Automatic particle chain filling device for sequentially scheduling particles and spacer rods to enter particle chain sleeve

Abstract

The utility model discloses an automatic particle chain filling device for sequentially scheduling particles and spacing rods to enter a particle chain sleeve. A feeding part comprises a particle feeding mechanism and a spacing rod feeding mechanism; particles and spacing rods are sequentially placed in a particle chain sleeve through a dispatching mechanism, a first push rod driving mechanism pushes the particles or the spacing rods to move forwards along the particle chain sleeve one by one to a needed position for filling through a push rod, and the dispatching mechanism conducts dispatching in the mode that a grabbing mechanism and a second moving platform are combined. And the particles or the spacing rods are transported in a pipeline transportation mode. According to the particle chain filling device, automatic filling can be achieved, the radiation time and labor capacity of operators are greatly reduced, the filling efficiency is improved, the filling accuracy is guaranteed, and meanwhile the device is simple in structure and convenient to operate and maintain.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, specifically to an automatic particle chain loading device that sequentially schedules particles and spacers into a particle chain sleeve. Background Technology

[0002] Radioactive particle implantation is a technique that involves directly implanting an isotope radioactive source into the tumor area for treatment, and it is a type of radiotherapy. Currently, this technique primarily utilizes modern imaging technology (CT, ultrasound, etc.) to place radioactive nuclides into or around the tumor target area via implantation. The radioactive nuclides continuously release radiation to kill tumor cells. The implanted particles are typically iodine-125 particles, which have a half-life of 59.6 days and a radiation radius of less than 1.7 cm within the human body, making them safe and easily protected against. The gamma rays released by the particles effectively irradiate tumor cells for 180 days, resulting in a high-dose distribution of radiation to the tumor target area to kill tumor cells, while surrounding normal tissues receive only minimal or no radiation damage. Essentially, it is a precise radiotherapy method.

[0003] The main methods of using radioactive seeds are extracorporeal minimally invasive puncture implantation and intraoperative placement. In extracorporeal minimally invasive puncture implantation, the number and location of radioactive seeds are first determined using a treatment planning system and imaging techniques such as CT, MRI, and ultrasound. Then, a puncture needle is inserted into the predetermined location, and the radioactive seeds are implanted one by one into the body using a radioactive seed implantation gun and magazine. In clinical application, the activity of the radioactive seeds is first tested. Then, the radioactive seeds are loaded into a magazine, which is then installed into the implantation gun. Finally, the radioactive seeds are directly pushed into the tumor tissue through the implantation needle, forming precise brachytherapy between tissues.

[0004] Although this technology has been used in clinical radiotherapy in some hospitals both domestically and internationally with good results, its clinical application still faces some problems and limitations due to the manual operation of activity testing and cartridge loading. Firstly, activity testing requires medical staff to manually check the activity of each radioactive particle with tweezers before implantation, discarding particles with incorrect activity levels. This process introduces reading errors, is labor-intensive, and carries a high risk of operational errors. Secondly, the loading of the particle cartridges requires medical staff to manually load the corresponding activity and quantity of radioactive particles into the cartridges using tweezers according to the pre-operative plan. This process carries the risk of particles falling out, exposes medical staff to radiation hazards for extended periods, and is inefficient due to its manual operation, increasing surgical time, heavy workload for medical workers, and high radiation doses.

[0005] In addition, the particles are easily displaced in the human body due to blood flow, gravity, and muscle compression, which can cause radiation therapy to be less effective than expected. One solution is to make the particles into chains, which are then cut into smaller quantities as needed during the surgery. However, the manufacturing process of these particle chains presents another challenge. Only by using automated equipment for production, avoiding the radiation damage caused by manual filling, and properly storing and shielding the particle chains can this problem be truly solved. Utility Model Content

[0006] The purpose of this invention is to provide an automatic particle chain loading device that sequentially schedules particles and spacers into the particle chain sleeve. The device uses a scheduling mechanism to sequentially place particles and spacers into the particle chain sleeve, thereby solving the aforementioned existing technical problems, defects, and unmet technical requirements.

[0007] To achieve the above objectives, this utility model provides the following technical solution:

[0008] An automatic particle chain filling device for sequentially scheduling particles and spacers into a particle chain sleeve includes a feeding unit and a first pusher drive mechanism. The feeding unit includes a particle feeding mechanism and a spacer feeding mechanism. The scheduling mechanism sequentially places particles and spacers into the particle chain sleeve, and the first pusher drive mechanism pushes the particles or spacers one by one along the particle chain sleeve to the required position for filling.

[0009] Preferably, the scheduling mechanism uses a combination of a gripping mechanism and a second motion platform for scheduling, and transports particles or spacers via pipeline transportation; or the scheduling mechanism is equipped with multiple gripping mechanisms, which can simultaneously achieve gripping at multiple workstations.

[0010] Preferably, the gripping mechanism is one or a combination of tweezers, a suction nozzle, and spring clamps. The gripping mechanism grips particles or spacers at one or more fixed workstations; or the gripping mechanism directly grips particles from a pile of scattered particles or directly grips spacers from a pile of scattered spacers. When the particle activity test fails, the gripping mechanism and the second motion platform cooperate to drop the particles into the recycling container.

[0011] Preferably, the second motion platform is a linear motion platform, which enables the gripping mechanism to move linearly in two directions, and allows for the adjustment of the gripping mechanism's degrees of freedom in the horizontal and vertical directions.

[0012] Alternatively, the second motion platform can achieve linear motion in two directions and rotational motion in one direction, thereby enabling the gripping mechanism to adjust its degrees of freedom in three directions.

[0013] Preferably, the pipeline transportation method includes a pipeline and a selection mechanism. The selection mechanism can control whether particles and spacers are output and / or control the output destination of particles and spacers. The pipeline is a flexible pipeline, or a curved rigid pipe, or a straight pipe. The inlet of the pipeline is funnel-shaped. The output channel of the first push rod driving mechanism is located directly above the funnel structure of the pipeline. After the particles and / or spacers enter the pipeline through the funnel, the first push rod driving mechanism drives the particles and / or spacers to push forward.

[0014] Preferably, the scheduling mechanism is further equipped with functional modules, which are one or more combinations of particle activity detection module, appearance inspection module, dust removal module, cleaning module, and counting module. The particle activity detection module includes an activity sensor and a recycling container. The activity sensor determines the particle activity and causes particles whose activity does not meet the requirements to fall into the recycling container. The appearance inspection module includes a vision sensor to determine that the shape of the particles or spacers is normal and that the gripping position is normal. The dust removal module includes a dust blowing or suction module to blow or suction away dust from the outside of the particles or spacers. The cleaning module cleans away dirt from the outside of the particles or spacers. The counting module includes a sensor switch and a counter to determine the number of particles or spacers that pass through.

[0015] Preferably, the particle feeding mechanism uses a particle clip feeding mechanism or a particle arrangement mechanism. The particle arrangement mechanism uses a vibrating plate, which arranges the particles one by one and outputs vibration. Alternatively, the particle arrangement mechanism uses a slotted arrangement component, where the slot can be replaced by a space separated by a partition plate. Or, the particle arrangement mechanism uses an arrangement method based on a V-shaped slot, an arc slot, or a horn-shaped opening. Or, the particle arrangement mechanism uses a particle grasping mechanism, which directly grasps individual particles one by one from a pile of particles.

[0016] The spacer bar feeding mechanism uses a spacer bar clip feeding method or a spacer bar arrangement mechanism for feeding. The spacer bar arrangement mechanism uses one or a combination of a vibratory feeder, a slotted arrangement component, an arrangement mechanism based on a V-groove, an arc groove, or a flared opening, and a spacer bar gripping mechanism. The spacer bar arrangement mechanism uses a vibratory feeder, which vibrates and outputs vibrations to arrange the spacer bars one by one. Alternatively, the spacer bar arrangement mechanism uses a slotted arrangement component, where the slot can be replaced by a space separated by a partition plate. Alternatively, the spacer bar arrangement mechanism uses an arrangement method based on a V-groove, an arc groove, or a flared opening. Alternatively, the spacer bar arrangement mechanism uses a spacer bar gripping mechanism, which directly grips individual spacer bars one by one from a pile of spacer bars.

[0017] Preferably, the system also includes a particle chain recycling mechanism. At least one set of particle chain recycling mechanisms is provided. Each set of particle chain recycling mechanisms is connected to a set of particle chain sleeves. After the particle chain sleeves are filled and formed, the particle chain recycling mechanism will wind up and collect the particle chain and store it inside the radiation shielding shell.

[0018] Preferably, the front end of the particle chain sleeve is supported by a sleeve inlet bracket, and a particle chain cutting mechanism is sleeved outside the particle chain sleeve and located on the left or right side of the sleeve inlet bracket. The particle chain cutting mechanism can cut the already filled particle chain.

[0019] When the particle chain sleeve is arranged horizontally, the particle chain recovery mechanism is arranged horizontally on the side of the particle chain sleeve; or, when the particle chain sleeve is arranged vertically, the particle chain recovery mechanism is arranged vertically below the particle chain sleeve.

[0020] Preferably, the particle chain sleeve is provided with a glue application mechanism, which applies glue by soaking at the inlet of the particle chain sleeve or by puncture injection; the glue application mechanism includes a glue dropper connected to a glue supply device.

[0021] When the glue application mechanism uses immersion glue application, the nozzle of the glue application dropper is connected to the particle chain sleeve through the glue application branch pipe; when the particles and / or spacers move to the bottom of the glue application dropper through the push rod along the particle and / or spacer conveying pipe, the glue application dropper dispenses glue and flows into the glue application branch pipe, and the particles and / or spacers will be covered with a layer of glue after passing through the glue application branch pipe.

[0022] When the glue application mechanism adopts the puncture injection glue application method, the glue dropper can move along the particle chain sleeve. The glue dropper injects glue into the particle chain sleeve through the puncture syringe, which can bond the arranged particles and spacers to the particle chain sleeve with glue.

[0023] The beneficial effects of this utility model are as follows;

[0024] This invention uses a scheduling mechanism to sequentially place particles and spacers into the particle chain sleeve. A first pusher drive mechanism moves the pusher back and forth, propelling the particles or spacers one by one along the particle chain sleeve to the required position for loading. After loading, a particle chain cutting mechanism cuts the particle chain, and then a particle chain retrieval mechanism retrieves it. This avoids radiation damage during manual particle chain production and provides effective shielding for particle chain storage, facilitating the clinical application and promotion of particle chain technology. This invention significantly reduces the time and workload of operators exposed to radiation, improves surgical efficiency, and features a simple structure, convenient operation, and easy maintenance.

[0025] In this invention, particles and / or spacers are filled into the particle chain sleeve one by one by a scheduling mechanism. The scheduling mechanism uses a combination of a gripping mechanism and a second motion platform for scheduling, and transports the particles or spacers through pipeline transportation to ensure the smooth filling of the particle chain. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the structure of the radiation shielded enclosure in Example 1;

[0027] Figure 2 This is a schematic diagram of the structure of Example 1 without a radiation shielding enclosure;

[0028] Figure 3 This is a schematic diagram of the internal structure of Example 1;

[0029] Figure 4 for Figure 3 Enlarged view of point A in the middle;

[0030] Figure 5 for Figure 3 Enlarged view of point B in the middle;

[0031] Figure 6 for Figure 3 Enlarged view of point C in the middle;

[0032] Figure 7 This is a schematic diagram of the particle chain recycling mechanism in Example 1;

[0033] Figure 8 This is a schematic diagram of the particle chain recycling mechanism after it has been stored in Example 1;

[0034] Figure 9 This is a schematic diagram of the structure of the radiation shielded enclosure in Example 2;

[0035] Figure 10 This is a schematic diagram of the structure of Example 2 without a radiation shielding enclosure;

[0036] Figure 11 This is a schematic diagram of the internal structure of Example 2;

[0037] Figure 12 for Figure 11 Enlarged view of point A in the middle;

[0038] Figure 13 for Figure 11 Enlarged view of point B in the middle;

[0039] Figure 14 for Figure 11 Enlarged view of point C in the middle;

[0040] Figure 15This is a schematic diagram of the particle chain structure in Example 2;

[0041] Figure 16 This is a schematic diagram of the structure of the first cutting blade in Example 3;

[0042] Figure 17 This is a schematic diagram of the structure of the second cutting blade in Example 3;

[0043] Figure 18 This is one of the structural schematic diagrams of Example 4;

[0044] Figure 19 This is the second structural schematic diagram of Example 4;

[0045] Figure 20 This is a schematic diagram of the double-bladed cutting process in Example 4;

[0046] Figure 21 This is a schematic diagram of the double blade after resetting in Example 4. Detailed Implementation

[0047] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0048] Example 1

[0049] An automatic particle chain filling device for sequentially scheduling particles and spacers into a particle chain sleeve includes a feeding unit and a first pusher drive mechanism. The feeding unit includes a particle feeding mechanism and a spacer feeding mechanism. The scheduling mechanism sequentially places particles and spacers into the particle chain sleeve, and the first pusher drive mechanism pushes the particles or spacers one by one along the particle chain sleeve to the required position for filling.

[0050] The scheduling mechanism is configured by combining a gripping mechanism and a second motion platform, and transports particles or spacers via pipelines; or the scheduling mechanism is equipped with multiple gripping mechanisms, which can simultaneously perform gripping at multiple workstations.

[0051] The gripping mechanism is one or a combination of tweezers, a suction nozzle, and spring clamps. The gripping mechanism grips particles or spacers at one or more fixed workstations; or the gripping mechanism directly grips particles from a scattered pile of particles or directly grips spacers from a scattered pile of spacers. When the particle activity detection module fails the particle activity detection, the gripping mechanism and the second motion platform cooperate to drop the particles into the recycling container (specifically, a waste particle box 1004115).

[0052] The second motion platform is a linear motion platform, which enables the gripping mechanism to move linearly in two directions, and allows for the adjustment of the gripping mechanism's degrees of freedom in the horizontal and vertical directions;

[0053] Alternatively, the second motion platform can achieve linear motion in two directions and rotational motion in one direction, thereby enabling the gripping mechanism to adjust its degrees of freedom in three directions.

[0054] The particles output by the particle arrangement mechanism and the spacers output by the spacer arrangement mechanism are transported through pipelines. The pipeline transportation method includes a pipeline (such as the first particle delivery pipe 1004113 in this embodiment), a driving mechanism, and a selection mechanism. The driving mechanism can drive the particles and / or spacers to move within the pipeline. The selection mechanism can control whether the particles and spacers are output and / or control the output destination of the particles and spacers.

[0055] The pipe is a flexible pipe, or a curved rigid pipe, or a straight pipe, and the inlet of the pipe is funnel-shaped.

[0056] The output channel of the drive mechanism is located directly above the flared structure of the pipe. After the particles and / or spacers enter the pipe through the flared opening, the drive mechanism drives the particles and / or spacers to push forward.

[0057] The driving mechanism is one or a combination of a second push rod driving mechanism, a gravity transport mechanism, and a gas propulsion mechanism.

[0058] When the driving mechanism is the second push rod driving mechanism, it is the same as the first push rod driving mechanism. The second push rod driving mechanism pushes particles and / or spacers forward by inserting a push rod into the pipe. The push rod of the second push rod driving mechanism is driven by a friction wheel or friction belt. Alternatively, the second push rod driving mechanism can use a reciprocating clamping mechanism to drive the push rod. The reciprocating clamping mechanism first clamps the push rod, then moves it to one side, thereby driving the push rod to one side. Then it releases the push rod and moves it to the other side to reset. The above process is repeated to achieve unidirectional movement of the push rod. Alternatively, the second push rod driving mechanism can use a direct-drive mechanism to drive the push rod. It is directly connected to the push rod through a linear motion mechanism, which directly drives the push rod to move.

[0059] When the driving mechanism is a gravity transport mechanism, the gravity transport mechanism relies on gravity for transport, and gravity transport can be achieved by pure gravity or with the assistance of a vibration mechanism.

[0060] When the driving mechanism is a gas-driven mechanism, the gas-driven mechanism moves particles within the pipe by blowing gas.

[0061] The selection mechanism is a gate-type selection mechanism or a side-squeezing selection mechanism; or a pause vibration or pause push mechanism can be used instead of the selection mechanism to control whether particles are output.

[0062] The gate-type selection mechanism achieves selective output by blocking particles through a gate;

[0063] The side-squeezing selection mechanism achieves selective output by squeezing the pipe or passing particles to prevent further movement of the particles.

[0064] The selection mechanism can also control the destination of particle output through a channel switching mechanism, so that the particles fall into the waste particle box and unqualified particles are recycled. The channel switching mechanism is one or a combination of a rotary channel switching mechanism, a docking channel switching mechanism, and a pipeline section switching channel switching mechanism.

[0065] The upper end of the pipe has a flared structure. The pusher output channel 1004121 of the second pusher driving mechanism (such as the flexible pusher driving mechanism 1004109 in this embodiment) is located directly above the flared structure of the pipe. After the particles or spacers enter the pipe through the flared opening, the second pusher driving mechanism drives the pusher to enter the particle conveying channel from the pusher output channel to push the particles or spacers one by one into the particle chain sleeve. The particle arrangement mechanism adopts a vibrating plate and uses the cooperation of the motion platform and the particle grabbing rod to grab the particles and transport them to the top of the flared opening of the pipe to release the particles, thereby realizing the arrangement and output of the particles. The spacer arrangement mechanism adopts a vibrating plate and uses the cooperation of the motion platform and the particle grabbing rod to grab the spacers and transport them to the top of the flared opening of the pipe to release the spacers, thereby realizing the arrangement and output of the spacers.

[0066] When a scheduling mechanism is used, the scheduling mechanism is equipped with functional modules, which are one or more combinations of particle activity detection module, appearance inspection module, dust removal module, cleaning module, and counting module.

[0067] The particle activity detection module 1004114 includes an activity sensor and a recycling container (specifically, a waste particle box 1004115). The activity sensor determines the particle activity and causes particles whose activity does not meet the requirements to fall into the recycling container (specifically, a waste particle box 1004115). The appearance detection module includes a vision sensor, which determines that the shape of the particles or spacers is normal and that the gripping position is normal. The dust removal module includes a dust blowing or suction module, which blows or suctions away dust from the outside of the particles or spacers. The cleaning module cleans away dirt from the outside of the particles or spacers. The counting module includes a sensor switch and a counter, which can determine the number of particles or spacers that pass through.

[0068] The particle feeding mechanism employs either a particle clip feeding system or a particle arrangement mechanism. The particle arrangement mechanism uses a vibratory feeder, which arranges and vibrates the particles one by one for output. Alternatively, the particle arrangement mechanism uses a slotted arrangement component, where the slot can be replaced by a space separated by a partition plate. Or, the particle arrangement mechanism uses an arrangement based on a V-shaped slot, an arc slot, or a flared opening. Alternatively, the particle arrangement mechanism uses a particle grasping mechanism, which directly grasps individual particles one by one from a pile of particles. In this embodiment, the particle arrangement mechanism uses a vibratory feeder (such as particle vibratory feeder 1004107 in this embodiment), which arranges and vibrates the particles one by one for output into the particle slot 1004117.

[0069] The spacer bar feeding mechanism employs a spacer bar clip feeding method or a spacer bar arrangement mechanism for feeding. The spacer bar arrangement mechanism uses one or a combination of a vibratory feeder, a slotted arrangement component, a V-groove, arc groove, or flared opening-based arrangement mechanism, and a spacer bar gripping mechanism. The spacer bar arrangement mechanism uses a vibratory feeder, which vibrates and outputs spacer bars one by one. Alternatively, the spacer bar arrangement mechanism uses a slotted arrangement component, where the slot can be replaced by a space separated by a partition plate. Or, the spacer bar arrangement mechanism uses an arrangement method based on V-grooves, arc grooves, or flared openings. Alternatively, the spacer bar arrangement mechanism uses a spacer bar gripping mechanism, which directly grips individual spacer bars one by one from a pile of spacer bars. In this embodiment, the spacer bar feeding mechanism uses a spacer bar arrangement mechanism for feeding, and the spacer bar arrangement mechanism uses a vibratory feeder (such as the spacer bar vibratory feeder 1004106 in this embodiment), which vibrates and transports the spacer bars into the spacer bar slot 1004119.

[0070] The front end of the particle chain sleeve is supported by a sleeve inlet bracket. A particle chain cutting mechanism is fitted outside the particle chain sleeve and located on the left or right side of the sleeve inlet bracket. The particle chain cutting mechanism can cut the filled particle chain. The particle chain cutting mechanism adopts one or a combination of a guillotine cutting mechanism, a scissor cutting mechanism, and a ring cutting mechanism. The guillotine cutting mechanism uses the movement of a single blade to complete the cutting. The scissor cutting mechanism uses the simultaneous movement of two blades in opposite directions to complete the cutting. The ring cutting mechanism uses at least three blades to move towards the center point simultaneously to achieve the cutting.

[0071] It also includes a cutting power source, which is connected to the particle chain cutting mechanism through a cutting transmission mechanism, or directly connected to the particle chain cutting mechanism, so as to transmit power to the particle chain cutting mechanism to complete the cutting action. The cutting transmission mechanism is one or more of a linkage mechanism, a lead screw and nut mechanism, a gear mechanism, a belt drive mechanism, and a cam mechanism. The cutting power source is one or more of a motor, a pneumatic push rod, a pneumatic motor, a hydraulic push rod, and a hydraulic motor.

[0072] When the particle chain sleeve is arranged horizontally, the particle chain recovery mechanism is arranged horizontally on the side of the particle chain sleeve; or, when the particle chain sleeve is arranged vertically, the particle chain recovery mechanism is arranged vertically below the particle chain sleeve. In this embodiment, the particle chain sleeve is arranged horizontally, and the particle chain recovery mechanism is arranged horizontally on the side of the particle chain sleeve.

[0073] The particle chain sleeve is equipped with a glue application mechanism. The glue application mechanism applies glue by soaking at the inlet of the particle chain sleeve or by puncture injection. The glue application mechanism includes a glue dropper connected to a glue supply device.

[0074] When the glue application mechanism uses immersion glue application, the nozzle of the glue application dropper is connected to the particle chain sleeve through the glue application branch pipe; when the particles and / or spacers move to the bottom of the glue application dropper through the push rod along the particle and / or spacer conveying pipe, the glue application dropper dispenses glue and flows into the glue application branch pipe, and the particles and / or spacers will be covered with a layer of glue after passing through the glue application branch pipe.

[0075] When the glue application mechanism adopts the puncture injection glue application method, the glue dropper can move along the particle chain sleeve. The glue dropper injects glue into the particle chain sleeve through the puncture syringe, which can bond the arranged particles and spacers to the particle chain sleeve with glue.

[0076] The glue application mechanism also includes a heating mechanism, which can heat the glue in the glue dropper to prevent the glue from solidifying. The glue is a biodegradable material, specifically one or a combination of gelatin, collagen, PLA, PGA, and PCL.

[0077] The front end of the first push rod drive mechanism is connected to a pipe joint, which is connected to an external pipe. A first cleaning module is installed on the pipe joint. The first cleaning module is a sleeve-type or plate-type bidirectional cleaning module. The first cleaning module can clean the dirt on the push rod.

[0078] When the first cleaning module is a sleeve-type bidirectional cleaning module, the pipe joint is connected to the external pipe through the cleaning block. A soft rubber tube is installed inside the cleaning block. The diameter of the central hole of the soft rubber tube is smaller than the outer diameter of the push rod. When the push rod is pushed out, it can open the central hole of the soft rubber tube to allow the push rod to pass smoothly. When the push rod is retracted, the dirt on the push rod will be scraped clean by the tension and squeezing action of the soft rubber tube.

[0079] When the first cleaning module is a plate-type bidirectional cleaning module, a cleaning plate is installed inside the pipe joint. The diameter of the central hole of the cleaning plate is smaller than the outer diameter of the push rod. When the push rod is pushed out, it can open the central hole of the cleaning plate to allow the push rod to pass smoothly. When the push rod retracts, the dirt on the push rod will be scraped clean by the tension and squeezing action of the cleaning plate.

[0080] The particle chain sleeve is equipped with a second cleaning module. This second cleaning module can move relative to the particle chain sleeve to clean dirt or residual adhesive on its outer surface. The second cleaning module is a cleaning block, installed at the lower part of the cleaning push rod of the cleaning push mechanism. The cleaning push mechanism drives the cleaning push rod to move, causing the cleaning block to press against or move away from the particle chain sleeve. When the cleaning block presses against the particle chain sleeve, the second cleaning module can move relative to the particle chain sleeve, cleaning dirt or residual adhesive from the sleeve. Alternatively, when the second cleaning module is a plate-type bidirectional cleaning module, a cleaning plate is installed inside the pipe joint of the particle chain sleeve. The diameter of the central hole of the cleaning plate is smaller than the outer diameter of the particle chain sleeve. When the particle chain sleeve is pushed out, it can open the central hole of the cleaning plate to allow smooth passage. When the particle chain sleeve retracts, the dirt or residual adhesive on the sleeve is scraped off by the tensioning and squeezing action of the cleaning plate.

[0081] It also includes a particle chain recycling mechanism 1004108. At least one set of particle chain recycling mechanisms is provided. Each set of particle chain recycling mechanisms is connected to a set of particle chain sleeves 1004112. After the particle chain sleeves are filled and formed, the particle chain recycling mechanism will wind up and collect the particle chain and store it inside the radiation shielding shell.

[0082] The particle chain sleeve is first filled with a spacer rod at its near end and then clamped into the storage tray 10041233 on the particle chain recycling mechanism. Then, spacer rods are sequentially filled with particles from the far end of the particle chain sleeve to form a particle chain. The storage tray is then rotated to facilitate the winding and storage of the particle chain sleeve.

[0083] The particle chain recycling mechanism has a shielding shell around its storage tray.

[0084] The spacer rod is made of a biodegradable material, and the particle chain sleeve is made of a biodegradable material; the biodegradable material is one or more combinations of collagen, polymer, gelatin, alginate, and polyester biodegradable materials.

[0085] It also includes a radiation shielding enclosure, which is a box-type structure assembled from box panels or a frame structure assembled from frame panels. Both the box panels and frame panels are first radiation shielding plates 1004101. The radiation shielding enclosure is equipped with a first radiation shielding door 1004102, and the first radiation shielding door is fitted with first radiation shielding glass 1004103. The bottom of the radiation shielding enclosure has a ramp, which guides scattered particles into a waste particle box, enabling the recovery of scattered particles. The bottom of the radiation shielding enclosure also has a vibration mechanism to improve recovery efficiency. A camera is also installed inside the radiation shielding enclosure for close-up observation of the equipment's internal operation. A lighting fixture is also installed inside the radiation shielding enclosure.

[0086] like Figures 1-8 As shown, the radiation shielding enclosure is a box-type structure assembled from box panels or a frame structure assembled from frame panels. Both the box panels and frame panels are first radiation shielding panels 1004101. The radiation shielding enclosure is equipped with a first radiation shielding door 1004102, and a first radiation shielding glass 1004103 is installed on the first radiation shielding door 1004102. A camera is also installed inside the radiation shielding enclosure for close-up observation of the equipment's internal operation; a lighting fixture is also installed inside the radiation shielding enclosure.

[0087] In this embodiment, a set of particle chain recovery mechanisms 1004108 is provided. Each set of particle chain recovery mechanisms 1004108 can be quickly installed on the first radiation shielding plate 1004101 at the bottom of the radiation shielding enclosure. A small section of the particle chain sleeve 1004112 is already housed within the particle chain recovery mechanism 1004108, but most of the particle chain sleeve 1004112 is outside the particle chain recovery mechanism 1004108. The particle chain sleeve 1004112 is arranged horizontally, and the particle chain recovery mechanism 1004108 is arranged horizontally on the side of the particle chain sleeve 1004112.

[0088] The spacer vibrating plate 1004106, particle vibrating plate 1004107, flexible push rod drive mechanism 1004109, waste particle box 1004115 and sleeve inlet bracket 1004122 are respectively installed on the first radiation shielding plate 1004101 at the bottom of the radiation shielding enclosure.

[0089] The front end of the particle chain cannula is supported by a cannula inlet bracket 1004122, providing support for the subsequent implantation of particles and / or spacers. The front part of the particle chain cannula 1004112 can be locked into the groove of the cannula inlet bracket 1004122. One end of the first particle delivery tube 1004113 has a flared structure, and the other end of the first particle delivery tube 1004113 is connected to the particle chain cannula 1004112 via a quick connector. An L-shaped delivery tube seat 1004123 is mounted on the cannula inlet bracket 1004122, and an L-shaped push rod seat 1004124 is mounted on the L-shaped delivery tube seat 1004123. The end of the first particle delivery tube 1004113 near the flared end is fixed to the delivery tube seat 1004123, and the other end of the first particle delivery tube 1004113 is also fixed in another groove on the cannula inlet bracket 1004122.

[0090] One end of the push rod output channel 1004121 of the flexible push rod drive mechanism 1004109 is quickly connected to the cleaning mechanism 1004120, and the other end is fixed to the push rod tube seat 1004124.

[0091] The detailed steps for the automatic particle chain loading in this embodiment are as follows:

[0092] First, the particle chain recycling mechanism 1004108, which already contains a small section of the particle chain sleeve 1004112, is quickly installed onto the machine base. Then, the particle chain sleeve 1004112 is inserted into the groove of the sleeve inlet bracket 1004122, and the inlet connector of the particle chain sleeve 1004112 is connected to the quick connector of the first particle conveying pipe 1004113. One end of the first particle conveying pipe 1004113 is connected to a flared mouth and fixed to the conveying pipe seat 1004123, while the other end is fixed to another groove of the sleeve inlet bracket 1004122.

[0093] The particle vibratory plate 1004107 vibrates and transports particles 2 into the particle tank 1004117. The suction nozzle 1004116, under the action of the vertical movement module 1004105 and the horizontal movement module 1004104, sucks particles 2 from the particle tank 1004117 to the side of the particle activity detection module 1004114 for particle activity detection. If the particle activity detection fails, the particles are discarded into the waste particle box 1004115. If the particle activity detection passes, the suction nozzle 1004116 places particles 2 into the flared opening of the first particle conveying pipe 1004113, and then the flexible push rod drive mechanism 100410... 9. The flexible metal wire drives the particles 2 in the first particle delivery tube 1004113 to the end of the particle chain sleeve 1004112. When the particles 2 pass through the three-way junction of the heating glue tank 1004110 and the first particle delivery tube 1004113, they are wrapped by the glue flowing out of the heating glue tank 1004110. After the glue solidifies, the particles 2 can be fixed at the designated position of the particle chain sleeve 1004112. When the flexible push rod drive mechanism 1004109 retracts the flexible metal wire, the cleaning mechanism 1004120 on the flexible push rod drive mechanism 1004109 can clean the excess glue on the flexible metal wire.

[0094] The spacer vibratory feeder 1004106 vibrates and conveys the first spacer 1004118 into the spacer groove 1004119. Under the action of the vertical movement module 1004105 and the horizontal movement module 1004104, the suction nozzle 1004116 draws the first spacer 1004118 from the spacer groove 1004119 into the flared opening of the first particle delivery tube 1004113. Then, the flexible push rod drive mechanism 1004109 drives the flexible metal wire to push the first spacer 1004118 in the first particle delivery tube 1004113 to the very end of the particle chain sleeve 1004112. The particle chain sleeve 1004112 has several vent holes, allowing gas to be discharged promptly during the pushing of particles 2 or the first spacer 1004118, avoiding pushing difficulties. When the first spacer 1004118 passes through the three-way junction of the heating glue tank 1004110 and the first particle conveying pipe 1004113, it is wrapped by the glue flowing out of the heating glue tank 1004110. When the flexible push rod drive mechanism 1004109 retracts the flexible metal wire, the cleaning mechanism 1004120 on the flexible push rod drive mechanism 1004109 can clean the excess glue on the flexible metal wire. Repeat the above two steps until the particle chain sleeve 1004112 is filled with particles 2 and the first spacer 1004118. When the particle chain sleeve 1004112 is full, a complete particle chain is formed. At this point, the cutting mechanism 1004111 cuts the particle chain sleeve 1004112, and then the particle chain recycling mechanism 1004108 recycles the particle chain sleeve 1004112. The particle chain recycling mechanism 1004108 also has a second cleaning mechanism to clean the excess glue from the surface of the recycled particle chain sleeve 1004112. Alternatively, a spacer cutting and implantation mechanism can be used instead of the spacer vibratory plate 1004106. The spacer cutting and implantation mechanism cuts the spacer to the required length and then pushes it into the flared opening of the first particle delivery tube 1004113.

[0095] Example 2

[0096] The parts of this embodiment that are structurally identical to those in Embodiment 1 will not be described again. The differences are as follows:

[0097] The particle chain sleeve is arranged vertically, and the particle chain recovery mechanism is arranged vertically below the second particle conveying pipe 1004204.

[0098] The flexible push rod drive mechanism 1004109 enables particles and / or spacers to be embedded into the particle chain sleeve from one end opening, and then the sequentially arranged mixture is axially compressed, with multiple particles and particle chain sleeves sequentially interlocked to form a complete particle chain.

[0099] like Figures 9-15As shown, the radiation shielding enclosure is a box-type structure assembled from box panels or a frame structure assembled from frame panels. Both the box panels and frame panels are second radiation shielding panels 1004201. The radiation shielding enclosure is equipped with a second radiation shielding door 1004202, and a second radiation shielding glass 1004203 is installed on the second radiation shielding door 1004202. The bottom of the radiation shielding enclosure has a ramp, which guides scattered particles into a waste particle box, enabling the recovery of scattered particles. The bottom of the radiation shielding enclosure also has a vibration mechanism to improve recovery efficiency. A camera is also installed inside the radiation shielding enclosure for close-up observation of the internal operation of the equipment. A lighting fixture is also installed inside the radiation shielding enclosure.

[0100] The particle chain sleeve 1004112 is arranged vertically, and the particle chain recovery mechanism 1004108 is arranged vertically below the second particle conveying pipe 1004204.

[0101] The detailed steps for the automatic particle chain loading in this embodiment are as follows:

[0102] First, the particle chain recycling mechanism 1004108, which already contains a section of the particle chain sleeve (not shown in the figure), is quickly mounted onto the machine base. Then, the front part of the particle chain sleeve is snapped into the cutting groove of the fixed base 1004205. The front end of the particle chain sleeve 1004112 is connected to one end of the second particle conveying pipe 1004204 via a quick connector. The other end of the second particle conveying pipe 1004204 is connected to a flared mouth and fixed to the fixed base 1004205. One end of the push rod output channel 1004121 is quickly connected to the cleaning mechanism 1004120, and the other end is fixed to the fixed base 1004205.

[0103] The second spacer 1004206 has grooves at both ends, allowing the end of particle 2 to be inserted into these grooves. The head of the particle chain sleeve also has a groove or protrusion, which can engage with the end of particle 2 or the groove of the spacer. The particle vibrating plate 1004107 vibrates and transports particle 2 into the particle trough 1004117. Under the action of the vertical movement module 1004105 and the horizontal movement module 1004104, the suction nozzle 1004116 sucks particle 2 from the particle trough 1004117 to the side of the particle activity detection module 1004114 for particle activity detection. If the particle activity detection fails, the particle is dropped into the waste particle box 1004115. If the particle activity detection passes, the suction nozzle 1004116 places particle 2 into the flared opening of the second particle conveying tube 1004204, and then the flexible push rod... The driving mechanism 1004109 drives the flexible metal wire to push the particles 2 in the second particle delivery tube 1004204 to the end of the particle chain sleeve 1004112, connecting with the head of the particle chain sleeve. When the particles 2 pass through the three-way junction of the heating glue tank 1004110 and the second particle delivery tube 1004204, they are wrapped by the glue flowing out of the heating glue tank 1004110. When the flexible push rod driving mechanism 1004109 retracts the flexible metal wire, the cleaning mechanism 1004120 on the flexible push rod driving mechanism 1004109 can clean the excess glue on the surface of the flexible metal wire. The spacer vibrating plate 1004106 vibrates and conveys the second spacer 1004206 into the spacer groove 1004119. Under the action of the vertical movement module 1004105 and the horizontal movement module 1004104, the suction nozzle 1004116 draws the second spacer 1004206 from the spacer groove 1004119 into the flared opening of the second particle delivery tube 1004204. Then, the flexible push rod drive mechanism 1004109 drives the flexible metal wire to push the second spacer 1004206 in the second particle delivery tube 1004204 to the very end of the particle chain sleeve 1004112, embedding it with the particles 2. The spacer 1004... The 206 has several vent holes, which allow gas to be discharged in time when the particle 2 is embedded in the second spacer 1004206. The particle 2 and the second spacer 1004206 are connected in sequence, gradually forming a continuous particle chain at the head of the particle chain sleeve. When the second spacer 1004206 passes through the three-way pipe of the heating glue tank 1004110 and the second particle conveying pipe 1004204, it is wrapped by the glue flowing out of the heating glue tank 1004110. When the flexible push rod drive mechanism 1004109 retracts the flexible metal wire, the cleaning mechanism 1004120 on the flexible push rod drive mechanism 1004109 can clean the excess glue on the flexible metal wire.Repeat the above two steps until the particle chain reaches the target length. The cutting mechanism 1004111 will then cut the particle chain, and the particle chain recycling mechanism 1004108 will recycle it. The particle chain recycling mechanism 1004108 also has a second cleaning mechanism (not shown in the figure) that can clean excess glue from the surface of the recycled particle chain. Alternatively, a spacer cutting and implantation mechanism can be used instead of the spacer vibratory plate 1004106. This spacer cutting and implantation mechanism cuts the spacer to the required length and then pushes it into the flared opening of the second particle delivery tube 1004204.

[0104] Example 3

[0105] The parts of this embodiment that are structurally identical to those in Embodiment 1 will not be described again. The differences are as follows:

[0106] A particle chain cutting mechanism is fitted outside the particle chain sleeve and on the left or right side of the sleeve inlet support. The particle chain cutting mechanism can cut the already filled particle chain.

[0107] The particle chain cutting mechanism adopts one or a combination of a guillotine cutting mechanism, a scissor cutting mechanism, and a ring cutting mechanism. The guillotine cutting mechanism uses the movement of a single-sided blade to complete the cutting, the scissor cutting mechanism uses the simultaneous movement of two-sided blades in opposite directions to complete the cutting, and the ring cutting mechanism uses at least three blades moving towards the center point simultaneously to achieve the cutting.

[0108] It also includes a cutting power source, which is connected to the particle chain cutting mechanism through a cutting transmission mechanism, or directly connected to the particle chain cutting mechanism, so as to transmit power to the particle chain cutting mechanism to complete the cutting action. The cutting transmission mechanism is one or more of a linkage mechanism, a lead screw and nut mechanism, a gear mechanism, a belt drive mechanism, and a cam mechanism. The cutting power source is one or more of a motor, a pneumatic push rod, a pneumatic motor, a hydraulic push rod, and a hydraulic motor.

[0109] When the guillotine-type cutting mechanism completes the cutting using the movement of a single-sided blade, one end of the single-sided blade is rotatably mounted on the main body through a pivot point. The single-sided blade is provided with a drive unit connected to the cutting power source or the cutting transmission mechanism. The drive unit of the single-sided blade is located at the pivot point of the single-sided blade, or the drive unit of the single-sided blade is located at the other end of the single-sided blade away from the pivot point.

[0110] Alternatively, when the guillotine-type cutting mechanism completes the cutting using the movement of a single-sided blade, the single-sided blade guide is mounted on the main body.

[0111] The single-sided blade can be a single blade or a double blade, wherein a double blade is two single blades stacked on top of each other, and the single-sided blade in this embodiment is a single blade.

[0112] The particle chain cutting mechanism is equipped with an anti-flash structure to prevent the particle chain from being cut by the blade and creating flaking.

[0113] The anti-flash structure is a rubber pad 2142108. The rubber pad is located below the particle chain. While the single-sided blade presses down to cut the particle chain, the rubber pad can help support the particle chain and prevent the particle chain from being cut with flash. The material of the rubber pad is at least one of rubber, silicone, and latex.

[0114] like Figure 16 As shown, when the cutting power source is directly connected to the particle chain cutting mechanism, thereby transmitting power to the particle chain cutting mechanism to complete the cutting action, the cutting power source is the first motor 214201, the single-sided blade is the first cutting blade 214202, one end of the first cutting blade is connected to the output shaft of the first motor, and the output shaft of the first motor directly drives the first cutting blade to move in order to cut the first particle chain 214203.

[0115] like Figure 17 As shown, when the cutting power source is connected to the cutting mechanism through the cutting transmission mechanism, thereby transmitting power to the cutting mechanism to complete the cutting action, the cutting power source is the second motor 2142103, the single-sided blade is the second cutting blade 2142106, the second motor 2142103 is fixed to the main body 2142107 through the motor fixing plate, the cutting transmission mechanism is a linkage mechanism, the linkage mechanism includes a rocker arm 2142104 and a connecting rod 2142105, one end of the rocker arm is connected to the output shaft of the second motor, the other end of the rocker arm is hinged to the connecting rod, and the end of the connecting rod away from the rocker arm is hinged to the second cutting blade. The output shaft of the second motor drives the rocker arm to rotate, the rocker arm presses down the connecting rod, and the connecting rod drives the second cutting blade to rotate downward to achieve the cutting of the particle chain.

[0116] The main body 2142107 is equipped with a cutter seat 2142101 on the front side, and a guide seat 2142102 is fixed on the cutter seat. A cutter groove is formed between the guide seat and the cutter seat. One end of the second cutter is rotatably mounted on the guide seat. The cutter seat and the guide seat are respectively provided with through holes for the particle chain to pass through. A rubber pad 2142108 is installed on the cutter groove. The rubber pad 2142108 at the bottom of the second cutter 2142106 can help support the particle chain so that the second cutter 2142106 can cut it more easily.

[0117] Example 4

[0118] The parts of this embodiment that are structurally identical to those in Embodiment 3 will not be described again. The differences are as follows:

[0119] The single-sided blade is a double blade (such as the double straight blade 2142204 in this embodiment), wherein the double blade consists of two single blades stacked on top of each other. The particle chain cutting mechanism is provided with an anti-flash structure to prevent the particle chain from being cut by the blades and creating flash. The anti-flash structure is a double-edged structure, where the two cutting edges of the two single blades are seamlessly attached to the cutting pressure surface to avoid cutting flash into the particle chain.

[0120] like Figures 18-21 As shown in the figure, the components include: drive shaft A2142201, bearing housing A2142202, synchronous belt 2142203, double straight blade 2142204, elastic limit block 2142205, connector 2142206, mounting block A2142207, micro switch 2142208, mounting block B 2142209, quick connector 2142210, drive shaft B2142211, bevel gear A2142212, mounting base 2142213, mounting flange 2142214, transmission device 2142215, isolation plate 2142216, drive shaft C 2142217, bevel gear B2142218, movable base plate 2142219, second particle chain 2142220, base plate 2142223, and screw 2142224. Bearing housing A2142202 is mounted on base plate 2142223. Drive shafts A2142201 and B2142211 are mounted on base plate 2142223. Double straight blade 2142204 is fixed to one end of drive shaft B2142211. Mounting blocks A2142207 and B2142209 are fixed on base plate 2142223. Connector 2142206 is mated to mounting block A2142207, and quick connector 2142210 is mated to mounting block B2142209. Microswitch 2142208 is mounted on mounting block B2142209. Second particle chain 2142220 is located within the conveying channel of mounting blocks A2142207 and B2142209. The base plate 2142223 and the isolation plate 2142216 are fixed to the movable base plate 2142219 by screws 2142224. The mounting flange 2142214 is fixed to the movable base plate 2142219, and the transmission device 2142215 is installed on the mounting flange 2142214. The mounting base 2142213 is fixed to the base plate 2142223. The drive shaft C 2142217 is installed on the mounting base 2142213. The bevel gear B 2142218 is installed on the drive shaft C 2142217. The bevel gear A 2142212 is installed on the drive shaft A 2142201. The synchronous belt 2142203 is installed between the drive shaft A 2142201 and the drive shaft B 2142211. The elastic limiting block 2142205 is installed on the base plate 2142223, and the elastic limiting block 2142205 is snapped between the mounting block A2142207 and the mounting block B2142209.

[0121] The second particle chain 2142220 enters the conveying channel of mounting block B 2142209 through quick connector 2142210, passing through the gap between mounting block A 2142207 and mounting block B 2142209 to enter the conveying channel of mounting block A 2142207. When the length of the loaded particle chain 2142220 reaches the target length, the transmission device 2142215 will drive the transmission shaft C 2142217 to rotate clockwise, causing bevel gear B 2142218 to drive bevel gear A 2142212 and transmission shaft A 2142201 to rotate counterclockwise. Transmission shaft A 2142201, in turn, drives transmission shaft B through synchronous belt 2142203. 2142211 rotates counterclockwise together, causing the double straight blade 2142204 to rotate counterclockwise and press down to cut. During the pressing down process, the straight edge of the double straight blade 2142204 performs a shearing motion with the end faces of mounting block B 2142209 and mounting block A 2142207, and the double straight blade 2142204 cuts the second particle chain 2142220 below. The second particle chain 2142220 cut off on the right side will remain in the conveying channel of the mounting block A2142207. The double straight blade 2142204 rotates and presses down until it is stopped by the elastic limit block 2142205. When the transmission device 2142215 detects a certain torque value, it will rotate counterclockwise to lift the double straight blade 2142204 until the double straight blade 2142204 is lifted to the position of the micro switch 2142208, triggering the micro switch 2142208. The transmission device will then stop driving. After the double straight blade cuts the particle chain, the particle chain recycling mechanism will recycle the particle chain.

[0122] The basic principles, main features, and advantages of this utility model have been shown and described above. It will be apparent to those skilled in the art that this utility model is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or basic characteristics of this utility model. Therefore, the embodiments should be considered illustrative and non-limiting in all respects. The scope of this utility model is defined by the appended claims rather than the foregoing description, and thus all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this utility model. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0123] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An automatic particle chain loading device for sequentially scheduling particles and spacers into a particle chain sleeve, characterized in that: It includes a feeding section and a first push rod driving mechanism. The feeding section includes a particle feeding mechanism and a spacer feeding mechanism. The scheduling mechanism sequentially puts particles and spacers into the particle chain sleeve. The first push rod driving mechanism pushes the particles or spacers one by one along the particle chain sleeve to the required position for filling.

2. The automatic particle chain loading device for sequentially scheduling particles and spacers into the particle chain sleeve according to claim 1, characterized in that, The scheduling mechanism is configured by combining a gripping mechanism and a second motion platform, and transports particles or spacers via pipelines; or the scheduling mechanism is equipped with multiple gripping mechanisms, which can simultaneously perform gripping at multiple workstations.

3. The automatic particle chain loading device for sequentially scheduling particles and spacers into the particle chain sleeve according to claim 2, characterized in that, The gripping mechanism is one or a combination of tweezers, a suction nozzle, and spring clamps. The gripping mechanism grips particles or spacers at one or more fixed workstations; or the gripping mechanism directly grips particles from a pile of scattered particles or directly grips spacers from a pile of scattered spacers. When the particle activity test fails, the gripping mechanism and the second motion platform cooperate to drop the particles into the recycling container.

4. The automatic particle chain loading device for sequentially scheduling particles and spacers into the particle chain sleeve according to claim 2, characterized in that, The second motion platform is a linear motion platform, which enables the gripping mechanism to move linearly in two directions, and allows for the adjustment of the gripping mechanism's degrees of freedom in the horizontal and vertical directions; Alternatively, the second motion platform can achieve linear motion in two directions and rotational motion in one direction, thereby enabling the gripping mechanism to adjust its degrees of freedom in three directions.

5. The automatic particle chain loading device for sequentially scheduling particles and spacers into the particle chain sleeve according to claim 2, characterized in that, The pipeline transportation method includes a pipeline and a selection mechanism. The selection mechanism can control whether particles and spacers are output and / or control the output destination of particles and spacers. The pipeline is a flexible pipeline, or a curved rigid pipe, or a straight pipe. The inlet of the pipeline is funnel-shaped. The output channel of the first push rod driving mechanism is located directly above the funnel structure of the pipeline. After the particles and / or spacers enter the pipeline through the funnel, the first push rod driving mechanism drives the particles and / or spacers forward.

6. The automatic particle chain loading device for sequentially scheduling particles and spacers into the particle chain sleeve according to claim 1, characterized in that, The scheduling mechanism is also equipped with functional modules, which are one or more combinations of particle activity detection module, appearance inspection module, dust removal module, cleaning module, and counting module. The particle activity detection module includes an activity sensor and a recycling container. The activity sensor determines the particle activity and causes particles with activity that do not meet the requirements to fall into the recycling container. The appearance inspection module includes a vision sensor to determine that the shape of the particles or spacers is normal and that the gripping position is normal. The dust removal module includes a dust blowing or suction module to blow or suction away dust from the outside of the particles or spacers. The cleaning module cleans the dirt from the outside of the particles or spacers. The counting module includes a sensor switch and a counter to determine the number of particles or spacers that pass through.

7. The automatic particle chain loading device for sequentially scheduling particles and spacers into a particle chain sleeve according to claim 1, characterized in that, The particle feeding mechanism uses a particle clip feeding mechanism or a particle arrangement mechanism. The particle arrangement mechanism uses a vibrating plate, which arranges the particles one by one and outputs vibration. Alternatively, the particle arrangement mechanism uses a slot arrangement component, where the slot can be replaced by a space separated by a partition plate. Or, the particle arrangement mechanism uses an arrangement method based on a V-shaped slot, an arc slot, or a horn mouth. Or, the particle arrangement mechanism uses a particle grabbing mechanism, which directly grabs individual particles one by one from a pile of particles.

8. The automatic particle chain loading device for sequentially scheduling particles and spacers into the particle chain sleeve according to claim 1, characterized in that, The spacer bar feeding mechanism uses a spacer bar clip feeding method or a spacer bar arrangement mechanism for feeding. The spacer bar arrangement mechanism uses one or a combination of a vibratory feeder, a slotted arrangement component, an arrangement mechanism based on a V-groove, an arc groove, or a flared opening, and a spacer bar gripping mechanism. The spacer bar arrangement mechanism uses a vibratory feeder, which vibrates and outputs vibrations to arrange the spacer bars one by one. Alternatively, the spacer bar arrangement mechanism uses a slotted arrangement component, where the slot can be replaced by a space separated by a partition plate. Alternatively, the spacer bar arrangement mechanism uses an arrangement method based on a V-groove, an arc groove, or a flared opening. Alternatively, the spacer bar arrangement mechanism uses a spacer bar gripping mechanism, which directly grips individual spacer bars one by one from a pile of spacer bars.

9. The automatic particle chain loading device for sequentially scheduling particles and spacers into a particle chain sleeve according to claim 1, characterized in that, It also includes a particle chain recycling mechanism, with at least one set of particle chain recycling mechanisms. Each set of particle chain recycling mechanisms is connected to a set of particle chain sleeves. After the particle chain sleeves are filled and formed, the particle chain recycling mechanism will wind up and collect the particle chain and store it inside the radiation shielding shell. The front end of the particle chain sleeve is supported by the sleeve inlet bracket. A particle chain cutting mechanism is sleeved outside the particle chain sleeve and located on the left or right side of the sleeve inlet bracket. The particle chain cutting mechanism can cut the already filled particle chain. When the particle chain sleeve is arranged horizontally, the particle chain recovery mechanism is arranged horizontally on the side of the particle chain sleeve; or, when the particle chain sleeve is arranged vertically, the particle chain recovery mechanism is arranged vertically below the particle chain sleeve.

10. The automatic particle chain loading device for sequentially scheduling particles and spacers into a particle chain sleeve according to claim 1, characterized in that, The particle chain sleeve is equipped with a glue application mechanism. The glue application mechanism applies glue by soaking at the inlet of the particle chain sleeve or by puncture injection. The glue application mechanism includes a glue dropper connected to a glue supply device. When the glue application mechanism uses immersion glue application, the nozzle of the glue application dropper is connected to the particle chain sleeve through the glue application branch pipe; when the particles and / or spacers move to the bottom of the glue application dropper through the push rod along the particle and / or spacer conveying pipe, the glue application dropper dispenses glue and flows into the glue application branch pipe, and the particles and / or spacers will be covered with a layer of glue after passing through the glue application branch pipe. When the glue application mechanism adopts the puncture injection glue application method, the glue dropper can move along the particle chain sleeve. The glue dropper injects glue into the particle chain sleeve through the puncture syringe, which can bond the arranged particles and spacers to the particle chain sleeve with glue.

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