CN209916025U

CN209916025U - Position monitoring mechanism of three-dimensional treatment bed and three-dimensional treatment bed

Info

Publication number: CN209916025U
Application number: CN201790000621.7U
Authority: CN
Inventors: 杨勇强
Original assignee: Our United Corp
Current assignee: Our United Corp
Priority date: 2017-06-02
Filing date: 2017-06-02
Publication date: 2020-01-10
Anticipated expiration: 2027-06-02
Also published as: WO2018218685A1

Abstract

A position monitoring mechanism (6) of a three-dimensional treatment bed and the three-dimensional treatment bed belong to the field of medical equipment. The three-dimensional treatment bed comprises: the bed comprises a base, a moving mechanism arranged on the base and a bed body (5) arranged above the base; the moving mechanism includes: a transmission mechanism (3) connected with the bed body (5); the position monitoring mechanism (6) is arranged on the transmission mechanism (3) and/or the bed body (5), and the position monitoring mechanism (6) is electrically connected with the control system (4). The position monitoring mechanism (6) can be used for accurately judging the position information of the three-dimensional treatment bed, and the moving reliability and safety of the three-dimensional treatment bed are ensured.

Description

Position monitoring mechanism of three-dimensional treatment bed and three-dimensional treatment bed

Technical Field

The utility model relates to the field of medical equipment, in particular to position monitoring mechanism and three-dimensional treatment bed of three-dimensional treatment bed.

Background

The radiotherapy system is a medical radiotherapy device, which comprises a frame, a radiation source device arranged at the upper part of the frame, a three-dimensional treatment bed arranged at the bottom of the frame, and a control system for controlling the three-dimensional treatment bed to move three-dimensionally on the frame. When radiotherapy is carried out, the control system is utilized to control the three-dimensional movement of the three-dimensional treatment couch in the X-axis direction, the Z-axis direction and the Y-axis direction, so that the radioactive rays emitted by the radiation source device are focused on a target point to be treated, and accurate radiotherapy is realized. Among them, the movement of the three-dimensional treatment couch in the X-axis direction and the Z-axis direction can be understood as the back-and-forth movement and the left-and-right movement performed on the same horizontal plane, and the movement thereof in the Y-axis direction can be understood as the up-and-down movement performed on the vertical plane.

For the three-dimensional treatment bed, the three-dimensional treatment bed comprises a base, an X-direction moving mechanism, a Z-direction moving mechanism, a Y-direction moving mechanism and a bed body arranged above the base. As shown in fig. 1, the X-direction moving mechanism, the Z-direction moving mechanism, and the Y-direction moving mechanism each include: the device comprises a motor 1 (which is a servo motor), a first encoder 2 coaxially connected with the motor 1, and a transmission mechanism 3 coaxially connected with the motor 1. The transmission mechanisms 3 in the moving mechanisms are respectively connected with the bed body 5, and meanwhile, the motor 1 and the first encoder 2 are both electrically connected with the control system 4 of the radiotherapy equipment. The control system 4 sends an operation instruction to the motor 1, the motor 1 drives the bed body 5 to move in X, Y, Z three directions through the transmission mechanism 3, meanwhile, the first encoder 2 collects pulse signals of the corresponding motor 1 and feeds the pulse signals back to the control system 4, and the control system 4 controls the operation state of the motor 1 in real time through the motor pulse signals. In the process, when the position information of the three-dimensional treatment couch in each direction, such as the moving distance, needs to be judged, the position information is generally determined by the motor pulse signal fed back to the control system 4.

Designers have found that the prior art suffers from at least the following problems:

when the motor 1 is poorly connected with the transmission mechanism 3, or even idles, the motor pulse signal sent by the motor is invalid for determining the position information of the three-dimensional treatment bed, and at the moment, the position of the three-dimensional treatment bed cannot be accurately judged, so that the reliability and the safety of the movement of the three-dimensional treatment bed cannot be ensured.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem, the embodiment of the utility model provides a position monitoring mechanism and three-dimensional treatment bed of three-dimensional treatment bed. The specific technical scheme is as follows:

in a first aspect, a position monitoring mechanism for a three-dimensional treatment couch is provided, the three-dimensional treatment couch comprising: the device comprises a base, a moving mechanism arranged on the base and a bed body arranged above the base;

the moving mechanism includes: a transmission mechanism connected with the bed body;

the position monitoring mechanism is arranged on the transmission mechanism and/or the bed body and is electrically connected with a control system of the three-dimensional treatment bed.

Further, the three-dimensional treatment bed further comprises: a motor and a first encoder coaxially coupled;

the transmission mechanism is coaxially connected with the motor;

the motor and the first encoder are also electrically connected with the control system.

In a first possible design, when the transmission mechanism adopts a lead screw transmission mode;

the position monitoring mechanism includes: the induction blocks are uniformly arranged on the transmission mechanism around the circumferential direction;

the proximity switch is arranged on the bed body and opposite to the circumference where the induction block is located, and the proximity switch is electrically connected with the control system.

On the basis of the first possible design, the transmission mechanism optionally comprises: the transmission screw rod is coaxially connected with the motor through a coupler, and the transmission nut is fixed on the bed body and is in threaded connection with the transmission screw rod;

the position monitoring mechanism further includes: and the induction blocks are uniformly arranged on the mounting disc in the circumferential direction.

On the basis of the first possible design, the transmission mechanism optionally comprises: the driving screw rod is coaxially connected with the motor through a driving shaft, the driving nut is fixed on the bed body and is in threaded connection with the driving screw rod, a driving gear is fixedly sleeved on the driving shaft, a driven gear is meshed with the driving gear, and a manual shaft is coaxially connected with the driven gear;

the induction blocks are uniformly arranged on the end plane of the driven gear in the circumferential direction.

In one possible design, the sensing block is a screw and is disposed on the transmission mechanism by a threaded connection.

In one possible design, a proximity switch bracket is arranged on the bed body, and the proximity switch is arranged on the proximity switch bracket.

In a second possible design, when the transmission mechanism adopts a lead screw transmission mode;

the position monitoring mechanism includes: the color mark plate is arranged on the bed body along the transmission direction;

the color mark sensor is arranged on the base through a bracket and is opposite to the color mark plate;

the color code sensor is electrically connected with the control system.

In a third possible design, when the transmission mechanism adopts a scissor lift mode, the transmission mechanism includes: the scissor type lifting mechanism is connected with the bed body;

the position monitoring mechanism includes: the rack is arranged on the bed body along the transmission direction;

a gear bracket disposed on the base;

the monitoring gear is rotatably arranged on the gear bracket and meshed with the rack;

and the second encoder is coaxially connected with the monitoring gear and is also electrically connected with the control system.

On the basis of the third possible design, optionally, the position monitoring mechanism further includes: the color mark plate is arranged on the side wall of the rack along the transmission direction;

the color code sensor is arranged on the gear bracket and is electrically connected with the control system;

the color patch sensor is opposite the color patch.

On the basis of the third possible design, optionally, the position monitoring mechanism further includes:

the induction blocks are uniformly arranged on the end plane of the monitoring gear in the circumferential direction; and the proximity switch is arranged on the gear bracket and is opposite to the circumference where the induction block is positioned, and the proximity switch is electrically connected with the control system.

Further, the position monitoring mechanism further includes: the alarm is electrically connected with the control system;

the alarm is configured to receive an alarm instruction of the control system and send out an alarm under the condition that the control system determines that the position of the three-dimensional treatment bed is poor according to the position detection mechanism.

In a second aspect, there is provided a three-dimensional treatment couch including any one of the position monitoring mechanisms described above.

The embodiment of the utility model provides a beneficial effect that technical scheme brought is:

the embodiment of the utility model provides a position monitoring mechanism of three-dimensional treatment bed can gather the drive mechanism and/or the bed body of three-dimensional treatment bed at the ascending position signal of X axle direction, Z axle direction or Y axle direction to feed back to control system. The control system can accurately judge the position information of the three-dimensional treatment bed by processing the position signal, thereby ensuring the reliability and the safety of the movement of the three-dimensional treatment bed and having important significance for ensuring the treatment safety of patients.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a schematic view of a partial connection of a three-dimensional treatment couch according to the prior art;

fig. 2 is a schematic view of a partial connection relationship of a three-dimensional treatment couch provided in an embodiment of the present invention;

fig. 3-1 is a schematic view of a first type of local installation structure of a position monitoring mechanism on a transmission mechanism when the transmission mechanism adopts a lead screw transmission manner according to an embodiment of the present invention;

fig. 3-2 is a schematic view of a second type of partial installation structure of the position monitoring mechanism on the transmission mechanism when the transmission mechanism adopts a lead screw transmission manner according to an embodiment of the present invention;

fig. 3-3 are schematic views of a partial installation structure of the position monitoring mechanism on the transmission mechanism when the transmission mechanism adopts a scissor-type lifting mode according to an embodiment of the present invention.

The reference numerals denote:

1-a motor, wherein the motor is connected with a power supply,

2-the first encoder is set to the first encoder,

3-a transmission mechanism, wherein the transmission mechanism is arranged on the frame,

301-transmission screw rod, 302 driving gear, 303-driven gear, 304 manual shaft,

4-controlling the system to carry out the control,

5-a bed body is arranged on the bed body,

6-a position monitoring mechanism, wherein the position monitoring mechanism is arranged on the base,

601 a-sensing block, 602 a-proximity switch, 603 a-mounting plate,

601 b-rack, 602 b-gear holder, 603 b-monitoring gear, 604 b-second encoder,

605 b-color patch, 606 b-color patch sensor,

7-proximity switch bracket.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

As will be appreciated by those skilled in the art, a three-dimensional treatment couch is a mechanism in a radiation therapy system that includes: the bed comprises a base, a bed body arranged above the base, an X-direction moving mechanism, a Z-direction moving mechanism and a Y-direction moving mechanism which are arranged on the base. As shown in fig. 1, the X-direction moving mechanism, the Z-direction moving mechanism, and the Y-direction moving mechanism each include: the bed comprises a motor 1, a first encoder 2 coaxially connected with the motor 1, and a transmission mechanism 3 coaxially connected with the motor 1, wherein the transmission mechanism 3 is also connected with a bed body 5. The motor 1 and the first encoder 2 are both electrically connected with a control system 4 of the three-dimensional treatment bed.

When the motor 1 rotates, the driving force provided by the motor is transmitted to the bed body 5 through the transmission mechanism 3, so as to drive the bed body 5 to move in the X-axis direction, the Z-axis direction or the Y-axis direction. Meanwhile, the first encoders 2 in all directions collect motor pulse signals of the corresponding motors 1 and feed the motor pulse signals back to the control system 4, and the control system 4 controls the operation states of the motors 1 in real time through the motor pulse signals.

Since the position of the bed body 5 is controlled by the motor 1, which is open-loop control, in this process, when the position information of the bed body 5 in each direction, such as the moving distance, needs to be judged, the prior art is determined according to the motor pulse signal fed back to the control system 4. Based on the open-loop control mode, the motor 1 is not well connected with the transmission mechanism 3, and even when the motor is idle, the pulse signal of the motor is ineffective for determining the position information of the three-dimensional treatment bed.

In order to solve the technical problem, in a first aspect, an embodiment of the present invention provides a position monitoring mechanism for a three-dimensional treatment couch, wherein the three-dimensional treatment couch includes: the bed comprises a base, a moving mechanism arranged on the base and a bed body 5 arranged above the base.

This moving mechanism includes: a transmission mechanism 3 connected with the bed body 5;

the position monitoring mechanism 6 is arranged on the transmission mechanism 3 and/or the bed body 5, and the position monitoring mechanism 6 is electrically connected with the control system 4 of the three-dimensional treatment bed.

The "moving mechanism" refers to an X-direction moving mechanism, a Z-direction moving mechanism, and a Y-direction moving mechanism, and the moving mechanisms are independent from each other.

The embodiment of the utility model provides a position monitoring mechanism 6 of three-dimensional treatment bed can gather the drive mechanism 3 and/or the bed body 5 of three-dimensional treatment bed at the ascending position signal of X axle direction, Z axle direction or Y axle direction to feed back to control system 4. The control system 4 can accurately determine the position information of the three-dimensional treatment couch by processing the position signal.

When the servo motor is adopted to drive the transmission mechanism 3, the three-dimensional treatment bed further comprises: a motor 1 and a first encoder 2 which are coaxially connected;

the transmission mechanism 3 is coaxially connected with the motor 1;

the motor 1 and the first encoder 2 are also electrically connected with the control system 4.

Based on first encoder 2 can gather the pulse signal of motor 1 and feed back to control system 4, this position monitoring mechanism 6 cooperation first encoder 2 can form closed loop control to three-dimensional treatment bed: namely, the position monitoring mechanism 6 collects position signals of the transmission mechanism 3 and/or the bed body 5 of the three-dimensional treatment bed in the X-axis direction, the Z-axis direction or the Y-axis direction, and feeds back the position signals to the control system 4. Meanwhile, the first encoder 2 collects motor pulse signals of the motor 1 in the X-axis direction, the Z-axis direction or the Y-axis direction and feeds the motor pulse signals back to the control system 4, the control system 4 compares the position signals in the same direction with the motor pulse signals, not only can the position information of the three-dimensional treatment bed be accurately judged, but also whether the connection between the motor 1 and the transmission mechanism 3 is good (namely, the running state of the three-dimensional treatment bed is monitored) can be judged, the moving reliability and safety of the three-dimensional treatment bed are ensured, and the method has important significance for ensuring the treatment safety of patients.

Specifically, when the motor 1 is well connected with the transmission mechanism 3, the motor pulse signal acquired by the first encoder 2 and the position signal acquired by the position monitoring mechanism 6 have a certain correspondence (correspondence in functional relationship) substantially, the control system 4 compares the two signals to obtain a comparison result corresponding to the two signals, and at this time, according to any one of the motor pulse signal and the position signal, the position information of the three-dimensional treatment couch can be accurately judged, and meanwhile, the motor 1 can be well connected with the transmission mechanism 2.

On the contrary, when the connection between the motor 1 and the transmission mechanism 3 is poor, the motor pulse signal acquired by the first encoder 2 does not have a corresponding relation with the position signal acquired by the position monitoring mechanism 6, the control system 4 compares the two signals to obtain a non-corresponding comparison result, at the moment, the position information of the three-dimensional treatment bed can be accurately judged according to the position signal, and meanwhile, the existence of unreliable factors and potential safety hazards of the three-dimensional treatment bed is determined, so that the machine can be stopped and maintained in time.

For example, when the motor 1 runs idle, the first encoder 2 can acquire a motor pulse signal, the transmission mechanism 3 is not driven by the motor 1, so that the transmission mechanism 3 and the bed body 5 do not displace, and at the moment, the position monitoring mechanism 6 cannot acquire a position signal. The control system 4 can acquire the motor pulse signal, but cannot acquire the position signal, so that the motor 1 can be judged to idle and the position of the three-dimensional treatment bed is not changed on the basis, and the need of shutdown maintenance is determined.

In summary, for each of the above situations, the closed-loop control is formed based on the cooperation of the position monitoring mechanism 6, the first encoder 2 and the control system 4, so that the position information of the three-dimensional treatment bed can be accurately judged, and the reliability and safety of the movement of the three-dimensional treatment bed can be further ensured, thereby improving the safety of the patient during treatment.

The transmission mechanism 3 can have various transmission modes for different types of three-dimensional treatment beds, such as screw transmission, scissor transmission and the like. The transmission mechanisms 3 used in the X-direction moving mechanism, the Z-direction moving mechanism, and the Y-direction moving mechanism may be the same or different for the same three-dimensional treatment couch. When the transmission modes of the transmission mechanism 3 are different, the position monitoring is considered to be quickly and accurately realized, meanwhile, the installation convenience is improved, and the structure of the position monitoring mechanism 6 and the installation mode of the position monitoring mechanism on the transmission mechanism 3 are also different. Several examples are given below:

as an embodiment, when the transmission mechanism 3 adopts a screw transmission mode:

as shown in fig. 3-1 and 3-2, the position monitoring mechanism 6 includes: a plurality of induction blocks 601a uniformly arranged on the transmission mechanism 3 around the circumferential direction;

the proximity switch 602a is disposed on the bed 5 and opposite to the circumference where the sensing block 601a is located, and the proximity switch 602a is electrically connected to the control system 4.

When the transmission mechanism 3 adopts a screw transmission mode, the rotary motion of the transmission mechanism 3 is converted into the linear motion of the bed body 5, at the moment, the plurality of induction blocks 601a are uniformly arranged on the transmission mechanism 3 around the circumferential direction, and when the transmission mechanism 3 rotates, the plurality of induction blocks 601a synchronously rotate along with the rotation. The proximity switch 602a is disposed on the bed body 5 and opposite to the circumference of the rotating sensing block 601a, and when the proximity switch 602a senses one sensing block 601a, it will send out a pulse signal (i.e. a position signal) corresponding to the motor pulse signal and feed back the pulse signal to the control system 4. The control system 4 can obtain the position information of the three-dimensional treatment couch through the position signal.

Moreover, the control system 4 can accurately judge whether the connection between the motor 1 and the transmission mechanism 3 is good or not by comparing the position signal with the motor pulse signal, and has important significance for ensuring the moving safety of the three-dimensional treatment bed.

Based on the embodiment (a), as a first example: as shown in fig. 3-1, the transmission mechanism 3 includes: a transmission screw rod 301 coaxially connected with the motor 1 through a coupler, and a transmission nut fixed on the bed body 5 and in threaded connection with the transmission screw rod 301;

in this case, the position monitoring mechanism 6 further includes: and a mounting disc 603a coaxially connected with the free end of the transmission screw rod 301, and a plurality of induction blocks 601a are uniformly arranged on the mounting disc 603a around the circumferential direction.

It can be understood that the motor 1 drives the transmission screw rod 301 to rotate in situ, and then drives the transmission nut to move linearly along the axial direction of the transmission screw rod 301, and further drives the bed body 5 to move.

The mounting disc 603a is arranged at the free end (the end opposite to the coupling end of the motor 1) of the transmission screw rod 301, so that the mounting disc 603a and the transmission screw rod 301 synchronously rotate, on the basis, the plurality of induction blocks 601a are uniformly arranged on the mounting disc 603a in the circumferential direction, the synchronous rotation of the induction blocks 601a and the transmission screw rod 301 can be ensured, the position signals sensed by the proximity switch 602a correspond to the motor driving signals collected by the first encoder 2, and the mounting process of the induction blocks 601a is more convenient.

The mounting plate 603a may be fixed to the free end of the driving screw 301 by welding, clamping, or screwing. In order to mount the mounting plate 603a on the drive screw 301 firmly and to facilitate removal, it is preferably fastened by screwing.

For example, the mounting plate 603a includes an annular plate body and a cover body coaxially connected to the inner ring of the annular plate body, an inner thread is provided on the inner wall of the cover body, an outer thread adapted to the outer wall of the free end of the driving screw 301 is provided on the outer wall of the free end of the driving screw 301, and the cover body is screwed on the free end of the driving screw 301 to complete stable mounting and facilitate detachment.

And a plurality of induction blocks 601a are uniformly arranged on the annular disc body around the circumferential direction. It can be understood that the sensing block 601a is used in cooperation with the proximity switch 602a, i.e. the proximity switch 602a can sense the position thereof and send out a corresponding position signal.

Generally, the sensing block 601a is made of metal, and the structure thereof may be cylindrical, prismatic, sheet-shaped, etc.

In order to facilitate the installation of the sensing blocks 601a on the transmission mechanism 3, and to facilitate the adjustment of the number thereof, and the adjustment of the distance between the sensing blocks 601a and the proximity switch 602a, the sensing blocks 601a may be disposed on the transmission mechanism 3 by a screw connection manner. For example, the annular disc body is provided with a plurality of internal thread holes around the circumferential direction, and the induction block 601a of the screw structure is connected with the internal thread holes in a threaded manner.

For the above mentioned distance between the proximity switch 602a and the sensing block 601a, the embodiment of the present invention is not limited specifically, as long as it is ensured that the proximity switch 602a can sense the sensing block 601a in real time.

The number of sensing blocks 601a is determined according to the requirement of monitoring accuracy, and it can be understood that the monitoring accuracy is higher when the number of sensing blocks 601a is larger. Generally, at least 5 sensing blocks 601a may be provided, such as 8, 10, 12, 14, 16, etc.

The monitoring accuracy can be represented by a linear distance that the driving nut moves after the proximity switch 602a senses two adjacent sensing blocks 601a, and for convenience of description, the linear distance is defined as a "monitoring distance" and is calculated by the following formula:

Figure 592412DEST_PATH_RE-GDA0002203342560000081

wherein M is a monitoring distance in mm;

p is the lead of the transmission screw rod, the unit is mm, and the lead of the transmission screw rod 301 is also determined after the specification of the transmission screw rod is determined;

i is a transmission ratio, and since the sensing block 601a is arranged at the free end of the transmission screw rod 301, i is 1;

k is the number of sensing blocks 601 a.

For example, when the lead of the driving screw 301 is 5mm and the number of the sensing blocks 601a is 10, the monitoring distance M is 0.5 mm.

For example, when the bed 5 moves 0.5mm in the X-axis direction, the proximity switch 602a can sense one sensing block 601a, that is, the control system 4 obtains a position signal of the primary bed 5, and in this case, higher monitoring accuracy can be achieved.

If the theoretical moving stroke of the bed 5 reaches 0.5mm, the proximity switch 602a does not sense the sensing block 601a, for example, after the actual moving stroke of the bed 5 exceeds 0.5mm, the proximity switch 602a senses the sensing block 601a, at this time, the control system 4 obtains a motor pulse signal of "the moving stroke of the bed 5 exceeds 0.5 mm" fed back by the first encoder 2, and simultaneously obtains a position signal of "the moving stroke of the bed 5 is 0.5 mm" fed back by the proximity switch 602a, which means that the motor 1 is poorly coupled with the transmission mechanism 3, and the control system 4 can make a stop instruction.

Based on the embodiment (a), as a second example: there are also cases where the transmission mechanism 3 is assisted by a manual shaft 304 for transmission work, as shown in fig. 3-2, the transmission mechanism 3 further includes: the bed body is characterized by comprising a transmission screw rod 301 coaxially connected with the motor 1 through a transmission shaft, a transmission nut fixed on the bed body 5 and in threaded connection with the transmission screw rod 301, a driving gear 302 fixedly sleeved on the transmission shaft, a driven gear 303 meshed with the driving gear 302 and a manual shaft 304 coaxially connected with the driven gear 303. The plurality of sensing pieces 601a are uniformly arranged on the end plane of the driven gear 303 around the circumferential direction.

It is understood that the coupling between the transmission shaft and the motor 1, and between the transmission shaft and the transmission screw 301, can be realized by a coupling.

By rotating the manual shaft 304 or rotating the motor 1, the transmission nut can be driven to move linearly along the transmission screw rod 301, but the two transmission sequences are just opposite. For example, when the manual shaft 304 is rotated, it drives the driven gear 303 to rotate in the same direction, and further drives the driving gear 302 to rotate in the opposite direction, and further drives the transmission shaft and the transmission screw 301 to rotate in the same direction as the driving gear 302, and further drives the transmission nut to move linearly along the axial direction of the transmission screw 301, and further drives the bed 5 to move. At the same time, the motor 1 also rotates synchronously therewith.

When the actuator 3 is as described above, the installation positions of the proximity switch 602a and the sensing piece 601a are not limited to the above-described first embodiment. In consideration of convenience of mounting position, the plurality of sensing pieces 601a may also be uniformly arranged on the end plane of the driven gear 303 around the circumferential direction. At this time, the proximity switch 602a is disposed on the bed 5 opposite to the circumference where the sensing block 601a is located.

Based on the arrangement of the sensing piece 601a on the end plane of the driven gear 303, the "monitoring distance" in the second embodiment can be calculated by the following formula:

Figure 348141DEST_PATH_RE-GDA0002203342560000101

wherein M is a monitoring distance in mm;

i is a transmission ratio, since the sensing block 601a is arranged on the driven gear 303, and the driving gear 302 is coaxially connected with the transmission screw rod 301, at this time, i is the number of teeth of the driving gear 302/the number of teeth of the driven gear 303;

k is the number of sensing blocks 601 a.

For example, when the lead of the driving screw 301 is 5mm, the number of the sensing blocks 601a is 16, the number of the driving gears 302 is 52, and the number of the driven gears 303 is 32, the monitoring distance M is 0.508mm, similar to the above principle, in this case, a higher monitoring accuracy can be achieved.

In order to ensure the monitoring accuracy of the three-dimensional treatment couch position information, the monitoring distance is preferably 0.3 to 1.5mm, for example, 0.5mm, 0.8mm, 1.0mm, 1.2mm, or the like.

It can be understood by those skilled in the art that the proximity switch 602a can be disposed at any position of the bed 5 as long as it is opposite to the circumference where the corresponding sensing block 601a is located and can sense the position signal of the sensing block 601 a.

In order to facilitate the installation of the proximity switch 602a, a proximity switch bracket 7 is provided on the bed 5, and the proximity switch 602a is provided on the proximity switch bracket 7.

For example, the proximity switch holder 7 may include: a connecting plate and a mounting plate which are vertically connected, the connecting plate is fixed on the bed body 5, and the proximity switch 602a is fixed on the mounting plate. As for the fixed connection relation of the two, the fixed connection relation can be realized through a bolt connection mode, so that the adjustment is convenient.

(II), as another embodiment, when the transmission mechanism 3 adopts a screw transmission mode;

the position monitoring mechanism 6 includes: a color mark plate 605b arranged on the bed body 5 along the transmission direction;

a color patch sensor 606b provided on the base through a holder and opposed to the color patch panel 605 b;

the color patch sensor 606b is electrically connected to the control system 4.

The relationship between the color patch plate 605b and the color patch sensor 606b in this example can be seen in the relationship between the color patch plate 605b and the color patch sensor 606b shown in fig. 3-3, and although the transmission manner of the transmission mechanism 3 in this example and fig. 3-3 is different, the operation principle of the color patch plate 605b and the color patch sensor 606b for position monitoring is the same.

Because the bed body 5 and the color mark plate 605b move synchronously along the transmission direction, when the color mark plate 605b moves along the transmission direction, the color mark sensor 606b fixed on the base through the support can monitor the color change on the color mark plate 605b in real time (directly representing the position information of the bed body 5), and output a corresponding pulse signal and feed back the pulse signal to the control system 4, and the control system 4 can acquire the accurate position information of the bed body 5.

Moreover, the control system 4 can accurately judge whether the connection between the motor 1 and the transmission mechanism 3 is good or not by comparing the pulse signal fed back by the color mark sensor 606b with the motor pulse signal fed back by the first encoder 2, and has an important meaning for ensuring the moving safety of the three-dimensional treatment couch.

The design of the bracket on the base is only required to be able to be opposite to the color patch panel 605b and sense the color change of the color patch panel 605b when the color patch sensor 606b is fixed thereon.

(iii) as another embodiment, when the transmission mechanism 3 adopts a scissor lift type, the transmission mechanism 3 includes: a scissor type lifting mechanism connected with the bed body 5;

as shown in fig. 3 to 3, the position monitoring mechanism 6 includes: a rack 601b arranged on the bed body 5 along the transmission direction;

a gear bracket 602b provided on the base;

a monitoring gear 603b rotatably provided on the gear holder 602b and engaged with the rack 601 b;

a second encoder 604b coaxially coupled to the monitoring gear 603b, the second encoder 604b further electrically connected to the control system 4.

When the motor 1 drives the scissor type lifting mechanism to lift, the bed body 5 and the rack 601b thereon are driven to lift in the transmission direction, and in the process, the monitoring gear 603b engaged with the rack 601b rotates, and further drives the second encoder 604b to synchronously rotate. In the rotating process, the second encoder 604b outputs a corresponding encoded pulse signal (corresponding to the rotation information of the monitoring gear 603b) and feeds the encoded pulse signal back to the control system 4, i.e. the scissor-type lifting is converted into the monitoring of the displacement of the bed body 5 in the transmission direction.

On the basis of the embodiment (iii), as a first example: as shown in fig. 3-3, the position monitoring mechanism 6 further includes: a color mark plate 605b provided on a side wall of the rack 601b in the transmission direction;

a color scale sensor 606b disposed on the gear bracket 602b and electrically connected to the control system 4;

the color patch sensor 606b is opposed to the color patch plate 605 b.

Since the monitoring gear 603b is coaxially coupled to the second encoder 604b, there is a possibility that the coupling between the two is poor, and at this time, the position information of the bed 5 acquired by the second encoder 604b is not accurate. In order to accurately acquire the position information of the bed body 5, the connection condition of the monitoring gear 603b and the second encoder 604b is monitored in real time, and the position monitoring mechanism 6 is defined as above.

When the color patch panel 605b is displaced along the transmission direction, the color patch sensor 606b fixed on the gear bracket 602b can monitor the color change on the color patch panel 605b in real time (directly represents the position information of the bed body 5), and output a corresponding pulse signal and feed back the pulse signal to the control system 4, and the control system 4 can acquire the accurate position information of the bed body 5.

Meanwhile, the control system 4 further acquires the pulse signal collected by the second encoder 604b, the second encoder 604b is matched with the color mark sensor 606b to realize closed-loop monitoring, and the position information of the bed body 5 is doubly monitored:

if the position information of the bed 5 fed back by the second encoder 604b corresponds to the position information of the bed 5 fed back by the color scale sensor 606b, it indicates that the connection between the monitoring gear 603b and the second encoder 604b is good, and the position information of the bed 5 can be accurately determined by arbitrarily selecting the signal fed back by the second encoder 604b or the color scale sensor 606 b.

If the position information of the bed 5 fed back by the second encoder 604b does not correspond to the position information of the bed 5 fed back by the color scale sensor 606b, it indicates that the connection between the monitoring gear 603b and the second encoder 604b is not good, and at this time, the control system 4 determines that the connection between the monitoring gear 603b and the second encoder 604b is not good based on the position information of the bed 5 fed back by the color scale sensor 606b, so as to stop the machine for maintenance in time.

Moreover, the minimum diameter of the focal point light spot of the color mark sensor 606b can reach 1mm, so that the light and dark stripes with the distance of 1mm on the color mark plate 605b can be distinguished, and the requirement of monitoring precision can be met.

As described above for the "monitoring distance", when the actual travel of the bed 5 in the specific direction exceeds the monitoring range of 1mm, the control system 4 can obtain the comparison result that the motor pulse signal and the position signal do not correspond to each other by comparing the motor pulse signal and the position signal, and further determine that the motor 1 is not well connected with the transmission mechanism 3.

For the Y-direction moving mechanism, a scissor-type lifting manner is usually adopted, at this time, the scissor-type lifting mechanism is connected with the bottom of the bed body 5, the rack 601b is vertically arranged on the bed body 5, and the color scale plate 605b is vertically arranged on the side wall of the rack 601b, see fig. 3-3.

In order to make the second encoder 604b rotate synchronously with the monitoring gear 603b, and at the same time, to ensure that the color patch sensor 606b is fixed in position, the structure of the gear bracket 602b may be as follows, including: the support comprises a support body arranged on the base, a gear carrier connected with the support body and an encoder frame connected with the support body.

Wherein, the first rotating shaft of the monitoring gear 603b is rotatably arranged on the gear rack, and the monitoring gear 603b is fixedly sleeved on the first rotating shaft; a second rotating shaft of the second encoder 604b is rotatably arranged on the encoder frame, and the second encoder 604b is fixedly sleeved on the second rotating shaft; the first rotating shaft and the second rotating shaft are coaxially connected through a coupler, so that the monitoring gear 603b and the second encoder 604b are synchronously connected, namely, the two synchronously rotate.

The color patch sensor 606b may be fixed on the gear frame, for example, at the free end of the gear frame, as long as it can be opposite to the color patch 605b and can sense the color change on the color patch 605 b.

On the basis of the embodiment (iii), as a second example: the position monitoring mechanism 6 further includes:

a plurality of sensing blocks 601a uniformly arranged on an end plane of the monitoring gear 603b around a circumferential direction;

and the proximity switch 602a is arranged on the gear bracket 602b and is opposite to the circumference where the sensing block 601a is located, and the proximity switch 602a is electrically connected with the control system 4.

Through evenly setting up a plurality of response pieces 601a on the end plane of monitoring gear 603b around the circumferencial direction, can ensure that response piece 601a and monitoring gear 603b rotate in step, make proximity switch 602a sense the position signal of bed body 5 and feed back to control system 4, acquire the position information of bed body 5.

Furthermore, on the one hand, the control system 4 can also acquire the pulse signal of the motor collected by the first encoder 2 and compare it with the pulse signal collected by the second encoder 604b and/or the position signal collected by the proximity switch 602a to make a judgment as to whether the safety hazard exists in the bed 5. On the other hand, the second encoder 604b cooperates with the proximity switch 602a to realize closed-loop monitoring, thereby realizing dual monitoring of the position information of the bed 5.

Further, the position monitoring mechanism 6 further includes: and the alarm is electrically connected with the control system 4 and is configured to receive an alarm instruction of the control system 4 and send an alarm in the case that the control system 4 determines that the three-dimensional treatment bed is in a poor position according to the position detection mechanism 6.

If the control system 4 cannot receive the position signal sent by the position monitoring mechanism 6, or the monitoring distance monitored by the position monitoring mechanism 6 exceeds the set monitoring distance threshold value, it indicates that the motor 1 is poorly connected or not connected with the transmission mechanism 3, for example, the transmission screw 301, and at this time, the control system 4 sends an alarm instruction to an alarm, so that an operator can timely know the poor position information of the three-dimensional treatment bed, and the three-dimensional treatment bed can be stopped timely. Alternatively, the control system 4 may automatically issue a stop processing command according to the alarm signal.

Based on the above, the embodiment of the present invention takes the following three-dimensional treatment bed as an example, and carries out position monitoring and safety detection on the three-dimensional treatment bed by installing the position monitoring mechanism 6 thereon, so as to achieve the purpose of moving reliability and safety:

the X of this three-dimensional treatment bed all adopts lead screw drive mode to moving mechanism, Z to moving mechanism, and the difference lies in: the transmission mechanism 3 of the X-direction moving mechanism is as described in the above first embodiment, and the transmission mechanism 3 of the Z-direction moving mechanism is as described in the above second embodiment. The transmission mechanism 3 of the Y-direction moving mechanism of the three-dimensional treatment bed adopts a scissor type lifting mode.

Because the transmission modes of the X-direction moving mechanism, the Z-direction moving mechanism and the Y-direction moving mechanism of the three-dimensional treatment bed are different, the structure and the installation mode of the position monitoring mechanism 6 are respectively detailed as follows:

for the X-direction moving mechanism: as shown in fig. 3-1, a mounting plate 603a is coaxially connected to the free end of the driving screw 301, so that a plurality of, for example, 10 sensing pieces 601a are uniformly arranged on the mounting plate 603a around the circumferential direction. Meanwhile, the proximity switch support 7 is arranged on the bed body 5, so that the proximity switch 602a is arranged on the proximity switch support 7 and is opposite to the circumference where the plurality of induction blocks 601a are located, and meanwhile, the proximity switch 602a is electrically connected with the control system 4.

For the Z-direction moving mechanism: as shown in fig. 3-2, a plurality of, for example, 16 sensing pieces 601a are uniformly arranged on the end plane of the driven gear 303 around the circumferential direction. Meanwhile, the proximity switch support 7 is arranged on the bed body 5, so that the proximity switch 602a is arranged on the proximity switch support 7 and is opposite to the circumference where the plurality of induction blocks 601a are located, and meanwhile, the proximity switch 602a is electrically connected with the control system 4.

For the Y-direction moving mechanism: as shown in fig. 3-3, a rack 601b is vertically disposed on the bed 5, a gear bracket 602b is disposed on the base, a monitoring gear 603b engaged with the rack 601b is rotatably disposed on the gear bracket 602b, the monitoring gear 603b is further coaxially coupled to a second encoder 604b, and the second encoder 604b is electrically connected to the control system 4.

A color mark plate 605b is arranged on the side wall of the rack 601 b; a color patch sensor 606b is disposed on the gear bracket 602b opposite to the color patch 605b, and the color patch sensor 606b is electrically connected to the control system 4.

Therefore, the position monitoring mechanism 6 is arranged on the three-dimensional treatment bed, the position information of the three-dimensional treatment bed can be accurately judged, the position monitoring mechanism 6 is matched with the first encoder 2 to form closed-loop control, and under the control of the control system 4, the connection information of the motor 1 and the transmission mechanism 3 can be accurately judged on the basis of accurately judging the position information of the three-dimensional treatment bed, so that the three-dimensional treatment bed has important significance for ensuring the moving reliability and safety of the three-dimensional treatment bed and improving the safety of patients during treatment.

In a second aspect, embodiments of the present invention provide a three-dimensional treatment couch, including any one of the position monitoring mechanisms 6 described above.

The embodiment of the utility model provides a three-dimensional treatment bed through setting up position monitoring mechanism 6, has carried out configuration optimization to it, under control system 4's control, can not only accurately acquire its positional information, and can accurately acquire its running state, has guaranteed the reliability and the security of its removal.

It will be appreciated that the position monitoring means 6 is arranged on the drive means 3 and/or the bed 5 and is electrically connected to the control system 4. Based on the above, the appropriate position monitoring mechanism 6 may be selected according to the structure of the transmission mechanism 3, which is not described herein again.

In addition, the embodiment of the present invention provides an overview of a method for monitoring the position of a three-dimensional treatment couch by using any one of the position monitoring mechanisms described above:

position signals of the transmission mechanism 3 and/or the bed body 5 of the three-dimensional treatment bed in the X-axis direction, the Z-axis direction or the Y-axis direction are collected by the position monitoring mechanism 6 and are fed back to the control system 4;

the control system 4 processes the position signal to obtain the position information of the three-dimensional treatment bed.

The processing of the position signal by the control system 4 is understood to be the conversion of the electrical signal into a digital signal that can be read directly by an operator.

Further, the method further comprises: the first encoder 2 collects motor pulse signals of the motor 1 in the X-axis direction, the Z-axis direction or the Y-axis direction and feeds the motor pulse signals back to the control system 4.

The control system 4 compares the position signal in the same direction with the motor pulse signal to obtain the position information of the three-dimensional treatment bed.

Through comparing the position signal and the motor pulse signal in the same direction, the position information of the three-dimensional treatment bed can be accurately obtained, and the connection information of the motor 1 and the transmission mechanism 3 can also be accurately obtained, so that the reliability and the safety of the movement of the three-dimensional treatment bed are ensured.

Further, the method further comprises: the control system 4 compares the position signal and the motor pulse signal in the same direction, and determines whether the position signal and the motor pulse signal have a corresponding relationship according to a comparison result;

if so, acquiring the position information of the three-dimensional treatment bed according to the position signal or the motor pulse signal;

if not, the position information of the three-dimensional treatment bed is obtained according to the position signal, and meanwhile, the control system 4 sends an alarm instruction to the alarm.

By the method, when the control system 4 determines that the position signal does not correspond to the motor pulse signal, the control system 4 sends an alarm instruction to the alarm, so that an operator can know that potential safety hazards exist in the three-dimensional treatment bed in time, and the three-dimensional treatment bed can be conveniently stopped and overhauled in time.

The embodiment of the utility model provides a method for the position monitoring of above-mentioned three-dimensional treatment bed outlines, and this method includes:

the first encoder 2 collects motor pulse signals of the motor 1 in the X-axis direction, the Z-axis direction or the Y-axis direction and feeds the motor pulse signals back to the control system 4.

The position monitoring mechanism 6 collects position signals of the transmission mechanism 3 and/or the bed body 5 of the three-dimensional treatment bed in the X-axis direction, the Z-axis direction or the Y-axis direction and feeds the position signals back to the control system 4.

It can be understood that, when the motor 1 is well connected with the transmission mechanism 3, the motor pulse signal collected by the first encoder 2 and the position signal collected by the position monitoring mechanism 6 have a certain corresponding relationship substantially, the control system 4 compares the two signals to obtain a corresponding comparison result, and at this time, the position information of the three-dimensional treatment bed can be accurately judged according to any one of the motor pulse signal and the position signal.

On the contrary, when the connection between the motor 1 and the transmission mechanism 3 is poor, the motor pulse signal acquired by the first encoder 2 does not have a corresponding relationship with the position signal acquired by the position monitoring mechanism 6, the control system 4 compares the two signals to obtain a non-corresponding comparison result, the position information of the three-dimensional treatment bed can be accurately judged according to the position signal, and the unreliable factors and potential safety hazards of the three-dimensional treatment bed are determined, so that the three-dimensional treatment bed can be stopped and maintained in time.

When motor 1 idles, motor pulse signal can be gathered to first encoder 2, because drive mechanism 3 is not driven by motor 1, so drive mechanism 3 and bed body 5 do not take place the displacement, and at this moment, position signal can't be gathered to position monitoring mechanism 6. At this time, although the control system 4 can acquire the motor pulse signal, it cannot acquire the position signal, that is, it can be determined that the motor 1 idles and the position of the three-dimensional treatment couch is not changed, and it is determined that the machine needs to be stopped for maintenance.

In conclusion, the position information of the three-dimensional treatment bed can be accurately judged by the position monitoring method, so that the moving reliability and safety of the three-dimensional treatment bed are ensured.

The above description is only for facilitating the understanding of the technical solutions of the present invention by those skilled in the art, and is not intended to limit the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A position monitoring mechanism of a three-dimensional treatment couch, the three-dimensional treatment couch comprising: the device comprises a base, a moving mechanism arranged on the base, and a bed body (5) arranged above the base;

the moving mechanism includes: the transmission mechanism (3) is connected with the bed body (5);

the three-dimensional therapeutic bed is characterized in that a position monitoring mechanism (6) is arranged on the transmission mechanism (3) and/or the bed body (5), and the position monitoring mechanism (6) is electrically connected with a control system (4) of the three-dimensional therapeutic bed.

2. The position monitoring mechanism of claim 1, wherein the three-dimensional treatment couch further comprises: a motor (1) and a first encoder (2) which are coaxially connected;

the transmission mechanism (3) is coaxially connected with the motor (1);

the motor (1) and the first encoder (2) are also electrically connected with the control system (4).

3. Position monitoring mechanism according to claim 2, characterized in that when the transmission mechanism (3) is in a lead screw transmission mode;

the position monitoring mechanism (6) includes: the induction blocks (601a) are uniformly arranged on the transmission mechanism (3) around the circumferential direction;

the proximity switch (602a) is arranged on the bed body (5) and is opposite to the circumference where the induction block (601a) is located, and the proximity switch (602a) is electrically connected with the control system (4).

4. Position monitoring mechanism according to claim 3, characterized in that the transmission mechanism (3) comprises: the transmission screw rod (301) is coaxially connected with the motor (1) through a coupler, and the transmission nut is fixed on the bed body (5) and is in threaded connection with the transmission screw rod (301);

the position monitoring mechanism (6) further includes: the induction blocks (601a) are uniformly arranged on the mounting disc (603a) in the circumferential direction.

5. Position monitoring mechanism according to claim 3, characterized in that the transmission mechanism (3) comprises: the device comprises a transmission screw rod (301) coaxially connected with the motor (1) through a transmission shaft, a transmission nut fixed on the bed body (5) and in threaded connection with the transmission screw rod (301), a driving gear (302) fixedly sleeved on the transmission shaft, a driven gear (303) meshed with the driving gear (302), and a manual shaft (304) coaxially connected with the driven gear (303);

the induction blocks (601a) are uniformly arranged on the end plane of the driven gear (303) around the circumferential direction.

6. The position monitoring mechanism according to claim 3, characterized in that the sensing block (601a) is a screw and is arranged on the transmission mechanism (3) by means of a threaded connection.

7. The position monitoring mechanism according to claim 3, characterized in that a proximity switch bracket (7) is provided on the bed (5), and the proximity switch (602a) is provided on the proximity switch bracket (7).

8. Position monitoring mechanism according to claim 1 or 2, characterized in that when the transmission mechanism (3) is in a lead screw transmission mode;

the position monitoring mechanism (6) includes: a color mark plate (605b) arranged on the bed body (5) along the transmission direction;

a color patch sensor (606b) disposed on the base through a bracket and opposite the color patch panel (605 b);

the color code sensor (606b) is electrically connected with the control system (4).

9. Position monitoring mechanism according to claim 1 or 2, characterized in that the transmission mechanism (3) comprises, when the transmission mechanism (3) is in scissor lift mode: the scissor type lifting mechanism is connected with the bed body (5);

the position monitoring mechanism (6) includes: a rack (601b) arranged on the bed body (5) along the transmission direction;

a gear support (602b) disposed on the base;

a monitoring gear (603b) rotatably provided on the gear holder (602b) and engaged with the rack (601 b);

a second encoder (604b) coaxially coupled with the monitoring gear (603b), the second encoder (604b) further electrically connected with a control system (4).

10. The position monitoring mechanism according to claim 9, characterized in that the position monitoring mechanism (6) further comprises: a color mark plate (605b) arranged on the side wall of the rack (601b) along the transmission direction;

a color mark sensor (606b) arranged on the gear bracket (602b) and electrically connected with the control system (4);

the color patch sensor (606b) is opposite the color patch (605 b).

11. The position monitoring mechanism according to claim 9, characterized in that the position monitoring mechanism (6) further comprises:

a plurality of sensing blocks (601a) uniformly arranged on an end plane of the monitoring gear (603b) around a circumferential direction; the proximity switch (602a) is arranged on the gear bracket (602b) and is opposite to the circumference where the induction block (601a) is located, and the proximity switch (602a) is electrically connected with the control system (4).

12. The position monitoring mechanism according to claim 1 or 2, characterized in that the position monitoring mechanism (6) further comprises: the alarm is electrically connected with the control system (4);

the alarm is configured to receive an alarm instruction of the control system (4) and send out an alarm in the case that the control system (4) determines that the three-dimensional treatment bed is not in a good position according to the position monitoring mechanism (6).

13. A three-dimensional treatment couch comprising a position monitoring mechanism (6) according to any of claims 1-12.