CN113589351A - Automatic scanning water mold body three-dimensional motion platform for radiotherapy - Google Patents
Automatic scanning water mold body three-dimensional motion platform for radiotherapy Download PDFInfo
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- CN113589351A CN113589351A CN202110855367.1A CN202110855367A CN113589351A CN 113589351 A CN113589351 A CN 113589351A CN 202110855367 A CN202110855367 A CN 202110855367A CN 113589351 A CN113589351 A CN 113589351A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 59
- 230000033001 locomotion Effects 0.000 title claims abstract description 27
- 238000001959 radiotherapy Methods 0.000 title claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims abstract description 10
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- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000005096 rolling process Methods 0.000 claims description 4
- 229910000838 Al alloy Inorganic materials 0.000 claims description 3
- 229920003023 plastic Polymers 0.000 claims description 3
- 239000004033 plastic Substances 0.000 claims description 3
- 239000010935 stainless steel Substances 0.000 claims description 3
- 229910001220 stainless steel Inorganic materials 0.000 claims description 3
- 239000007788 liquid Substances 0.000 abstract description 4
- 238000012423 maintenance Methods 0.000 abstract description 4
- 238000005259 measurement Methods 0.000 abstract description 4
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 11
- 235000017491 Bambusa tulda Nutrition 0.000 description 11
- 241001330002 Bambuseae Species 0.000 description 11
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 11
- 239000011425 bamboo Substances 0.000 description 11
- 238000010586 diagram Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 239000000956 alloy Substances 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 238000012795 verification Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01T—MEASUREMENT OF NUCLEAR OR X-RADIATION
- G01T1/00—Measuring X-radiation, gamma radiation, corpuscular radiation, or cosmic radiation
- G01T1/02—Dosimeters
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01T—MEASUREMENT OF NUCLEAR OR X-RADIATION
- G01T7/00—Details of radiation-measuring instruments
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Abstract
The invention provides an automatic scanning water mold body three-dimensional motion platform for radiotherapy, which comprises a water tank, wherein a mounting plate is fixed at the top of the water tank, mounting seats are symmetrically fixed on the upper surface of the mounting plate, the middle parts of the two mounting seats are rotatably connected with a first ball screw through bearings, and one end of one mounting seat is fixed with a first stepping motor. According to the invention, the first stepping motor, the second stepping motor and the third stepping motor are all arranged at one end of the top of the water tank, and are not immersed in water during measurement, so that the water level height is kept unchanged during scanning, the scanning precision is improved, the motors are not in contact with liquid in the water tank, the equipment decay can be prevented, the debugging and maintenance frequency is reduced, the motors are driven by the ball screws, the precision is high, the structure is stable, the durability is higher, the weight of the third U-shaped sliding plate can be offset by the supporting mechanism, and the end part of the third guide rail keeps a relatively stable force, so that the droop deviation is reduced, and the precision is improved.
Description
Technical Field
The invention relates to the technical field of water phantom scanning, in particular to an automatic scanning water phantom three-dimensional motion platform for radiotherapy.
Background
The automatic scanning water model three-dimensional motion platform is mainly used for measuring relative dose distribution values of accelerator rays in water models with different depths and simultaneously quickly and automatically calculating parameters such as half-height width, penumbra, symmetry, flatness, depth of a large dose point and the like of the rays. Since the measured computed ray data is considered a reference and ultimately provides treatment plan verification, the quality requirements for the collected data should be highest to avoid treatment patient errors due to planning errors caused by dose verification errors.
The existing radiotherapy automatic scanning water model three-dimensional motion platform in the market at present mainly comprises a cantilever structure and a U-shaped structure. The cantilever structure is driven to operate by a belt, and the accuracy and the durability of the belt driving are difficult to guarantee. The U-shaped structure adopts a two-side moving structure to extend into water, the middle cantilever is connected by two sides to realize movement, but the two sides of the middle cantilever extend into the water, the structure has more parts and is not light enough, and a mechanical device scatters ray beams;
in terms of the existing three-dimensional motion platform structure of the automatic scanning water model, a vertical cantilever structure is utilized to move up and down, left and right, so that a detector on a cantilever is driven to carry out movement measurement; the motion that drives the cantilever generally uses the belt, but the belt can ageing elasticity can slowly reduce, and then influence the equipment precision.
Because the automatic scanning water mold body is used for measuring a depth dose curve, the requirements on the accuracy of a sensor and the motion accuracy and the stability of a scanning arm are extremely high corresponding to the accuracy of different depth measurements, and the end part of a cantilever of a single pivot is easy to droop at present, so that the moving accuracy is influenced.
Therefore, there is a need to provide a three-dimensional motion platform for automatically scanning water phantom for radiotherapy to solve the above-mentioned problems.
Disclosure of Invention
In order to solve the technical problem, the invention provides an automatic scanning water phantom three-dimensional motion platform for radiotherapy.
The invention provides an automatic scanning water mold body three-dimensional motion platform for radiotherapy, which comprises a water tank, wherein a mounting plate is fixed at the top of the water tank, mounting seats are symmetrically fixed on the upper surface of the mounting plate, the middle parts of the two mounting seats are rotatably connected with a first ball screw through bearings, one end of one mounting seat is fixed with a first stepping motor, the output end of the first stepping motor is fixedly connected with one end of the first ball screw through a coupler, the surface of the mounting plate is fixed with a first guide rail, one end of the first guide rail is slidably connected with a first U-shaped sliding plate, and one end of the first U-shaped sliding plate is fixedly connected with a nut on the first ball screw;
a mounting frame is fixed on one side of the first U-shaped sliding plate, the mounting frame is arranged in a U shape, a second guide rail is fixed in the middle of the lower surface of the mounting frame, a first fixing plate is fixed at the bottom of the second guide rail, one end of the mounting frame and one end of the first fixing plate are rotatably connected with a second ball screw through a bearing, one end of the second guide rail is slidably connected with a second U-shaped sliding plate, one end of the second U-shaped sliding plate is fixedly connected with a nut on the second ball screw, a second stepping motor is fixed on the top of the mounting frame, the output end of the second stepping motor is fixedly connected with the second ball screw through a coupler, and a control host is fixed on one side of the water tank;
a first sealing shell is fixed on one side of the second U-shaped sliding plate, one end of the mounting frame and the first fixing plate, which is far away from the second ball screw, is rotatably connected with a ball spline through a bearing, a spline housing on the ball spline is rotatably connected with the first sealing shell, a spline shaft on the ball spline is slidably connected with the bottom of the first sealing shell through a guide sleeve, a first bevel gear is fixed at the bottom of the spline housing on the ball spline, a third ball screw is rotatably connected with one side of the first sealing shell through a bearing, a second bevel gear is fixed at one end of the third ball screw, which is close to the inner wall of the first sealing shell, and the first bevel gear is in meshing connection with the second bevel gear, a second fixing plate is fixed on one side of the second U-shaped sliding plate, a third guide rail is fixed in the middle of the second fixing plate, a third fixing plate is fixed at one end of the third guide rail, and one end of the third ball screw is rotatably connected with the third fixing plate through a bearing, the utility model discloses a scanning device, including mounting bracket, third guide rail, nut, scanning instrument, mounting bracket, coupling, third guide rail one end sliding connection has third U-shaped slide, and nut fixed connection on third U-shaped slide one end and the third ball, third U-shaped slide top is fixed with the scanning instrument, the one end that the second fixed plate was kept away from to third guide rail bottom is fixed with supporting mechanism, the mounting bracket top is fixed with the third step motor, and the output of third step motor passes through coupling and third ball fixed connection.
Preferably, the supporting mechanism includes a buoyancy section of thick bamboo, pivot, screw thread post, piston, a square section of thick bamboo and holder, third guide rail one end is fixed with a buoyancy section of thick bamboo, buoyancy section of thick bamboo middle part rotates through mechanical seal and is connected with the pivot, pivot one end is fixed with the screw thread post, buoyancy section of thick bamboo inner wall sliding connection has the piston, piston middle part is through slide opening and pivot sliding connection, piston middle part one end is fixed with a square section of thick bamboo, square section of thick bamboo inner wall is circular setting, and square section of thick bamboo inner wall is seted up threadedly, and screw thread post and square section of thick bamboo inner wall threaded connection, buoyancy section of thick bamboo one end is fixed with the holder, the holder middle part is square setting, and square section of thick bamboo and holder sliding connection.
Preferably, a first synchronizing wheel is fixed at one end of the third ball screw, a second synchronizing wheel is fixed at one end of the rotating shaft, and the first synchronizing wheel is in transmission connection with the second synchronizing wheel through a first synchronizing belt.
Preferably, a third synchronizing wheel is fixed on the outer side of the output end of the third stepping motor, an encoder is fixed in the middle of the mounting frame, a fourth synchronizing wheel is fixed at the input end of the encoder, and the fourth synchronizing wheel is in transmission connection with the third synchronizing wheel through a second synchronous belt.
Preferably, guide grooves are formed in three side faces of the first guide rail, the second guide rail and the third guide rail, three faces of the inner wall of the first U-shaped sliding plate, the inner wall of the second U-shaped sliding plate and the inner wall of the third U-shaped sliding plate are symmetrically and rotatably connected with first guide wheels through bearings, and the first guide wheels are in rolling connection with the guide grooves.
Preferably, a fourth guide rail is fixed to one end, close to the first fixing plate, of the bottom of the water tank through a buckle, a second guide wheel is connected to the lower surface of the first fixing plate through bearings in a symmetrical and rotating mode, and the second guide wheel is in rolling connection with the fourth guide rail.
Preferably, first guide rail, second guide rail, third guide rail and fourth guide rail are the aluminum alloy material and constitute, first ball, second ball, third ball and ball spline are stainless steel material and constitute, and the nut on first ball, second ball and the third ball is the plastics material and constitutes.
Preferably, round holes are formed in the middle of the first guide rail, the middle of the second guide rail and the middle of the third guide rail at equal intervals.
Preferably, the first stepping motor, the second stepping motor and the third stepping motor are all multi-subdivision stepping motors.
Preferably, a second sealing shell is fixed to the top of the mounting frame, and a drag chain is fixed to one end of the mounting plate.
Compared with the related technology, the automatic scanning water phantom three-dimensional motion platform for radiotherapy provided by the invention has the following beneficial effects:
the invention provides an automatic scanning water phantom three-dimensional motion platform for radiotherapy, which comprises:
1. the first stepping motor, the second stepping motor and the third stepping motor are all arranged at one end of the top of the water tank and cannot be immersed in water during measurement, so that the water level height is kept unchanged during scanning, the scanning precision is improved, and the motors do not contact with liquid in the water tank, so that equipment decay can be prevented, debugging and maintenance frequency is reduced, and the ball screw is used for driving, so that the precision is high, the structure is stable, and the durability is high;
2. when the third U-shaped sliding plate moves towards the direction close to the second fixing plate, the weight of the end part of the third guide rail is reduced, when the piston inwards compresses the internal air of the buoyancy cylinder, the volume between the buoyancy cylinder and the piston is reduced, so that the buoyancy of the buoyancy cylinder is reduced, and when the third U-shaped sliding plate moves towards the direction far away from the second fixing plate, the piston is driven to pull the internal air of the buoyancy cylinder, so that the volume between the buoyancy cylinder and the piston is increased, so that the buoyancy of the buoyancy cylinder is increased, the weight of the third U-shaped sliding plate is offset, so that the end part of the third guide rail keeps a relatively stable force, the droop deviation is reduced, and the precision is improved.
Drawings
FIG. 1 is a schematic view of an overall structure provided by the present invention;
FIG. 2 is a second schematic view of the overall structure provided by the present invention;
FIG. 3 is a schematic view of a second ball screw according to the present invention;
FIG. 4 is a schematic view of a ball spline configuration provided by the present invention;
FIG. 5 is a schematic diagram of an encoder according to the present invention;
FIG. 6 is an enlarged view taken at A in FIG. 3;
FIG. 7 is a schematic view of a channel structure provided by the present invention;
FIG. 8 is a schematic structural view of a support mechanism provided in the present invention;
FIG. 9 is a schematic view of the internal structure of the buoyancy tube provided by the present invention;
fig. 10 is a schematic structural view of a first guide wheel provided by the present invention.
Reference numbers in the figures: 1. a water tank; 2. mounting a plate; 3. a mounting seat; 4. a first ball screw; 5. a first stepper motor; 6. a first guide rail; 7. a first U-shaped slide plate; 8. a mounting frame; 9. a second guide rail; 10. a first fixing plate; 11. a second ball screw; 12. a second U-shaped slide plate; 13. a second stepping motor; 14. a first sealed case; 15. a ball spline; 151. a spline housing; 152. a spline shaft; 16. a first bevel gear; 17. a third ball screw; 18. a second bevel gear; 19. a second fixing plate; 20. a third guide rail; 21. a third fixing plate; 22. a third U-shaped slide plate; 23. scanning the instrument; 24. a third step motor; 25. a support mechanism; 251. a buoyancy cylinder; 252. a rotating shaft; 253. a threaded post; 254. a piston; 255. a square cylinder; 256. a holder; 26. a first synchronizing wheel; 27. a second synchronizing wheel; 28. a first synchronization belt; 29. a third synchronizing wheel; 30. an encoder; 31. a fourth synchronizing wheel; 32. a second synchronous belt; 33. a guide groove; 34. a first guide wheel; 35. a fourth guide rail; 36. a second guide wheel; 37. a circular hole; 38. a second sealed housing; 39. a drag chain; 40. and a control host.
Detailed Description
The invention is further described with reference to the following figures and embodiments.
Please refer to fig. 1-10, wherein fig. 1 is one of the overall structural diagrams provided by the present invention; FIG. 2 is a second schematic view of the overall structure provided by the present invention; FIG. 3 is a schematic view of a second ball screw according to the present invention; FIG. 4 is a schematic view of a ball spline configuration provided by the present invention; FIG. 5 is a schematic diagram of an encoder according to the present invention; FIG. 6 is an enlarged view taken at A in FIG. 3; FIG. 7 is a schematic view of a channel structure provided by the present invention; FIG. 8 is a schematic structural view of a support mechanism provided in the present invention; FIG. 9 is a schematic view of the internal structure of the buoyancy tube provided by the present invention; fig. 10 is a schematic structural view of a first guide wheel provided by the present invention.
In the specific implementation process, as shown in fig. 1 and 2, an automatic scanning water mold body three-dimensional motion platform for radiotherapy comprises a water tank 1, wherein a mounting plate 2 is fixed at the top of the water tank 1, mounting seats 3 are symmetrically fixed on the upper surface of the mounting plate 2, the middle parts of the two mounting seats 3 are rotatably connected with a first ball screw 4 through a bearing, one end of one mounting seat 3 is fixed with a first stepping motor 5, the output end of the first stepping motor 5 is fixedly connected with one end of the first ball screw 4 through a coupler, the surface of the mounting plate 2 is fixed with a first guide rail 6, one end of the first guide rail 6 is slidably connected with a first U-shaped sliding plate 7, one end of the first U-shaped sliding plate 7 is fixedly connected with a nut on the first ball screw 4, a control host 40 is fixed on one side of the water tank, the control host 40 can be a computer or a single chip microcomputer and the like, the operation of the control equipment is convenient;
referring to fig. 3, a mounting frame 8 is fixed on one side of the first U-shaped sliding plate 7, the mounting frame 8 is arranged in a U shape, a second guide rail 9 is fixed in the middle of the lower surface of the mounting frame 8, a first fixing plate 10 is fixed at the bottom of the second guide rail 9, one end of the mounting frame 8 and one end of the first fixing plate 10 are rotatably connected with a second ball screw 11 through a bearing, one end of the second guide rail 9 is slidably connected with a second U-shaped sliding plate 12, one end of the second U-shaped sliding plate 12 is fixedly connected with a nut on the second ball screw 11, a second stepping motor 13 is fixed on the top of the mounting frame 8, and an output end of the second stepping motor 13 is fixedly connected with the second ball screw 11 through a coupler;
referring to fig. 3 and 4, a first seal housing 14 is fixed on one side of the second U-shaped sliding plate 12, a ball spline 15 is rotatably connected to one end of the mounting frame 8 and the first fixing plate 10 away from the second ball screw 11 through a bearing, a spline housing 151 on the ball spline 15 is rotatably connected to the first seal housing 14, a spline shaft 152 on the ball spline 15 is slidably connected to the bottom of the first seal housing 14 through a guide sleeve, a first bevel gear 16 is fixed to the bottom of the spline housing 151 on the ball spline 15, a third ball screw 17 is rotatably connected to one side of the first seal housing 14 through a bearing, a second bevel gear 18 is fixed to one end of the third ball screw 17 close to the inner wall of the first seal housing 14, the first bevel gear 16 is in meshing connection with the second bevel gear 18, a second fixing plate 19 is fixed on one side of the second U-shaped sliding plate 12, a third guide rail 20 is fixed in the middle of the second fixing plate 19, a third fixing plate 21 is fixed at one end of the third guide rail 20, one end of a third ball screw 17 is rotatably connected with the third fixing plate 21 through a bearing, a third U-shaped sliding plate 22 is slidably connected at one end of the third guide rail 20, one end of the third U-shaped sliding plate 22 is fixedly connected with a nut on the third ball screw 17, a scanning instrument 23 is fixed at the top of the third U-shaped sliding plate 22, a supporting mechanism 25 is fixed at one end of the bottom of the third guide rail 20, which is far away from the second fixing plate 19, a third stepping motor 24 is fixed at the top of the mounting frame 8, and the output end of the third stepping motor 24 is fixedly connected with the third ball screw 17 through a coupler;
the first ball screw 4 is driven by the first stepping motor 5 to move, so as to drive the first U-shaped sliding plate 7 to slide left and right on the first guide rail 6, so as to drive the second guide rail 9 to move left and right, the second ball screw 11 is driven by the rotation of the second stepping motor 13 to move, so as to drive the second U-shaped sliding plate 12 on the second guide rail 9 to slide up and down, so as to drive the third guide rail 20 to slide up and down, so that the third U-shaped sliding plate 22 on the third guide rail 20 moves up and down, and the lifting of the third U-shaped sliding plate 22 can drive the first sealing shell 14 to lift, so as to drive the spline housing 151 to slide up and down on the spline shaft 152, and the spline shaft 152 on the ball spline 15 can be driven to rotate by the rotation of the third stepping motor 24, so that the spline shaft 152 drives the first bevel gear 16 to rotate through the spline housing 151, so that the first bevel gear 16 drives the second bevel gear 18 to rotate, the third ball screw 17 is driven, the third ball screw 17 drives the third U-shaped sliding plate 22 to slide back and forth on the third guide rail 20, the scanning instrument 23 can be driven to slide back and forth, the first stepping motor 5, the second stepping motor 13 and the third stepping motor 24 work, the scanning instrument 23 can be driven to move in a three-axis mode, and the water mold body can be scanned, wherein the first stepping motor 5, the second stepping motor 13 and the third stepping motor 24 are arranged at one end of the top of the water tank 1 and are not in contact with liquid in the water tank 1, equipment decay can be prevented, debugging and maintenance frequency is reduced, the driving is carried out through the ball screws, the precision is high, the structure is stable, and the durability is high.
Referring to fig. 6, 8 and 9, the support mechanism 25 includes a buoyancy tube 251, a rotation shaft 252, a threaded column 253, a piston 254, a square tube 255 and a retainer 256, the buoyancy tube 251 is fixed at one end of the third guide rail 20, the rotation shaft 252 is rotatably connected to the middle of the buoyancy tube 251 through a mechanical seal, the threaded column 253 is fixed at one end of the rotation shaft 252, the piston 254 is slidably connected to the inner wall of the buoyancy tube 251, the middle of the piston 254 is slidably connected to the rotation shaft 252 through a slide hole, the square tube 255 is fixed at one end of the middle of the piston 254, the inner wall of the square tube 255 is circularly arranged, the thread is arranged on the inner wall of the square tube 255, the threaded column 253 is threadedly connected to the inner wall of the square tube 255, the retainer 256 is fixed at one end of the buoyancy tube 251, the middle of the retainer 256 is circularly arranged, the square tube 255 is slidably connected to the retainer 256, the first synchronizing wheel 26 is fixed at one end of the third ball screw 17, a second synchronizing wheel 27 is fixed at one end of the rotating shaft 252, and the first synchronizing wheel 26 is in transmission connection with the second synchronizing wheel 27 through a first synchronizing belt 28, when the third ball screw 17 rotates and drives the third U-shaped sliding plate 22 to move, the rotating shaft 252 is driven to rotate through the first synchronizing wheel 26 and the second synchronizing wheel 27, and then the threaded column 253 is driven to rotate, so that the threaded column 253 drives the square rod to slide on the inner wall of the holder 256, and then the piston 254 is driven to move in the buoyancy tube 251, when the third U-shaped sliding plate 22 moves towards the direction close to the second fixing plate 19, the weight at the end of the third guide rail 20 is reduced, when the piston 254 inwardly compresses the air inside the buoyancy tube 251, the volume between the buoyancy tube 251 and the piston 254 is reduced, and when the third U-shaped sliding plate 22 moves towards the direction far away from the second fixing plate 19, the air inside the buoyancy tube 251 is driven to be drawn by the piston 254, the volume between the buoyancy cylinder 251 and the piston 254 is increased, so that the buoyancy of the buoyancy cylinder 251 is increased to offset the weight of the third U-shaped sliding plate 22, and the end of the third guide rail 20 maintains a relatively stable force, thereby reducing the droop deviation and improving the accuracy.
Referring to fig. 5, a third synchronizing wheel 29 is fixed on the outer side of the output end of the third stepping motor 24, an encoder 30 is fixed in the middle of the mounting frame 8, a fourth synchronizing wheel 31 is fixed on the input end of the encoder 30, and the fourth synchronizing wheel 31 is in transmission connection with the third synchronizing wheel 29 through a second synchronizing belt 32, so that the resetting and calibration of the motor are facilitated.
Referring to fig. 2, 3, 7 and 10, guide grooves 33 have been all seted up to three sides of first guide rail 6, second guide rail 9 and third guide rail 20, three sides of first U-shaped slide 7, second U-shaped slide 12 and third U-shaped slide 22 inner wall all are connected with first leading wheel 34 through bearing symmetry rotation, and first leading wheel 34 and guide groove 33 roll connection, the one end that the water tank 1 bottom is close to first fixed plate 10 is fixed with fourth guide rail 35 through the buckle, first fixed plate 10 lower surface is connected with second leading wheel 36 through bearing symmetry rotation, and second leading wheel 36 and fourth guide rail 35 roll connection, improves gliding stability, reduces wearing and tearing, and improves the slip precision.
Referring to fig. 7, round holes 37 are formed in the middle of the first guide rail 6, the second guide rail 9 and the third guide rail 20 at equal intervals, so that the weight is reduced, and the resistance is reduced when the third guide rail 20 moves in water.
The first stepping motor 5, the second stepping motor 13 and the third stepping motor 24 are all multi-subdivision stepping motors, so that the precision and the stability are improved.
Referring to fig. 1 and 2, a second sealing case 38 is fixed to the top of the mounting frame 8 to protect the second stepping motor 13 and the third stepping motor 24, and a drag chain 39 is fixed to one end of the mounting plate 2 to protect the electric wires.
The working principle is as follows:
the first ball screw 4 is driven by the first stepping motor 5 to move, so as to drive the first U-shaped sliding plate 7 to slide left and right on the first guide rail 6, so as to drive the second guide rail 9 to move left and right, the second ball screw 11 is driven by the rotation of the second stepping motor 13 to move, so as to drive the second U-shaped sliding plate 12 on the second guide rail 9 to slide up and down, so as to drive the third guide rail 20 to slide up and down, so that the third U-shaped sliding plate 22 on the third guide rail 20 moves up and down, and the lifting of the third U-shaped sliding plate 22 can drive the first sealing shell 14 to lift, so as to drive the spline housing 151 to slide up and down on the spline shaft 152, and the spline shaft 152 on the ball spline 15 can be driven to rotate by the rotation of the third stepping motor 24, so that the spline shaft 152 drives the first bevel gear 16 to rotate through the spline housing 151, so that the first bevel gear 16 drives the second bevel gear 18 to rotate, the driving of the third ball screw 17 is realized, so that the third ball screw 17 drives the third U-shaped sliding plate 22 to slide back and forth on the third guide rail 20, and further can drive the scanning instrument 23 to slide back and forth, and the first stepping motor 5, the second stepping motor 13 and the third stepping motor 24 work to drive the scanning instrument 23 to move in three axes, so as to realize the scanning of the water mold body, wherein the first stepping motor 5, the second stepping motor 13 and the third stepping motor 24 are all arranged at one end of the top of the water tank 1 and are not contacted with the liquid in the water tank 1, so that the equipment decay can be prevented, the debugging and maintenance frequency is reduced, the driving is realized through the ball screws, the precision is high, the structure is stable, and the durability is high;
wherein, because the end of the third guide rail 20 far from the second fixing plate 19 will droop downward under the action of gravity in the cantilever state, especially when the third U-shaped sliding plate 22 slides to the end far from the second fixing plate 19, the weight of the end of the third guide rail 20 increases, which results in the increase of droop deviation, the end of the third guide rail 20 is provided with the buoyancy tube 251, so that the buoyancy tube 251 can generate upward buoyancy in water, thereby substantially offsetting the mass of the end of the third guide rail 20, reducing the droop, and as the third U-shaped sliding plate 22 moves towards the end, the buoyancy of the buoyancy tube 251 needs to be increased, because the buoyancy of the object is proportional to the volume, when the third ball screw 17 rotates, in the process of driving the third U-shaped sliding plate 22 to move, the rotating shaft 252 is driven to rotate by the first synchronizing wheel 26 and the second synchronizing wheel 27, and the threaded column 253 can be driven to rotate, when the third U-shaped sliding plate 22 moves towards the second fixing plate 19, the weight of the end of the third guide rail 20 is reduced, and when the piston 254 compresses the air inside the buoyancy tube 251 inwards, the volume between the buoyancy tube 251 and the piston 254 is reduced, so that the buoyancy of the buoyancy tube 251 is reduced, and when the third U-shaped sliding plate 22 moves away from the second fixing plate 19, the piston 254 is driven to pull the air inside the buoyancy tube 251, so that the volume between the buoyancy tube 251 and the piston 254 is increased, so that the buoyancy of the buoyancy tube 251 is increased, so as to offset the weight of the third U-shaped sliding plate 22, so that the end of the third guide rail 20 maintains a relatively stable force, thereby reducing the droop deviation and improving the precision.
The circuits and controls involved in the present invention are prior art and will not be described in detail herein.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. An automatic scanning water mold body three-dimensional motion platform for radiotherapy comprises a water tank (1), it is characterized in that a mounting plate (2) is fixed on the top of the water tank (1), mounting seats (3) are symmetrically fixed on the upper surface of the mounting plate (2), the middle parts of the two mounting seats (3) are rotatably connected with a first ball screw (4) through bearings, one end of one mounting seat (3) is fixed with a first stepping motor (5), the output end of the first stepping motor (5) is fixedly connected with one end of a first ball screw (4) through a coupler, a first guide rail (6) is fixed on the surface of the mounting plate (2), one end of the first guide rail (6) is connected with a first U-shaped sliding plate (7) in a sliding way, one end of the first U-shaped sliding plate (7) is fixedly connected with a nut on the first ball screw (4), and one side of the water tank is fixedly provided with a control host (40);
a mounting frame (8) is fixed on one side of the first U-shaped sliding plate (7), the mounting frame (8) is arranged in a U shape, a second guide rail (9) is fixed in the middle of the lower surface of the mounting frame (8), a first fixing plate (10) is fixed at the bottom of the second guide rail (9), a second ball screw (11) is rotatably connected to one end of the mounting frame (8) and one end of the first fixing plate (10) through a bearing, a second U-shaped sliding plate (12) is slidably connected to one end of the second guide rail (9), one end of the second U-shaped sliding plate (12) is fixedly connected with a nut on the second ball screw (11), a second stepping motor (13) is fixed to the top of the mounting frame (8), and the output end of the second stepping motor (13) is fixedly connected with the second ball screw (11) through a coupler;
a first sealing shell (14) is fixed on one side of the second U-shaped sliding plate (12), one ends, far away from the second ball screw (11), of the mounting frame (8) and the first fixing plate (10) are rotatably connected with a ball spline (15) through bearings, a spline sleeve (151) on the ball spline (15) is rotatably connected with the first sealing shell (14), a spline shaft (152) on the ball spline (15) is slidably connected with the bottom of the first sealing shell (14) through a guide sleeve, a first bevel gear (16) is fixed at the bottom of the spline sleeve (151) on the ball spline (15), a third ball screw (17) is rotatably connected with one side of the first sealing shell (14) through a bearing, a second bevel gear (18) is fixed on one end, close to the inner wall of the first sealing shell (14), of the third ball screw (17), and the first bevel gear (16) is meshed with the second bevel gear (18), a second fixing plate (19) is fixed on one side of the second U-shaped sliding plate (12), a third guide rail (20) is fixed in the middle of the second fixing plate (19), a third fixing plate (21) is fixed at one end of the third guide rail (20), one end of the third ball screw (17) is rotationally connected with the third fixing plate (21) through a bearing, one end of the third guide rail (20) is connected with a third U-shaped sliding plate (22) in a sliding way, and one end of the third U-shaped sliding plate (22) is fixedly connected with a nut on the third ball screw (17), a scanning instrument (23) is fixed at the top of the third U-shaped sliding plate (22), a supporting mechanism (25) is fixed at one end of the bottom of the third guide rail (20) far away from the second fixing plate (19), a third stepping motor (24) is fixed at the top of the mounting frame (8), and the output end of the third stepping motor (24) is fixedly connected with the third ball screw (17) through a coupler.
2. The three-dimensional motion platform of the automatic scanning water phantom for radiotherapy according to claim 1, wherein the support mechanism (25) comprises a buoyancy cylinder (251), a rotating shaft (252), a threaded column (253), a piston (254), a square cylinder (255) and a retainer (256), the buoyancy cylinder (251) is fixed at one end of the third guide rail (20), the rotating shaft (252) is rotatably connected to the middle of the buoyancy cylinder (251) through mechanical sealing, the threaded column (253) is fixed at one end of the rotating shaft (252), the piston (254) is slidably connected to the inner wall of the buoyancy cylinder (251), the middle of the piston (254) is slidably connected to the rotating shaft (252) through a sliding hole, the square cylinder (255) is fixed at one end of the middle of the piston (254), the inner wall of the square cylinder (255) is circularly arranged, the inner wall of the square cylinder (255) is threaded, and the threaded column (253) is in threaded connection with the inner wall of the square cylinder (255), one end of the buoyancy barrel (251) is fixed with a retainer (256), the middle part of the retainer (256) is arranged in a square shape, and the square barrel (255) is connected with the retainer (256) in a sliding mode.
3. The three-dimensional motion platform of the automatic scanning water phantom for radiotherapy according to claim 2, wherein a first synchronizing wheel (26) is fixed at one end of the third ball screw (17), a second synchronizing wheel (27) is fixed at one end of the rotating shaft (252), and the first synchronizing wheel (26) is in transmission connection with the second synchronizing wheel (27) through a first synchronizing belt (28).
4. The three-dimensional motion platform for the automatic scanning water phantom for radiotherapy according to claim 1, wherein a third synchronizing wheel (29) is fixed outside the output end of the third stepping motor (24), an encoder (30) is fixed in the middle of the mounting frame (8), a fourth synchronizing wheel (31) is fixed at the input end of the encoder (30), and the fourth synchronizing wheel (31) is in transmission connection with the third synchronizing wheel (29) through a second synchronizing belt (32).
5. The three-dimensional motion platform of the automatic scanning water phantom for radiotherapy according to claim 1, wherein guide grooves (33) are formed in three sides of the first guide rail (6), the second guide rail (9) and the third guide rail (20), three sides of the inner walls of the first U-shaped sliding plate (7), the second U-shaped sliding plate (12) and the third U-shaped sliding plate (22) are symmetrically and rotatably connected with first guide wheels (34) through bearings, and the first guide wheels (34) are in rolling connection with the guide grooves (33).
6. The three-dimensional motion platform of the automatic scanning water phantom for radiotherapy according to claim 1, wherein a fourth guide rail (35) is fixed to one end of the bottom of the water tank (1) close to the first fixing plate (10) through a buckle, a second guide wheel (36) is symmetrically and rotatably connected to the lower surface of the first fixing plate (10) through a bearing, and the second guide wheel (36) is in rolling connection with the fourth guide rail (35).
7. The three-dimensional motion platform of the automatic scanning water phantom for radiotherapy according to claim 6, wherein the first guide rail (6), the second guide rail (9), the third guide rail (20) and the fourth guide rail (35) are made of aluminum alloy, the first ball screw (4), the second ball screw (11), the third ball screw (17) and the ball spline (15) are made of stainless steel, and nuts on the first ball screw (4), the second ball screw (11) and the third ball screw (17) are made of plastic.
8. The three-dimensional motion platform of the automatic scanning water phantom for radiotherapy according to claim 1, wherein circular holes (37) are formed in the middle parts of the first guide rail (6), the second guide rail (9) and the third guide rail (20) at equal intervals.
9. The three-dimensional motion platform for automatically scanning water phantom for radiotherapy according to claim 1, characterized in that the first stepping motor (5), the second stepping motor (13) and the third stepping motor (24) are all multi-subdivision stepping motors.
10. The three-dimensional motion platform for the automatic scanning water phantom for radiotherapy according to claim 1, wherein a second sealing shell (38) is fixed on the top of the mounting frame (8), and a drag chain (39) is fixed at one end of the mounting plate (2).
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| CN113589351B (en) | 2024-04-19 |
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