CN113589351B - Automatic scanning water mold body three-dimensional motion platform for radiotherapy - Google Patents
Automatic scanning water mold body three-dimensional motion platform for radiotherapy Download PDFInfo
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- CN113589351B CN113589351B CN202110855367.1A CN202110855367A CN113589351B CN 113589351 B CN113589351 B CN 113589351B CN 202110855367 A CN202110855367 A CN 202110855367A CN 113589351 B CN113589351 B CN 113589351B
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 57
- 230000033001 locomotion Effects 0.000 title claims abstract description 26
- 238000001959 radiotherapy Methods 0.000 title claims abstract description 20
- 238000007789 sealing Methods 0.000 claims description 11
- 230000001360 synchronised effect Effects 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 6
- 238000005096 rolling process Methods 0.000 claims description 6
- 229910000838 Al alloy Inorganic materials 0.000 claims description 3
- 239000000956 alloy Substances 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 239000010935 stainless steel Substances 0.000 claims description 3
- 229910001220 stainless steel Inorganic materials 0.000 claims description 3
- 239000007788 liquid Substances 0.000 abstract description 4
- 238000012423 maintenance Methods 0.000 abstract description 4
- 238000005259 measurement Methods 0.000 abstract description 4
- 238000007665 sagging Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 8
- 238000009434 installation Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 238000012795 verification Methods 0.000 description 2
- 241000321520 Leptomitales Species 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01T—MEASUREMENT OF NUCLEAR OR X-RADIATION
- G01T1/00—Measuring X-radiation, gamma radiation, corpuscular radiation, or cosmic radiation
- G01T1/02—Dosimeters
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01T—MEASUREMENT OF NUCLEAR OR X-RADIATION
- G01T7/00—Details of radiation-measuring instruments
Abstract
The invention provides an automatic scanning water mold body three-dimensional motion platform for radiotherapy, which comprises a water tank, wherein a mounting plate is fixed at the top of the water tank, mounting seats are symmetrically fixed on the upper surface of the mounting plate, the middle parts of the two mounting seats are rotatably connected with first ball screws through bearings, and a first stepping motor is fixed at one end of each mounting seat. According to the invention, the first stepping motor, the second stepping motor and the third stepping motor are all arranged at one end of the top of the water tank, and are not immersed in water during measurement, so that the water surface height is kept unchanged during scanning, the scanning precision is improved, the motors are not contacted with liquid in the water tank, thereby preventing equipment from decaying, reducing debugging and maintenance frequency, driving by the ball screw, and the device has the advantages of high precision, stable structure and higher durability, and the weight of the third U-shaped slide plate can be counteracted by the supporting mechanism, so that the end part of the third guide rail keeps a relatively stable force, thereby reducing sagging deviation and improving precision.
Description
Technical Field
The invention relates to the technical field of water phantom scanning, in particular to an automatic scanning water phantom three-dimensional motion platform for radiotherapy.
Background
The automatic scanning water mold body three-dimensional motion platform is mainly used for measuring the relative dose distribution values of accelerator rays in water molds with different depths, and simultaneously, parameters such as half-height width, penumbra, symmetry, flatness, large dose point depth and the like of the rays are rapidly and automatically calculated. Since the measured computed radiation data is considered to be a reference and ultimately provides treatment plan verification, the quality requirements for the collected data should be highest to avoid treatment patient errors due to planning errors caused by dose verification errors.
The existing radiotherapy automatic scanning water mold body three-dimensional motion platform in the market at present is mainly divided into a cantilever structure and a U-shaped structure. The cantilever structure is driven to run by a belt, and the accuracy and durability of the belt driving are difficult to ensure. The U-shaped structure adopts a structure with two sides moving to extend into water, the middle cantilever is connected by two sides to realize movement, but the two sides extend into the water, so that the structural parts are more, the weight is not light enough, and a mechanical device scatters a ray bundle;
In the conventional three-dimensional motion platform structure for automatically scanning the water mold body, a vertical cantilever structure is utilized to move up and down and left and right, so that a detector on the cantilever is driven to carry out motion measurement; the motion that drives the cantilever generally uses the belt, but the belt can ageing elasticity can slowly reduce, and then influences equipment precision.
Because the automatic scanning water die body is a depth dose curve, the accuracy of corresponding different depth measurements is extremely high, the requirements on the accuracy of a sensor and the motion accuracy and stability of a scanning arm are extremely high, and the end part of a cantilever with a single pivot point is easy to droop at present, so that the motion accuracy is influenced.
Therefore, it is necessary to provide an automatic scanning water phantom three-dimensional motion platform for radiotherapy to solve the above technical problems.
Disclosure of Invention
In order to solve the technical problems, the invention provides an automatic scanning water mold body three-dimensional motion platform for radiotherapy.
The invention provides an automatic scanning water mold body three-dimensional motion platform for radiation therapy, which comprises a water tank, wherein a mounting plate is fixed on the top of the water tank, mounting seats are symmetrically fixed on the upper surface of the mounting plate, the middle parts of the two mounting seats are rotationally connected with first ball screws through bearings, one end of each mounting seat is fixedly provided with a first stepping motor, the output end of each first stepping motor is fixedly connected with one end of each first ball screw through a coupler, a first guide rail is fixed on the surface of the mounting plate, one end of each first guide rail is connected with a first U-shaped sliding plate in a sliding manner, and one end of each first U-shaped sliding plate is fixedly connected with a nut on each first ball screw;
The device comprises a first U-shaped sliding plate, a second guide rail, a first ball screw, a second guide rail, a first fixing plate, a second ball screw, a second guide rail, a second nut, a second stepping motor, a control host and a control host, wherein one side of the first U-shaped sliding plate is fixed with the mounting frame, the mounting frame is in U-shaped arrangement, the middle of the lower surface of the mounting frame is fixed with the second guide rail, the bottom of the second guide rail is fixed with the first fixing plate, the mounting frame and one end of the first fixing plate are rotationally connected with the second ball screw through bearings, one end of the second guide rail is slidably connected with the second U-shaped sliding plate, one end of the second U-shaped sliding plate is fixedly connected with the nut on the second ball screw, the top of the mounting frame is fixed with the second stepping motor, and the output end of the second stepping motor is fixedly connected with the second ball screw through a coupling;
The utility model discloses a step motor, including first sealed shell, second U-shaped slide, mounting bracket, first fixed plate, bearing, first ball screw, second U-shaped slide, bearing, first fixed plate, second fixed plate, first ball screw, second fixed plate, third guide rail, first bevel gear, first ball screw, first sealed shell one side is fixed with the first bevel gear through the bearing rotation, the one end that third ball screw is close to first sealed shell inner wall is fixed with the second bevel gear, and first bevel gear and second bevel gear meshing are connected, second U-shaped slide one side is fixed with the second fixed plate, second fixed plate middle part is fixed with the third guide rail, third guide rail one end is fixed with the third fixed plate, and third ball screw one end is connected with third fixed plate through bearing rotation, third guide rail one end sliding connection has the third U-shaped slide, and the nut fixed connection on third ball screw one end and the third ball screw, the first end is fixed with the second bevel gear, and the first motor is fixed with the third guide rail is fixed with the step motor, the top is kept away from the first fixed end of third guide rail, the step motor is fixed with the output shaft coupling.
Preferably, the supporting mechanism comprises a buoyancy cylinder, a rotating shaft, a threaded column, a piston, a square cylinder and a retainer, wherein one end of the third guide rail is fixedly provided with the buoyancy cylinder, the middle part of the buoyancy cylinder is rotationally connected with the rotating shaft through a mechanical seal, one end of the rotating shaft is fixedly provided with the threaded column, the inner wall of the buoyancy cylinder is slidably connected with the piston, the middle part of the piston is slidably connected with the rotating shaft through a sliding hole, one end of the middle part of the piston is fixedly provided with the square cylinder, the inner wall of the square cylinder is circularly provided with threads, the threads are formed in the inner wall of the square cylinder, the threaded column is in threaded connection with the inner wall of the square cylinder, one end of the buoyancy cylinder is fixedly provided with the retainer, the middle part of the retainer is square, and the square cylinder is slidably connected with the retainer.
Preferably, one end of the third ball screw is fixed with a first synchronous wheel, one end of the rotating shaft is fixed with a second synchronous wheel, and the first synchronous wheel is in transmission connection with the second synchronous wheel through a first synchronous belt.
Preferably, a third synchronizing wheel is fixed on the outer side of the output end of the third stepping motor, an encoder is fixed in the middle of the mounting frame, a fourth synchronizing wheel is fixed at the input end of the encoder, and the fourth synchronizing wheel is in transmission connection with the third synchronizing wheel through a second synchronous belt.
Preferably, the guide grooves are formed in three side surfaces of the first guide rail, the second guide rail and the third guide rail, the first U-shaped sliding plate, the second U-shaped sliding plate and the third U-shaped sliding plate are symmetrically connected with the first guide wheels in a rotating mode through bearings, and the first guide wheels are in rolling connection with the guide grooves.
Preferably, one end of the bottom of the water tank, which is close to the first fixing plate, is fixed with a fourth guide rail through a buckle, the lower surface of the first fixing plate is symmetrically and rotationally connected with a second guide wheel through a bearing, and the second guide wheel is in rolling connection with the fourth guide rail.
Preferably, the first guide rail, the second guide rail, the third guide rail and the fourth guide rail are all made of aluminum alloy materials, the first ball screw, the second ball screw, the third ball screw and the ball spline are all made of stainless steel materials, and nuts on the first ball screw, the second ball screw and the third ball screw are all made of plastic materials.
Preferably, round holes are formed in the middle parts of the first guide rail, the second guide rail and the third guide rail at equal intervals.
Preferably, the first stepper motor, the second stepper motor and the third stepper motor are multi-subdivision stepper motors.
Preferably, a second sealing shell is fixed at the top of the mounting frame, and a drag chain is fixed at one end of the mounting plate.
Compared with the related art, the automatic scanning water mold body three-dimensional motion platform for radiotherapy provided by the invention has the following beneficial effects:
The invention provides an automatic scanning water mold body three-dimensional motion platform for radiotherapy, which comprises:
1. The first stepping motor, the second stepping motor and the third stepping motor are all arranged at one end of the top of the water tank, and are not immersed in water during measurement, so that the water surface height is kept unchanged during scanning, the scanning precision is improved, the motors are not contacted with liquid in the water tank, equipment decay can be prevented, the debugging and maintenance frequency is reduced, and the device is driven by the ball screw, so that the device is high in precision, stable in structure and high in durability;
2. When the third U-shaped slide plate moves towards the direction close to the second fixed plate, the weight of the end part of the third guide rail is reduced, when the piston compresses the internal air of the buoyancy cylinder inwards, the volume between the buoyancy cylinder and the piston is reduced, so that the buoyancy of the buoyancy cylinder is reduced, and when the third U-shaped slide plate moves towards the direction far away from the second fixed plate, the piston is driven to pull the air in the buoyancy cylinder, so that the volume between the buoyancy cylinder and the piston is increased, the buoyancy of the buoyancy cylinder is increased, the weight of the third U-shaped slide plate is offset, the end part of the third guide rail keeps a relatively stable force, sagging deviation is reduced, and accuracy is improved.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a second schematic diagram of the overall structure of the present invention;
FIG. 3 is a schematic view of a second ball screw structure according to the present invention;
FIG. 4 is a schematic view of a ball spline structure provided by the present invention;
FIG. 5 is a schematic diagram of an encoder according to the present invention;
FIG. 6 is an enlarged view at A in FIG. 3;
FIG. 7 is a schematic view of a guide slot structure according to the present invention;
FIG. 8 is a schematic view of a supporting mechanism according to the present invention;
FIG. 9 is a schematic view of the internal structure of the buoyancy can according to the present invention;
fig. 10 is a schematic structural diagram of a first guide wheel provided by the present invention.
Reference numerals in the drawings: 1. a water tank; 2. a mounting plate; 3. a mounting base; 4. a first ball screw; 5. a first stepping motor; 6. a first guide rail; 7. a first U-shaped slide plate; 8. a mounting frame; 9. a second guide rail; 10. a first fixing plate; 11. a second ball screw; 12. a second U-shaped slide plate; 13. a second stepping motor; 14. a first seal housing; 15. a ball spline; 151. a spline housing; 152. a spline shaft; 16. a first bevel gear; 17. a third ball screw; 18. a second bevel gear; 19. a second fixing plate; 20. a third guide rail; 21. a third fixing plate; 22. a third U-shaped slide plate; 23. a scanning instrument; 24. a third stepper motor; 25. a support mechanism; 251. a buoyancy cylinder; 252. a rotating shaft; 253. a threaded column; 254. a piston; 255. a square cylinder; 256. a retainer; 26. a first synchronizing wheel; 27. a second synchronizing wheel; 28. a first synchronization belt; 29. a third synchronizing wheel; 30. an encoder; 31. a fourth synchronizing wheel; 32. a second timing belt; 33. a guide groove; 34. a first guide wheel; 35. a fourth guide rail; 36. a second guide wheel; 37. a round hole; 38. a second seal case; 39. a drag chain; 40. and controlling the host.
Detailed Description
The invention will be further described with reference to the drawings and embodiments.
Referring to fig. 1-10 in combination, fig. 1 is a schematic diagram of an overall structure provided by the present invention; FIG. 2 is a second schematic diagram of the overall structure of the present invention; FIG. 3 is a schematic view of a second ball screw structure according to the present invention; FIG. 4 is a schematic view of a ball spline structure provided by the present invention; FIG. 5 is a schematic diagram of an encoder according to the present invention; FIG. 6 is an enlarged view at A in FIG. 3; FIG. 7 is a schematic view of a guide slot structure according to the present invention; FIG. 8 is a schematic view of a supporting mechanism according to the present invention; FIG. 9 is a schematic view of the internal structure of the buoyancy can according to the present invention; fig. 10 is a schematic structural diagram of a first guide wheel provided by the present invention.
In a specific implementation process, as shown in fig. 1 and 2, an automatic scanning water mold body three-dimensional motion platform for radiotherapy comprises a water tank 1, wherein an installation plate 2 is fixed at the top of the water tank 1, installation seats 3 are symmetrically fixed on the upper surface of the installation plate 2, a first ball screw 4 is rotatably connected to the middle parts of the two installation seats 3 through bearings, a first stepping motor 5 is fixed at one end of each installation seat 3, the output end of each first stepping motor 5 is fixedly connected with one end of each first ball screw 4 through a coupler, a first guide rail 6 is fixed on the surface of the installation plate 2, one end of each first guide rail 6 is slidably connected with a first U-shaped sliding plate 7, one end of each first U-shaped sliding plate 7 is fixedly connected with a nut on each first ball screw 4, a control host 40 is fixed on one side of the water tank, and the control host 40 can be a computer or a single chip microcomputer and the like so as to facilitate the operation of control equipment;
Referring to fig. 3, a mounting frame 8 is fixed on one side of the first U-shaped sliding plate 7, the mounting frame 8 is in a U-shaped configuration, a second guide rail 9 is fixed in the middle of the lower surface of the mounting frame 8, a first fixing plate 10 is fixed at the bottom of the second guide rail 9, one end of the mounting frame 8 and one end of the first fixing plate 10 are rotatably connected with a second ball screw 11 through a bearing, one end of the second guide rail 9 is slidably connected with a second U-shaped sliding plate 12, one end of the second U-shaped sliding plate 12 is fixedly connected with a nut on the second ball screw 11, a second stepping motor 13 is fixed at the top of the mounting frame 8, and the output end of the second stepping motor 13 is fixedly connected with the second ball screw 11 through a coupler;
Referring to fig. 3 and 4, a first sealing shell 14 is fixed on one side of the second U-shaped sliding plate 12, a ball spline 15 is rotatably connected to one end of the mounting frame 8 and the first fixing plate 10, which is far away from the inner wall of the first sealing shell 14, through a bearing, a spline housing 151 on the ball spline 15 is rotatably connected to the first sealing shell 14, a spline shaft 152 on the ball spline 15 is slidably connected to the bottom of the first sealing shell 14 through a guide sleeve, a first bevel gear 16 is fixed to the bottom of the spline housing 151 on the ball spline 15, a third ball screw 17 is rotatably connected to one side of the first sealing shell 14 through a bearing, a second bevel gear 18 is fixed to one end of the third ball screw 17, which is close to the inner wall of the first sealing shell 14, and the first bevel gear 16 is in meshed connection with the second bevel gear 18, a second fixing plate 19 is fixed to one side of the second U-shaped sliding plate 12, a third guide rail 20 is fixed to the middle of the second fixing plate 19, a third fixing plate 21 is fixed to one end of the third guide rail 20, a third ball screw 17 is fixedly connected to the bottom of the first fixing plate 21 through a bearing, a third fixing plate 21 is fixedly connected to one end of the third guide rail 20 is rotatably to the third fixing plate 21, a third end of the third fixing plate 17 is fixedly connected to the third end of the third fixing plate 20 is fixedly connected to the third end of the third U-shaped sliding plate 20 is far away from the top of the third fixing plate 17 through a third fixing plate 20, and the third fixing plate is fixedly connected to the third end of the third fixing plate 17 is connected to the third fixing plate 17 is 20, and the third end is fixedly connected to the third end side top end is 20 is far away from the first end side 3 side 20;
The first ball screw 4 is driven by the first stepping motor 5 to move, the first U-shaped sliding plate 7 is driven to slide left and right on the first guide rail 6, the second guide rail 9 is driven to move left and right, the second ball screw 11 is driven to move by the rotation of the second stepping motor 13, the second U-shaped sliding plate 12 on the second guide rail 9 is driven to slide up and down, the third guide rail 20 is driven to slide up and down, the third U-shaped sliding plate 22 on the third guide rail 20 is driven to move up and down, the third U-shaped sliding plate 22 is lifted to drive the first sealing shell 14 to lift, the spline sleeve 151 is driven to slide up and down on the spline shaft 152, the spline shaft 152 on the ball spline 15 is driven to rotate by the rotation of the third stepping motor 24, the spline shaft 152 is driven to rotate the first bevel gear 16 by the spline sleeve 151, the first bevel gear 16 drives the second bevel gear 18 to rotate, the third ball screw 17 is driven, the third ball screw 17 drives the third U-shaped sliding plate 22 to slide back and forth on the third guide rail 20, the scanning instrument 23 can be driven to slide back and forth, the first stepping motor 5, the second stepping motor 13 and the third stepping motor 24 work, the scanning instrument 23 can be driven to move in three axes, and the water mold body is scanned, wherein the first stepping motor 5, the second stepping motor 13 and the third stepping motor 24 are arranged at one end of the top of the water tank 1 and are not contacted with liquid in the water tank 1, so that equipment decay can be prevented, debugging and maintenance frequency can be reduced, the driving is carried out through the ball screw, and the device is high in precision, stable in structure and high in durability.
Referring to fig. 6, 8 and 9, the supporting mechanism 25 includes a buoyancy cylinder 251, a rotating shaft 252, a threaded column 253, a piston 254, a square cylinder 255 and a retainer 256, one end of the third guide rail 20 is fixed with the buoyancy cylinder 251, the middle part of the buoyancy cylinder 251 is connected with the rotating shaft 252 through mechanical seal rotation, one end of the rotating shaft 252 is fixed with the threaded column 253, the inner wall of the buoyancy cylinder 251 is slidably connected with the piston 254, the middle part of the piston 254 is slidably connected with the rotating shaft 252 through a sliding hole, one end of the middle part of the piston 254 is fixed with the square cylinder 255, the inner wall of the square cylinder 255 is circular, the inner wall of the square cylinder 255 is provided with threads, the threaded column 253 is in threaded connection with the inner wall of the square cylinder 255, one end of the buoyancy cylinder 251 is fixed with the retainer 256, the middle part of the retainer 256 is square, the square cylinder 255 is slidably connected with the retainer 256, one end of the third ball screw 17 is fixed with the first synchronizing wheel 26, one end of the rotating shaft 252 is fixed with a second synchronizing wheel 27, the first synchronizing wheel 26 is in transmission connection with the second synchronizing wheel 27 through a first synchronizing belt 28, when the third ball screw 17 rotates, the rotating shaft 252 is driven to rotate through the first synchronizing wheel 26 and the second synchronizing wheel 27 in the process of driving the third U-shaped slide plate 22 to move, so that the threaded column 253 can be driven to rotate, the threaded column 253 drives the square rod to slide on the inner wall of the retainer 256, and then the piston 254 can be driven to move in the buoyancy cylinder 251, when the third U-shaped slide plate 22 moves towards the direction approaching to the second fixing plate 19, the weight of the end part of the third guide rail 20 is reduced, when the piston 254 compresses the internal air of the buoyancy cylinder 251 inwards, the volume between the buoyancy cylinder 251 and the piston 254 is reduced, therefore the buoyancy of the buoyancy cylinder 251 is reduced, and when the third U-shaped slide plate 22 moves towards the direction far away from the second fixing plate 19, the driving piston 254 pulls the air inside the buoyancy cylinder 251 so that the volume between the buoyancy cylinder 251 and the piston 254 becomes large, and thus the buoyancy of the buoyancy cylinder 251 increases, thereby counteracting the weight of the third U-shaped slide plate 22, so that the end of the third guide rail 20 maintains a relatively stable force, thereby reducing sagging deviation and improving accuracy.
Referring to fig. 5, a third synchronizing wheel 29 is fixed on the outer side of the output end of the third stepper motor 24, an encoder 30 is fixed in the middle of the mounting frame 8, a fourth synchronizing wheel 31 is fixed on the input end of the encoder 30, and the fourth synchronizing wheel 31 is in transmission connection with the third synchronizing wheel 29 through a second synchronizing belt 32, so that the motor can be reset and calibrated conveniently.
Referring to fig. 2, fig. 3, fig. 7 and fig. 10, the three sides of the first guide rail 6, the second guide rail 9 and the third guide rail 20 are respectively provided with a guide groove 33, three sides of the inner walls of the first U-shaped sliding plate 7, the second U-shaped sliding plate 12 and the third U-shaped sliding plate 22 are respectively connected with a first guide wheel 34 through symmetrical rotation of bearings, the first guide wheels 34 are in rolling connection with the guide grooves 33, one end, close to the first fixing plate 10, of the bottom of the water tank 1 is fixedly provided with a fourth guide rail 35 through a buckle, the lower surface of the first fixing plate 10 is symmetrically connected with a second guide wheel 36 through bearings in a rolling connection mode, the sliding stability is improved, the abrasion is reduced, and the sliding precision is improved.
The first guide rail 6, the second guide rail 9, the third guide rail 20 and the fourth guide rail 35 are all made of aluminum alloy materials, the first ball screw 4, the second ball screw 11, the third ball screw 17 and the ball spline 15 are all made of stainless steel materials, nuts on the first ball screw 4, the second ball screw 11 and the third ball screw 17 are all made of plastic materials, rust in water is prevented, the quality is low, and the structural stability is high.
Referring to fig. 7, the first guide rail 6, the second guide rail 9 and the third guide rail 20 are provided with round holes 37 at equal intervals in the middle, thereby reducing weight and reducing resistance when the third guide rail 20 moves in water.
The first stepper motor 5, the second stepper motor 13 and the third stepper motor 24 are multi-subdivision stepper motors, so that the precision and the stability are improved.
Referring to fig. 1 and 2, a second sealing shell 38 is fixed on the top of the mounting frame 8, so as to protect the second stepping motor 13 and the third stepping motor 24, and a drag chain 39 is fixed on one end of the mounting plate 2, so as to protect the electric wires.
Working principle:
The first ball screw 4 is driven by the first stepping motor 5 to move, the first U-shaped sliding plate 7 is driven to slide left and right on the first guide rail 6, the second guide rail 9 is driven to move left and right, the second ball screw 11 is driven to move by the rotation of the second stepping motor 13, the second U-shaped sliding plate 12 on the second guide rail 9 is driven to slide up and down, the third guide rail 20 is driven to slide up and down, the third U-shaped sliding plate 22 on the third guide rail 20 is driven to move up and down, the third U-shaped sliding plate 22 is lifted to drive the first sealing shell 14 to lift, the spline sleeve 151 is driven to slide up and down on the spline shaft 152, the spline shaft 152 on the ball spline 15 is driven to rotate by the rotation of the third stepping motor 24, the spline shaft 152 is driven to rotate the first bevel gear 16 by the spline sleeve 151, the first bevel gear 16 drives the second bevel gear 18 to rotate so as to drive the third ball screw 17, the third ball screw 17 drives the third U-shaped sliding plate 22 to slide back and forth on the third guide rail 20, and then the scanning instrument 23 can be driven to slide back and forth, the first stepping motor 5, the second stepping motor 13 and the third stepping motor 24 work, and then the scanning instrument 23 can be driven to move in three axes so as to realize the scanning of the water mold body, wherein the first stepping motor 5, the second stepping motor 13 and the third stepping motor 24 are arranged at one end of the top of the water tank 1 and are not contacted with liquid in the water tank 1, so that equipment decay can be prevented, debugging and maintenance frequency can be reduced, and the device is driven by the ball screw, so that the device has high precision, stable structure and high durability;
Because the end of the third guide rail 20 far away from the second fixed plate 19 will droop downwards under the action of gravity in the cantilever state, especially when the third U-shaped slide plate 22 slides to the end far away from the second fixed plate 19, the weight of the end of the third guide rail 20 increases, resulting in an increase in droop deviation, therefore, the buoyancy cylinder 251 is disposed at the end of the third guide rail 20, so that the buoyancy cylinder 251 can generate upward buoyancy when in water, thereby approximately counteracting the mass of the end of the third guide rail 20, the droop is reduced, and as the third U-shaped slide plate 22 moves towards the end, the buoyancy of the buoyancy cylinder 251 needs to be increased, and because the buoyancy of the object is proportional to the volume, in the process of driving the third U-shaped slide plate 22 to move, the rotating shaft 252 is driven to rotate by the first synchronous wheel 26 and the second synchronous wheel 27, and the threaded column 253 is driven to rotate, so that the square rod is driven to slide on the inner wall of the retainer 256, and the piston 254 is driven to move in the buoyancy cylinder 251, when the third U-shaped slide plate 22 moves towards the direction close to the end of the second fixed plate 19, the buoyancy cylinder 251 is required to be increased, the buoyancy of the buoyancy cylinder is increased, the buoyancy cylinder is driven to move towards the end of the third U-shaped slide plate 22 is correspondingly, the buoyancy cylinder 254 is driven to move towards the end of the second synchronous wheel 27, and the air cylinder 254 is driven to move towards the end, thereby, and the buoyancy cylinder 254 is reduced, and the buoyancy cylinder 254 is driven towards the volume is compressed towards the end, and the piston 251 is moved towards the end, and the end, which is opposite to be opposite to the end, and the piston 251 is driven to move.
The circuits and control involved in the present invention are all of the prior art, and are not described in detail herein.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes or direct or indirect application in other related technical fields are included in the scope of the present invention.
Claims (9)
1. The utility model provides an automatic scanning water die body three-dimensional motion platform for radiotherapy, includes water tank (1), its characterized in that, water tank (1) top is fixed with mounting panel (2), mounting panel (2) upper surface symmetry is fixed with mount pad (3), two mount pad (3) middle part is connected with first ball (4) through the bearing rotation, one mount pad (3) one end is fixed with first step motor (5), the output of first step motor (5) is through shaft coupling and first ball (4) one end fixed connection, mounting panel (2) surface is fixed with first guide rail (6), first U-shaped slide (7) of first guide rail (6) one end sliding connection, and nut fixed connection on first U-shaped slide (7) one end and the first ball (4), water tank one side is fixed with control host computer (40);
The novel U-shaped sliding plate comprises a first U-shaped sliding plate (7), and is characterized in that a mounting frame (8) is fixed on one side of the first U-shaped sliding plate (7), the mounting frame (8) is in a U-shaped arrangement, a second guide rail (9) is fixed in the middle of the lower surface of the mounting frame (8), a first fixing plate (10) is fixed at the bottom of the second guide rail (9), a second ball screw (11) is rotatably connected to one end of the mounting frame (8) and one end of the first fixing plate (10) through a bearing, a second U-shaped sliding plate (12) is slidably connected to one end of the second guide rail (9), one end of the second U-shaped sliding plate (12) is fixedly connected with a nut on the second ball screw (11), a second stepping motor (13) is fixed at the top of the mounting frame (8), and the output end of the second stepping motor (13) is fixedly connected with the second ball screw (11) through a coupler;
The utility model discloses a first U-shaped slide (12) one side is fixed with first seal shell (14), the one end that second ball screw (11) was kept away from to mounting bracket (8) and first fixed plate (10) is connected with ball spline (15) through the bearing rotation, spline housing (151) on ball spline (15) are connected with first seal shell (14) rotation, spline shaft (152) on ball spline (15) are connected with first seal shell (14) bottom sliding connection through the guide pin bushing, spline housing (151) bottom on ball spline (15) is fixed with first bevel gear (16), first seal shell (14) one side is connected with third ball screw (17) through the bearing rotation, the one end that third ball screw (17) is close to first seal shell (14) inner wall is fixed with second bevel gear (18), and first bevel gear (16) are connected with second bevel gear (18) rotation, second U-shaped slide (12) one side is fixed with second fixed plate (19), second fixed plate (19) middle part is fixed with third guide rail (20), third end (20) are connected with third guide rail (20) through the bearing rotation, third end (20) are connected with third guide rail (20), one end of a third U-shaped sliding plate (22) is fixedly connected with a nut on a third ball screw (17), a scanning instrument (23) is fixed at the top of the third U-shaped sliding plate (22), a supporting mechanism (25) is fixed at one end, far away from the second fixing plate (19), of the bottom of the third guide rail (20), a third stepping motor (24) is fixed at the top of the mounting frame (8), and the output end of the third stepping motor (24) is fixedly connected with the third ball screw (17) through a coupler;
The supporting mechanism (25) comprises a buoyancy cylinder (251), a rotating shaft (252), a threaded column (253), a piston (254), a square cylinder (255) and a retainer (256), wherein one end of a third guide rail (20) is fixedly provided with the buoyancy cylinder (251), the middle part of the buoyancy cylinder (251) is rotationally connected with the rotating shaft (252) through a mechanical seal, one end of the rotating shaft (252) is fixedly provided with the threaded column (253), the inner wall of the buoyancy cylinder (251) is slidably connected with the piston (254), the middle part of the piston (254) is slidably connected with the rotating shaft (252) through a sliding hole, one end of the middle part of the piston (254) is fixedly provided with the square cylinder (255), the inner wall of the square cylinder (255) is circularly provided with threads, the threaded column (253) is in threaded connection with the inner wall of the square cylinder (255), one end of the buoyancy cylinder (251) is fixedly provided with the retainer (256), the middle part of the retainer (256) is square, and the square cylinder (255) is slidably connected with the retainer (256).
2. The automatic scanning water phantom three-dimensional motion platform for radiotherapy according to claim 1, characterized in that a first synchronizing wheel (26) is fixed at one end of the third ball screw (17), a second synchronizing wheel (27) is fixed at one end of the rotating shaft (252), and the first synchronizing wheel (26) is in transmission connection with the second synchronizing wheel (27) through a first synchronizing belt (28).
3. The automatic scanning water phantom three-dimensional motion platform for radiotherapy according to claim 1, characterized in that a third synchronizing wheel (29) is fixed on the outer side of the output end of the third stepping motor (24), an encoder (30) is fixed in the middle of the mounting frame (8), a fourth synchronizing wheel (31) is fixed on the input end of the encoder (30), and the fourth synchronizing wheel (31) is in transmission connection with the third synchronizing wheel (29) through a second synchronous belt (32).
4. The automatic scanning water phantom three-dimensional motion platform for radiotherapy according to claim 1, characterized in that the three sides of the first guide rail (6), the second guide rail (9) and the third guide rail (20) are respectively provided with a guide groove (33), three sides of the inner walls of the first U-shaped slide plate (7), the second U-shaped slide plate (12) and the third U-shaped slide plate (22) are respectively connected with a first guide wheel (34) through bearings in a symmetrical rotation mode, and the first guide wheels (34) are in rolling connection with the guide grooves (33).
5. The automatic scanning water phantom three-dimensional motion platform for radiotherapy according to claim 1, wherein one end of the bottom of the water tank (1) close to the first fixing plate (10) is fixed with a fourth guide rail (35) through a buckle, the lower surface of the first fixing plate (10) is symmetrically and rotatably connected with a second guide wheel (36) through a bearing, and the second guide wheel (36) is in rolling connection with the fourth guide rail (35).
6. The automatic scanning water phantom three-dimensional moving platform for radiotherapy according to claim 5, characterized in that the first guide rail (6), the second guide rail (9), the third guide rail (20) and the fourth guide rail (35) are all made of aluminum alloy materials, the first ball screw (4), the second ball screw (11), the third ball screw (17) and the ball spline (15) are all made of stainless steel materials, and nuts on the first ball screw (4), the second ball screw (11) and the third ball screw (17) are all made of plastic materials.
7. The automatic scanning water phantom three-dimensional motion platform for radiotherapy according to claim 1, wherein round holes (37) are formed in the middle parts of the first guide rail (6), the second guide rail (9) and the third guide rail (20) at equal intervals.
8. The automatic scanning water phantom three-dimensional motion platform for radiation therapy according to claim 1, characterized in that the first stepper motor (5), the second stepper motor (13) and the third stepper motor (24) are multi-subdivision stepper motors.
9. The automatic scanning water phantom three-dimensional motion platform for radiotherapy according to claim 1, characterized in that a second sealing shell (38) is fixed on the top of the mounting frame (8), and a drag chain (39) is fixed at one end of the mounting plate (2).
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| DE102005030648B3 (en) * | 2005-06-30 | 2007-04-05 | Siemens Ag | Water phantom for measuring ionizing radiation |
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| US6279752B1 (en) * | 2000-04-14 | 2001-08-28 | Polychem Corporation | Wide rectangular clarifiers |
| US7193220B1 (en) * | 2006-06-28 | 2007-03-20 | Daniel Navarro | Modular radiation bean analyzer |
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