Automatic particle chain filling device based on push rod pushing

Abstract

The invention discloses an automatic particle chain filling device based on push rod pushing. A first push rod driving mechanism drives a push rod to push particles or spacing rods to move forwards one by one along a particle chain sleeve to a required position for automatic filling; the first push rod driving mechanism adopts a friction driving mechanism, the friction driving mechanism comprises a friction assembly, at least one part of the surface of the friction assembly is tightly attached to the surface of the push rod, and the push rod is driven to move front and back through friction force generated by attachment; or the first push rod driving mechanism drives the push rod to move back and forth in a mode of combining the clamping device and the reciprocating motion module, the clamping device can clamp or release the push rod, and the reciprocating motion module can drive the clamping device to reciprocate along a preset track. The radiation time and labor capacity of operators are greatly reduced, the filling efficiency is improved, the filling accuracy is ensured, and meanwhile, the equipment is simple in structure and convenient to operate and maintain.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to an automatic loading device for a particle chain based on pusher pushing. Background Art

[0002] Radioactive particle implantation mainly refers to the technology of directly implanting an isotope radiation source into the tumor area for treatment, which belongs to a type of radiotherapy. Currently, this technical means mainly uses modern imaging technologies (such as CT, ultrasound, etc.) to place radioactive nuclides into the tumor target body or around the tumor by means of interstitial implantation. The implanted particles are usually iodine-125 particles. The half-life of iodine-125 particles is 59.6 days, and the radiation radius in the human body is less than 1.7 cm, which is safe and very easy to protect. The γ rays released by the particles continuously irradiate the tumor cells effectively for 180 days. It has the characteristics of high-dose distribution in the target tumor area to kill tumor cells, while the surrounding normal tissues receive a small amount of radiation, causing no damage or only minor damage. Essentially, it is a precise radiotherapy means.

[0003] The usage methods of radioactive particles mainly include minimally invasive percutaneous implantation and intraoperative placement. During minimally invasive percutaneous implantation, first, the number and position of radioactive particle implantation are determined by using a treatment planning system and imaging means such as CT, MRI, and ultrasound. Then, the puncture needle is inserted into the predetermined position, and the radioactive particles are implanted into the body one by one in cooperation with a radioactive particle implantation gun and a magazine. When the radioactive particle implantation technology is clinically applied, first, the activity of the radioactive particles is detected, then the radioactive particles are loaded into the magazine, then the magazine is installed into the implantation gun, and finally, the radioactive particles are directly pushed into the tumor tissue through the implantation needle to form interstitial brachytherapy with high precision.

[0004] Although this technology has been used in clinical radiotherapy in some domestic and foreign hospitals and achieved good curative effects, there are still some problems and defects in clinical use: First, for activity detection, before the implantation surgery, medical staff need to hold tweezers to check the activity of radioactive particles one by one and eliminate the particles with incorrect activity. There are certain reading errors in this process, and the labor intensity is high, and the risk of operation errors is high. Second, for the loading of the particle magazine, medical staff need to manually load the radioactive particles with corresponding activity and corresponding quantity into the magazine one by one according to the preoperative plan. There is a risk of particle dropping in this process, and it also exposes medical staff to radiation hazards for a long time. At the same time, the manual operation efficiency is low, increasing the operation time, the work burden of medical workers is heavy, and the radiation dose received is high.

[0005] In addition, particles are prone to displacement in the human body due to blood flow, gravity, muscle compression, etc., resulting in radiotherapy not meeting expectations. Therefore, one solution is to make the particles into a chain shape and cut them as needed during the operation. However, the forming process of such particle chains is another difficult problem. Only by using automated equipment for production, avoiding radiation damage caused by manual loading production, and properly storing and shielding the particle chains can this problem be truly solved. Summary of the Invention

[0006] To solve the above-mentioned existing technical problems, defects, and unachievable technical requirements: The purpose of the present invention is to provide an automatic loading device for particle chains based on push rod pushing, which can achieve automatic loading, greatly reducing the radiation exposure time and labor intensity of operators, improving the surgical efficiency, and having a simple structure, convenient operation, and easy maintenance for the loading equipment.

[0007] To achieve the above purpose, the present invention provides the following technical solutions:

[0008] An automatic loading device for particle chains based on push rod pushing includes a feeding part and a first push rod driving mechanism. The feeding part includes a particle feeding mechanism and a spacer rod feeding mechanism. The first push rod driving mechanism drives a push rod to push particles or spacer rods one by one along a particle chain sleeve forward to the required position for automatic loading; the first push rod driving mechanism is a flexible push rod driving mechanism, and the push rod is a flexible push rod.

[0009] The flexible push rod driving mechanism adopts a friction driving mechanism. The friction driving mechanism includes a friction component. At least a part of the surface of the friction component is closely attached to the surface of the push rod, and the push rod is driven to move back and forth through the friction force generated by the attachment; or the flexible push rod driving mechanism adopts a combination of a clamping device and a reciprocating motion module to drive the push rod to move back and forth. The clamping device can clamp or release the push rod, and the reciprocating motion module can drive the clamping device to reciprocate along a preset track.

[0010] The friction component is a friction wheel or a friction belt. The friction wheel or the friction belt presses the push rod through a pressing mechanism, and the pressing mechanism adopts a passive pressing mechanism or an active pressing mechanism; or the friction wheel or the friction belt itself is an elastic structure, and the push rod is clamped by its own extrusion.

[0011] The clamping device is a passive clamping device, which automatically clamps when advancing forward and automatically releases when retracting backward, so as to continuously drive the push rod forward; the push rod is connected to a wire reel assembly, and the wire reel is driven to rotate through a wire reel driving mechanism to realize backward recovery; or, the clamping device is an active clamping device, which can actively control clamping and releasing, and realizes forward and backward movement under the action of the reciprocating motion module.

[0012] The clamping device is one or a combination of a claw mechanism, a rotary clamping mechanism, and a side pressing / tightening mechanism.

[0013] A pipe joint is connected to the front end of the first push rod driving mechanism. The pipe joint is connected to an external pipe, and a first cleaning module is installed on the pipe joint. The first cleaning module is a sleeve-type or sheet-type two-way cleaning module, and the first cleaning module can clean the dirt on the push rod.

[0014] The particle feeding mechanism uses a particle magazine for feeding or a particle arranging mechanism for feeding. The particle arranging mechanism uses a vibrating disk, and the vibrating disk arranges and vibrates the particles one by one for output; or the particle arranging mechanism uses a notch arranging component, and the notch can be replaced by a space separated by a partition plate; or the particle arranging mechanism uses an arrangement method based on a V-shaped groove, an arc groove, or a flared opening; or the particle arranging mechanism uses a particle grasping mechanism to directly grasp single particles one by one from a pile of particles.

[0015] The spacer rod feeding mechanism uses a spacer rod magazine for feeding, a spacer rod arranging mechanism for feeding, or a spacer rod chain for feeding;

[0016] When using the spacer rod arranging mechanism for feeding, the spacer rod arranging mechanism for feeding uses one or a combination of a vibrating disk, a notch arranging component, an arranging mechanism based on a V-shaped groove, an arc groove, or a flared opening, and a spacer rod grasping mechanism; the spacer rod arranging mechanism uses a vibrating disk, and the vibrating disk arranges and vibrates the spacer rods one by one for output; or the spacer rod arranging mechanism uses a notch arranging component, and the notch can be replaced by a space separated by a partition plate; or the spacer rod arranging mechanism uses an arrangement method based on a V-shaped groove, an arc groove, or a flared opening; or the spacer rod arranging mechanism uses a spacer rod grasping mechanism to directly grasp single spacer rods one by one from a pile of spacer rods.

[0017] When using the spacer rod chain for feeding, the spacer rod feeding mechanism includes a spacer rod implanting mechanism and a spacer rod cutting mechanism. The spacer rod implanting mechanism can move the spacer rod forward along the particle chain sleeve to the required position, or the spacer rod implanting mechanism can push the spacer rod to the required position, and then the first push rod driving mechanism moves the spacer rod forward along the particle chain sleeve to the required position; the spacer rod cutting mechanism can cut the spacer rod to the required length.

[0018] The particles and / or spacer rods are filled into the particle chain sleeve one by one by means of a scheduling mechanism or pipeline transportation or trough transportation or conveyor belt transportation. The scheduling mechanism sequentially places the particles and spacer rods into the particle chain sleeve; in the pipeline transportation method, the first moving platform enables the particle feeding mechanism and the spacer rod feeding mechanism to be respectively docked with the particle chain sleeve one by one to achieve filling one by one; or in the pipeline transportation method, a bifurcated pipe is used to connect with the particle chain sleeve, and the particle feeding mechanism and the spacer rod feeding mechanism are respectively connected to the bifurcated pipe to achieve the filling of the particles and spacer rods one by one.

[0019] When the scheduling mechanism is adopted, a function module is arranged on the scheduling mechanism, and the function module is one or a combination of a particle activity detection module, an appearance detection module, a dust removal module, a cleaning module, and a counting module; the particle activity detection module includes an activity sensor and a recovery container, the activity sensor determines the particle activity, and makes the particles with unqualified activity fall into the recovery container; the appearance detection module includes a vision sensor, and the vision sensor determines that the shape of the particle or spacer rod is normal and the clamping position is normal; the dust removal module includes a dust blowing or dust suction module, and the dust blowing or dust suction module blows or sucks the dust outside the particle or spacer rod clean; the cleaning module cleans the dirt outside the particle or spacer rod; the counting module includes an inductive switch and a counter, and can determine the number of particles or spacer rods passing through.

[0020] When the particles and / or spacer rods are filled into the particle chain sleeve one by one by means of the scheduling mechanism, the scheduling mechanism is scheduled by combining a grasping mechanism and a second moving platform, and the particles or spacer rods are transported by means of pipeline transportation; or the scheduling mechanism is provided with a plurality of grasping mechanisms, and multi-station grasping can be realized simultaneously;

[0021] When the particles and / or spacer rods are filled into the particle chain sleeve one by one by means of pipeline transportation, the pipeline transportation method uses a bifurcated pipe to connect with the particle chain sleeve, the bifurcated pipe is a three-way pipe structure or a four-way pipe structure, the particle feeding mechanism and the spacer rod feeding mechanism are respectively connected to the bifurcated pipe to achieve the filling of the particles and spacer rods one by one, and a first push rod driving mechanism drives the push rod to push the particles or spacer rods into the particle chain sleeve one by one along the conveying channel.

[0022] It further includes a particle chain recovery mechanism. At least one group of particle chain recovery mechanisms is provided, and each group of particle chain recovery mechanisms is connected to a group of particle chain sleeves. After the particle chain sleeve is filled and formed, the particle chain recovery mechanism will wind up and store the particle chain in a radiation-proof housing;

[0023] The front end of the particle chain sleeve is supported by a sleeve inlet bracket, and a particle chain cutting mechanism is sleeved outside the particle chain sleeve and on the left or right side of the sleeve inlet bracket. The particle chain cutting mechanism can cut the already filled particle chain.

[0024] The beneficial effects of the present invention are as follows;

[0025] The present invention provides an automatic particle chain loading device based on pusher pushing, which fills particles and / or spacer rods into the particle chain sleeve one by one. The first pusher driving mechanism is used to drive the pusher to move back and forth. The pusher pushes the particles or spacer rods to move forward along the particle chain sleeve one by one to the required positions for loading. After loading, the particle chain cutting mechanism will cut the particle chain, and then the particle chain recovery mechanism will recover the particle chain, avoiding radiation damage during manual loading of the particle chain and providing good storage shielding protection for the particle chain, which is beneficial to the application and popularization of the particle chain technology in the clinic. The present invention greatly reduces the radiation exposure time and labor intensity of the operator, improves the surgical efficiency, and at the same time, the loading device has a simple structure, is easy to operate and maintain. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic structural diagram of the radiation-proof chassis for Embodiment 1;

[0027] Figure 2 It is a schematic structural diagram of Embodiment 1 without a radiation-proof chassis;

[0028] Figure 3 It is a schematic internal structure diagram of Embodiment 1;

[0029] Figure 4 For Figure 3 The enlarged schematic diagram at A in

[0030] Figure 5 For Figure 3 The enlarged schematic diagram at B in

[0031] Figure 6 For Figure 3 The enlarged schematic diagram at C in

[0032] Figure 7 For Figure 3 The enlarged schematic diagram at D in

[0033] Figure 8 It is a schematic structural diagram of the particle chain recovery mechanism for Embodiment 1;

[0034] Figure 9 It is a schematic structural diagram of the particle chain recovery mechanism after being stored for Embodiment 1;

[0035] Figure 10Schematic diagram of the particle chain cutting mechanism, sizing mechanism and second cleaning module of Example 1;

[0036] Figure 11 Schematic diagram of the spacer rod feeding mechanism of Example 1;

[0037] Figure 12 Schematic diagram of the friction drive mechanism of Example 1;

[0038] Figure 13 Internal structure schematic diagram of the friction drive mechanism of Example 1;

[0039] Figure 14 Schematic diagram of the first push rod drive mechanism, scheduling mechanism, spacer rod feeding mechanism and particle chain recovery mechanism of Example 1;

[0040] Figure 15 Schematic diagram of the structure of the radiation-proof chassis of Example 2;

[0041] Figure 16 Schematic diagram of the structure of the non-radiation-proof chassis of Example 2;

[0042] Figure 17 Internal structure schematic diagram of Example 2;

[0043] Figure 18 For Figure 17 Enlarged schematic diagram at position A in

[0044] Figure 19 For Figure 17 Enlarged schematic diagram at position B in

[0045] Figure 20 For Figure 17 Enlarged schematic diagram at position C in

[0046] Figure 21 Schematic diagram of the structure of the radiation-proof chassis of Example 3;

[0047] Figure 22 Schematic diagram of the structure of the non-radiation-proof chassis of Example 3;

[0048] Figure 23 Internal structure schematic diagram of Example 3;

[0049] Figure 24 For Figure 23 Enlarged schematic diagram at position A in

[0050] Figure 25 For Figure 23 Enlarged schematic diagram at position B in

[0051] Figure 26 For Figure 23Enlarged schematic view at position C;

[0052] Figure 27 Schematic structural view of the particle chain of Example 3;

[0053] Figure 28 Schematic structural view of the sleeve-type two-way cleaning module of Example 4;

[0054] Figure 29 Internal schematic view of the flexible push rod of the sleeve-type two-way cleaning module of Example 4 before being cleaned;

[0055] Figure 30 Internal schematic view of the flexible push rod of the sleeve-type two-way cleaning module of Example 4 during cleaning;

[0056] Figure 31 Schematic structural view of the sheet-type two-way cleaning module of Example 5;

[0057] Figure 32 Schematic structural view of the second cleaning module of Example 6;

[0058] Figure 33 Schematic structural view of the first cutting knife of Example 7;

[0059] Figure 34 Schematic structural view of the second cutting knife of Example 7. Detailed implementation manners

[0060] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0061] Example 1

[0062] A particle chain automatic loading device based on push rod pushing includes a feeding part and a first push rod driving mechanism. The feeding part includes a particle feeding mechanism and a spacer rod feeding mechanism. The first push rod driving mechanism drives a push rod to push particles or spacer rods one by one along the particle chain sleeve forward to the required positions for automatic loading; the first push rod driving mechanism is a flexible push rod driving mechanism, and the push rod is a flexible push rod;

[0063] The flexible push rod driving mechanism adopts a friction driving mechanism. The friction driving mechanism includes a friction assembly. At least a part of the surface of the friction assembly is closely attached to the surface of the push rod, and the push rod is driven to move back and forth by the friction force generated by the attachment;

[0064] Alternatively, the flexible push rod driving mechanism realizes the forward and backward movement of the push rod by combining a clamping device with a reciprocating motion module. The clamping device can clamp or release the push rod, and the reciprocating motion module can drive the clamping device to reciprocate along a preset trajectory.

[0065] The particle feeding mechanism uses a particle magazine for feeding or a particle arranging mechanism for feeding. The particle arranging mechanism for feeding uses a first vibrating disk 10041208, and the first vibrating disk 10041208 arranges and vibrates the particles one by one for output.

[0066] As an alternative, the particle arranging mechanism uses a notch arranging component, and the notch can be replaced by a space separated by a partition plate; or the particle arranging mechanism uses an arranging method based on a V-shaped groove, an arc groove or a flared opening; or the particle arranging mechanism uses a particle grasping mechanism to directly grasp single particles one by one from a pile of particles.

[0067] The spacer bar feeding mechanism uses a spacer bar magazine for feeding, a spacer bar arranging mechanism for feeding or a spacer bar chain for feeding. The spacer bar arranging mechanism for feeding uses one or a combination of a vibrating disk, a notch arranging component, an arranging mechanism based on a V-shaped groove, an arc groove or a flared opening, and a particle grasping mechanism.

[0068] When the spacer bar arranging mechanism for feeding uses a vibrating disk, the vibrating disk arranges and vibrates the spacer bars one by one for output; or the spacer bar arranging mechanism uses a notch arranging component, and the notch can be replaced by a space separated by a partition plate; or the spacer bar arranging mechanism uses an arranging method based on a V-shaped groove, an arc groove or a flared opening; or the spacer bar arranging mechanism uses a spacer bar grasping mechanism to directly grasp single spacer bars one by one from a pile of spacer bars.

[0069] When the spacer bar arranging mechanism uses a spacer bar chain for feeding, the spacer bar feeding mechanism (such as the spacer bar cutting and implanting mechanism 10041209 in this embodiment) includes a spacer bar implanting mechanism and a spacer bar cutting mechanism. The spacer bar implanting mechanism can move the spacer bar forward along the particle chain sleeve to the required position, or the spacer bar implanting mechanism can push the spacer bar to the required position, and then the first push rod driving mechanism moves the spacer bar forward along the particle chain sleeve to the required position; the spacer bar cutting mechanism can cut the spacer bar to the required length.

[0070] In this embodiment, the spacer bar feeding mechanism uses a spacer bar chain for feeding.

[0071] The particles and / or spacer rods are filled into the particle chain sleeve one by one by means of a scheduling mechanism, pipeline transportation, chute transportation, or conveyor belt transportation. The scheduling mechanism sequentially places the particles and spacer rods into the particle chain sleeve; in the case of pipeline transportation, the first moving platform (such as the first vertical movement module 10041205, the first horizontal movement module 10041206, and the particle suction pipe 10041207 in this embodiment) enables the particle feeding mechanism and the spacer rod feeding mechanism to be respectively docked with the particle chain sleeve one by one and realizes filling one by one; alternatively, in the case of pipeline transportation, a bifurcated pipe is used to connect to the particle chain sleeve, and the particle feeding mechanism and the spacer rod feeding mechanism are respectively connected to the bifurcated pipe to realize the filling of particles and spacer rods one by one.

[0072] When the scheduling mechanism is adopted, a function module is provided on the scheduling mechanism, and the function module is one or a combination of a particle activity detection module, an appearance detection module, a dust removal module, a cleaning module, and a counting module.

[0073] The particle activity detection module 10041211 includes an activity sensor and a recovery container. The activity sensor determines the particle activity and causes the particles with unsatisfactory activity to fall into the recovery container (such as the first waste particle box 10041212 in this embodiment); the appearance detection module includes a vision sensor, and the vision sensor determines that the shape of the particle or spacer rod is normal and the clamping position is normal; the dust removal module includes a dust blowing or dust suction module, and the dust blowing or dust suction module blows or sucks the dust outside the particle or spacer rod clean; the cleaning module cleans the dirt outside the particle or spacer rod; the counting module includes an inductive switch and a counter, and can determine the number of particles or spacer rods passing through.

[0074] In the case of pipeline transportation, a bifurcated pipe is used to connect to the particle chain sleeve. The bifurcated pipe is a three-way pipe structure or a four-way pipe structure. The particle feeding mechanism and the spacer rod feeding mechanism are respectively connected to the bifurcated pipe to realize the filling of particles and spacer rods one by one, and a flexible push rod is driven along the conveying channel by a first push rod driving mechanism to push the particles or spacer rods into the particle chain sleeve one by one.

[0075] The pipeline is a four-way pipe structure, including a bifurcated pipe C (such as the push rod conveying pipe 10041215 in this embodiment), a bifurcated pipe D (such as the particle conveying pipe 10041214 in this embodiment), a bifurcated pipe E (such as the spacer rod conveying pipe 10041213 in this embodiment), and a main pipe (such as the main pipe 10041232 in this embodiment). The bifurcated pipe C, bifurcated pipe D, and bifurcated pipe E are connected to the main pipe in a through manner. The bifurcated pipe C is connected to the push rod output channel of the first push rod driving mechanism, the bifurcated pipe D is connected to the particle output pipeline of the particle arranging mechanism, the bifurcated pipe E is connected to the spacer rod output channel of the spacer rod arranging mechanism, and the main pipe is connected to the conveying channel. The particle arranging mechanism can orderly arrange the required number of particles and send them into the bifurcated pipe D. The spacer rod arranging mechanism can orderly arrange the required number of spacer rods and send them into the bifurcated pipe E. The particles slide into the main pipe along the bifurcated pipe D, and the spacer rods slide into the main pipe along the bifurcated pipe E. The first push rod driving mechanism drives the first push rod to move forward along the bifurcated pipe C and enter the main pipe and the conveying channel, so as to push the particles or spacer rods in the main pipe forward one by one. The particle arranging mechanism adopts a vibrating disk, or the particle arranging mechanism adopts a particle grabbing mechanism.

[0076] When the bifurcated pipe C and the bifurcated pipe D are combined into one channel, or when the bifurcated pipe C and the bifurcated pipe E are combined into one channel, the four-way pipe structure becomes a three-way pipe structure.

[0077] A photoelectric switch or a camera is installed on the bifurcated pipe D or bifurcated pipe E, which can accurately measure the number of particles or spacer rods; alternatively, a blocking mechanism is installed on the bifurcated pipe D or bifurcated pipe E to control the number of particles or spacer rods and prevent excess particles or spacer rods from sliding into the main pipe.

[0078] It further includes a docking fixture assembly capable of docking the bifurcated pipe with different particle chain sleeves. The docking fixture assembly includes a docking outer pipe 10041217 and at least two transition connecting pipes. One end of the docking outer pipe is installed on the outer pipe fixing seat 10041216 and is communicated with the main pipe. The other end of the docking outer pipe is installed on the moving platform and can be displaced under the drive of the moving platform. Each transition connecting pipe can be communicated with the corresponding particle chain sleeve. Each transition connecting pipe is respectively connected to the corresponding moving fixing seat 10041219 and can move in the direction close to or away from the docking outer pipe under the drive of the moving fixing seat. Under the action of the moving platform and the moving fixing seat, the docking outer pipe can be docked and communicated with different transition connecting pipes.

[0079] The front end of the particle chain sleeve further includes a section of transition connecting pipe 10041218. The movable fixing seat is provided with a through hole, and the transition connecting pipe is communicated with the through hole on the movable fixing seat. The front end of the particle chain sleeve is connected to the position of the through hole on the movable fixing seat through a particle chain quick connector 10041221, so that the docking outer pipe, the transition connecting pipe, the through hole and the particle chain sleeve can be communicated to form a loading channel. The driving mode of the movable fixing seat is one or a combination of synchronous belt drive, screw nut drive, gear rack drive, and electric push rod drive.

[0080] The first push rod driving mechanism is a flexible push rod driving mechanism, the push rod is a flexible push rod, and the flexible push rod driving mechanism can drive the flexible push rod to move back and forth along the particle chain sleeve, and convey the particles or spacer rods arranged at the front end of the flexible push rod to a preset position along the particle chain sleeve.

[0081] The flexible push rod driving mechanism adopts a friction driving mechanism, and the friction driving mechanism includes a friction component. At least a part of the surface of the friction component is closely attached to the surface of the push rod, and the push rod is driven to move back and forth through the generated frictional force.

[0082] The friction component is a friction wheel or a friction belt. The friction wheel or the friction belt presses the push rod through a pressing mechanism, and the pressing mechanism adopts a passive pressing mechanism or an active pressing mechanism; or the friction wheel or the friction belt itself is an elastic structure, and the push rod is clamped by its own extrusion.

[0083] The passive pressing mechanism includes a pressing guiding mechanism and a pressing elastic element. The pressing guiding mechanism is used to guide the friction component to move along a fixed track, and can specifically adopt one or a combination of a chute, a hinge, and a slide rail. The pressing elastic element is used to apply a pressing force to the friction component to press the push rod, and can specifically adopt one or a combination of an elastic block, a spring, a torsion spring, a coil spring, and a torsion bar. The passive pressing mechanism also includes a pressure adjusting device for adjusting the pressing force by adjusting the pre-tightening amount of the pressing elastic element. The pressure adjusting device adopts an adjusting screw or a structure combining a telescopic push rod and a cam.

[0084] The active pressing mechanism includes a pressing guiding mechanism and a pressing driving element. The pressing guiding mechanism is used to guide the friction component to move along a fixed track, and can specifically adopt one or a combination of a chute, a hinge, and a slide rail. The pressing driving element is used to actively apply a pressing force to the friction component to press the push rod, and can specifically adopt one or a combination of an electromagnet, a motor, an electric push rod, a pneumatic push rod, and a hydraulic push rod.

[0085] The friction wheel or the friction belt is provided with anti-slip grooves or anti-slip patterns; the friction wheel or the friction belt is provided with an annular groove, and the push rod is restricted in the annular groove.

[0086] The flexible push rod driving mechanism realizes the forward and backward movement of the push rod by combining a clamping device with a reciprocating motion module. The clamping device can clamp or release the push rod, and the reciprocating motion module can drive the clamping device to reciprocate along a preset track.

[0087] The clamping device is a passive clamping device, which automatically clamps when moving forward and automatically releases when resetting backward, so as to continuously drive the push rod forward; the push rod is connected to a wire reel assembly, and the wire reel is driven to rotate through a wire reel driving mechanism to realize backward recovery;

[0088] The passive clamping device is one or a combination of a claw mechanism, a rotary clamping mechanism, and a side pressing / tightening mechanism;

[0089] The claw mechanism includes claws. The claws are guided by hinges or chutes and can open or close. When the reciprocating motion module drives the claws to move to one side, the claws close and clamp the push rod, thereby driving the push rod to that side. When the reciprocating motion module drives the claws to move to the other side, the claws open and release the push rod to reset;

[0090] The rotary clamping mechanism includes a rotating part and a rotary driving mechanism. When the rotary clamping mechanism is driven by the reciprocating motion module to move to one side, the rotating part will be driven to rotate by the rotary driving mechanism. There are through holes or through grooves or double protrusions on the rotating part. When the rotating part rotates, it will hold the push rod passing through the through hole or through groove or double protrusion on it; when the rotary clamping mechanism is driven by the reciprocating motion module to move to the other side, the rotating part will be driven to rotate to a limited position by the rotary driving mechanism, and the rotating part will no longer hold the push rod in the limited position;

[0091] The side pressing / tightening mechanism adopts a side pressing mechanism or a side tightening mechanism; when the side pressing mechanism is driven by the reciprocating motion module to move to one side, it will automatically press the push rod from the side, and rely on the friction generated by the pressing to drive the push rod to one side. Then, when the side pressing mechanism is driven by the reciprocating motion module to move to the other side, it will automatically release the pressing on the push rod to reset the side pressing mechanism; when the side tightening mechanism is driven by the reciprocating motion module to move to one side, it will automatically tighten the push rod from the side, and rely on the friction generated by the tightening to drive the push rod to one side. Then, when the side tightening mechanism is driven by the reciprocating motion module to move to the other side, it will automatically release the tightening on the push rod to reset the side tightening mechanism;

[0092] The clamping device is an active clamping device, which can actively control clamping and loosening, and move forward and backward under the action of the reciprocating motion module; the active clamping device uses a claw to clamp, and the claw is guided by a hinge or a chute and can be opened and closed to clamp or loosen the push rod; or the active clamping device uses a side pressing mechanism or a side tensioning mechanism to press / tension or loosen the push rod from the side; or the active clamping device uses a rotary clamping device, and the push rod passes through a through hole, or a through groove, or between double protrusions on the rotating part of the rotary clamping device, and the rotating part rotates or bends to achieve rotary clamping and loosening.

[0093] The reciprocating motion module uses a synchronous belt mechanism, and the slider is connected to the synchronous belt and is also connected to the clamping device; or the reciprocating motion module can be implemented by at least one of a lead screw nut mechanism, a gear rack mechanism, a connecting rod mechanism, a pneumatic mechanism, and a hydraulic mechanism.

[0094] A pipe joint is connected to the front end of the first push rod driving mechanism, the pipe joint is connected to an external pipe, and a first cleaning module is installed on the pipe joint. The first cleaning module can clean the dirt on the push rod, and the first cleaning module is a sleeve-type or sheet-type two-way cleaning module;

[0095] When the two-way cleaning module is a sleeve-type two-way cleaning module, the pipe joint is connected to the external pipe through a cleaning block. A soft rubber tube is installed in the cleaning block, and the aperture of the central hole of the soft rubber tube is smaller than the outer diameter of the push rod. When the push rod is pushed out, the push rod can expand the central hole of the soft rubber tube to enable the push rod to pass through smoothly; when the push rod retracts, due to the tension and extrusion of the soft rubber tube, the dirt on the push rod will be scraped clean;

[0096] When the two-way cleaning module is a sheet-type two-way cleaning module, a cleaning sheet is installed in the pipe joint, and the aperture of the central hole of the cleaning sheet is smaller than the outer diameter of the push rod. When the push rod is pushed out, the push rod can expand the central hole of the cleaning sheet to enable the push rod to pass through smoothly; when the push rod retracts, due to the tension and extrusion of the cleaning sheet, the dirt on the push rod will be scraped clean.

[0097] The front end of the particle chain sleeve is supported by a sleeve inlet bracket, providing support for the subsequent loading of particles and / or spacer rods.

[0098] A particle chain cutting mechanism is sleeved on the left or right side of the particle chain sleeve and outside the sleeve inlet bracket. The particle chain cutting mechanism can cut the filled particle chain.

[0099] The particle chain cutting mechanism adopts one or a combination of guillotine cutting mechanisms, scissor cutting mechanisms, and circumferential cutting mechanisms. The guillotine cutting mechanism completes cutting by the movement of a single-sided blade. The scissor cutting mechanism completes cutting by the simultaneous opposite movement of double-sided blades. The circumferential cutting mechanism realizes cutting by the simultaneous movement of at least three blades towards the center point.

[0100] It further includes a cutting power source, which is connected to the particle chain cutting mechanism through a cutting transmission mechanism, or the cutting power source is directly connected to the particle chain cutting mechanism, so as to transmit power to the particle chain cutting mechanism to complete the cutting action. The cutting transmission mechanism is one or a combination of a connecting rod mechanism (such as the cutting push rod 10041223 in this embodiment), a lead screw nut mechanism, a gear mechanism, a belt transmission mechanism, and a cam mechanism. The cutting power source is one or a combination of a motor, a pneumatic push rod, a pneumatic motor, a hydraulic push rod, and a hydraulic motor.

[0101] A glue application mechanism is provided outside the particle chain sleeve. The glue application method of the glue application mechanism adopts immersion glue application at the entrance of the particle chain sleeve or puncture injection glue application method. The glue application mechanism includes a glue dropper 10041222, and the glue dropper is connected to a glue device 10041204.

[0102] When the glue application mechanism adopts immersion glue application, the nozzle of the glue dropper is connected to the particle chain sleeve through a glue application bifurcated pipe 10041231. When the particles and / or spacer rods move to the lower part of the glue dropper along the particle and / or spacer rod conveying pipe through a push rod, the glue dropper discharges glue and flows into the glue application bifurcated pipe, and the particles and / or spacer rods passing through the glue application bifurcated pipe will be covered with a layer of glue.

[0103] When the glue application mechanism adopts the puncture injection glue application method, the glue dropper can move along the particle chain sleeve, and the glue dropper injects glue into the particle chain sleeve through a puncture syringe, and can bond the arranged particles and spacer rods in the particle chain sleeve with glue.

[0104] The glue application mechanism further includes a heating mechanism, which can heat the glue in the glue dropper to prevent the glue from solidifying. The glue is a material that can be degraded by the human body, specifically one or a combination of gelatin, collagen, PLA, PGA, and PCL.

[0105] A second cleaning module 10041234 is provided outside the particle chain sleeve. The second cleaning module can move relative to the particle chain sleeve to clean the dirt on the outer surface of the particle chain sleeve; the second cleaning module is a cleaning block, and the cleaning block is installed at the lower part of the cleaning push rod of the cleaning push-out mechanism. The cleaning push-out mechanism drives the cleaning push rod to move, driving the cleaning block to be able to press against or move away from the particle chain sleeve. When the cleaning block presses against the particle chain sleeve, the cleaning block works to clean the dirt on the particle chain sleeve; or when the second cleaning module is a sheet-type two-way cleaning module, a cleaning sheet is installed in the pipe joint of the particle chain sleeve. The aperture of the central hole of the cleaning sheet is smaller than the outer diameter of the particle chain sleeve. When the particle chain sleeve is pushed out, the particle chain sleeve can expand the central hole of the cleaning sheet to enable the particle chain sleeve to pass through smoothly; when the particle chain sleeve retracts, due to the tightening and squeezing action of the cleaning sheet, the dirt on the particle chain sleeve will be scraped clean.

[0106] It further includes a particle chain recovery mechanism. At least one group of particle chain recovery mechanisms is provided. Each group of particle chain recovery mechanisms is connected to a group of particle chain sleeves (such as the first particle chain sleeve 10041226 in this embodiment). After the particle chain sleeve is filled and formed, the particle chain recovery mechanism will wind and store the particle chain in the radiation-proof housing.

[0107] It further includes a particle chain sleeve transportation mechanism. When multiple groups of particle chain sleeves are provided, one or more groups of the particle chain sleeves are transported to the filling position through the particle chain sleeve transportation mechanism, so that the particle chain sleeve is filled with particle chains at a position close to the bifurcated pipe, while the other particle chain sleeves are clamped, loaded, and unloaded at a place far from the bifurcated pipe. And when the particle chain sleeve is ready to be unloaded after being filled, it has been wound and stored in the radiation-proof housing by the particle chain recovery mechanism, and the operator can directly unload the entire radiation-proof housing, avoiding the operator being irradiated during loading and unloading.

[0108] The particle chain sleeve transportation mechanism includes a guide rail 10041229. Multiple groups of sliders are fitted on the guide rail. When two groups of particle chain recovery mechanisms are provided, the two groups of particle chain recovery mechanisms are respectively detachably installed on the corresponding sliders, and the sliders are driven to move on the corresponding guide rails through a driving mechanism, enabling the two groups of particle chain recovery mechanisms to alternately perform the filling and clamping of the particle chain sleeves; the driving mode of the driving mechanism is one or a combination of synchronous belt drive, cable drive, chain drive, screw-nut drive, gear-rack drive, electric push rod drive, and pneumatic push rod drive.

[0109] When the driving mode of the driving mechanism is synchronous belt drive, the driving mechanism includes multiple groups of synchronous belt pulleys and a synchronous belt 10041228 fitted on the multiple groups of synchronous belt pulleys. The synchronous belt is connected to the particle chain recovery mechanism through a synchronous belt fixing block 10041227. The synchronous belt pulley is driven by a motor and can drive the synchronous belt to move, so as to make the particle chain recovery mechanism move along the guide rail. The synchronous belt drive can also be changed to a gear-rack drive, a lead screw-nut drive, a chain drive, or a cable drive.

[0110] There are two sets of the particle chain recovery mechanism, and the two sets of particle chain recovery mechanisms are respectively installed on the particle chain sleeve transportation mechanism through clamps. Through the particle chain sleeve transportation mechanism, when one station is loading particles or spacer rods, the particle chain recovery mechanism on the other station can be disassembled and an empty particle chain recovery mechanism can be reinstalled.

[0111] A section of spacer rod is first filled into the proximal end of the particle chain sleeve and then clamped into the receiving tray 10041233 on the particle chain recovery mechanism. Then, spacer rods and particles are sequentially filled into the particle chain from the distal end of the particle chain sleeve to form a particle chain. Then, the receiving tray is rotated to facilitate winding and storing the particle chain sleeve.

[0112] A shielding housing is provided outside the receiving tray on the particle chain recovery mechanism.

[0113] The spacer rod is made of a material that can be degraded by the human body, and the particle chain sleeve is made of a material that can be degraded by the human body; the material that can be degraded by the human body is one or a combination of collagen, polymer, gelatin, alginate, and polyester degradable material.

[0114] It also includes a radiation-proof chassis. The radiation-proof chassis is a box structure assembled by box plates or a frame structure assembled by frame plates. The box plates or frame plates are all radiation-proof plates 10041201. A radiation-proof door 10041203 is provided on the radiation-proof chassis, and a radiation-proof glass 10041202 is installed on the radiation-proof door; a slope is provided at the bottom of the radiation-proof chassis, and the scattered particles fall into the recovery container along the slope, so that the scattered particles can be recovered. A vibration mechanism is also provided at the bottom of the radiation-proof chassis to improve the recovery efficiency; a camera is also provided inside the radiation-proof chassis for observing the operation of the equipment inside at close range; a lighting lamp is also provided inside the radiation-proof chassis.

[0115] Specifically, as Figures 1 to 14As shown in the figure, it includes: a radiation protection plate 10041201, a radiation protection glass 10041202, a radiation protection door 10041203, a glue device 10041204, a first vertical translation module 10041205, a first horizontal translation module 10041206, a particle suction pipe 10041207, a first vibrating disk 10041208, a spacer rod cutting and implanting mechanism 10041209, a first flexible push rod driving mechanism 10041210, a first particle activity detection module 10041211, a first waste particle box 10041212, a spacer rod delivery pipe 10041213, a particle delivery pipe 10041214, a push rod delivery pipe 10041215, an outer pipe fixing seat 10041216, a docking outer pipe 10041217, a transition connecting pipe 10041218, a moving fixing seat 10041219, a first particle groove 10041220, a particle chain quick connector 10041221, a glue dropper 10041222, a particle chain cutting mechanism 100413, a cutting push rod 10041223, a first particle chain recovery mechanism 10041224, a connecting rod 10041225, a first particle chain sleeve 10041226, a synchronous belt fixing block 10041227, a synchronous belt 10041228, a guide rail 10041229, a swing rod 10041230, a glue bifurcated pipe 10041231, a main pipe 10041232, a storage tray 10041233, a second cleaning module 10041234, and a first cleaning block 10041235.

[0116] The radiation protection chassis is a box structure assembled by box plates or a frame structure assembled by frame plates. Both the box plates and the frame plates are radiation protection plates 10041201. A radiation protection door 10041203 is provided on the radiation protection chassis, and a radiation protection glass 10041202 is installed on the radiation protection door 10041203. A camera is also provided inside the radiation protection chassis for closely observing the operation of the equipment inside; a lighting lamp is also provided inside the radiation protection chassis.

[0117] A first horizontal translation module 10041206 is installed on the radiation protection plate 10041201 at the rear side inside the radiation protection chassis, a first vertical translation module 10041205 is installed on the first horizontal translation module 10041206, a particle suction pipe 10041207 is installed on the first vertical translation module 10041205. The particle suction pipe 10041207 can adsorb the particles vibrated out by the first vibrating disk 10041208, and the particles vibrated out by the first vibrating disk 10041208 are stored in the first particle groove 10041220.

[0118] The first vibrating disk 10041208, the first waste particle box 10041212, the spacer rod cutting and implanting mechanism 10041209, the first flexible push rod driving mechanism 10041210, and the outer tube fixing seat 10041216 are respectively installed on the radiation protection plate 10041201 at the bottom inside the radiation protection chassis. The first particle activity detection module 10041211 is also installed on the radiation protection plate 10041201 at the rear side inside the radiation protection chassis, and the activity detector of the first particle activity detection module 10041211 is located above the first waste particle box 10041212. If the particle activity detection fails, the particles are directly dropped into the first waste particle box 10041212.

[0119] The friction drive mechanism includes a power component 68, a drive component 49, a transmission component 69, a guiding component 70, a mounting bracket 50, and a position detection component 60.

[0120] The power component 68, the drive component 49, the transmission component 69, the guiding component 70, and the position detection component 60 are all installed on the mounting bracket 50. The power component 68 is used to provide the power for the movement of the flexible push rod 2027101. The drive component 49 is used to transmit the power of the power component to the transmission component 69. The transmission component 69 is used to transmit the power output by the power component 68 to the flexible push rod 2027101. The guiding component 70 guides the flexible push rod 2027101, and the position detection component 60 is used to measure the position of the flexible push rod 2027101 on the guiding component 70.

[0121] The power component 68 is a third motor or a combination form of a third motor and a reducer. The reducer is fixed to the mounting bracket 50 through a first fixing plate. The drive component 49 uses a bevel gear assembly to achieve power transmission.

[0122] The transmission component 69 includes a second friction assembly 63 and a first friction assembly 64. One end of the first friction assembly 64 and / or the second friction assembly 63 is connected to the output shaft of the drive component 49. The transmission component 69 is arranged between the third fixing plate 58 and the mounting bracket. The second friction assembly 63 is supported on the mounting bracket by a group of limit seats 65. A bearing 66 is arranged inside the limit seat 65, and the bearing 66 is sleeved on the second friction assembly 63 and supported inside the support hole of the limit seat 65.

[0123] There is at least one second friction assembly 63 and at least one first friction assembly 64.

[0124] The flexible push rod 2027101 passes between the second friction assembly 63 and the first friction assembly 64. The flexible push rod 2027101 is in contact connection with one side surface of the second friction assembly 63 and one side surface of the first friction assembly 64. In this way, during the rotation of the first friction assembly 64, the flexible push rod 2027101 can be driven to move forward or backward along the guiding component 70.

[0125] The first friction assembly 64 is a driving friction wheel / driving friction belt, and the second friction assembly 63 is a driven friction wheel / driven friction belt;

[0126] Or, the first friction assembly 64 is a driven friction wheel / driven friction belt, and the second friction assembly 63 is a driving friction wheel / driving friction belt.

[0127] The guiding component 70 includes a guiding seat. The guiding seat is installed on the mounting frame 50, and a position detection component 60 is arranged on the guiding component 70. The flexible push rod 2027101 is a bendable and flexible particle push rod. The flexible push rod has a certain elasticity and will return to a straight state when the external force is removed. The specific material is one or a combination of nickel-titanium alloy, spring steel, elastomer, and composite material.

[0128] The second friction assembly 63 is directly connected to the encoder 55 or drives the encoder 55 to rotate through a transmission component 69.

[0129] The first friction assembly 64 and the second friction assembly 63 are made of one or a combination of metal, plastic, ceramic, silica gel, and rubber.

[0130] The first friction assembly 64 is at least 1 friction wheel. The surface of the friction wheel is provided with transverse anti-slip grooves. The width of the transverse anti-slip grooves is 0.1 - 1 mm, and the angle between the direction of the transverse anti-slip grooves and the direction of the flexible push rod 2027101 is greater than 60 degrees;

[0131] The first friction assembly 64 and the second friction assembly 63 are both provided with limit grooves adapted to the flexible push rod 2027101 to prevent the flexible push rod 2027101 from disengaging from the friction wheel. A push rod storage tray 59 for storing the flexible push rod 2027101 is arranged on the mounting frame 50. The flexible push rod 2027101 is coiled inside or outside the push rod storage tray 59. The push rod storage tray 59 is an inwardly concave storage tray. At this time, under the elastic action of the flexible push rod, the flexible push rod automatically winds around the inner concave surface of the storage tray.

[0132] The spacer rod delivery pipe 10041213, the particle delivery pipe 10041214, and the push rod delivery pipe 10041215 are respectively communicated with the main pipe 10041232, and the upper end of the particle delivery pipe 10041214 is of a flared structure.

[0133] One end of the outer pipe fixing seat 10041216 is connected to the main pipe 10041232, the other end of the outer pipe fixing seat 10041216 is connected to the docking outer pipe 10041217, and a swing rod 10041230 is installed on the outer pipe fixing seat 10041216. One end of the swing rod 10041230 is connected to the docking outer pipe 10041217, and the other end of the swing rod 10041230 is connected to the transition connecting pipe 10041218.

[0134] The detailed steps of the automatic loading of the particle chain in this embodiment are as follows:

[0135] The first vibrating disk 10041208 vibrates and conveys particles (not shown in the figure) into the first particle tank 10041220. Under the action of the first vertical movement module 10041205 and the first horizontal movement module 10041206, the particle suction pipe 10041207 sucks the particles from the first particle tank 10041220 to the side of the first particle activity detection module 10041211 for particle activity detection. If the particle activity detection fails, the particles are dropped into the first waste particle box 10041212. If the particle activity detection passes, the particles are sucked from the first particle tank 10041220 to the flared inlet of the particle delivery pipe 10041214 and released. Then, due to gravity, the particles will fall along the particle delivery pipe 10041214 and enter the main pipe 10041232 through the pipe bifurcation. After that, the first flexible push rod driving mechanism 10041210 drives the flexible push rod to move inward into the main pipe 10041232. The flexible push rod pushes the just-released particles forward and sequentially passes through the push rod delivery pipe 10041215, the main pipe 10041232, the outer pipe fixing seat 10041216, the docking outer pipe 10041217, the transition connecting pipe 10041218, the moving fixing seat 10041219, the particle chain quick connector 10041221 until the outermost end of the first particle chain sleeve 10041226. Then, the first flexible push rod driving mechanism 10041210 drives the flexible push rod to reset.

[0136] The spacer rod cutting and implanting mechanism 10041209 can cut the spacer rod to the required length and push the cut part into the main pipe 10041232 at the pipe bifurcation. Then, the first flexible push rod driving mechanism 10041210 drives the flexible push rod to push the spacer rod forward, passing through the outer pipe fixing seat 10041216, the docking outer pipe 10041217, the transition connecting pipe 10041218, the moving fixing seat 10041219, the particle chain quick connector 10041221 until the outermost end of the first particle chain sleeve 10041226. Of course, the spacer rod cutting and implanting mechanism 10041209 can also directly push the cut spacer rod to the outermost end of the first particle chain sleeve 10041226.

[0137] The first particle chain recovery mechanism 10041224 and the moving fixing seat 10041219 are both fixed on the slider and connected by a connecting rod 10041225, and can slide together on the guide rail 10041229. The connecting rod 10041225 is fixed to the synchronous belt 10041228 through the synchronous belt fixing block 10041227. At the same time, there are 2 pairs of guide rails 10041229, 2 first particle chain recovery mechanisms 10041224, and 2 moving fixing seats 10041219. Under the action of the synchronous belt 10041228, the first particle chain recovery mechanism 10041224 and the moving fixing seat 10041219 can alternately align and abut the bell mouths of the 2 transition connecting pipes 10041218 against one end of the docking outer pipe 10041217. The docking outer pipe 10041217 can reciprocate 180° under the action of the swing rod 10041230 to facilitate the docking of the transition connecting pipe 10041218. When one first particle chain sleeve 10041226 is being loaded with particles, the first particle chain recovery mechanism 10041224 that has been loaded on the other side can be disassembled and then an empty first particle chain recovery mechanism 10041224 can be reinstalled for loading, so as to improve the particle loading efficiency.

[0138] First, one end of the first particle chain sleeve 10041226 is filled with a section of spacer rod and then clamped onto the storage tray 10041233 inside the first particle chain recovery mechanism 10041224, enabling the first particle chain recovery mechanism 10041224 to drive and store the first particle chain sleeve 10041226. At this time, there are no filled particles in the first particle chain sleeve 10041226, so it is not radioactive and can be manually completed. Then, the particle chain quick connector 10041221 is adhesively connected to the first particle chain sleeve 10041226 and then connected to the movable fixing base 10041219. The particle suction pipe 10041207 sucks the particles from the first particle slot 10041220 to the entrance of the particle delivery pipe 10041214 and drops them. The flexible push rod inside the first flexible push rod driving mechanism 10041210 pushes the particles in the particle delivery pipe 10041214 to the end of the first particle chain sleeve 10041226. The glue dispensing dropper 10041222 discharges glue and flows into the glue dispensing bifurcation pipe 10041231. When the particles pass through the glue dispensing bifurcation pipe 10041231, they will be coated with a layer of glue, and the glue is contained in the glue device 10041204. After the particles are in place, the first flexible push rod driving mechanism 10041210 retracts the flexible push rod. During this process, the second cleaning module 10041234 provided on the movable fixing base 10041219 drives the first cleaning block 10041235 to dry the residual glue on the flexible push rod, preventing the residual glue from flowing into the docking outer pipe 10041217 or even the main pipe 10041232 and causing blockage. The second cleaning module 10041234 is in an open state when not cleaning. Then, the spacer rod cutting and implanting mechanism 10041209 cuts the spacer rod chain into a certain length and pushes the cut part into the spacer rod delivery pipe 10041213. At this time, the flexible push rod inside the first flexible push rod driving mechanism 10041210 pushes the cut spacer rod to the end of the first particle chain sleeve 10041226, next to the previously pushed particles. When the cut spacer rod passes through the glue dispensing bifurcation pipe 10041231, it will also be coated with a layer of glue. Repeat the above actions until the first particle chain sleeve 10041226 is filled with particles and spacer rods. The particle chain cutting mechanism 100413 drives the cutting push rod 10041223 to move downward, and finally cuts the first particle chain sleeve 10041226 with the cutting knife on the cutting push rod 10041223. The first particle chain recovery mechanism 10041224 takes in the newly filled first particle chain sleeve 10041226, and thus the loading and storage work of a complete particle chain is completed.

[0139] The particle chain automatic loading device based on a bifurcated pipe is protected by a radiation shield plate 10041201, a radiation shield glass 10041202, and a radiation shield door 10041203 to prevent radiation leakage. The radiation shield glass 10041202 facilitates close observation during the operation of the particle chain automatic loading device, and the radiation shield door 10041203 facilitates filling when the particles are used up.

[0140] Embodiment 2

[0141] Parts of this embodiment that are the same as those of Embodiment 1 will not be described again. The differences are as follows:

[0142] The particle arrangement mechanism feeds materials using a vibrating bowl (such as the particle vibrating bowl 1004107 in this embodiment). The vibrating bowl arranges and vibrates the particles one by one and outputs them into the second particle trough 1004117.

[0143] The spacer bar feeding mechanism uses a spacer bar arrangement mechanism to feed materials. The spacer bar arrangement mechanism feeds materials using a vibrating bowl (such as the spacer bar vibrating bowl 1004106 in this embodiment). The vibrating bowl vibrates and transports the spacer bars into the spacer bar trough 1004119.

[0144] The scheduling mechanism schedules by combining a grasping mechanism and a second moving platform, and transports particles or spacer bars through a pipeline transportation method; or the scheduling mechanism is provided with multiple grasping mechanisms, which can simultaneously achieve grasping at multiple workstations.

[0145] The grasping mechanism is one or a combination of forceps, suction nozzles, and spring clamps. The grasping mechanism grasps particles or spacer bars at one or more fixed workstations; or the grasping mechanism directly grasps particles in a scattered particle pile or directly grasps spacer bars in a scattered spacer bar pile; a recovery container is provided on the second moving platform. When the particle activity detection module fails to pass the particle detection, the grasping mechanism and the second moving platform cooperate to drop the particles into the recovery container; the scheduling mechanism is provided with multiple grasping mechanisms, which can simultaneously achieve grasping at multiple workstations.

[0146] The second moving platform is a linear moving platform. Through the second moving platform, the grasping mechanism can perform linear motion in two directions, realizing the adjustment of the degrees of freedom of the grasping mechanism in the horizontal and vertical directions;

[0147] Or the second moving platform can perform linear motion in two directions and rotational motion in one direction, realizing the adjustment of the degrees of freedom of the grasping mechanism in three directions.

[0148] The particles output by the particle arrangement mechanism and the spacer rods output by the spacer rod arrangement mechanism are respectively transported through pipelines. The pipeline transportation method includes a pipeline (such as the first particle delivery pipe 1004113 in this embodiment). The pipeline is a flexible pipeline, or the pipeline is a bent rigid pipe, or the pipeline is a straight pipe. The inlet of the pipeline is in the shape of a flared mouth.

[0149] The output channel of the first push rod driving mechanism is located directly above the flared structure of the pipeline. After the particles and / or spacer rods enter the pipeline through the flared mouth, the first push rod driving mechanism drives the particles and / or spacer rods to be pushed forward.

[0150] The upper end of the pipeline is provided with a flared structure. The push rod output channel 1004121 of the first push rod driving mechanism (such as the second flexible push rod driving mechanism 1004109 in this embodiment) is located directly above the flared structure of the pipeline. After the particles or spacer rods enter the pipeline through the flared mouth, the first push rod driving mechanism drives the push rod to enter the particle delivery channel from the push rod output channel and push the particles or spacer rods into the particle chain sleeve one by one; The particle arrangement mechanism uses a vibrating disk, and through the cooperation of the moving platform and the particle grabbing rod, grabs the particles and transports them above the flared mouth of the pipeline to release the particles to achieve the arrangement and output of the particles; The spacer rod arrangement mechanism uses a vibrating disk, and through the cooperation of the moving platform and the particle grabbing rod, grabs the spacer rods and transports them above the flared mouth of the pipeline to release the spacer rods to achieve the arrangement and output of the spacer rods.

[0151] When the particle chain sleeve is horizontally arranged, the particle chain recovery mechanism is horizontally arranged on the side of the particle chain sleeve; or, when the particle chain sleeve is vertically arranged, the particle chain recovery mechanism is vertically arranged below the particle chain sleeve. In this embodiment, the particle chain sleeve is horizontally arranged, and the particle chain recovery mechanism is horizontally arranged on the side of the particle chain sleeve.

[0152] It also includes a particle chain recovery mechanism. At least one group of particle chain recovery mechanisms is provided. Each group of particle chain recovery mechanisms is connected to a group of particle chain sleeves (such as the second particle chain sleeve 1004112 in this embodiment). After the particle chain sleeve is filled and formed, the particle chain recovery mechanism will wind up and store the particle chain in the radiation-proof housing.

[0153] A section of spacer rod is first filled into the proximal end of the particle chain sleeve and then clamped into the storage tray 10041233 on the particle chain recovery mechanism. Then, spacer rods and particles are sequentially filled into the particle chain sleeve from the distal end to form a particle chain. Then, the storage tray is rotated to facilitate winding and storing the particle chain sleeve.

[0154] A shielding housing is provided outside the storage tray on the particle chain recovery mechanism.

[0155] The spacer rod is made of a material degradable by the human body, and the particle chain sleeve is made of a material degradable by the human body; the material degradable by the human body is one or a combination of collagen, polymer, gelatin, alginate, and polyester degradable material.

[0156] It further includes a radiation-proof chassis. The radiation-proof chassis is a box structure assembled by box plates or a frame structure assembled by frame plates. The box plates or frame plates are all the first radiation-proof plates 1004101. A first radiation-proof door 1004102 is provided on the radiation-proof chassis, and a first radiation-proof glass 1004103 is installed on the first radiation-proof door. A slope is provided at the bottom of the radiation-proof chassis, and the scattered particles fall into the recovery container along the slope, so that the scattered particles can be recovered. A vibration mechanism is further provided at the bottom of the radiation-proof chassis to improve the recovery efficiency. A camera is also provided inside the radiation-proof chassis for closely observing the operation of the equipment inside. A lighting lamp is also provided inside the radiation-proof chassis.

[0157] As Figures 15 to 20 shown, it includes: particles 2, first radiation-proof plates 1004101, first radiation-proof door 1004102, first radiation-proof glass 1004103, second transverse movement module 1004104, second vertical movement module 1004105, spacer rod vibrating disk 1004106, particle vibrating disk 1004107, second particle chain recovery mechanism 1004108, second flexible push rod driving mechanism 1004109, heating glue tank 1004110, cutting mechanism 1004111, second particle chain sleeve 1004112, first particle delivery pipe 1004113, second particle activity detection module 1004114, second waste particle box 1004115, suction nozzle 1004116, second particle groove 1004117, first spacer rod 1004118, spacer rod groove 1004119, cleaning mechanism 1004120, push rod output channel 1004121, sleeve inlet bracket 1004122, delivery pipe seat 1004123, push rod pipe seat 1004124.

[0158] The radiation-proof chassis is a box structure assembled by box plates or a frame structure assembled by frame plates. The box plates or frame plates are all the first radiation-proof plates 1004101. A first radiation-proof door 1004102 is provided on the radiation-proof chassis, and a first radiation-proof glass 1004103 is installed on the first radiation-proof door 1004102. A camera is also provided inside the radiation-proof chassis for closely observing the operation of the equipment inside. A lighting lamp is also provided inside the radiation-proof chassis.

[0159] In this embodiment, there is one set of the second particle chain recovery mechanism 1004108. One set of the second particle chain recovery mechanism 1004108 can be quickly installed on the first radiation protection plate 1004101 at the bottom of the radiation protection chassis. And the second particle chain recovery mechanism 1004108 has already received a short section of the second particle chain sleeve 1004112, but most of the second particle chain sleeve 1004112 is outside the second particle chain recovery mechanism 1004108.

[0160] The spacer rod vibrating disk 1004106, the particle vibrating disk 1004107, the second flexible push rod driving mechanism 1004109, the second waste particle box 1004115 and the sleeve inlet bracket 1004122 are respectively installed on the first radiation protection plate 1004101 at the bottom of the radiation protection chassis.

[0161] The front end of the second particle chain sleeve is supported by the sleeve inlet bracket to provide support guarantee for the subsequent implantation of particles and / or spacer rods. And the front part of the second particle chain sleeve 1004112 can be stuck in the pipe groove of the sleeve inlet bracket 1004122; one end of the first particle delivery pipe 1004113 is of a flared structure, and the other end of the first particle delivery pipe 1004113 is connected to the second particle chain sleeve 1004112 through a quick connector. And an L-shaped delivery pipe seat 1004123 is installed on the sleeve inlet bracket 1004122, and an L-shaped push rod seat 1004124 is installed on the L-shaped delivery pipe seat 1004123. The end of the first particle delivery pipe 1004113 close to the flare is fixed on the delivery pipe seat 1004123, and the other end of the first particle delivery pipe 1004113 is also fixed in another pipe groove on the sleeve inlet bracket 1004122.

[0162] One end of the push rod output channel 1004121 of the second flexible push rod driving mechanism 1004109 is quickly connected to the cleaning mechanism 1004120, and the other end is fixed on the push rod seat 1004124.

[0163] The detailed steps of the automatic loading of the particle chain in this embodiment are as follows:

[0164] First, quickly install the second particle chain recovery mechanism 1004108 that has received a short section of the second particle chain sleeve 1004112 on the machine base. Then, stick the second particle chain sleeve 1004112 in the pipe groove of the sleeve inlet bracket 1004122, and connect the inlet joint of the second particle chain sleeve 1004112 to the quick connector of the first particle delivery pipe 1004113. One end of the first particle delivery pipe 1004113 is connected to the flare and fixed on the delivery pipe seat 1004123, and the other end is fixed in another pipe groove on the sleeve inlet bracket 1004122.

[0165] The particle vibrating disk 1004107 vibrates and conveys particles 2 into the second particle trough 1004117. Under the action of the second vertical translation module 1004105 and the second horizontal translation module 1004104, the suction nozzle 1004116 sucks particles 2 from the second particle trough 1004117 to the side of the second particle activity detection module 1004114 for particle activity detection. If the particle activity detection fails, the particles are dropped into the second waste particle box 1004115. If the particle activity detection passes, the suction nozzle 1004116 puts particles 2 into the flare opening of the first particle delivery pipe 1004113. Then, the second flexible push rod driving mechanism 1004109 drives the flexible metal wire to push the particles 2 in the first particle delivery pipe 1004113 to the outermost end of the second particle chain sleeve 1004112. When particles 2 pass through the three-way pipe of the heating glue tank 1004110 and the first particle delivery pipe 1004113, they are wrapped by the glue flowing out of the heating glue tank 1004110. When the glue solidifies, particles 2 can be fixed at the designated position of the second particle chain sleeve 1004112. When the second flexible push rod driving mechanism 1004109 retracts the flexible metal wire, the cleaning mechanism 1004120 on the second flexible push rod driving mechanism 1004109 can clean the excess glue on the flexible metal wire.

[0166] The spacer rod vibrating disk 1004106 vibrates and conveys the first spacer rod 1004118 into the spacer rod groove 1004119. Under the action of the second vertical translation module 1004105 and the second horizontal translation module 1004104, the suction nozzle 1004116 sucks the first spacer rod 1004118 from the spacer rod groove 1004119 into the flare opening of the first particle conveying pipe 1004113. Then, the second flexible push rod driving mechanism 1004109 drives the flexible metal wire to push the first spacer rod 1004118 in the first particle conveying pipe 1004113 to the outermost end of the second particle chain sleeve 1004112. There are several air vents on the second particle chain sleeve 1004112, enabling the particles 2 or the first spacer rod 1004118 to discharge the gas in time during the pushing process, avoiding difficult pushing. When the first spacer rod 1004118 passes through the three-way pipe of the heating glue tank 1004110 and the first particle conveying pipe 1004113, it is wrapped by the glue flowing out of the heating glue tank 1004110. When the second flexible push rod driving mechanism 1004109 retracts the flexible metal wire, the cleaning mechanism 1004120 on the second flexible push rod driving mechanism 1004109 can clean the excess glue on the flexible metal wire. Repeat the above two steps until the second particle chain sleeve 1004112 is filled with particles 2 and the first spacer rod 1004118. When the second particle chain sleeve 1004112 is filled, a complete particle chain is formed. At this time, the cutting mechanism 1004111 will cut the second particle chain sleeve 1004112, and then the second particle chain recovery mechanism 1004108 will recover the second particle chain sleeve 1004112. There is also a second cleaning mechanism on the second particle chain recovery mechanism 1004108, which can clean the excess glue on the surface of the recovered second particle chain sleeve 1004112. Of course, it is also possible to replace the spacer rod vibrating disk 1004106 with the spacer rod cutting and implanting mechanism in Embodiment 1. The first spacer rod is cut into the required length by the spacer rod cutting and implanting mechanism, and then pushed into the flare opening of the first particle conveying pipe 1004113, or directly pushed to the outermost end of the second particle chain sleeve 1004112 after cutting.

[0167] Embodiment 3

[0168] Parts of this embodiment with the same structure as those in Embodiment 2 will not be described in detail. The differences are as follows:

[0169] The particle chain sleeve is arranged vertically, and the particle chain recovery mechanism is arranged vertically below the second particle conveying pipe.

[0170] The second flexible push rod driving mechanism 1004109 can enable particles and / or spacer rods to be inserted into the particle chain sleeve from one end opening of the particle chain sleeve, and then axially compress the sequentially arranged mixture. Multiple particles and the particle chain sleeve are sequentially fitted and connected to form a complete particle chain.

[0171] It further includes a radiation-proof chassis. The radiation-proof chassis is a box structure assembled by box plates or a frame structure assembled by frame plates. The box plates or frame plates are all the second radiation-proof plates 1004201. The radiation-proof chassis is provided with a second radiation-proof door 1004202, and a second radiation-proof glass 1004203 is installed on the radiation-proof door. A slope is provided at the bottom of the radiation-proof chassis, and the scattered particles are guided by the slope and fall into the recovery container, so that the scattered particles can be recovered. A vibration mechanism is also provided at the bottom of the radiation-proof chassis to improve the recovery efficiency. A camera is also provided inside the radiation-proof chassis for observing the operation of the equipment inside at close range. A lighting lamp is also provided inside the radiation-proof chassis.

[0172] As Figures 21 to 27 shown, it includes: particles 2, the second radiation-proof plate 1004201, the second radiation-proof door 1004202, the second radiation-proof glass 1004203, the second particle delivery pipe 1004204, the fixed seat 1004205, the second spacer rod 1004206, the second particle chain sleeve 1004112, the second crosswise movement module 1004104, the second vertical movement module 1004105, the spacer rod vibrating disk 1004106, the particle vibrating disk 1004107, the second particle chain recovery mechanism 1004108, the second flexible push rod driving mechanism 1004109, the heating glue tank 1004110, the cutting mechanism 1004111, the second particle activity detection module 1004114, the second waste particle box 1004115, the suction nozzle 1004116, the second particle groove 1004117, the spacer rod groove 1004119, the cleaning mechanism 1004120, and the push rod output channel 1004121.

[0173] The radiation-proof chassis is a box structure assembled by box plates or a frame structure assembled by frame plates. The box plates or frame plates are all the second radiation-proof plates 1004201. The radiation-proof chassis is provided with a second radiation-proof door 1004202, and a second radiation-proof glass 1004203 is installed on the second radiation-proof door 1004202. A slope is provided at the bottom of the radiation-proof chassis, and the scattered particles are guided by the slope and fall into the recovery container, so that the scattered particles can be recovered. A vibration mechanism is also provided at the bottom of the radiation-proof chassis to improve the recovery efficiency. A camera is also provided inside the radiation-proof chassis for observing the operation of the equipment inside at close range. A lighting lamp is also provided inside the radiation-proof chassis.

[0174] The detailed steps of the automatic loading of the particle chain in this embodiment are as follows:

[0175] First, quickly install the second particle chain recovery mechanism 1004108 that has already received a section of the second particle chain sleeve (not shown in the figure) on the machine base. Then, clamp the front part of the second particle chain sleeve in the cutting tube groove of the fixed seat 1004205. The front end of the second particle chain sleeve 1004112 is connected to one end of the second particle delivery tube 1004204 through a quick connector. The other end of the second particle delivery tube 1004204 is connected to a bell mouth and fixed on the fixed seat 1004205. One end of the push rod output channel 1004121 is quickly connected to the cleaning mechanism 1004120, and the other end is fixed on the fixed seat 1004205.

[0176] Both ends of the second spacer rod 1004206 have grooves, and the ends of the particles 2 can be inserted into the grooves. The head of the second particle chain sleeve also has grooves or protrusions, which can be connected in cooperation with the ends of the particles 2 or the grooves of the second spacer rod. The particle vibrating disk 1004107 vibrates and conveys the particles 2 into the second particle groove 1004117. The suction nozzle 1004116, under the action of the second vertical movement module 1004105 and the second horizontal movement module 1004104, sucks the particles 2 from the second particle groove 1004117 to the side of the second particle activity detection module 1004114 for particle activity detection. If the particle activity detection fails, the particles are dropped into the second waste particle box 1004115. If the particle activity detection passes, the suction nozzle 1004116 puts the particles 2 into the bell mouth of the second particle delivery pipe 1004204. Then, the second flexible push rod driving mechanism 1004109 drives the flexible metal wire to push the particles 2 in the second particle delivery pipe 1004204 to the very end of the second particle chain sleeve 1004112, connecting with the head of the second particle chain sleeve. When the particles 2 pass through the three-way pipe of the heating glue tank 1004110 and the second particle delivery pipe 1004204, they are wrapped by the glue flowing out of the heating glue tank 1004110. When the second flexible push rod driving mechanism 1004109 retracts the flexible metal wire, the cleaning mechanism 1004120 on the second flexible push rod driving mechanism 1004109 can clean the excess glue on the surface of the flexible metal wire. The spacer rod vibrating disk 1004106 vibrates and conveys the second spacer rod 1004206 into the spacer rod groove 1004119. The suction nozzle 1004116, under the action of the second vertical movement module 1004105 and the second horizontal movement module 1004104, sucks the second spacer rod 1004206 from the spacer rod groove 1004119 to the bell mouth of the second particle delivery pipe 1004204. Then, the second flexible push rod driving mechanism 1004109 drives the flexible metal wire to push the second spacer rod 1004206 in the second particle delivery pipe 1004204 to the very end of the second particle chain sleeve 1004112, making it inlaid with the particles 2. There are several ventilation holes on the second spacer rod 1004206, enabling the gas to be discharged in time when the particles 2 are inlaid into the second spacer rod 1004206. The particles 2 and the second spacer rod 1004206 are connected in sequence, gradually forming a continuous particle chain at the head of the second particle chain sleeve. When the second spacer rod 1004206 passes through the three-way pipe of the heating glue tank 1004110 and the second particle delivery pipe 1004204, it is wrapped by the glue flowing out of the heating glue tank 1004110. When the second flexible push rod driving mechanism 1004109 retracts the flexible metal wire, the cleaning mechanism 1004120 on the second flexible push rod driving mechanism 1004109 can clean the excess glue on the flexible metal wire.Repeat the above two steps until the length of the particle chain reaches the target length. The cutting mechanism 1004111 will cut the particle chain, and then the second particle chain recycling mechanism 1004108 will recycle the particle chain. There is also a second cleaning mechanism (not shown in the figure) on the second particle chain recycling mechanism 1004108, which can clean the excess glue on the surface of the recycled particle chain. Of course, it can also be that the spacer rod cutting and implanting mechanism in Embodiment 1 is used to replace the spacer rod vibrating disk 1004106. The spacer rod cutting and implanting mechanism cuts the second spacer rod into the required length, and then pushes it into the bell mouth of the second particle delivery pipe 1004204, or directly pushes the cut second spacer rod to the outermost end of the second particle chain sleeve 1004112.

[0177] Embodiment 4

[0178] Parts of this embodiment that are the same as those of Embodiment 1 will not be described in detail. The differences are as follows:

[0179] The front end of the first push rod driving mechanism (such as the third flexible push rod driving mechanism 2027107 in this embodiment) is connected with a pipe joint (such as the docking head 2027102 in this embodiment) through a threaded joint 2027106. The pipe joint is connected with an external pipe (such as the flexible conduit 2027104 in this embodiment). A first cleaning module is installed on the pipe joint. The first cleaning module is a sleeve-type two-way cleaning module, and the first cleaning module can clean the dirt on the push rod.

[0180] When the two-way cleaning module is a sleeve-type two-way cleaning module, the pipe joint is connected with the external pipe through the second cleaning block 2027103. A soft rubber tube 2027105 is installed in the second cleaning block. The aperture of the central hole of the soft rubber tube is smaller than the outer diameter of the push rod (such as the flexible push rod 2027101 in this embodiment). When the push rod is pushed out, the push rod can expand the central hole of the soft rubber tube so that the push rod can pass smoothly; when the push rod retracts, due to the tension and extrusion of the soft rubber tube, the dirt on the push rod will be scraped clean.

[0181] As Figures 28 to 30 shown, it includes: flexible push rod 2027101, docking head 2027102, second cleaning block 2027103, flexible conduit 2027104, soft rubber tube 2027105, threaded joint 2027106, third flexible push rod driving mechanism 2027107. The second cleaning block 2027103 is fixed to the docking head 2027102, the flexible conduit 2027104 is fixed to the second cleaning block 2027103, the soft rubber tube 2027105 is installed in the second cleaning block 2027103, and the threaded joint 2027106 is clamped between the step of the docking head 2027102 and the second cleaning block 2027103.

[0182] Cleaning principle of this embodiment: The docking head 2027102 is fixedly docked to the third flexible push rod driving mechanism 2027107 through the threaded joint 2027106. At this time, the third flexible push rod driving mechanism 2027107 drives the flexible push rod 2027101 to move forward into the channel of the docking head 2027102. Along the channel of the docking head 2027102, the flexible push rod 2027101 enters the soft rubber tube 2027105 located in the second cleaning block 2027103. Since the inner diameter of the inner tube of the soft rubber tube 2027105 is smaller than the outer diameter of the flexible push rod 2027101 and the soft rubber tube 2027105 is elastic, the inner tube of the soft rubber tube 2027105 will be squeezed and expanded by the flexible push rod 2027101 until the flexible push rod 2027101 can smoothly pass through the soft rubber tube 2027105. Finally, the flexible push rod 202710 smoothly passes through and enters the channel of the flexible catheter 2027104. When the flexible push rod 2027101 retracts back to the third flexible push rod driving mechanism 2027107, due to the fact that the soft rubber tube 2027105 has been in a state of being squeezed and tightened by the flexible push rod 2027101, the stains adhering to the outer surface during the retraction of the flexible push rod 2027101 and the residual liquid in the channel of the flexible catheter 2027104 will be squeezed back into the channel of the flexible catheter 2027104 by the retracting soft rubber tube 2027105, thus achieving the effect of cleaning the flexible push rod 2027101.

[0183] Embodiment 5

[0184] The parts of this embodiment that are the same as those of Embodiment 1 will not be described in detail. The differences are as follows:

[0185] The front end of the first push rod driving mechanism (such as the third flexible push rod driving mechanism 2027207 in this embodiment) is connected with a pipe joint 2027202 through a second docking head 2027204. The pipe joint is connected to an external pipe. A first cleaning module is installed on the pipe joint. The first cleaning module is a sheet-type two-way cleaning module, and the first cleaning module can clean the dirt on the push rod.

[0186] When the two-way cleaning module is a sheet-type two-way cleaning module, a cleaning sheet 2027203 is installed in the pipe joint. The aperture of the central hole of the cleaning sheet is smaller than the outer diameter of the push rod (such as the third flexible push rod 2027201 in this embodiment). When the push rod is pushed out, the push rod can expand the central hole of the cleaning sheet to enable the push rod to pass smoothly; when the push rod retracts, under the action of the tightening and squeezing of the cleaning sheet, the dirt on the push rod will be scraped clean.

[0187] Such as Figure 31As shown in the figure, it includes: a third flexible push rod 2027201, a pipe joint 2027202, a cleaning sheet 2027203, a second docking head 2027204, and a third flexible push rod driving mechanism 2027207. The third flexible push rod driving mechanism 2027207 is connected to the pipe joint 2027202 through the second docking head 2027204, and the cleaning sheet 2027203 is installed inside the pipe joint 2027202.

[0188] The third flexible push rod driving mechanism 2027207 drives the third flexible push rod 2027201 to move forward into the channel of the second docking head 2027204. Along the channel of the second docking head 2027204, the third flexible push rod 2027201 enters the pipe joint 2027202. Since the size of the central hole of the cleaning sheet 2027203 is smaller than the outer diameter of the third flexible push rod 2027201 and the cleaning sheet 2027203 is elastic, the cleaning sheet 2027203 will be squeezed and expanded by the third flexible push rod 2027201 until the third flexible push rod 2027201 can smoothly pass through the central hole of the cleaning sheet 2027203. Finally, the third flexible push rod 2027201 successfully passes through and enters the flexible catheter channel. When the third flexible push rod 2027201 retracts back into the third flexible push rod driving mechanism 2027207, due to the cleaning sheet 2027203 being in a state of being squeezed and tightened by the third flexible push rod 2027201 all the time, the dirt adhered to the outer surface of the third flexible push rod 2027201 and the residual liquid in the flexible catheter channel will be squeezed back into the flexible catheter channel by the retracting central hole of the cleaning sheet 2027203, thus achieving the cleaning effect.

[0189] Embodiment 6

[0190] The parts with the same structure as those in Embodiment 1 will not be described in detail. The differences are as follows:

[0191] A second cleaning module is provided outside the particle chain sleeve. The second cleaning module can move relative to the particle chain sleeve to clean the dirt on the outer surface of the particle chain sleeve. The second cleaning module is a third cleaning block 2027301. The third cleaning block is installed at the lower part of the cleaning push rod 2027302 of the cleaning push-out mechanism 2027303. The cleaning push-out mechanism drives the cleaning push rod to move, driving the third cleaning block to be able to press against or away from the particle chain sleeve. When the third cleaning block presses against the particle chain sleeve, the third cleaning block works to clean the dirt on the particle chain sleeve.

[0192] As Figure 32As shown in the figure, it includes: a third cleaning block 2027301, a cleaning push rod 2027302, and a cleaning push mechanism 2027303. The cleaning push mechanism 2027303 is connected to the cleaning push rod 2027302. The lower end of the cleaning push rod 2027302 is detachably connected to the third cleaning block 2027301. The third cleaning block 2027301 can be pressed against the outside of the particle chain sleeve, and relative movement can occur between the third cleaning block and the particle chain sleeve to clean the dirt outside the particle chain sleeve.

[0193] Or when the second cleaning module is a sheet-type two-way cleaning module, a cleaning sheet is installed in the pipe joint of the particle chain sleeve. The aperture of the central hole of the cleaning sheet is smaller than the outer diameter of the particle chain sleeve. When the particle chain sleeve is pushed out, the particle chain sleeve can expand the central hole of the cleaning sheet to enable the particle chain sleeve to pass through smoothly; when the particle chain sleeve retracts, due to the tension and extrusion of the cleaning sheet, the dirt on the particle chain sleeve will be scraped clean. The second cleaning module in this embodiment is a sheet-type two-way cleaning module, and its structure is the same as that of Embodiment 5, so it will not be elaborated here.

[0194] Embodiment 7

[0195] The parts with the same structure as those in Embodiment 1 will not be elaborated here. The differences are as follows:

[0196] A particle chain cutting mechanism is sleeved outside the particle chain sleeve and on the left or right side of the sleeve inlet bracket. The particle chain cutting mechanism can cut the already filled particle chain.

[0197] The particle chain cutting mechanism adopts one or a combination of a guillotine cutting mechanism, a scissor cutting mechanism, and a circumferential cutting mechanism. The guillotine cutting mechanism uses a single-side blade movement to complete the cutting. The scissor cutting mechanism uses the simultaneous opposite movement of both-side blades to complete the cutting. The circumferential cutting mechanism uses at least three blades to move towards the center point simultaneously to achieve the cutting.

[0198] It also includes a cutting power source. The cutting power source is connected to the particle chain cutting mechanism through a cutting transmission mechanism, or the cutting power source is directly connected to the particle chain cutting mechanism, so as to transmit power to the particle chain cutting mechanism to make it complete the cutting action. The cutting transmission mechanism is one or a combination of a link mechanism, a lead screw nut mechanism, a gear mechanism, a belt drive mechanism, and a cam mechanism. The cutting power source is one or a combination of a motor, a pneumatic push rod, a pneumatic motor, a hydraulic push rod, and a hydraulic motor.

[0199] When the guillotine cutting mechanism completes cutting by the movement of a single-sided blade, one end of the single-sided blade is rotatably arranged on the main body through a rotation fulcrum. A driving part connected to the cutting power source or the cutting transmission mechanism is arranged on the single-sided blade. The driving part of the single-sided blade is located at the rotation fulcrum of the single-sided blade, or the driving part of the single-sided blade is located at the other end of the single-sided blade far from the rotation fulcrum.

[0200] Alternatively, when the guillotine cutting mechanism completes cutting by the movement of a single-sided blade, the single-sided blade is arranged on the main body in a guiding and moving manner.

[0201] The single-sided blade is a single blade or a double blade. The double blade is two single blades stacked on each other. In this embodiment, the single-sided blade is a single blade.

[0202] The particle chain cutting mechanism is provided with an anti-flanging structure to prevent the particle chain from being cut out with burrs.

[0203] The anti-flanging structure is a rubber pad 2142108. The rubber pad is located below the particle chain. When the single-sided blade presses down to cut the particle chain, the rubber pad can assist in supporting the particle chain to prevent the particle chain from being cut out with burrs. The material of the rubber pad is at least one of rubber, silica gel, and latex.

[0204] As Figure 33 shown, when the cutting power source is directly connected to the particle chain cutting mechanism to transmit power to the particle chain cutting mechanism to complete the cutting action, the cutting power source is the first motor 214201, the single-sided blade is the first cutting knife 214202. One end of the first cutting knife is connected to the output shaft of the first motor. The output shaft of the first motor directly drives the first cutting knife to move to realize the cutting of the particle chain 214203.

[0205] As Figure 34 shown, when the cutting power source is connected to the cutting mechanism through a cutting transmission mechanism to transmit power to the cutting mechanism to complete the cutting action, the cutting power source is the second motor 2142103, the single-sided blade is the second cutting knife 2142106. The second motor 2142103 is fixed to the main body 2142107 through a motor fixing plate. The cutting transmission mechanism is a link mechanism. The link mechanism includes a rocker 2142104 and a connecting rod 2142105. One end of the rocker is connected to the output shaft of the second motor. The other end of the rocker is hinged with the connecting rod. The end of the connecting rod far from the rocker is hinged with the second cutting knife. The output shaft of the second motor drives the rocker to rotate. The rocker presses down the connecting rod. The connecting rod drives the second cutting knife to rotate downward to realize the cutting of the particle chain.

[0206] A cutter holder 2142101 is installed on the front side of the main body 2142107. A guide seat 2142102 is fixed on the cutter holder, and a cutter groove is formed between the guide seat and the cutter holder. One end of the second cutting knife is rotatably arranged on the guide seat. Through holes for the particle chain to pass through are respectively arranged in the cutter holder and the guide seat, and a rubber pad 2142108 is installed on the cutter groove. The rubber pad 2142108 at the bottom of the second cutting knife 2142106 can assist in supporting the particle chain, making it easier for the second cutting knife 2142106 to cut it off.

[0207] The foregoing has shown and described the basic principles, main features and advantages of the present invention. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above-described exemplary embodiments, and without departing from the spirit or basic characteristics of the present invention, the present invention can be implemented in other specific forms. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, it is intended to embrace all changes that fall within the meaning and scope of the equivalent elements of the claims in the present invention. Any reference signs in the claims should not be regarded as limiting the claims involved.

[0208] In addition, it should be understood that although this specification is described according to embodiments, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A particle chain automatic loading device based on push rod pushing, characterized in that: It includes a feeding part and a first push rod driving mechanism, the feeding part includes a particle feeding mechanism and a spacer rod feeding mechanism, the first push rod driving mechanism drives the push rod to push the particles or the spacer rods one by one along the particle chain sleeve to move forward to the required position for automatic loading; the first push rod driving mechanism is a flexible push rod driving mechanism, and the push rod is a flexible push rod; The flexible push rod driving mechanism adopts a friction driving mechanism, which includes a friction component, at least a part of the surface of the friction component is closely attached to the surface of the push rod, and the friction force generated by the attachment drives the push rod to move forward and backward; Or the flexible push rod driving mechanism adopts a clamping device combined with a reciprocating motion module to drive the push rod to move forward and backward. The clamping device can clamp or release the push rod, and the reciprocating motion module can drive the clamping device to reciprocate along a preset trajectory.

2. The automatic particle chain loading device based on push rod pushing according to claim 1 is characterized in that: The friction component is a friction wheel or a friction belt, and the friction wheel or friction belt presses the push rod through a clamping mechanism, and the clamping mechanism adopts a passive clamping mechanism or an active clamping mechanism; or the friction wheel or friction belt itself is an elastic structure, and clamps the push rod through its own extrusion.

3. The automatic particle chain loading device based on push rod pushing according to claim 1 is characterized in that: The clamping device is a passive clamping device, which automatically clamps when advancing forward and automatically releases when resetting backward, thereby realizing continuous forward driving of the push rod; the push rod is connected to the winding wheel assembly, and the winding wheel is driven to rotate by the winding wheel driving mechanism to realize backward recovery; Alternatively, the clamping device is an active clamping device, which can actively control clamping and loosening, and realize forward and backward movement under the action of the reciprocating motion module; The clamping device is one or more combinations of a clamping claw mechanism, a rotating clamping mechanism, and a side pressure / tensioning mechanism.

4. The automatic particle chain loading device based on push rod pushing according to claim 1 is characterized in that: The front end of the first push rod driving mechanism is connected with a pipe joint, which is connected to an external pipe. A first cleaning module is installed on the pipe joint. The first cleaning module is a sleeve-type or sheet-type bidirectional cleaning module. The first cleaning module can clean dirt on the push rod.

5. The automatic particle chain loading device based on push rod pushing according to claim 1 is characterized in that: The particle feeding mechanism adopts a particle clip for feeding or a particle arranging mechanism for feeding, and the particle arranging mechanism adopts a vibration disk, and the vibration disk arranges the particles one by one and vibrates them for output; or the particle arranging mechanism adopts a slot arrangement component, and the slot can be replaced by the space separated by an isolation plate; or the particle arranging mechanism adopts an arrangement method based on a V-shaped groove, an arc groove or a bell mouth; or the particle arranging mechanism adopts a particle grabbing mechanism, which directly grabs individual particles one by one from a pile of particles.

6. The automatic particle chain loading device based on push rod pushing according to claim 1 is characterized in that: The spacer bar feeding mechanism adopts spacer bar clip feeding, spacer bar arrangement mechanism feeding or spacer bar chain feeding; When a spacer bar arrangement mechanism is used for feeding, the spacer bar arrangement mechanism adopts one or a combination of a vibration plate, a notch arrangement component, an arrangement mechanism based on a V-shaped groove, an arc groove or a bell mouth, and a spacer bar grabbing mechanism; the spacer bar arrangement mechanism adopts a vibration plate, and the vibration plate arranges the spacer bars one by one and outputs vibration; or the spacer bar arrangement mechanism adopts a notch arrangement component, and the notch can be replaced by a space separated by a partition plate; or the spacer bar arrangement mechanism adopts an arrangement method based on a V-shaped groove, an arc groove or a bell mouth; or the spacer bar arrangement mechanism adopts a spacer bar grabbing mechanism, and directly grabs individual spacer bars one by one from a pile of spacer bars; When using a spacer rod chain for feeding, the spacer rod feeding mechanism includes a spacer rod implanting mechanism and a spacer rod cutting mechanism. The spacer rod implanting mechanism can move the spacer rod forward along the particle chain sleeve to the required position, or the spacer rod implanting mechanism can push the spacer rod to the required position, and then move the spacer rod forward along the particle chain sleeve to the required position through the first push rod driving mechanism; the spacer rod cutting mechanism can cut the spacer rod according to the required length.

7. The automatic particle chain loading device based on push rod pushing according to claim 1 is characterized in that: The particles and / or spacer rods are filled into the particle chain sleeve one by one by means of a dispatching mechanism or pipeline transportation or trough transportation or conveyor belt transportation, and the dispatching mechanism places the particles and spacer rods into the particle chain sleeve in sequence respectively; the pipeline transportation method uses a first moving platform to make the particle feeding mechanism and the spacer rod feeding mechanism dock with the particle chain sleeve one by one and realize one-by-one filling; or the pipeline transportation method uses a bifurcated tube to connect with the particle chain sleeve, and the particle feeding mechanism and the spacer rod feeding mechanism are respectively connected to the bifurcated tube to realize one-by-one filling of particles and spacer rods.

8. The automatic particle chain loading device based on push rod pushing according to claim 7 is characterized in that: When a dispatching mechanism is adopted, a functional module is provided on the dispatching mechanism, and the functional module is one or more combinations of a particle activity detection module, an appearance detection module, a dust removal module, a cleaning module, and a counting module; the particle activity detection module includes an activity sensor and a recovery container, the activity sensor determines the activity of the particles, and makes the particles whose activity does not meet the requirements fall into the recovery container; the appearance detection module includes a visual sensor, and the visual sensor determines that the shape of the particles or the spacer rods is normal and the clamping position is normal; the dust removal module includes a dust blowing or dust suction module, and the dust blowing or dust suction module blows or sucks the dust off the outside of the particles or the spacer rods; the cleaning module cleans the dirt on the outside of the particles or the spacer rods; the counting module includes an induction switch and a counter, which can determine the number of particles or spacer rods passing through.

9. The automatic particle chain loading device based on push rod pushing according to claim 7, characterized in that: When the particles and / or the spacer rods are filled into the particle chain sleeve one by one by means of the dispatching mechanism, the dispatching mechanism is dispatched by combining a grabbing mechanism and a second motion platform, and the particles or the spacer rods are transported by pipeline transportation; or the dispatching mechanism is provided with a plurality of grabbing mechanisms, which can realize grabbing at multiple stations at the same time; When the particles and / or spacer rods are filled into the particle chain sleeve one by one by pipeline transportation, the pipeline transportation method utilizes a forked tube connected to the particle chain sleeve, the forked tube is a three-pronged tube structure or a four-pronged tube structure, the particle feeding mechanism and the spacer rod feeding mechanism are respectively connected to the forked tube to realize the one-by-one filling of particles and spacer rods, and the first push rod driving mechanism drives the push rod along the conveying channel to push the particles or spacer rods into the particle chain sleeve one by one.

10. The automatic particle chain loading device based on push rod pushing according to claim 1, characterized in that: It also includes a particle chain recovery mechanism, which is provided with at least one group, each group of particle chain recovery mechanisms is connected to a group of particle chain sleeves, and when the particle chain sleeves are filled and formed, the particle chain recovery mechanism will wind up and store the particle chain, and store it in the radiation-proof housing; The front end of the particle chain sleeve is supported by a sleeve inlet bracket, and a particle chain cutting mechanism is provided outside the particle chain sleeve and on the left or right side of the sleeve inlet bracket. The particle chain cutting mechanism can cut off the filled particle chain.

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