WO2018120606A1 - 一种用于坐姿放疗的双并联定位机构 - Google Patents
一种用于坐姿放疗的双并联定位机构 Download PDFInfo
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- WO2018120606A1 WO2018120606A1 PCT/CN2017/085287 CN2017085287W WO2018120606A1 WO 2018120606 A1 WO2018120606 A1 WO 2018120606A1 CN 2017085287 W CN2017085287 W CN 2017085287W WO 2018120606 A1 WO2018120606 A1 WO 2018120606A1
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- parallel
- support plate
- parallel mechanism
- bearing
- positioning
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N2005/1092—Details
- A61N2005/1097—Means for immobilizing the patient
Definitions
- the invention relates to the field of radiation therapy technology, and more particularly to a double parallel positioning mechanism for sitting posture radiotherapy.
- Radiation therapy is the treatment of malignant tumors and some benign diseases by one or more kinds of ionizing radiation.
- the means of radiation therapy is ionizing radiation.
- the most commonly used direct ionized particles in radiation therapy are electrons.
- the most commonly used indirect ionized particles are photons, and particle radiation therapy can reduce the normal tissue dose and increase the therapeutic gain ratio compared with conventional photon therapy. Therefore, particle radiation therapy devices and related technologies It has developed rapidly in recent decades.
- radiotherapy at home and abroad mostly adopts a lying posture mode, and the patient is horizontally placed on a flat treatment bed of the treatment device for treatment.
- the treatment bed must have a certain length, so the treatment equipment is bulky.
- the treatment head of the device needs to rotate around the patient, so that the radius of gyration and the moving distance of the treatment head are large, so as to avoid the deviation of the rotation axis from the treatment head for a long time rotation, the requirements for the treatment device itself are very high, resulting in Treatment equipment is usually large in size, complicated in structure, and costly, which is not conducive to large-scale promotion.
- the invention is based on the above prior art problem, and innovatively proposes a sitting posture fixing device for particle radiotherapy, which cooperates with the first parallel mechanism, the rotating mechanism and the second parallel mechanism to control the chair in the X, Y and Z axis spaces.
- the position and the precise sitting posture radiotherapy solve the technical problems that the existing lying posture treatment equipment is usually large in size, complicated in structure, high in cost, and unfavorable for large-scale promotion in order to meet the treatment needs.
- a double parallel positioning mechanism for sitting posture radiotherapy comprising a first parallel mechanism, a rotating mechanism, a second parallel mechanism, and a flange;
- the first parallel mechanism, the rotating mechanism, and the second parallel mechanism are sequentially connected from bottom to top;
- the flange is fixedly disposed on the second parallel mechanism for mounting a treatment chair
- the first parallel mechanism is for limiting the degree of freedom of the flange in the Z-axis direction
- the rotation mechanism is for limiting the degree of freedom of rotation of the flange coil about the Z-axis
- the second parallel mechanism is for limiting The degree of freedom of the flange in the X and Y axis directions.
- the first parallel mechanism includes a first bottom plate, a first support plate, a plurality of first parallel push rods, and a first parallel mechanism motor;
- the first parallel mechanism motor is disposed on the first parallel push rod for driving the first parallel push rod to drive the first support plate to move power along the Z axis;
- the first support plate is located above the first bottom plate
- Two ends of the plurality of first parallel push rods are respectively hingedly connected to the first bottom plate and the first support plate for pushing and lowering the first support plate along the Z axis.
- a vertical positioning rod is fixed on the first bottom plate, the vertical positioning rod is located on a side of the first supporting plate, and the vertical positioning rod is provided with a vertical positioning rod for detecting the vertical positioning rod A distance sensor that supports the distance between the plates.
- the rotating mechanism includes a static support cylinder, a rotating disc disposed on the static support cylinder and rotatable about the Z axis, a large gear fixedly disposed on the rotating disc, and a static support cylinder Side rotating mechanism motor, reducer, pinion;
- the static support cylinder and the rotating mechanism motor are fixed on the first support plate of the first parallel mechanism
- An output shaft of the rotating mechanism motor is coupled to the pinion gear through the speed reducer, and the pinion gear meshes with the large gear.
- a first bearing is disposed in the static support cylinder member near the lower end surface, and a second bearing is disposed in the static support cylinder member near the upper end surface;
- the outer ring of the first bearing and the second bearing is a static ring, and the inner ring is a moving ring;
- the outer ring of the first bearing and the second bearing are in contact with the inner surface of the static support cylinder;
- the inner ring of the second bearing is fixedly coupled to the rotating disk.
- a positioning ring for positioning the two bearings is bored in the first bearing and the second bearing, and the positioning ring is located at a position of a vertical central axis of the static support cylinder and the rotating disk.
- the second parallel mechanism includes a second bottom plate, a second support plate, a plurality of second parallel push rods for pushing the second support plate to move along a plane in which the X and Y axes are located, and a second parallel mechanism motor;
- the second bottom plate is fixed on the rotating disk of the rotating mechanism
- the second support plate is located above the second bottom plate, and the plurality of the second parallel push rods are interlocked with each other and connected between the second bottom plate and the second support plate;
- Two ends of the second parallel push rod are respectively hingedly connected to the second bottom plate and the second support plate;
- a second parallel mechanism motor is disposed on the second parallel push rod for powering the second parallel push rod.
- the second support plate is provided with a level sensor for detecting a movement posture of the second support plate.
- the flange is fixed to the second support plate by bolts.
- the dual parallel positioning mechanism for sitting radiation therapy further includes a plurality of fixed feet disposed under the first parallel mechanism and coupled to the first parallel mechanism.
- the first parallel mechanism, the rotating mechanism and the second parallel mechanism cooperate with each other to control the position of the treatment chair in the X, Y and Z axis spaces, so that the positioning flexibility of the treatment chair is high, and the spatial position can be adjusted at will, which is greatly reduced.
- the moving distance of the treatment head of the treatment device facilitates the sitting posture radiotherapy, realizes precise sitting posture radiotherapy, and solves the existing lying posture treatment equipment, which is usually bulky, complicated in structure, high in cost, and unfavorable for meeting the treatment needs.
- FIG. 1 is a schematic structural diagram of a dual parallel positioning mechanism for sitting posture radiotherapy according to an embodiment of the present invention
- FIG. 2 is a schematic structural diagram of a first parallel mechanism in a dual parallel positioning mechanism for sitting posture radiotherapy according to an embodiment of the present invention
- FIG. 3 is a schematic structural diagram of a rotating mechanism in a double parallel positioning mechanism for sitting posture radiotherapy according to an embodiment of the present invention
- FIG. 4 is a schematic structural diagram of a second parallel mechanism in a dual parallel positioning mechanism for sitting posture radiotherapy according to an embodiment of the present invention.
- 100 a first parallel mechanism; 101, a first bottom plate; 102, a first parallel push rod; 103, a first support plate; 104, a first upper hinge; 105, a first parallel mechanism motor; 106, a first lower hinge; 107, vertical positioning rod; 108, distance sensor; 200, rotating mechanism; 201, static support cylinder; 202, rotating disc; 203, large gear; 204, first bearing; 205, positioning ring; 206, second bearing 207, pinion gear; 208, reducer; 209, rotating mechanism motor; 300, second parallel mechanism; 301, second bottom plate; 302, second parallel push rod; 303, second support plate; 304, second upper Hinge; 305, second parallel mechanism motor; 306, second lower hinge; 307, level sensor; 401, flange; 501, fixed foot.
- the present invention provides a sitting posture fixing device for particle radiotherapy
- a preferred embodiment includes a first parallel mechanism 100, a rotating mechanism 200, and a second parallel mechanism 300.
- the first parallel mechanism 100, the rotating mechanism 200, and the second parallel mechanism 300 are sequentially connected from bottom to top, and the second parallel mechanism A flange 401 for mounting a treatment chair is fixed on the 300, the first parallel mechanism 100 is for limiting the degree of freedom of the flange 401 in the Z-axis direction, and the rotation mechanism 200 is for limiting the rotation of the flange 401 about the Z-axis.
- the degree of freedom, the second parallel mechanism 300 is used to limit the degree of freedom of the flange 401 in the X, Y axis directions.
- the first parallel mechanism 100 is used to control the height of the treatment chair in the Z-axis direction; the rotation mechanism 200 is used to control the rotation of the treatment chair about the Z axis; and the second parallel mechanism 300 is used to control the treatment chair in the X and Y axes.
- Position of the plane; the first parallel mechanism 100, the rotating mechanism 200 and the second parallel mechanism 300 cooperate with each other to control the position of the treatment chair in the X, Y, Z axis space, so that the positioning position of the treatment chair is high, and the space can be adjusted freely
- the position greatly reduces the moving distance of the treatment head of the treatment device, and facilitates the sitting posture radiotherapy.
- the first parallel mechanism 100 includes a first bottom plate 101, a first support plate 103, and a plurality of first parallel push rods 102 for pushing and lowering the first support plate 103 along the Z axis.
- the first parallel push rod The first parallel mechanism motor 105 for driving the first parallel push rod 102 to drive the first support plate 103 along the Z axis is provided on the 102; the first support plate 103 is located above the first bottom plate 101; the first parallel push rod 102 One end is hinged to the first bottom plate 101 through the first lower hinge 106, and the other end of the first parallel push rod 102 is hinged to the first support plate 103 through the first upper hinge 104.
- first parallel push rods 102 there are six first parallel push rods 102 that are interlocked with each other, and each of the first parallel push rods 102 is provided with a first parallel mechanism motor 105, and the six first parallel push rods 102 cooperate to push the first support plate.
- 103 is raised and lowered along the Z axis; since the first support plate 103 is connected to the flange 401 through the rotation mechanism 200 and the second parallel mechanism 300, respectively, the treatment chair is controlled to move up and down in the Z-axis direction.
- a vertical positioning rod 107 is fixed on the first bottom plate 101.
- the vertical positioning rod 107 is located on one side of the first supporting plate 103.
- the vertical positioning rod 107 is provided with a vertical positioning rod 107 and a first supporting plate 103.
- Distance sensor 108 During the lifting process of the first support plate 103, the distance sensor 108 feeds back the distance signal between the vertical positioning rod 107 and the first support plate 103 to the background of the system, and the system transmits the signal to the first parallel mechanism motor 105.
- the first parallel mechanism motor 105 drives the first parallel push rod 102 according to the signal, so that the first support plate 103 is always accurately moved in the Z-axis direction, so that the center point position of the first parallel support plate 103 is always consistent at different heights and posture. Maintaining the level, solving the lifting movement of the first support plate 103 The exact problem.
- the closed-loop controlled parallel mechanism in the embodiment of the invention can effectively solve the problem that the motion trajectory of the ordinary lifting mechanism is not high.
- the rotating mechanism 200 includes a static support cylinder 201, a rotary disk 202 disposed on the static support cylinder 201 for rotation about the Z axis, a large gear 203 fixedly mounted on the rotary disk 202, and a static support cylinder.
- the rotating mechanism motor 209 on one side of the member 201; the static supporting cylinder member 201 and the rotating mechanism motor 209 are fixed on the first supporting plate 103 of the lifting mechanism, so that when the first supporting plate 103 is moved up and down along the Z axis, the rotating mechanism 200 as a whole
- the output shaft of the rotating mechanism motor 209 is connected to the pinion gear 207 through the speed reducer 208, and the pinion gear 207 is meshed with the large gear 203.
- the size of the pinion gear 207 and the large gear 203 can be selected according to actual needs to adjust the gear ratio.
- the output shaft of the rotating mechanism motor 209 drives the pinion 207 to rotate, the pinion 207 drives the large gear 203 to rotate, and the rotating disk 202 rotates accordingly, thereby causing the rotating disk 202 to rotate about the Z axis;
- the disc 202 is coupled to the flange 401 by a second parallel mechanism 300 to control rotation of the treatment chair about the Z axis.
- the first bearing 204 is disposed in the static support cylinder 201 near the lower end surface, and the second bearing 206 is disposed near the upper end surface;
- the outer ring of the first bearing 204 and the second bearing 206 is a static ring, the first bearing
- the inner ring of the 204 and the second bearing 206 is a moving ring;
- the outer ring of the first bearing 204 and the second bearing 206 is in contact with the inner surface of the static support cylinder 201, and the inner ring of the second bearing 206 is fixedly connected with the rotating disk 202.
- the first bearing 204 and the second bearing 206 are internally bored with a positioning ring 205 for positioning the two bearings, the positioning ring 205 is located at the static support cylinder 201 and rotates.
- the disk 202 is vertically centered on the axis.
- the second parallel mechanism 300 includes a second bottom plate 301, a second support plate 303, and a plurality of second parallel push rods 302 for pushing the second support plate 303 to move along the X, Y axis.
- the second bottom plate 301 is fixed on the rotating plate 202 of the rotating mechanism 200; the second supporting plate 303 is located above the second bottom plate 301, and the plurality of second parallel push rods 302 are interlocked with each other and connected to the second bottom plate 301 and the second supporting plate. Between 303.
- the second parallel push rod 302 passes through the second end
- the lower hinge 306 is hinged to the second bottom plate 301, the other end is hinged to the second support plate 303 by a second upper hinge 304, and the second parallel push rod 302 is provided with a second parallel mechanism for powering the second parallel push rod 302.
- the motor 305 here, when the rotary disk 202 is rotated, the second parallel mechanism 300 is integrally rotated about the Z axis.
- six second parallel push rods 302 are provided, and the six second parallel push rods 302 jointly push the second support plate 303 to move along the plane of the X and Y axes, because the second support plate 303 is connected to the flange 401. In turn, the motion of the chair along the X and Y axes is controlled.
- the second support plate 303 is provided with a level sensor 307 for detecting the movement posture of the second support plate 303.
- the level sensor 307 feeds back the attitude signal of the second support plate 303 to the system background in real time, and the system transmits the signal to the second parallel mechanism motor 305 in the background, and the second parallel mechanism motor 305 according to the signal
- the second parallel push rod 302 is driven to precisely move the second support plate 303 on the plane in which the X and Y axes are located by closed loop control.
- the flange 401 is fixed to the second support plate 303 by bolts, and the treatment chair is mounted on the flange 401; thus, the first parallel mechanism 100, the rotating mechanism 200 and the second parallel mechanism 300 cooperate with each other to control the treatment chair at the X
- the position of the Y, Z-axis space enables the treatment chair to have six spatial degrees of freedom, high positioning flexibility, and the ability to adjust the spatial position at will.
- the distance sensor 108 controls the first support plate 103 to move up and down along the Z axis and the level sensor 307 controls the horizontal movement of the second support plate 303 along the plane of the X and Y axes is known, and the present invention
- the creativity is embodied in the overall structure of the double parallel positioning mechanism.
- the double parallel positioning mechanism can effectively solve the shortcomings of structural dispersion and make the whole structure more compact.
- the dual parallel positioning mechanism for sitting posture radiotherapy further includes a plurality of fixing feet 501 disposed under the first parallel mechanism 100 and connected to the first parallel mechanism 100, as shown in FIG. 1 and FIG.
- a bottom plate 101 is triangular, and two fixing legs 501 are respectively disposed at three corners of the first bottom plate 101 for supporting the entire double parallel positioning mechanism, and also avoiding directly placing the first parallel mechanism 100 on the ground to cause the first The problem of damage to the parallel mechanism 100.
Abstract
一种用于粒子放疗的坐姿固定装置，包括第一并联机构(100)、旋转机构(200)、第二并联机构(300)、法兰盘(401)；所述第一并联机构(100)、所述旋转机构(200)和所述第二并联机构(300)从下到上依次连接；所述法兰盘(401)固定设置在所述第二并联(300)机构上，用于安装治疗椅；所述第一并联机构(100)用于限制所述法兰盘(401)在Z轴方向的自由度，所述旋转机构(200)用于限制所述法兰盘(401)绕Z轴旋转的自由度，所述第二并联机构(300)用于限制所述法兰盘(401)在X、Y轴方向的自由度。通过第一并联机构(100)、旋转机构(200)和第二并联机构(300)相互配合控制治疗椅在X、Y、Z轴空间的位置，实现精确的坐姿放疗，解决了现有的躺姿治疗设备为满足治疗需要通常体积较大、结构复杂、成本高昂且不利于大规模推广的技术问题。
Description
本申请要求于2016年12月31日提交中国专利局、申请号为201611264528.5、发明名称为“一种用于坐姿放疗的双并联定位机构”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
本发明新型涉及放射治疗技术领域，更具体的涉及一种用于坐姿放疗的双并联定位机构。
放射治疗是利用一种或多种电离辐射对恶性肿瘤及一些良性病进行的治疗，放射治疗的手段是电离辐射。放射治疗中最常用的直接电离粒子是电子，最常用的间接电离粒子是光子，而粒子放射治疗相对于常规光子治疗能够减少正常组织受量，提高治疗增益比，所以粒子放射治疗装置及相关技术在近几十年飞速发展。
目前国内外放疗多采用躺姿方式，患者水平躺在治疗设备的平板治疗床上接受治疗。考虑到人体身高因素，治疗床必须具有一定的长度，所以治疗设备的体积较大。在治疗时，设备的治疗头需要围绕患者来回旋转，使得治疗头的回转半径和移动距离较大，为避免治疗头长时间旋转时偏离旋转轴心，这对治疗设备本身的要求非常高，导致治疗设备通常体积较大、结构复杂、成本高昂，不利于大规模推广。
发明内容
本发明基于上述现有技术问题，创新的提出一种用于粒子放疗的坐姿固定装置，通过第一并联机构、旋转机构和第二并联机构相互配合控制治疗椅在X、Y、Z轴空间的位置，实现精确的坐姿放疗，解决了现有的躺姿治疗设备为满足治疗需要通常体积较大、结构复杂、成本高昂且不利于大规模推广的技术问题。
本发明解决上述技术问题所采取的技术方案如下：
一种用于坐姿放疗的双并联定位机构，包括第一并联机构、旋转机构、第二并联机构、法兰盘；
所述第一并联机构、所述旋转机构和所述第二并联机构从下到上依次连接；
所述法兰盘固定设置在所述第二并联机构上，用于安装治疗椅；
所述第一并联机构用于限制所述法兰盘在Z轴方向的自由度，所述旋转机构用于限制所述法兰盘绕Z轴旋转的自由度，所述第二并联机构用于限制所述法兰盘在X、Y轴方向的自由度。
优选地，
所述第一并联机构包括第一底板、第一支撑板、若干条第一并联推杆、第一并联机构电机；
所述第一并联机构电机设置在所述第一并联推杆上，用于为所述第一并联推杆提供驱动所述第一支撑板沿Z轴升降动力；
所述第一支撑板位于所述第一底板上方；
若干条所述第一并联推杆的两端分别与所述第一底板和所述第一支撑板铰连接，用于推动所述第一支撑板沿Z轴升降。
优选地，
所述第一底板上固设有竖直定位杆，所述竖直定位杆位于第一支撑板一侧，所述竖直定位杆上设有用于检测所述竖直定位杆与所述第一支撑板之间距离的距离传感器。
优选地，
所述旋转机构包括静支撑筒件、设于所述静支撑筒件上可绕Z轴旋转的旋转盘、固定套设于所述旋转盘上的大齿轮、设于所述静支撑筒件一侧的旋转机构电机、减速器、小齿轮；
所述静支撑筒件和所述旋转机构电机固设于所述第一并联机构的所述第一支撑板上；
所述旋转机构电机的输出轴通过所述减速器连接所述小齿轮，所述小齿轮与所述大齿轮啮合。
优选地，
所述静支撑筒件内靠近下端面位置设有第一轴承，所述静支撑筒件内靠近上端面位置设有第二轴承；
所述第一轴承和所述第二轴承的外圈为静圈，内圈为动圈；
所述第一轴承和所述第二轴承的外圈与静支撑筒件内表面贴合；
所述第二轴承的内圈与所述旋转盘固定连接。
优选地，
所述第一轴承和所述第二轴承内穿接有用于对两轴承定位的定位环，所述定位环位于所述静支撑筒件和所述旋转盘垂直中心轴位置。
优选地，
所述第二并联机构包括第二底板、第二支撑板、用于推动所述第二支撑板沿X、Y轴所处平面运动的若干条第二并联推杆以及第二并联机构电机；
所述第二底板固设于所述旋转机构的旋转盘上；
所述第二支撑板位于第二底板上方，若干条所述第二并联推杆相互联动且连接于所述第二底板和所述第二支撑板之间；
所述第二并联推杆两端分别与所述第二底板和所述第二支撑板铰连接；
第二并联机构电机设置在所述第二并联推杆上，用于为所述第二并联推杆提供动力。
优选地，
所述第二支撑板上设有用于检测所述第二支撑板运动姿态的水平传感器。
优选地，
所述法兰盘通过螺栓固设于所述第二支撑板上。
优选地，
所述用于坐姿放疗的双并联定位机构还包括设置在所述第一并联机构下方且与所述第一并联机构连接的若干个固定脚。
通过本发明的技术方案至少能够达到以下技术效果：
通过第一并联机构、旋转机构和第二并联机构相互配合控制治疗椅在X、Y、Z轴空间的位置，使得治疗椅的定位灵活性高，且能够随意调节空间位置，极大减小了治疗设备的治疗头的移动距离，方便了坐姿放疗的进行，实现了精确的坐姿放疗，解决了现有的躺姿治疗设备为满足治疗需要通常体积较大、结构复杂、成本高昂且不利于大规模推广的技术问题。
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明实施例提供的一种用于坐姿放疗的双并联定位机构的结构示意图；
图2为本发明实施例提供的一种用于坐姿放疗的双并联定位机构中第一并联机构的结构示意图；
图3为本发明实施例提供的一种用于坐姿放疗的双并联定位机构中旋转机构的结构示意图；
图4为本发明实施例提供的一种用于坐姿放疗的双并联定位机构中第二并联机构的结构示意图。
图1至图4中各附图标记的含义如下：
100、第一并联机构；101、第一底板；102、第一并联推杆；103、第一支撑板；104、第一上铰链；105、第一并联机构电机；106、第一下铰链；107、竖直定位杆；108、距离传感器；200、旋转机构；201、静支撑筒件；202、旋转盘；203、大齿轮；204、第一轴承；205、定位环；206、第二轴承；207、小齿轮；208、减速器；209、旋转机构电机；300、第二并联机构；301、第二底板；302、第二并联推杆；303、第二支撑板；304、第二上铰链；305、第二并联机构电机；306、第二下铰链；307、水平传感器；401、法兰盘；501、固定脚。
以下结合附图对本发明的技术方案进行详细的描述，以使本领域技术人员能够更加清楚的理解本发明的方案，但并不因此限制本发明的保护范围。
请参阅图1至图4，本发明提供了一种用于粒子放疗的坐姿固定装置
的一个较佳实施例，包括第一并联机构100、旋转机构200和第二并联机构300，第一并联机构100、旋转机构200和第二并联机构300从下到上依次连接，第二并联机构300上固设有用于安装治疗椅的法兰盘401，第一并联机构100用于限制法兰盘401在Z轴方向的自由度，旋转机构200用于限制法兰盘401绕Z轴旋转的自由度，第二并联机构300用于限制法兰盘401在X、Y轴方向的自由度。
本发明中，第一并联机构100用于控制治疗椅在Z轴方向的高度；旋转机构200用于控制治疗椅绕Z轴旋转；第二并联机构300用于控制治疗椅在X、Y轴所处平面的位置；第一并联机构100、旋转机构200和第二并联机构300相互配合控制治疗椅在X、Y、Z轴空间的位置，使得治疗椅的定位灵活性高，且能够随意调节空间位置，极大减小了治疗设备的治疗头的移动距离，方便了坐姿放疗的进行。
如图2所示，第一并联机构100包括第一底板101、第一支撑板103以及用于推动第一支撑板103沿Z轴升降的若干条第一并联推杆102，第一并联推杆102上设有用于为第一并联推杆102提供驱动第一支撑板103沿Z轴升降动力的第一并联机构电机105；第一支撑板103位于第一底板101上方；第一并联推杆102一端通过第一下铰链106与第一底板101铰接，第一并联推杆102另一端通过第一上铰链104与第一支撑板103铰接。本实施例中，设有六条相互联动的第一并联推杆102，每条第一并联推杆102都设置有第一并联机构电机105，六条第一并联推杆102相配合推动第一支撑板103沿Z轴升降；由于第一支撑板103分别通过旋转机构200、第二并联机构300与法兰盘401连接，从而控制治疗椅在Z轴方向升降。
第一底板101上固设有竖直定位杆107，竖直定位杆107位于第一支撑板103一侧，竖直定位杆107上设有用于检测竖直定位杆107与第一支撑板103之间距离的距离传感器108。在第一支撑板103升降过程中，距离传感器108将竖直定位杆107与第一支撑板103之间的距离信号反馈给系统后台，系统后台再将该信号传输给第一并联机构电机105，第一并联机构电机105根据该信号驱动第一并联推杆102，使第一支撑板103始终在Z轴方向精确运动，从而使得第一并联支撑板103中心点位置在不同高度始终保持一致而且姿态保持水平，解决了第一支撑板103的升降运动不
精确的问题。本发明实施例中闭环控制的并联机构能有效解决普通升降机构运动轨迹精度不高的问题。
如图3所示，旋转机构200包括静支撑筒件201、设于静支撑筒件201上可绕Z轴旋转的旋转盘202、固定套设于旋转盘202上的大齿轮203以及设于静支撑筒件201一侧的旋转机构电机209；静支撑筒件201和旋转机构电机209固设于升降机构的第一支撑板103上，这样当第一支撑板103沿Z轴升降时，旋转机构200整体发生升降；旋转机构电机209的输出轴通过减速器208连接小齿轮207，小齿轮207与大齿轮203啮合，其中可以根据实际需要选择小齿轮207和大齿轮203的大小，调节传动比。当旋转机构电机209工作时，旋转机构电机209的输出轴驱动小齿轮207转动，小齿轮207带动大齿轮203转动，旋转盘202随之转动，从而使得旋转盘202绕Z轴旋转运动；由于旋转盘202通过第二并联机构300与法兰盘401连接，进而控制治疗椅绕Z轴旋转。
在这里，静支撑筒件201内靠近下端面位置设有第一轴承204、靠近上端面位置设有第二轴承206；第一轴承204和第二轴承206的外圈为静圈，第一轴承204和第二轴承206的内圈为动圈；第一轴承204和第二轴承206的的外圈与静支撑筒件201内表面贴合，第二轴承206的内圈与旋转盘202固定连接；当旋转盘202的转动带动第二轴承206的内圈转动时，第二轴承206的外圈保持静止，因此静支撑筒件201保持静止，从而实现旋转盘202相对静支撑筒件201转动。
为了避免第一轴承204和第二轴承206位置发生相对移动，第一轴承204和第二轴承206内穿接有用于对两轴承定位的定位环205，定位环205位于静支撑筒件201和旋转盘202垂直中心轴位置。这样当第二轴承206的内圈转动时，第二轴承206始终不会偏离原始位置，从而使得旋转盘202保持在原始位置绕Z轴旋转。
如图4所示，第二并联机构300包括第二底板301、第二支撑板303以及用于推动第二支撑板303沿X、Y轴所处平面运动的若干条第二并联推杆302，第二底板301固设于旋转机构200的旋转盘202上；第二支撑板303位于第二底板301上方，若干条第二并联推杆302相互联动且连接于第二底板301和第二支撑板303之间。第二并联推杆302一端通过第二
下铰链306与第二底板301铰接，另一端通过第二上铰链304与第二支撑板303铰接，第二并联推杆302上设有用于为第二并联推杆302提供动力的第二并联机构电机305；在这里，当旋转盘202转动时，第二并联机构300整体绕Z轴旋转。本实施例中设有六条第二并联推杆302，六条第二并联推杆302共同推动第二支撑板303沿X、Y轴所处平面运动，由于第二支撑板303与法兰盘401连接，进而控制治疗椅沿X、Y轴所处平面运动。
第二支撑板303上设有用于检测第二支撑板303运动姿态的水平传感器307。在第二支撑板303运动过程中，水平传感器307向系统后台实时反馈第二支撑板303的姿态信号，系统后台将该信号传输给第二并联机构电机305，第二并联机构电机305根据该信号驱动第二并联推杆302，从而通过闭环控制使第二支撑板303在X、Y轴所处平面精确运动。
法兰盘401通过螺栓固设于第二支撑板303上，治疗椅安装在法兰盘401上；这样，第一并联机构100、旋转机构200和第二并联机构300相互配合控制治疗椅在X、Y、Z轴空间的位置，使治疗椅具有六个空间自由度，定位灵活性高，且能够随意调节空间位置。
在本发明中，距离传感器108控制第一支撑板103沿Z轴升降运动以及水平传感器307控制第二支撑板303沿X、Y轴所处平面水平运动的控制方法是已知的，本发明的创造性体现在双并联定位机构的整体结构上，双并联定位机构能有效解决结构分散的缺点，使整个结构更紧凑。
本发明实施例提供的用于坐姿放疗的双并联定位机构还包括设置在第一并联机构100下方且与第一并联机构100连接的若干个固定脚501，如图1和图2所示，第一底板101为三角形，在第一底板101的三个角上分别设置有两个固定脚501，用于支撑整个双并联定位机构，同时也避免直接将第一并联机构100放置在地上造成第一并联机构100损坏的问题。
以上仅是对本发明的优选实施方式进行了描述，并不将本发明的技术方案限制于此，本领域技术人员在本发明的主要技术构思的基础上所作的任何公知变形都属于本发明所要保护的技术范畴，本发明具体的保护范围以权利要求书的记载为准。
Claims (10)
- 一种用于坐姿放疗的双并联定位机构，其特征在于，包括第一并联机构、旋转机构、第二并联机构、法兰盘；所述第一并联机构、所述旋转机构和所述第二并联机构从下到上依次连接；所述法兰盘固定设置在所述第二并联机构上，用于安装治疗椅；所述第一并联机构用于限制所述法兰盘在Z轴方向的自由度，所述旋转机构用于限制所述法兰盘绕Z轴旋转的自由度，所述第二并联机构用于限制所述法兰盘在X、Y轴方向的自由度。
- 根据权利要求1所述的用于坐姿放疗的双并联定位机构，其特征在于，所述第一并联机构包括第一底板、第一支撑板、若干条第一并联推杆、第一并联机构电机；所述第一并联机构电机设置在所述第一并联推杆上，用于为所述第一并联推杆提供驱动所述第一支撑板沿Z轴升降动力；所述第一支撑板位于所述第一底板上方；若干条所述第一并联推杆的两端分别与所述第一底板和所述第一支撑板铰连接，用于推动所述第一支撑板沿Z轴升降。
- 根据权利要求2所述的用于坐姿放疗的双并联定位机构，其特征在于，所述第一底板上固设有竖直定位杆，所述竖直定位杆位于第一支撑板一侧，所述竖直定位杆上设有用于检测所述竖直定位杆与所述第一支撑板之间距离的距离传感器。
- 根据权利要求2所述的用于坐姿放疗的双并联定位机构，其特征在于，所述旋转机构包括静支撑筒件、设于所述静支撑筒件上可绕Z轴旋转的旋转盘、固定套设于所述旋转盘上的大齿轮、设于所述静支撑筒件一侧的旋转机构电机、减速器、小齿轮；所述静支撑筒件和所述旋转机构电机固设于所述第一并联机构的所述第一支撑板上；所述旋转机构电机的输出轴通过所述减速器连接所述小齿轮，所述小齿轮与所述大齿轮啮合。
- 根据权利要求4所述的用于坐姿放疗的混联机器人，其特征在于，所述静支撑筒件内靠近下端面位置设有第一轴承，所述静支撑筒件内靠近上端面位置设有第二轴承；所述第一轴承和所述第二轴承的外圈为静圈，内圈为动圈；所述第一轴承和所述第二轴承的外圈与静支撑筒件内表面贴合；所述第二轴承的内圈与所述旋转盘固定连接。
- 根据权利要求5所述的用于坐姿放疗的混联机器人，其特征在于，所述第一轴承和所述第二轴承内穿接有用于对两轴承定位的定位环，所述定位环位于所述静支撑筒件和所述旋转盘垂直中心轴位置。
- 根据权利要求4或5或6所述的用于坐姿放疗的双并联定位机构，其特征在于，所述第二并联机构包括第二底板、第二支撑板、用于推动所述第二支撑板沿X、Y轴所处平面运动的若干条第二并联推杆以及第二并联机构电机；所述第二底板固设于所述旋转机构的旋转盘上；所述第二支撑板位于第二底板上方，若干条所述第二并联推杆相互联动且连接于所述第二底板和所述第二支撑板之间；所述第二并联推杆两端分别与所述第二底板和所述第二支撑板铰连接；第二并联机构电机设置在所述第二并联推杆上，用于为所述第二并联推杆提供动力。
- 根据权利要求7所述的用于坐姿放疗的双并联定位机构，其特征在于，所述第二支撑板上设有用于检测所述第二支撑板运动姿态的水平传感器。
- 根据权利要求7所述的用于坐姿放疗的混联机器人，其特征在于，所述法兰盘通过螺栓固设于所述第二支撑板上。
- 根据权利要求1所述的用于坐姿放疗的双并联定位机构，其特征在于，还包括设置在所述第一并联机构下方且与所述第一并联机构连接的若干个固定脚。
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| CN114378779B (zh) * | 2021-12-20 | 2024-04-26 | 江苏普旭科技股份有限公司 | 垂直方向上大幅可控的多自由度运动平台及方法 |
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