CN205867314U - Treatment bed controlling means based on 6 -degree of freedom industrial machinery arm - Google Patents
Treatment bed controlling means based on 6 -degree of freedom industrial machinery arm Download PDFInfo
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- CN205867314U CN205867314U CN201620309439.7U CN201620309439U CN205867314U CN 205867314 U CN205867314 U CN 205867314U CN 201620309439 U CN201620309439 U CN 201620309439U CN 205867314 U CN205867314 U CN 205867314U
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- mechanical arm
- therapeutic bed
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Abstract
The utility model belongs to the technical field of medical machine equipment, a treatment bed controlling means based on 6 -degree of freedom industrial machinery arm is disclosed, include: 6 -degree of freedom industrial robot bears patient's therapeutical bed board, and has real time monitoring protect function's treatment bed control system. 6 -degree of freedom industrial robot's periphery is installed and is prevented touching the safety cover, the therapeutical bed board border that bears patient is provided with prevents crash sensor, the treatment bed control system who has real time monitoring protect function is including treatment bed controller, human -computer interaction system, industrial robot control cabinet. Adopt the utility model provides a treatment bed controlling means based on 6 -degree of freedom industrial machinery arm carries on patient and treat, and it is good fully to have shown the real -time that it had, and the velocity of movement is fast, moves safe and stable's characteristics, can deal with the limited and condition about bumping of space, the work efficiency and the security that improve surgical treatment of widely betterly.
Description
Technical field
This utility model belongs to medical machinery equipment technical field, the one being mainly concerned with in operative treatment based on
The therapeutic bed of six degree of freedom industrial machine mechanical arm controls device.
Background technology
At present, the development of medical electronics plant equipment serves huge help to the development of advanced treatment technology, but
The biggest room for improvement is also had in some therapeutic modality.Such as in terms of for the treatment technology of tumor, Radiotherapy is
One of a kind of maximally efficient treatment means, when doctor carries out radiotherapy to patient, it is generally required to by patient first from sick bed
On transfer to handbarrow after be transported to radiotherapy room again, then served on radiotherapy bed board, last starting device passes through
The appointment position that patient is sent under therapeutic instrument (radiotherapeutic accelerator) by therapeutic bed carries out radiotherapy.But existing radiotherapy
Bed apparatus is the most all that a distance radiation main frame is relatively near, can only realize level or the length vertically moved in a smaller range
Cube, therefore when carrying out transmitting patient, it may appear that narrow space affects the situations such as medical worker's operation.Such as Chinese patent CN
Disclosed in 102872541 A, a kind of radiotherapy bed apparatus, utilizes intelligent machine mechanical arm patient to be placed into together with treatment bed surface and adds
The indoor predetermined treatment position of speed device, and use Visual Tracking System to can ensure that the precision that patient positions, in certain situation
On solve the problem affecting doctor's erect-position, improve work efficiency and expensive accelerator service efficiency.But the program is at some
Under special environment, particularly easily cause due to the limited space of radiotherapy room during therapeutic bed transmits mechanical arm with
The situation that surrounding environment collides or bumps against between mechanical arm and bed board, thus bring serious impact to patient, there is improvement further
Necessity.
Utility model content
This utility model aims to solve the problem that the problems referred to above, it is proposed that a kind of therapeutic bed control based on six degree of freedom industrial machine mechanical arm
Device processed, can well solve when carrying out patient and delivering transmission to prevent collision accident when transmitting insufficient space, transmission
Etc. problem and work efficiency height, registration, easy and simple to handle.
In order to achieve the above object, the technical solution adopted in the utility model is: a kind of based on six degree of freedom industrial machinery
The therapeutic bed of arm controls device.Including:
One Six-DOF industrial robot, the treatment bed board of carrying patient, therapeutic bed control system.
The periphery of described Six-DOF industrial robot is provided with touch-proof protective cover；The treatment bed board of described carrying patient
Edge is provided with anticollision sensor；Described therapeutic bed control system includes: therapeutic bed controller, man-machine interactive system, industry
Robot control cabinet.
This utility model devises, and described Six-DOF industrial robot is installed on a fixing rail plate, and six certainly
It is fitted with touch-proof protective cover by the periphery of degree industrial machine mechanical arm；Form the base machinery of described Six-DOF industrial robot
The periphery of arm is provided with the first touch-proof protective cover；The periphery of waist mechanical arm is provided with the second touch-proof protective cover；Large arm machine
The periphery of mechanical arm is provided with the 3rd touch-proof protective cover；The periphery of forearm mechanical arm is provided with the 4th touch-proof protective cover；Its wrist
The periphery of two mechanical arms in portion is separately installed with the 5th touch-proof protective cover and the 6th touch-proof protective cover；Form described six freely
Each mechanical arm surface of degree industrial robot is provided with support spring, one end of each support spring and machine in the way of uniform
Mechanical arm is connected, and the other end is connected with touch-proof protective cover, and arranges in the position that each support spring is connected with mechanical arm
There is electronic switching device, be used for detecting whether touch-proof protective cover is accessible, thus mechanical arm is carried out preventing collision protection.
This utility model devises, and the bed board edge of the treatment bed board of described carrying patient is evenly equipped with anticollision sensor,
Anticollision sensor line is fixed on bed board surrounding by being positioned at the winding box of bed board edge groove.
This utility model devises, described therapeutic bed control system, it is contemplated that the control system of current industrial robot
Function comparative maturity, control system hardware and software kit comparatively perfect, therefore therapeutic bed control system hardware includes: therapeutic bed
Controller, man-machine interactive system, industrial robot switch board；Described therapeutic bed controller passes through industrial bus and industrial robot
Switch board carries out communication connection, and leaves the communication interface being connected with extraneous other control system, for realizing outside therapeutic bed
Portion controls, and improves efficiency and the stability of therapeutic bed control system, and cost is relatively low, and extensibility and motility are higher.
This utility model devises, and described therapeutic bed Control System Software includes: information acquisition module, automatically control mould
Block, manual control module, reset control module, display alarm module；Described information acquisition module energy instantaneous acquiring is to treating
The health information of therapeutic bed in journey, and send therapeutic bed controller to；Described automatic control module has movement locus certainly
Dynamic repair function, can rapidly removing faults；Around therapeutic bed can be carried out under manual control module by operator, on
Under, pitching, the motor control of rotation；Described reset control module is provided with a key reset key, can be rapidly and accurately by treatment
Bed returns to initial position；Described display alarm module is provided with display, speaker and alarm lamp.
Compared with prior art, this utility model has the advantage that
Patient is transported to operation by the therapeutic bed of the six degree of freedom industrial machine mechanical arm being installed on rail plate by use
The point of care that treatment is specified, solves the problem that running space is little, affect medical worker's operation, mechanical arm touch-proof protection simultaneously
Cover and be arranged at the anticollision sensor at bed board edge, the whole transport process for the treatment of is served good real-time guard work
With.Its operation system is the therapeutic bed control system having and monitoring defencive function in real time, by therapeutic bed controller and industrial machine
Device people's switch board realizes information exchange, is sufficiently used the excellent motor control performance of industrial robot switch board thus indirect
Six degree of freedom industrial machine mechanical arm therapeutic bed is controlled by ground, has higher positioning precision.This six degree of freedom industrial machine mechanical arm
Therapeutic bed control that apparatus structure is compact, extensibility strong, there is the advantage that motion control accuracy is high, run safety and steady, energy
In minimum space, realize maximized performance, greatly increase work efficiency and the safety of operative treatment.
Accompanying drawing explanation
Fig. 1 is the structural representation of Six-DOF industrial robot 1 described in this utility model.
Fig. 2 is the overall structure schematic diagram of the mechanical arm therapeutic bed of six degree of freedom industrial machine described in this utility model.
Fig. 3 is the mounting structure schematic diagram of the first touch-proof protective cover of base mechanical arm described in this utility model.
Fig. 4 is six degree of freedom industrial machine mechanical arm therapeutic bed initial position 1 schematic diagram in this utility model.
Fig. 5 is six degree of freedom industrial machine mechanical arm therapeutic bed initial position 2 schematic diagram in this utility model.
Fig. 6 is the schematic diagram of the radiotherapy bed board of the carrying patient in this utility model.
Fig. 7 is the close-up schematic view at the radiation therapeutical bed plank bed foot of the carrying patient in this utility model.
Fig. 8 is the structural representation of the therapeutic bed control system in this utility model.
Fig. 9 is the Control System Software module map with monitoring protection in real time in this utility model.
Detailed description of the invention
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is done into
One step in detail, be explicitly described.
Embodiment one,
As shown in Figures 1 to 9, a kind of therapeutic bed based on six degree of freedom industrial machine mechanical arm controls device, including:
One Six-DOF industrial robot 1, the radiotherapy bed board 2 of carrying patient, therapeutic bed control system 3.
As described in Figure 1, the base mechanical arm 11 of described Six-DOF industrial robot 1 is installed on one and is positioned at radiotherapy
On fixing rail plate 4 under accelerator, increase therapeutic bed reachable tree.
As described in Figure 2, the periphery of the base mechanical arm 11 of described composition Six-DOF industrial robot 1 be provided with first prevent
Touching protective cover 21；The periphery of waist mechanical arm 12 is provided with the second touch-proof protective cover 22；The peripheral peace of large arm mechanical arm 13
Equipped with the 3rd touch-proof protective cover 23；The periphery of forearm mechanical arm 14 is provided with the 4th touch-proof protective cover 24；Two machines of wrist
The periphery of mechanical arm 15,16 is separately installed with the 5th touch-proof protective cover 25 and the 6th touch-proof protective cover 26.
As it is shown on figure 3, described base mechanical arm 11 surface is provided with support spring 9 in the way of uniform, support spring 9
One end is connected with base mechanical arm 11, and the other end and the first touch-proof protective cover 21 are connected, and at each support spring 9
The position being connected with base mechanical arm 11 is both provided with electronic switching device 8 and is connected with information acquisition module 131, works as therapeutic bed
When described in motor process, the first touch-proof protective cover 21 occurs touching, sensing switch 8 sends response, described six degree of freedom work
Industry mechanical arm therapeutic bed will be automatically stopped operation, and it is to be repaired to send early warning etc., plays real-time guard effect, other each machines described
The mounting means of the touch-proof protective cover of mechanical arm is identical with this.
As shown in Figure 6, the treatment diagonal center of bed board 2 of described carrying patient and Six-DOF industrial robot
The wrist mechanical arm 16 of 1 connects, and is provided with center positioning device 150 and is connected with information acquisition module 131, transmits treatment in time
The current location information of bed board.
As shown in Figure 6, the bed board edge of the treatment bed board 2 of described carrying patient is evenly equipped with anti-bump sensor 7, anti-collision used
Hit sensor 7 (to include: the first ultrasonic sensor 7-1, the second ultrasonic sensor 7-2, the 3rd ultrasonic for ultrasonic sensor
Wave sensor 7-3, the 4th ultrasonic sensor 7-4, the 5th ultrasonic sensor 7-5, the 6th ultrasonic sensor 7-6, the 7th
Ultrasonic sensor 7-7, the 8th ultrasonic sensor 7-8, the 9th ultrasonic sensor 7-9) all with information acquisition module 131 even
Connect, the position situation for the treatment of bed board and surrounding environment can be collected in time, be equipped be respectively arranged in therapeutic room relative to corner
The moving situation of therapeutic bed is monitored by two CCD camera at place, it is ensured that the safety in treatment bed board running.
As it is shown in fig. 7, the edge of the treatment bed board 2 of described carrying patient is provided with groove, installing winding box 6 in groove will
The connecting line of anticollision sensor 7 is fixed on bed board surrounding, plays the effect occurring irradiating shade when turn avoid treatment the most attractive in appearance
Really.
As shown in Figure 8, described therapeutic bed control system 3 hardware includes: therapeutic bed controller 31, man-machine interactive system
32, industrial robot switch board 33；Described therapeutic bed controller 31 is by based on Ethernet TCP/IP industrial bus and industrial machine
Device people's switch board 33 carries out communication connection, and leaves the communication interface being connected with extraneous other control system, is used for realizing treatment
The external control of bed；Carry out operation programming by external computer system and man-machine interactive system 32 and control 31 biographies to therapeutic bed
Reach operation information, and then send control information to industrial robot switch board 33, finally send to Six-DOF industrial robot 1
Control instruction, and in time the run location information of Six-DOF industrial robot 1 is acquired with mobile data, feedback display
On the display of man-machine interactive system 32, it is achieved that real-time control, improve efficiency and the stability of therapeutic bed control system,
And cost is relatively low, extensibility and motility are higher, are fully able to meet this kind treatment based on six degree of freedom industrial machine mechanical arm
The service requirement of bed.
As it is shown in figure 9, described therapeutic bed control system 3 software includes: information acquisition module 131, automatic control module
132, manual control module 133, reset control module 134, display alarm module 135；Described information acquisition module 131 can be instant
Collect the health information of therapeutic bed in therapeutic process, positional information, the information of sensor feedback, CCD camera image
Information etc., send therapeutic bed controller 31 to, be shown in man-machine interactive system touch screen；Described automatic control module 132 has
Having the automatic repair function of movement locus, energy rapidly removing faults, when collision situation, sensor occurs the most suddenly in therapeutic bed
Making an immediate response and stop the movement of therapeutic bed, automatic control module quickly runs and identifies the process collided, and slowly performs inverse fortune
Dynamic separation is collided, and again plans and automatically repairs running route；Or can be manual control module 133 times to treatment by operator
Around bed is carried out, up and down, pitching, the motor control of rotation, therapeutic bed can be run to the position of anticipation, by changing
The position of therapeutic bed, angle reach an optimal therapeutic effect；Described reset control module 134 is provided with a key reset and presses
Key, the initial position of therapeutic bed arranges according to the condition of patient and lies low and stand-type two kinds of patterns of going to bed, multiple by one
Therapeutic bed is returned to rapidly and accurately under the initial position wanted by position by bond energy；Described display alarm module 135 is provided with aobvious
Show device, speaker and alarm lamp, when therapeutic bed can remind operator to have by three kinds of modes when colliding in time
Emergency occur, can preferably cause the attention of operator, by maloperation may be reduced to minimum.
Employing the technical program have the advantage that is: the six degree of freedom industrial machine being installed on rail plate by use
Patient is transported to the point of care that radiosurgery treatment is specified by the therapeutic bed of mechanical arm, solves that running space is little, affect medical matters people
The problem of member's operation, mechanical arm is prevented touching protective cover and being arranged at the anticollision sensor at bed board edge simultaneously, whole to radiotherapy
Transport process serves good real-time guard effect.Its operation system is that the therapeutic bed with monitoring defencive function in real time controls
System, realizes information by therapeutic bed controller and industrial robot switch board and exchanges, be sufficiently used industrial robot control
Motor control performance that cabinet processed is excellent thus indirectly six degree of freedom industrial machine mechanical arm is controlled, and all of control behaviour
Make and the treatment operation conditions of bed board, information parameter can be realized by the touch screen of man-machine interactive system and feed back,
There is tailored appearance and attractive in appearance, the feature such as powerful and perfect.The therapeutic bed of this six degree of freedom industrial machine mechanical arm controls device
Compact conformation, extensibility are strong, have the advantage that motion control accuracy is high, run safety and steady, can realize in minimum space
Maximized performance, greatly increases work efficiency and the safety of operative treatment.
Claims (5)
1. therapeutic bed based on six degree of freedom industrial machine mechanical arm controls a device, including:
Six-DOF industrial robot (1), the treatment bed board (2) of carrying patient, therapeutic bed control system (3)；It is characterized in that,
The periphery of described Six-DOF industrial robot is provided with touch-proof protective cover；Treatment bed board (2) edge of described carrying patient
It is provided with anticollision sensor (7)；Described therapeutic bed control system (3) including: therapeutic bed controller (31), man-machine interactive system
(32), industrial robot switch board (33).
A kind of therapeutic bed based on six degree of freedom industrial machine mechanical arm the most according to claim 1 controls device, and its feature exists
In, described Six-DOF industrial robot (1) is installed on a fixing rail plate (4), forms the industry of described six degree of freedom
The periphery of the base mechanical arm (11) of robot (1) is provided with the first touch-proof protective cover (21)；Outside waist mechanical arm (12)
Enclose and the second touch-proof protective cover (22) is installed；The periphery of large arm mechanical arm (13) is provided with the 3rd touch-proof protective cover (23)；
The periphery of forearm mechanical arm (14) is provided with the 4th touch-proof protective cover (24)；The periphery of two mechanical arms of wrist (15,16) is divided
5th touch-proof protective cover (25) and the 6th touch-proof protective cover (26) are not installed；Form described Six-DOF industrial robot
Each mechanical arm surface support spring is installed in the way of uniform, one end of each support spring is connected with mechanical arm, separately
One end is connected with touch-proof protective cover, and is both provided with electronic switching device in the position that each support spring is connected with mechanical arm
Part, is used for detecting whether touch-proof protective cover is accessible, thus mechanical arm is carried out preventing collision protection.
A kind of therapeutic bed based on six degree of freedom industrial machine mechanical arm the most according to claim 1 controls device, and its feature exists
In, the bed board edge of the treatment bed board (2) of described carrying patient is evenly equipped with anticollision sensor (7), anticollision sensor line
It is fixed on bed board surrounding by being positioned at the winding box (6) of bed board edge groove.
A kind of therapeutic bed based on six degree of freedom industrial machine mechanical arm the most according to claim 1 controls device, and its feature exists
In, described therapeutic bed control system (3) hardware includes: therapeutic bed controller (31), man-machine interactive system (32), industrial machine
People's switch board (33)；Described therapeutic bed controller (31) carries out communication even by industrial bus and industrial robot switch board (33)
Connect, and leave the communication interface being connected with extraneous other control system, for realizing the external control of therapeutic bed.
A kind of therapeutic bed based on six degree of freedom industrial machine mechanical arm the most according to claim 1 controls device, and its feature exists
In, described therapeutic bed control system (3) software includes: information acquisition module (131), automatic control module (132), manually control
Molding block (133), reset control module (134), display alarm module (135)；Described information acquisition module (131) can be adopted immediately
Collection is to the health information of therapeutic bed in therapeutic process, and sends therapeutic bed controller (31) to；Described automatic control module
(132) there is the automatic repair function of movement locus, can rapidly removing faults；Operator can be under manual control module (133)
Around therapeutic bed is carried out, up and down, pitching, the motor control of rotation；Described reset control module (134) is provided with one
Key reset key, can return to initial position by therapeutic bed rapidly and accurately；Described display alarm module (135) is provided with display
Device, speaker and alarm lamp.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620309439.7U CN205867314U (en) | 2016-04-14 | 2016-04-14 | Treatment bed controlling means based on 6 -degree of freedom industrial machinery arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620309439.7U CN205867314U (en) | 2016-04-14 | 2016-04-14 | Treatment bed controlling means based on 6 -degree of freedom industrial machinery arm |
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| Publication Number | Publication Date |
|---|---|
| CN205867314U true CN205867314U (en) | 2017-01-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620309439.7U Withdrawn - After Issue CN205867314U (en) | 2016-04-14 | 2016-04-14 | Treatment bed controlling means based on 6 -degree of freedom industrial machinery arm |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105920739A (en) * | 2016-04-14 | 2016-09-07 | 四川大学 | Therapeutic bed controller based on six-freedom-degree industrial mechanical arm |
| CN107137147A (en) * | 2017-06-26 | 2017-09-08 | 苏州安术医疗科技有限公司 | Based on real-time multimode integrated positioning diagnosis and therapy system |
| CN107792659A (en) * | 2017-11-24 | 2018-03-13 | 四川大学 | A kind of novel automatic conveying arrangement |
-
2016
- 2016-04-14 CN CN201620309439.7U patent/CN205867314U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105920739A (en) * | 2016-04-14 | 2016-09-07 | 四川大学 | Therapeutic bed controller based on six-freedom-degree industrial mechanical arm |
| CN107137147A (en) * | 2017-06-26 | 2017-09-08 | 苏州安术医疗科技有限公司 | Based on real-time multimode integrated positioning diagnosis and therapy system |
| CN107792659A (en) * | 2017-11-24 | 2018-03-13 | 四川大学 | A kind of novel automatic conveying arrangement |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170111 Effective date of abandoning: 20180508 |
|
| AV01 | Patent right actively abandoned |