Automatic source reversing device and source reversing method

Abstract

The invention relates to an automatic source reversing device and method, the automatic source reversing device comprises a mechanical system, a control system and a visual system, the mechanical system comprises a base assembly, a stand column assembly, a mechanical arm assembly, a terminal execution assembly, a counterweight assembly, a source reversing tank assembly and an auxiliary tool assembly; the control system comprises a work station, a control cabinet, a manual control box, a power supply assembly, a local area network switch, an R-axis electrical assembly, a Z-axis electrical assembly, an L-axis electrical assembly and an S-axis electrical assembly. The visual system comprises a mounting bracket and a camera assembly. Through a safe and reliable mechanical system, a high-precision automatic control system and an advanced visual identification system, safe and reliable radioactive source reversing operation is automatically realized under the condition that operators do not need to stay in an operation machine room.

Description

Technical Field

[0001] The present invention relates to the medical field, and particularly to an automatic source inversion device and a source inversion method. Background Art

[0002] A gamma knife is a device that uses gamma rays emitted by a cobalt-60 radiation source to perform radiotherapy on malignant tumors and all benign diseases. When a new gamma knife device is installed, a new radiation source needs to be loaded on-site in the hospital to ensure the normal use of the device; when the radiation source of the gamma knife device decays to a low activity state, affecting the treatment effect and efficiency, and the service life of the device has not exceeded the specified period, it is also necessary to perform a source replacement operation on the gamma knife device on-site in the hospital, that is, removing the old radiation source and loading a new radiation source.

[0003] Currently, the common source inversion method in the gamma knife industry is to build a hot cell or a source inversion tooling outside the gamma knife device for source inversion. However, both methods perform source inversion of the gamma knife device through manual source inversion, that is, loading or replacing the radiation source. This method requires the operator to have sufficient proficiency and stay in the operation area with relatively high ray energy near the radiation source for a long time. Moreover, once the source inversion operation is not carried out smoothly, the staying time will be even longer. The gamma rays emitted by the cobalt-60 radiation source have extremely strong penetration ability. After the human body is irradiated by gamma rays, the cells in the body undergo ionizing radiation, causing harm to the operator's body. In addition, the state has clear requirements for the dose limits of radiation workers. When the number of installed units is large, in order to ensure that the individual cumulative dose of the operator does not exceed the dose limit required by the state, the enterprise needs to allocate more operators for rotation operations, which not only increases the additional economic burden on the enterprise but also makes it difficult to provide sufficient humanistic care to the operators. Summary of the Invention

[0004] To solve the above technical problems in the background art, the present invention provides an automatic source inversion device and a source inversion method, which can automatically realize safe and reliable radiation source inversion operation without the operator staying in the operation room through a safe and reliable mechanical system, a high-precision automatic control system, and an advanced vision recognition system.

[0005] The technical solution of the present invention is as follows: The present invention is an automatic source inversion device, and its special features are as follows: The automatic source inversion device includes a mechanical system, a control system, and a vision system. The mechanical system includes a base assembly, a column assembly, a robotic arm assembly, a terminal execution assembly, a counterweight assembly, a source inversion tank assembly, and an auxiliary tooling assembly. The base assembly is arranged on the side of the gamma knife host; the column assembly is arranged on the base assembly through a rotating shaft and can perform horizontal rotational movement around the rotating shaft; the robotic arm assembly is arranged on one side of the column assembly and can perform linear lifting along the vertical direction of the column assembly; the terminal execution assembly is arranged at the end of the robotic arm assembly, the counterweight assembly is arranged on the other side of the column assembly, and the source inversion tank assembly is mounted on the robotic arm assembly; the control system includes a workstation, a control cabinet, a hand control box, a power supply assembly, a local area network switch, an R-axis electrical assembly, a Z-axis electrical assembly, an L-axis electrical assembly, and an S-axis electrical assembly; the R-axis electrical assembly is arranged on the base assembly, the Z-axis electrical assembly is arranged on the column assembly, the L-axis electrical assembly is arranged on the terminal execution assembly, and the S-axis electrical assembly is arranged on the source inversion tank assembly. The power supply assembly is connected to the workstation and the control cabinet through power lines respectively to provide two independent power supplies for the workstation and the control cabinet; the workstation, the control cabinet, the hand control box, and the vision system are all connected to the local area network switch through network cables, and data interaction is established among the workstation, the control cabinet, the hand control box, and the vision system through the processing of the local area network switch; the R-axis electrical assembly is arranged on the base assembly, the Z-axis electrical assembly is arranged on the column assembly, the L-axis electrical assembly is arranged on the terminal execution assembly, and the S-axis electrical assembly is arranged on the source inversion tank assembly. The R-axis electrical assembly, the Z-axis electrical assembly, the L-axis electrical assembly, and the S-axis electrical assembly are all connected to the control cabinet through power lines and signal lines. The vision system includes a mounting bracket and a camera assembly. The camera assembly is arranged on the mounting bracket, and the mounting bracket is arranged on the auxiliary tooling assembly.

[0006] Further, the base assembly includes a base, a rotating shaft, a rotating gear, a horizontal adjustment rod, an R-axis electrical assembly, and an R-axis hand crank device. The rotating shaft is arranged on the base and can rotate around the base. The rotating gear is arranged on the rotating shaft. The horizontal adjustment rod is arranged at the bottom of the base. The R-axis electrical assembly includes an R-axis main drive motor, an R-axis sub-drive motor, and an R-axis electrical switch. The R-axis main drive motor and the R-axis sub-drive motor are independent of each other and are respectively arranged on the side of the rotating gear. The R-axis main drive motor and the R-axis sub-drive motor are respectively meshed with a rack through two speed reducers and small gears connected to the ends of the speed reducers. The speed reducer corresponding to the R-axis main drive motor is bidirectional input, and an R-axis hand crank device is installed at the other power input end. The R-axis electrical switch includes an R-axis main electrical switch and an R-axis sub-electrical switch. The R-axis main electrical switch and the R-axis sub-electrical switch are respectively installed at two different working positions on the base. A horizontal adjustment reference surface is arranged on the base, and a spirit level is arranged on the horizontal adjustment reference surface.

[0007] Further, the column assembly includes a column, a counterweight bracket, a pallet bracket, a counterweight chain, a sprocket, a counterweight guide post, a Z-axis hand crank device, a Z-axis electrical component, and a robotic arm mounting plate. The column is disposed on the rotating shaft. A counterweight bracket is provided at the top of one side of the column, and a pallet bracket is provided at the bottom. The counterweight guide post is disposed between the counterweight bracket and the pallet bracket. A sprocket and a guide sprocket are respectively provided at both ends of the counterweight bracket. The counterweight chain is wound around the sprocket and the guide sprocket. A robotic arm mounting plate and a Z-axis hand crank device are provided on the other side of the column. The robotic arm mounting plate can be lifted and lowered along the column in the vertical direction. One end of the counterweight chain is connected to a counterweight assembly, and the other end bypasses the sprocket and is connected to the robotic arm mounting plate. The Z-axis electrical component includes a Z-axis main drive motor, a Z-axis sub-drive motor, and a Z-axis electrical switch. The Z-axis main drive motor and the Z-axis sub-drive motor are independent of each other and are respectively disposed on the robotic arm mounting plate. A rack is provided on the column. The Z-axis main drive motor and the Z-axis sub-drive motor are respectively meshed with the rack through two speed reducers and small gears connected to the ends of the speed reducers. The Z-axis electrical switch includes a Z-axis main electrical switch and a Z-axis sub-electrical switch. The Z-axis main electrical switch and the Z-axis sub-electrical switch are respectively installed at two different working positions on the upper and lower parts of the column. A Z-axis hand crank device is provided on the side surface of the column. One end of the sprocket shaft of the guide sprocket on the outer side surface of the column is provided with a set of chains following it, and a Z-axis hand crank device is provided at the lower end of the chain.

[0008] Further, the robotic arm assembly includes a robotic arm, a mounting bracket, a tension adjustment screw, and a top adjustment screw. One end of the robotic arm is connected to the robotic arm mounting plate, and the other end is provided with a mounting bracket. The mounting bracket can move linearly along the robotic arm in the horizontal direction. The end effector assembly is disposed on the mounting bracket. The tension adjustment screw and the top adjustment screw are both provided on the end face of the end of the robotic arm and are connected to the mounting bracket.

[0009] Further, the end effector assembly includes an L-axis mounting seat, a pulley, a pressure wheel, a top screw, an end pressing block, a positioning handwheel, an L-axis transmission shaft, an L-axis electrical component, a timing belt, and a lifting joint. The L-axis mounting seat is disposed on the mounting bracket. The pulley, the pressure wheel, the top screw, the end pressing block, the positioning handwheel, and the L-axis transmission shaft are all disposed on the L-axis mounting seat. The pulley and the L-axis transmission shaft are coaxially fixed. The timing belt is wound around the pulley. The pressure wheel is disposed on one side of the timing belt and is in contact with the timing belt. The top screw is disposed on one side of the pressure wheel, and the tightness of the pressure wheel and the timing belt is adjusted by the top screw. The end pressing block is in contact with the other side of the timing belt. The positioning handwheel is connected to the end pressing block. By driving the end pressing block to rotate through the positioning handwheel, the wrap angle between the timing belt and the pulley can be increased. The lifting joint is provided at the lower end of the timing belt. The L-axis electrical component includes an L-axis drive motor and an L-axis electrical switch. The L-axis drive motor is installed on the end effector assembly. The L-axis drive motor is coaxially connected to the pulley. The L-axis electrical switch is installed on the upper part of the inverted source tank assembly.

[0010] Furthermore, the reverse source tank assembly includes a shielding tank body, a mounting flange, a docking flange, a left manual pull rod, a right manual pull rod, a left shielding slider, a right shielding slider, a left transmission rack, a right transmission rack, and an S-axis electrical assembly. The mounting flange is arranged at the top of the shielding tank body. A hollow cylindrical stepped mounting interface is provided inside the mounting flange. The mounting bracket mounts the mounting flange through the cylindrical stepped mounting interface. The mounting flange can accommodate the synchronous belt and the lifting joint to pass vertically. A cylindrical inner cavity channel is provided inside the shielding tank body. The shielding rod is arranged inside the cylindrical inner cavity channel and can move up and down along the cylindrical inner cavity channel. The upper end of the shielding rod is connected to the lifting joint. On both sides of the bottom of the cylindrical inner cavity channel, a left horizontal channel and a right horizontal channel are respectively provided. A left shielding slider is arranged inside the left horizontal channel, and a right shielding slider is arranged inside the right horizontal channel. On both sides of the shielding tank body, a left manual pull rod and a right manual pull rod are respectively provided. Both the left manual pull rod and the right manual pull rod include a manual pull rod and a short rod. The manual pull rod is arranged on the shielding tank body through a hinge. One end of the short rod is connected to the manual pull rod through a hinge, and the other end is connected to the shielding slider through a hinge. The left transmission rack and the right transmission rack are respectively arranged on the left shielding slider and the right shielding slider and can move synchronously with them. The docking flange is arranged at the bottom of the shielding tank body. The inside of the docking flange is in a hollow cylindrical shape and can accommodate the shielding rod to pass vertically. The S-axis electrical assembly includes an S1-axis main drive motor, an S1-axis sub-drive motor, an S2-axis main drive motor, an S2-axis sub-drive motor, and an S-axis electrical switch. The S1-axis main drive motor and the S1-axis sub-drive motor are independent of each other. The S2-axis main drive motor and the S2-axis sub-drive motor are independent of each other. The S1-axis main drive motor, the S1-axis sub-drive motor, the S2-axis main drive motor, the S2-axis sub-drive motor, and the S-axis electrical switch are respectively installed and fixed on the fixed mounting plates on the left and right outer sides of the shielding tank body. The S1-axis main drive motor and the S1-axis sub-drive motor are respectively meshed with the left transmission rack through two speed reducers and small gears connected to the ends of the speed reducers. The S2-axis main drive motor and the S2-axis sub-drive motor are respectively meshed with the right transmission rack through two speed reducers and small gears connected to the ends of the speed reducers. The S-axis electrical switch includes two S-axis main electrical switches on the left side and two S-axis sub-electrical switches on the right side. The two electrical switches are respectively located at the limit positions of the linear motion ranges of their corresponding shielding sliders.

[0011] Further, the auxiliary tooling assembly includes a source transport tank flange, a gamma knife equipment flange, a guiding flange, a source transport tank bracket, and a bracket horizontal adjustment rod. The lower end of the source transport tank flange is provided with a cylindrical interface for connecting to the source transport tank, and the upper end is provided with a cylindrical interface for connecting to the guiding flange. The lower end of the gamma knife equipment flange is connected to the gamma knife equipment, and the upper end is provided with a cylindrical interface for connecting to the guiding flange. The lower surface of the guiding flange is provided with interfaces consistent with the upper surfaces of the source transport tank flange and the gamma knife equipment flange for positioning and connecting to both. The upper surface is provided with a cylindrical guiding and positioning cylindrical surface for guiding and positioning with the docking flange. The source transport tank bracket is arranged at the bottom of the source transport tank, and the bottom of the source transport tank bracket is provided with a bracket horizontal adjustment rod. The mounting bracket is arranged on the guiding flange.

[0012] Further, the camera assembly includes a shielding case, a camera, a camera bracket, lead glass, and a shielding cover. The camera is arranged in the shielding case through the camera bracket. The lead glass is arranged on one side of the shielding case at the front end of the camera. The shielding cover is arranged above the shielding case.

[0013] Further, the counterweight assembly includes counterweight lead, a counterweight box, and a counterweight box cover. The counterweight lead is loaded in the counterweight box. The counterweight box cover is arranged on the top of the counterweight box and is suspended at one end of the counterweight chain.

[0014] A source inversion method for implementing the above automatic source inversion device is characterized in that the method includes the following steps:

[0015] 1) Source transport tank docking: After the automatic source inversion device and the gamma knife equipment are docked and set up, in the manual mode, the lifting tool is hung to lift the source inversion tank assembly from the ground, transported above the source transport tank for docking. After the source inversion tank assembly is successfully docked with the source transport tank, the switch is triggered, and the source inversion channel of the source inversion tank assembly automatically opens.

[0016] 2) Source inversion tank mounting: Manually remove the lifting tool, the automatic source inversion device readjusts its position, connects the connector of the terminal execution component to the top of the shielding rod, and the mounting bracket at the end of the robotic arm component docks with the connection flange of the source inversion tank and moves to the initial transfer position.

[0017] 3) Source extraction: The terminal execution component at the end of the robotic arm component automatically extracts the shielding rod loaded with the radioactive source from the source transport tank and places it in the source inversion tank. After reaching the safe position, the electrical switch is triggered, and the source inversion channel automatically closes.

[0018] 4) Transfer: The automatic source inversion device mounts the source inversion tank, lifts it from the source transport tank, and transports it above the source loading position of the gamma knife equipment.

[0019] 5) Gamma knife docking: The automatic source inversion device slowly descends under the control of the control system and, under the visual guidance of the vision system, realizes the docking of the source inversion tank with the source loading hole of the gamma knife equipment.

[0020] 6) Source inversion. After the source inversion tank is accurately docked with the gamma knife equipment, the electrical switch is triggered, the channel of the source inversion tank opens, and the hoisting mechanism on the terminal execution component drops the shielding rod carrying the radioactive source into the source loading cavity of the gamma knife equipment to complete the source inversion.

[0021] An automatic source inversion device and a source inversion method provided by the present invention. The automatic source inversion device includes: a mechanical system, a control system, and a vision system; through the combination of the control system and the vision system with the mechanical system, the automatic control and vision guidance of the automatic source inversion device are realized, and finally the source inversion tank is automatically transported and the source is inverted while carrying the radioactive source among different workstations in the shielding machine room. Therefore, the present invention has the following advantages:

[0022] 1) The present invention realizes automatic source inversion in a non - manned environment, reduces the proficiency requirements for source inversion operators, reduces the residence time of radiation operators in the radiation environment, reduces the irradiation dose received by radiation operators during each operation, and improves the safety of source inversion operations.

[0023] 2) The present invention can automatically realize safe and reliable radioactive source inversion operations without the need for operators to stay in the operation machine room, reduces the risk of operators being irradiated, improves the safety of source inversion operations, and reduces the personnel costs of enterprises.

[0024] 3) The present invention is designed with a precise mechanical transmission system, an accurate electrical control system, and a visualizable vision guidance system, ensuring the safety, accuracy, and reliability of automatic source inversion.

[0025] 4) The present invention is designed with redundant power supply. In the case of a power system interruption in the hospital, the automatic source inversion can still be completed safely and smoothly.

[0026] 5) The automatic source inversion device provided by the present invention is designed with a redundant drive mode: a) Under normal working conditions, the main electric drive device works normally; b) In the case of a failure of the main electric drive device, the control system switches to the secondary electric drive for work; c) In the case of simultaneous failures of the main and secondary electric drive devices, it is regarded as an emergency situation, and the operator enters the machine room to handle the emergency situation through the manual hand - crank drive device. Through two sets of independent electric drive devices, plus a set of independent manual hand - crank drive devices, the risk of source inversion operation failure is reduced to a relatively low level.

[0027] 6) The present invention is designed with a source inversion tank with safety shielding protection, ensuring that from taking out the shielding rod carrying the radioactive source from the source transportation tank, to the robotic arm hanging the source inversion tank containing the shielding rod to realize the transfer of the radioactive source among different workstations, and then to pouring the shielding rod into the gamma knife equipment, the radioactive source is in a safe radiation shielding body throughout the entire source inversion process. Description of the Drawings

[0028] Figure 1 Schematic structural diagram of the present invention;

[0029] Figure 2 Schematic structural diagram of the mechanical system of the present invention;

[0030] Figure 3 Schematic structural diagram of the base assembly of the present invention;

[0031] Figure 4 Schematic structural diagram of the column assembly of the present invention;

[0032] Figure 5 Schematic structural diagram of the robotic arm assembly of the present invention;

[0033] Figure 6 Schematic structural diagram of the terminal assembly of the present invention;

[0034] Figure 7 Schematic structural diagram of the source inversion tank assembly of the present invention;

[0035] Figure 8 Schematic structural diagram of the internal channel of the source inversion tank assembly of the present invention;

[0036] Figure 9 Schematic structural diagram of the vision system of the present invention;

[0037] Figure 10 Schematic structural diagram of the camera assembly of the present invention;

[0038] Figure 11 Schematic diagram of the vision system algorithm of the present invention;

[0039] Figure 12 Schematic diagram of the vision contour image acquisition of the present invention;

[0040] Figure 13 Schematic diagram of the source inversion position of the source transport tank of the present invention;

[0041] Figure 14 Schematic diagram of the source inversion position of the gamma knife equipment of the present invention;

[0042] Figure 15 Schematic diagram of the source inversion tank transfer station of the present invention.

[0043] Explanation of the reference numerals is as follows:

[0044] 11. Mechanical system; 12. Control system; 13. Vision system;

[0045] 100. Gamma knife equipment; 101. Source transport tank; 102. Shielding rod

[0046] 110. Base assembly; 111. Column assembly; 112. Robotic arm assembly; 113. End effector assembly; 114. Counterweight assembly; 115. Source inversion tank assembly; 116. Auxiliary tooling assembly;

[0047] 120. Workstation; 121. Control cabinet; 122. Hand control box; 123. Power supply assembly; 124. LAN switch; 125. R-axis electrical component; 126. Z-axis electrical component; 127. L-axis electrical component; 128. S-axis electrical component; 129. Control software;

[0048] 1231. Grid power supply; 1232. Uninterruptible power supply;

[0049] 1251. R-axis main drive motor; 1252. R-axis auxiliary drive motor; 1253. R-axis electrical switch;

[0050] 1261. Z-axis main drive motor; 1262. Z-axis auxiliary drive motor; 1263. R-axis electrical switch;

[0051] 1271. L-axis drive motor; 1272. L-axis electrical switch;

[0052] 1281. S1-axis main drive motor; 1282. S1-axis auxiliary drive motor; 1283. S2-axis main drive motor; 1284. S2-axis auxiliary drive motor; 1285. S-axis electrical switch;

[0053] 131. Mounting bracket; 132. Camera assembly;

[0054] 1321. Shielding case; 1322. Camera; 1323. Camera bracket; 1324. Lead glass; 1325. Shielding cover;

[0055] 1101. Base; 1102. Rotation shaft; 1103. Rotation gear; 1104. Horizontal adjustment rod; 1105R. R-axis hand crank device;

[0056] 1111. Column; 1112. Counterweight bracket; 1113. Support plate bracket; 1114. Counterweight chain; 1115. Sprocket; 1116. Counterweight guide post; 1117. Z-axis hand crank device; 1118. Robotic arm mounting plate;

[0057] 1121. Robotic arm; 1122. Mounting bracket; 1123. Tension adjustment screw; 1124. Thrust adjustment screw;

[0058] 1131. L-axis mounting seat; 1132. Belt pulley; 1133. Pressing wheel; 1134. Thrust screw; 1135. End pressing block; 1136. Positioning handwheel; 1137. L-axis transmission shaft; 1138. Timing belt; 1139. Lifting joint;

[0059] 1151. Shield tank body; 1152. Mounting flange; 1153. Docking flange; 1154. Left manual pull rod; 1155. Right manual pull rod; 1156. Left shielding slider; 1157. Right shielding slider; 1158. Left transmission rack; 1159. Right transmission rack;

[0060] 1161. Source transport tank flange; 1162. Gamma knife equipment flange; 1163. Guide flange; 1164. Source transport tank bracket; 1165. Bracket horizontal adjusting rod. Detailed implementation manners

[0061] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0062] See Figure 1, 2. The structure of the specific embodiment of the present invention includes a mechanical system 11, a control system 12, and a vision system 13. The mechanical system 11 includes a base assembly 110, a column assembly 111, a robotic arm assembly 112, a terminal execution assembly 113, a counterweight assembly 114, a source inversion tank assembly 115, and an auxiliary tooling assembly 116. The base assembly 110 is positioned and butt-jointed with the gamma knife host 100 on the side and fixedly connected to ensure that the geometric reference bases of the two are consistent, laying the foundation for accurate source inversion. The column assembly 111 is arranged on the base assembly 110 through a rotating shaft 1102 and can perform horizontal rotational movement around the rotating shaft 1102. The robotic arm assembly 112 is arranged on one side of the column assembly 111 and can perform linear lifting and lowering along the vertical direction of the column assembly 111. The terminal execution assembly 113 is arranged at the end of the robotic arm assembly 112 and can lift and lower the shielding rod 102 at the terminal through a hoisting mechanism to achieve the purpose of source extraction and source loading. The counterweight assembly 114 is arranged on the other side of the column assembly 111, and the source inversion tank assembly 115 is mounted on the robotic arm assembly 113. The counterweight assembly 114 is installed on the column assembly 111. The control system 12 includes a workstation 120, a control cabinet 121, a hand control box 122, a power supply assembly 123, a local area network switch 124, an R-axis electrical component 125, a Z-axis electrical component 126, an L-axis electrical component 127, and an S-axis electrical component 128. The power supply assembly 123 is connected to the workstation 120 and the control cabinet 121 respectively through power lines to provide two independent power supplies for the two. The workstation 120, the control cabinet 121, the hand control box 122, and the vision system 13 are all connected to the local area network switch 1214 through network cables, and data interaction among the four is established through the processing of the local area network switch 124. The R-axis electrical component 125, the Z-axis electrical component 126, the L-axis electrical component 127, and the S-axis electrical component 128 are all dispersedly installed and fixed on the base assembly 110, the column assembly 111, the robotic arm assembly 112, the terminal execution assembly 113, and the source inversion tank assembly 115 in the mechanical system 11 and are connected to the control cabinet 121 through power lines and signal lines. A control software is installed in the workstation 120 to achieve automatic control of the automatic source inversion device outside the shielding room. The control software includes: an automatic mode and a manual mode. Among them, in the automatic mode, the automatic execution of the source inversion operation can be selected with one key through the workstation 120. In the manual mode, the specified motion axis can be selected through the hand control box to perform the source inversion operation at the specified motion speed. The power supply assembly 123 includes a grid power supply 1231 and an uninterruptible power supply 1232. The two power supply sources are independent of each other and redundant with each other, ensuring the power supply safety of the control system. The vision system 13 includes a vision system mounting bracket 131 and a camera assembly 132. Among them, the camera assembly 132 is installed and fixed on the auxiliary tooling assembly 116 through the vision system mounting bracket 131.

[0063] See Figure 3, the structure of a specific embodiment of the base assembly 110 of the present invention includes a base 1101, a rotating shaft 1102, a rotating gear 1103, a horizontal adjustment rod 1104, an R-axis electrical assembly 125, and an R-axis hand-crank device 1105. The base assembly 110 is positioned and fixedly connected to the gamma knife device 100 on the side to ensure that the geometric reference bases of the two are consistent, laying the foundation for accurate source inversion. A horizontal adjustment reference surface is provided on the base 1101 for placing a level to ensure the horizontal installation of the automatic source inversion device. The rotating shaft 1102 is provided on the base 1101 and can rotate around the base. An installation interface is provided on its upper surface for positioning and connecting with the column 1111; the rotating gear 1103 is provided on the rotating shaft 1102 and can rotate synchronously with the rotating shaft 1102; there are 4 horizontal adjustment rods 1104, which are arranged at the four corners of the bottom of the base 1101, and the level of the base can be adjusted through threads. The R-axis electrical assembly 125 includes an R-axis main drive motor 1251, an R-axis sub-drive motor 1252, and an R-axis electrical switch 1253. The R-axis main drive motor 1251 and the R-axis sub-drive motor 1252 are independent of each other. The R-axis main drive motor 1251 and the R-axis sub-drive motor 1252 respectively drive small gears connected to the ends of two speed reducers, driving the rotating gear 1103 engaged with the small gears to achieve rotational motion; among them, the speed reducer corresponding to the R-axis main drive motor 1251 is bidirectional input, and an R-axis hand-crank device 1105 is installed at the other power input end, and the gear can also be driven by hand-cranking. When all electric automatic drives fail, an emergency situation occurs, and personnel enter the site for hand-cranking drive; the R-axis electrical switch 1253 includes an R-axis main electrical switch 1253A and an R-axis sub-electrical switch 1253B, which are installed at two different working positions of the base 1101. When the motor drives the rotating gear 1103 to rotate to different angles, the switch is triggered to stop the rotation.

[0064] See Figure 4, the structure of a specific embodiment of the column assembly 111 of the present invention includes a column 1111, a counterweight bracket 1112, a pallet bracket 1113, a counterweight chain 1114, a sprocket 1115, a counterweight guide post 1116, a Z-axis electrical component 126, a Z-axis hand crank device 1117, and a robotic arm mounting plate 1118. The column 1111 is arranged on the rotating shaft 1102 and can perform synchronous horizontal rotational movement along with the rotating shaft 1102; the counterweight bracket 1112 is arranged at the top of one side of the column 1111 and is fixed to the column 1111 for carrying the counterweight assembly 114. The pallet bracket 1113 is arranged at the bottom of the column 1111 and is fixed to the column. There are two counterweight guide posts 1116, which are arranged between the counterweight bracket 1112 and the pallet bracket 1113 for guiding the counterweight assembly 114; a sprocket 1115 and a guide sprocket are respectively arranged at both ends of the counterweight bracket 1112. The counterweight chain 1114 is wound around the sprocket 1115 and the guide sprocket. On the other side of the column 1111, there are a robotic arm mounting plate 1118 and a Z-axis hand crank device 1117. The robotic arm mounting plate 1118 can move up and down along the column 1111 in the vertical direction. The surface of the robotic arm mounting plate 1118 is provided with a positioning interface, which can be used for the positioning and fixing of the robotic arm 1121. The surface of the robotic arm mounting plate 1118 is also provided with an interface for the driving structure for the installation of the driving part; one end of the counterweight chain 1114 is connected to the counterweight assembly 114, and the other end bypasses the sprocket 1115 and is connected and fixed to the robotic arm mounting plate 1118; the Z-axis electrical component 126 includes a Z-axis main drive motor 1261, a Z-axis sub-drive motor 1262, and a Z-axis electrical switch 1263. The Z-axis main drive motor 1261 and the Z-axis sub-drive motor 1262 are independent of each other. On the other side surface of the column 1111, there is also a Z-axis hand crank device 1117. Through an appropriate speed reduction device, it can be ensured that in an emergency, when personnel enter the site to intervene in the source inversion, the Z-axis can be easily rotated for movement.The Z-axis main drive motor 1261 and the Z-axis secondary drive motor 1262 respectively drive the pinions at the ends of the two speed reducers through the two speed reducers, driving the robotic arm mounting plate 1118 to perform vertical lifting and lowering movements along the rack mounted on the column 1111; the Z-axis electrical switch 1263 includes a Z-axis main electrical switch 1263A and a Z-axis secondary electrical switch 1263B, and the two are installed at two different working positions on the upper and lower parts of the column 1111; one end of the counterweight chain 1114 is fixed to the robotic arm mounting plate 1118, and the other end is fixed to the counterweight assembly 114, and the top bypasses the sprocket 1115 and the guide sprocket to realize a balance mechanism similar to a pulley for left-up and right-down or left-down and right-up; wherein, the guide sprocket shaft leads out another set of chains following it on the outer side of the column 1111, and a Z-axis hand-crank device 1117 is arranged at the lower end of the chain; when the motor drives the pinion at the end to crawl along the vertical rack, the counterweight chain 1114 follows the robotic arm mounting plate 1118 to perform lifting and lowering movements in the direction, and at the same time, the external Z-axis hand-crank device 1117 also rotates following the driving of the side-following chain until the switch is triggered when moving to the corresponding height, and the lifting and lowering stops. On the contrary, when the Z-axis hand-crank device 1117 is manually shaken, the various components on the above transmission chain also move synchronously.

[0065] The counterweight assembly includes counterweight lead, a counterweight box and a counterweight box cover. The counterweight lead is filled in the counterweight box, the counterweight box cover is arranged on the top of the counterweight box, and is suspended at one end of the counterweight chain 1114.

[0066] See Figure 5 Referring to

[0067] See Figure 6, the structure of the specific embodiment of the terminal execution component 113 of the present invention includes an L-axis mounting seat 1131, a pulley 1132, a pressing wheel 1133, a top screw 1134, a terminal pressing block 1135, a positioning handwheel 1136, an L-axis transmission shaft 1137, a synchronous belt 1138, and a lifting joint 1139. The L-axis mounting seat 1131 is arranged on the mounting bracket 1122, and the shielding rod can be lifted and lowered at the terminal through the hoisting mechanism to achieve the purpose of taking the source and loading the source; the pulley 1132, the pressing wheel 1133, the top screw 1134, the terminal pressing block 1135, the positioning handwheel 1136, and the L-axis transmission shaft 1137 are all arranged on the L-axis mounting seat 1131. The pulley 1132 and the L-axis transmission shaft 1137 are coaxially fixed. The synchronous belt 1138 is wound around the pulley 1132, and the synchronous belt 1138 wound around the pulley 1132 is driven by the L-axis transmission shaft 1137 to realize the terminal lifting and lowering movement; the pressing wheel 1133 is arranged on one side of the synchronous belt 1138 and is in contact with the synchronous belt 1138. The top screw 1134 is arranged on one side of the pressing wheel 1133, and the tightness of the pressing wheel 1133 and the synchronous belt 1138 is adjusted through the top screw 1134; the terminal pressing block 1135 is in contact with the other side of the synchronous belt 1138, and the positioning handwheel 1136 is connected to the terminal pressing block 1135. By driving the terminal pressing block 1135 to rotate through the positioning handwheel 1136, the wrap angle between the synchronous belt 1138 and the pulley 1132 can be increased, and the force condition of the synchronous belt can be improved; the lifting joint 1139 is arranged at the lower end of the synchronous belt 1138 and hangs vertically. The end of its joint is a threaded structure, which can be connected to the shielding rod 102. Under the action of the above synchronous belt hoisting mechanism, the taking and loading of the radioactive source are realized at the terminal of the device. The L-axis electrical component 127 includes an L-axis driving motor 1271 and an L-axis electrical switch 1272. The L-axis driving motor 1271 is installed on the terminal execution component 113, and the L-axis electrical switch 1272 is installed on the source inversion tank component 115. The L-axis driving motor 1271 is coaxially connected to the pulley 1132, drives the synchronous belt 1138 wound around the pulley 1132 to move up and down, and drives the lifting joint 1139 at the end and the shielding rod 102 whose inner cavity of the source inversion tank component is threadedly connected to the lifting joint to move up and down synchronously; when the shielding rod 102 is lifted to the top of the inner cavity of the source inversion tank component, the L-axis electrical switch 1272 is triggered to stop the lifting of the shielding rod.

[0068] See Figure 7 , 8, the structure of the specific embodiment of the source inversion tank assembly 115 of the present invention includes a shielding tank body 1151, a mounting flange 1152, a docking flange 1153, a left manual pull rod 1154, a right manual pull rod 1155, a left shielding slider 1156, a right shielding slider 1157, a left transmission rack 1158, a right transmission rack 1159 and an S-axis electrical component 128. The mounting flange 1152 is arranged at the top of the shielding tank body 1151. A hollow cylindrical stepped mounting interface is arranged inside the mounting flange 1152. The mounting bracket 1122 mounts the mounting flange 1152 through the cylindrical stepped mounting interface to realize the transfer between different workstations. Its central area is a hollow structure that can accommodate the synchronous belt 1138 and the lifting joint 1139 to pass vertically. The main body of the shielding tank body 1151 is made of a ray shielding material and is provided with a sufficient wall thickness to ensure that after the shielding rod 102 containing the radiation source is accommodated in the inner cavity, the released rays can be reduced to a certain safe range after being shielded by it. A cylindrical inner cavity channel is arranged inside the shielding tank body 1151. The shielding rod 102 is arranged inside the cylindrical inner cavity channel and can vertically lift along the cylindrical inner cavity channel. The upper end of the shielding rod 102 is connected to the lifting joint 1139. On both sides of the bottom of the cylindrical inner cavity channel, a left horizontal channel and a right horizontal channel are respectively arranged. The left shielding slider 1156 is arranged inside the left horizontal channel, and the right shielding slider 1157 is arranged inside the right horizontal channel, and they can slide relatively in the horizontal direction. The left shielding slider 1156 and the right shielding slider 1157 open and close the source inversion channel under the tank body by moving relatively away from and approaching each other. On both sides of the shielding tank body 1151, a left manual pull rod 1154 and a right manual pull rod 1155 are respectively arranged. Both the left manual pull rod 1154 and the right manual pull rod 1155 include a manual pull rod and a short rod. The manual pull rod is arranged on the shielding tank body 1151 through a hinge. One end of the short rod is connected to the manual pull rod through a hinge, and the other end is connected to the shielding slider through a hinge. The left manual pull rod 1154 and the right manual pull rod 1155 can rotate around the hinge fixed on the shielding tank body 1151, driving the short rods below to move in the opposite direction. The left transmission rack 1158 and the right transmission rack 1159 are respectively fixed on the left shielding slider 1156 and the right shielding slider 1157 and can move synchronously with them;The docking flange 1153 is provided at the bottom of the shielding tank body 1151. The inside of the docking flange 1153 is of a hollow cylindrical shape, capable of accommodating the shielding rod to pass vertically through. Its outer shape is a quasi-cylindrical structure, and its outer cylindrical surface can be docked with the guiding flange 1163. The S-axis electrical assembly 128 includes an S1-axis main drive motor 1281, an S1-axis auxiliary drive motor 1282, an S2-axis main drive motor 1283, an S2-axis auxiliary drive motor 1284, and an S-axis electrical switch 1285. The S1-axis main drive motor 1281 and the S1-axis auxiliary drive motor 1282 are independent of each other. The S2-axis main drive motor 1283 and the S2-axis auxiliary drive motor 1284 are independent of each other. The S1-axis main drive motor 1281, the S1-axis auxiliary drive motor 1282, the S2-axis main drive motor 1283, the S2-axis auxiliary drive motor 1284, and the S-axis electrical switch 1285 are installed and fixed on the fixed mounting plates on the left and right outer sides of the shielding tank body 1151. The S1-axis main drive motor 1281 and the S1-axis auxiliary drive motor 1282 are respectively meshed with the left transmission rack 1158 through two speed reducers and small gears connected to the ends of the speed reducers. The S2-axis main drive motor 1283 and the S2-axis auxiliary drive motor 1284 are respectively meshed with the right transmission rack 1159 through two speed reducers and small gears connected to the ends of the speed reducers. Among them, the S-axis electrical switch 1285 includes two S-axis main electrical switches 1285A on the left side and two S-axis auxiliary electrical switches 1285B on the right side. The two electrical switches are respectively located at the limit positions of the linear motion ranges of the corresponding shielding sliders on their respective sides.;

[0069] See Figure 9 , the structure of the specific embodiment of the vision system 13 of the present invention includes vision algorithm software, a mounting bracket 131, and a plurality of camera assemblies 132. Among them, the vision algorithm software is installed and integrated in the workstation to realize visual guidance for the automatic source inversion device outside the shielding computer room. The mounting surface of the mounting bracket 131 is provided with a positioning interface, and through consistent interface matching, it can be accurately connected and fixed with the guiding flange 1163. The number of camera assemblies 132 is 3 in this embodiment, and they are respectively arranged at positions 132A, 132B, and 132C on both sides of the mounting bracket 131.

[0070] See Figure 10, in a specific embodiment of the camera assembly 132 of the present invention, the structure includes a shielding case 1321, a camera 1322, a camera bracket 1323, a lead glass 1324, and a shielding cover 1325. The camera 1322 is disposed within the shielding case 1321 through the camera bracket 1323. The lead glass 1324 is disposed on one side of the shielding case 1321, at the front end of the camera 1322, providing a transparent image acquisition window, and at the same time, providing ray shielding protection at the front end of the camera 1322 to prevent the camera 1322 from being damaged by ray irradiation. The shielding cover 1325 is disposed above the shielding case 1321. The shielding cover 1325 and the shielding case 1321 provide ray shielding protection for the other five faces of the camera 1322 to prevent the camera 1322 from being damaged by ray irradiation.

[0071] See Figure 11 , the steps of a specific embodiment of the vision system algorithm of the present invention are as follows:

[0072] 1) Image preprocessing: After the vision system 13 and the guiding flange 1163 are installed, the camera assemblies 132B and 132C on the vision system 13 collect the contour images of the precise calibration holes 1163.1 preset on the flat end faces on both sides of the guiding flange 1163 and perform image processing to improve clarity. Then, compare the collected contour dimensions and relative distances with the known precise calibration hole data. If the error is within the allowable range, normal collection can be performed without correction; if the error exceeds the allowable range, visual parameter correction is performed and then collection is carried out.

[0073] At the same time, the camera assemblies 132B and 132C collect the guiding groove contours 1163.2 on the left and right flat end faces of the guiding flange 1163 and calculate the flange center position, that is, the target center position;

[0074] 2) Edge detection and calculation: As Figure 12 , the camera assembly 132B on the vision system 13 collects and detects the right contour of the object to be guided, that is, the right contour of the inverted source tank assembly 115, and calculates its edge distance C1. At the same time, the camera assembly 132C collects and detects the left contour of the object to be guided, that is, the left contour of the inverted source tank assembly 115, and calculates its edge distance C2;

[0075] 3) Distance comparison and adjustment: Compare the detected left and right edge distances C1 and C2 above and perform corresponding data correction and adjustment;

[0076] 4) Calculate the center coordinates: Calculate the contour center coordinates of the object to be guided, that is, the inverted source tank assembly 115, through the adjusted data C1 and C2 in step 3) above;

[0077] 5) Target alignment and adjustment: Compare the contour center coordinates calculated in step 4) above with the flange center position calculated in step 1), calculate the position error, and feedback the adjustment value to the workstation 120 through the LAN switch 124 to control the automatic source inversion device to move to the correct coordinates for real-time source inversion.

[0078] Figure 12 The outer contour shape of the source inversion tank assembly in the upper middle is the acquisition target of the visual contour. After the acquisition is completed, the position deviation between the central axis of the contour and the central axis of the lower flange slot is automatically recognized and visual guidance is performed; 1163.1 represents the accurately calibrated holes with known dimensions and spacings on the machined flange end face, which are used for the accuracy correction of the visual system before recognition and guidance; 1163.2 represents the target flange slot that needs to be aligned during visual guidance.

[0079] See Figure 12 、 13 、14, the structure of the specific embodiment of the auxiliary tooling component of the present invention includes: a source transport tank flange 1161, a gamma knife equipment flange 1162, a guiding flange 1163, a source transport tank bracket 1164, and a bracket horizontal adjustment rod 1165. The lower end of the source transport tank flange 1161 is provided with a cylindrical interface for connecting with the source transport tank 101, and the upper end is provided with a cylindrical interface for connecting with the guiding flange 1163; the lower end of the gamma knife equipment flange 1162 is connected to the gamma knife equipment 100, and the upper end is provided with a cylindrical interface for connecting with the guiding flange 1163; the lower surface of the guiding flange 1163 is provided with interfaces consistent with the upper surfaces of the source transport tank flange 1161 and the gamma knife equipment flange 1162 for positioning and connecting with the two, and the upper surface is provided with a cylindrical guiding and positioning cylindrical surface for guiding and positioning with the docking flange 1153; the source transport tank bracket 1164 is arranged on the ground beside the gamma knife equipment in the shielding room and is located at the bottom of the source transport tank 101 for carrying the source transport tank 101. Four bracket horizontal adjustment rods 1165 are respectively arranged at the four corners of the bottom of the source transport tank bracket 1164, and two horizontal level reference surfaces are arranged in the horizontal direction on its upper surface. When used in combination with the four bracket horizontal adjustment rods 1165, the level of the source transport tank 101 can be adjusted. The mounting bracket 131 is arranged on the guiding flange 1163.

[0080] See Figure 15 , the implementation scenario of the automatic source inversion device of the present invention is as follows:

[0081] After the radiation source is delivered to the shielding machine room, remove the lead plug at the top of the source carrier tank 101, install the source carrier tank flange 1161 onto the source carrier tank 101, then install the guiding flange 1163 onto the source carrier tank flange 1161. Finally, install the vision system 13 onto the guiding flange 1161 to complete the preparation for source transfer of the source carrier tank. Meanwhile, install the gamma knife equipment flange 1162 and the guiding flange 1161 at the source loading position of the gamma knife equipment 100, and install the vision system 13 onto the guiding flange 1161 to complete the preparation for the gamma knife equipment.

[0082] After the automatic source transfer device is set up in the shielding machine room and the interface of the base assembly 110 is accurately docked with the gamma knife equipment 100, under the command of the control software 129, the control system 12 drives the base assembly 110 of the mechanical system 11 to rotate to Figure 15 the working position 1 as shown.

[0083] Switch to the manual mode, control the robotic arm assembly 112 to lower to the lifting height through the manual control box 122, and use the lifting tool to vertically lift the source transfer tank 115 placed on the ground in the shielding machine room.

[0084] Control the base assembly 110 to rotate to Figure 15 the working position 2 as shown. Under the visual guidance of the vision system 13, slowly lower the robotic arm assembly 112. Meanwhile, adjust the angle of the base assembly 111 according to the position deviation feedback by the vision system to complete the docking of the docking flange 1153 at the bottom of the source transfer tank 115 and the guiding flange 1163 installed on the source carrier tank flange 1161, as Figure 13 shown.

[0085] After unloading the lifting tool, the synchronous belt 1132 of the terminal execution assembly 113 slowly drops, and connects the lifting joint 1139 at its end to the threaded hole at the top of the shielding rod 102 inside the source carrier tank 101; the control software drives the mounting bracket 1122 at the end of the robotic arm assembly 112 to automatically mount on the mounting flange 1152 at the top of the source transfer tank 115 to complete the preparation for source transfer.

[0086] After the operator checks that the status is normal, evacuate the site and start source transfer. The terminal execution assembly 113 drives the pulley 1132 to rotate, driving the lifting joint 1139 below the synchronous belt 1138 to rise, automatically lifting the shielding rod 102 to the inner cavity channel of the source transfer tank 115, and stopping the lifting after triggering the electrical switch 1272. Meanwhile, the left shielding slider 1156 and the right shielding slider 1157 below the source transfer tank 115 automatically close to close the source transfer channel.

[0087] Under the command of the control software, the robotic arm assembly 112 rises to the highest position. Meanwhile, the base assembly 110 drives the robotic arm assembly 112 and the source transfer tank 115 mounted below it to automatically move to Figure 15 the working position 3 as shown.

[0088] Under the visual guidance of the vision system 13, the manipulator assembly 112 is slowly lowered. Meanwhile, the angle of the base assembly 111 is adjusted according to the position deviation feedback by the vision system, and the docking flange 1153 at the bottom of the source pouring tank 115 is docked with the guiding flange 1163 installed on the gamma knife equipment flange 1162, as Figure 14 shown.

[0089] The terminal execution assembly 113 drives the pulley 1132 to rotate, driving the lifting joint 1139 below the synchronous belt 1138 to descend, and automatically dropping the shielding rod 102 into the inner cavity channel of the gamma knife equipment 100 to complete the source pouring.

[0090] The present invention also provides an automatic source pouring method, and the specific steps are as follows:

[0091] 1) Source transportation tank docking. After the automatic source pouring device is docked and set up with the gamma knife equipment, in the manual mode, the lifting tool is hung to lift the source pouring tank assembly from the ground, transported above the source transportation tank for docking; after the source pouring tank assembly is successfully docked with the source transportation tank, the switch is triggered, and the source pouring channel of the source pouring tank assembly automatically opens;

[0092] 2) Source pouring tank mounting. Manually remove the lifting tool, the automatic source pouring device readjusts its position, connects the connector of the terminal execution assembly to the top of the shielding rod, and the mounting bracket at the end of the manipulator assembly is docked with the connection flange of the source pouring tank and moves to the initial transfer position;

[0093] 3) Source extraction. The terminal execution assembly at the end of the manipulator assembly automatically extracts the shielding rod loaded with the radioactive source from the source transportation tank and places it in the source pouring tank. After reaching a safe position, the electrical switch is triggered, and the source pouring channel automatically closes;

[0094] 4) Transportation. The automatic source pouring device mounts the source pouring tank, lifts it from the source transportation tank, and transports it above the source loading position of the gamma knife equipment;

[0095] 5) Gamma knife docking. The automatic source pouring device slowly descends under the control of the control system and, under the visual guidance of the vision system, realizes the docking of the source pouring tank with the source loading hole of the gamma knife equipment;

[0096] 6) Source pouring. After the source pouring tank is accurately docked with the gamma knife equipment, the electrical switch is triggered, the source pouring tank channel opens, and the winch mechanism on the terminal execution assembly drops the shielding rod carrying the radioactive source into the source loading cavity of the gamma knife equipment to complete the source pouring.

[0097] The technical content not specifically described in the content of the present invention and the above embodiments is the same as the prior art.

[0098] The above is only the specific implementation manner disclosed by the present invention, but the protection scope disclosed by the present invention is not limited thereto. The protection scope disclosed by the present invention shall be subject to the protection scope of the claims.

Claims

1. An automatic source inversion device, characterized in that: The automatic source inversion device includes a mechanical system, a control system, and a vision system. The mechanical system includes a base assembly, a column assembly, a robotic arm assembly, a terminal execution assembly, a counterweight assembly, a source inversion tank assembly, and an auxiliary tooling assembly. The base assembly is arranged on the side of the gamma knife host; the column assembly is arranged on the base assembly through a rotating shaft and can perform horizontal rotational movement around the rotating shaft; the robotic arm assembly is arranged on one side of the column assembly and can perform linear lifting and lowering along the vertical direction of the column assembly; the terminal execution assembly is arranged at the end of the robotic arm assembly, the counterweight assembly is arranged on the other side of the column assembly, and the source inversion tank assembly is mounted on the robotic arm assembly; the control system includes a workstation, a control cabinet, a hand control box, a power supply assembly, a local area network switch, an R-axis electrical component, a Z-axis electrical component, an L-axis electrical component, and an S-axis electrical component; the R-axis electrical component is arranged on the base assembly, the Z-axis electrical component is arranged on the column assembly, the L-axis electrical component is arranged on the terminal execution assembly, the S-axis electrical component is arranged on the source inversion tank assembly, the power supply assembly is connected to the workstation and the control cabinet respectively through power lines to provide two independent power supplies for the workstation and the control cabinet; the workstation, the control cabinet, the hand control box, and the vision system are all connected to the local area network switch through network cables, and data interaction between the workstation, the control cabinet, the hand control box, and the vision system is established through the processing of the local area network switch; the R-axis electrical component is arranged on the base assembly, the Z-axis electrical component is arranged on the column assembly, the L-axis electrical component is arranged on the terminal execution assembly, the S-axis electrical component is arranged on the source inversion tank assembly, the R-axis electrical component, the Z-axis electrical component, the L-axis electrical component, and the S-axis electrical component are all connected to the control cabinet through power lines and signal lines. The vision system includes a mounting bracket and a camera assembly. The camera assembly is arranged on the mounting bracket, and the mounting bracket is arranged on the auxiliary tooling assembly.

2. The automatic source inversion device according to claim 1, wherein: The base assembly includes a base, a rotating shaft, a rotating gear, a horizontal adjustment rod, an R-axis electrical component, and an R-axis hand crank device. The rotating shaft is arranged on the base and can rotate around the base. The rotating gear is arranged on the rotating shaft. The horizontal adjustment rod is arranged at the bottom of the base. The R-axis electrical component includes an R-axis main drive motor, an R-axis auxiliary drive motor, and an R-axis electrical switch. The R-axis main drive motor and the R-axis auxiliary drive motor are independent of each other and are respectively arranged on the side of the rotating gear. The R-axis main drive motor and the R-axis auxiliary drive motor are respectively meshed with a rack through two speed reducers and small gears connected to the ends of the speed reducers. The speed reducer corresponding to the R-axis main drive motor is bidirectional input, and an R-axis hand crank device is installed at the other power input end. The R-axis electrical switch includes an R-axis main electrical switch and an R-axis auxiliary electrical switch. The R-axis main electrical switch and the R-axis auxiliary electrical switch are respectively installed at two different working positions on the base. A horizontal adjustment reference surface is arranged on the base, and a spirit level is arranged on the horizontal adjustment reference surface.

3. The automatic source switching device according to claim 2, wherein: The column assembly includes a column, a counterweight bracket, a pallet bracket, a counterweight chain, a sprocket, a counterweight guide post, a Z-axis hand-crank device, a Z-axis electrical component, and a robotic arm mounting plate. The column is arranged on a rotating shaft. At the top of one side of the column, there is a counterweight bracket, and at the bottom, there is a pallet bracket. The counterweight guide post is arranged between the counterweight bracket and the pallet bracket. At both ends of the counterweight bracket, there are respectively a sprocket and a guide sprocket. The counterweight chain is wound around the sprocket and the guide sprocket. On the other side of the column, there are a robotic arm mounting plate and a Z-axis hand-crank device. The robotic arm mounting plate can move up and down along the column in the vertical direction. One end of the counterweight chain is connected to a counterweight assembly, and the other end bypasses the sprocket and is connected to the robotic arm mounting plate. The Z-axis electrical component includes a Z-axis main drive motor, a Z-axis sub-drive motor, and a Z-axis electrical switch. The Z-axis main drive motor and the Z-axis sub-drive motor are independent of each other and are respectively arranged on the robotic arm mounting plate. There is a rack on the column. The Z-axis main drive motor and the Z-axis sub-drive motor are respectively meshed with the rack through two speed reducers and small gears connected to the ends of the speed reducers. The Z-axis electrical switch includes a Z-axis main electrical switch and a Z-axis sub-electrical switch. The Z-axis main electrical switch and the Z-axis sub-electrical switch are respectively installed at two different working positions, upper and lower, on the column. There is a Z-axis hand-crank device on the side of the column. At one end of the sprocket shaft of the guide sprocket on the outer side of the column, there is a set of chains that follow it. At the lower end of the chain, there is a Z-axis hand-crank device.

4. The automatic source switching device according to claim 3, characterized in that: The robotic arm assembly includes a robotic arm, a mounting bracket, a tension adjustment screw, and a top tension adjustment screw. One end of the robotic arm is connected to the robotic arm mounting plate, and at the other end, there is a mounting bracket. The mounting bracket can move linearly on the robotic arm in the horizontal direction. The end effector assembly is arranged on the mounting bracket. The tension adjustment screw and the top tension adjustment screw are both arranged on the end face of the end of the robotic arm and are connected to the mounting bracket.

5. The automatic source inversion device according to claim 4, wherein: The end effector assembly includes an L-axis mounting seat, a pulley, a pressure wheel, a top screw, an end pressing block, a positioning handwheel, an L-axis transmission shaft, an L-axis electrical component, a synchronous belt, and a lifting joint. The L-axis mounting seat is arranged on the mounting bracket. The pulley, the pressure wheel, the top screw, the end pressing block, the positioning handwheel, and the L-axis transmission shaft are all arranged on the L-axis mounting seat. The pulley and the L-axis transmission shaft are coaxially fixed. The synchronous belt is wound around the pulley. The pressure wheel is arranged on one side of the synchronous belt and is in contact with the synchronous belt. The top screw is arranged on one side of the pressure wheel, and the tightness of the pressure wheel and the synchronous belt is adjusted through the top screw. The end pressing block is in contact with the other side of the synchronous belt. The positioning handwheel is connected to the end pressing block. By driving the end pressing block to rotate through the positioning handwheel, the wrap angle between the synchronous belt and the pulley can be increased. The lifting joint is arranged at the lower end of the synchronous belt. The L-axis electrical component includes an L-axis drive motor and an L-axis electrical switch. The L-axis drive motor is installed on the end effector assembly. The L-axis drive motor is coaxially connected to the pulley. The L-axis electrical switch is installed on the upper part of the inverted source tank assembly.

6. The automatic source switching device according to claim 5, wherein: The inverted source tank assembly includes a shielding tank body, a mounting flange, a docking flange, a left manual pull rod, a right manual pull rod, a left shielding slider, a right shielding slider, a left transmission rack, a right transmission rack, and an S-axis electrical component. The mounting flange is arranged at the top of the shielding tank body. A hollow cylindrical stepped mounting interface is arranged inside the mounting flange. The mounting bracket is mounted on the mounting flange through the cylindrical stepped mounting interface. The mounting flange can accommodate the synchronous belt and the lifting joint to pass vertically. A cylindrical inner cavity channel is arranged inside the shielding tank body. The shielding rod is arranged inside the cylindrical inner cavity channel and can move up and down along the cylindrical inner cavity channel. The upper end of the shielding rod is connected to the lifting joint. On both sides of the bottom of the cylindrical inner cavity channel, a left horizontal channel and a right horizontal channel are respectively arranged. A left shielding slider is arranged inside the left horizontal channel, and a right shielding slider is arranged inside the right horizontal channel. A left manual pull rod and a right manual pull rod are respectively arranged on both sides of the shielding tank body. The left manual pull rod and the right manual pull rod both include a manual pull rod and a short rod. The manual pull rod is arranged on the shielding tank body through a hinge. One end of the short rod is connected to the manual pull rod through a hinge, and the other end is connected to the shielding slider through a hinge. The left transmission rack and the right transmission rack are respectively arranged on the left shielding slider and the right shielding slider and can move synchronously with them. The docking flange is arranged at the bottom of the shielding tank body. The inside of the docking flange is of a hollow cylindrical shape and can accommodate the shielding rod to pass vertically. The S-axis electrical component includes an S1-axis main drive motor, an S1-axis sub-drive motor, an S2-axis main drive motor, an S2-axis sub-drive motor, and an S-axis electrical switch. The S1-axis main drive motor and the S1-axis sub-drive motor are independent of each other. The S2-axis main drive motor and the S2-axis sub-drive motor are independent of each other. The S1-axis main drive motor, the S1-axis sub-drive motor, the S2-axis main drive motor, the S2-axis sub-drive motor, and the S-axis electrical switch are respectively installed and fixed on the fixed mounting plates on the left and right outer sides of the shielding tank body. The S1-axis main drive motor and the S1-axis sub-drive motor are respectively meshed with the left transmission rack through two speed reducers and small gears connected to the ends of the speed reducers. The S2-axis main drive motor and the S2-axis sub-drive motor are respectively meshed with the right transmission rack through two speed reducers and small gears connected to the ends of the speed reducers. The S-axis electrical switch includes two S-axis main electrical switches on the left side and two S-axis sub-electrical switches on the right side. The two electrical switches are respectively located at the limit positions of the linear motion ranges of their corresponding shielding sliders.

7. The automatic source inversion device according to claim 6, characterized in that: The auxiliary tooling assembly includes a source transport tank flange, a gamma knife equipment flange, a guiding flange, a source transport tank bracket, and a bracket horizontal adjusting rod. The lower end of the source transport tank flange is provided with a cylindrical interface for connecting to the source transport tank, and the upper end is provided with a cylindrical interface for connecting to the guiding flange. The lower end of the gamma knife equipment flange is connected to the gamma knife equipment, and the upper end is provided with a cylindrical interface for connecting to the guiding flange. The lower surface of the guiding flange is provided with interfaces consistent with the upper surfaces of the source transport tank flange and the gamma knife equipment flange for positioning and connecting to the two, and the upper surface is provided with a cylindrical guiding and positioning cylindrical surface for guiding and positioning with the docking flange. The source transport tank bracket is arranged at the bottom of the source transport tank, and the bracket horizontal adjusting rod is arranged at the bottom of the source transport tank bracket. The mounting bracket is arranged on the guiding flange.

8. The automatic source inversion device according to any one of claims 1 to 7, characterized in that: The camera assembly includes a shielding case, a camera, a camera bracket, lead glass, and a shielding cover. The camera is arranged in the shielding case through the camera bracket. The lead glass is arranged on one side of the shielding case at the front end of the camera. The shielding cover is arranged above the shielding case.

9. The automatic source switching device according to claim 8, wherein: The counterweight assembly includes counterweight lead, a counterweight box, and a counterweight box cover. The counterweight lead is loaded in the counterweight box. The counterweight box cover is arranged on the top of the counterweight box and is hung at one end of the counterweight chain.

10. A source switching method for implementing the source switching device according to claim 1, characterized in that: The method includes the following steps: 1) Docking of the source transport tank: After the automatic source inversion device and the gamma knife equipment are docked and set up, in the manual mode, the lifting tool is hung to lift the source inversion tank assembly from the ground, transferred above the source transport tank for docking. After the source inversion tank assembly is successfully docked with the source transport tank, the switch is triggered, and the source inversion channel of the source inversion tank assembly is automatically opened. 2) Mounting of the source inversion tank: The lifting tool is manually removed, the automatic source inversion device adjusts its position again, connects the connector of the terminal execution component to the top of the shielding rod, and the mounting bracket at the end of the robotic arm assembly docks with the connection flange of the source inversion tank and moves to the initial transfer position. 3) Source extraction: The terminal execution component at the end of the robotic arm assembly automatically extracts the shielding rod loaded with the radioactive source from the source transport tank and places it in the source inversion tank. After reaching a safe position, the electrical switch is triggered, and the source inversion channel is automatically closed. 4) Transfer: The automatic source inversion device mounts the source inversion tank, lifts it from the source transport tank, and transfers it above the source loading position of the gamma knife equipment. 5) Docking with the gamma knife: The automatic source inversion device slowly descends under the control of the control system and, under the visual guidance of the vision system, realizes the docking of the source inversion tank with the source loading hole of the gamma knife equipment. 6) Source inversion: After the source inversion tank is accurately docked with the gamma knife equipment, the electrical switch is triggered, the source inversion tank channel is opened, and the winch mechanism on the terminal execution component drops the shielding rod carrying the radioactive source into the source loading cavity of the gamma knife equipment to complete the source inversion.

Images