Automatic target loading method of laser acceleration system

Abstract

The invention discloses an automatic target loading method of a laser acceleration system, which comprises the following steps of: storing target sheets in a plurality of layers of stacked target sheet storage boxes, sequentially pushing and loading the target sheets in a certain layer of target sheet storage box onto a target sheet pressing frame assembly by a target sheet automatic loading assembly, and then moving the target sheets to a working area by a target sheet positioning assembly, carrying out laser targeting; when laser targeting of all target spots on a target piece is completed or laser targeting is completed through manual definition, the target piece is moved into a target piece recycling assembly, and target piece recycling is achieved under the condition that a vacuum cavity is not opened; and after laser targeting of all the target slices in a certain layer of target slice storage box is completed, the target slice automatic loading assembly moves to the interface of the next layer of target slice storage box, and laser targeting and target slice recovery are continued until the target shooting is finished. According to the automatic target loading method, a three-dimensional target loading function and an automatic target changing function without opening a cavity are realized, so that high-repetition-frequency femtosecond laser targeting is conveniently realized, and laser proton radiotherapy equipment is efficiently operated.

Description

Technical Field

[0001] This invention relates to laser acceleration systems, specifically to an automated target loading method for a laser acceleration system with proton radiotherapy as a representative application scenario, belonging to the field of medical technology. Background Technology

[0002] Particle accelerators are large-scale devices that have a significant impact on the development of human scientific research. With the rapid development of laser technology in recent decades, laser accelerators have achieved acceleration field gradients of TVV / m, accelerating protons to energies of hundreds of MeV within a scale of tens of micrometers. As laser accelerators mature, researchers have proposed novel proton radiotherapy devices based on laser accelerators, and their application prospects in the field of tumor radiotherapy have attracted increasing attention.

[0003] Radiotherapy is one of the main methods of cancer treatment. Proton beams, due to their "Bragg peak" effect, have significant advantages in controlling the energy release location and protecting normal tissues. Compared with photon and electron beams, they have better dose conformity, making them an ideal choice for precision radiotherapy. However, proton radiotherapy devices based on traditional accelerators have encountered bottlenecks due to their large size and high cost, limiting the promotion and application of proton radiotherapy, and leaving the cancer medical needs of a large number of patients unmet.

[0004] The two most important factors in a laser acceleration system are the laser and the target material. The key physical process in laser acceleration experiments, also known as laser target ablation experiments, lies in the interaction between the laser and the target material. In laser target ablation experiments involving the interaction of a laser and a solid thin-film target, the solid target is fixed to the target hole of a target holder device. The position of the target hole is precisely controlled by a target positioning and monitoring system. By repeatedly moving the target hole position, different solid targets or different positions of the same target are aligned with the laser focal spot, thus achieving target ablation. In existing technologies, the target holder device used to carry the target is a circular or quadrilateral plane. The target hole is moved by moving the target holder plane up and down or left and right. However, due to the limited target capacity of the planar target holder, after all the solid targets on the target holder plane have been ablated, the vacuum chamber needs to be opened for target replacement. Therefore, the repetition rate ablation interval is long, preventing high-repetition-rate continuous ablation and limiting the application of laser-accelerated protons in radiotherapy.

[0005] In summary, the target carrier devices of existing laser acceleration systems cannot achieve three-dimensional target loading and automated target changing, and cannot meet all the requirements of high repetition rate femtosecond laser acceleration systems for proton radiotherapy devices. There is an urgent need to develop an automated target loading method with three-dimensional target loading function and automated target changing function without opening a cavity, so as to quickly and conveniently realize continuous high repetition rate femtosecond laser target firing, and provide support for the software and hardware of laser proton radiotherapy equipment. Summary of the Invention

[0006] To address the problems existing in the prior art, the purpose of this invention is to propose an automated target loading method for laser acceleration systems, enabling automated loading, position detection, and positioning of the target.

[0007] To achieve the above technical objectives, this invention first provides an automated target holder device, which includes a target storage component, an automated target loading component, a target clamping component, a target positioning component, and a target retrieval component. Based on this automated target holder device, an automated target loading method for a laser acceleration system is proposed, comprising the following steps: 1) The target chip is stored in a target chip storage assembly, wherein the target chip storage assembly is a multi-layered stacked target chip storage box; 2) The target loading assembly automatically pushes out the target pieces stored in a certain layer of target piece storage box and loads them onto the target piece pressing frame assembly; 3) The target positioning assembly moves the target frame assembly, which is loaded with a target, to the working area and precisely controls the spatial position of the target for laser targeting. 4) After all target points on a target piece loaded onto the target piece pressing frame assembly have completed laser targeting, or after the laser targeting of the target piece has been manually defined, the target piece positioning assembly moves the target piece pressing frame assembly to the target piece recycling assembly, loads the target piece into the target piece recycling assembly, and achieves target piece recycling without opening the vacuum chamber. 5) After all the target pieces stored in a certain layer of target piece storage box have been laser-fired, the automatic target piece loading component moves to the next layer of target piece storage box interface of the target piece storage component, loads the target pieces stored in that layer of target piece storage box in sequence, moves them to the working area for laser firing, and then retrieves them; 6) The laser targeting ends when all target pieces in the target piece storage assembly have been laser-targeted and retrieved.

[0008] In the automated target holder device used in the automated target loading method of the laser acceleration system of the present invention, the target storage assembly preferably consists of multiple layers of target storage boxes stacked vertically. Targets are placed sequentially and tightly against each other in the target storage boxes. A sliding groove is provided at the front end of each target storage box. Targets move forward sequentially into the sliding groove and then slide out from the side of the target storage box into the target pressing frame assembly. In one embodiment of the present invention, the target storage assembly has a three-layer structure, with each layer having a capacity of 25 to 32 targets, and the total capacity of the target storage assembly is 75 to 96 targets.

[0009] In the automated target loading method of the laser acceleration system of the present invention, the automated target loading assembly uses push plates in the front-back and left-right directions to sequentially push the target pieces from the target storage assembly onto the target pressing frame assembly. In some specific embodiments of the present invention, the automated target loading assembly includes a loading lifting servo motor, a loading forward pushing servo motor, a loading side pushing servo motor, a side pushing plate, and a front pushing plate. The target storage assembly is placed on a bracket connected to the loading lifting servo motor, and the loading lifting servo motor controls the vertical position of the target storage assembly. The loading forward pushing servo motor controls the front pushing plate to move back and forth. An opening for inserting the front pushing plate is provided on the side of the target storage box, and the front pushing plate moves the target piece from back to front. The loading side pushing servo motor controls the side pushing plate to move left and right, pushing the target piece that has entered the front sliding groove of the target storage box to slide out from the side.

[0010] In the automated target loading method of the laser acceleration system of the present invention, the target plate pressing frame assembly is mounted on the target plate positioning assembly. In some specific embodiments of the present invention, the target plate pressing frame assembly includes a front pressing frame and a rear positioning frame, which are connected and fixed by four guide shafts respectively set at the four corners, and a horizontal groove for supporting the target plate is provided between the pressing frame and the positioning frame.

[0011] Furthermore, the target plate pressing frame assembly has a guide groove on one side of the pressing frame for guiding the target plate into the space between the pressing frame and the positioning frame. A push rod docking groove is provided on the top of the pressing frame, and a positioning block and a positioning plunger are provided on the back of the positioning frame. The positioning block and the positioning plunger form a pressing locking mechanism. The automatic target plate loading assembly includes an electric push rod, and the push plate at the end of the electric push rod can move into the groove of the push rod docking groove, thereby pushing the pressing frame to move in the Y direction (front-back direction), realizing the locking or unlocking of the pressing locking mechanism.

[0012] In the automated target loading method of the laser acceleration system of the present invention, the target positioning assembly controls and moves the target in the target pressing frame assembly through a servo motor and a hexapod displacement stage, aligning the solid target material with the laser focal spot for target firing. In some specific embodiments of the present invention, the target positioning assembly includes a positioning side-push servo motor, a positioning lifting servo motor, a hexapod displacement stage, and a lifting bracket. The target pressing frame assembly is mounted on the lifting bracket, and the positioning lifting servo motor controls the vertical movement of the target pressing frame assembly on the lifting bracket. The lifting bracket is located on the hexapod displacement stage, and the hexapod displacement stage is located on a horizontal platform connected to the positioning side-push servo motor. The positioning side-push servo motor translates the hexapod displacement stage together with the lifting bracket to the working area, and the positioning lifting servo motor moves the target pressing frame assembly on the lifting bracket vertically to a specified height. Then, the hexapod displacement stage finely adjusts the three-dimensional spatial position of the target pressing frame assembly.

[0013] The automated target loading method of the laser acceleration system of the present invention preferably adopts a target retrieval assembly consisting of a target retrieval guide rail and a target retrieval box. After laser targeting is completed, the target falls into the target retrieval box along the target retrieval guide rail.

[0014] In the automated target loading method of the laser acceleration system of the present invention, the target storage component, automated target loading component, target clamping component, target positioning component, and target retrieval component of the automated target holder device are all housed in a vacuum chamber. Their power supply lines and signal lines are fixed to an adapter plate and connected to a control system outside the vacuum chamber. The control system, through connection with the target storage component, automated target loading component, target positioning component, and target retrieval component, realizes the functions of automated target loading, position detection, target positioning, and target retrieval.

[0015] In the automated target loading method of the laser acceleration system of the present invention, the mechanical structure of the automated target holder device is the actuator, the electric drive system of the automated target holder device is the drive system, and a position detection system and a control system are provided. The position detection system provides real-time feedback of the actuator's position information to the control system, and the control system sends commands to the drive system to drive the actuator. In some specific embodiments of the present invention, the position detection system includes a grating ruler and a circular grating disposed on the target plate pressing frame assembly. These provide real-time feedback of the target plate pressing frame assembly's position information. The control system drives the target plate positioning assembly to control the displacement and rotation angle of the target plate pressing frame assembly, and adjusts it by comparing the actual position with the set position, thereby ensuring that the target plate pressing frame assembly meets the position setting and accuracy requirements for laser target firing.

[0016] This invention provides an automated target loading method for a laser acceleration system, enabling the target holder of the laser acceleration system to automatically load target sheets. It achieves large-capacity target loading through a three-dimensional structure and has an automatic target changing function without opening a cavity, thereby facilitating high-repetition-rate femtosecond laser target ablation and enabling the laser proton radiotherapy equipment to operate efficiently. Attached Figure Description

[0017] Figure 1 This is a flowchart of an automated target loading method for a laser acceleration system according to the present invention.

[0018] Figure 2 This is a schematic diagram of the overall structure of an automated target gantry device for a laser acceleration system according to an embodiment of the present invention.

[0019] Figure 3 This is a schematic diagram of a target chip storage component according to an embodiment of the present invention.

[0020] Figure 4 This is a schematic diagram of an automated target loading assembly according to an embodiment of the present invention.

[0021] Figure 5 This is an assembly diagram of a target chip storage component and a target chip automated loading component according to an embodiment of the present invention.

[0022] Figure 6 This is a front view of a target pressing frame assembly according to an embodiment of the present invention.

[0023] Figure 7 This is a schematic diagram of the back of the target pressing frame assembly according to an embodiment of the present invention.

[0024] Figure 8 This is a schematic diagram of a target positioning assembly according to an embodiment of the present invention.

[0025] Figure 9 This is a schematic diagram of the working state of an automated target holder device for a laser acceleration system according to an embodiment of the present invention.

[0026] Figure 10 This is a schematic diagram of a control scheme according to an embodiment of the present invention.

[0027] Figure 11 This is a flowchart illustrating the control of the position of an actuator by a position detection system according to an embodiment of the present invention.

[0028] In the picture: 1—Target storage assembly; 2—Automatic target loading assembly; 3—Target positioning assembly; 4—Target recycling assembly; 5—Target pressing frame assembly; 101—Target storage box; 102—Target; 201—Loading side push servo motor; 202—Loading lifting servo motor; 203—Loading front push servo motor; 204—Side push plate; 205—Front push plate; 206—Electric push rod; 301—Positioning side push servo motor; 302—Positioning lifting servo motor; 303—Six-legged displacement stage; 501—Pressure frame; 502—Push rod docking groove; 503—Guide groove; 504—Positioning frame; 505—Guide shaft; 506—Positioning block; 507—Positioning plunger. Detailed Implementation

[0029] An embodiment of the present invention will now be described more fully with reference to the accompanying drawings, which illustrate an implementation of an automated target loading method for a laser acceleration system according to the present invention.

[0030] The flowchart of an automated target loading method for a laser acceleration system provided in this embodiment is as follows: Figure 1 As shown, the automated target holder device used is as follows: Figure 2As shown. The automated target holder device includes a target storage component 1, an automated target loading component 2, a target positioning component 3, a target retrieval component 4, and a target clamping frame component 5. The target storage component 1 stores the target pieces; the automated target loading component 2 sequentially pushes out the target pieces stored in the target storage component 1 and loads them onto the target clamping frame component 5 installed on the target positioning component 3; the target positioning component 3 moves the loaded target piece to the working area for laser targeting; after all target points on the target piece have been laser-targeted, the target positioning component 3 moves the target piece and loads it into the target retrieval component 4. The control system is connected to the target storage component 1, the automated target loading component 2, the target positioning component 3, and the target retrieval component 4 to realize automated target loading, position detection, and target positioning functions.

[0031] The target chip storage component 1 has a multi-layer structure, such as... Figure 3 As shown. In this embodiment, the target chip storage assembly 1 has a three-layer structure. Target chips 102 are placed in the target chip storage box 101, and each layer has a capacity of 25 to 32 target chips, the specific capacity of which depends on the thickness of the target chips. The target chips in each layer of the target chip storage box 101 are placed tightly together along the Y direction (front-back direction), and the different layers of the target chip storage box 101 are placed vertically along the Z direction (up-down direction). There are baffles between the layers to separate the target chips stored in each layer. The target chip storage assembly 1 is connected to the loading and lifting servo motor 202 via a bracket. Each layer in the target chip storage box 101 is a cuboid structure with a sliding groove at its front end, through which the target chip 102 can be moved horizontally to the right. Each layer also has an opening on its side for inserting the front push plate 205.

[0032] Target loading automation component 2, such as Figure 4As shown, the assembly includes a loading side-push servo motor 201, a loading lifting servo motor 202, a loading front-push servo motor 203, a side-push plate 204, a front-push plate 205, and an electric push rod 206. The loading lifting servo motor 202 controls the target storage assembly 1 in the automated target loading assembly to move up and down in the Z direction (vertical direction). The front-push plate 205 extends into the target storage box 101 from the opening on the side of the target storage box 101 and can move back and forth in the Y direction (front and back direction) to contact the stored target 102. The loading front-push servo motor 203 controls the front-push plate 205, which moves in the Y direction (front and back direction). Each time a target 102 is loaded, the front target 102 placed in the target storage box 101 is pushed forward into the groove. The distance that the front-push plate 205 moves forward is exactly equal to the thickness of the target 102, so that only one target 102 is pushed out at a time. A side pusher plate 204 is positioned in front of the target plate storage box 101, with its protruding end located above the slide groove. It can move left and right in the X direction (left-right direction) and contact the target plate 102 pushed into the slide groove by the front pusher plate 205. After each pusher plate 205 pushes a target plate 102 into the slide groove, the loading side pusher servo motor 201 controls the side pusher plate 204 to push a target plate 102 from its left side position, aligned with the front and rear of the target plate storage box 101, to the right end of the slide groove, and further push it into the target plate pressing frame assembly 5. The target plate storage assembly 1 is stacked on the target plate automated loading assembly 2, as shown below. Figure 5 As shown.

[0033] Figure 6 and Figure 7 These are front and rear views of the target plate pressing frame assembly 5 in this embodiment. The target plate pressing frame assembly 5 includes a pressing frame 501 on the front and a positioning frame 504 on the back. The two are connected and fixed by four guide shafts 505, and a horizontal groove for carrying the target plate 102 is formed between the pressing frame 501 and the positioning frame 504. The target plate pressing frame assembly 5 has a guide groove 503 on the left side, which can be moved to the right end of the slide groove of the target plate storage box 101 and dock with the slide groove. A target plate 102 pushed out by the side push plate 204 passes to the right through the guide groove 503 and is loaded into the pressing frame 501. The push rod docking groove 502 is a protrusion located on the top of the pressing frame 501, used to align the horizontal and vertical positions between the pressing frame 501, the positioning frame 504 and the electric push rod 206.

[0034] The target loading assembly 2 loads the target 102 into the target pressing frame assembly 5. Due to gravity, the vertical position of the target in the Z direction (vertical direction) is determined by the horizontal groove between the pressing frame 501 on the front and the positioning frame 504 on the back of the target pressing frame assembly 5. After the target 102 is loaded into the target pressing frame assembly 5, the push plate at the end of the electric push rod 206 in the target loading assembly 2 moves into the groove of the push rod docking groove 502, pushing the pressing frame 501 connected to the push rod docking groove 502 to move in the Y direction (front-back direction). This locks the pressing and locking mechanism composed of the positioning block 506 and the positioning plunger 507 on the back of the target pressing frame assembly 5, tightly fitting the positioning frame 504, the target, and the pressing frame 501 together, thus fixing the relative position of the positioning frame 504 and the pressing frame 501 in the Y direction (front-back direction).

[0035] Figure 8 This is a schematic diagram of the target positioning assembly 3 in this embodiment. The target pressing frame assembly 5 is mounted on the lifting bracket of the target positioning assembly 3 and can move horizontally in the X direction (left-right direction), vertically in the Z direction (up-down direction), and forward-backward in the Y direction (front-back direction). The positioning side push servo motor 301, the positioning lifting servo motor 302, and the six-legged displacement stage 303 of the target positioning assembly 3 are connected to the target pressing frame assembly 5 through connectors on the bracket of the target positioning assembly 3, and control the movement of the target pressing frame assembly 5 in three-dimensional space.

[0036] The automated target loading method includes the following steps: 1) Activate the automated target holder device inside the vacuum chamber; 2) The target chip 102 is stored in the target chip storage box 101 of the target chip storage component 1, and the target chip automatic loading component 2 moves to the first layer target chip storage box interface of the target chip storage component 1; 2) The target sheet automatic loading component 2 sequentially pushes out the target sheets 102 stored in the target sheet storage box of this layer and loads them onto the target sheet pressing frame component 5; 3) The target positioning component 3 moves the target pressing frame component 5, which is loaded with a target 102, to the working area and moves a target point on the target 102 to the laser focal spot position for laser target firing. 4) After all target points on a target piece loaded onto the target piece pressing frame assembly 5 have completed laser targeting, or after the laser targeting of the target piece has been manually defined, the target piece positioning assembly 3 moves the target piece together with the target piece pressing frame assembly 5 to the target piece recovery area, loads the target piece into the target piece recovery assembly 4, and realizes the target piece recovery without opening the vacuum chamber. 5) After all the target pieces stored in a certain layer of target piece storage box have been laser-fired, the target piece automatic loading component 2 moves to the next layer of target piece storage box interface of the target piece storage component, loads the target pieces stored in the target piece storage box of that layer, moves them to the working area for laser firing, and then retrieves them. 6) After all the target pieces in the target piece storage assembly 1 have completed laser targeting and been recovered, the targeting ends and the vacuum chamber is opened.

[0037] Figure 9 This is a schematic diagram of the working state of the automated target holder device of the laser acceleration system in this embodiment. In this embodiment, the target plate pressing frame assembly 5 is fixed on the target plate positioning assembly 3. The horizontal and vertical positions of the target plate pressing frame assembly 5 in the X and Z directions are controlled by the positioning side push servo motor 301 and the positioning lifting servo motor 302, respectively. The three-dimensional spatial position of the target plate pressing frame assembly 5 is finely adjusted by the hexagonal displacement stage 303. In the working state, the target hole on the target plate is aligned with the laser focal spot for target firing. After the automated target plate loading assembly 2 completes the loading of the target plate into the target plate pressing frame assembly 5, the target plate positioning assembly 3 moves the target plate to the working area and aligns the target hole on the target plate with the laser focal spot for target firing. When the target plate moves to the working area, there is no obstruction in front or behind.

[0038] In this embodiment, the target plate recovery assembly 4 includes a target plate recovery guide rail and a target plate recovery box. After all the target holes on a target plate loaded onto the target plate pressing frame assembly 5 have been laser-punched, or the laser-punching of the target plate has been manually defined, the target plate positioning assembly 3 moves the target plate pressing frame assembly 5 to the target plate recovery area. The push plate at the end of the electric push rod 206 moves into the groove of the push rod docking groove 502 and pushes the pressing frame 501 connected to the push rod docking groove 502 in the Y direction (front and back direction). This causes the pressing locking mechanism composed of the positioning block 506 and the positioning plunger 507 on the back of the target plate pressing frame assembly 5 to unlock, separating the positioning frame 504, the target plate, and the pressing frame 501. The horizontal groove between the positioning frame 504 and the pressing frame 501 opens, allowing the target plate to slide down along the target plate recovery guide rail and fall into the target plate recovery box. After all the target pieces in the first layer of target piece storage box have been loaded and retrieved, the target piece positioning component 3 moves the target piece pressing frame component 5 to another layer of target piece storage box for target piece loading.

[0039] In this embodiment, all power supply and signal lines for the components within the vacuum chamber are fixed to an adapter plate and connected to an external control system. To prevent interference from various electrical signals, all cables are equipped with shielding layers. The control scheme consists of an actuator, a drive system, a control system, and a position detection system, and their interrelationships are as follows: Figure 10 As shown in the diagram. The actuator is the mechanical structure within the automated target frame device, the drive system is the electric drive system within the automated target frame device, and the control process of the position detection system for the actuator's position is as follows: Figure 11 As shown, a grating ruler and a circular grating set on the target pressing frame assembly are used to provide real-time position information. By calculating the error and making compensation, the error is eliminated, thereby enabling the servo motor to control the displacement and rotation angle of the target pressing frame assembly, achieving high-precision position control. The actual position of the actuator is fed back to the control system at any time and compared with the set position. The control system makes adjustments so that the actuator meets the position setting and accuracy requirements of laser target shooting.

[0040] Finally, it should be noted that although an embodiment of an automated target loading method for a laser acceleration system has been described herein, it should be understood that various substitutions and modifications will arise in the minds of those skilled in the art, all of which will fall within the spirit and scope of the disclosed concept. Therefore, the present invention should not be limited to the content disclosed in the embodiments, and the scope of protection claimed by the present invention shall be determined by the scope defined in the claims.

Claims

1. An automated target loading method for a laser acceleration system, achieved by controlling an automated target holder device, characterized in that, The automated target holder device includes a target storage component, an automated target loading component, a target frame pressing component, a target positioning component, and a target retrieval component. The automated target loading method includes the following steps: 1) The target chip is stored in a target chip storage assembly, wherein the target chip storage assembly is a multi-layered stacked target chip storage box; 2) The target loading assembly automatically pushes out the target pieces stored in a certain layer of target piece storage box and loads them onto the target piece pressing frame assembly; 3) The target positioning assembly moves the target frame assembly, which is loaded with a target, to the working area and precisely controls the spatial position of the target for laser targeting. 4) After all target points on a target piece loaded onto the target piece frame assembly have completed laser targeting, or after the laser targeting of the target piece has been manually defined, the target piece positioning assembly moves the target piece frame assembly to the target piece recycling assembly and loads the target piece into the target piece recycling assembly. 5) After all the target pieces stored in a certain layer of target piece storage box have been laser-fired, the automatic target piece loading component moves to the next layer of target piece storage box interface of the target piece storage component, loads the target pieces stored in that layer of target piece storage box in sequence, moves them to the working area for laser firing, and then retrieves them; 6) The laser targeting ends when all target pieces in the target piece storage assembly have been laser-targeted and retrieved.

2. The automated target loading method as described in claim 1, characterized in that, In step 1), the target pieces are placed one after the other in the target piece storage box, with the front end of the target piece storage box having a sliding groove; in step 2), the target pieces are moved forward into the sliding groove by the target piece automatic loading component, and then moved out from the side of the target piece storage box and into the target piece pressing frame component.

3. The automated target loading method as described in claim 2, characterized in that, The automated target loading assembly includes a loading lifting servo motor, a loading forward pushing servo motor, a loading side pushing servo motor, a side pushing plate, and a front pushing plate. The target storage assembly is placed on a bracket connected to the loading lifting servo motor, and the loading lifting servo motor controls the vertical position of the target storage assembly. The loading forward pushing servo motor controls the front pushing plate to move back and forth. An opening for inserting the front pushing plate is provided on the side of the target storage box, and the front pushing plate moves the target from back to front. The loading side pushing servo motor controls the side pushing plate to move left and right, pushing the target that has entered the front sliding groove of the target storage box to slide out from the side.

4. The automated target loading method as described in claim 1, characterized in that, The target plate pressing frame assembly includes a front pressing frame and a back positioning frame, which are connected and fixed by four guide shafts respectively set at the four corners. A horizontal groove for carrying the target plate is provided between the pressing frame and the positioning frame. A guide groove for guiding the target plate into the space between the pressing frame and the positioning frame is provided on one side of the pressing frame.

5. The automated target loading method as described in claim 4, characterized in that, A push rod docking groove is provided on the top of the pressure frame, and a pressing locking mechanism is provided on the back of the positioning frame; the target automatic loading assembly includes an electric push rod. When the push plate at the end of the electric push rod moves into the groove of the push rod docking groove, it pushes the pressure frame to move in the front-back direction, thereby locking or unlocking the pressing locking mechanism.

6. The automated target loading method as described in claim 1, characterized in that, The target positioning assembly includes a positioning side-push servo motor, a positioning lifting servo motor, a six-legged displacement stage, and a lifting bracket. The target pressing frame assembly is mounted on the lifting bracket, which is located on the six-legged displacement stage. The six-legged displacement stage is located on a horizontal platform connected to the positioning side-push servo motor. In step 3), the positioning side-push servo motor moves the six-legged displacement stage and the lifting bracket to the working area. The positioning lifting servo motor moves the target pressing frame assembly on the lifting bracket vertically to a specified height. Then, the six-legged displacement stage finely adjusts the three-dimensional spatial position of the target pressing frame assembly.

7. The automated target loading method as described in claim 1, characterized in that, The target recovery assembly consists of a target recovery guide rail and a target recovery box. After laser targeting is completed, the target falls into the target recovery box along the target recovery guide rail.

8. The automated target loading method as described in claim 1, characterized in that, The target storage component, the target automatic loading component, the target frame pressing component, the target positioning component, and the target recovery component are housed in a vacuum chamber. Their power supply lines and signal lines are fixed on the adapter plate and connected to the control system outside the vacuum chamber. The control system enables the automatic loading, position detection, target positioning, and recovery of the target.

9. The automated target loading method as described in claim 1, characterized in that, The automated target frame device includes a drive system, an actuator, a control system, and a position detection system. The position detection system provides real-time feedback of the actuator's position information to the control system, and the control system sends commands to the drive system to drive the actuator.

10. The automated target loading method as described in claim 9, characterized in that, The position detection system includes a grating ruler and a circular grating set on the target plate pressing frame assembly. They provide real-time feedback on the position information of the target plate pressing frame assembly. The system drives the target plate positioning assembly to control the displacement and rotation of the target plate pressing frame assembly, and adjusts the actual position by comparing it with the set position.

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