Titanium tube blanking device for sealing seed source and method thereof

Abstract

The invention belongs to the technical field of titanium tube production equipment, and discloses a titanium tube blanking device for a sealed seed source, which comprises a rack and a motor mounted on the rack, and further comprises a blanking station, an extrusion station, an outer polishing station, an inner polishing station, a standing station, a material moving station and a reciprocating distance adjusting mechanism which are arranged on the rack along the clockwise direction, the reciprocating distance adjusting mechanism is driven by a motor, an outer frame and an inner frame which are symmetrically arranged are in transmission connection with the reciprocating distance adjusting mechanism, and the distance between the outer frame and the inner frame is adjustable in a reciprocating mode. By arranging the extrusion station, the outer polishing station and the inner polishing station, the titanium pipe is subjected to comprehensive pretreatment before blanking and welding, in the extrusion station, extrusion die heads on an outer frame and an inner frame are driven by a reciprocating distance adjusting mechanism to conduct extrusion molding on the two ends of the titanium pipe, and a mounting die groove is machined; and the reverse rotating shaft is used for driving related parts to vibrate the vibration frame.

Description

Technical Field

[0001] The invention belongs to the technical field of titanium tube production equipment, and in particular relates to a titanium tube blanking device for sealed seed sources and a method thereof. Background Art

[0002] In the field of medical tumor treatment, radioactive particle implantation therapy technology is gradually emerging. This technology can accurately kill tumor cells while minimizing damage to normal tissues. In this technology, titanium tubes for sealed seed sources play a key role. In the production process of titanium tubes, titanium and titanium alloys have become ideal materials for making titanium tubes for sealed seed sources due to their biocompatibility, corrosion resistance, high strength and low density.

[0003] In the production process of titanium tubes, blanking is an important link that directly affects production efficiency and product quality. For example, the utility model patent with announcement number CN220375558U in the prior art discloses a titanium tube blanking device for sealed seed sources, which realizes automatic sorting and blanking and transfer of titanium tubes, and cooperates with mechanical grippers to transfer titanium tubes to welding and sealing equipment, which improves the automation level of the blanking link to a certain extent.

[0004] However, although the above-mentioned device has achieved a certain degree of automatic unloading, it does not involve the subsequent specific unloading operations such as transferring the titanium tube to the welding and sealing platform. In the traditional production process of titanium tubes for sealing seed sources, the unloading, vibration grinding, end forming and welding processes are independent of each other. The titanium tube needs to be transferred to a special grinding area for vibration grinding of the inner and outer walls before the weld. After grinding, it is transferred to the end forming station for shaping the end shape. After shaping, it is transferred to the welding station. If the titanium tube is only transferred to the station equipment for processing by a mechanical gripper as in the above-mentioned device, this process involves multiple material handling, consumes a lot of time, and seriously affects the overall production efficiency.

[0005] Based on this, the present invention provides a titanium tube blanking device for sealed seed sources and a method thereof to solve the problems raised in the above background technology. Summary of the Invention

[0006] In order to solve the problems raised in the above background technology, the present invention provides a titanium tube blanking device for sealed seed sources.

[0007] To achieve the above-mentioned object, the present invention provides the following technical solution: a titanium tube blanking device for sealed seed source, comprising a frame and a motor mounted on the frame, and further comprising:

[0008] The unloading station, extrusion station, external grinding station, internal grinding station, static station and material transfer station are arranged on the frame in a clockwise direction;

[0009] A reciprocating spacing adjustment mechanism is driven by a motor, and is transmission-connected to a symmetrically arranged outer frame and inner frame. The spacing between the outer frame and the inner frame is reciprocatingly adjustable. An extrusion die head is installed on each of the outer frame and the inner frame at a position corresponding to the extrusion station. An external grinding mechanism is provided between the outer frame and the inner frame at a position corresponding to the external grinding station. An internal grinding mechanism is installed between the outer frame and the inner frame at a position corresponding to the internal grinding station.

[0010] A rotating frame that can be driven by a motor and rotated periodically 60 degrees on the frame, on which six grinding drums are rotatably mounted, and each grinding drum is evenly distributed with grinding bristles and chip suction holes;

[0011] The linkage module is driven by a motor to drive the grinding drum to rotate and provide power to the external grinding mechanism;

[0012] The chip suction mechanism is driven by a motor and is used to generate negative pressure in the chip suction hole;

[0013] Auxiliary material transfer mechanism, used for assisting the removal of titanium tubes.

[0014] In the above technical solution, preferably, the auxiliary material moving mechanism includes a six-degree-of-freedom robotic arm installed on a frame, the end of the six-degree-of-freedom robotic arm is provided with a grabbing module for grabbing the titanium tube, two material guide tubes are installed on the frame, and the two material guide tubes correspond to the positions of the unloading station and the material moving station respectively, and a material moving push rod is installed on the frame and at a position adjacent to the material moving station, and a material moving rack facing the material moving station is installed at the movable end of the material moving push rod.

[0015] In the above technical solution, preferably, the linkage module includes an active bevel gear installed on the output shaft end of the motor, a forward rotation shaft rotatably connected to the rotating frame, and a reverse rotation shaft coaxially arranged with the forward rotation shaft. A first driven bevel gear is installed on the forward rotation shaft and the reverse rotation shaft, and the two first driven bevel gears are transmission-connected to the active bevel gear. The two first driven bevel gears are respectively arranged on both sides of the active bevel gear, an inner ring gear is installed on the forward rotation shaft, and an outer gear is installed on each of the grinding rotary cylinders, and each of the outer gears is transmission-connected to the inner ring gear.

[0016] In the above technical solution, preferably, the linkage module also includes a top shaft rotatably connected to the frame, a missing gear is installed on the top shaft, an indexing gear is installed on the rotating frame, and a first transmission tooth surface fixedly provided on the missing gear is connected to the indexing gear. The radius of the missing gear and the indexing gear is the same, and the circular angle corresponding to the first transmission tooth surface is 60°. A first synchronous belt is connected to the positive rotation axis and the top shaft.

[0017] In the above technical solution, preferably, the reciprocating pitch adjustment mechanism includes a bidirectional screw and a top shaft rotatably connected to the frame, the bidirectional screw is respectively provided with a positive thread segment and a negative thread segment, a torsion spring is fixedly provided at the rotation connection between the bidirectional screw and the frame, a pinion is installed at the end of the bidirectional screw, a second synchronous belt is connected for transmission between the top shaft and the top shaft, a half-face gear is installed on the top shaft, and a second transmission tooth surface connected to the pinion gear is provided on the half-face gear, the central angle corresponding to the second transmission tooth surface is 180°, and the radius of the half-face gear is 6 to 9 times the radius of the pinion gear.

[0018] In the above technical solution, preferably, the external grinding mechanism includes a vibration frame, a bevel gear ring installed on the counter-rotating shaft, a square shaft and a transmission shaft rotatably connected to the outer frame, the bottom end of the transmission shaft is installed with a bottom bevel gear connected to the bevel gear ring, and a second driven bevel gear is installed on the transmission shaft and the square shaft, and the two driven bevel gears are meshed with each other, an eccentric block is installed on the transmission shaft, an I-shaped wheel adapted to be connected to the eccentric block is rotatably installed on the vibration frame, a vibration push rod is rotatably installed on the vibration frame, and the vibration push rod is driven by the square shaft, a first elastic frame is installed on the inner frame and at a position relative to the vibration push rod, and a driven rod is rotatably installed on the first elastic frame.

[0019] In the above technical solution, preferably, the vibration push rod and the driven rod are coaxially arranged, and the ends of the vibration push rod and the driven rod are installed with conical rubber heads, the conical rubber heads are made of rubber, and the interior of the vibration push rod is fixed with an axis groove with an opening at the tail end and slidingly connected to the square shaft, and the cross-sections of the axis groove and the square shaft are both regular polygons.

[0020] In the above technical solution, preferably, the internal grinding mechanism includes a first grinding brush rotatably connected to the vibration frame, a third synchronous belt is connected to the first grinding brush and the vibration push rod, a second elastic frame is installed on the inner frame, a second grinding brush is rotatably installed on the second elastic frame, a pair of positioning rings for positioning the titanium tube are installed on the outer frame and the inner frame, the first grinding brush and the second grinding brush are coaxially arranged, and the first grinding brush and the second grinding brush are both covered with steel wire bristles.

[0021] In the above technical solution, preferably, the chip suction mechanism includes a negative pressure cylinder installed on the frame, a group of pump blades distributed in a circular array are installed on the top shaft and at a position corresponding to the inner side of the negative pressure cylinder, the negative pressure cylinder is connected to a chip removal tube, an air guide cylinder is rotatably installed in the forward rotating shaft, the reverse rotating shaft is rotatably sleeved on the air guide cylinder, a negative pressure flow channel is provided in the air guide cylinder, the negative pressure port of the negative pressure cylinder is connected to the negative pressure flow channel through a dust suction pipe, a negative pressure annular cavity is provided in each of the grinding rotary cylinders, the chip suction hole is connected to the negative pressure annular cavity, an annular tube is rotatably installed on each of the grinding rotary cylinders, and the negative pressure annular cavity is connected to the negative pressure flow channel through the annular tube.

[0022] A method for blanking a titanium tube blanking device for a sealed seed source, comprising the following steps:

[0023] S100: Acquires the titanium tube's position data in real time and establishes a coordinate system for the titanium tube's central axis. It also constructs a three-dimensional path search model based on the A* algorithm, generates an obstacle avoidance path based on the robot arm's joint angle motion constraints, and optimizes the grasping sequence using a particle swarm algorithm.

[0024] S200: Real-time collection of titanium tube end face deformation at the extrusion station; dynamic adjustment of bidirectional screw speed using fuzzy PID control algorithm to set the extrusion die approach speed;

[0025] During the grinding process, the eccentric block mechanism driven by the counter-rotating shaft generates controllable vibration. The LSTM neural network is used to predict the mapping relationship between vibration frequency and surface roughness (Ra). The vibration frequency is adjusted in real time to stabilize the Ra value at 0.8-1.2μm.

[0026] When the pressure sensor in the grinding drum detects that the amount of debris accumulation is greater than 5g, the suction power is increased to 120% of the rated value through the negative pressure system.

[0027] S300: Detects the temperature of the rotating frame bearing. When it is greater than a preset value, it automatically reduces the rotation speed by 10%-15% and uses an improved Q-learning algorithm to allocate the processing time of the workstation;

[0028] The frequency domain energy of the vibration signal is analyzed through wavelet packet decomposition (5-layer db4 wavelet basis). When the energy proportion of the 200-500Hz frequency band is detected to be greater than 15%, the half-face gear is determined to be worn, and the adaptive compensation algorithm is triggered to adjust the meshing clearance to 0.05-0.1mm.

[0029] S400: Construct a random forest regression model, input features including 8-dimensional parameters such as extrusion molding time (t), grinding vibration frequency (f), and ambient humidity (RH), output the weld strength prediction value σ_pred, and the model test set R 2 >0.93;

[0030] When σ_pred is less than 35MPa, it is automatically marked as a high-risk product and the rework process is triggered. The rework path is preferentially assigned to the static workstation for stress release treatment.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] 1. The present invention is provided with an extrusion station, an external grinding station and an internal grinding station to perform comprehensive pre-treatment on the titanium tube before blanking and welding. At the extrusion station, the extrusion die heads on the external frame and the internal frame are driven by a reciprocating distance adjustment mechanism to extrude and shape the two ends of the titanium tube, and the installation die groove is processed. At the external grinding station, the counter-rotating shaft is used to drive the relevant components to vibrate the vibration frame, and at the same time drive the titanium tube to reciprocate in the grinding drum and rotate at a differential speed with the grinding drum to achieve vibration grinding of the outer surface of the titanium tube. At the internal grinding station, the vibration push rod rotates to drive the first grinding brush and the second grinding brush to rotate coaxially to grind the inner wall of the titanium tube, and the grinding brush reciprocates and rotates relative to the titanium tube. This series of designs solves the problem in the prior art that the titanium tube lacks the function of vibration grinding of the inner and outer walls before the weld and the end forming before blanking, improves the degree of automation of the device, ensures that the titanium tube reaches a higher quality standard before welding, and improves the overall quality of the product.

[0033] 2. The present invention realizes the automation of the titanium tube material transfer process by setting auxiliary material transfer mechanisms such as a six-degree-of-freedom robotic arm and a material transfer push rod. Before processing, the long titanium tube is first cut into short titanium tubes and conveyed. The six-degree-of-freedom robotic arm grabs the short titanium tube from the conveying device and sends it to the unloading station. After processing is completed, the material transfer push rod pushes the titanium tube out through the guide tube, and then the six-degree-of-freedom robotic arm transfers it to the unloading conveying device. Compared with the manual material transfer or only partially automatic unloading in the prior art that still requires manual transfer to the welding and sealing platform, the automation and accuracy of the material transfer are greatly improved, the labor cost is effectively reduced, the material flow in the entire processing process is more efficient and smooth, the connection between each station is closer, and the overall processing efficiency is significantly improved.

[0034] 3. The present invention adopts a design in which a single motor drives multiple components to work together. The motor drives the active bevel gear, driving the forward and reverse rotation shafts to rotate synchronously in opposite directions, which not only rotates the grinding drum to perform grinding operations, but also provides power for the external grinding mechanism. At the same time, the motor drives the top shaft to rotate through the transmission belt, thereby realizing the periodic replacement of the rotating frame. Compared with the problems of complex structure and high energy consumption caused by the separate driving of multiple components in the prior art, the present invention simplifies the driving structure, improves the power transmission efficiency, ensures the synchronization of the operation of each component, ensures that the grinding and other processing procedures can be carried out stably and efficiently, and the various workstations work closely together, which reduces energy consumption while improving the overall processing quality.

[0035] 4. By further integrating intelligent algorithms and multimodal sensing technology, the titanium tube cutting process has been fully optimized: the axis positioning accuracy of the titanium tube has been improved to ±0.15mm, and the outer surface roughness Ra value has been stabilized below 1.0μm, which is two orders of magnitude higher than the traditional process accuracy; the dynamic scheduling algorithm has enabled the comprehensive equipment utilization rate to exceed 90%, the unit production capacity has increased by 55%, and the energy consumption has been reduced by 28%; this technical solution has achieved breakthrough improvements in processing accuracy, efficiency, quality and equipment reliability, and is fully adapted to the stringent requirements of medical-grade titanium tube production. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is a schematic diagram of the overall structure of a titanium tube blanking device for sealed seed sources according to the present invention;

[0037] Figure 2 For the present invention Figure 1 Schematic diagram of the local enlarged structure at A in the middle;

[0038] Figure 3 Schematic diagram of the structure of the motor and bidirectional screw rod of the present invention;

[0039] Figure 4 For the present invention Figure 3 Schematic diagram of the cross-section structure;

[0040] Figure 5 For the present invention Figure 4 Schematic diagram of the local enlarged structure at B in the middle;

[0041] Figure 6 It is a structural schematic diagram of the extrusion die head and the rotary frame of the present invention;

[0042] Figure 7 For the present invention Figure 6 Schematic diagram of the local enlarged structure at C in the middle;

[0043] Figure 8 This is a schematic diagram of the structure of the grinding bristles and the debris suction holes of the present invention;

[0044] Figure 9 It is a structural schematic diagram of the ring tube and top shaft of the present invention;

[0045] Figure 10 It is a structural schematic diagram of the extrusion die head and inner frame of the present invention;

[0046] Figure 11 It is a structural schematic diagram of the square shaft and the outer frame of the present invention;

[0047] Figure 12 This is a schematic structural diagram of the I-shaped wheel and the eccentric block of the present invention;

[0048] Figure 13 Flow chart of the method of the present invention.

[0049] In the figure: 1, frame; 2, motor; 3, outer frame; 4, inner frame; 5, extrusion die; 6, grinding drum; 7, rotating frame; 8, grinding brush; 9, chip suction hole; 10, six-degree-of-freedom robot arm; 11, material guide tube; 12, material transfer push rod; 13, material transfer frame; 14, forward rotation axis; 15, reverse rotation axis; 16, inner gear ring; 17, outer gear; 18, top shaft; 19, missing gear; 20, indexing gear; 21, two-way screw; 22, Top shaft; 23. Torsion spring; 24. Pinion; 25. Half-face gear; 26. Vibration frame; 27. Bevel gear ring; 28. Square shaft; 29. Transmission shaft; 30. Eccentric block; 31. I-shaped pulley; 32. Vibration push rod; 33. First elastic frame; 34. Driven rod; 35. First grinding brush; 36. Second elastic frame; 37. Second grinding brush; 38. Negative pressure cylinder; 39. Air guide cylinder; 40. Ring tube; 41. Positioning ring; 42. Conical rubber head. DETAILED DESCRIPTION

[0050] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0051] like Figures 1 to 13 As shown, the present invention provides a titanium tube blanking device for sealed seed sources, comprising a frame 1 and a motor 2 mounted on the frame 1, and further comprising:

[0052] The unloading station, extrusion station, external grinding station, internal grinding station, static station and material transfer station are arranged on the frame 1 in a clockwise direction;

[0053] The reciprocating distance adjustment mechanism is driven by the motor 2. The reciprocating distance adjustment mechanism is connected to the symmetrically arranged outer frame 3 and inner frame 4. The distance between the outer frame 3 and the inner frame 4 is reciprocatingly adjustable. An extrusion die head 5 is installed on the outer frame 3 and the inner frame 4 at the position corresponding to the extrusion station. An external grinding mechanism is provided between the outer frame 3 and the inner frame 4 at the position corresponding to the external grinding station. An internal grinding mechanism is installed between the outer frame 3 and the inner frame 4 at the position corresponding to the internal grinding station.

[0054] A rotating frame 7 can be driven by a motor 2 and rotated periodically 60 degrees on the frame 1. Six grinding drums 6 are rotatably mounted on the rotating frame 7. Grinding bristles 8 and chip suction holes 9 are evenly distributed in the grinding drums 6.

[0055] The linkage module is driven by the motor 2 to drive the grinding drum 6 to rotate and provide power to the external grinding mechanism;

[0056] The chip suction mechanism is driven by the motor 2 and is used to generate negative pressure in the chip suction hole 9;

[0057] Auxiliary material transfer mechanism, used for assisting the removal of titanium tubes.

[0058] The auxiliary material moving mechanism includes a six-degree-of-freedom robotic arm 10 installed on the frame 1. The end of the six-degree-of-freedom robotic arm 10 is provided with a grabbing module for grabbing the titanium tube. Two material guide pipes 11 are installed on the frame 1. The two material guide pipes 11 correspond to the positions of the unloading station and the material moving station respectively. A material moving push rod 12 is installed on the frame 1 and adjacent to the material moving station. The movable end of the material moving push rod 12 is installed with a material moving rack 13 facing the material moving station.

[0059] Before use, a long titanium tube cutting device is arranged in front of the device. The cutting device is used to divide the long titanium tube into multiple short titanium tubes of equal length. The short titanium tubes are transported through the conveying device. The six-degree-of-freedom robot arm 10 grabs the short titanium tubes transported by the conveying device. At the same time, before work, the six-degree-of-freedom robot arm 10 and the material transfer push rod 12 are debugged to the initial position;

[0060] During operation, the six-degree-of-freedom robotic arm 10 grabs the short titanium tube after cutting from the conveying device through the grabbing module, and the six-degree-of-freedom robotic arm 10 sends the grabbed short titanium tube to the grinding drum 6 in the unloading station. Subsequently, the turntable 7 rotates and transfers the short titanium tube to the extrusion station. After the processing is completed, the turntable 7 drives the titanium tube to pass through the external grinding station, the internal grinding station, and the static station for corresponding processing, and finally transfers it to the material transfer station. The material transfer push rod 12 pushes the material transfer rack 13 to push the titanium tube out through the guide pipe 11. The six-axis machine realizes the automatic removal of the titanium tube and transfers it to the unloading conveying device.

[0061] When the titanium tube is in the extrusion station, the two extrusion die heads 5 approach each other, and then extrude and shape the two ends of the titanium tube and process the installation mold grooves for the titanium tube cover to be installed. The titanium tube is used to store the sealed seed source;

[0062] The above process setting solves the problems of low efficiency and easy errors in manual material transfer. Compared with the existing technology, it greatly improves the automation and accuracy of material transfer, reduces labor costs, makes the entire processing process more efficient and smooth, and closely connects the material flow between each workstation, thereby improving the overall processing efficiency.

[0063] The linkage module includes an active bevel gear installed on the output shaft end of the motor 2, a forward rotation shaft 14 rotatably connected to the rotating frame 7, and a reverse rotation shaft 15 coaxially arranged with the forward rotation shaft 14. A first driven bevel gear is installed on the forward rotation shaft 14 and the reverse rotation shaft 15. The two first driven bevel gears are both transmission-connected to the active bevel gear. The two first driven bevel gears are respectively arranged on both sides of the active bevel gear. An inner ring gear 16 is installed on the forward rotation shaft 14, and an outer gear 17 is installed on each grinding drum 6. Each outer gear 17 is transmission-connected to the inner ring gear 16.

[0064] When in use, the motor 2 starts and drives the active bevel gear to rotate, and the active bevel gear drives the first driven bevel gear on both sides. The forward rotation shaft 14 and the counter-rotating shaft 15 rotate synchronously in opposite directions. The rotation of the forward rotation shaft 14 drives the inner gear ring 16 to rotate, and then drives the outer gear 17 on the grinding drum 6, so that the grinding drum 6 rotates to perform the grinding operation. The rotation of the counter-rotating shaft 15 provides power for the external grinding mechanism, realizing that a single motor 2 drives multiple components to work together, solving the problem of complex structure and high energy consumption of driving multiple components separately. Compared with the existing technology, the drive structure is simplified, the power transmission efficiency is improved, the synchronization of the operation of each component is guaranteed, and the grinding and other processing processes are ensured to be carried out stably and efficiently. Each workstation cooperates closely under this drive to improve the overall processing quality.

[0065] The linkage module also includes a top shaft 18 rotatably connected to the frame 1, a missing gear 19 is installed on the top shaft 18, and an indexing gear 20 is installed on the rotating frame 7. The missing gear 19 is fixedly provided with a first transmission tooth surface that is transmission-connected to the indexing gear 20. The missing gear 19 and the indexing gear 20 have the same radius, and the circular angle corresponding to the first transmission tooth surface is 60°. A first synchronous belt is transmission-connected between the forward rotation shaft 14 and the top shaft 18.

[0066] When the motor 2 drives the active bevel gear to rotate, the top shaft 18 is driven to rotate through the first synchronous belt, and the missing gear 19 on the top shaft 18 rotates accordingly. When the first transmission tooth surface of the missing gear 19 engages with the indexing gear 20, the drive rack 7 is rotated 60° to make the grinding drum 6 align with different workstations in turn, realizing periodic position change, ensuring that the titanium tube is processed in order at each workstation, solving the problems of inaccurate position change of the rack 7 and low degree of automation. Compared with the existing technology, the accurate and automatic position change of the rack 7 is realized, the processing rhythm of each workstation is consistent, the processing efficiency and product consistency are improved, the operation of the entire device is more stable and reliable, manual intervention is reduced, and the level of automation in production is improved.

[0067] The reciprocating pitch adjustment mechanism includes a bidirectional screw rod 21 and a top shaft 22 which are rotatably connected to the frame 1. The bidirectional screw rod 21 is respectively provided with a positive thread segment and a negative thread segment. A torsion spring 23 is fixedly provided at the rotation connection between the bidirectional screw rod 21 and the frame 1. A pinion 24 is installed at the end of the bidirectional screw rod 21. A second synchronous belt is connected to the top shaft 22 and the top shaft 18 for transmission. A half-face gear 25 is installed on the top shaft 22. The half-face gear 25 is provided with a second transmission tooth surface which is transmission-connected to the pinion 24. The central angle corresponding to the second transmission tooth surface is 180°, and the radius of the half-face gear 25 is 8 times the radius of the pinion 24.

[0068] When in use, the motor 2 drives the top shaft 18 to rotate, and the top shaft 22 is driven to rotate by the second synchronous belt, and the half-face gear 25 on the top shaft 22 rotates accordingly. When the second transmission tooth surface of the half-face gear 25 meshes with the pinion 24, it drives the bidirectional screw rod 21 to rotate. The positive thread section and the negative thread section of the bidirectional screw rod 21 make the outer frame 3 and the inner frame 4 move closer to or away from each other, and adjust the spacing. After completing the extrusion, grinding and other processes, the torsion spring 23 resets the bidirectional screw rod 21, and the outer frame 3 and the inner frame 4 return to their initial spacing;

[0069] When the inner frame 4 and the outer frame 3 are away from each other by a specified distance, the rotating frame 7 completes the rotation action. When the inner frame 4 and the outer frame 3 are close to each other, the rotating frame 7 remains stationary.

[0070] The external grinding mechanism includes a vibration frame 26, a bevel gear ring 27 installed on the anti-rotation shaft 15, a square shaft 28 rotatably connected to the outer frame 3, and a transmission shaft 29. The bottom end of the transmission shaft 29 is equipped with a bottom bevel gear that is transmission-connected to the bevel gear ring 27. A second driven bevel gear is installed on the transmission shaft 29 and the square shaft 28. The two driven bevel gears are engaged with each other. An eccentric block 30 is installed on the transmission shaft 29. An I-shaped wheel 31 that is adapted to be connected to the eccentric block 30 is rotatably installed on the vibration frame 26. A vibration push rod 32 is rotatably installed on the vibration frame 26, and the vibration push rod 32 is driven by the square shaft 28. A first elastic frame 33 is installed on the inner frame 4 and at a position relative to the vibration push rod 32. A driven rod 34 is rotatably installed on the first elastic frame 33.

[0071] When in use, the counter-rotating shaft 15 rotates to drive the bevel gear ring 27 to rotate, and the bevel gear ring 27 drives the bottom bevel gear to make the transmission shaft 29 rotate, and the eccentric block 30 on the transmission shaft 29 rotates accordingly, and the eccentric block 30 drives the I-wheel 31 to make the vibration frame 26 vibrate. At the same time, the square shaft 28 rotates to drive the vibration push rod 32 to move back and forth, and the vibration push rod 32 cooperates with the driven rod 34 to drive the titanium tube to move back and forth in the grinding drum 6. When the titanium tube is in the grinding drum 6, the titanium tube and the grinding drum 6 are in a differential rotation state. Through the reciprocating motion of the titanium tube in the grinding drum 6, the vibration grinding of the outer surface of the titanium tube is achieved. Through vibration grinding, the grinding strength, grinding efficiency and grinding effect of the outer surface of the titanium tube are effectively improved, and the problems of incomplete grinding and low efficiency of the traditional grinding method of the outer surface of the titanium tube are solved. Compared with the existing technology, the grinding effect and efficiency are enhanced, and impurities on the outer wall of the titanium tube can be removed more thoroughly, ensuring the quality of the outer wall of the titanium tube. The coordinated grinding of each station and the overall quality of the product are improved.

[0072] The vibration push rod 32 and the driven rod 34 are coaxially arranged, and the ends of the vibration push rod 32 and the driven rod 34 are both installed with a conical rubber head 42, which is made of rubber. The interior of the vibration push rod 32 is fixed with an axis groove with an opening at the tail end and slidingly connected to the square shaft 28. The cross-sections of the axis groove and the square shaft 28 are both regular polygons.

[0073] When in use, the vibrating push rod 32 reciprocates under the drive of the square shaft 28, and the conical rubber head 42 at its end cooperates with the conical rubber head 42 at the end of the driven rod 34 to closely contact the outer wall of the titanium tube. The regular polygonal shaft groove and the square shaft 28 ensure stable transmission. The conical rubber head 42 made of rubber material can ensure good grinding contact while avoiding damage to the outer wall of the titanium tube, solving the problem of easy damage to the titanium tube and unstable grinding contact during grinding.

[0074] Compared with the existing technology, the stability and safety of grinding are improved, the titanium tube is guaranteed not to be damaged during the grinding process, the product quality is ensured, and each grinding station can work more efficiently and accurately.

[0075] The internal grinding mechanism includes a first grinding brush 35 rotatably connected to the vibration frame 26, and a third synchronous belt is connected to the first grinding brush 35 and the vibration push rod 32. A second elastic frame 36 is installed on the inner frame 4, and a second grinding brush 37 is rotatably installed on the second elastic frame 36. A pair of positioning rings 41 for positioning titanium tubes are installed on the outer frame 3 and the inner frame 4. The first grinding brush 35 and the second grinding brush 37 are coaxially arranged, and the first grinding brush 35 and the second grinding brush 37 are evenly covered with steel wire bristles.

[0076] When in use, the vibration push rod 32 rotates, and the first grinding brush 35 is driven to rotate through the third synchronous belt. The first grinding brush 35 and the second grinding brush 37 rotate coaxially to grind the inner wall of the titanium tube. The positioning ring 41 on the outer frame 3 and the inner frame 4 positions the titanium tube in the grinding drum 6 to ensure that the titanium tube cannot be displaced relative to the grinding drum 6, ensuring the accurate grinding position, solving the problem of difficulty in grinding the inner wall of the titanium tube and difficulty in ensuring position accuracy;

[0077] When the vibration frame 26 moves, the first grinding brush 35 and the second grinding brush 37 reciprocate and rotate relative to the titanium tube, thereby improving the grinding efficiency and grinding effect of the inner wall of the titanium tube.

[0078] The chip suction mechanism includes a negative pressure cylinder 38 installed on the frame 1, and a group of pump blades distributed in a circular array are installed on the top shaft 22 and corresponding to the position on the inner side of the negative pressure cylinder 38. The negative pressure cylinder 38 is connected to a chip removal pipe, and an air guide cylinder 39 is rotatably installed in the forward rotation shaft 14. The reverse rotation shaft 15 is rotatably sleeved on the air guide cylinder 39. A negative pressure flow channel is provided in the air guide cylinder 39. The negative pressure port of the negative pressure cylinder 38 is connected to the negative pressure flow channel through the dust suction pipe. A negative pressure annular cavity is provided in each grinding rotary cylinder 6, and the chip suction hole 9 is connected to the negative pressure annular cavity. An annular tube 40 is rotatably installed on each grinding rotary cylinder 6, and the negative pressure annular cavity is connected to the negative pressure flow channel through the annular tube 40.

[0079] During use, the motor 2 drives the top shaft 22 to rotate, and the pump blades rotate in the negative pressure cylinder 38 to generate negative pressure. The negative pressure is transmitted to the negative pressure ring cavity of the grinding rotary cylinder 6 through the vacuum tube and the negative pressure flow channel of the air guide cylinder 39, so that the chip suction hole 9 generates suction, absorbs the debris generated by grinding, and discharges it through the chip discharge pipe, which solves the problem of grinding debris polluting the environment and affecting the processing quality. Compared with the existing technology, it effectively cleans the grinding debris, keeps the processing environment clean, avoids the debris from causing secondary damage to the surface of the titanium tube, ensures the smooth processing of each workstation, and improves product quality.

[0080] The complete working principle of the titanium tube blanking equipment for sealed seed sources involved in the present invention is as follows:

[0081] SS01. Preparation: Place the long titanium tube cutting equipment in front of the device to cut the long titanium tube into multiple short titanium tubes of equal length. Transport the short titanium tubes through the conveying device and adjust the six-degree-of-freedom robot arm 10 and the material transfer push rod 12 to their initial positions.

[0082] SS02, Titanium tube grabbing and unloading: The six-degree-of-freedom robot arm 10 grabs the cut short titanium tube from the conveyor through the grabbing module at the end, and then delivers it to the grinding drum 6 in the unloading station;

[0083] SS03, extrusion station processing: the rotating frame 7 rotates to transfer the short titanium tube in the grinding drum 6 to the extrusion station. At this time, the reciprocating distance adjustment mechanism drives the outer frame 3 and the inner frame 4 to move closer to each other, so that the extrusion die head 5 installed on the two ends of the titanium tube is extruded and shaped to form a mounting groove for the titanium tube cover. After the processing is completed, the reciprocating distance adjustment mechanism drives the outer frame 3 and the inner frame 4 to return to the initial distance;

[0084] SS04, grinding at the external grinding station: the rotating frame 7 rotates again to transfer the titanium tube to the external grinding station. The motor 2 drives the anti-rotation shaft 15 to rotate, driving the bevel gear ring 27 to rotate. The bevel gear ring 27 drives the bottom bevel gear to rotate the transmission shaft 29. The eccentric block 30 on the transmission shaft 29 rotates to drive the I-shaped wheel 31, causing the vibration frame 26 to vibrate. At the same time, the square shaft 28 rotates to drive the vibration push rod 32 to reciprocate. The vibration push rod 32 cooperates with the driven rod 34 to drive the titanium tube to reciprocate in the grinding drum 6. The titanium tube and the grinding drum 6 are in a differential rotation state, thereby realizing vibration grinding of the outer surface of the titanium tube.

[0085] SS05, grinding at the inner grinding station: the rotating frame 7 continues to rotate, transferring the titanium tube to the inner grinding station, and the vibrating push rod 32 rotates, driving the first grinding brush 35 to rotate through the third synchronous belt. The first grinding brush 35 and the second grinding brush 37 rotate coaxially to grind the inner wall of the titanium tube; the positioning ring 41 on the outer frame 3 and the inner frame 4 positions the titanium tube in the grinding drum 6 to ensure that the titanium tube cannot move relative to the grinding drum 6, and when the vibrating frame 26 moves, the first grinding brush 35 and the second grinding brush 37 reciprocate and rotate relative to the titanium tube;

[0086] SS06, static station treatment: the rotating rack 7 transfers the internally polished titanium tube to the static station for necessary static treatment to eliminate the residual stress of the titanium tube caused by extrusion and polishing;

[0087] SS07, material transfer and discharge: After the turntable 7 transfers the titanium tube to the material transfer station, the material transfer push rod 12 pushes the material transfer rack 13 to push the titanium tube out through the guide tube 11. The six-degree-of-freedom robotic arm 10 grabs the pushed-out titanium tube and transfers it to the unloading conveying device, completing the entire unloading process.

[0088] The present invention also provides a method for blanking a titanium tube blanking device for a sealed seed source, comprising the following steps:

[0089] S100: Dynamic Grasping and Adaptive Positioning:

[0090] S101: The 3D linear array laser scanner (accuracy ±0.05mm) at the end of the six-degree-of-freedom robotic arm 10 is used to obtain the position data of the titanium tube in real time, and the improved ICP algorithm is used to perform point cloud registration to establish the coordinate system of the central axis of the titanium tube;

[0091] S102: Build a 3D path search model based on the A* algorithm, combine it with the robot arm joint angle motion constraints to generate an obstacle avoidance path, and optimize the grasping sequence using the particle swarm algorithm, shortening the grasping cycle by 25%-40%;

[0092] S103: Use the reinforcement learning model (PPO algorithm) to compensate for the end-of-arm posture error in real time. When the deviation between the titanium tube axis and the grinding drum center is detected to be greater than 0.3mm, the dynamic PID compensation mechanism is triggered to ensure that the coaxiality error is ≤0.15mm.

[0093] A KEYENCE LK-H0503D linear array laser sensor (accuracy ±0.05mm) was installed at the end of the robotic arm. The titanium tube point cloud data was aligned using an improved ICP algorithm, and the robotic arm joint error covariance matrix (Σ=diag[0.1,0.1,0.2]) was introduced to constrain the alignment process. After 50 sets of tests, the mean positioning error of the titanium tube axis was 0.12mm, the standard deviation was 0.03mm, and the grasping cycle was shortened to 7 seconds per piece.

[0094] S200: Multi-station collaborative intelligent processing stage:

[0095] S201: Deploy a high-precision laser ranging sensor (sampling frequency 1kHz) at the extrusion station to collect the deformation of the titanium tube end face in real time;

[0096] The fuzzy PID control algorithm is used to dynamically adjust the bidirectional screw speed, and the extrusion die approach speed v is set to 20-50 mm / s. When the plastic deformation of the titanium tube end surface reaches the set value (ΔL = 1.2 ± 0.05 mm), the reverse locking mechanism is triggered.

[0097] S202: At the external grinding station, an eccentric mechanism (eccentricity e = 2-5 mm) driven by a counter-rotating shaft generates a controllable vibration of 20-200 Hz. An LSTM neural network is used to predict the mapping relationship between vibration frequency and surface roughness (Ra). The vibration frequency is adjusted in real time to stabilize the Ra value at 0.8-1.2 μm.

[0098] Adaptive chip suction strategy: When the pressure sensor inside the grinding drum detects that the amount of debris accumulated is greater than 5g, the suction power is increased to 120% of the rated value through the negative pressure system.

[0099] S203: At the internal grinding station, a genetic algorithm is used to optimize the speed ratio parameters of the grinding brush rotation speed (n1) and the titanium tube rotation speed (n2). The optimization objective function F = α·surface roughness + β·tool wear rate is set. After iterative calculation, the optimal speed ratio n1 / n2 = 1.6-2.2 is obtained.

[0100] S300: Collaborative optimization stage:

[0101] S301: Build a digital twin system that includes equipment dynamics and thermodynamics models to simulate the load status of each workstation in real time. When the turntable bearing temperature is detected to be greater than 65°C, the rotation speed is automatically reduced by 10%-15%;

[0102] S302: Using an improved Q-learning algorithm to allocate workstation processing time, the reward function is designed as R = 0.4·throughput + 0.3·energy efficiency + 0.3·quality pass rate, which increases the comprehensive equipment utilization rate from 70% to 92%;

[0103] S303: Analyze the frequency domain energy of the vibration signal through wavelet packet decomposition (5-layer db4 wavelet basis). When the energy proportion of the 200-500 Hz frequency band is detected to be greater than 15%, it is determined that the half gear is worn, and the adaptive compensation algorithm is triggered to adjust the meshing clearance to 0.05-0.1mm;

[0104] S400: Quality closed loop stage:

[0105] S401: Construct a random forest regression model, input features including 8-dimensional parameters such as extrusion molding time (t), grinding vibration frequency (f), and ambient humidity (RH), output the weld strength prediction value σ_pred, and the model test set R 2 >0.93;

[0106] S402: When σ_pred < 35 MPa, the product is automatically marked as high-risk and the rework process is triggered. The rework path is preferentially assigned to the static workstation for stress relief treatment;

[0107] S403: Blockchain technology is used to record the processing parameters and quality data of each workstation, generate a unique hash value and write it into the titanium tube RFID tag to achieve traceability of the entire medical-grade production process.

[0108] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A titanium tube blanking device for sealed seed source, comprising a frame (1) and a motor (2) mounted on the frame (1), characterized in that: Also includes: A material unloading station, an extrusion station, an external grinding station, an internal grinding station, a static station and a material transfer station are arranged in a clockwise direction on the frame (1); A reciprocating spacing adjustment mechanism is driven by a motor (2). The reciprocating spacing adjustment mechanism is connected to a symmetrically arranged outer frame (3) and an inner frame (4). The spacing between the outer frame (3) and the inner frame (4) is reciprocatingly adjustable. An extrusion die head (5) is installed on the outer frame (3) and the inner frame (4) at a position corresponding to the extrusion station. An external grinding mechanism is installed between the outer frame (3) and the inner frame (4) at a position corresponding to the external grinding station. An internal grinding mechanism is installed between the outer frame (3) and the inner frame (4) at a position corresponding to the internal grinding station. A rotating frame (7) can be driven by a motor (2) and rotated periodically at 60 degrees on the frame (1), and six grinding drums (6) are rotatably mounted on the rotating frame (7), and grinding bristles (8) and chip suction holes (9) are evenly distributed in the grinding drums (6); The linkage module is driven by the motor (2) and is used to drive the grinding drum (6) to rotate and provide power to the external grinding mechanism; The chip suction mechanism is driven by the motor (2) and is used to generate negative pressure in the chip suction hole (9); Auxiliary material transfer mechanism, used for assisting the removal of titanium tubes.

2. The titanium tube blanking device for sealed seed source according to claim 1, characterized in that: The auxiliary material shifting mechanism comprises a six-degree-of-freedom robotic arm (10) mounted on a frame (1), a grabbing module for grabbing the titanium tube being provided at the end of the six-degree-of-freedom robotic arm (10), two material guide tubes (11) being mounted on the frame (1), the two material guide tubes (11) corresponding to the positions of a material unloading station and a material shifting station respectively, a material shifting push rod (12) being mounted on the frame (1) at a position adjacent to the material shifting station, a material shifting frame (13) being mounted on the movable end of the material shifting push rod (12) facing the material shifting station.

3. The titanium tube blanking device for sealed seed source according to claim 1, characterized in that: The linkage module comprises an active bevel gear mounted on the output shaft end of the motor (2), a forward rotation shaft (14) rotatably connected to the rotating frame (7), and a reverse rotation shaft (15) coaxially arranged with the forward rotation shaft (14). A first driven bevel gear is mounted on each of the forward rotation shaft (14) and the reverse rotation shaft (15). The two first driven bevel gears are both transmission-connected to the active bevel gear. The two first driven bevel gears are respectively arranged on both sides of the active bevel gear. An inner gear ring (16) is mounted on the forward rotation shaft (14). An outer gear (17) is mounted on each of the grinding rotary cylinders (6), and each outer gear (17) is transmission-connected to the inner gear ring (16).

4. The titanium tube blanking device for sealed seed source according to claim 3, characterized in that: The linkage module further comprises a top shaft (18) rotatably connected to the frame (1), a missing gear (19) is mounted on the top shaft (18), an indexing gear (20) is mounted on the rotating frame (7), a first transmission tooth surface is fixedly provided on the missing gear (19) and is transmission-connected to the indexing gear (20), the missing gear (19) and the indexing gear (20) have the same radius, the circular angle corresponding to the first transmission tooth surface is 60°, and a first synchronous belt is transmission-connected between the forward rotation axis (14) and the top shaft (18).

5. The titanium tube blanking device for sealed seed source according to claim 3, characterized in that: The reciprocating pitch adjustment mechanism comprises a bidirectional screw rod (21) and a top shaft (22) rotatably connected to the frame (1); the bidirectional screw rod (21) is respectively provided with a positive thread section and a negative thread section; a torsion spring (23) is fixedly provided at the rotation connection between the bidirectional screw rod (21) and the frame (1); a pinion (24) is installed at the end of the bidirectional screw rod (21); a second synchronous belt is connected to the top shaft (22) and the top shaft (18); a half-face gear (25) is installed on the top shaft (22); a second transmission tooth surface is provided on the half-face gear (25) which is transmission-connected to the pinion (24); the central angle corresponding to the second transmission tooth surface is 180°; and the radius of the half-face gear (25) is 6 to 9 times the radius of the pinion (24).

6. The titanium tube blanking device for sealed seed source according to claim 1, characterized in that: The external grinding mechanism comprises a vibration frame (26), a bevel gear ring (27) mounted on the counter-rotating shaft (15), a square shaft (28) rotatably connected to the outer frame (3), and a transmission shaft (29); a bottom bevel gear connected to the bevel gear ring (27) is mounted on the bottom end of the transmission shaft (29); a second driven bevel gear is mounted on both the transmission shaft (29) and the square shaft (28); the two driven bevel gears are meshed with each other; an eccentric block (30) is mounted on the transmission shaft (29); an I-shaped wheel (31) adapted to be connected to the eccentric block (30) is rotatably mounted on the vibration frame (26); a vibration push rod (32) is rotatably mounted on the vibration frame (26); the vibration push rod (32) is driven by the square shaft (28); a first elastic frame (33) is mounted on the inner frame (4) at a position relative to the vibration push rod (32); a driven rod (34) is rotatably mounted on the first elastic frame (33).

7. The titanium tube blanking device for sealed seed source according to claim 6, characterized in that: The vibration push rod (32) and the driven rod (34) are coaxially arranged. The ends of the vibration push rod (32) and the driven rod (34) are both installed with a conical rubber head (42). The conical rubber head (42) is made of rubber. The interior of the vibration push rod (32) is fixed with an axis groove with a tail end opening and slidingly connected to the square shaft (28). The cross sections of the axis groove and the square shaft (28) are both regular polygons.

8. The titanium tube blanking device for sealed seed source according to claim 1, characterized in that: The inner grinding mechanism comprises a first grinding brush (35) rotatably connected to the vibration frame (26); a third synchronous belt is connected to the first grinding brush (35) and the vibration push rod (32); a second elastic frame (36) is installed on the inner frame (4); a second grinding brush (37) is rotatably installed on the second elastic frame (36); a pair of positioning rings (41) for positioning titanium tubes are installed on the outer frame (3) and the inner frame (4); the first grinding brush (35) and the second grinding brush (37) are coaxially arranged; and the first grinding brush (35) and the second grinding brush (37) are evenly covered with steel wire bristles.

9. The titanium tube blanking device for sealed seed source according to claim 5, characterized in that: The chip suction mechanism includes a negative pressure cylinder (38) installed on the frame (1), a group of pump blades distributed in a circumferential array are installed on the top shaft (22) and at a position corresponding to the inner side of the negative pressure cylinder (38), the negative pressure cylinder (38) is connected to a chip discharge pipe, an air guide cylinder (39) is rotatably installed in the forward rotation shaft (14), the reverse rotation shaft (15) is rotatably sleeved on the air guide cylinder (39), a negative pressure flow channel is provided in the air guide cylinder (39), the negative pressure port of the negative pressure cylinder (38) is connected to the negative pressure flow channel through a dust suction pipe, a negative pressure annular cavity is provided in each of the grinding rotary cylinders (6), the chip suction hole (9) is connected to the negative pressure annular cavity, and a ring tube (40) is rotatably installed on each of the grinding rotary cylinders (6), and the negative pressure annular cavity is connected to the negative pressure flow channel through the ring tube (40).

10. A method for blanking a titanium tube for sealing a seed source, based on the titanium tube for sealing a seed source according to any one of claims 1 to 9, characterized in that: The following steps are involved: S100: Acquires the titanium tube's position data in real time and establishes a coordinate system for the titanium tube's central axis. It also constructs a three-dimensional path search model based on the A* algorithm, generates an obstacle avoidance path based on the robot arm's joint angle motion constraints, and optimizes the grasping sequence using a particle swarm algorithm. S200: collecting the deformation of the titanium tube end face in real time at the extrusion station; dynamically adjusting the rotation speed of the bidirectional screw (21) using a fuzzy PID control algorithm to set the approach speed of the extrusion die head (5); During the grinding process, the eccentric block (30) mechanism driven by the counter-rotating shaft (15) generates controllable vibration, and the mapping relationship between the vibration frequency and the surface roughness (Ra) is predicted by using an LSTM neural network, and the vibration frequency is adjusted in real time to stabilize the Ra value at 0.8-1.2 μm; When the pressure sensor in the grinding drum (6) detects that the amount of debris accumulation is greater than 5g, the suction power is increased to 120% of the rated value through the negative pressure system; S300: Detecting the bearing temperature of the rotating frame (7). When the temperature is greater than a predetermined value, the rotation speed is automatically reduced by 10%-15%, and the improved Q-learning algorithm is used to allocate the processing time of the workstations; The frequency domain energy of the vibration signal is analyzed by wavelet packet decomposition (5-layer db4 wavelet basis). When the energy proportion of the 200-500 Hz frequency band is detected to be greater than 15%, it is determined that the half-face gear (25) is worn, and the adaptive compensation algorithm is triggered to adjust the meshing clearance to 0.05-0.1 mm. S400: Construct a random forest regression model, input features including 8-dimensional parameters such as extrusion molding time (t), grinding vibration frequency (f), and ambient humidity (RH), output the weld strength prediction value σ_pred, and the model test set R 2 >0.93; When σ_pred is less than 35MPa, it is automatically marked as a high-risk product and the rework process is triggered. The rework path is preferentially assigned to the static workstation for stress release treatment.

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