Particle chain automatic filling device based on bifurcated pipe

Abstract

The utility model discloses an automatic particle chain filling device based on a bifurcated pipe. A feeding part comprises a particle feeding mechanism and a spacing rod feeding mechanism; the particles and / or the spacing rods are filled into the particle chain sleeves one by one in a pipeline transportation mode, the pipeline transportation mode is characterized in that the bifurcated pipes are connected with the particle chain sleeves, and the particle feeding mechanism and the spacing rod feeding mechanism are connected with the bifurcated pipes respectively, so that the particles and the spacing rods are filled one by one; and the first push rod is driven by the first push rod driving mechanism to push the particles or the spacing rods into the particle chain sleeve one by one along the conveying channel, and the particles or the spacing rods move forwards along the particle chain sleeve to a required position for automatic filling. The radiation time and labor capacity of operators are greatly reduced, the filling efficiency is improved, the filling accuracy is ensured, and meanwhile, the equipment is simple in structure and convenient to operate and maintain.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, specifically to an automatic particle chain loading device based on a bifurcated tube. 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. This technique features a high-dose distribution of radiation to the tumor target area to kill tumor cells, while surrounding normal tissues receive minimal radiation, causing little or no 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 has some problems and shortcomings due to the fact that activity testing and cartridge loading are all done manually. Firstly, activity testing requires medical staff to manually check the activity of each radioactive particle with tweezers before implantation, removing particles with incorrect activity levels. This process involves 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 and exposes medical staff to radiation hazards for extended periods. Furthermore, manual operation is inefficient, increases surgical time, places a heavy workload on medical workers, and results in 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. Summary of the Invention

[0006] The purpose of this invention is to provide an automatic particle chain loading device based on a bifurcated tube, which automatically loads particles or spacers into the particle chain sleeve one by one and moves forward along the particle chain sleeve to the required position, 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 based on a bifurcated tube includes a feeding unit and a first pusher drive mechanism. The feeding unit includes a particle feeding mechanism and a spacer feeding mechanism. Particles and / or spacers are fed into the particle chain sleeve one by one through pipeline transportation. The pipeline transportation is connected to the particle chain sleeve via a bifurcated tube. The particle feeding mechanism and the spacer feeding mechanism are respectively connected to the bifurcated tube to realize the one-by-one filling of particles and spacers. The first pusher drive mechanism drives the first pusher to push the particles or spacers one by one into the particle chain sleeve along the conveying channel, and then moves forward along the particle chain sleeve to the required position for automatic filling.

[0009] Preferably, the branching tube is a three-pronged or four-pronged structure. When the branching tube is a four-pronged structure, it includes branching tube C, branching tube D, branching tube E, and a main tube. Branching tubes C, D, and E are connected to the main tube. Branching tube C is connected to the pusher output channel of the first pusher drive mechanism, branching tube D is connected to the particle output channel of the particle arrangement mechanism, and branching tube E is connected to the spacer output channel of the spacer arrangement mechanism. The main tube is connected to the conveying channel. The structure can arrange the required number of particles into the branch pipe D in an orderly manner, and the spacer rod arrangement mechanism can arrange the required number of spacers into the branch pipe E in an orderly manner. The particles slide into the main pipe along the branch pipe D, and the spacers slide into the main pipe along the branch pipe E. The first push rod drive mechanism drives the first push rod to move forward along the branch pipe C and enter the main pipe and the conveying channel, thereby pushing the particles or spacers in the main pipe forward one by one. The particle arrangement mechanism adopts a vibrating plate, or the particle arrangement mechanism adopts a particle gripping mechanism.

[0010] Preferably, when the branch pipe C and branch pipe D are combined into one channel, or when the branch pipe C and branch pipe E are combined into one channel, the four-way pipe structure becomes a three-way pipe structure.

[0011] Preferably, the branch pipe D or branch pipe E is equipped with a photoelectric switch or camera to accurately measure the number of particles or spacers; or, the branch pipe D or branch pipe E is equipped with a blocking mechanism to control the number of particles or spacers and prevent excess particles or spacers from sliding into the main pipe.

[0012] Preferably, the assembly also includes a docking fixture assembly that enables the main tube of the branched tube to dock with different particle chain sleeves. The docking fixture assembly includes a docking outer tube and at least two particle chain sleeves. One end of the docking outer tube is mounted on an outer tube fixing seat and communicates with the main tube. The other end of the docking outer tube is mounted on a third motion platform and can be moved under the drive of the third motion platform. Each particle chain sleeve is connected to a corresponding movable fixing seat and can move towards or away from the docking outer tube under the drive of the movable fixing seat. Under the action of the third motion platform and the movable fixing seat, the docking outer tube can be docked and connected with different particle chain sleeves.

[0013] Preferably, the front end of the particle chain sleeve further includes a transition connecting pipe. The movable fixed base is provided with a through hole, and the transition connecting pipe communicates with the through hole on the movable fixed base. The front end of the particle chain sleeve is connected to the through hole position on the movable fixed base through a particle chain quick connector, so that the docking outer tube, the transition connecting pipe, the through hole and the particle chain sleeve can communicate to form a filling channel. The driving method of the movable fixed base is one or more combinations of synchronous belt drive, screw and nut drive, gear and rack drive and electric push rod drive.

[0014] 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.

[0015] Preferably, the spacer bar feeding mechanism employs a spacer bar clip feeding mechanism, a spacer bar arrangement mechanism, or a spacer bar chain feeding mechanism. When using a spacer bar arrangement mechanism, the spacer bar arrangement mechanism employs one or a combination of a vibratory feeder, a slotted arrangement component, a V-groove, arc groove, or flared mouth-based arrangement mechanism, and a spacer bar gripping mechanism. The spacer bar arrangement mechanism employs a vibratory feeder, which vibrates and outputs vibrations by arranging the spacer bars one by one. Alternatively, the spacer bar arrangement mechanism employs a slotted arrangement component, where the slot can be replaced by a space separated by a partition plate. Or, the spacer bar arrangement mechanism employs an arrangement method based on V-groove, arc groove, or flared mouth. Or, the spacer bar arrangement mechanism employs a spacer bar gripping mechanism, which directly grips individual spacer bars one by one from a pile of spacer bars.

[0016] When using a spacer bar chain for feeding, the spacer bar feeding mechanism includes a spacer bar insertion mechanism and a spacer bar cutting mechanism. The spacer bar insertion mechanism can move the spacer bar forward along the particle chain sleeve to the required position, or the spacer bar insertion mechanism can push the spacer bar to the required position, and then the spacer bar is moved forward along the particle chain sleeve to the required position by the first push rod driving mechanism; the spacer bar cutting mechanism can cut the spacer bar to the required length.

[0017] Preferably, the system also includes a particle chain recycling mechanism, with at least one set of such mechanisms. Each set of particle chain recycling mechanisms is connected to a set of particle chain sleeves. Once 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-proof outer 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 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.

[0019] Preferably, the first push rod driving mechanism is a friction driving mechanism, which includes a friction component. At least a portion of the surface of the friction component is in close contact with the surface of the first push rod, and the friction force generated by the contact drives the first push rod to move back and forth. The first push rod driving mechanism uses a combination of a clamping device and a reciprocating motion module to drive the first push rod to move back and forth. The clamping device can clamp or release the first push rod, and the reciprocating motion module can drive the clamping device to reciprocate along a preset trajectory.

[0020] Preferably, the particle chain sleeve is provided with a glue application mechanism, which applies glue by immersion at the inlet of the particle chain sleeve or by puncture injection; the glue application mechanism includes a glue dropper connected to a glue 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 provides an automatic particle chain loading device based on a bifurcated tube. The device loads particles and / or spacers one by one into a particle chain sleeve through the bifurcated tube. A first pusher mechanism drives the particles or spacers forward along the particle chain sleeve to the desired position. Finally, a particle chain cutting mechanism cuts the particle chain, and a particle chain retrieval mechanism retrieves it. This avoids radiation damage associated with 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 fed one by one into the particle chain sleeve via pipeline transportation. The pipeline transportation method utilizes a branch pipe connected to the particle chain sleeve. The particle feeding mechanism and the spacer feeding mechanism are respectively connected to the branch pipe to realize the one-by-one filling of particles and spacers, ensuring 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 for Figure 3 Enlarged view of point D in the middle;

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

[0034] Figure 9 This is a schematic diagram of the particle chain recycling mechanism after it has been stored in Example 1;

[0035] Figure 10 This is a schematic diagram of the particle chain cutting mechanism, the glue application mechanism, and the second cleaning module in Example 1.

[0036] Figure 11 This is a schematic diagram of the spacer bar feeding mechanism in Example 1;

[0037] Figure 12 This is a schematic diagram of the structure of the first push rod drive mechanism, scheduling mechanism, spacer rod feeding mechanism and particle chain recycling mechanism in Embodiment 1;

[0038] Figure 13 This is a schematic diagram of the particle arrangement mechanism in Example 3;

[0039] Figure 14 for Figure 13 Enlarged schematic diagram of the internal gripper for material feeding;

[0040] Figure 15 for Figure 13 Enlarged schematic diagram of the internal grippers picking up material;

[0041] Figure 16 This is a three-dimensional view of the particle arrangement mechanism in Example 4;

[0042] Figure 17 This is a schematic diagram of the structure of the first cutting blade in Example 5;

[0043] Figure 18 This is a schematic diagram of the structure of the second cutting blade in Example 5;

[0044] Figure 19 This is one of the structural schematic diagrams of Example 6;

[0045] Figure 20 This is the second structural schematic diagram of Example 6;

[0046] Figure 21 This is a schematic diagram of the double-bladed cutting process in Example 6;

[0047] Figure 22This is a schematic diagram of the double blade after resetting in Example 6. Detailed Implementation

[0048] 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. Example 1

[0049] An automatic particle chain filling device based on a bifurcated tube includes a feeding unit and a first pusher driving mechanism (such as the flexible pusher driving mechanism 10041210 in this embodiment). The feeding unit includes a particle feeding mechanism and a spacer feeding mechanism. Particles and / or spacers are filled into the particle chain sleeve one by one through pipeline transportation. The pipeline transportation is connected to the particle chain sleeve through a bifurcated tube. The particle feeding mechanism and the spacer feeding mechanism are respectively connected to the bifurcated tube to realize the one-by-one filling of particles and spacers. The first pusher driving mechanism drives the first pusher to push the particles or spacers one by one into the particle chain sleeve along the conveying channel, and moves forward along the particle chain sleeve to the required position for automatic filling.

[0050] The particle feeding mechanism uses a particle clip feeding mechanism or a particle arrangement mechanism for feeding. The particle arrangement mechanism uses a first vibrating plate 10041208 to arrange the particles one by one and output them through vibration.

[0051] As an alternative, 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, a circular arc slot, or a horn-shaped opening; or the particle arrangement mechanism uses a particle grasping mechanism to directly grasp individual particles one by one from a pile of particles.

[0052] The spacer bar feeding mechanism adopts spacer bar clip feeding, spacer bar arrangement mechanism feeding, or spacer bar chain feeding. The spacer bar arrangement mechanism feeding adopts one or a combination of vibratory plate, slot arrangement component, arrangement mechanism based on V-groove, arc groove or horn mouth, and particle grasping mechanism.

[0053] When the spacer bar arrangement mechanism uses a vibratory feeder for feeding, the vibratory feeder arranges the spacers one by one and outputs vibration; or the spacer bar arrangement mechanism uses a slot arrangement component, and 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-shaped slots, arc slots or flared mouths; or the spacer bar arrangement mechanism uses a spacer bar gripping mechanism, which directly grips individual spacers one by one from a pile of spacers.

[0054] When the spacer arrangement mechanism uses a spacer chain feeding mechanism, the spacer feeding mechanism (such as the spacer cutting and implantation mechanism 10041209 in this embodiment) includes a spacer implantation mechanism and a spacer cutting mechanism. The spacer implantation mechanism can move the spacer forward along the particle chain sleeve to the required position, or the spacer implantation mechanism can push the spacer to the required position, and then move the spacer forward along the particle chain sleeve to the required position through the first push rod driving mechanism; the spacer cutting mechanism can cut the spacer to the required length.

[0055] The pipeline transportation method utilizes a branch pipe connected to a particle chain sleeve. The branch pipe has a three-pronged or four-pronged structure. The particle feeding mechanism and the spacer feeding mechanism are respectively connected to the branch pipe to realize the sequential filling of particles and spacers. The first push rod is driven by the first push rod driving mechanism to push the particles or spacers one by one into the particle chain sleeve along the conveying channel.

[0056] The pipeline has a four-way pipe structure, including branch pipe C (such as push rod conveying pipe 10041215 in this embodiment), branch pipe D (such as particle conveying pipe 10041214 in this embodiment), branch pipe E (such as spacer rod conveying pipe 10041213 in this embodiment), and main pipe (such as main pipe 10041232 in this embodiment). Branch pipes C, D, and E are connected to the main pipe. Branch pipe C is connected to the push rod output channel of the first push rod driving mechanism, branch pipe D is connected to the particle output pipe of the particle arrangement mechanism, and branch pipe E is connected to the spacer rod arrangement machine. The structure has a spacer bar output channel, and the main pipe is connected to the conveying channel. The particle arrangement mechanism can arrange the required number of particles into the branch pipe D in an orderly manner, and the spacer bar arrangement mechanism can arrange the required number of spacers into the branch pipe E in an orderly manner. The particles slide into the main pipe along the branch pipe D, and the spacers slide into the main pipe along the branch pipe E. The first push rod drive mechanism drives the first push rod to move forward along the branch pipe C and enter the main pipe and the conveying channel, thereby pushing the particles or spacers in the main pipe forward one by one. The particle arrangement mechanism adopts a vibrating plate, or the particle arrangement mechanism adopts a particle gripping mechanism.

[0057] When the branch pipe C and branch pipe D are combined into one channel, or when the branch pipe C and branch pipe E are combined into one channel, the four-way pipe structure becomes a three-way pipe structure. A photoelectric switch or camera is installed on branch pipe D or branch pipe E to accurately measure the number of particles or spacers; alternatively, a blocking mechanism is installed on branch pipe D or branch pipe E to control the number of particles or spacers, preventing excess particles or spacers from sliding into the main pipe.

[0058] It also includes a docking fixture assembly that enables the branched tube to dock with different particle chain sleeves. The docking fixture assembly includes a docking outer tube 10041217 and at least two transition connecting tubes. One end of the docking outer tube is mounted on the outer tube fixing seat 10041216 and is connected to the main tube. The other end of the docking outer tube is mounted on the motion platform and can be moved under the drive of the motion platform. Each transition connecting tube can be connected to the corresponding particle chain sleeve. Each transition connecting tube is connected to the corresponding movable fixing seat 10041219 and can move towards or away from the docking outer tube under the drive of the movable fixing seat. Under the action of the motion platform and the movable fixing seat, the docking outer tube can be docked and connected with different transition connecting tubes.

[0059] The front end of the particle chain sleeve also includes a transition connecting pipe 10041218. The movable fixed base is provided with a through hole. The transition connecting pipe communicates with the through hole on the movable fixed base. The front end of the particle chain sleeve is connected to the through hole position on the movable fixed base through a particle chain quick connector 10041221, so that the docking outer tube, the transition connecting pipe, the through hole and the particle chain sleeve can communicate to form a filling channel. The driving method of the movable fixed base is one or more combinations of synchronous belt drive, screw and nut drive, gear and rack drive and electric push rod drive.

[0060] The first push rod driving mechanism is a flexible push rod driving mechanism. The push rod is a flexible push rod. The flexible push rod driving mechanism can drive the flexible push rod to move back and forth along the particle chain sleeve, and transport the particles or spacers set at the front end of the flexible push rod to a preset position along the particle chain sleeve.

[0061] The flexible push rod drive mechanism employs a friction drive mechanism, which includes a friction component. At least a portion of the surface of the friction component is in close contact with the surface of the push rod, and the frictional force generated by this contact drives the push rod to move back and forth. The friction component is a friction wheel or a friction belt, which presses the push rod together through a clamping mechanism. The clamping mechanism can be a passive clamping mechanism or an active clamping mechanism; alternatively, the friction wheel or friction belt itself is an elastic structure, clamping the push rod through its own compression.

[0062] The passive clamping mechanism includes a clamping guide mechanism and a clamping elastic element. The clamping guide mechanism is used to guide the friction assembly to move along a fixed trajectory, and can specifically adopt one or a combination of slide groove, hinge, and slide rail. The clamping elastic element is used to apply clamping force to the friction assembly to clamp the push rod, and can specifically adopt one or a combination of elastic block, spring, torsion spring, coil spring, and torsion bar. The passive clamping mechanism also includes a pressure adjusting device for adjusting the clamping force by adjusting the preload of the clamping elastic element. The pressure adjusting device adopts an adjusting screw or a structure of telescopic pressure rod and cam cooperation.

[0063] The active clamping mechanism includes a clamping guide mechanism and a clamping drive element. The clamping guide mechanism guides the friction assembly to move along a fixed trajectory and can specifically employ one or a combination of a slide groove, hinge, and slide rail. The clamping drive element actively applies clamping force to the friction assembly to clamp the push rod and can specifically employ one or a combination of an electromagnet, motor, electric push rod, pneumatic push rod, and hydraulic push rod. The friction wheel or friction belt is provided with anti-slip grooves or anti-slip patterns; the friction wheel or friction belt is provided with an annular groove, and the push rod is confined within the annular groove.

[0064] The flexible push rod drive mechanism uses a combination of a clamping device and a reciprocating motion module to drive the push rod to move back and forth. The clamping device can clamp or release the push rod, and the reciprocating motion module can drive the clamping device to reciprocate along a preset trajectory. The clamping device is a passive clamping device, which automatically clamps when advancing forward and automatically releases when resetting backward, thereby continuously driving the push rod forward. The push rod is connected to a winding wheel assembly, and the winding wheel drive mechanism drives the winding wheel to rotate, thereby achieving backward retraction.

[0065] The passive clamping device is one or more combinations of a claw mechanism, a rotary clamping mechanism, and a side pressure / tensioning mechanism;

[0066] The claw mechanism includes a claw, which is guided by a hinge or a slide groove and can open or close. When the reciprocating motion module drives the claw to move to one side, the claw closes and clamps the push rod, thereby driving the push rod to that side. When the reciprocating motion module drives the claw to move to the other side, the claw opens and the push rod is released, thereby resetting.

[0067] The rotary clamping mechanism includes a rotating component and a rotary drive mechanism. When the rotary clamping mechanism is driven to one side by the reciprocating motion module, it will drive the rotating component to rotate through the rotary drive mechanism. The rotating component is provided with a through hole, through groove, or double protrusion. When the rotating component rotates, it will lock the push rod passing through the through hole, through groove, or double protrusion. When the rotary clamping mechanism is driven to the other side by the reciprocating motion module, it will drive the rotating component to rotate to a limited position through the rotary drive mechanism. At the limited position, the rotating component will no longer lock the push rod.

[0068] The side pressing / tensioning mechanism can be either a side pressing mechanism or a side tensioning mechanism. The side pressing mechanism automatically presses the push rod against the side when driven to one side by the reciprocating motion module, using the friction generated by the pressing to drive the push rod to one side. Then, when driven to the other side by the reciprocating motion module, the side pressing mechanism automatically releases the pressure on the push rod, allowing it to reset. Similarly, the side tensioning mechanism automatically tensions the push rod against the side when driven to one side by the reciprocating motion module, using the friction generated by the tension to drive the push rod to one side. Then, when driven to the other side by the reciprocating motion module, the side tensioning mechanism automatically releases the tension on the push rod, allowing it to reset.

[0069] The clamping device is an active clamping device, capable of actively controlling clamping and releasing, and achieving forward and backward movement under the action of the reciprocating motion module; the active clamping device uses a pawl for clamping, the pawl is guided by a hinge or slide groove, and can open and close to clamp or release the push rod; or the active clamping device uses a side pressing mechanism or a side pulling mechanism to press / pull or release the push rod from the side; or the active clamping device uses a rotary clamping device, the push rod passes through a through hole, through groove, or between double protrusions on the rotating part of the rotary clamping device, and the rotation or bending of the rotating part achieves rotary clamping and releasing.

[0070] The reciprocating motion module adopts a synchronous belt mechanism, with the slider connected to the synchronous belt and the slider connected to the clamping device; or the reciprocating motion module can be implemented by at least one of the following: a lead screw and nut mechanism, a gear and rack mechanism, a linkage mechanism, a pneumatic mechanism, and a hydraulic mechanism.

[0071] 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 can clean the dirt on the push rod. The first cleaning module is a sleeve-type or plate-type bidirectional cleaning module.

[0072] When the bidirectional 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, the push rod 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.

[0073] When the bidirectional 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.

[0074] The front end of the particle chain sleeve is supported by a sleeve inlet bracket, providing support and guarantee for the subsequent loading of particles and / or spacers.

[0075] A particle chain cutting mechanism is fitted outside the particle chain sleeve and located on the left or right side of the sleeve inlet support. 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-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. The ring cutting mechanism uses at least three blades moving towards the center point simultaneously to achieve the cutting.

[0076] 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 the following: a linkage mechanism (such as the cutting push rod 10041223 in this embodiment), 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 the following: a motor, a pneumatic push rod, a pneumatic motor, a hydraulic push rod, and a hydraulic motor.

[0077] The particle chain sleeve is provided with a glue application mechanism. The glue application mechanism applies glue by soaking at the entrance of the particle chain sleeve or by puncture injection. The glue application mechanism includes a glue dropper 10041222, which is connected to a glue device 10041204.

[0078] 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 10041231; 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.

[0079] When the adhesive application mechanism uses a puncture-injection method, the adhesive dropper can move along the particle chain sleeve. The dropper injects adhesive into the particle chain sleeve through the puncture syringe, bonding the arranged particles and spacers to the sleeve. The adhesive application mechanism also includes a heating mechanism to heat the adhesive in the dropper, preventing it from solidifying. The adhesive is a biodegradable material, specifically one or a combination of gelatin, collagen, PLA, PGA, and PCL.

[0080] The particle chain sleeve is equipped with a second cleaning module 10041234. The second cleaning module can move relative to the particle chain sleeve to clean the dirt on the outer surface of the particle chain sleeve. The second cleaning module is a cleaning block, which is 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 cleaning block cleans the dirt on the particle chain 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, the particle chain sleeve can open the central hole of the cleaning plate to allow the particle chain sleeve to pass smoothly. When the particle chain sleeve retracts, the dirt on the particle chain sleeve is scraped clean by the tension and squeezing action of the cleaning plate.

[0081] It also includes a particle chain recycling mechanism 10041224. 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 10041226. 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] It also includes a particle chain sleeve transport mechanism. When multiple sets of particle chain sleeves are set, one or more sets of particle chain sleeves are transported to the filling position through the particle chain sleeve transport mechanism, so that the particle chain sleeve is filled near the branch pipe, while other particle chain sleeves are clamped, loaded and unloaded at a position away from the branch pipe. When the particle chain sleeve is filled and ready to be unloaded, it has been wound and stored in the radiation shielding shell by the particle chain recovery mechanism. The operator can directly unload the entire radiation shielding shell to avoid radiation damage to the operator during loading and unloading.

[0083] The particle chain sleeve transport mechanism includes a guide rail 10041229, on which multiple sets of sliders are mounted. When two sets of particle chain recovery mechanisms are provided, the two sets of particle chain recovery mechanisms are detachably mounted on the corresponding sliders, and the sliders are driven to move on the corresponding guide rails by a drive mechanism, so that the two sets of particle chain recovery mechanisms can alternately realize the filling and clamping of particle chain sleeves. The drive mechanism is driven by one or more combinations of synchronous belt drive, rope drive, chain drive, screw and nut drive, gear and rack drive, electric push rod drive, and pneumatic push rod drive.

[0084] When the driving mechanism is driven by a synchronous belt, the driving mechanism includes multiple sets of synchronous pulleys and a synchronous belt 10041228 that is fitted onto the multiple sets of synchronous pulleys. The synchronous belt is connected to the particle chain recycling mechanism through a synchronous belt fixing block 10041227. The synchronous pulleys are driven by a motor, which can drive the synchronous belt to move, thereby causing the particle chain recycling mechanism to move along the guide rail. The synchronous belt drive can also be replaced by a gear and rack drive, a lead screw and nut drive, a chain drive, or a rope drive.

[0085] The particle chain recycling mechanism is provided in two sets. The two sets of particle chain recycling mechanisms are respectively mounted on the particle chain sleeve transport mechanism through clamps. The particle chain sleeve transport mechanism allows the particle chain recycling mechanism at the other station to be disassembled and a new empty particle chain recycling mechanism to be installed when one station is filling particles or spacers.

[0086] 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.

[0087] The collection tray of the particle chain recycling mechanism is equipped with a shielding shell. The spacer rod is made of a biodegradable material, and the particle chain sleeve is also made of a biodegradable material; the biodegradable material is one or more combinations of collagen, polymer, gelatin, alginate, and polyester biodegradable materials.

[0088] 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. The box panels or frame panels are all radiation shielding panels 10041201. The radiation shielding enclosure is equipped with a radiation shielding door 10041203, and the radiation shielding door is fitted with radiation shielding glass 10041202. The bottom of the radiation shielding enclosure is equipped with a ramp, which guides scattered particles to fall into a waste particle box, enabling the collection of scattered particles. The bottom of the radiation shielding enclosure is also equipped with a vibration mechanism to improve the collection efficiency. The radiation shielding enclosure is also equipped with a camera for close-up observation of the internal operation of the equipment. The radiation shielding enclosure is also equipped with a lighting lamp.

[0089] Specifically, such as Figures 1-12As shown, it includes: a radiation shielding plate 10041201, a radiation shielding glass 10041202, a radiation shielding door 10041203, an adhesive device 10041204, a vertical movement module 10041205, a horizontal movement module 10041206, a particle suction tube 10041207, a first vibrating plate 10041208, a spacer cutting and implantation mechanism 10041209, a flexible push rod driving mechanism 10041210, a particle activity detection module 10041211, a waste particle box 10041212, a spacer conveying pipe 10041213, a particle conveying pipe 10041214, a push rod conveying pipe 10041215, an outer tube fixing seat 10041216, a docking outer tube 10041217, and a transition connector. 10041218, Connector 10041219, Movable Fixing Base 10041220, Particle Tank 10041221, Particle Chain Quick Connector 10041221, Glue Applying Dropper 10041222, Particle Chain Cutting Mechanism 100413, Cutting Push Rod 10041223, Particle Chain Recycling Mechanism 10041224, Connecting Rod 10041225, Particle Chain Sleeve 10041226, Synchronous Belt Fixing Block 10041227, Synchronous Belt 10041228, Guide Rail 10041229, Swing Rod 10041230, Glue Applying Branch Pipe 10041231, Main Pipe 10041232, Storage Tray 10041233, Second Cleaning Module 10041234, Cleaning Block 10041235.

[0090] The radiation-proof 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 radiation-proof panels 10041201. The radiation-proof enclosure is equipped with a radiation-proof door 10041203, and the radiation-proof door 10041203 is fitted with radiation-proof glass 10041202. A camera is also installed inside the radiation-proof enclosure for close-up observation of the equipment's internal operation; the enclosure also includes lighting.

[0091] The radiation shielding plate 10041201 on the rear side of the radiation shielding enclosure is equipped with a horizontal moving module 10041206, and a vertical moving module 10041205 is equipped on the horizontal moving module 10041206. The vertical moving module 10041205 is equipped with a particle suction tube 10041207. The particle suction tube 10041207 can absorb the particles vibrated by the first vibrating plate 10041208. The particles vibrated by the first vibrating plate 10041208 are stored in the particle slot 10041220.

[0092] The first vibratory plate 10041208, the waste particle box 10041212, the spacer rod cutting and implantation mechanism 10041209, the flexible push rod driving mechanism 10041210, and the outer tube fixing seat 10041216 are respectively installed on the radiation shielding plate 10041201 at the bottom of the radiation shielding box. The radiation shielding plate 10041201 on the rear side of the radiation shielding box is also equipped with a particle activity detection module 10041211, and the activity detector of the particle activity detection module 10041211 is located above the waste particle box 10041212. If the particle activity detection fails, the particles are directly thrown into the waste particle box 10041212.

[0093] The spacer conveying pipe 10041213, the particle conveying pipe 10041214, and the pusher conveying pipe 10041215 are respectively connected to the main pipe 10041232, and the upper end of the particle conveying pipe 10041214 has a flared structure.

[0094] One end of the outer tube fixing seat 10041216 is connected to the main tube 10041232, and the other end of the outer tube fixing seat 10041216 is connected to the docking outer tube 10041217. A swing rod 10041230 is installed on the outer tube fixing seat 10041216. One end of the swing rod 10041230 is connected to the docking outer tube 10041217, and the other end of the swing rod 10041230 is connected to the transition connecting pipe 10041218.

[0095] The detailed steps for the automatic particle chain loading in this embodiment are as follows:

[0096] The first vibratory plate 10041208 vibrates and transports particles (not shown) into the particle tank 10041220. The particle suction tube 10041207, under the action of the vertical movement module 10041205 and the horizontal movement module 10041206, sucks the particles from the particle tank 10041220 to the side of the particle activity detection module 10041211 for particle activity detection. If the particle activity detection fails, the particles are dropped into the waste particle box 10041212. If the particle activity detection passes, the particles are sucked from the particle tank 10041220 to the funnel-shaped inlet of the particle conveying pipe 10041214 and released. Due to gravity, the particles will move along the particle conveying pipe 10041214. 4. The particle falls and enters the main pipe 10041232 through the pipe bifurcation. Then, the flexible push rod drive mechanism 10041210 drives the flexible push rod (not shown in the figure) to move inward into the main pipe 10041232. The flexible push rod pushes the particle that has just been placed forward, passing through the push rod delivery pipe 10041215, the main pipe 10041232, the outer pipe fixing seat 10041216, the docking outer pipe 10041217, the transition connecting pipe 10041218, the moving fixing seat 10041219, and the particle chain quick connector 10041221 until the end of the particle chain sleeve 10041226. Then, the flexible push rod drive mechanism 10041210 drives the flexible push rod to reset.

[0097] The spacer cutting and implantation mechanism 10041209 can cut the spacer to the required length and push the cut portion into the main pipe 10041232 at the pipe bifurcation point. Then, the flexible pusher drive mechanism 10041210 drives the flexible pusher to push the spacer forward, sequentially passing through the outer pipe fixing seat 10041216, the connecting outer pipe 10041217, the transition connecting pipe 10041218, the movable fixing seat 10041219, and the particle chain quick connector 10041221 until it reaches the end of the particle chain sleeve 10041226. Alternatively, the spacer cutting and implantation mechanism 10041209 can directly push the cut spacer to the end of the particle chain sleeve 10041226.

[0098] The particle chain recovery mechanism 10041224 and the movable fixed base 10041219 are both fixed on the slider and connected by the connecting rod 10041225. They can slide together on the guide rail 10041229. The connecting rod 10041225 is fixed to the synchronous belt 10041228 through the synchronous belt fixing block 10041227. There are two guide rails 10041229, two particle chain recovery mechanisms 10041224, and two movable fixed bases 10041219. The particle chain recovery mechanism 10041224 and the movable fixed base 10041219 are on the synchronous belt 10041228. Under the action of the mechanism, the flared mouths of the two transition connecting tubes 10041218 can be alternately aligned and pressed against one end of the docking outer tube 10041217. Under the action of the swing rod 10041230, the docking outer tube 10041217 can reciprocate 180° to facilitate the docking of the transition connecting tubes 10041218. When one particle chain sleeve 10041226 is being filled with particles, the particle chain recycling mechanism 10041224 that has been filled on the other side can be disassembled and then an empty particle chain recycling mechanism 10041224 can be reinstalled for filling, thereby improving the particle filling efficiency.

[0099] First, fill one end of the particle chain sleeve 10041226 with a spacer rod and then clamp it into the receiving tray 10041233 inside the particle chain recovery mechanism 10041224. This allows the particle chain recovery mechanism 10041224 to drive and receive the particle chain sleeve 10041226. At this point, the particle chain sleeve 10041226 is not yet filled with particles and therefore is not radioactive. This can be done manually. Then, connect the particle chain quick connector 10041221 to the particle chain sleeve 10041226. The particles are glued together and then connected to the movable fixing base 10041219. The particle suction tube 10041207 draws particles from the particle trough 10041220 to the inlet of the particle delivery tube 10041214 and releases them. The flexible push rod in the flexible push rod drive mechanism 10041210 pushes the particles in the particle delivery tube 10041214 to the end of the particle chain sleeve 10041226. The glue dispensing tube 10041222 dispenses glue and flows into the glue dispensing branch tube. The particles pass through the glue dispensing branch tube 100. At step 41231, a layer of glue will be applied. The glue is contained in the glue device 10041204. After the particles are in place, the flexible push rod drive mechanism 10041210 retracts the flexible push rod. During this process, the second cleaning module 10041234 on the movable fixed base 10041219 drives the cleaning block 10041235 to wipe the residual glue on the flexible push rod, preventing the residual glue from flowing into the connecting outer pipe 10041217 or even the main pipe 10041232 and causing blockage. The second cleaning module... When 10041234 is unclean, it is in the open state. Then, the spacer bar cutting and implantation mechanism 10041209 cuts the spacer bar chain into a certain length and pushes the cut part to the spacer bar delivery tube 10041213. At this time, the flexible pusher in the flexible pusher drive mechanism 10041210 pushes the cut spacer bar to the end of the particle chain sleeve 10041226, right next to the previously pushed particles. When the cut spacer bar passes through the glue-applying branch tube 10041231, it will also be covered with a layer of glue. Repeat the above steps until the particle chain sleeve 10041226 is filled with particles and spacers. The particle chain cutting mechanism 100413 drives the cutting push rod 10041223 to move downwards. Finally, the cutting blade on the cutting push rod 10041223 cuts the particle chain sleeve 10041226. The particle chain recycling mechanism 10041224 collects the newly filled particle chain sleeve 10041226. At this point, the filling and storage of a complete particle chain is completed.

[0100] The automatic particle chain loading device based on the bifurcated tube is protected by a radiation shield 10041201, a radiation shield glass 10041202, and a radiation shield door 10041203 to prevent radiation leakage. The radiation shield glass 10041202 facilitates close-range observation when the automatic particle chain loading machine is working, and the radiation shield door 10041203 facilitates refilling when the particles are used up. Example 2

[0101] The parts of this embodiment that are structurally identical to those in Embodiment 1 will not be described again. The differences are as follows:

[0102] When the bifurcation pipe C and the bifurcation pipe D are combined into one channel, or when the bifurcation pipe C and the bifurcation pipe E are combined into one channel, the four-way pipe structure becomes a three-way pipe structure.

[0103] When branch pipe C and branch pipe D merge into one channel, that is, when push rod conveying pipe 10041215 and particle conveying pipe 10041214 merge into one channel, the particle feeding mechanism uses a particle clip for feeding. The particle clip places the particles in front of the flexible push rod. When the first push rod driving mechanism drives the first push rod to move forward, the first push rod pushes the particles output by the particle clip into the particle chain sleeve 10041226. Then, the first push rod driving mechanism drives the first push rod to reset and push the next particle.

[0104] When the branch pipe C and the branch pipe E merge into one channel, that is, when the push rod delivery pipe 10041215 and the spacer delivery pipe merge into one channel, the first push rod driving mechanism is the spacer cutting and implantation mechanism 10041209. The spacer cutting and implantation mechanism 10041209 directly pushes the cut spacer into the particle chain sleeve 10041226. 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] In this embodiment, the particle arrangement mechanism adopts a particle grasping mechanism. The particle grasping mechanism (such as the rotary table 31303 and lifting gripper 31302 in this embodiment) directly grasps particles from the scattered particle pile. There are two sets of particle grasping mechanisms to realize multi-station grasping. The particle scheduling mechanism realizes scheduling by transporting through pipeline transportation, channel transportation, or conveyor belt transportation. In this embodiment, channel transportation is adopted. The channel (such as the V-shaped channel 31304 in this embodiment) transports by gravity or vibration. A vibration mechanism is installed at the bottom of the channel to realize particle feeding.

[0107] like Figures 13-15As shown, the system includes a lifting gripper 31302, which is mounted on the bottom of a rotating platform 31303. The rotating platform 31303 is mounted above the particle storage cylinder 31301 and the V-groove 31304. The rotating platform 31303 is driven to rotate by a drive device (not shown). One end of the input pipe 31305 is located below the material drop point of the V-groove 31304, and the other end is connected to a branch pipe 31307. The branch pipe 31307 is connected to a first push rod drive mechanism 31306, and a push rod 31308 is held in the first push rod drive mechanism 31306. The input pipe 31305 and the branch pipe 31307 are connected at the bifurcation point to the dual-channel main pipe. The push rod can extend into the branch pipe, and under the drive of the first push rod drive mechanism 31306, the push rod 31308 can push out the second particle 2 from the dual-channel main pipe. The second particle 2 is stored in the particle storage cylinder 31301. A vibration device is connected below the V-groove 31304.

[0108] The left and right lifting grippers 31302 simultaneously move downwards to the set height. After the right lifting gripper 31302 inserts into the particle storage cylinder 31301 to grip the second particle 2, it moves the second particle 2 upwards to the initial position. After the left lifting gripper 31302 lowers the gripped second particle 2 into the V-shaped groove 31304, it releases the grip on the second particle 2 and moves upwards to the initial position. When the rotary table 31303 detects that the lifting grippers 31302 on both sides have successfully reset, it will rotate the workstation 180°. This cycle is repeated to achieve the picking and dropping of the second particle 2. After the second particle 2 falls into the V-shaped groove 31304, it will automatically align itself with the direction of the V-shaped groove 31304, making its axis parallel to the direction of the V-shaped groove 31304. After the second particle 2 is shaken off from the V-shaped groove 31304, it will fall into the input pipe 31305 below. The second particle 2 falls down into the dual-channel main pipe along the input pipe 31305. At this time, the first push rod drive mechanism 31306 pushes the push rod 31308 forward in the branch pipe 31307 and into the dual-channel main pipe. Finally, the push rod 31308 pushes the second particle 2 out of the dual-channel main pipe.

[0109] The V-shaped groove can also be replaced by an arc groove or a funnel-shaped pipe to achieve the orientation of the second particle. The V-shaped groove, arc groove, or funnel-shaped pipe can all sort out the second particle, so that the second particle automatically orients itself and enters the input pipe. Then, the second particle is driven forward by gravity, push rod, or air blowing to achieve the scheduling of the second particle.

[0110] Of course, the spacer feeding mechanism also uses a spacer gripping structure and a channel transportation method to feed the spacers. Its specific structure can be referred to the above structure. Example 4

[0111] The parts of this embodiment that are structurally identical to those in Embodiment 3 will not be described again. The differences are as follows:

[0112] like Figure 16 As shown, the upper end of the input pipe 31305 has a flared structure. The pusher output channel of the first pusher drive mechanism 31306 is located directly above the flared structure of the input pipe. After the second particle enters the input pipe through the flared structure, the first pusher drive mechanism drives the pusher 31308 to enter the input pipe from the pusher output channel and push the second particle forward. The particle arrangement mechanism adopts a particle gripping mechanism. The particle gripping mechanism has at least one set, which has realized multi-station gripping.

[0113] Specifically, the left and right lifting grippers 31302 simultaneously move downwards to the set height. After the right lifting gripper 31302 inserts into the particle storage cylinder 31301 to grip the second particle 2, it moves the second particle 2 upwards to the initial position. After the left lifting gripper 31302 lowers the gripped second particle 2 into the V-shaped groove 31304, it releases the grip on the second particle 2 and moves upwards to the initial position. When the rotary table 31303 detects that the lifting grippers 31302 on both sides have successfully reset, it will rotate the workstation 180°. This cycle repeats to achieve the picking and dropping of the second particle 2. After the second particle 2 falls into the V-shaped groove 31304, it will move along the V-shaped groove 31304 towards the automatic alignment direction, making its axis parallel to the direction of the V-shaped groove 31304. After the second particle 2 is shaken off from the V-shaped groove 31304, it will fall into the input pipe 31305 with a flared structure below. The second particle 2 falls into the input pipe 31305 as guided by the horn-shaped structure. At this time, the first push rod drive mechanism 31306 pushes the push rod 31308 forward in the branch pipe 31307 and into the input pipe 31305. Finally, the push rod 31308 pushes the second particle 2 out of the pipe 31305 until it enters the particle chain sleeve.

[0114] Of course, the spacer also uses the above structure to achieve material feeding. Example 5

[0115] The parts of this embodiment that are structurally identical to those in Embodiment 1 will not be described again. The differences are as follows:

[0116] 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.

[0117] 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.

[0118] 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.

[0119] 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.

[0120] 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.

[0121] 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.

[0122] 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 slashes.

[0123] The anti-flash structure is a rubber pad 2142108, which is located below the particle chain. While the single-sided blade presses down to cut the particle chain, the rubber pad 2142108 can help support the particle chain and prevent the particle chain from being cut with flash. The material of the rubber pad 2142108 is at least one of rubber, silicone, and latex.

[0124] like Figure 17 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.

[0125] like Figure 18 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.

[0126] 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. Example 6

[0127] The parts of this embodiment that are structurally identical to those in Embodiment 5 will not be described again. The differences are as follows:

[0128] 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, in which 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.

[0129] Specifically, such as Figures 19-22As shown in the figure, the components include: drive shaft A2142201, bearing housing A2142202, synchronous belt 2142203, double straight blade 2142204, elastic limit block 2142205, butt joint 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, and second particle chain 2142220. Base plate 2142223, screws 2142224. Bearing housing A 2142202 is mounted on base plate 2142223. Drive shaft A 2142201 and drive shaft B 2142211 are mounted on base plate 2142223. Double straight blade 2142204 is fixed to one end of drive shaft B 2142211. Mounting block A 2142207 and mounting block B 2142209 are fixed to base plate 2142223. Connector 2142206 is mated to mounting block A 2142207, and quick connector 2142210 is mated to mounting block B 2142209. A micro switch 2142208 is mounted on mounting block B 2142209. The second particle chain 2142220 is located within the conveying channel of mounting blocks A 2142207 and B 2142209. 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 mounted on the mounting flange 2142214. Mounting bracket 2142213 is fixed to base plate 2142223. Drive shaft C 2142217 is mounted on mounting bracket 2142213. Bevel gear B 2142218 is mounted on drive shaft C 2142217. Bevel gear A 2142212 is mounted on drive shaft A 2142201. Synchronous belt 2142203 is mounted between drive shaft A 2142201 and drive shaft B 2142211. Elastic limiting block 2142205 is mounted on base plate 2142223, and elastic limiting block 2142205 is engaged between mounting block A 2142207 and mounting block B 2142209.

[0130] 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 second 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.

[0131] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. 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 exemplary 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.

[0132] 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. A diverging tube based auto loading of particle chain device, characterized by: The device comprises a feeding part and a first push rod driving mechanism, the feeding part comprises a particle feeding mechanism and a spacer rod feeding mechanism; particles and / or spacer rods are filled into the particle chain sleeve one by one by means of pipeline transportation, the pipeline transportation is connected with the particle chain sleeve by means of a bifurcated pipe, the particle feeding mechanism and the spacer rod feeding mechanism are connected with the bifurcated pipe to realize the filling of particles and spacer rods one by one, and the first push rod driving mechanism drives the first push rod to push the particles or spacer rods into the particle chain sleeve one by one along the conveying channel and move forward along the particle chain sleeve to the required position for automatic filling.

2. The automatic loading device of a particle chain based on a bifurcated tube according to claim 1, characterized in that, The bifurcated pipe is a three-prong pipe structure or a four-prong pipe structure, when the bifurcated pipe is a four-prong pipe structure, the four-prong pipe structure comprises a bifurcated pipe C, a bifurcated pipe D, a bifurcated pipe E and a main pipe, the bifurcated pipe C, the bifurcated pipe D and the bifurcated pipe E are connected through the main pipe, the bifurcated pipe C is connected with the push rod output channel of the first push rod driving mechanism, the bifurcated pipe D is connected with the particle output pipeline of the particle arrangement mechanism, the bifurcated pipe E is connected with the spacer rod output channel of the spacer rod arrangement mechanism, and the main pipe is connected with the conveying channel; the particle arrangement mechanism can orderly arrange and send the required number of particles into the bifurcated pipe D, the spacer rod arrangement mechanism can orderly arrange and send the required number of spacer rods into the bifurcated pipe E, the particles slide into the main pipe along the bifurcated pipe D, the spacer rods slide into the main pipe along the bifurcated pipe E, and the first push rod driving mechanism drives the first push rod to move forward along the bifurcated pipe C and into the main pipe and the conveying channel, so as to push the particles or spacer rods in the main pipe forward one by one; the particle arrangement mechanism adopts a vibrating disc, or the particle arrangement mechanism adopts a particle grabbing mechanism.

3. The automatic loading device of a particle chain based on a bifurcated tube according to claim 2, characterized in that, When the bifurcated pipe C and the bifurcated pipe D are combined into one channel, or the bifurcated pipe C and the bifurcated pipe E are combined into one channel, the four-prong pipe structure is a three-prong pipe structure; The bifurcated pipe D or the bifurcated pipe E is provided with a photoelectric switch or a camera, which can accurately measure the number of particles or spacer rods; or the bifurcated pipe D or the bifurcated pipe E is provided with a blocking mechanism, which can control the number of particles or spacer rods to avoid excess particles or spacer rods from sliding into the main pipe.

4. The automatic loading device of a particle chain based on a bifurcated tube according to claim 1, characterized in that, The device further comprises a docking clamp assembly capable of docking the main pipe of the bifurcated pipe with different particle chain sleeves, the docking clamp assembly comprises a docking outer pipe, at least two particle chain sleeves are provided, one end of the docking outer pipe is arranged on an outer pipe fixing seat and communicates with the main pipe, the other end of the docking outer pipe is arranged on a third movement platform and can be replaced under the driving of the third movement platform, each particle chain sleeve is connected to a corresponding movable fixing seat and can move towards or away from the docking outer pipe under the driving of the movable fixing seat, and under the action of the third movement platform and the movable fixing seat, the docking outer pipe can be docked and communicated with different particle chain sleeves.

5. The diverging tube based auto loading device of claim 4, wherein, The front end of the particle chain sleeve further comprises a transition connecting pipe, the moving fixing seat is provided with a through hole, the transition connecting pipe communicates with the through hole of the moving fixing seat, the front end of the particle chain sleeve is connected to the position of the through hole of the moving fixing seat through the particle chain quick connector, and the butt joint outer pipe, the transition connecting pipe, the through hole and the particle chain sleeve can be communicated to form a filling channel; the driving mode of the moving fixing seat is one or a combination of synchronous belt driving, screw nut driving, gear and rack driving and electric push rod driving.

6. The automatic loading device of a particle chain based on a bifurcated tube according to claim 1, characterized in that, The particle feeding mechanism adopts particle clip feeding or particle arrangement mechanism feeding. The particle arrangement mechanism adopts a vibrating disc, which arranges and vibrates particles one by one. Alternatively, the particle arrangement mechanism adopts a notch arrangement component, and the notch can be replaced by a space separated by a partition plate. Alternatively, the particle arrangement mechanism adopts an arrangement mode based on a V-shaped groove, a circular arc groove or a horn. Alternatively, the particle arrangement mechanism adopts a particle grabbing mechanism to directly grab single particles one by one from a pile of particles.

7. The automatic loading device of a particle chain based on a bifurcated tube according to claim 1, characterized in that, The spacer rod feeding mechanism adopts spacer rod clip feeding or spacer rod arrangement mechanism feeding or spacer rod chain feeding. When the spacer rod arrangement mechanism feeding is adopted, the spacer rod arrangement mechanism feeding adopts one or a combination of a vibrating disc, a notch arrangement component, an arrangement mechanism based on a V-shaped groove, a circular arc groove or a horn, or a spacer rod grabbing mechanism. The spacer rod arrangement mechanism adopts a vibrating disc, which arranges and vibrates spacer rods one by one. Alternatively, the spacer rod arrangement mechanism adopts a notch arrangement component, and the notch can be replaced by a space separated by a partition plate. Alternatively, the spacer rod arrangement mechanism adopts an arrangement mode based on a V-shaped groove, a circular arc groove or a horn. Alternatively, the spacer rod arrangement mechanism adopts a spacer rod grabbing mechanism to directly grab single spacer rods one by one from a pile of spacer rods. When the spacer rod chain feeding is adopted, the spacer rod feeding mechanism comprises a spacer rod implanting mechanism and a spacer rod cutting mechanism. The spacer rod implanting mechanism can move the spacer rod along the particle chain sleeve to the required position, or the spacer rod implanting mechanism can push the spacer rod to the required position, and then the first push rod driving mechanism moves the spacer rod along the particle chain sleeve to the required position. The spacer rod cutting mechanism can cut the spacer rod to the required length.

8. The automatic loading device of a particle chain based on a bifurcated tube according to claim 1, characterized in that, The particle chain recycling mechanism is further provided. Each group of the particle chain recycling mechanism is connected with a group of the particle chain sleeve. When the particle chain sleeve is completed, the particle chain recycling mechanism winds up the particle chain and stores it in the radiation-proof shell. The front end of the particle chain sleeve is supported by a sleeve inlet support. A particle chain cutting mechanism is sleeved outside the particle chain sleeve and located on the left side or the right side of the sleeve inlet support. The particle chain cutting mechanism can cut the filled particle chain.

9. The automatic loading device of a particle chain based on a bifurcated tube according to claim 1, characterized in that, The first push rod driving mechanism adopts a friction driving mechanism. The friction driving mechanism comprises a friction assembly. At least a part of the surface of the friction assembly is closely attached to the surface of the first push rod, and the first push rod is driven to move forward and backward by the friction generated by the attachment. The first push rod driving mechanism adopts a clamping device combined with a reciprocating motion module to realize the driving of the first push rod to move forward and backward, the clamping device can clamp or release the first push rod, and the reciprocating motion module can drive the clamping device to reciprocate along a preset track.

10. The automatic loading device of a particle chain based on a bifurcated tube according to claim 1, characterized in that, The particle chain sleeve is externally provided with a sizing mechanism, the sizing mode of the sizing mechanism adopts soaking sizing at the inlet of the particle chain sleeve or adopts puncture injection sizing mode; the sizing mechanism comprises a sizing dropper, and the sizing dropper is connected with a glue supply device; When the sizing mechanism adopts soaking sizing, the nozzle of the sizing dropper is connected with the particle chain sleeve through a sizing bifurcated pipe; when the particles and / or the spacing rods move to the lower side of the sizing dropper along the particle and / or spacing rod conveying pipe through the push rod, the sizing dropper discharges glue and flows into the sizing bifurcated pipe, and the particles and / or the spacing rods pass through the sizing bifurcated pipe and are covered with a layer of glue; When the sizing mechanism adopts puncture injection sizing mode, the sizing dropper can move along the particle chain sleeve, the sizing dropper injects glue into the particle chain sleeve through a puncture injector, and the arranged particles and spacing rods can be adhered in the particle chain sleeve through the glue.

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