pushing groove 2110 is in the loading position, and the second pushing groove 2111 is in the grabbing position. The pushing member 211 will fix the package shell and the end cover in the loading position and the grabbing position respectively until the end cover is covered on the package shell.

[0068] According to some embodiments of the present application, optionally, Figure 1~Figure 2 , Figure 4~Figure 5As shown, it also includes a welding device 6, which includes a turntable 60 and a welding execution module. The turntable 60 is provided with a positioning groove 600 for installing the cladding. The turntable 60 is used to drive the cladding and the end cover to switch between a rotating state and a stationary state. The welding execution module is used to weld the rotating cladding and the end cover into an iridium original part; when the pusher 211 is in a feeding state, the pusher 211 presses the cladding against the outer wall surface of the turntable 60.

[0069] The turntable 60 can rotate itself to move the welding point of the welding execution unit 61 along the annular gap between the cladding and the end cover so as to weld the two into one.

[0070] The turntable 60 is provided with a positioning groove 600 for installing the cladding. The turntable 60 is used to drive the cladding and the end cover to switch between a rotating state and a stationary state. When the turntable 60 drives the cladding and the end cover provided on the cladding to rotate together, the welding execution module can weld the risk between the cladding and the end cover. The welding execution module is used to weld the rotating cladding and the end cover into an iridium original part; when the pusher 211 is in a feeding state, the pusher 211 presses the cladding against the outer wall surface of the turntable 60, and cooperates with the outer wall surface of the turntable 60 through the first push groove 2110 to clamp the cladding, so as to facilitate the detection device 4 to measure the actual radioactive activity of the cladding.

[0071] According to some embodiments of the present application, optionally, Figure 2 , Figure 4~Figure 5 As shown, the turntable 60 is provided with a guide groove 601 extending along the radius of the turntable 60 , and the guide groove 601 extends from the positioning groove 600 to the outer wall of the turntable 60 . The driving member drives the pushing member 211 to push the loaded cladding into the positioning groove 600 along the guide groove 601 .

[0072] When the cladding is being loaded, the turntable 60 stops rotating and the guide groove 601 is staggered with the first push groove 2110 to prevent the outer wall of the turntable 60 from rubbing against the cladding and causing damage to the cladding.

[0073] The turntable 60 is provided with a guide groove 601 extending along the radius of the turntable 60. During the filling process, the guide groove 601 is staggered with the pushing member 211. After the filling is completed, the turntable 60 rotates so that the guide groove 601 is opposite to the pushing member 211. The driving member drives the pushing member 211 to push the loaded cladding into the positioning groove 600 along the guide groove 601. The guide groove 601 can limit the moving direction of the pushing member 211 and the cladding, so that the cladding can be accurately delivered to the positioning groove 600.

[0074] According to some embodiments of the present application, optionally, the memory also stores position information of the positioning groove 600 and a grabbing position of the end cover, and the control module controls the robotic arm to grab the end cover and cover the shell in the positioning groove 600 based on the grabbing position of the end cover and the position information of the positioning groove 600.

[0075] The gripping position of the end cap is closer to the positioning slot 600 than the second clip 202, so that the moving path of the robot arm after gripping the end cap is shortened, thereby reducing the time required for the robot arm to move and speeding up the production efficiency of the iridium original.

[0076] Based on the grabbing position of the end cap and the position information of the positioning groove 600, the control module controls the robotic arm to grab the end cap and cover the cladding in the positioning groove 600, and completes the assembly process between the cladding and the end cap mechanically, thereby speeding up production efficiency and reducing labor costs.

[0077] According to some embodiments of the present application, optionally, an identification device 3 is further included, and the identification device 3 is used to identify the position information of multiple iridium sheets; the memory stores the loading position of the cladding, the detection position of the detection device 4 and the position information of the filling sheet, and the control module controls the robotic arm to grab the iridium sheet for detection and then fill it into the cladding, or grab the filling sheet and fill it into the cladding based on the loading position of the cladding, the detection position of the detection device 4, the position information of the filling sheet and the position information of multiple iridium sheets.

[0078] Based on the position information of multiple iridium sheets obtained by the identification device 3, the detection position of the detection device 4 and the filling position of the cladding, the control module controls the robotic arm to grab a single iridium sheet according to the position information of the multiple iridium sheets and move it to the detection position of the detection device 4 for detection, and then grabs the iridium sheet after the detection and fills it into the cladding. In the automated production system of iridium components provided by the present application, the positions of each processing are fixed, and the control module controls the robotic arm to perform each processing step. The operation process can also be adjusted according to the real-time data obtained by the identification device 3 and the detection device 4, so that the production process of iridium components can be automatically carried out without the assistance of precision detection equipment that is easily affected by radiation, thereby increasing production efficiency and reducing labor costs.

[0079] According to some embodiments of the present application, optionally, Figure 1~Figure 3 As shown, it also includes a disassembling device 7, which is used to disassemble the material rod to obtain a plurality of iridium sheets, and the disassembling device 7 can pour the plurality of iridium sheets into the identification device 3.

[0080] Iridium sheets are stored in rods for transportation. The disassembly device 7 may include a discharge tray. A screwdriver is provided at one end of the discharge tray for removing the sealing components at both ends of the rods. When the sealing components at both ends of the rods are removed, the cylinder push rod on the discharge tray will extend into the rods to push out all the iridium sheets inside them. Multiple iridium sheets fall into the discharge tray. A baffle is provided on the side of the discharge tray facing the identification device 3. The gap between the baffle and the bottom wall of the discharge tray only allows iridium sheets to pass through. Then the discharge tray is flipped over by the drive of the lifting device, allowing the iridium sheets in the discharge tray to slide along the bottom wall of the discharge tray to the operating area of ​​the identification device 3. Other components such as the rods are stopped by the baffle and stored in the discharge tray for recycling.

[0081] It also includes a disassembling device 7, which is used to disassemble the material rod to obtain a plurality of iridium sheets. The disassembling device 7 allows the material rod to be disassembled in the hot chamber, thereby reducing the risk of the radiation of the iridium sheets affecting the environment outside the hot chamber.

[0082] Although the present application has been described with reference to preferred embodiments, various modifications may be made thereto and parts thereof may be replaced with equivalents without departing from the scope of the present application. In particular, the various technical features mentioned in the various embodiments may be combined in any manner as long as there are no structural conflicts. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. An iridium component automated production system, characterized in that: include: A feeding device, used for delivering the cladding and end cover of the iridium element to a loading position and a grabbing position respectively; A detection device, used for detecting the actual radioactivity of the iridium sheet and all the iridium sheets in the cladding located at the loading position; The detection device has at least two detection windows, at least one of which is used to detect the actual radioactivity of the iridium sheet, and at least one of which is directly opposite to the loading position to detect the actual radioactivity of the cladding being loaded; A memory storing the target radioactivity of the iridium sheet and the target radioactivity of the iridium element; A transfer device and a control module, wherein the transfer device includes a mechanical arm, and the control module controls the mechanical arm to grab the iridium sheet for testing and then fill it into the cladding; In which, the detection device is also placed with a filling sheet for filling the cladding, and the control module controls the robotic arm to grab the iridium sheet or the filling sheet to fill the cladding based on the target radioactivity of the iridium sheet and the actual radioactivity of the iridium sheet; the control module also controls the robotic arm whether to continue to fill the iridium sheet into the cladding based on the target radioactivity of the iridium element and the actual radioactivity of all the iridium sheets in the cladding.

2. The iridium component automated production system according to claim 1, characterized in that: The memory also stores a target total number of fillers in the cladding, and the control module controls whether the robotic arm continues to fill the filling sheets into the cladding based on the sum of the number of iridium sheets and the number of filling sheets that have been filled into the cladding and the target total number of fillers in the cladding.

3. The iridium component automated production system according to claim 1, characterized in that: The detection device comprises a parts tray, and the parts tray is provided with a plurality of placement grooves for placing filling sheets, and the thickness of the filling sheets exceeds the depth of the placement grooves.

4. The iridium component automated production system according to claim 1, characterized in that: The feeding device comprises: The first feeding mechanism comprises a first base, a first clip and a second clip of the same structure, wherein the first clip and the second clip are fixedly mounted on the first base, the first clip is loaded with a plurality of the cladding shells, and the second clip is loaded with a plurality of the end caps; The second loading mechanism is used to send the shells and the end covers in the first magazine and the second magazine to the loading position and the grabbing position in turn. The second loading device includes a second base, and the first base is detachably mounted on the second base.

5. The iridium component automated production system according to claim 4, characterized in that: The second feeding device further comprises a pushing member and a driving member, wherein the pushing member is provided with a first pushing groove for accommodating the package shell and a second pushing groove for accommodating the end cover, and the pushing member can be switched between a feeding state and a feeding state under the driving of the driving member; When the pushing member is in a loading state, the first pushing groove is directly opposite to the output end of the first clip, and the second pushing groove is directly opposite to the output end of the second clip; When the pushing member is in a feeding state, the first pushing groove is in the loading position, and the second pushing groove is in the grabbing position.

6. The iridium component automated production system according to claim 5, characterized in that: It also includes a welding device, which includes a turntable and a welding execution module, wherein the turntable is provided with a positioning groove for mounting the cladding, the turntable is used to drive the cladding and the end cover to switch between a rotating state and a stationary state, and the welding execution module is used to weld the rotating cladding and the end cover into the iridium original part; When the pushing member is in a feeding state, the pushing member presses the cladding shell tightly against the outer wall surface of the rotating disk.

7. The iridium component automated production system according to claim 6, characterized in that: The turntable is provided with a guide groove extending along the radius of the turntable, wherein the guide groove extends from the positioning groove to the outer wall surface of the turntable, and the driving member drives the pushing member to push the loaded cladding into the positioning groove along the guide groove.

8. The iridium component automated production system according to claim 7, characterized in that: The memory also stores the position information of the positioning groove and the grabbing position of the end cover. The control module controls the robot arm to grab the end cover and cover the shell in the positioning groove based on the grabbing position of the end cover and the position information of the positioning groove.

9. The iridium component automated production system according to claim 1, characterized in that: Also included is an identification device, the identification device is used to identify the position information of the plurality of iridium sheets; The memory stores the loading position of the cladding, the detection position of the detection device, and the position information of the filling piece. The control module controls the robotic arm to grab the iridium sheet for detection and then load it into the cladding, or grab the filling sheet and load it into the cladding based on the loading position of the cladding, the detection position of the detection device, the position information of the filling piece, and the position information of multiple iridium sheets.

10. The iridium component automated production system according to claim 9, characterized in that: It also includes a disassembling device, which is used to disassemble the material rod to obtain a plurality of iridium sheets, and the disassembling device can dump the plurality of iridium sheets into the identification device.

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