Automatic loading device for annular clamping rod type nuclide

Abstract

This utility model discloses an automatic loading device for rod-shaped nuclides using a ring-shaped magazine, comprising: a particle sorting mechanism for sorting rod-shaped nuclides and discharging them one by one; a particle pushing mechanism for pushing the rod-shaped nuclides one by one into the ring-shaped magazine to complete the loading; a magazine mounting mechanism for transporting the ring-shaped magazine to the particle pushing mechanism and positioning the ring-shaped magazine; a particle transfer mechanism for receiving the rod-shaped nuclides discharged by the particle sorting mechanism and transporting them one by one to the particle pushing mechanism; a magazine control mechanism for controlling the ring-shaped magazine and loading the rod-shaped nuclides one by one into the annular channel of the ring-shaped magazine; and a control unit, wherein the particle sorting mechanism, particle pushing mechanism, magazine mounting mechanism, particle transfer mechanism, and magazine control mechanism are respectively signal-connected to the control unit. The loading device provided by this utility model can improve loading efficiency and safety.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, and in particular to an automatic nuclide loading device of the ring-shaped clip rod type. Background Technology

[0002] Radioactive particle implantation surgery is a type of brachytherapy that is widely used to treat various tumors. Its basic principle is to implant a radioactive source inside the tumor, which emits rays when it decays, thus providing continuous close-range irradiation to the tumor cells.

[0003] The most commonly used radioactive particles are sealed 125I seed sources, but other sealed seed sources such as 103Pd are also used. They are generally encased in a medical-grade titanium tube, sealed without holes, with rounded ends, and typically have a diameter of 0.8±0.03 mm and a length of 4.5±0.2 mm, with an overall cylindrical shape. During radioactive particle implantation surgery, imaging techniques such as CT, MRI, and ultrasound are used to determine the number and location of the radioactive particles to be implanted. The required number of radioactive particles are then loaded into multiple magazines, which are installed in the implantation gun. The implantation gun then inserts multiple particles one by one into the malignant tumor inside the patient's body through a puncture needle. When the particles in a single magazine are used up, a new magazine filled with particles is replaced.

[0004] Currently, most radioactive particle magazines are filled manually. Operators wear lead gloves and stand behind lead glass, using tweezers to pick up the radioactive particles from the middle and put them in one by one through the channel opening of the particle chamber. They then pull the particles down along the channel and stack them in the channel until the particle chamber is filled with the predetermined number of radioactive particles. Radioactive particles are small and emit radiation. Medical staff must wear lead gloves and use long-handled forceps to handle the particles during loading, making the process inconvenient, inefficient, and prone to dropping particles, leading to loss of the radioactive source or affecting loading efficiency, thus increasing the cumulative radiation dose. The channel slots in the particle chamber are designed to effectively restrict the stable stacking of particles within them. The size of the slots is matched to the particles, making particle loading difficult. Careless handling can cause particles to tip over in the slots. If not handled properly, this can lead to particles getting stuck in the implantation gun during surgery, causing radioactive contamination. Handling this requires removing all loaded particles and reloading. Furthermore, it easily causes eye strain, leading to errors in the loading quantity and subsequent surgical errors. Operators loading particles are repeatedly exposed to radiation for extended periods, posing occupational hazards.

[0005] Patent publication CN119280708A discloses an automatic radioactive particle loading device and method. In this method, the radioactive particles are in free fall during the process of being transported from a vibrating mechanism to a funnel mechanism and during the manual replenishment of materials into the hopper. During free fall, the particles may be damaged, affecting the treatment effect. Furthermore, when the free-falling particles enter the funnel, there is a risk of particle stacking, making it impossible to sort them according to the design purpose. On the other hand, the large opening in the particle magazine results in poor radiation shielding, potentially increasing the risk of radiation exposure to personnel during loading and transfer. Utility Model Content

[0006] The purpose of this invention is to provide an automatic nuclide loading device with a ring-shaped clip rod, which improves work efficiency and safety performance.

[0007] Based on the above problems, the technical solution provided by this utility model is as follows:

[0008] An automatic nuclide loading device of the ring-shaped clip bar type includes:

[0009] A particle sorting mechanism is used to sort rod-shaped nuclides so that they are discharged one by one.

[0010] The particle feeding mechanism is used to push the rod-shaped nuclides one by one into the ring-shaped magazine to complete the loading.

[0011] A magazine mounting mechanism is used to transport the ring-shaped magazine to the particle feeding mechanism and position the ring-shaped magazine.

[0012] The particle transfer mechanism is used to receive the rod-shaped nuclides discharged by the particle sorting mechanism and transport the rod-shaped nuclides one by one to the particle pushing mechanism.

[0013] A magazine control mechanism is used to control the annular magazine and load the rod-shaped nuclides one by one into the annular channel of the annular magazine;

[0014] The control unit is connected to the particle sorting mechanism, particle pushing mechanism, magazine mounting mechanism, particle transfer mechanism, and magazine control mechanism via signals.

[0015] In some embodiments, the particle sorting mechanism includes a feeder, a vibratory plate mounted on the upper end of the feeder, and a shield mounted above the vibratory plate, wherein the vibratory plate includes a lower vibratory plate and an upper vibratory plate disposed on the lower vibratory plate;

[0016] The lower vibrating plate is provided with a feeding groove extending along the discharge direction and configured to allow single particles to pass through in the width direction. The lower vibrating plate is provided with a discharge pipe connected to the feeding groove near the discharge end.

[0017] The upper vibratory plate is provided with a feeding section, a particle sorting section and a discharging section arranged sequentially along the discharge direction, and the discharging section is connected to the feeding groove.

[0018] In some embodiments, the upper end of the feed section is open and forms a feed channel that extends to the particle sorting section, the lower part of the feed channel is configured to allow single particles to pass through in the width direction, and the shield is provided with a feeding port that communicates with the feed section;

[0019] The particle sorting section is provided with a first pressing component and a second pressing component along the discharge direction. The first pressing component includes at least one circular pressing plate arranged back and forth along the discharge direction. The circular pressing plate is supported in the particle sorting section by a support shaft and the support shaft is arranged to move up and down relative to the particle sorting section. The sorting gap between the lower end of the second pressing component and the feed channel is configured to allow single particles to pass through.

[0020] The discharge section is provided with a particle pressing plate. The lower part of the particle pressing plate is provided with a discharge trough that extends along the discharge direction and is connected to the feeding channel. The discharge trough is provided with a plurality of material dropping grooves that are spaced apart and connected to the feeding groove.

[0021] In some embodiments, a base mechanism is also included, on which the particle sorting mechanism, particle pushing mechanism, magazine mounting mechanism, particle transfer mechanism, magazine control mechanism, and control unit are all mounted;

[0022] The magazine mounting mechanism includes a magazine tray that is slidably disposed relative to the base mechanism, a magazine driving unit that drives the magazine tray to move on the base mechanism, and a magazine positioning unit that positions the annular magazine.

[0023] In some embodiments, the magazine drive unit includes a timing belt mounted on the base mechanism, a timing belt motor for driving the timing belt to rotate, and a tray fixing plate connecting the timing belt and the magazine tray. The tray fixing plate is slidably connected to the base mechanism via a first guide rail assembly.

[0024] The magazine positioning unit includes a positioning reference block for positioning one radial side of the annular magazine, an axial positioning member for positioning the annular magazine axially, and a blocking member for mounting the positioning reference block on the side opposite to the annular magazine.

[0025] The blocking component moves relative to the positioning reference block to block or move away from the bottom of the vertical channel of the annular magazine. The positioning reference block is provided with a loading hole for rod-shaped nuclides to pass through and enter the vertical channel, and a pushing detection component for detecting whether the rod-shaped nuclides have reached the positioning reference block. The base mechanism is provided with a blocking detection component for detecting whether the blocking component is in place.

[0026] In some embodiments, the particle transfer mechanism includes a docking part corresponding to the discharge port of the particle sorting mechanism, a particle transfer block, and a transfer drive unit for driving the particle transfer block to move. The particle transfer block moves between a receiving position and a pushing position under the drive of the transfer drive unit.

[0027] The docking component is provided with docking holes for rod-shaped nuclides to enter, and the particle transfer block is provided with holes for rod-shaped nuclides to enter and a particle positioning detection component for detecting whether rod-shaped nuclides have entered the holes. When the particle transfer block is in the receiving position, the holes are arranged coaxially with the docking holes. When the particle transfer block is in the pushing position, the holes are arranged coaxially with the filling holes.

[0028] The transfer block drive unit includes a first lead screw motor and a first support for supporting the first lead screw motor. The particle transfer block includes a body and a front end. The body is connected to the nut of the first lead screw motor and is slidably connected to the base mechanism. The front end is slidably disposed between the docking part and the positioning reference block. The base mechanism is provided with two transfer block detection components arranged at intervals along the moving direction of the particle transfer block. The body is provided with two transfer sensing blocks arranged at intervals for detecting the receiving position and pushing position of the particle transfer block. The body is slidably connected to the base mechanism via a second guide rail assembly.

[0029] In some embodiments, the particle feeding mechanism includes a pusher mounting base, a particle pusher mounted on the pusher mounting base, and a feeding drive unit that drives the pusher mounting base to move up and down. The particle pusher extends through the docking member into the hole and the filling hole to push the rod-shaped nuclide into the vertical channel of the annular magazine.

[0030] The pusher drive unit includes a pusher support base, a second lead screw motor mounted on the pusher support base, and a lead screw slider connected to the nut of the second lead screw motor. The pusher mounting base is fixedly connected to the lead screw slider. The pusher mounting base is provided with two pusher detection components arranged vertically. The pusher support base is provided with a pusher sensing plate that cooperates with the two pusher detection components.

[0031] When the particle pusher is in the initial position, the two pusher detection components are located above the pusher sensing plate. The particle pusher begins to descend, and the two pusher detection components detect the pusher sensing plate sequentially from bottom to top. When the pusher detection component located above cannot detect the pusher sensing plate, the particle pusher is in the working position.

[0032] In some embodiments, the magazine control mechanism includes a fork and a fork drive unit that drives the fork to move toward or away from the annular magazine. The annular magazine is provided with an operating element for loading. The fork drives the operating element to load the rod-shaped nuclide that enters the vertical channel into the annular channel.

[0033] Two shift fork detection components are provided at intervals along the moving direction of the shift fork, which are used to limit the forward and backward movement of the shift fork;

[0034] The shift fork drive unit includes a third lead screw motor and a second support for supporting the third lead screw motor. The first end of the shift fork extends into the docking member and the second end is connected to the nut of the third lead screw motor. The second end of the shift fork is provided with a shift fork detection block, and the two shift fork detection components are respectively installed above and below the shift fork detection block.

[0035] In some embodiments, a housing mechanism is also included, in which the particle sorting mechanism, particle pushing mechanism, magazine mounting mechanism, particle transfer mechanism, magazine control mechanism, base mechanism, and control unit are all housed.

[0036] Compared with the prior art, the advantages of this utility model are:

[0037] The automatic loading of rod-shaped nuclides into the annular magazine is achieved through a particle sorting mechanism, a particle feeding mechanism, a magazine installation mechanism, a particle transfer mechanism, and a magazine control mechanism. Compared with manual loading, this improves the efficiency and safety of loading. Moreover, the loading process reduces the impact on the particles, minimizes particle damage, and ensures therapeutic efficacy. Attached Figure Description

[0038] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the following description of the embodiments will be briefly introduced. The drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 This is a schematic diagram of an embodiment of the annular spring clip type automatic nuclide loading device of this utility model;

[0040] Figure 2 This is a schematic diagram of the base mechanism in an embodiment of the present utility model;

[0041] Figure 3 This is a schematic diagram of the particle sorting mechanism in an embodiment of the present invention;

[0042] Figure 4 This is a cross-sectional structural diagram of the particle sorting mechanism in an embodiment of the present invention;

[0043] Figure 5 This is a partial cross-sectional structural diagram of the particle sorting mechanism in an embodiment of the present invention;

[0044] Figure 6 This is a schematic diagram of the feeding channel of the particle sorting mechanism in an embodiment of the present invention;

[0045] Figure 7 This is a schematic diagram of the particle transport mechanism in an embodiment of the present invention;

[0046] Figure 8 This is a schematic diagram of the particle feeding mechanism in an embodiment of the present invention;

[0047] Figure 9 This is a schematic diagram of the magazine control mechanism in an embodiment of the present invention;

[0048] Figure 10 This is one of the partial structural schematic diagrams of the magazine mounting mechanism in the embodiments of this utility model;

[0049] Figure 11 This is a schematic diagram of the synchronous belt structure in an embodiment of the present invention;

[0050] Figure 12 This is a second partial structural schematic diagram of the magazine mounting mechanism in an embodiment of this utility model;

[0051] Figure 13 This is a schematic diagram of the working state of the blocking component in an embodiment of this utility model;

[0052] Figure 14 This is a schematic diagram of the structure of the ring-shaped magazine in an embodiment of the present invention;

[0053] Figure 15 This is a schematic diagram of the upper outer shell in an embodiment of the present utility model;

[0054] Figure 16 This is a schematic diagram of the structure of the lower outer shell in an embodiment of this utility model;

[0055] Figures 17(a) to 17(d) This is a schematic diagram of the working state of loading the first rod-shaped nuclide in an embodiment of this utility model;

[0056] in:

[0057] 100. Base mechanism; 101. Base; 102. Support column;

[0058] 200. Particle sorting mechanism; 201. Adjustment controller; 202. Vibration isolation pad; 203. Feeder; 204. Lower vibratory plate; 2041. Feeding groove; 205. Upper vibratory plate; 2051. Feeding channel; 2052. Circular hole; 2053. First inclined surface; 206. First pressing component; 2061. Circular pressing plate; 2062. Support shaft; 207. Second pressing component; 2071. Second inclined surface; 2072. Arc surface; 208. Particle pressing plate; 2081. Discharge channel; 2082. Material drop groove; 209. Discharge pipe; 210. Shielding cover; 211. Feeding port;

[0059] 300. Particle transfer mechanism; 301. Docking component; 3011. Docking hole; 302. Particle transfer block; 3021. Hole; 303. First support; 304. First lead screw motor; 305. Second guide rail assembly; 3051. Second slider; 3052. Second guide rail; 306. Particle arrival detection component; 307. Transfer block detection component; 308. Transfer sensing block; 309. Pushing detection component;

[0060] 400. Particle feeding mechanism; 401. Feeding support base; 402. Second lead screw motor; 403. Feeding pin mounting base; 404. Particle feeding pin; 405. Feeding pin detection component; 406. Feeding sensor plate; 407. Lead screw slider;

[0061] 500. Magazine control mechanism; 501. Second support; 502. Third lead screw motor; 503. Shift fork; 504. Shift fork detection component; 505. First bracket; 506. Second bracket; 507. Shift fork detection block;

[0062] 600. Magazine mounting mechanism; 601. Motor base; 602. Synchronous belt motor; 603. Drive pulley; 604. Synchronous belt; 605. Toothed plate; 606. First guide rail assembly; 607. Pallet connecting plate; 608. Pallet fixing plate; 609. Magazine pallet; 610. Driven pulley; 611. Pulley seat; 612. Positioning reference seat; 6121. Loading hole; 613. Stopper component; 614. Clamping pin; 615. First knob plunger;

[0063] 616. Second knob plunger; 617. Plunger bracket; 618. Block detection component;

[0064] 700. Annular magazine; 701. Base component; 7011. Support column; 7012. Particle annular channel; 7013. Vertical channel; 702. Particle pull plate; 7021. First end face; 7022. Second end face; 703. Spring plate; 704. Particle push ring; 7041. Particle push ring block; 705. Clockwork spring; 706. Shielding cover; 707. Mounting ring; 708. Operating component; 709. Operating bearing; 710. Retaining ring;

[0065] 800. Outer shell mechanism; 801. Upper outer shell; 802. Particle replenishment chamber door; 803. Touch screen; 804. Emergency stop button; 805. Start button; 806. Fault confirmation button; 807. Magazine mounting chamber door; 808. Switch detection sensor; 809. Power port; 810. Lower shell; 811. Particle recovery tank detection sensor;

[0066] 900, Control Unit;

[0067] 10. Rod-shaped nuclides. Detailed Implementation

[0068] The above solution will be further described below with reference to specific embodiments. It should be understood that these embodiments are for illustrating the present invention and are not intended to limit the scope of the present invention. The implementation conditions used in the embodiments can be further adjusted according to the conditions of specific manufacturers, and the implementation conditions not specified are usually the conditions in conventional experiments.

[0069] like Figure 1 As shown in the figure, an embodiment of the present invention is provided, which provides an automatic nuclide loading device of annular magazine bar type, including a shell mechanism 800, a base mechanism 100, a particle sorting mechanism 200, a particle pushing mechanism 400, a magazine mounting mechanism 600, a particle transfer mechanism 300, a magazine control mechanism 500 and a control unit 900.

[0070] like Figure 2 As shown, the base mechanism 100 includes a base 101 and multiple support columns 102 disposed at the lower end of the base 101, which provide a positioning frame and support for the particle sorting mechanism 200, particle pushing mechanism 400, magazine mounting mechanism 600, particle transfer mechanism 300, and magazine control mechanism 500. The control unit 900 is mounted on the base 101 and is used to control the equipment operation program, sensor signal feedback, etc. The outer shell mechanism 800, particle sorting mechanism 200, particle pushing mechanism 400, magazine mounting mechanism 600, particle transfer mechanism 300, and magazine control mechanism 500 are respectively connected to the control unit 900 to realize the automatic loading of rod-shaped nuclides.

[0071] like Figure 15 and Figure 16As shown, the outer casing mechanism 800 includes an upper outer casing 801, a lower outer casing 810, a touch screen 803, an emergency stop button 804, a start button 805, a fault confirmation button 806, a power port 809, a particle replenishment chamber door 802, a magazine mounting chamber door 807, a magazine mounting chamber door switch detection sensor 808, and a particle recovery tank detection sensor 811, all mounted on the lower outer casing 810. The touch screen 803, emergency stop button 804, start button 805, fault confirmation button 806, power port 809, magazine mounting chamber door switch detection sensor 808, and particle recovery tank detection sensor 811 are all connected to the control unit 900 via signals. This is prior art and will not be described in detail here.

[0072] The power port 809 is located on the left side of the upper housing 801 and is used to power the device; the touch screen 803 is located on the upper right side of the upper housing and is used for human-device interaction; the emergency stop button 804 is located on the small flat surface on the right side of the upper housing 801 and is used to stop the device in an emergency; the start button 805 and the fault confirmation button 806 control the start-up of the device and the confirmation of the completion of system fault handling, respectively; the particle replenishment chamber door 802 is located on the top of the upper housing, which exposes the particle replenishment channel when it is opened, and replenishes particles when the number of particles is insufficient before or during particle loading; the magazine mounting chamber door 807 is located on the upper housing. The front center of the outer casing 801 is used to close the annular magazine transport channel after the annular magazine is installed, preventing malfunctions during normal use of the equipment. The magazine installation hatch switch detection sensor 808 is a magnetic sensor, which can be used as a signal sensor for the magazine installation hatch to be closed in place, and also magnetically attracts the iron plate on the magazine installation hatch to ensure reliable closure of the magazine installation hatch. The particle recovery tank detection sensor 811 is installed at the bottom of the lower outer casing 810 to detect whether the particle recovery tank is in place. After the particle filling requirement of the annular magazine is met, the particles in the equipment can be easily recovered into the particle recovery tank.

[0073] like Figure 3 and Figure 4 As shown, the particle sorting mechanism 200 includes a feeder 203, a vibratory feeder mounted on the upper end of the feeder 203, and a shield 210 mounted above the vibratory feeder. The feeder 203 is a linear feeder mounted on a vibration isolation pad 202. Linear feeding is achieved through two symmetrically mounted vibratory motors, where the horizontal components of the two forces cancel each other out, and the vertical components are superimposed to form a resultant force in a linear direction. The vibration isolation pad 202 is mounted on the base 101. The vibration isolation pad 202 is generally made of high-hardness PVC material (hardness higher than Shore D hardness 70 or above), which can effectively isolate vibration and ensure that the dimensions do not easily change. At the same time, a control regulator 201 is installed on the base 101. The frequency controller can adjust the voltage and vibration frequency, allowing for more convenient and precise adjustment to the appropriate frequency for the rod-shaped nuclides, thus achieving the regular arrangement of rod-shaped nuclides more quickly.

[0074] The vibratory feeder includes a lower vibratory feeder 204 and an upper vibratory feeder 205 disposed on the lower vibratory feeder 204. The lower vibratory feeder 204 is provided with a feeding groove 2041 extending along the discharge direction and configured to allow single particles to pass through. At the same time, a discharge pipe 209 communicating with the feeding groove 2041 is provided on the lower vibratory feeder 204 near the discharge end. The feeding groove 2041 is a U-shaped groove. A small round hole communicating with the feeding groove 2041 is provided at the end of the lower vibratory feeder 205, and a large round hole for installing the discharge pipe 209 is also provided.

[0075] The upper vibratory feeder 205 is provided with a feeding section, a particle sorting section, and a discharge section arranged sequentially along the discharge direction. The discharge section is connected to the feeding groove 2041 to deliver the rod-shaped nuclides sorted by the particle sorting section into the feeding groove 2041 for discharge. The upper end of the feeding section is open and forms a feeding channel 2051 that extends through to the particle sorting section. The lower part of the feeding channel 2051 is configured to allow single particles to pass through in the width direction, such as... Figure 6 As shown, the upper opening of the feeding section gradually narrows from top to bottom and connects to the feeding channel 2051. A feeding port 211, connected to the feeding section, is provided on the shielding cover 210. Rod-shaped nuclides are added into the feeding channel 2051 through the feeding port 211. To facilitate the transfer of the rod-shaped nuclides from the feeding section to the particle sorting section, a guide section is provided between the feeding section and the particle sorting section. This guide section has a first inclined surface 2053 arranged downwards from the feeding section towards the particle sorting section, thereby facilitating the tilting and guiding of the rod-shaped nuclides from the feeding section to the particle sorting section.

[0076] like Figure 5As shown, a first pressing component 206 and a second pressing component 207 are provided in the particle sorting section along the discharge direction. The first pressing component 206 includes two circular pressing plates 2061 arranged front and back along the discharge direction. Each circular pressing plate 2061 is supported in the particle sorting section by a support shaft 2062, and the support shaft 2062 is arranged to move up and down relative to the particle sorting section. The movement gap of the two support shafts 2062 can be set to be different. The movement gap is the through hole on both sides of the width direction of the particle sorting section. For example, the movement gap of the support shaft 2062 located at the rear is greater than that of the support shaft 2062 located at the front. Thus, rod-shaped nuclides can be gradually arranged into a state where single particles pass through. The sorting gap between the lower end of the second pressing component 207 and the feed channel 2051 is configured to allow single particles to pass through. To facilitate the guidance of rod-shaped nuclides to the second tableting component 207, a second inclined surface 2071, extending downwards from the first tableting component 206 towards the second tableting component 207, is provided at the inlet of the second tableting component 207 near the feeding gap. Simultaneously, the end face of the second tableting component 207 facing the first tableting component 206 is an arc-shaped surface 2072. When a rod-shaped nuclide fails to enter the sorting gap below the second tableting component 207, it is blocked by the arc-shaped surface 2072 and returns to the rear of the second tableting component 207 before re-entering the sorting gap. A circular hole 2052 is provided at the discharge end of the second tableting component 207 to connect to the discharge section.

[0077] A particle pressing plate 208 is provided in the discharge section. A discharge channel 2081 is provided at the lower part of the particle pressing plate 208, which extends along the discharge direction and is connected to the feeding channel 2051. Multiple dropping grooves 2082 are provided on the discharge channel 2081 at intervals and connected to the feeding groove 2041. Rod-shaped nuclides sorted by the particle sorting section enter the discharge channel 2081. When the rod-shaped nuclides pass through the dropping grooves 2082, they fall into the feeding groove 2041 and move one by one into the discharge pipe 209.

[0078] like Figure 10 and Figure 12 As shown, the magazine mounting mechanism 600 includes a magazine tray 609 slidably disposed relative to the base 101, a magazine driving unit for driving the magazine tray 609 to move on the base 101, and a magazine positioning unit for positioning the annular magazine 700.

[0079] The magazine drive unit includes a timing belt 604 mounted on the lower end of the base 101, a timing belt motor 602 driving the timing belt 604 to rotate, and a tray fixing plate 608 connecting the timing belt 604 and the magazine tray 609. The tray fixing plate 608 is slidably connected to the base 101 via a first guide rail assembly 606. Two parallel guide grooves are provided on the base 101. Two legs of the magazine tray 609 are slidably disposed within the two guide grooves and connected to the tray fixing plate 608. The first guide rail assembly 606 includes two parallel first guide rails and a first slider slidably connected to each guide rail. The tray fixing plate 608 is fixedly connected to the two first sliders. A tray connecting plate 607 is provided on the tray fixing plate 608, and the tray connecting plate 607 is connected to the timing belt 405 via a toothed plate 605. At the lower end of the base 101, a motor mount 601 and a pulley mount 611 are provided at intervals. The timing belt motor 602 is mounted on the motor mount 601. Figure 11 As shown, a drive pulley 603 is provided at the power output end of the synchronous belt motor 602, and a driven pulley 610 is provided on the pulley seat 611. The synchronous belt 604 is supported between the drive pulley 603 and the driven pulley 610.

[0080] The magazine positioning unit includes a positioning reference block 612 on one radial side of the positioning ring magazine 700, an axial positioning member for axial positioning of the ring magazine 700, and a stopper member 613 installed on the side of the positioning reference block 612 opposite to the ring magazine 700. Figure 13 As shown, the blocking component 613 can pass through the positioning reference block 612 and extend to the bottom of the vertical channel of the annular magazine 700. The positioning reference block 612 is provided with a loading hole 6121 for rod-shaped nuclides to pass through and enter the vertical channel. The positioning reference block 612 is provided with a push detection component 309 for detecting whether the rod-shaped nuclide has reached the positioning reference block. The base 101 is provided with a blocking detection component 618 for detecting whether the blocking component 613 is in place. The axial positioning component is a clamping pin 614 and is connected to the first knob plunger 615. The blocking component 613 is connected to the second knob plunger 616, and the second knob plunger 616 is mounted on a plunger bracket 617 on the base.

[0081] like Figure 7As shown, the particle transfer mechanism 300 includes a docking component 301 that connects to the discharge pipe 209 of the particle sorting mechanism 200, a particle transfer block 302, and a transfer drive unit that drives the particle transfer block 302 to move. The particle transfer block 302 moves between a receiving position and a pushing position under the drive of the transfer drive unit. The docking component 301 has an inverted U-shaped structure, and the particle transfer block 302 passes through the docking component 301 and moves back and forth. The docking component 301 has a docking hole 3011 for rod-shaped nuclides to enter, and the particle transfer block 302 has a hole 3021 for rod-shaped nuclides to enter, as well as a particle arrival detection component 306 for detecting whether a rod-shaped nuclide has entered the hole 3021. When the particle transfer block 302 is in the receiving position, the hole 3021 and the docking hole 3011 are arranged coaxially. When the particle transfer block 302 is in the pushing position, the hole 3021 and the filling hole 6121 are coaxially positioned. To facilitate the positioning of the ring magazine 700, a positioning hole is provided on the docking part 301 for the clamping pin 614 to extend into.

[0082] The transfer drive unit includes a first lead screw motor 304 and a first support 303 supporting the first lead screw motor 304. The particle transfer block 302 includes a body and a front end. The body is connected to the nut of the first lead screw motor 304 and is slidably connected to the base 101. The front end is slidably disposed between the docking part 301 and the positioning reference block 612. Two transfer block detection components 307 are provided on the base 101 at intervals along the moving direction of the particle transfer block 302. Two transfer sensing blocks 308 are provided on the body at intervals for detecting the receiving position and pushing position of the particle transfer block 302. The body is slidably connected to the base 101 via a second guide rail assembly 305. The second guide rail assembly 305 includes two second guide rails 3052 installed on the upper end of the base 101 and arranged parallel to each other, and a second slider 3051 slidably disposed on each second guide rail 3052. The body is fixedly connected to the two second sliders 3051.

[0083] like Figure 8 As shown, the particle feeding mechanism 400 includes a pusher mounting base 403, a particle pusher 404 mounted on the pusher mounting base 403, and a feeding drive unit that drives the pusher mounting base 403 to move up and down. The particle pusher 404 extends through the docking member 301 into the hole 3021 on the particle transfer block 302 and the filling hole 6121 on the positioning reference block 612 to push the rod-shaped nuclide into the vertical channel of the annular magazine 700.

[0084] The feeding drive unit includes a feeding support base 401, a second lead screw motor 402 mounted on the feeding support base 401, and a lead screw slider 407 connected to the nut of the second lead screw motor 402. The feeding pin mounting base 403 is fixedly connected to the lead screw slider 407. To facilitate positioning the initial and working positions of the particle feeding pin 404, two feeding pin detection components 405 are arranged vertically on the feeding pin mounting base 403. At the same time, a feeding sensing plate 406 that cooperates with the two feeding pin detection components 405 is provided on the feeding support base 401. When the particle feeding pin 404 is in the initial position, the two feeding pin detection components 405 are located above the feeding sensing plate 406, and the particle feeding pin 404 begins to descend. The two feeding pin detection components 405 detect the feeding sensing plate 406 sequentially from bottom to top. When the upper feeding pin detection component 405 can no longer detect the feeding sensing plate 406, the particle feeding pin 404 is in the working position.

[0085] like Figure 9 As shown, the magazine control mechanism 500 includes a fork 503 and a fork drive unit that drives the fork 503 to move closer to or away from the annular magazine 700. An operating member 708 for loading is provided on the annular magazine 700. The fork 503 drives the operating member 708 to load the rod-shaped nuclide 10 that enters the vertical channel into the annular channel. The fork 503 passes through the docking member 301 and moves back and forth under the drive of the annular magazine drive unit.

[0086] like Figure 14 As shown, the annular magazine 700 includes an annular channel module, a particle pulling module, and a particle pushing ring module. The annular channel module includes a base component 701 and a shield 706 detachably connected to the base component 701. A receiving space is formed between the shield 706 and the base component 701. An annular channel 7013 is provided on the inner circumference of the base component 701. A vertical channel 7013 for particle loading and insertion is provided on the base 101 at the starting point of the annular channel 7012. The vertical channel 7013 extends along the height direction of the base component 701 and communicates with the annular channel. Rod-shaped nuclides are loaded into the annular channel 7012 through the vertical channel 7013 or rod-shaped nuclides in the annular channel 7012 are implanted into the human body through the vertical channel 7013.

[0087] The particle pulling module, rotatably mounted on the support column 7011 of the base 701 and housed within the receiving space, is used to hold rod-shaped nuclides within the annular channel 7012. It includes a mounting ring 707, a spring plate 703 disposed on the outer periphery of the mounting ring 707, a particle pulling plate 702 connected to the end of the spring plate 703, and an operating member 708 connected to the mounting ring 707. The particle pulling plate 702 has a first end face 7021 that facilitates the passage of rod-shaped nuclides 10 within the vertical channel 7013 and a second end face 7022 that blocks rod-shaped nuclides 10 within the annular channel 7012. The second end face 7022 and the first end face 7021 are connected at an acute angle. A receiving gap is formed between the first end face 7021 and the annular channel 7012, which gradually narrows from the vertical channel 7013 towards the annular channel 7012.

[0088] The operating member 708 is supported by the operating bearing 709 and extends along the thickness direction of the mounting ring 707. A retaining ring 710 is installed on the operating member 708 between the operating bearing 709 and the mounting ring 707. At the same time, the base member 701 is provided with an operating through groove for the operating member to pass through.

[0089] The particle pusher ring module, rotatably mounted on the base 701 and housed within the receiving space, includes a particle pusher ring 704, a particle pusher ring block 7041 disposed on the particle pusher ring 704, and a spring 705 that cooperates with the particle pusher ring 704 and provides the particle pusher ring block 7041 with a position close to the vertical channel 7013. Preferably, the particle pusher ring block 7041 has an arc-shaped groove at one end near the vertical channel 7013 to facilitate contact and engagement with the rod-shaped nuclide 10.

[0090] like Figure 9 As shown, the shift fork drive unit includes a third lead screw motor 505 and a second support 502 supporting the third lead screw motor 502. The first end of the shift fork 503 extends into the docking member 301 and the second end is connected to the nut of the third lead screw motor 502. A shift fork detection block 507 is provided at the second end of the shift fork 503. Two shift fork detection components 504 are respectively installed above and below the shift fork detection block 507. One shift fork detection component 504 located in front of the stroke of the shift fork 503 is installed in the docking member 301 via the first bracket 505, and the other shift fork detection component 504 located behind the stroke of the shift fork 503 is installed on the base 101 via the second bracket 506.

[0091] As shown in Figure 17(a), at the start of loading, there is a rod-shaped nuclide space on the first end face 7021 side of the particle-pulling plate 702, and the second end face 7022 of the particle-pulling plate 702 is in close contact with the arc-shaped groove of the particle pusher ring block 7041, as shown in Figure 17(b). When the particle pusher needle 404 pushes the rod-shaped nuclide 10 to the vertical channel 7013 position in the particle annular channel 7012 (on the first end face 7021 side of the particle-pulling plate 702), the bearing of the head of the operating member 708 is turned counterclockwise, as shown in Figure 17(c). The first end face 7021 of the particle-pulling plate 702 (deformed spring plate 703) passes over the particle surface until the tip of the particle-pulling plate 702 passes over the side of the particle. Under the action of the spring plate 703, the tip of the particle-pulling plate 702 returns to its original position and presses against the particle annular channel. State 7012: The tip of the particle puller 702 retracts, and under the action of the spring 705, the particle pusher block 7041 moves counterclockwise and contacts the particle. At this time, the bearing at the head of the operating member 708 is turned clockwise, and the particle puller 702 also moves clockwise, as shown in Figure 17(d). The second end face 7022 of the particle puller 702 contacts the side of the particle. The particle puller 702 continues to move clockwise, and the second end face 7022 of the particle puller 702 drives the particle and further drives the particle pusher block 7041 of the particle pusher 704 to move clockwise. When the first end face 7021 of the particle puller 702 passes the vertical channel 7013, the operating member is stopped. At this time, it means that the first particle is filled. The above operation is repeated until the required number of particles are filled.

[0092] The method for the above-mentioned ring-shaped clip rod type automatic nuclide loading device includes the following steps:

[0093] S1. Place the ring-shaped magazine in the magazine mounting mechanism and transport the ring-shaped magazine to the loading position. Then position the ring-shaped magazine and add rod-shaped nuclides into the particle sorting mechanism.

[0094] S2. The particle sorting mechanism starts running. The rod-shaped nuclides begin to move forward along the vibrating plate. After passing through the first and second pressing components, they enter the discharge trough at the bottom of the particle pressing plate one by one. After passing through the drop trough, the particles enter the feeding groove and continue to the discharge pipe. Then they enter the docking hole of the docking part of the particle transfer mechanism and fall further into the hole on the particle transfer block. When the particle arrival detection component detects that the rod-shaped nuclides are in place, the particle sorting mechanism stops running.

[0095] S3. The particle transfer mechanism starts to run. The particle transfer block carries the rod-shaped nuclide and slides on the positioning reference block until it reaches the filling hole. When the push detection component detects the rod-shaped nuclide, the particle transfer mechanism stops running.

[0096] S4. The magazine control mechanism starts to operate. The shift fork moves towards the ring magazine and drives the operating component to move. The operating component drives the inner pull-particle plate of the ring magazine to move to make way for the vertical channel for loading particles.

[0097] S5. The magazine control mechanism stops operating, and the particle pushing mechanism starts operating. The particle pusher moves downward, passes through the docking part and the particle transfer block, and enters the filling hole to push the rod-shaped nuclide into the vertical channel and abut against the top of the blocking part. The particle pusher and the particle transfer block return to their initial positions. The particle sorting mechanism operates, causing the next rod-shaped nuclide to enter the hole on the particle transfer block. When the particle arrival detection part detects that the rod-shaped nuclide has arrived, the particle sorting mechanism stops operating. The magazine control mechanism operates, using the fork to drive the operating part, causing the particle pulling piece to cross the vertical channel and move away from the annular channel. The magazine control mechanism is restarted, causing the particle pulling piece to clamp the annular channel and keep the first rod-shaped nuclide in the annular channel.

[0098] S6. Start the transfer procedure for the second rod-shaped nuclide, and repeat steps S3 and S5 until all rod-shaped nuclides are loaded.

[0099] In summary, this automatic rod-shaped nuclide loading device can improve the efficiency and safety of rod-shaped nuclide loading.

[0100] The above examples are only for illustrating the technical concept and features of this utility model, and are intended to enable those skilled in the art to understand the content of this utility model and implement it accordingly. They should not be used to limit the scope of protection of this utility model. All equivalent changes or modifications made in accordance with the spirit and essence of this utility model should be included within the scope of protection of this utility model.

Claims

1. A ring clasp rod type nuclide automatic loading device, characterized by, include: A particle sorting mechanism is used to sort rod-shaped nuclides so that they are discharged one by one. The particle feeding mechanism is used to push the rod-shaped nuclides one by one into the ring-shaped magazine to complete the loading. A magazine mounting mechanism is used to transport the ring-shaped magazine to the particle feeding mechanism and position the ring-shaped magazine. The particle transfer mechanism is used to receive the rod-shaped nuclides discharged by the particle sorting mechanism and transport the rod-shaped nuclides one by one to the particle pushing mechanism. A magazine control mechanism is used to control the annular magazine and load the rod-shaped nuclides one by one into the annular channel of the annular magazine; The control unit is connected to the particle sorting mechanism, particle pushing mechanism, magazine mounting mechanism, particle transfer mechanism, and magazine control mechanism via signals.

2. The ring-shaped clip rod type automatic nuclide loading device according to claim 1, characterized in that: The particle sorting mechanism includes a feeder, a vibratory plate mounted on the upper end of the feeder, and a shield mounted on the vibratory plate. The vibratory plate includes a lower vibratory plate and an upper vibratory plate disposed on the lower vibratory plate. The lower vibrating plate is provided with a feeding groove extending along the discharge direction and configured to allow single particles to pass through. The lower vibrating plate is provided with a discharge pipe near the discharge end that connects to the feeding groove. The upper vibratory plate is provided with a feeding section, a particle sorting section and a discharging section arranged sequentially along the discharge direction, and the discharging section is connected to the feeding groove.

3. The ring-shaped clip rod type automatic nuclide loading device according to claim 2, characterized in that: The upper end of the feeding section is open and forms a feeding channel that extends to the particle sorting section. The lower part of the feeding channel is configured to allow single particles to pass through in the width direction. The shielding cover is provided with a feeding port that connects to the feeding section. The particle sorting section is provided with a first pressing component and a second pressing component along the discharge direction. The first pressing component includes at least one circular pressing plate arranged back and forth along the discharge direction. The circular pressing plate is supported in the particle sorting section by a support shaft and the support shaft is arranged to move up and down relative to the particle sorting section. The sorting gap between the lower end of the second pressing component and the feed channel is configured to allow single particles to pass through. The discharge section is provided with a particle pressing plate. The lower part of the particle pressing plate is provided with a discharge trough that extends along the discharge direction and is connected to the feeding channel. The discharge trough is provided with a plurality of material dropping grooves that are spaced apart and connected to the feeding groove.

4. The ring-junction rod-type nuclide auto-feeding device according to claim 1, characterized in that: It also includes a base mechanism, on which the particle sorting mechanism, particle pushing mechanism, magazine mounting mechanism, particle transfer mechanism, magazine control mechanism, and control unit are all mounted; The magazine mounting mechanism includes a magazine tray that is slidably disposed relative to the base mechanism, a magazine driving unit that drives the magazine tray to move on the base mechanism, and a magazine positioning unit that positions the annular magazine.

5. The ring clasp rod-type nuclide automatic loading device according to claim 4, characterized in that: The magazine drive unit includes a timing belt mounted on the base mechanism, a timing belt motor that drives the timing belt to rotate, and a tray fixing plate that connects the timing belt and the magazine tray. The tray fixing plate is slidably connected to the base mechanism via a first guide rail assembly. The magazine positioning unit includes a positioning reference block for positioning one radial side of the annular magazine, an axial positioning member for positioning the annular magazine axially, and a stopper member installed on the side of the positioning reference block opposite to the annular magazine. The blocking component moves relative to the positioning reference block to block or move away from the bottom of the vertical channel of the annular magazine. The positioning reference block is provided with a loading hole for rod-shaped nuclides to pass through and enter the vertical channel, and a pushing detection component for detecting whether the rod-shaped nuclides have reached the positioning reference block. The base mechanism is provided with a blocking detection component for detecting whether the blocking component is in place.

6. The ring-shaped clip rod type automatic nuclide loading device according to claim 5, characterized in that: The particle transfer mechanism includes a docking part corresponding to the discharge port of the particle sorting mechanism, a particle transfer block, and a transfer drive unit for driving the particle transfer block to move. The particle transfer block moves between a receiving position and a pushing position under the drive of the transfer drive unit. The docking component is provided with docking holes for rod-shaped nuclides to enter, and the particle transfer block is provided with holes for rod-shaped nuclides to enter and a particle positioning detection component for detecting whether rod-shaped nuclides have entered the holes. When the particle transfer block is in the receiving position, the holes are arranged coaxially with the docking holes. When the particle transfer block is in the pushing position, the holes are arranged coaxially with the filling holes. The transfer block drive unit includes a first lead screw motor and a first support for supporting the first lead screw motor. The particle transfer block includes a body and a front end. The body is connected to the nut of the first lead screw motor and is slidably connected to the base mechanism. The front end is slidably disposed between the docking part and the positioning reference block. The base mechanism is provided with two transfer block detection components arranged at intervals along the moving direction of the particle transfer block. The body is provided with two transfer sensing blocks arranged at intervals for detecting the receiving position and pushing position of the particle transfer block. The body is slidably connected to the base mechanism via a second guide rail assembly.

7. The ring clasp rod-type nuclide automatic loading device according to claim 6, characterized in that: The particle feeding mechanism includes a pusher mounting base, a particle pusher mounted on the pusher mounting base, and a feeding drive unit that drives the pusher mounting base to move up and down. The particle pusher extends through the docking member into the hole and the filling hole to push the rod-shaped nuclide into the vertical channel of the annular magazine. The pusher drive unit includes a pusher support base, a second lead screw motor mounted on the pusher support base, and a lead screw slider connected to the nut of the second lead screw motor. The pusher mounting base is fixedly connected to the lead screw slider. The pusher mounting base is provided with two pusher detection components arranged vertically. The pusher support base is provided with a pusher sensing plate that cooperates with the two pusher detection components. When the particle pusher is in the initial position, the two pusher detection components are located above the pusher sensing plate. The particle pusher begins to descend, and the two pusher detection components detect the pusher sensing plate sequentially from bottom to top. When the pusher detection component located above cannot detect the pusher sensing plate, the particle pusher is in the working position.

8. The ring clasp rod-type nuclide automatic loading device according to claim 6, characterized in that: The magazine control mechanism includes a fork and a fork drive unit that drives the fork to move closer to or away from the annular magazine. The annular magazine is provided with an operating element for loading. The fork drives the operating element to load the rod-shaped nuclide that enters the vertical channel into the annular channel. Two shift fork detection components are provided at intervals along the moving direction of the shift fork, which are used to limit the forward and backward movement of the shift fork; The shift fork drive unit includes a third lead screw motor and a second support for supporting the third lead screw motor. The first end of the shift fork extends into the docking member and the second end is connected to the nut of the third lead screw motor. The second end of the shift fork is provided with a shift fork detection block. The two shift fork detection components are respectively installed above and below the shift fork detection block.

9. The ring clasp rod-type nuclide automatic loading device according to claim 4, characterized in that: It also includes a housing mechanism, in which the particle sorting mechanism, particle pushing mechanism, magazine mounting mechanism, particle transfer mechanism, magazine control mechanism, base mechanism, and control unit are all housed.

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