CN109876311A

CN109876311A - A kind of six degree of freedom radiation therapeutical bed

Info

Publication number: CN109876311A
Application number: CN201910237510.3A
Authority: CN
Inventors: 李山川; 郭园斌; 王刚
Original assignee: Shaanxi Huaming Putai Medical Equipment Co Ltd
Current assignee: Shaanxi Huaming Putai Medical Equipment Co Ltd
Priority date: 2019-03-27
Filing date: 2019-03-27
Publication date: 2019-06-14
Anticipated expiration: 2039-03-27
Also published as: CN109876311B

Abstract

The invention discloses a kind of six degree of freedom radiation therapeutical beds, including bottom plate, therapeutic bed bed body, transmission device and control device, therapeutic bed bed body includes middle plate and the upper plate that connect with middle plate, transmission device includes the five degree of freedom transmission mechanism for driving therapeutic bed bed body to realize that five degree of freedom moves and the Z-direction rotation drive machine for driving therapeutic bed bed body to rotate around Z-direction, five degree of freedom transmission mechanism is arranged between middle plate and upper plate, and Z-direction rotation drive machine is arranged between bottom plate and middle plate；Five degree of freedom transmission mechanism includes the first elevator and the second elevator being symmetrically laid on middle plate along Y direction, and third elevator and the 4th elevator on middle plate are laid in along X-direction.The present invention can be realized movement of the therapeutic bed bed body on six-freedom degree direction, under the guide of image guidance techniques, can complete high-precision and put position, and have the function of that very reliable self-oscillate position is corrected, and improve the kinematic accuracy of therapeutic bed bed body.

Description

A kind of six degree of freedom radiation therapeutical bed

Technical field

The invention belongs to radioactivity technical field of medical equipment, and in particular to a kind of six degree of freedom radiation therapeutical bed.

Background technique

Image-guided radiotherapy (IGRT) is a kind of radiation therapy technology of four-dimension, and the 4DCRT of IGRT guidance is related to putting Penetrate all steps in therapeutic process, including the acquisition of patient 4DCT image, treatment plan, the verifying of pendulum position and amendment, plan modification, Plan is given, treats the various aspects such as guarantee.The Real Time Image System to grow up now can overcome disadvantages mentioned above, can control Before treatment starts and therapeutic process carries out launched field photo, can be reduced as caused by pendulum position or organ movement by the guidance of image Bring radiotherapy error after knub position variation.Currently, common medical linear in image-guided radiotherapy (IGRT) technology The conventional therapy bed that accelerator is equipped with only has the linear motion in tri- directions X, Y, Z and therapeutic bed whole around isocentric rotation fortune Dynamic, still, under normal circumstances, set-up deviation is often six-freedom degree direction, and at image-guided radiotherapy (IGRT) In technology, obtained pendulum position certificate parameter is also six-freedom degree direction, and conventional therapy bed is obviously no longer satisfied at this time The clinical demand of the pendulum position certificate parameter in six-freedom degree direction, therefore, it should which a kind of six degree of freedom radiation therapeutical bed is provided.

Summary of the invention

In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that providing a kind of six degree of freedom Radiation therapeutical bed, simple structure and reasonable design, the present invention can be realized fortune of the therapeutic bed bed body on six-freedom degree direction It is dynamic, under the guide of image guidance techniques, high-precision can be completed and put position, and there is very reliable self-oscillate position to correct function Can, stable transmission improves the kinematic accuracy of therapeutic bed bed body, easy to promote and utilize.

In order to solve the above technical problems, the technical solution adopted by the present invention is that: a kind of six degree of freedom radiation therapeutical bed, it is special Sign is: including bottom plate, the therapeutic bed bed body being arranged in above the bottom plate, for driving the therapeutic bed bed body realization six certainly Transmission device by degree movement and the control device that is connect with the transmission device, the therapeutic bed bed body include middle plate and with institute State the upper plate of middle plate connection, the transmission device include for drive the therapeutic bed bed body realize the five of five degree of freedom movement from Z-direction rotation drive machine by degree transmission mechanism and for driving the therapeutic bed bed body to rotate around Z-direction, described five certainly Be arranged between the middle plate and the upper plate by degree transmission mechanism, Z-direction rotation drive machine setting the bottom plate with Between the middle plate；The five degree of freedom transmission mechanism includes first liter be symmetrically laid on the middle plate along Y direction Drop machine and the second elevator, and it is laid in third elevator and the 4th elevator on the middle plate along X-direction, it is described First lifter plate is installed at the top of the first elevator, the second lifter plate is installed at the top of second elevator, described Third lifter plate is installed at the top of three elevators, the 4th lifter plate is installed at the top of the 4th elevator, described first Be provided with the first bindiny mechanism connecting with the upper plate on lifter plate and second lifter plate, the third lifter plate and The second bindiny mechanism connecting with the upper plate is provided on 4th lifter plate, first bindiny mechanism includes the first activity Plate, the first support plate being slidably matched by X to slide assemblies and first movable plate are fixedly mounted on first support The first Y-direction linear guide on plate top surface and the first Y-direction linear slider matched with the first Y-direction linear guide, institute It states the first Y-direction linear slider to be fixedly installed on the upper plate bottom surface, is provided with X to shifting in two first bindiny mechanisms Motivation structure, Y-direction mobile mechanism is provided in any one of first bindiny mechanism, and second bindiny mechanism includes second living Movable plate, is arranged in second support plate the second support plate being slidably matched by Y-direction slide assemblies and second movable plate The first X that the first X on top surface is matched to linear guide and with the first X to linear guide is described to linear slider First X is fixedly mounted on the upper plate bottom surface to linear slider, and the Z-direction rotation drive machine includes connecting with the middle plate Driving gear and be fixedly mounted on the arc-shaped rack being meshed on the bottom plate with the driving gear, the bottom plate with it is described It is provided with round guiding mechanism between middle plate, first elevator, second elevator, the third elevator and described 4th elevator and the Y-direction mobile mechanism, the X are driven to mobile mechanism and the driving gear by servo motor； The control device includes computer, the PLC module connecting with the computer, the use for being connected to the PLC module input terminal In the first acquisition unit and the second acquisition unit that acquire the upper plate kinematic parameter, and for acquiring the middle plate along Z The absolute value encoder of axis direction rotational parameters, the servo motor are connect with the PLC module.

Above-mentioned a kind of six degree of freedom radiation therapeutical bed, it is characterised in that: first elevator, the second elevator, Three elevators and the 4th elevator are turbine and worm elevator, and first lifter plate is fixedly mounted on the first lead screw of elevator On, second lifter plate is fixedly mounted in the second lead screw of elevator, and the third lifter plate is fixedly mounted on third lifting On machine screw rod, the 4th lifter plate is fixedly mounted in the 4th lead screw of elevator.

Above-mentioned a kind of six degree of freedom radiation therapeutical bed, it is characterised in that: first lifter plate and first activity It is hinged by cross connecting piece and bolt between plate and between second lifter plate and first movable plate, described the Pass through aligning between two movable plates and third lead screw of elevator and between second movable plate and the 4th lead screw of elevator Ball bearing and locking nut rotation connection.

Above-mentioned a kind of six degree of freedom radiation therapeutical bed, it is characterised in that: first lifter plate and first lifting The first Z-direction guide rod, the third liter are provided between machine and between second lifter plate and second elevator The second Z-direction is provided between drop plate and the third elevator and between the 4th lifter plate and the 4th elevator Guide rod.

Above-mentioned a kind of six degree of freedom radiation therapeutical bed, it is characterised in that: first elevator is by first servo motor Driving, second elevator drives by the second servo motor, and the third elevator is driven by third servo motor, and described the Four elevators are driven by the 4th servo motor, and the Y-direction mobile mechanism is driven by the 5th servo motor, are located at first lifting The X above machine is driven to mobile mechanism by the 6th servo motor, and the X above second elevator is to movement Mechanism is driven by the 7th servo motor, the output shaft direction of the 6th servo motor and the 7th servo motor it is defeated Towards on the contrary, the driving gear is driven by the 8th servo motor, the 8th servo motor is fixedly mounted on middle plate shaft, described Speed reducer is connected on the output shaft of 8th servo motor, the driving gear is fixedly mounted on the output shaft of the speed reducer On, the output shaft of the speed reducer is laid vertically.

Above-mentioned a kind of six degree of freedom radiation therapeutical bed, it is characterised in that: the X includes and described first to mobile mechanism The X that support plate is fixedly connected is fixedly mounted on described first to screw rod, the silk seat matched with the X to screw rod, the silk seat On movable plate, the output shaft of the 6th servo motor be located at first elevator above X from the X to mobile mechanism It is fixedly connected to screw rod, the output shaft of the 7th servo motor is with the X that is located above second elevator to movement The X of mechanism is fixedly connected to screw rod.

Above-mentioned a kind of six degree of freedom radiation therapeutical bed, it is characterised in that: the Y-direction mobile mechanism includes Y-direction ball wire Thick stick and the support matched with the Y-direction ball-screw, the support are fixedly mounted on the upper plate bottom surface, the Y-direction rolling One end of ballscrew is equipped with vertical transition plates, is equipped with connecting rod in the vertical transition plates, the connecting rod and described the One support plate is fixedly connected, and Y-direction guide rod, the 5th servo motor are provided between the support and the vertical transition plates It is connect between the Y-direction ball-screw by belt drive component.

Above-mentioned a kind of six degree of freedom radiation therapeutical bed, it is characterised in that: the circle guiding mechanism includes at least two The arc-shaped guide rail and at least two being fixedly mounted on the plate top surface be fixedly mounted on the bottom surface of the middle plate with it is described The arc shaped slider that arc-shaped guide rail matches, at least two one virtual circular guideway of the arc-shaped guide rails composition, at least two The arc shaped slider constitutes a round slider matched with the virtual circular guideway, the setting on the plate top surface Have for limiting the arc shaped slider along the spacer pin of the arc-shaped guide rail sliding position.

Above-mentioned a kind of six degree of freedom radiation therapeutical bed, it is characterised in that: be provided between the bottom plate and the middle plate Plane bearing.

Above-mentioned a kind of six degree of freedom radiation therapeutical bed, it is characterised in that: first acquisition unit includes for acquiring The first laser rangefinder of distance between first lifter plate and the middle plate, for acquiring between the second lifter plate and the middle plate The second laser rangefinder of distance, third laser range finder and use for acquiring distance between third lifter plate and the middle plate In the 4th laser range finder for acquiring distance between the 4th lifter plate and the middle plate, second acquisition unit includes for adopting Collect the upper plate along the first grating scale displacement sensor of X-direction moving parameter and for acquiring the upper plate along Y-axis The second grating scale displacement sensor of direction moving parameter.

Compared with the prior art, the present invention has the following advantages:

1, the present invention is by setting bottom plate, therapeutic bed bed body and for driving therapeutic bed bed body to realize six-freedom motion Transmission device, transmission device include the five degree of freedom transmission mechanism and use for driving therapeutic bed bed body to realize five degree of freedom movement In the Z-direction rotation drive machine for driving therapeutic bed bed body to rotate around Z-direction, in actual use, the six of therapeutic bed bed body are certainly It is moved including therapeutic bed bed body along X-direction by degree movement, therapeutic bed bed body moves and therapeutic bed bed body edge along Y direction Z-direction it is mobile and therapeutic bed bed body is rotated along X-direction, therapeutic bed bed body is rotated along Y direction and therapeutic bed Bed body is rotated along Z-direction, since therapeutic bed bed body includes middle plate and upper plate, the setting of five degree of freedom transmission mechanism middle plate with Between upper plate, Z-direction rotation drive machine is arranged between bottom plate and middle plate, and the five degree of freedom movement of therapeutic bed bed body includes treatment Bed body moves bed along X-direction, therapeutic bed bed body is moved along Y direction and moved with therapeutic bed bed body along Z-direction, with And therapeutic bed bed body is rotated along X-direction rotation and therapeutic bed bed body along Y direction, when upper plate generates five relative to middle plate When freedom degree moves, as therapeutic bed bed body realizes the purpose that five degree of freedom moves, and plate is relative to bottom plate around Z axis side in the middle To when rotation, as therapeutic bed bed body realizes the purpose around Z-direction rotation.

2, five degree of freedom transmission mechanism of the invention includes the first elevator being symmetrically laid on middle plate along Y direction With the second elevator, and along X-direction it is laid in third elevator and the 4th elevator on middle plate, the first elevator Top is equipped with the first lifter plate, and the second lifter plate, the first lifter plate and the second lifter plate are equipped at the top of the second elevator On be provided with the first bindiny mechanism connecting with upper plate, third lifter plate is installed, the 4th lifting at the top of third elevator 4th lifter plate is installed at the top of machine, the second connection connecting with upper plate is provided on third lifter plate and the 4th lifter plate Mechanism, therefore, under the drive of the first elevator, the first lifter plate can be moved along Z-direction, in the band of the second elevator Under dynamic, the second lifter plate can be moved along Z-direction, the direction moved along Z-direction when the first lifter plate and second liter Drop plate along Z-direction move it is contrary when, can drive upper plate around X-direction rotate；In third elevator Under drive, third lifter plate can be moved along Z-direction, and under the drive of the 4th elevator, the 4th lifter plate can be along Z Axis direction is mobile, the direction that the direction and the 4th lifter plate moved along Z-direction when third lifter plate are moved along Z-direction When opposite, upper plate can be driven to rotate around Y direction.

3, the present invention in any one first bindiny mechanism by being arranged Y-direction mobile mechanism, and Y-direction mobile mechanism is by the The driving of five servo motors connects due to passing through the first X between the second support plate and upper plate to linear guide and the first X to linear slider It connects, is slidably matched between the second support plate and the second movable plate by Y-direction slide assemblies, when the drive of Y-direction mobile mechanism is any one When a first bindiny mechanism moves along Y direction, upper plate can be moved with the first support plate along Y direction.

4, the present invention is in two the first bindiny mechanisms by being respectively provided with X to mobile mechanism, due to the first support plate with it is upper It is connected by the first Y-direction linear guide with the first Y-direction linear slider between plate, is passed through between the first movable plate and the first support plate X is slidably connected to slide assemblies, therefore, when X drives the first support plate to move along X-direction to mobile mechanism, 3 energy of upper plate It is enough to be moved with the first support plate along X-direction.

5, the present invention includes the by the way that Z-direction rotation drive machine, Z-direction rotation drive machine are arranged between bottom plate and middle plate Eight servomotor, gear reducers, driving gear and the arc-shaped rack being meshed with driving gear, since arc-shaped rack is fixedly mounted on On bottom plate, the 8th servo motor and speed reducer are fixedly mounted on middle plate, therefore, when the 8th servo motor and speed reducer drive master Moving gear rotation, when driving gear is meshed with arc-shaped rack, relatively rotates between middle plate and bottom plate, can be realized middle plate Around the purpose of Z-direction rotation, since middle plate is connected with upper plate, upper plate can be realized jointly with middle plate around Z The purpose of axis direction rotation.

6, rationally, precision is high, easy to promote and utilize for the configuration of the present invention is simple, design.

In conclusion the configuration of the present invention is simple, design are rationally, therapeutic bed bed body can be realized on six-freedom degree direction Movement, under the guide of image guidance techniques, can complete high-precision put position, and have very reliable self-oscillate position entangle Orthofunction, stable transmission improve the kinematic accuracy of therapeutic bed bed body, easy to promote and utilize.

Below by drawings and examples, the present invention is described in further detail.

Detailed description of the invention

Fig. 1 is the structural diagram of the present invention.

Fig. 2 is that the present invention removes the structural schematic diagram after upper plate.

Fig. 3 is the connection relationship diagram of bottom plate of the present invention and middle plate.

Fig. 4 is the connection relationship diagram of bottom plate of the present invention, arc-shaped guide rail, arc-shaped rack and driving gear.

Fig. 5 is the connection pass of the first elevator of the invention and the first bindiny mechanism, the second elevator and the first bindiny mechanism It is schematic diagram.

Fig. 6 is the connection pass of the first lifter plate of the invention and the first bindiny mechanism, the second lifter plate and the first bindiny mechanism It is schematic diagram.

Fig. 7 is the structural schematic diagram of Y-direction mobile mechanism of the present invention.

Fig. 8 is the connection pass of third elevator of the present invention and the second bindiny mechanism, the 4th elevator and the second bindiny mechanism It is schematic diagram.

Fig. 9 is the connection pass of third lifter plate of the present invention and the second bindiny mechanism, the 4th lifter plate and the second bindiny mechanism It is schematic diagram.

Figure 10 is the functional block diagram of control device of the present invention.

Description of symbols:

1-bottom plate；2-middle plates；3-upper plates；

The first elevator of 4-1-；The first lead screw of elevator of 4-1-1-；

The second elevator of 4-2-；The first lead screw of elevator of 4-2-1-；

The first lifter plate of 5-1-；The second lifter plate of 5-2-；The first movable plate of 6-1-；

The first support plate of 6-2-；6-3-cross connecting piece；6-4-bolt；

7-1-X is to screw rod；7-2-silk seat；The first attachment base of 7-3-；

The second attachment base of 7-4-；8-1-the first Y-direction linear guide；

8-2-the first Y-direction linear slider；9-1-first servo motor；The second servo motor of 9-2-；

10-1-third servo motor；The 4th servo motor of 10-2-；11-the five servo motor；

The 6th servo motor of 12-1-；The 7th servo motor of 12-2-；13-the eight servo motor；

14-speed reducers；15-1-driving gear；15-2-arc-shaped rack；

16-1-arc-shaped guide rail；16-2-arc shaped slider；16-3-spacer pin；

17-plane bearings；18-1-third elevator；

18-1-1-third lead screw of elevator；The 4th elevator of 18-2-；

18-2-1-third lead screw of elevator；19-1-third lifter plate；

The 4th lifter plate of 19-2-；The second movable plate of 20-1-；The second support plate of 20-2-；

20-3-self-aligning ball bearing；20-4-locking nut；

The first X of 21-1-is to linear guide；The first X of 21-2-is to linear slider；

22-1-Y-direction ball-screw；22-2-support；23-transition platess；

24-connecting rods；25-Y-direction guide rods；26-PLC modules；

27-1-first laser rangefinder；27-2-second laser rangefinder；

27-3-third laser range finder；The 4th laser range finder of 27-4-；

The first grating displacement sensor of 28-1-；The second grating displacement sensor of 28-2-；

29-absolute value encoders；30-computers；The 2nd X of 31-1-is to linear guide；

The 2nd X of 31-2-is to linear slider；32-1-the second Y-direction linear guide；

32-1-the second Y-direction linear guide；33-1-the first Z-direction guide rod；

33-2-the second Z-direction guide rod；34-the head of a bed；35-organ covers.

Specific embodiment

As shown in Fig. 1 to Fig. 5, Fig. 8 and Figure 10, the present invention includes bottom plate 1, the therapeutic bed that 1 top of bottom plate is arranged in Bed body, the control for driving the therapeutic bed bed body to realize the transmission device of six-freedom motion and connect with the transmission device Device processed, the therapeutic bed bed body include middle plate 2 and the upper plate 3 that connect with the middle plate 2, and the transmission device includes being used for band Move the therapeutic bed bed body realize five degree of freedom movement five degree of freedom transmission mechanism and for drive the therapeutic bed bed body around The Z-direction rotation drive machine of Z-direction rotation, five degree of freedom transmission mechanism setting is in the middle plate 2 and the upper plate 3 Between, the Z-direction rotation drive machine is arranged between the bottom plate 1 and the middle plate 2；The five degree of freedom transmission mechanism packet The the first elevator 4-1 and the second elevator 4-2 being symmetrically laid on the middle plate 2 along Y direction are included, and along X-axis Direction is laid in third elevator 18-1 and the 4th elevator 18-2 on the middle plate 2, the top of the first elevator 4-1 It is equipped at the top of the first lifter plate 5-1, the second elevator 4-2 and the second lifter plate 5-2, the third elevator is installed Third lifter plate 19-1 is installed at the top of 18-1, the 4th lifter plate 19-2 is installed at the top of the 4th elevator 18-2, It is provided with the first bindiny mechanism connecting with the upper plate 3 on the first lifter plate 5-1 and the second lifter plate 5-2, The second bindiny mechanism connecting with the upper plate 3, institute are provided on the third lifter plate 19-1 and the 4th lifter plate 19-2 The first bindiny mechanism is stated to include the first movable plate 6-1, be slidably matched to slide assemblies and the first movable plate 6-1 by X First support plate 6-2, the first Y-direction linear guide 8-1 being fixedly mounted on the top surface the first support plate 6-2 and with it is described The first Y-direction linear slider 8-2 that first Y-direction linear guide 8-1 is matched, the first Y-direction linear slider 8-2 are fixedly installed with On 3 bottom surface of upper plate, it is provided with X in two first bindiny mechanisms and connects to mobile mechanism, any one of first Y-direction mobile mechanism is provided on connection mechanism, second bindiny mechanism includes the second movable plate 20-1, passes through Y-direction slide assemblies The second support plate 20-2 for being slidably matched with the second movable plate 20-1, it is arranged on the top surface the second support plate 20-2 The first X that first X is matched to linear guide 21-1 and with the first X to linear guide 21-1 to linear slider 21-2, First X is fixedly mounted on 3 bottom surface of upper plate to linear slider 21-2, and the Z-direction rotation drive machine includes and institute It states the driving gear 15-1 of the connection of plate 2 and is fixedly mounted on the arc being meshed on the bottom plate 1 with the driving gear 15-1 Shape rack gear 15-2, is provided with round guiding mechanism between the bottom plate 1 and the middle plate 2, the first elevator 4-1, described It is second elevator 4-2, the third elevator 18-1 and the 4th elevator 18-2 and the Y-direction mobile mechanism, described X is driven to mobile mechanism and the driving gear 15-1 by servo motor；The control device include computer 30, with it is described PLC module 26 that computer 30 connects, be connected to 26 input terminal of PLC module for acquiring 3 kinematic parameter of upper plate The first acquisition unit and the second acquisition unit, and for acquiring the middle plate 2 along the absolute value of Z-direction rotational parameters Encoder 29, the servo motor are connect with the PLC module 26.

As shown in Figure 1, in the present embodiment, by setting bottom plate 1, therapeutic bed bed body and for driving the therapeutic bed bed body Realize that the transmission device of six-freedom motion, the transmission device include for driving the therapeutic bed bed body to realize five degree of freedom The five degree of freedom transmission mechanism of movement and Z-direction for driving the therapeutic bed bed body to rotate around Z-direction rotate driver Structure, in actual use, the six-freedom motion of the therapeutic bed bed body include that therapeutic bed bed body is moved along X-direction, treated Bed bed body moved along Y direction moved with therapeutic bed bed body along Z-direction and therapeutic bed bed body along X-direction turn Dynamic, therapeutic bed bed body is rotated along Y direction and therapeutic bed bed body is rotated along Z-direction, due to the therapeutic bed bed body packet Middle plate 2 and upper plate 3 are included, the five degree of freedom transmission mechanism is arranged between the middle plate 2 and the upper plate 3, the Z-direction rotation Transmission mechanism is arranged between the bottom plate 1 and the middle plate 2, and the five degree of freedom movement of the therapeutic bed bed body includes therapeutic bed Bed body is moved along X-direction, therapeutic bed bed body is moved along Y direction and moved with therapeutic bed bed body along Z-direction, and Therapeutic bed bed body is rotated along X-direction rotation and therapeutic bed bed body along Y direction, when upper plate 3 generates five relative to middle plate 2 Freedom degree move when, the as described therapeutic bed bed body realize five degree of freedom movement purpose, in the middle plate 2 relative to bottom plate 1 around Z-direction rotation when, the as described therapeutic bed bed body realize around Z-direction rotation purpose.

As shown in Figure 2, Figure 5 and Figure 6, in the present embodiment, the five degree of freedom transmission mechanism includes symmetrical along Y direction The the first elevator 4-1 and the second elevator 4-2 being laid on the middle plate 2, and the middle plate is laid in along X-direction Third elevator 18-1 and the 4th elevator 18-2 on 2, in actual use, since the top of the first elevator 4-1 is pacified Equipped with being equipped with the second lifter plate 5-2, the first lifter plate 5- at the top of the first lifter plate 5-1, the second elevator 4-2 It is provided with the first bindiny mechanism connecting with the upper plate 3 on 1 and the second lifter plate 5-2, the first bindiny mechanism includes First movable plate 6-1 and the first support plate 6-2, between the first movable plate 6-1 and the first lifter plate 5-1 and the first movable plate 6- 1 is hinged with the second lifter plate 5-2, and passes through the first Y-direction linear guide 8-1 and first between the first support plate 6-2 and upper plate 1 The 8-2 connection of Y-direction linear slider, therefore, under the drive of the first elevator 4-1, the first lifter plate 5-1 can be along Z-direction Mobile, under the drive of the second elevator 4-2, the second lifter plate 5-2 can be moved along Z-direction, as the first lifter plate 5-1 The direction moved along Z-direction and the second lifter plate 5-2 along Z-direction move it is contrary when, can band Dynamic upper plate 3 is rotated around X-direction.

As shown in Fig. 2, Fig. 8 and Fig. 9, since third elevator 18-1 and the 4th elevator 18-2 is laid along X-direction On the middle plate 2, and third lifter plate 19-1, the 4th elevator are installed at the top of the third elevator 18-1 Be equipped at the top of 18-2 on the 4th lifter plate 19-2, the third lifter plate 19-1 and the 4th lifter plate 19-2 be provided with The second bindiny mechanism that the upper plate 3 connects, the second bindiny mechanism include the second movable plate 20-1 and the second support plate 20-2, the By the first X to linear guide 21-1 and the first X to linear slider 21-2 connection between two support plate 20-2 and upper plate 1, the Under the drive of three elevator 18-1, third lifter plate 19-1 can be moved along Z-direction, in the drive of the 4th elevator 18-2 Under, the 4th lifter plate 19-2 can be moved along Z-direction, when the direction moved along Z-direction third lifter plate 19-1 and 4th lifter plate 19-2 along Z-direction move it is contrary when, can drive upper plate 3 around Y direction rotate.

In actual use, the direction moved along Z-direction as the first lifter plate 5-1, the second lifter plate 5-2 are along Z axis Direction that the mobile direction in direction, third lifter plate 19-1 are moved along Z-direction and the 4th lifter plate 19-2 are along Z-direction When mobile direction is consistent, that is, it is able to achieve the purpose that upper plate 3 is moved along Z-direction.

As shown in Figure 7 and Figure 8, mobile by the way that Y-direction is arranged in any one of first bindiny mechanism in the present embodiment Mechanism, due to passing through the first X between the second support plate 20-2 and upper plate 1 to linear guide 21-1 and the first X to linear slider 21- 2 connections, are slidably matched between the second support plate 20-2 and the second movable plate 20-1 by Y-direction slide assemblies, when Y-direction is mobile When mechanism drives any one of first bindiny mechanism to move along Y direction, upper plate 3 can be with the first support plate 6-2 It is moved along Y direction.

As shown in figure 5, in the present embodiment, by being respectively provided with X in two first bindiny mechanisms to mobile mechanism, by By the first Y-direction linear guide 8-1 and the first Y-direction linear slider 8-2 connection between the first support plate 6-2 and upper plate 3, first It is slidably connected by X to slide assemblies between movable plate 6-1 and the first support plate 6-2, therefore, when X drives the to mobile mechanism When one support plate 6-2 is moved along X-direction, upper plate 3 can be moved with the first support plate 6-2 along X-direction.

In the present embodiment, by the way that the first Y-direction linear guide 8-1 is fixedly mounted on the top surface of the first support plate 6-2, and set The the first Y-direction linear slider 8-2 matched with the first Y-direction linear guide 8-1 is set, due to the first Y-direction linear slider 8-2 is fixedly installed on 3 bottom surface of upper plate, in actual use, sliding by the first Y-direction linear guide 8-1 and the first Y-direction straight line Being slidably matched between block 8-2 can not only realize the connection between upper plate 3 and the first support plate 6-2, and when upper plate 3 is in Y When being moved under to the drive of mobile mechanism along Y direction, the first Y-direction linear guide 8-1 and the first Y-direction linear slider 8-2 energy It is enough oriented to for upper plate 3, ensure that the guiding accuracy that upper plate 3 is moved along Y direction.

As shown in figure 8, in the present embodiment, by the way that the first X is arranged on the second top surface support plate 20-2 to linear guide 21- 1, and the first X that is matched to linear guide 21-1 with the first X is set to linear slider 21-2, due to the first X to Linear slider 21-2 is fixedly mounted on 3 bottom surface of upper plate, in actual use, by the first X to linear guide 21-1 and One X can not only realize the connection between upper plate 3 and the second support plate 20-2 to being slidably matched between linear slider 21-2, And when upper plate 3 moves under drive of the X to mobile mechanism along X-direction, the first X is to linear guide 21-1 and the first X It can be oriented to linear slider 21-2 for upper plate 3, ensure that the guiding accuracy that upper plate 3 is moved along X-direction.

As shown in Figure 3 and Figure 4, in the present embodiment, biography is rotated by the way that Z-direction is arranged between the bottom plate 1 and the middle plate 2 Motivation structure, the Z-direction rotation drive machine include driving gear 15-1 and the arc-shaped gear that is meshed with the driving gear 15-1 15-2, driving gear 15-1 are connect with middle plate 2, and arc-shaped rack 15-2 is fixedly mounted on the bottom plate 1, therefore, when actively Gear 15-1 is when servo motor is when being rotated by, and driving gear 15-1 is meshed with arc-shaped rack 15-2, middle plate 2 and bottom It relatively rotates between plate 1, can be realized the purpose that middle plate 2 is rotated around Z-direction, since middle plate 2 is connected with upper plate 3 Therapeutic bed bed body is collectively formed, therefore, can be realized the purpose that therapeutic bed bed body is rotated around Z-direction.

As shown in Figure 3 and Figure 4, in the present embodiment, by being provided with round guiding mechanism between bottom plate 1 and middle plate 2, no It only can be realized the connection between bottom plate 1 and middle plate 2, and when relatively rotating between bottom plate 1 and middle plate 2, circle is led It can be oriented to mechanism for bottom plate 1 with middle plate 2, ensure that the guiding accuracy that middle plate 2 is rotated around Z-direction, to mention The pendulum position precision that high therapeutic bed bed body is rotated around Z-direction.

As shown in Figure 10, in the present embodiment, by the way that the control device connecting with the transmission device is arranged, by control device The five degree of freedom transmission mechanism and the Z-direction rotation drive machine are carried out automatically controlling, control device include computer 30, The PLC module 26 that connect with the computer 30 is connected to transporting for acquiring the upper plate 3 for 26 input terminal of PLC module The first acquisition unit and the second acquisition unit of dynamic parameter, and for acquiring the middle plate 2 along Z-direction rotational parameters Absolute value encoder 29 is controlled by the first acquisition unit, the second acquisition unit and absolute value encoder 29 described in actual use It treats kinematic parameter of the bed bed body on six-freedom degree direction to be measured in real time, and kinematic parameter collected is transferred to Kinematic parameter collected is transferred to computer 30 by PLC module 26, by computer 30 to fortune collected by PLC module 26 Dynamic parameter carries out calculating analysis, then controls multiple servo motors by PLC module 26, thus realize therapeutic bed bed body six from The automatic control moved upwards by the side of spending improves the accuracy that the therapeutic bed bed body is moved upwards in six-freedom degree side.

As shown in Fig. 5, Fig. 6, Fig. 8 and Fig. 9, in the present embodiment, the first elevator 4-1, the second elevator 4-2, Three elevator 18-1 and the 4th elevator 18-2 are turbine and worm elevator, and the first lifter plate 5-1 is fixedly mounted on On one lead screw of elevator 4-1-1, the second lifter plate 5-2 is fixedly mounted on the second lead screw of elevator 4-2-1, the third Lifter plate 19-1 is fixedly mounted on third lead screw of elevator 18-1-1, and the 4th lifter plate 19-2 is fixedly mounted on the 4th liter On drop machine screw rod 18-2-1.

In the present embodiment, between the first lifter plate 5-1 and the first movable plate 6-1 and second lifter plate It is hinged by cross connecting piece 6-3 and bolt 6-4 between 5-2 and the first movable plate 6-1, the second movable plate 20-1 Between third lead screw of elevator 18-1-1 and between the second movable plate 20-1 and the 4th lead screw of elevator 18-2-1 It is rotatablely connected by self-aligning ball bearing 20-3 and locking nut 20-4.

In the present embodiment, between the first lifter plate 5-1 and the first movable plate 6-1 and the second lifter plate 5-2 and institute It states and is by the hinged purpose of cross connecting piece 6-3 and bolt 6-4 between the first movable plate 6-1: due to the first movable plate The first support plate 6-2 is slidably fitted on 6-1, between upper plate 3 and the first support plate 6-2 by the first Y-direction linear guide 8-1 and First Y-direction linear slider 8-2 connection, when the direction and the second edge lifter plate 5-2 that the first lifter plate 5-1 is moved along Z-direction Z-direction mobile contrary when, at this point, upper plate 3 has the trend to rotate along Y direction, on guaranteeing Plate 3 can rotate along Y direction, and the first support plate 6-2 and the first movable plate 6-1 should be able to be as upper plate 3 be along Y Axis direction rotates, and in actual use, is coupled on each cross connecting piece 6-3 there are four bolt 6-4, two of them Bolt 6-4 is located in X-direction, and wherein other two bolt 6-4 is located in Y direction, therefore, when upper plate 3 is along Y direction When rotating, the first movable plate 6-1 can around be located at Y direction on two bolt 6-4 rotate, can guarantee on The flexibility that plate 3 is rotated along Y direction.

Due to slidably connecting the second support plate 20-2 on the second movable plate 20-1, upper plate 3 and the second support plate 20-2 it Between by the first X to linear guide 21-1 and the first X to linear slider 21-2 connection, when third lead screw of elevator 18-1-1 along The mobile direction of Z-direction and the 4th lead screw of elevator 18-2-1 along Z-direction move it is contrary when, at this point, upper plate 3 With the trend to rotate along X-direction, in order to guarantee that upper plate 3 can rotate along X-direction, the second support plate 20-2 and the second movable plate 20-1 should be able to rotate with upper plate 3 along X-direction, therefore, described in the present embodiment Between second movable plate 20-1 and third lead screw of elevator 18-1-1 and the second movable plate 20-1 and the 4th elevator silk It is rotatablely connected by self-aligning ball bearing 20-3 and locking nut 20-4 between bar 18-2-1, when upper plate 3 occurs along X-direction When rotation, under the action of self-aligning ball bearing 20-3, the second movable plate 20-1 can rotate around X-direction, Neng Goubao The flexibility that card upper plate 3 is rotated along X-direction.

Meanwhile when upper plate 3 is rotated along X-direction, the first movable plate 6-1 can be around two be located in X-direction A bolt 6-4 rotates, when upper plate 3 rotates along Y direction, under the action of self-aligning ball bearing 20-3, and second Movable plate 20-1 can rotate around Y direction, i.e., in the first elevator 4-1, the second elevator 4-2, third elevator 18-1 and when the 4th elevator 18-2 teamwork, ensure that the flexibility that upper plate 3 moves, using effect is good.

As shown in Fig. 5, Fig. 6, Fig. 8 and Fig. 9, in the present embodiment, between the first lifter plate 5-1 and the first elevator 4-1 with And second be provided between lifter plate 5-2 and the second elevator 4-2 the first Z-direction guide rod 33-1, third lifter plate 19-1 with The second Z-direction guide rod is provided between third elevator 18-1 and between the 4th lifter plate 19-2 and the 4th elevator 18-2 33-2。

In the present embodiment, by between the first lifter plate 5-1 and the first elevator 4-1 and the second lifter plate 5-2 with The first Z-direction guide rod 33-1 is respectively provided between second elevator 4-2, when the first elevator 4-1 drive the first lifter plate 5-1 along Z-direction is mobile, when the second elevator 4-2 drives the second lifter plate 5-2 to move along Z-direction, the first Z-direction guide rod 33-1 It can be improved the accuracy in direction when the first lifter plate 5-1 and the second lifter plate 5-2 is moved along Z-direction, so as to protect The accuracy in direction when card upper plate 3 is moved along Z-direction；By between third lifter plate 19-1 and third elevator 18-1 And the 4th be respectively provided with the second Z-direction guide rod 33-2 between lifter plate 19-2 and the 4th elevator 18-2, as third elevator 18- 1 drive third lifter plate 19-1 is moved along Z-direction, and the 4th elevator 18-2 drives the 4th lifter plate 19-2 along Z axis side To when movement, the second Z-direction guide rod 33-2 can be improved third lifter plate 19-1 and the 4th lifter plate 19-2 is moved along Z-direction The accuracy in direction, the accuracy in direction when so as to guarantee that upper plate 3 is moved along Z-direction when dynamic.

As shown in Fig. 2, the first elevator 4-1 is driven by first servo motor 9-1 in the present embodiment, described second Elevator 4-2 is driven by the second servo motor 9-2, and the third elevator 18-1 is driven by third servo motor 10-1, described 4th elevator 18-2 is driven by the 4th servo motor 10-2, and the Y-direction mobile mechanism is driven by the 5th servo motor 11, is located at The X above the first elevator 4-1 is driven to mobile mechanism by the 6th servo motor 12-1, is located at second lifting The X above machine 4-2 is driven to mobile mechanism by the 7th servo motor 12-2, and the 6th servo motor 12-1's is defeated The output shaft of shaft direction and the 7th servo motor 12-2 towards on the contrary, the driving gear 15-1 by the 8th servo motor 13 drivings, the 8th servo motor 13 are fixedly mounted on middle plate 2, are connected with deceleration on the output shaft of the 8th servo motor 13 Machine 14, the driving gear 15-1 are fixedly mounted on the output shaft of the speed reducer 14, and the output shaft of the speed reducer 14 is perpendicular It is straight to lay.

In the present embodiment, the output shaft direction of the 6th servo motor 12-1 and the 7th servo motor 12-2's is defeated Shaft is towards opposite purpose: when upper plate 3 is rotated around Y direction, upper plate 3 is made to keep balance under the effect of gravity, Guarantee the precision that rotates around Y direction of upper plate 3, in actual use, the rotation direction of the 6th servo motor 12-1 and described the The rotation direction of seven servo motor 12-2 must be on the contrary, make upper plate 3 can be in the 6th servo motor 12-1 and the 7th servo electricity Along the forward direction of Y direction or the reverse movement of Y direction under machine 12-2 collective effect.

As shown in Figure 2, Figure 5 and Figure 6, in the present embodiment, the X includes and the first support plate 6-2 to mobile mechanism The X being fixedly connected is fixedly mounted on institute to screw rod 7-1, with silk the seat 7-2, the silk seat 7-2 that the X is matched to screw rod 7-1 It states on the first movable plate 6-1, the output shaft of the 6th servo motor 12-1 and the institute being located above the first elevator 4-1 X is stated to be fixedly connected to the X of mobile mechanism to screw rod 7-1, the output shaft of the 7th servo motor 12-2 be located at described second The X above elevator 4-2 is fixedly connected to the X of mobile mechanism to screw rod 7-1.

In the present embodiment, the side of the first support plate 6-2 is provided with the first attachment base 7-3 and the second attachment base 7-4, The X is fixed to one end of screw rod 7-1 with the output shaft of the 6th servo motor 12-1 or the output shaft of the 7th servo motor 12-2 Connection, the X are rotatably installed on the first attachment base 7-3 to the other end of screw rod 7-1, and the 6th servo motor 12-1 or the 7th is watched It takes motor 12-2 to be fixedly mounted on the second attachment base 7-4, in actual use, since silk seat 7-2 is fixedly mounted on described first On movable plate 6-1, and the first movable plate 6-1 is hingedly mounted on the top of the first lifter plate 5-1 or the second lifter plate 5-2, and The first support plate 6-2 is slidably mounted on the top of the first movable plate 6-1 by X to slide assemblies, therefore, when the X to For screw rod 7-1 in the 6th servo motor 12-1 or when being rotated by of the 7th servo motor 12-2, the X can to screw rod 7-1 The first support plate 6-2 is driven to be moved along X to the length direction of screw rod 7-1, due to the first support plate 6-2 and upper plate Upper plate is able to drive by the first Y-direction linear guide 8-1 and the first Y-direction linear slider 8-2 connection, the first support plate 6-2 between 3 3 move along X-direction, and structure is simple, stable drive, and using effect is good.

As shown in figure 5, in the present embodiment, X to slide assemblies include the 2nd X being fixedly mounted on the first movable plate 6-1 To linear guide 31-1 and be fixedly mounted on the first support plate 6-2 and be slidably matched with the 2nd X to linear guide 31-1 Two X are to linear slider 31-2.

As shown in Figure 1 and Figure 7, in the present embodiment, the Y-direction mobile mechanism include Y-direction ball-screw 22-1 and with the Y The support 22-2 matched to ball-screw 22-1, the support 22-2 are fixedly mounted on 3 bottom surface of upper plate, the Y-direction One end of ball-screw 22-1 is equipped with vertical transition plates 23, is equipped with connecting rod 24, the company in the vertical transition plates 23 Extension bar 24 is fixedly connected with the first support plate 6-2, is provided with Y-direction between the support 22-2 and the vertical transition plates 23 Guide rod 25 is connected between the 5th servo motor 11 and the Y-direction ball-screw 22-1 by belt drive component.

As shown in Figure 7 and Figure 8, in actual use, it is matched due to the Y-direction ball-screw 22-1 with support 22-2, when Under the driving of the 5th servo motor 11, when Y-direction ball-screw 22-1 is rotated, support 22-2 can be along Y-direction ball-screw 22-1 Length direction moved, since support 22-2 is fixedly mounted on 3 bottom surface of upper plate, upper plate 3 can along Y-axis It is moved in direction；When connecting rod 24 is connect with the first support plate 6-2, vertical transition plates 23 is fixedly connected with connecting rod 24 When, vertical transition plates 23, connecting rod 24 and the first support plate 6-2 constitute one for one end for Y-direction ball-screw 22-1 The support construction of rotational installation ensure that the stability of Y-direction ball-screw 22-1 installation.

In the present embodiment, by the way that Y-direction guide rod 25 is arranged between support 22-2 and vertical transition plates 23, branch can be improved The precision that seat 22-2 is moved along the length direction of Y-direction ball-screw 22-1, improve Y-direction ball-screw 22-1 uses the longevity Life.

As shown in figure 8, Y-direction slide assemblies include the 2nd Y being fixedly mounted on the second movable plate 20-1 in the present embodiment To linear guide 32-1 and be fixedly mounted on the second support plate 20-2 and be slidably matched with the second Y-direction linear guide 32-1 Two Y-direction linear slider 32-2.

As shown in Figure 3 and Figure 4, in the present embodiment, the circle guiding mechanism is fixedly mounted on described including at least two Arc-shaped guide rail 16-1 and at least two on 1 top surface of bottom plate is fixedly mounted on the bottom surface of the middle plate 2 and the arc-shaped guide rail The arc shaped slider 16-2, at least two arc-shaped guide rail 16-1 that 16-1 is matched constitute a virtual circular guideway, at least Two arc shaped slider 16-2 constitute a round slider matched with the virtual circular guideway, and the bottom plate 1 pushes up Being provided with for limiting the arc shaped slider 16-2 along the spacer pin 16-3 of the arc-shaped guide rail 16-1 sliding position on face.

As shown in figure 4, the quantity of arc-shaped guide rail 16-1 is 4, and four arc-shaped guide rail 16-1 are capable of forming in the present embodiment One circuit orbit, the center of circle of the circuit orbit and the geometric center point of bottom plate 1 coincide, and symmetry is good, when bottom plate 1 is in When relatively rotating between plate 2, middle plate 2 can improve bottom around the Z-direction rotation of the geometric center by bottom plate 1 The rotation precision of plate 1 and middle plate 2.

As shown in figure 4, being provided with plane bearing 17 between the bottom plate 1 and the middle plate 2 in the present embodiment.

In the present embodiment, by being provided with plane bearing 17 between bottom plate 1 and middle plate 2, bottom plate 1 and middle plate can be improved The flexibility relatively rotated between 2.

As shown in Figure 1, one end of the upper plate 3 is equipped with the head of a bed 34, the bottom plate 1 and the upper plate 3 in the present embodiment Between be provided with organ cover 35.

As shown in figs. 2 and 10, in the present embodiment, first acquisition unit includes for acquiring the first lifter plate 5-1 Between the middle plate 2 the first laser rangefinder 27-1 of distance, for acquiring between the second lifter plate 5-2 and the middle plate 2 Second laser rangefinder 27-2, the third laser for acquiring distance between third lifter plate 19-1 and the middle plate 2 of distance Rangefinder 27-3 and the 4th laser range finder 27-4 for acquiring distance between the 4th lifter plate 19-2 and the middle plate 2, institute Stating the second acquisition unit includes for acquiring the upper plate 3 along the first grating scale displacement sensor of X-direction moving parameter 28-1 and for acquiring the upper plate 3 along the second grating scale displacement sensor 28-2 of Y direction moving parameter.

In actual use, first servo motor 9-1 is connected by first servo motor driver and the output end of PLC module 26 It connects, the second servo motor 9-2 is connect by the second motor servo driver with the output end of PLC module 26, third servo motor 10-1 is connect by third motor servo driver with the output end of PLC module 26, and the 4th servo motor 10-2 is watched by the 4th It takes motor driver to connect with the output end of PLC module 26, the 5th servo motor 11 passes through the 5th motor servo driver and PLC The output end of module 26 connects, and the 6th servo motor 12-1 passes through the output end of the 6th motor servo driver and PLC module 26 Connection, the 7th servo motor 12-2 are connect by the 7th motor servo driver with the output end of PLC module 26, the 8th servo electricity Machine 13 is connect by the 8th motor servo driver with the output end of PLC module 26.

In the present embodiment, the quantity of first grating scale displacement sensor 28-1 is two, and two first grating scale displacements pass Sensor 28-1 is separately mounted in the X-direction of two the first support plate 6-2.

In the present embodiment, the quantity of second grating scale displacement sensor 28-2 is two, and two second grating scale displacements pass Sensor 28-2 is separately mounted in the Y direction of two the first support plate 6-2.

The control process that the therapeutic bed bed body is moved along X-direction: starting the 6th servo motor 12-1 and the 7th is watched The rotation direction of motor 12-2, the 6th servo motor 12-1 and the 7th servo motor 12-2 are taken on the contrary, by the 6th servo motor 12- 1 driving is located at the X above the first elevator 4-1 to mobile mechanism, is located at the second elevator by the 7th servo motor 12-2 driving To mobile mechanism, upper plate 3 moves X above 4-2 along X-direction, first grating scale displacement sensor 28-1 to upper plate 3 along The mobile displacement of X-direction is measured in real time, and obtains the measured displacements that upper plate 3 is moved along X-direction, upper plate 3 is along X-axis The mobile measured displacements in direction are transferred to computer 30 through PLC module 26, are moved upper plate 3 along X-direction by computer 30 Measured displacements be compared with the therapeutic bed bed body along the displacement of targets that X-direction moves, when upper plate 3 is along X-axis side When the displacement of targets moved to mobile measured displacements and the therapeutic bed bed body along X-direction is equal, PLC module 26 is controlled 6th servo motor 12-1 stops working, at this point, the therapeutic bed bed body is moved to target position along X-direction；When upper plate 3 When the measured displacements and the therapeutic bed bed body moved along X-direction are unequal along the displacement of targets that X-direction moves, by PLC module 26 controls the 6th servo motor 12-1 and is adjusted to upper plate 3 along the measured displacements that X-direction moves, until upper The measured displacements that plate 3 is moved along X-direction are equal to the displacement of targets that the therapeutic bed bed body is moved along X-direction, make institute It states therapeutic bed bed body and is moved to target position along X-direction.

The control process that the therapeutic bed bed body is moved along Y direction: the 5th servo motor 11 of starting, by the 5th servo Motor 11 drives Y-direction mobile mechanism, and upper plate 3 is moved along Y direction, and second grating scale displacement sensor 28-2 is to 3 edge of upper plate The mobile displacement of Y direction be measured in real time, obtain the measured displacements that upper plate 3 is moved along Y direction, upper plate 3 is along Y The mobile measured displacements of axis direction are transferred to computer 30 through PLC module 26, and computer 30 moves upper plate 3 along Y direction Measured displacements be compared with the therapeutic bed bed body along the displacement of targets that Y direction moves, when upper plate 3 is along Y-axis side When the displacement of targets moved to mobile measured displacements and the therapeutic bed bed body along Y direction is equal, PLC module 26 is controlled 5th servo motor 11 stops working, and the therapeutic bed bed body is moved to target position along Y direction, when upper plate 3 is along Y-axis When the measured displacements and the therapeutic bed bed body of direction movement are unequal along the displacement of targets that Y direction moves, by PLC module 26 the 5th servo motors 11 of control are adjusted upper plate 3 along the measured displacements that Y direction moves, until upper plate 3 is along Y-axis The mobile measured displacements in direction are equal to the displacement of targets that the therapeutic bed bed body is moved along Y direction, make the therapeutic bed bed Body is moved to target position along Y direction.

In the present embodiment, first laser rangefinder 27-1, second laser rangefinder 27-2, third laser range finder 27-3 and 4th laser range finder 27-4 is fixedly mounted on the upper surface of middle plate 2, and first laser rangefinder 27-1 is located at the first lifter plate The underface of 5-1, second laser rangefinder 27-2 are located at the underface of the second lifter plate 5-2, and third laser range finder 27-3 In the underface of third lifter plate 19-1, the 4th laser range finder 27-4 is located at the underface of the 4th lifter plate 19-2.

The control process that the therapeutic bed bed body is moved along Z-direction: starting first servo motor 9-1, the second servo Motor 9-2, third servo motor 10-1 and the 4th servo motor 10-2, by the first elevator 4-1, the second elevator 4-2, third Elevator 18-1 and the 4th elevator 18-2 drives upper plate 3 to move along Z-direction simultaneously, and first laser rangefinder 27-1 is to Distance is measured in real time between one lifter plate 5-1 and middle plate 2, obtain actual measurement between the first lifter plate 5-1 and middle plate 2 away from From the measured distance between the first lifter plate 5-1 and middle plate 2 is transferred to computer 30, second laser rangefinder through PLC module 26 27-2 is measured in real time distance between the second lifter plate 5-2 and middle plate 2, obtains between the second lifter plate 5-2 and middle plate 2 Measured distance, the measured distance between the second lifter plate 5-2 and middle plate 2 are transferred to computer 30, third laser through PLC module 26 Rangefinder 27-3 is measured in real time distance between third lifter plate 19-1 and middle plate 2, obtains third lifter plate 19-1 in Measured distance between plate 2, the measured distance between third lifter plate 19-1 and middle plate 2 are transferred to computer through PLC module 26 30, the 4th laser range finder 27-3 is measured in real time distance between the 4th lifter plate 19-2 and middle plate 2, obtains the 4th lifting Measured distance between plate 19-2 and middle plate 2, the measured distance between the 4th lifter plate 19-2 and middle plate 2 are passed through PLC module 26 It is defeated by computer 30, by computer 30 by calculating the measured distance between the first lifter plate 5-1 and middle plate 2, the second lifting Measured distance, third lifter plate 19-1 between plate 5-2 and middle plate 2 and measured distance and the 4th lifter plate between middle plate 2 Measured distance between 19-2 and middle plate 2 is converted into the measured displacements that upper plate 3 is moved along Z-direction, and by upper plate 3 along The mobile measured displacements of Z-direction are compared with the therapeutic bed bed body along the displacement of targets that Z-direction moves, and work as upper plate When 3 measured displacements moved along Z-direction and the therapeutic bed bed body are equal along the displacement of targets that Z-direction moves, PLC Module 26 controls first servo motor 9-1, the second servo motor 9-2, third servo motor 10-1 and the 4th servo motor 10-2 It stops working, the therapeutic bed bed body is moved to target position along Z-direction, when the reality that upper plate 3 is moved along Z-direction When displacement and the therapeutic bed bed body are unequal along the displacement of targets that Z-direction moves, watched by the control of PLC module 26 first Motor 9-1, the second servo motor 9-2, third servo motor 10-1 and the 4th servo motor 10-2 are taken to upper plate 3 along Z axis side It is adjusted to mobile measured displacements, until upper plate 3 is equal to the therapeutic bed bed body along the measured displacements that Z-direction moves The displacement of targets moved along Z-direction makes the therapeutic bed bed body be moved to target position along Z-direction.

The control process that the therapeutic bed bed body is rotated along X-direction: starting first servo motor 9-1 and the second servo Motor 9-2 drives upper plate 3 along Z-direction by first servo motor 9-1 the first elevator of driving 4-1, the first elevator 4-1 It is mobile, drive upper plate 3 to move along Z-direction by the second servo motor 9-2 the second elevator of driving 4-2, the second elevator 4-2 It is dynamic, and the direction that the first elevator 4-1 drives upper plate 3 to move along Z-direction drives upper plate 3 along Z with the second elevator 4-2 Mobile contrary of axis direction, upper plate 3 is rotated along X-direction, first laser rangefinder 27-1 to the first lifter plate 5-1 with Distance is measured in real time between middle plate 2, obtains the measured distance between the first lifter plate 5-1 and middle plate 2, the first lifter plate 5- Measured distance between 1 and middle plate 2 is transferred to computer 30 through PLC module 26, and second laser rangefinder 27-2 is gone up and down to second Distance is measured in real time between plate 5-2 and middle plate 2, obtains the measured distance between the second lifter plate 5-2 and middle plate 2, and second Measured distance between lifter plate 5-2 and middle plate 2 is transferred to computer 30 through PLC module 26, and computer 30 is by calculating the The measured distance between measured distance and the second lifter plate 5-2 and middle plate 2 between one lifter plate 5-1 and middle plate 2 is converted into The actual measurement angle that upper plate 3 is rotated along X-direction, and the actual measurement angle and the therapeutic bed that upper plate 3 is rotated along X-direction Bed body is compared along the target angle that X-direction rotates, the actual measurement angle that rotates along X-direction when upper plate 3 and described When therapeutic bed bed body is equal along the target angle that X-direction rotates, PLC module 26 controls first servo motor 9-1 and second Servo motor 9-2 stops working, and the therapeutic bed bed body turns to target position along X-direction, when upper plate 3 is along X-axis side When the target angle rotated to the actual measurement angle of rotation and the therapeutic bed bed body along X-direction is unequal, PLC module 26 is controlled First servo motor 9-1 processed and the second servo motor 9-2 is adjusted upper plate 3 along the actual measurement angle that X-direction rotates, directly The actual measurement angle rotated to upper plate 3 along X-direction is equal to the target angle that the therapeutic bed bed body is rotated along X-direction, The therapeutic bed bed body is set to turn to target position along X-direction.

The control process that the therapeutic bed bed body is rotated along Y direction: starting third servo motor 10-1 and the 4th is watched Motor 10-2 is taken, drives third elevator 18-1, third elevator 18-1 to drive upper plate 3 along Z by third servo motor 10-1 Axis direction is mobile, drives the 4th elevator 18-2, the 4th elevator 18-2 to drive upper plate 3 along Z by the 4th servo motor 10-2 Axis direction is mobile, and the direction that third elevator 18-1 drives upper plate 3 to move along Z-direction drives with the 4th elevator 18-2 Upper plate 3 moves contrary along Z-direction, and upper plate 3 is rotated along Y direction, and third laser range finder 27-3 is to third Distance is measured in real time between lifter plate 19-1 and middle plate 2, obtain actual measurement between third lifter plate 19-1 and middle plate 2 away from From the measured distance between third lifter plate 19-1 and middle plate 2 is transferred to computer 30, the 4th laser ranging through PLC module 26 Instrument 27-4 is measured in real time distance between the 4th lifter plate 19-2 and middle plate 2, obtain the 4th lifter plate 19-2 and middle plate 2 it Between measured distance, the measured distance between the 4th lifter plate 19-2 and middle plate 2 is transferred to computer 30 through PLC module 26, counts Calculation machine 30 by calculate by between third lifter plate 19-1 and middle plate 2 measured distance and the 4th lifter plate 19-2 and middle plate 2 it Between measured distance be converted into the actual measurement angle that upper plate 3 is rotated along Y direction, and upper plate 3 is rotated along Y direction Actual measurement angle and the therapeutic bed bed body are compared along the target angle that Y direction rotates, when upper plate 3 is along Y direction When the actual measurement angle of rotation and the therapeutic bed bed body are equal along the target angle that Y direction rotates, the control of PLC module 26 the Three servo motor 10-1 and the 4th servo motor 10-2 stop working, and the therapeutic bed bed body turns to target along Y direction Position, the target angle that the actual measurement angle and the therapeutic bed bed body rotated along Y direction when upper plate 3 is rotated along Y direction When spending unequal, PLC module 26 controls third servo motor 10-1 and the 4th servo motor 10-2 to upper plate 3 along Y direction The actual measurement angle of rotation is adjusted, until upper plate 3 is equal to therapeutic bed bed body edge along the actual measurement angle that Y direction rotates Y direction rotation target angle, so that the therapeutic bed bed body is turned to target position along Y direction.

As shown in figure 3, the absolute value encoder 29 is fixedly mounted on the upper surface of middle plate 2, and absolutely in the present embodiment Value encoder 29 is located at the geometric center of the upper surface of middle plate 2.

The control process that the therapeutic bed bed body is rotated along Z-direction: the 8th servo motor 13 of starting, by the 8th servo Motor 13 drives the therapeutic bed bed body to rotate around Z-direction, and absolute value encoder 29 is to the therapeutic bed bed body around Z axis The angle of direction rotation is measured in real time, and obtains the actual measurement angle that the therapeutic bed bed body is rotated around Z-direction, described to control It treats actual measurement angle that bed bed body is rotated around Z-direction and is transferred to computer 30 through PLC module 26, computer 30 is by the treatment Bed bed body is carried out with the therapeutic bed bed body around the target angle that Z-direction rotates around the actual measurement angle that Z-direction rotates Compare, when the therapeutic bed bed body is rotated with the therapeutic bed bed body around Z-direction around the actual measurement angle that Z-direction rotates Target angle it is equal when, PLC module 26 control the 8th servo motor 13 stop working, the therapeutic bed bed body is along Z axis side To turning to target position, the actual measurement angle and the therapeutic bed bed body that rotate around Z-direction when the therapeutic bed bed body around Z-direction rotation target angle it is unequal when, PLC module 26 control the 8th servo motor 13 to the therapeutic bed bed body around The actual measurement angle of Z-direction rotation be adjusted, until the actual measurement angle etc. that is rotated along Z-direction of the therapeutic bed bed body In the target angle that the therapeutic bed bed body is rotated along Z-direction, the therapeutic bed bed body is made to turn to mesh along Z-direction Cursor position.

In actual use, six degree of freedom radiation therapeutical bed during the motion, move along X-direction by the therapeutic bed bed body Dynamic, described therapeutic bed bed body is moved along Y direction and the therapeutic bed bed body is moved along Z-direction and the treatment Bed bed body is along X-direction rotation, the therapeutic bed bed body along Y direction rotation and the therapeutic bed bed body along Z axis side It can be carried out simultaneously to rotation, still, the traveled distance that the therapeutic bed bed body is moved along X-direction must be controlled described It treats in the setting stroke range that bed bed body is moved along X-direction, the practical row that the therapeutic bed bed body is moved along Y direction Cheng Bixu is in the setting stroke range that the therapeutic bed bed body is moved along Y direction, and the therapeutic bed bed body is along Z axis side Must be in the setting stroke range that the therapeutic bed bed body is moved along Z-direction to mobile traveled distance, the treatment The set angle that the actual angle that bed bed body is rotated along X-direction must be rotated in the therapeutic bed bed body along X-direction In range, the actual angle that the therapeutic bed bed body is rotated along Y direction must be in the therapeutic bed bed body along Y direction Within the scope of the set angle of rotation, the actual angle that the therapeutic bed bed body is rotated along Z-direction must be in the therapeutic bed Within the scope of the set angle that bed body is rotated along Z-direction.

In the present embodiment, setting stroke that the therapeutic bed bed body is moved along X-direction, the therapeutic bed bed body along The range for the setting stroke that the mobile setting stroke of Y direction and the therapeutic bed bed body are moved along Z-direction is 50mm ~100mm；Set angle that the therapeutic bed bed body is rotated along X-direction, the therapeutic bed bed body are rotated along Y direction Set angle and the range of set angle that is rotated along Z-direction of the therapeutic bed bed body be 3 °~5 °.

The above is only presently preferred embodiments of the present invention, is not intended to limit the invention in any way, it is all according to the present invention Technical spirit any simple modification to the above embodiments, change and equivalent structural changes, still fall within skill of the present invention In the protection scope of art scheme.

Claims

1. a kind of six degree of freedom radiation therapeutical bed, it is characterised in that: including bottom plate (1), setting controlling above the bottom plate (1) Treat bed bed body, for driving the therapeutic bed bed body to realize the transmission device of six-freedom motion and connect with the transmission device Control device, the therapeutic bed bed body includes middle plate (2) and the upper plate (3) that connect with the middle plate (2), the transmission device Including for driving the therapeutic bed bed body to realize the five degree of freedom transmission mechanism of five degree of freedom movement and for driving described control The Z-direction rotation drive machine that bed bed body is rotated around Z-direction is treated, the five degree of freedom transmission mechanism is arranged in the middle plate (2) between the upper plate (3), the Z-direction rotation drive machine is arranged between the bottom plate (1) and the middle plate (2)；Institute Stating five degree of freedom transmission mechanism includes the first elevator (4-1) being symmetrically laid on the middle plate (2) along Y direction and Two elevators (4-2), and the third elevator (18-1) being laid on the middle plate (2) along X-direction and the 4th are gone up and down Machine (18-2) is equipped with the first lifter plate (5-1) at the top of first elevator (4-1), second elevator (4-2) Top is equipped with the second lifter plate (5-2), is equipped with third lifter plate (19-1), institute at the top of the third elevator (18-1) It states and the 4th lifter plate (19-2) is installed at the top of the 4th elevator (18-2), first lifter plate (5-1) and described second The first bindiny mechanism connecting with the upper plate (3), the third lifter plate (19-1) and are provided on lifter plate (5-2) The second bindiny mechanism connecting with the upper plate (3) is provided on four lifter plates (19-2), first bindiny mechanism includes First movable plate (6-1), the first support plate (6- being slidably matched by X to slide assemblies and first movable plate (6-1) 2) the first Y-direction linear guide (8-1) for, being fixedly mounted on the first support plate (6-2) top surface and with first Y-direction The first Y-direction linear slider (8-2) that linear guide (8-1) matches, the first Y-direction linear slider (8-2) are fixedly installed with On upper plate (3) bottom surface, X is provided in two first bindiny mechanisms to mobile mechanism, any one of first Y-direction mobile mechanism is provided in bindiny mechanism, second bindiny mechanism includes the second movable plate (20-1), by Y-direction sliding The second support plate (20-2) that component and second movable plate (20-1) are slidably matched is arranged in the second support plate (20- 2) the first X on top surface to linear guide (21-1) and with the first X to the first X that linear guide (21-1) matches to Linear slider (21-2), the first X are fixedly mounted on the upper plate (3) bottom surface to linear slider (21-2), and the Z-direction turns Dynamic transmission mechanism includes the driving gear (15-1) connecting with the middle plate (2) and is fixedly mounted on the bottom plate (1) and institute The arc-shaped rack (15-2) that driving gear (15-1) is meshed is stated, is provided with circle between the bottom plate (1) and the middle plate (2) Guiding mechanism, first elevator (4-1), second elevator (4-2), the third elevator (18-1) and described Four elevators (18-2) and the Y-direction mobile mechanism, the X are to mobile mechanism and the driving gear (15-1) by watching Take motor driven；The control device includes computer (30), connect with the computer (30) PLC module (26), connection It is acquired in first acquisition unit and second for acquiring the upper plate (3) kinematic parameter of the PLC module (26) input terminal Unit, and for acquiring the middle plate (2) along the absolute value encoder (29) of Z-direction rotational parameters, the servo electricity Machine is connect with the PLC module (26).

2. a kind of six degree of freedom radiation therapeutical bed described in accordance with the claim 1, it is characterised in that: the first elevator (4- 1), the second elevator (4-2), third elevator (18-1) and the 4th elevator (18-2) are turbine and worm elevator, described First lifter plate (5-1) is fixedly mounted on the first lead screw of elevator (4-1-1), and second lifter plate (5-2) is fixedly mounted On the second lead screw of elevator (4-2-1), the third lifter plate (19-1) is fixedly mounted on third lead screw of elevator (18-1- 1) on, the 4th lifter plate (19-2) is fixedly mounted in the 4th lead screw of elevator (18-2-1).

3. a kind of six degree of freedom radiation therapeutical bed according to claim 2, it is characterised in that: the first lifter plate (5- 1) between first movable plate (6-1) and between second lifter plate (5-2) and first movable plate (6-1) Hingedly by cross connecting piece (6-3) and bolt (6-4), second movable plate (20-1) and third lead screw of elevator (18-1- 1) pass through self-aligning ball bearing between and between second movable plate (20-1) and the 4th lead screw of elevator (18-2-1) The rotation connection of (20-3) and locking nut (20-4).

4. a kind of six degree of freedom radiation therapeutical bed described in accordance with the claim 3, it is characterised in that: the first lifter plate (5- 1) between first elevator (4-1) and between second lifter plate (5-2) and second elevator (4-2) Be provided with the first Z-direction guide rod (33-1), between the third lifter plate (19-1) and the third elevator (18-1) and The second Z-direction guide rod (33-2) is provided between 4th lifter plate (19-2) and the 4th elevator (18-2).

5. a kind of six degree of freedom radiation therapeutical bed described in accordance with the claim 1, it is characterised in that: the first elevator (4- 1) it is driven by first servo motor (9-1), second elevator (4-2) is driven by the second servo motor (9-2), the third Elevator (18-1) is driven by third servo motor (10-1), and the 4th elevator (18-2) is by the 4th servo motor (10-2) Driving, the Y-direction mobile mechanism are driven by the 5th servo motor (11), the X being located above first elevator (4-1) It is driven to mobile mechanism by the 6th servo motor (12-1), is located at the X above second elevator (4-2) to moving machine Structure is driven by the 7th servo motor (12-2), and the output shaft direction and the described 7th of the 6th servo motor (12-1) is watched The output shaft of motor (12-2) is taken towards on the contrary, the driving gear (15-1) is driven by the 8th servo motor (13), the 8th watches It takes motor (13) to be fixedly mounted on middle plate (2), is connected with speed reducer (14) on the output shaft of the 8th servo motor (13), The driving gear (15-1) is fixedly mounted on the output shaft of the speed reducer (14), and the output shaft of the speed reducer (14) is perpendicular It is straight to lay.

6. a kind of six degree of freedom radiation therapeutical bed according to claim 5, it is characterised in that: the X is wrapped to mobile mechanism The X that is fixedly connected with first support plate (6-2) is included to screw rod (7-1), the silk seat matched with the X to screw rod (7-1) (7-2), the silk seat (7-2) are fixedly mounted on first movable plate (6-1), the 6th servo motor (12-1) it is defeated Shaft is fixedly connected with the X being located above first elevator (4-1) to the X of mobile mechanism to screw rod (7-1), described The output shaft of 7th servo motor (12-2) be located at second elevator (4-2) above X from the X to mobile mechanism to Screw rod (7-1) is fixedly connected.

7. a kind of six degree of freedom radiation therapeutical bed according to claim 5, it is characterised in that: the Y-direction mobile mechanism packet The support (22-2) for including Y-direction ball-screw (22-1) and being matched with the Y-direction ball-screw (22-1), the support (22-2) It being fixedly mounted on the upper plate (3) bottom surface, one end of the Y-direction ball-screw (22-1) is equipped with vertical transition plates (23), It is equipped with connecting rod (24) on the vertical transition plates (23), the connecting rod (24) and first support plate (6-2) are fixed Connection, is provided with Y-direction guide rod (25) between the support (22-2) and the vertical transition plates (23), the 5th servo electricity It is connect between machine (11) and the Y-direction ball-screw (22-1) by belt drive component.

8. a kind of six degree of freedom radiation therapeutical bed described in accordance with the claim 1, it is characterised in that: the circle guiding mechanism packet Include arc-shaped guide rail (16-1) that at least two are fixedly mounted on the bottom plate (1) top surface and at least two be fixedly mounted on it is described The arc shaped slider (16-2) matched on the bottom surface of middle plate (2) with the arc-shaped guide rail (16-1), at least two arcs are led Rail (16-1) constitutes a virtual circular guideway, at least two arc shaped sliders (16-2) constitute one with it is described virtually The round slider that circular guideway matches, being provided with for limiting the arc shaped slider (16-2) on bottom plate (1) top surface Along the spacer pin (16-3) of the arc-shaped guide rail (16-1) sliding position.

9. a kind of six degree of freedom radiation therapeutical bed according to claim 8, it is characterised in that: the bottom plate (1) and described Plane bearing (17) are provided between middle plate (2).

10. a kind of six degree of freedom radiation therapeutical bed described in accordance with the claim 1, it is characterised in that: first acquisition unit Including for acquiring the first laser rangefinder (27-1) of distance between the first lifter plate (5-1) and the middle plate (2), for adopting Collect the second laser rangefinder (27-2) of distance between the second lifter plate (5-2) and the middle plate (2), for acquiring third lifting Between plate (19-1) and the middle plate (2) the third laser range finder (27-3) of distance and for acquire the 4th lifter plate (19-2) The 4th laser range finder (27-4) of distance between the middle plate (2), second acquisition unit include described for acquiring Upper plate (3) is along the first grating scale displacement sensor (28-1) of X-direction moving parameter and for acquiring the upper plate (3) edge The second grating scale displacement sensor (28-2) of Y direction moving parameter.