KR102024312B1 - Gantry robot for measuring electromagnetic field of cyclotron and the method of measuring electromagnetic field using it - Google Patents

Abstract

The present invention relates to a gantry robot for measuring the magnetic field of the electromagnetism of a cyclotron and a method for measuring a magnetic field using the same. The robot comprises: a gantry frame which is configured to be inserted into a magnetic field measuring area in the space among poles of a cyclotron; a shuttle including a magnetic field measuring sensor and configured to be moved on the gantry frame; a driving unit provided on the outside of the magnetic field measuring area and providing driving force to the shuttle; and a control unit configured to control the driving unit. Therefore, according to the gantry robot for measuring the magnetic field of the electromagnetism of a cyclotron and the method for measuring a magnetic field using the same of the present invention, a magnetic field can be measured after a reference point is calculated from the measured magnetic field and the magnetic field measuring area is coordinated while having the reference point as a starting point. In addition, the movement of a sensor, which has the non-limited degree of freedom, increases speed and accuracy in the measurement of the magnetic field. Furthermore, because the size of a frame can be adjusted to be used for various sizes and various shapes of yokes, universality can be guaranteed.

Description

GANTRY ROBOT FOR MEASURING ELECTROMAGNETIC FIELD OF CYCLOTRON AND THE METHOD OF MEASURING ELECTROMAGNETIC FIELD USING IT}

The present invention relates to an electromagnet magnetic field measurement gantry robot of the cyclotron and a magnetic field measurement method using the same, and more particularly to a robot and a magnetic field measurement method for measuring the magnetic field of the cyclotron using a gantry robot having no limit of freedom.

      Cyclotron is a kind of device for accelerating charged particles. The released ions are influenced by the magnetic field and move in a circular motion, and at the same time, they change the pole of the metal plate according to the position of the ions and accelerate the particles. Cyclotron is provided with a plurality of electrodes rotationally symmetrically in the form of an arc to accelerate the particles, and the pole is formed so that the magnetic field can be generated in a direction perpendicular to the electric field generated by the electrode. The magnetic field generated in the cyclotron requires precise magnetic field measurement in order to improve position and accuracy, and the magnetic field is measured by inserting a magnetic field measuring device into a gap between the poles of the cyclotron.

Korean Patent No. 1778796 has been disclosed with respect to such a cyclotron magnetic field measuring apparatus. However, since the conventional technique has a perpendicular movement by driving the drive of the x-axis and the drive of the y-axis separately, the degree of freedom of movement in the plane is low, and since the linear motion is measured to a portion outside the circular magnetic field region, waste of copper wire occurs. Measurement efficiency is lowered.

Republic of Korea Patent No.1778796 (Announcement on 09/26/2017)

The present invention is not limited to the degree of freedom that can solve the above-described conventional problems, and to provide the position of the central axis of the cyclotron and the electromagnet magnetic field measurement gantry robot of the cyclotron easy to set the coordinates based on the same and a magnetic field measuring method using the same There is that purpose.

As a means for solving the above problems, a gantry frame, a magnetic field measuring sensor configured to be inserted into at least a portion of the space between the poles of the cyclotron, the shuttle is configured to move on the gantry frame, is provided outside the magnetic field measuring area, An electromagnet magnetic field measurement gantry robot of cyclotron may be provided that includes a drive configured to provide a driving force to the shuttle and a control configured to control the drive.

Here, the drive unit is configured to further include a timing belt connecting the shuttle, the drive unit comprises a pair of drive unit, the control unit controls the rotation of the pair of drive unit so that the shuttle can control the position in the magnetic field measurement area can do.

The control unit sets a reference point, which is a center coordinate, based on the measured value of the magnetic field of a predetermined area of the magnetic field measurement area, and controls the driving unit to measure the magnetic field according to the new coordinates using the reference point as the reference point. Can be.

On the other hand, the magnetic field measuring region measures the magnetic field in the region where the magnetic field of the predetermined pattern is formed by rotational symmetry, and the control unit measures the center coordinates of the rotational symmetry of the magnetic field based on the value measured from the magnetic field measuring sensor and the corresponding coordinate when setting the reference point. Can be extracted and set as a reference point.

When the reference point is set, the controller extracts the closest coordinate closest to the area of the other unit magnetic field among the areas of the unit magnetic field, and sets the center point of the plurality of closest coordinates as the reference point.

Meanwhile, when setting the reference point, the controller extracts the coordinates of the hill vertex closest to the center of each unit magnetic field region and sets the center of the coordinates of the hill vertices arranged in rotational symmetry as the reference point. have.

The controller may control the driving unit by applying the r − θ coordinate system when measuring the magnetic field according to the new coordinates.

The controller may control the driving unit by applying the x-y coordinate system when measuring the magnetic field according to the new coordinates.

Meanwhile, the gantry frame may include a first gantry frame having a hollow in the magnetic field measuring region, a second gantry frame provided at the first gantry frame, and configured to be guided in a first direction on the first gantry frame. The pair of first guide rods and both ends may be configured to include a second guide rod configured to be guided to each of the first guide rods so as to move in the first direction.

The shuttle may be configured to be movable along the direction in which the second guide rod extends on the second guide rod.

Furthermore, the encoder may further include an encoder provided on at least one of the first guide rod and the second guide rod to measure the relative coordinates of the shuttle with respect to the gantry frame.

On the other hand, the driving unit is provided on the arm connected to the gantry frame, the arm may be configured to include a plurality of links to be arranged in accordance with the shape of the cyclotron.

And, it is configured to further comprise a plurality of fixing parts configured to fix the gantry frame to the cyclotron, it is configured to include a gap adjusting unit for adjusting the relative distance between the cyclotron and the gantry frame

On the other hand, the gap adjusting portion may be configured to include an adjustment screw so that the protrusion length can be adjusted according to the rotation.

In addition, the gantry frame may be provided with a length adjusting unit so that the size can be adjusted to correspond to the size of the magnetic field measurement area.

In addition, the first measurement step of measuring the magnetic field of the predetermined region of the center of the cyclotron magnetic field measurement region with a gantry robot, the reference point calculation step of calculating the reference point which is the center point of the rotational symmetry of the magnetic field based on the coordinates and the magnetic field measured in the predetermined region And a second measuring step of setting a left reference point as a reference point and measuring a magnetic field of the magnetic field measuring region, and a method of measuring a magnetic field of a cyclotron using a gantry robot.

Here, the gantry robot includes an H-bot type gantry frame and a magnetic field measuring sensor. In the first to second measuring steps, the position movement of the magnetic field measuring sensor is driven by a timing belt with a driving unit provided outside the magnetic field measuring region. It may be configured to deliver by.

On the other hand, the reference point calculation step, after extracting the coordinates of the vertices of the plurality of hills in the predetermined region based on the strength of the magnetic field may calculate the coordinates of the center point of the vertices of the plurality of hills as a reference point.

In the calculating of the reference point, the coordinates of the vertices of the hills are extracted as an even number when the reference point is calculated, and then the point where the straight lines connecting the vertices of the two hills facing each other may be calculated as the reference point.

Meanwhile, the first measuring step may be performed after the frame insertion step of inserting the gantry frame of the gantry robot into the space between the poles of the cyclotron and the fixing step of fixing the gantry robot to the cyclotron.

Electromagnet magnetic field measurement gantry robot of the cyclotron according to the present invention and a magnetic field measurement method using the same can calculate the reference point from the measured magnetic field and coordinate the magnetic field measurement area to the origin to measure the magnetic field, there is no limitation of the sensor Measurement of the magnetic field by movement has the effect of improving the speed and accuracy.

In addition, since the size of the frame is adjustable, it can be used regardless of the various sizes and shapes of the yoke, thereby ensuring the universality.

1 is a partially enlarged view and cross-sectional view of an electromagnet of cyclotron.
2 is a perspective view of a gantry robot according to a first embodiment of the present invention.
3 is an exploded perspective view of the first embodiment.
4 is a view showing the operation principle of the gantry robot.
5 is a use state diagram of the first embodiment.
FIG. 6 is a view illustrating a portion of FIG. 5.
7 is a view showing a concept according to the order of the magnetic field measurement method.
8 is a state diagram used in the gantry robot according to the second embodiment of the present invention.
9 is a state diagram used in the gantry robot according to the third embodiment of the present invention.
10 is a flowchart illustrating a magnetic field measuring method using a gantry robot according to a fourth embodiment of the present invention.

Hereinafter, an electromagnet magnetic field measurement gantry robot and a magnetic field measurement method of the cyclotron according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. And the names of each component in the description of the following embodiments may be called other names in the art. However, if their functional similarity and identity, even if the modified embodiment can be seen as an equivalent configuration. In addition, the symbols added to each component is described for convenience of description. However, the contents shown in the drawings in which these symbols are described do not limit each component to the ranges in the drawings. Similarly, even if an embodiment in which the configuration on the drawings is partially modified is employed, it can be regarded as an equivalent configuration if there is functional similarity and identity. In addition, in view of the general level of those skilled in the art, if it is recognized as a component to be included naturally, the description thereof will be omitted.

Hereinafter, the 'magnetic field measuring area' means a part or all of the area that can be moved by controlling the shuttle in the gantry robot to measure the magnetic field, and the 'magnetic field measuring area' refers to the pole when the gantry robot is inserted into the cyclotron. It can correspond to the area of the magnetic field generated by.

1 is a partially enlarged view and a cross-sectional view of an electromagnet of a cyclotron 1000. As shown, the electromagnet of the cyclotron 1000 may include a yoke 1100, a pole 1200, and a coil 1300. The yoke 1100, the pole 1200, and the coil 1300 may be configured as a pair so that the upper and lower parts may be symmetrically configured based on the drawing of FIG. 1. Looking at the cross-sectional view shown in Figure 1 (b) shows a gap in which a space is formed between a pair of poles (1200). The magnetic field measuring device is inserted into a space between the poles 1200 shown in FIG. 1 (b) and configured to measure a magnetic field.

2 is a perspective view of a gantry robot 1 which is a first embodiment according to the present invention, and FIG. 3 is an exploded perspective view of the first embodiment.

As shown, the gantry robot 1 according to the present invention is a gantry frame 100, guide rods 210 and 220, slider 300, shuttle 500, encoder 400, arm 700, drive unit 600 ), A timing belt 610, a fixing part 800, a supporting part 900, and a controller (not shown).

The gantry frame 100 forms an overall appearance of the gantry robot 1 according to the present invention, and provides a space in which other components can be provided. The gantry frame 100 may include a first gantry frame 110 and a second gantry frame 120 connected to an upper side of the first gantry frame 110. The first gantry frame 100 may be generally formed in a quadrangular shape, and a hollow is formed in a portion corresponding to the magnetic field forming region so as not to affect the generated magnetic field. The first gantry frame provides a foundation on which the remaining components can be provided except for the hollow. The second gantry frame 120 may include components such as a guide rod and a driving unit 600 at the edge portion. On the other hand, the magnetic field measuring area Am is an area in which the shuttle 500 to be described later can move in a planar space.

The guide rods 210 and 220 are configured to guide the movement path of the shuttle 500. The guide rod may include a pair of first guide rods 210 formed in a first direction and a second guide rod 220 formed in a second direction perpendicular to the first direction. The first guide rod 210 is formed in the y direction on the drawing and is configured in a straight line to finally guide the movement in the y direction among the movements of the shuttle 500. The first guide rod 210 may be configured in a rail shape and fixed to the frame. The first guide rod 210 may be provided on the outer side of the gantry frame 100 with the magnetic field measuring area Am therebetween. The second guide rod 220 is configured such that both ends thereof support each of the pair of first guide rods 210. The second guide rod 220 is configured to guide the movement in the x direction on the drawing. The second guide rod 220 may be provided on the slider 300 to be moved on the first guide rod 210. Slider 300 is configured to be moved in the first direction when the tension is transmitted from the timing belt 610 to be described later. The second guide rod 220 may be configured to be guided by a pair of rods to limit the rotation of the shuttle 500.

The slider 300 is configured to be slidable on the first guide rod 210 as described above, and both ends of the second guide rod 220 may be fixed to the slider 300, respectively.

The shuttle 500 is guided and moved by the first guide rod 210 and the second guide rod 220, and defines the magnetic field measuring area Am within the movable range. The shuttle 500 may include a magnetic field measuring sensor 510 to measure a magnetic field. Shuttle 500 may be configured to exclude the magnetic element to minimize the effect on the measured magnetic field, for example, the material constituting the shuttle 500 is a non-magnetic material such as metal or plastic (Non- magnetic materials). In addition, the components provided in the shuttle 500 may also be made of a nonmagnetic material. For example, the encoder 400 included in the shuttle 500 to be described later may be, for example, a nonmagnetic linear encoder 400 (Non-magnetic). encoder). Meanwhile, the shuttle 500 may have two installation holes into which a pair of second guide rods 220 are inserted to prevent rotation on the second guide rod 220. Meanwhile, the shuttle

The encoder 400 may be configured to check the position, that is, the coordinate of the shuttle 500. At least two encoders 400 may be provided in the slider 300 and the shuttle 500. When the slider 300 relatively moves along the first guide rod 210, the slider 300 may recognize coordinates for the first direction, and when the shuttle 500 moves relatively along the second guide rod 220. Coordinates for the second direction may be recognized.

The arm 700 is provided at one side of the gantry frame 100 and provides a space in which the driving element is provided. The drive element preferably includes an element that affects the magnetic field and is disposed away from the magnetic field measurement area Am. Therefore, when the gantry robot 1 is installed in the cyclotron 1000, the driving unit 600 is formed to extend a predetermined distance to the outside of the gantry frame 100 so that the driving unit 600 may be provided outside the cyclotron 1000. Here, the arm 700 may include a plurality of links and may be configured to change the shape so that the shape or the angle may be changed according to various shapes of the cyclotron 1000. The deformed shape of the arm 700 may be deformed to correspond to the structure of the outer surface of the cyclotron 1000, or a plurality of links may be connected to a plurality of joints in three dimensions to be deformed to correspond to the empty space inside the cyclone. The shape can be configured to change. The arm 610 may be fixed by a user's manual operation and may be modified and applied to automatically change by leaving a separate driving unit. In addition, the arm 700 may be provided with a plurality of rollers to guide the timing belt 610 corresponding to the shape.

Since the arm 700 includes two driving units 600 to be described later, the arm 700 may be configured with two articulated arms 700, and the two arms 700 may be provided on the pair of first guide rods 210, respectively. Adjacent to the gantry frame 100 may be installed.

The driving unit 600 is configured to rotate to generate a driving force to change the position of the shuttle 500. The driver 600 provides a driving force to the shuttle 500 through the timing belt 610. The driver 600 may be configured as, for example, a stepper motor. The driving unit 600 is driven according to a control input of a controller to be described later, and is configured to determine the position of the shuttle 500 according to a difference in rotation amounts of the two driving units 600. On the other hand, the position of the shuttle 500 according to the operation of the drive unit 600 will be described in detail later with reference to FIG. For example, the driving unit 600 may determine the driving interval of the step motor and the structure of the gear connected to the timing belt so that the measurement resolution may be 0.1 mm or less.

The timing belt 610 receives the tension from the driver 600 and is configured to finally move the shuttle 500. The timing belt 610 has a path formed along the first guide rod 210 and the second guide rod 220, one timing belt 610 is disposed along the path described above, and a pair of driving units 600. ) Is mounted via all. The timing belt 610 may be supported by a roller formed on the arm 700 so that a path may be formed along the arm 700 from the first guide rod 210 to the driving unit 600. On the other hand, with respect to the configuration of such a timing belt 610 will be described in detail later with reference to FIG.

The fixing part 800 is configured to fix the gantry robot 1 to the cyclotron 1000. The fixing part 800 is configured in plural on the outer side of the gantry frame 100, for example, is composed of four to be configured to fix the four points of the outside of the cyclotron (1000). The fixing part 800 may be fastened and fixed from the outside when the gantry frame 100 is inserted into the space between the poles 1200. The fixing part 800 may include a gap adjusting part 810 so as to precisely adjust the installation position of the gantry robot 1. The gap adjusting unit 810 may be configured to include an adjustment screw, and the relative distance between the fixing unit 800 and the cyclotron 1000 may be adjusted according to the amount of rotation. On the other hand, the configuration, function, and shape of the fixing part 800 is only an example, and may be applied in various configurations capable of fixing the gantry frame 100 according to the shape of the cyclotron 1000 that is individually changed.

The support unit 900 is configured to support the gantry robot 1 when the gantry robot 1 is to be placed vertically and installed inside the cyclotron 1000. The support 900 is connected to the outside of the gantry frame 100 so that the support 900 can be provided without affecting the magnetic field measuring area Am. The support 900 may be configured in a form including a plane to facilitate the support. However, the shape of the illustrated support unit 900 is just an example, and may be modified into various shapes capable of supporting the gantry robot 1.

The controller is configured to calculate the origin of the magnetic field, control the position of the shuttle 500, and measure the magnetic field. The controller may be configured to receive a signal from the magnetic field measurement sensor 510, receive a current position of the shuttle 500 from the encoder 400, and control the driving unit 600. On the other hand, the function of the control unit will be described in detail later with reference to FIG.

4 is a view showing the operating principle of the gantry robot (1). As shown, the gantry frame may be of the H-bot type, the position of the shuttle can be freely moved according to the driving amount of the pair of drive unit. Referring to FIG. 4, the path of the timing belt 610 will be described. One end of the timing belt 610 is connected to one end of the shuttle, is disposed along the second guide rod 220 from the shuttle, and the slider 300. Mounted on a roller, disposed along the first guide rod 210, mounted on a roller provided at one end of the first guide rod 210, and then placed on a path returned along the first guide rod 210. After being passed through the driving unit 600, the ball is mounted on another roller provided on the slider 300 along the first guide rod 210 and then disposed to pass through the shuttle 500 along the second guide rod 220. . Here, the timing belt 610 may be configured to be disposed along the second guide rod 220 at a position passing through the shuttle or spaced apart from the shuttle so that the timing belt 610 does not affect the shuttle 500. The configuration of the overall timing belt 610 is configured symmetrically of the above-described configuration.

Looking at the overall path of the timing belt 610, the timing belt is disposed in two paths along the first guide rod 210 and the second guide rod 220, respectively, and the timing belt (on the second guide rod 220). Only both ends of the 610 are connected to both sides of the shuttle 500, the other path is configured not to be connected to the shuttle 500.

On the other hand, although not shown, when the shape of the arm 700 is changed, the path 610 of the timing belt in the arm 700 may be somewhat changed.

As shown in FIG. 4 (a), when the two driving units 600 rotate in the same direction, the shuttle 500 moves in the x direction. That is, when two motors rotate clockwise, the shuttle 500 moves in the x + direction. On the contrary, when the directions of rotation in the two driving units 600 are reversed, the position is moved in the y direction. As a result, the gantry robot 1 adjusts the amount of rotation in the two driving units 600 to generate relative tension to adjust the position on the plane of the shuttle 500. Here, the H-bot type gantry robot 1 has two driving parts such that the driving part 600 can move in the x direction and the y direction, unlike the two degree of freedom driving system in which the x direction driver and the y direction driver are independently configured. Drives by generating a difference in the amount of rotation of 600, wherein the movement of the shuttle 500 is free to move in the space on the plane without being constrained to two degrees of freedom. In other words, it is possible to move without restriction in degrees of freedom. In particular, the cross section of the region in which the magnetic field is formed in the cyclotron 1000 is generally formed in a circular shape, and can be controlled by an r-θ coordinate system so that the shuttle 500 can be efficiently moved corresponding to the circular shape. In the case of measuring the magnetic field with the r-θ coordinate system, the shuttle 500 may be moved spirally from the center to the outside even if there is no prior information about the magnetic field region. Therefore, the measurement speed can be improved because the measurement can be efficiently performed corresponding to the region in which the magnetic field is generated.

Fig. 5 is a state diagram of use of the first embodiment, and Fig. 6 is a view showing a part of Fig. 5.

As shown, the gantry robot 1 of the electromagnet magnetic field measurement of the cyclotron 1000 according to the present invention is inserted into the space between the pole 1200 of the cyclotron 1000, the magnetic field measuring area Am Position is aligned such that) may be positioned corresponding to pole 1200. The gantry robot 1 may be fixed to the outside of the cyclotron 1000 using the fixing part 800 when the positions of the gantry frames 100 are aligned. The fixing part 800 is fixed by supporting the cyclotron 1000 at two points on each side of the gantry frame 100 and a total of four points. On the other hand, although not shown, the adjustment screw can be adjusted to finely adjust the installation position of the gantry frame 100.

As described above, the position of the driving unit 600 may be a point spaced a predetermined distance from the magnetic field measuring area Am so as to prevent or minimize the influence of the magnetic element on the magnetic field to be measured. In more detail, it may be configured as an articulated arm 700 which extends a predetermined distance from the frame and is disposed outside the cyclotron 1000 so as not to affect the magnetic field as shown.

Referring to FIG. 6, when the cyclotron 1000 is disposed horizontally, the gantry frame 100 is installed in a vertical position. When installed in the longitudinal direction, the support portion 900 can be used so that the gantry robot 1 can be supported.

7 is a view showing a concept according to the order of the magnetic field measurement method. As shown, the control unit controls the driving unit 600 to measure the strength of the magnetic field according to the position of the shuttle 500 in the magnetic field measuring area Am in a state where the gantry robot 1 is installed in the cyclotron 1000. . The controller may drive the driver 600 to measure the magnetic field in two steps. Initially, when the gantry robot 1 is installed, an error may occur between the center of the magnetic field measuring area Am and the center of the actual pole 1200, so that calculating the center coordinate of the actual pole 1200 may be preceded.

Initially, as shown in FIG. 7 (a), a vertex is formed at the central side of the magnetic field generating region in the pole 1200. The coordinates of the plurality of vertices are extracted to find the reference point Pr, which is the center of the magnetic field. do. The reference point Pr may be a coordinate of the rotation center of the pattern of the magnetic field formed in the predetermined pattern.

Subsequently, as shown in FIG. 7B, the controller does not measure the entire magnetic field measuring area Am to calculate the coordinates of the reference point Pr. Magnetic field is measured. In detail, the controller measures the magnetic field generated in the corresponding area while moving the shuttle 500 in the reference point determination region Ac. The reference point determination region Ac may be configured as a quadrangle, and in this case, the reference point determination region Ac may be applied as an x-y coordinate system. On the other hand, the reference point determination region (Ac) can be applied in a circular form that is easy to measure with the r-θ coordinate system.

Subsequently, as shown in FIG. 7C, when a magnetic field is measured inside the reference point determination region Ac, a hill vertex is calculated based on the strength of the magnetic field. The vertices of the hills are extracted using an algorithm that extracts the nearest coordinates, which are points of intersections of the straight lines that form the boundary of the hills, or points that are closest to the adjacent hills of any one hill area, based on the measured magnetic field values. Can be. For example, FIG. 7 (c) shows an example in which four vertices are calculated as the nearest coordinates based on the magnetic field values measured by the poles 1200 having four heels.

Calculation of the coordinates of the reference point Pr using the coordinates of the vertices of the hill calculates the coordinates of the intersection points between straight lines connecting vertices of diagonal hills facing each other from the extracted coordinates of the hill as shown in FIG. Can be done.

After the coordinates of the reference point Pr are calculated, the magnetic field measurement is performed in the magnetic field measuring area Am around the reference point Pr. As described above, the measurement of the magnetic field may be performed using the r-θ coordinate system to efficiently adjust the position of the shuttle and to measure the magnetic field in response to the region in which the magnetic field formed in a circular shape is formed. Meanwhile, since the reference point Ac is found and the origin of the r-θ coordinate system is set as the reference point Ac, the calculation is easily performed, and the measurement hardness of the shuttle 500 may be optimized. Specifically, when the position of the shuttle 500 is controlled by the r-θ coordinate system, when the measurement area is set in the quadrangle when the xy coordinate system is set, all the corners of the rectangular area other than the circular area excluded from the interest are measured, which is inefficient. You can solve the problem. Furthermore,

The principle of the H-hot gantry is applied so that the position of the shuttle 500 can be changed to a trajectory such as a circle, an ellipse, and a parabola by the difference in the amount of rotation of the two driving units without being limited by the degree of freedom.

Hereinafter, with reference to Figures 8 to 10 will be described for each other embodiment according to the present invention. In the following, it may be configured to include the same components as the above-described embodiment, and the same components will be omitted for the sake of brevity so as to avoid overlapping descriptions, and only different configurations will be described.

8 is a state diagram of use of the gantry robot 1 according to the second embodiment of the present invention. As shown, an example is shown in which the yoke 1100 of the cyclotron 1000 for measuring the magnetic field is installed in a circular configuration unlike the previous embodiment.

One side of the frame is extended so that the driving unit 600 may be provided outside the cyclotron 1000 is illustrated. This embodiment can be applied when the shape formed in the cyclotron 1000 can accommodate the extended frame. In addition, in the present embodiment, the length of the extended frame may be determined to minimize the influence on the magnetic field formed in the magnetic field measurement region.

9 is a state diagram of use of the gantry robot 1 as a third embodiment according to the present invention. As shown, the present embodiment includes a configuration capable of adjusting the frame size and the size of the magnetic field measurement area so that it can be widely used in the cyclotron 1000 having different sizes.

In the present embodiment, the gantry frame 100 is composed of four subframes 130, and each subframe 130 is connected to each other in a rectangular shape. Each subframe 130 is provided with a length adjuster so that the length can be adjusted. After the length of the rod is determined according to the size of the cyclotron 1000, the guide rod may be installed by replacing the rod with the correct length. When the stepped portion or the bent portion is formed in the guide rod, an error may occur in the operation and position control of the shuttle 500.

Hereinafter, a magnetic field measuring method using the gantry robot 1 according to the fourth embodiment of the present invention will be described.

10 is a flowchart illustrating a magnetic field measuring method using a gantry robot according to a fourth embodiment of the present invention. As shown, in the present embodiment, the frame insertion step (S100), the arm posture setting step (S200), the fixing step (S300), the first measurement step (S400), the reference point calculation step (S500), and the second measurement step ( S600) can be configured to include.

Frame insertion step (S100) corresponds to the step of inserting the gantry frame included in the H-hot gantry robot in the space formed between the poles of the cyclotron. Here, the gantry robot may be the gantry robot described in the above embodiment.

Arm posture setting step (S200) corresponds to the step of determining the posture while arranging the arm provided with the drive of the gantry robot outside the cyclotron when the gantry frame is inserted into the cyclotron. The shape of the cyclotron may be different from each other, and corresponds to the step of changing the shape of the arm corresponding to the shape of the cyclotron so that the driving unit including the magnetic element may be disposed outside the cyclotron.

The fixing step S300 is performed to fix the gantry robot in a state where the gantry frame including the magnetic field measuring sensor is inserted. The fixing step may be configured to be supported by being fixed from the outside of the cyclotron through a fixing part provided in the gantry frame. At this time, although not shown, the fixing may be performed while precisely adjusting the position of the gantry robot.

The first measuring step S400 corresponds to a step of measuring a magnetic field and calculating a reference point for a portion of the magnetic field measuring region. The first measuring step S400 corresponds to a step of measuring a magnetic field for each coordinate of a region corresponding to a central portion of the magnetic field measuring region. The reference point is performed to minimize the error with respect to the center point of the actual magnetic field, and then corresponds to a preliminary step for more smooth and accurate magnetic field measurement in the second measurement step of performing the measurement over the entire magnetic field measurement area.

The reference point calculating step S500 calculates a reference point based on the measured magnetic field and coordinates. The reference point may be a point where straight lines connecting vertices of two opposite hills intersect after extracting even coordinates of the vertices of the hills provided in the pole. Meanwhile, when coordinates of vertices of a plurality of hills are calculated based on a magnetic field measured through a coordinate extraction algorithm, a center point between vertex coordinates of the plurality of hills may be set as a reference point.

The second measuring step S600 corresponds to measuring a magnetic field of the magnetic field measuring region based on the calculated reference point. In the second measurement step, the intensity of the magnetic field for each coordinate may be measured using the reference point as the origin. H-BOT type gantry robot is applied to measure magnetic field, so it can be moved without any restriction on degrees of freedom. Specifically, the coordinate system may be measured using an x-y rectangular coordinate system, or may be performed using an r-θ coordinate system. When the r-θ coordinate system is applied, the center of rotation is measured by setting the center of the actual magnetic field as a reference point, so the rotation center axis can be set identically, so that no additional calculation for coordinate transformation is required and accurate and fast results can be obtained.

As described above, the electromagnet field measurement gantry robot of the cyclotron according to the invention is composed of an H-bot type, which can measure the magnetic field with free movement without limiting the degree of freedom, and coordinates of the reference point which is the center point of the magnetic field formed on the pole. The magnetic field can be measured based on the measured magnetic field, and the calculated reference point can be set as the origin, thereby making it possible to measure the magnetic field quickly and accurately.

1000: cyclotron
1100: yoke 1200: pole 1300: coil
1: gantry robot
100: gantry frame
110: first gantry frame 120: second gantry frame
130: subframe
210: first guide rod 220: second guide rod
300: slider 400: encoder
500: shuttle 510: magnetic field sensor
600: drive unit 610: timing belt
2: magnetic field
Ac: reference point judgment area Am: magnetic field measurement area
Pr: Reference Point 700: Cancer
800: fixed part 810: gap adjusting part
900: support
S100: frame insertion step
S200: arm posture setting step
S300: fixed stage
S400: first measuring step
S500: reference point calculation step
S600: second measuring step

Claims (20)

A gantry frame configured to be at least partially insertable into a space between poles of a cyclotron;
A pair of first guide rods provided on the gantry frame and arranged in parallel at a distance spaced apart from each other outside the magnetic field measuring region;
A second guide rod disposed in a direction orthogonal to the pair of first guide rods and configured to be guided by both sides of the pair of first guide rods;
A shuttle configured to be movable on the second guide rod and having a magnetic field measuring sensor;
A pair of driving units provided at one side of each of the pair of first guide rods; And
A timing belt having one end connected to one side of the shuttle, disposed around the H-shaped path formed by the first guide rod and the second guide rod, and the other end connected to the other side of the shuttle; And
And a control unit for controlling the pair of driving units such that the position of the second guide rod and the shuttle is adjusted by a difference in the rotation amount of the pair of driving units. delete The method of claim 1,
The control unit,
A reference point, which is a central coordinate, is set based on a value of measuring a magnetic field of a predetermined region of the magnetic field measuring region.
And the magnetic field measuring sensor controls the driving unit to measure the magnetic field according to new coordinates using the reference point as the origin. The method of claim 3, wherein
The magnetic field measuring region measures a magnetic field in a region in which a magnetic field of a predetermined pattern is formed by rotational symmetry,
And the control unit extracts the center coordinates of the rotational symmetry of the magnetic field based on the value measured from the magnetic field measuring sensor and the corresponding coordinates when setting the reference point, and sets the electromagnet magnetic field measurement gantry robot of the cyclotron. delete The method of claim 3, wherein
When the control unit sets a reference point,
Extract the coordinates of the hill vertex closest to the center of each unit magnetic field region,
A cyclotron electromagnet magnetic field measurement gantry robot, characterized in that the center of the coordinates of the hill vertices arranged in rotationally symmetry is set as a reference point. The method of claim 3, wherein
Wherein the control unit when measuring the magnetic field according to the new coordinates by applying a r-θ coordinate system cyclotron electromagnet magnetic field measurement gantry robot, characterized in that the control. The method of claim 3, wherein
The control unit is a cyclotron electromagnet magnetic field measurement gantry robot, characterized in that for controlling the drive unit by applying a xy coordinate system when measuring the magnetic field according to the new coordinates. The method of claim 3, wherein
The gantry frame,
A first gantry frame having hollows formed in the magnetic field measuring region;
And a second gantry frame provided in the first gantry frame and provided around the hollow. delete The method of claim 3, wherein
And an encoder provided on at least one of the first guide rod and the second guide rod to measure relative coordinates of the shuttle with respect to the gantry frame. The method of claim 1,
The driving unit is provided on an arm connected to the gantry frame,
The arm of the cyclotron electromagnet magnetic field measurement gantry robot, characterized in that it comprises a plurality of links to be arranged in accordance with the shape of the cyclotron. The method of claim 1,
It further comprises a plurality of fixing parts configured to secure the gantry frame to the cyclotron,
Electromagnetic magnetic field measurement gantry robot of the cyclotron characterized in that it comprises a spacing adjuster that can adjust the relative distance between the cyclotron and the gantry frame. The method of claim 13,
The gap adjusting unit,
Electromagnetic magnetic field measurement gantry robot of cyclotron, characterized in that it comprises an adjustment screw so that the protrusion length can be adjusted according to the rotation. The method of claim 1,
The gantry frame of the cyclotron electromagnet magnetic field measurement gantry robot, characterized in that the length adjuster is provided so that the size can be adjusted in accordance with the size of the magnetic field measurement area. A first measuring step of measuring a magnetic field of a predetermined region of the center of the magnetic field measuring region of the cyclotron with a gantry robot;
A reference point calculating step of calculating a reference point which is a center point of rotational symmetry of the magnetic field based on the coordinates and the magnetic field measured in the predetermined region; And
A second measuring step of measuring a magnetic field of the magnetic field measuring region by setting a left point based on the reference point;
The gantry robot,
A pair of first guide rods provided in parallel at a distance spaced apart from each other outside the magnetic field measurement region;
A second guide rod disposed in a direction orthogonal to the pair of first guide rods and configured to be guided at both ends by the pair of first guide rods;
A shuttle configured to be movable on the second guide rod and having a magnetic field measuring sensor;
A pair of driving units provided at one side of each of the pair of first guide rods; And
One end is connected to one side of the shuttle, is disposed surrounding the H-shaped path formed by the first guide rod and the second guide rod, the other end includes a timing belt connected to the other side of the shuttle,
Method of measuring the magnetic field of the cyclotron using a gantry robot, characterized in that for adjusting the position of the magnetic field measurement sensor by adjusting the position of the second guide rod and the shuttle to the difference in the amount of rotation of the pair of drive unit. The method of claim 16,
The gantry robot includes an gantry frame and a magnetic field measuring sensor of the H-bot type,
The magnetic field measurement of the cyclotron using the gantry robot is characterized in that the position shift of the magnetic field measuring sensor in the first measuring step to the second measuring step is performed by a driving unit provided outside the magnetic field measuring region transmitting a driving force to a timing belt. Way. The method of claim 16,
The reference point calculation step,
And extracting coordinates of vertices of the plurality of hills from the predetermined region based on the strength of the magnetic field, and calculating coordinates of the center points of the vertices of the plurality of hills as reference points. The method of claim 18,
The calculating step of the reference point,
The method of measuring the magnetic field of the cyclotron using a gantry robot, characterized in that the coordinates of the vertices of the hill is extracted as an even number when the reference point is calculated and the point at which the straight lines connecting the vertices of the two hills intersect as the reference point. The method of claim 16,
The first measuring step,
A frame insertion step of inserting a gantry frame of the gantry robot into a space between poles of the cyclotron; And
Method for measuring the magnetic field of the cyclotron using a gantry robot, characterized in that performed after performing the fixing step of fixing the gantry robot to the cyclotron.

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