CN105425646A - Multi-leaf collimator flexible regulating type encoder closed-loop control system - Google Patents
Multi-leaf collimator flexible regulating type encoder closed-loop control system Download PDFInfo
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- CN105425646A CN105425646A CN201510984974.2A CN201510984974A CN105425646A CN 105425646 A CN105425646 A CN 105425646A CN 201510984974 A CN201510984974 A CN 201510984974A CN 105425646 A CN105425646 A CN 105425646A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- Automation & Control Theory (AREA)
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Abstract
The invention discloses a multi-leaf collimator flexible regulating type encoder closed-loop control system. The multi-leaf collimator flexible regulating type encoder closed-loop control system comprises leaves, a grating scale, a mobile slide block, a driving mechanism, a sensor and an integrated circuit board. The mobile slide block is connected with the leaves, and the mobile slide block is clamped on the grating scale and can freely slide along the grating scale. The sensor is fixed on the mobile slide block, and the sensor and the integrated circuit board are connected via electric signals. The driving mechanism is used for driving the leaves to perform linear reciprocating movement. Detection precision of the leaf position can be enhanced, installation is convenient, time of replacing consumables can be greatly reduced, equipment usage rate can be enhanced and equipment use cost can be reduced.
Description
Technical field
The present invention relates to medicine equipment production control field, be specifically related to a kind of multi-leaf optical grating soft readjustment formula scrambler closed-loop control system.
Background technology
The blade movement precision of multi-leaf optical grating is one of its important feature; the irradiation accuracy (conformal degree) formed by blade movement; the radiation exposure shape and the dosage that are directly connected to patient focal area absorb size; more be directly connected to the protection to greatest extent to human normal tissue and sensitive organization, reach the Expected Results of tumour radiotherapy.Therefore in manufacture and the use link of multi-leaf optical grating, the measurement of blade movement accuracy value is just seemed particularly important.
In order to improve the detection to blade movement precision, market have employed various ways and realizing.At present novel have detected by photoelectric encoder, its principle is detected the movement position of the grating determination blade on the code-bar that is fixedly connected with blade, and by a series of chip process, carry out dimension compensation, improves degree of accuracy.But because code-bar is fixedly connected with blade, the impact that blade there will be because of deadweight and its machining precision in motion process produces upper and lower beat, and then drive code-bar generation beat, cause the beat of detection resources own, this trueness error cannot be compensated by chip process, and therefore kinematic accuracy value is limited, and the fast reciprocating of code-bar moves and can cause heavy wear simultaneously, serviceable life shortens, and makes product maintenance costly.
Summary of the invention
The object of the present invention is to provide a kind of multi-leaf optical grating soft readjustment formula scrambler closed-loop control system, solve at present when blade movement accuracy detection, the impact that blade there will be because of deadweight and its machining precision in motion process produces upper and lower beat, and then drive code-bar generation beat, cause the beat of detection resources own, this trueness error cannot be compensated by chip process, causes kinematic accuracy to be worth limited problem; On the other hand, the fast reciprocating of code-bar moves and can cause heavy wear, and serviceable life shortens, and makes product maintenance costly.
The present invention for achieving the above object, realize by the following technical solutions: a kind of multi-leaf optical grating soft readjustment formula scrambler closed-loop control system, comprise blade, grating scale, moving slider, driving mechanism, sensor and surface-mounted integrated circuit, described moving slider is connected with blade, and moving slider to be connected on grating scale and can be free to slide along grating scale, described sensor is fixed on moving slider, and sensor and surface-mounted integrated circuit realize electric signal is connected, described driving mechanism does straight reciprocating motion for being with moving vane.
In this programme, what detect is the movement position situation of blade, because blade is connected with moving slider, that is to say what the motion of blade was embodied indirectly by moving slider, when doing straight reciprocating motion under the drive of blade at driving mechanism, moving slider does synchronous rectilinear motion on grating scale, now, sensor on moving slider then detects the gratings strips on grating scale, and testing result is fed back to surface-mounted integrated circuit processes.Why this programme can realize accurate detection, because this programme adopts the unitized construction of moving slider, sensor and grating scale, grating scale is realizing keeping independent separately in the process measured with blade, beat can not be there is in the grating scale after fixing along with the motion of blade, namely ensure that the reliability of detection resources itself, thus further ensuring the measuring accuracy of grating scale, this and traditional mode have essential distinction; On the other hand, grating scale is without the need to moving back and forth, and moving slider adopts light weight, the less material of friction is made, and greatly can reduce the friction between moving slider and grating scale, extends the serviceable life of grating scale, and then reduces maintenance cost.
Further, preferably, also comprise elastic connector, one end of described elastic connector is connected with at blade, and the other end is connected with moving slider.Elastic connector can eliminate the detection position deviation because blade movement beat brings.
Further, preferably, also comprise blade connector, one end of described blade connector is connected with blade, and the other end is connected with one end of elastic connector, and the other end of elastic connector is connected with moving slider.Under the effect of blade connector and elastic connector, while the detection position deviation brought because of blade movement beat can be eliminated, facilitate the replacing of blade.Particularly, when there is not beat in blade, elastic connector is equivalent to the fixing towbar of length, the displacement that blade movement produces is consistent with the displacement of moving slider, and when blade produces beat, now elastic connector is had an effect, the beat that blade brings is offset by its deformation, guarantee that blade is consistent with the change in displacement of moving slider along the change in displacement on grating scale direction, thus ensure that the reliability of detection, that is, elastic connector just produces its this elasticity of having when beat appears in blade, the beat up and down of blade is eliminated by this elasticity, prevent this beat from making moving slider produce certain displacement, avoid affecting accuracy in detection.
Further, preferably, described elastic connector comprises elasticity in flakes and be arranged on the flexure strip at elasticity two ends in flakes;
Described blade connector comprises connector body, and the middle part of connector body is provided with multiple horizontal jack for inserted elastic sheet, and the bottom of connector body is provided with the groove for being connected on blade;
Described moving slider comprises moving slider body, and the top of described moving slider body is provided with the pickup groove for fixing flexure strip, and the bottom of moving slider body is provided with for making moving slider body be connected to gathering sill on grating scale.Sensor is arranged on moving slider, and according to the difference of sensor mounting location, namely sensor can read the grating scale at self place, also can read the grating scale of offside.
In this programme, specific design has been carried out to blade connector, elastic connector and moving slider, the conveniently dismounting of blade connector and blade, groove is arranged in the lower end of blade connector, and on this groove and blade, the concrete structure of installation site matches, and blade connector directly can be stuck on blade, in addition, the middle part of blade connector arranges multiple horizontal jack, for realizing the connection of blade connector and elastic connector, can select corresponding horizontal jack as required; The top of moving slider arranges a pickup groove, and bottom arranges gathering sill, and by gathering sill, be stuck in by moving slider on grating scale, moving slider can move back and forth along grating scale; The flexure strip at elastic connector two ends is inserted in horizontal jack, pickup groove respectively, play the effect connecting blade connector and moving slider, blade connector passes through elastic connector, pulling and promoting moving slider can be realized, the position of blade is moved and is reacted to the shift in position of moving slider on grating scale exactly.On the one hand, because grating scale maintains static, even if motion beat appears in blade, grating scale also can not be caused to occur swinging, compare traditional code-bar, ensure that the accuracy of detection resources, and owing to there being elastic connector, the especially flexure strip at elastic connector two ends, can effectively eliminate blade movement by self plastic deformation and produce beat and the impact that brings, sensor is improved the accuracy of detection of grating scale, thus improves positional precision and the conformal degree of blade.On the other hand, blade connector, elastic connector, moving slider, grating scale etc. are split element structure, can carry out increasing or reducing according to the quantity of blade, for later quantity is many, the upgrading that the multi-leaf optical grating of thickness slim vane is provided convenience, reduces and designs and develops cost.
Further, preferably, the top of described connector body is provided with vertical threaded hole, and described vertical threaded hole is through horizontal jack.Flexure strip is inserted into after in horizontal jack, bolt can be screwed in vertical threaded hole, flexure strip is compressed by bolt further, guarantees the reliability connected, the shift in position of blade is reflected on moving slider more accurately.
Further, preferably, described elasticity elasticity is in flakes less than the elasticity of flexure strip.When blade beat is little, the elasticity blade generation plastic yield at two ends adapts to the deviation produced; When beat is larger, there is plastic yield to adapt to the deviation produced in flakes with the flexure strip at two ends in the elasticity in the middle of elastic connector simultaneously, now, the mobile chute fixed with elastic connector one end spring leaf is not by by the impact that blade beat brings, all the time on grating scale, rectilinear motion is kept, and the sensor be fixed on mobile chute constantly can detect the gratings strips on grating scale, and transferred in chip by surface-mounted integrated circuit and carry out signal transacting, determine leaf position and compensate, and then improving the positional precision of blade.
Further, preferably, described driving mechanism comprises motor, leading screw and nut, and described nut is nested on blade, and described leading screw mates with described nut, and leading screw is through nut, and the output shaft of leading screw and motor links.The dynamic screw mandrel that drives of motor positive and inverse rotates, rotarily driving lower blade and will carry out straight reciprocating motion at screw mandrel.
Further, preferably, also comprise flexible PCB and winding box, one end of described flexible PCB to be fixed on moving slider and to realize electric signal with sensor and is connected, and the other end of flexible PCB to be fixed in winding box and to realize electric signal with surface-mounted integrated circuit and is connected.Flexible PCB can bend arbitrarily and not affect electrical signal transfer, and winding box can adapt to drive due to blade movement flexible PCB to stretch the length variations produced automatically, does not also move to blade simultaneously and brings extra resistance.
Further, preferably, described grating scale adopts multilayer to be in staggered distribution.
The present invention compared with prior art, has the following advantages and beneficial effect:
(1) the present invention is by adopting the unitized construction form of grating scale, sensor and moving slider, grating scale maintains static, the change in location of blade is reflected to the change in location of moving slider on grating scale, the beat of blade can not affect the rectilinear motion of moving slider on grating scale, thus ensure that the accuracy of detection resources, for the high precision test of blade movement provides guarantee.
(2) present invention employs grating scale not move, and carried out the mode of moving by the less moving slider of material hardness using grating scale as guiding, make grating scale not easy to wear, improve serviceable life, reduce maintenance cost.
(3) invention introduces elastic connector, and elastic connector is designed to middle spring in flakes, the version of two ends flexure strip, elasticity in flakes and flexure strip can effectively eliminate by self plastic deformation the beat and the impact that brings that blade movement produces, the accuracy of detection of sensor to grating scale is improved, and then the conformal degree of the accuracy of detection that improve leaf position and blade.
(4) the present invention adopts split element structure, i.e. each blade corresponding blade connector, elastic connector, moving slider, grating scale, the quantity increasing or reduce blade connector, elastic connector, moving slider, grating scale can be carried out according to the quantity of blade, for later quantity is many, the upgrading that the multi-leaf optical grating of thickness slim vane is provided convenience, reduces and designs and develops cost.
(5) structure of the present invention is simple, and failture evacuation is easy, easy for installation, and the time changing attrition component greatly reduces, and has had huge lifting, further increasing capacity utilization, decrease the use cost of equipment to the normal service time of equipment.
Accompanying drawing explanation
Fig. 1 is stereographic map of the present invention;
Fig. 2 is front view of the present invention;
Fig. 3 is partition structural representation of the present invention;
Fig. 4 is the structural representation of blade connector;
Fig. 5 is the structural representation of elastic connector;
Fig. 6 is the structural representation of moving slider;
Structural representation of the present invention when Fig. 7 is grating scale employing bilayer arrangement.
The name that in figure, Reference numeral is corresponding is called: 1, blade, 2, blade connector, 21, vertically threaded hole, 22, horizontal jack, 23, groove, 3, elastic connector, 31, flexure strip, 32, elasticity in flakes, 4, backplate, 5, flexible PCB, 52, sensor, 6, winding box, 7, surface-mounted integrated circuit, 8, moving slider, 81, gathering sill, 82, pickup groove, 9, grating scale, 10, driving mechanism.
Embodiment
Below in conjunction with embodiment, the present invention is described in further detail, but embodiments of the present invention are not limited thereto.
Embodiment:
As shown in Fig. 1 ~ Fig. 3, a kind of multi-leaf optical grating soft readjustment formula scrambler closed-loop control system described in the present embodiment, comprise blade 1, grating scale 9, moving slider 8, driving mechanism 10, sensor 52 and surface-mounted integrated circuit 7, moving slider 8 is connected with blade 1, and moving slider 8 to be connected on grating scale 9 and can be free to slide along grating scale 9, blade 1 does straight reciprocating motion under the drive of driving mechanism 10, the change in location of blade 1 is reflected in the change in location of moving slider 8 on grating scale 9, sensor 52 is fixed on moving slider 8, and sensor 52 realizes electric signal with surface-mounted integrated circuit 7 is connected, sensor 52 detects the position of moving slider 8, and positional information is fed back to surface-mounted integrated circuit 7, surface-mounted integrated circuit 7 carries out subsequent treatment again.
In the present embodiment, because grating scale 9 is fixing all the time, and relatively independent with blade 1, be separated, therefore the motion of blade 1 can not have an impact to grating scale 9, moving slider 8 does rectilinear motion along grating scale 9 under the induced effect of blade 1, namely the change in location of the moving slider 8 that sensor 52 detects is the change in location of corresponding blade 1, and detect relative to traditional code type, the accuracy of detection of the present embodiment significantly improves.In use, moving slider 8 selects the material by hardness is less to make, and is ensureing, on the basis that moving slider can be free to slide, grating scale 9 can also be made not easily to be worn, improve serviceable life, reduce maintenance cost.
In motion process, the impact that beat brings is produced in order to eliminate blade 1 further, the present embodiment also can increase elastic connector 3, one end of elastic connector 3 is connected with at blade 1, the other end is connected with moving slider 8, elastic connector 3 self can produce certain plastic yield to adapt to the beat of blade 1, make the moving slider 8 be connected with elastic connector 3 can remain at rectilinear motion state, ensure the reliability detected.
The conveniently dismounting of blade 1, the present embodiment can also increase blade connector 2, and one end of blade connector 2 is connected with blade 2, and the other end is connected with one end of elastic connector 3, and the other end of elastic connector 3 is connected with moving slider 8.More specifically, groove structure can be arranged in the lower end of blade connector 2, this groove structure is just stuck on blade 1, thus by blade connector 2, elastic connector, realizes blade 1 synchronous with the action of moving slider 8.
More specifically, the combination conveniently between all parts is installed, and the present embodiment can also do following specific design to elastic connector 3, blade connector 2, moving slider 8:
As shown in Fig. 4 ~ 6, elastic connector 3 comprises elasticity in flakes 32 and be arranged on the flexure strip 31 at elasticity 32 two ends in flakes, flexure strip 31 can be that spring leaf etc. has flexible structure, elasticity in flakes 32 elasticity can be designed as the elasticity being less than flexure strip 31, that is, when blade 1 beat is little, there is the deviation of plastic yield adaptation generation in the flexure strip 31 at two ends; When blade 1 beat is larger, 32 there is plastic yield to adapt to the flexure strip 31 at two ends the deviation that produces in flakes in elasticity simultaneously, now fixing with elastic connector 3 one end flexure strip 31 moving slider 8, by not by the impact that blade 1 beat brings, keeps rectilinear motion all the time on grating scale 9;
Blade connector 2 comprises connector body, and the middle part of connector body is provided with multiple horizontal jack 22 for inserted elastic sheet 31, and the bottom of connector body is provided with the groove 23 for being connected on blade 1;
Moving slider 8 comprises moving slider body, and the top of moving slider body is provided with the pickup groove 81 for fixing flexure strip 31, and the bottom of moving slider body is provided with for making moving slider body be connected to gathering sill 82 on grating scale 9.
In order to guarantee the reliability connected further, the present embodiment also can arrange vertical threaded hole 21 at the top of blade connector 2, vertical threaded hole 21 is through horizontal jack 22, after flexure strip 31 inserts horizontal jack 22, bolt is screwed in from vertical threaded hole 21, flexure strip 31 is clamped by bolt, strengthens the fixing connected.
It should be noted that, driving mechanism 10 can be can move with moving vane 1 arbitrarily and the structure matched with one-piece construction, particularly, the present embodiment can adopt structure below to realize driving: motor, leading screw and nut composition driving mechanism, and nut is nested on blade 1, leading screw mates with nut, and leading screw is through nut, the output shaft of leading screw and motor links, and the dynamic screw mandrel that drives of motor positive and inverse rotates, under the rotarily driving of screw mandrel, blade carries out straight reciprocating motion.
In order to avoid signal wire brings impact for the motion of moving slider 8 and blade 1, the present embodiment can also do following design, increase flexible PCB 5 and winding box 6, one end of flexible PCB 5 to be fixed on moving slider 8 and to realize electric signal with sensor 52 and is connected, the other end of flexible PCB 5 to be fixed in winding box 6 and to realize electric signal with surface-mounted integrated circuit 7 and is connected, winding box 6 adopts and designs with like tape measure operation class, when blade 1 motion drives flexible PCB 5 to stretch, winding box 6 carries out take-up or unwrapping wire to flexible PCB 5 adaptively, make flexible PCB 5 on the basis realizing electrical signal transfer, the motion of moving slider 8 can not be affected.In addition, in order to protect flexible PCB 5, can a backplate 4 be set on flexible PCB 5.
In addition, because the thickness of blade 1 and the thickness of grating scale 9 and sensor 52 there are differences, the thickness of blade 1 is less than the thickness of grating scale 9 and sensor 52, when blade 1 quantity is below more, can cause grating scale 9 above blade 1 and sensor 52 cannot one_to_one corresponding with it, for addressing this problem, inventors performed unique design.As shown in Figure 7, grating scale 9 is designed to sandwich construction by the present embodiment, grating scale 9 between layers and sensor 52 are in staggered distribution, the i.e. grating scale 9 on corresponding upper strata, the gap of lower floor and sensor 52, ensure in the vertical space between each grating scale 9 and corresponding blade 1 simultaneously, do not have other grating scale 9 to block, that is, other grating scale 9 is not had immediately below each grating scale 9, thus grating scale 9 and blade 1 one_to_one corresponding can be accomplished, and do not disturb each other, so not only ensure that enough space mounting grating scales 9, meet the corresponding of blade 1 and grating scale 9, and the horizontal space that can also effectively reduce shared by grating scale 9, reduce the volume of whole device, make in sets of lines and don't confusion, also more convenient maintenance and replacing.
The above is only preferred embodiment of the present invention, and not do any pro forma restriction to the present invention, every any simple modification, equivalent variations done above embodiment according to technical spirit of the present invention, all falls within protection scope of the present invention.
Claims (9)
1. a multi-leaf optical grating soft readjustment formula scrambler closed-loop control system, it is characterized in that: comprise blade (1), grating scale (9), moving slider (8), driving mechanism (10), sensor (52) and surface-mounted integrated circuit (7), described moving slider (8) is connected with blade (1), and moving slider (8) is connected to, and grating scale (9) is upper also can be free to slide along grating scale (9), described sensor (52) is fixed on moving slider (8), and sensor (52) realizes electric signal with surface-mounted integrated circuit (7) is connected, described driving mechanism (10) does straight reciprocating motion for being with moving vane (1).
2. a kind of multi-leaf optical grating soft readjustment formula scrambler closed-loop control system according to claim 1, it is characterized in that: also comprise elastic connector (3), one end of described elastic connector (3) is connected with at blade (1), and the other end is connected with moving slider (8).
3. a kind of multi-leaf optical grating soft readjustment formula scrambler closed-loop control system according to claim 2, it is characterized in that: also comprise blade connector (2), one end of described blade connector (2) is connected with blade (2), the other end is connected with the one end of elastic connector (3), and the other end of elastic connector (3) is connected with moving slider (8).
4. a kind of multi-leaf optical grating soft readjustment formula scrambler closed-loop control system according to claim 3, is characterized in that: described elastic connector (3) comprises elasticity (32) and be arranged on the flexure strip (31) at elasticity (32) two ends in flakes in flakes;
Described blade connector (2) comprises connector body, and the middle part of connector body is provided with multiple horizontal jack (22) for inserted elastic sheet (31), and the bottom of connector body is provided with the groove (23) for being connected on blade (1);
Described moving slider (8) comprises moving slider body, the top of described moving slider body is provided with the pickup groove (81) for fixing flexure strip (31), and the bottom of moving slider body is provided with for making moving slider body be connected to gathering sill (82) on grating scale (9).
5. a kind of multi-leaf optical grating soft readjustment formula scrambler closed-loop control system according to claim 4, it is characterized in that: the top of described connector body is provided with vertical threaded hole (21), described vertical threaded hole (21) is through horizontal jack (22).
6. a kind of multi-leaf optical grating soft readjustment formula scrambler closed-loop control system according to claim 4, is characterized in that: the elasticity of described elasticity (32) is in flakes less than the elasticity of flexure strip (31).
7. a kind of multi-leaf optical grating soft readjustment formula scrambler closed-loop control system according to any one of claim 1 ~ 6, it is characterized in that: described driving mechanism (10) comprises motor, leading screw and nut, described nut is nested on blade (1), described leading screw mates with described nut, and leading screw is through nut, the output shaft of leading screw and motor links.
8. a kind of multi-leaf optical grating soft readjustment formula scrambler closed-loop control system according to any one of claim 1 ~ 6, it is characterized in that: also comprise flexible PCB (5) and winding box (6), it is upper and realize electric signal with sensor (52) and is connected that one end of described flexible PCB (5) is fixed on moving slider (8), and it is interior and realize electric signal with surface-mounted integrated circuit (7) and be connected that the other end of flexible PCB (5) is fixed on winding box (6).
9. a kind of multi-leaf optical grating soft readjustment formula scrambler closed-loop control system according to any one of claim 1 ~ 6, is characterized in that: described grating scale (9) adopts multilayer to be in staggered distribution.
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| CN106344061A (en) * | 2016-08-08 | 2017-01-25 | 沈阳东软医疗系统有限公司 | Multi-leaf collimator leaf motion position control device and method and linear accelerator |
| CN109217554A (en) * | 2018-11-23 | 2019-01-15 | 四川云盾光电科技有限公司 | A kind of linear mould group closed-loop system and its control method |
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| CN105425646B (en) | 2017-12-05 |
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