An automatic source switching device and method

Abstract

This invention relates to an automatic source reversing device and method. The automatic source reversing device comprises 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 reversing tank assembly, and auxiliary tooling components. The control system includes a workstation, a control cabinet, a handheld control box, a power supply assembly, a local area network switch, and electrical components for the R, Z, L, and S axes. The vision system includes a mounting bracket and a camera assembly. This invention, through a safe and reliable mechanical system, a high-precision automated control system, and an advanced visual recognition system, ensures safe and reliable automatic reversing of radioactive sources without requiring operators to remain in the control room.

Description

Technical Field

[0001] This invention relates to the medical field, and more particularly to an automatic source switching device and method. Background Technology

[0002] Gamma Knife is a device that uses a cobalt-60 radioactive source to release a gamma beam for radiotherapy of malignant tumors and all benign diseases. When a new Gamma Knife device is installed, a new radioactive source needs to be loaded on-site at the hospital to ensure normal operation. When the radioactive source of the Gamma Knife device decays to a low activity state, affecting the treatment effect and efficiency, but the device has not yet exceeded its service life, a source replacement operation also needs to be performed on-site at the hospital, that is, removing the old radioactive source and loading a new one.

[0003] Currently, the common method of source reversal in the Gamma Knife industry involves building a hot chamber or reversal fixture outside the Gamma Knife equipment. However, both methods rely on manual reversal of the source, i.e., loading or replacing the radiation source. This method requires operators to have sufficient skill and to remain in the relatively high-energy radiation area near the source for an extended period. Furthermore, if the reversal operation is not successful, the time spent in this area can be even longer. The gamma beam emitted by the cobalt-60 radiation source has extremely strong penetrating power. When exposed to gamma rays, the body's cells undergo ionizing radiation, causing harm to the operator. In addition, the state has clear requirements for dose limits for radiation workers. When there are many installed units, to ensure that the operator's cumulative individual dose does not exceed the national dose limit, companies need to allocate more operators for rotation. This not only adds an extra economic burden to the company but also makes it difficult to provide operators with sufficient humanistic care. Summary of the Invention

[0004] To address the aforementioned technical problems in the background art, this invention provides an automatic source reversal device and method. Through a safe and reliable mechanical system, a high-precision automated control system, and an advanced visual recognition system, it ensures that safe and reliable radioactive source reversal operations can be automatically achieved without requiring operators to remain in the control room.

[0005] The technical solution of this invention is as follows: This invention is an automatic source-reversing device, characterized in that: the automatic source-reversing 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-reversing tank assembly, and an auxiliary tooling assembly. The base assembly is located on the side of the gamma knife host. The column assembly is mounted on the base assembly via a rotating shaft and can rotate horizontally around the rotating shaft. The robotic arm assembly is located on one side of the column assembly and can move linearly up and down along the vertical direction of the column assembly. The terminal execution assembly is located at the end of the robotic arm assembly, and the counterweight assembly is located on the other side of the column assembly. The source-reversing tank assembly is mounted on the robotic arm assembly. The control system includes a workstation, a control cabinet, a handheld 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 located on the base assembly, the Z-axis electrical assembly is located on the L-axis electrical assembly, and the L-axis electrical assembly is located on the S-axis electrical assembly. The L-axis electrical components are mounted on the column assembly, the L-axis electrical components are mounted on the terminal execution assembly, and the S-axis electrical components are mounted on the inverting tank assembly. The power supply assembly is connected to the workstation and control cabinet via power cables, providing two independent power supplies to the workstation and control cabinet respectively. The workstation, control cabinet, handheld control box, and vision system are all connected to the local area network switch via network cables, and data interaction between the workstation, control cabinet, handheld control box, and vision system is established through the processing of the local area network switch. The R-axis electrical components are mounted on the base assembly, the Z-axis electrical components are mounted on the column assembly, the L-axis electrical components are mounted on the terminal execution assembly, and the S-axis electrical components are mounted on the inverting tank assembly. The R-axis, Z-axis, L-axis, and S-axis electrical components are all connected to the control cabinet via power cables and signal cables. The vision system includes a mounting bracket and a camera assembly. The camera assembly is mounted on the mounting bracket, and the mounting bracket is mounted on the auxiliary tooling assembly.

[0006] Furthermore, the base assembly includes a base, a rotating shaft, a rotating gear, a leveling rod, an R-axis electrical assembly, and an R-axis hand crank. The rotating shaft is mounted on the base and can rotate around it. The rotating gear is mounted on the rotating shaft. The leveling rod is located at the bottom of the base. The R-axis electrical assembly includes a main R-axis drive motor, a secondary R-axis drive motor, and an R-axis electrical switch. The main R-axis drive motor and the secondary R-axis drive motor are independent of each other and are respectively mounted on the side of the rotating gear. The main R-axis drive motor and the secondary R-axis drive motor are respectively driven by two reducers, and a pinion gear connected to the end of the reducer meshes with a rack. The reducer corresponding to the main R-axis drive motor is bidirectional input, and the other power input end is equipped with an R-axis hand crank. The R-axis electrical switch includes a main R-axis electrical switch and a secondary R-axis electrical switch, which are respectively installed at two different work positions on the base. A leveling reference surface is provided on the base, and a level is placed on the leveling reference surface.

[0007] Furthermore, the column assembly includes a column, a counterweight bracket, a pallet bracket, a counterweight chain, a sprocket, a counterweight guide column, a Z-axis hand crank, a Z-axis electrical assembly, and a robotic arm mounting plate. The column is mounted on a rotating axis. A counterweight bracket is located at the top of one side of the column, and a pallet bracket is located at the bottom. The counterweight guide column is positioned between the counterweight bracket and the pallet bracket. A sprocket and a guide sprocket are respectively mounted at both ends of the counterweight bracket. The counterweight chain is wound around the sprocket and guide sprocket. A robotic arm mounting plate and a Z-axis hand crank are located on the other side of the column. The robotic arm mounting plate can move vertically up and down along the column. One end of the counterweight chain is connected to the counterweight assembly, and the other end passes around the sprocket and connects to the robotic arm mounting plate. The Z-axis electrical assembly... It includes a Z-axis main drive motor, a Z-axis auxiliary drive motor, and a Z-axis electrical switch. The Z-axis main drive motor and the Z-axis auxiliary drive motor are independent of each other and are respectively mounted on the robot arm mounting plate. A rack is installed on the column. The Z-axis main drive motor and the Z-axis auxiliary drive motor are respectively connected to two reducers and a pinion connected to the end of the reducer, which meshes with the rack. The Z-axis electrical switch includes a Z-axis main electrical switch and a Z-axis auxiliary electrical switch. The Z-axis main electrical switch and the Z-axis auxiliary electrical switch are respectively installed at two different positions above and below the column. A Z-axis hand crank is installed on the side of the column. A chain that moves with the guide sprocket shaft is installed at one end of the outer side of the column, and the Z-axis hand crank is installed at the lower end of the chain.

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

[0009] Furthermore, the terminal execution component includes an L-axis mounting base, pulley, clamping wheel, tightening screw, end pressure block, positioning handwheel, L-axis drive shaft, L-axis electrical components, synchronous belt, and lifting connector. The L-axis mounting base is mounted on the mounting bracket. The pulley, clamping wheel, tightening screw, end pressure block, positioning handwheel, and L-axis drive shaft are all mounted on the L-axis mounting base. The pulley and L-axis drive shaft are coaxially fixed. The synchronous belt is wrapped around the pulley. The clamping wheel is located on one side of the synchronous belt and is in contact with it. The tightening screw is located on one side of the clamping wheel, and the tension of the clamping wheel and the synchronous belt is adjusted by the tightening screw. The end pressure block is in contact with the other side of the synchronous belt. The positioning handwheel is connected to the end pressure block. The positioning handwheel drives the end pressure block to rotate, which can increase the wrap angle between the synchronous belt and the pulley. The lifting connector is located at the lower end of the synchronous belt. The L-axis electrical components include an L-axis drive motor and an L-axis electrical switch. The L-axis drive motor is mounted on the terminal execution component and is coaxially connected to the pulley. The L-axis electrical switch is mounted on the upper part of the transfer tank component.

[0010] Furthermore, the source-reversing tank assembly includes a shielded 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 drive rack, a right drive rack, and an S-axis electrical assembly. The mounting flange is located on the top of the shielded tank body, and a hollow cylindrical stepped mounting interface is provided 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 lifting joint to pass vertically. A cylindrical inner cavity channel is provided inside the shielded tank body, and the shielding rod is placed in the cylindrical inner cavity channel and can move up and down along the cylindrical inner cavity channel. The shielding rod is movable, with its upper end connected to a lifting connector. A left horizontal channel and a right horizontal channel are respectively located on both sides of the bottom of the cylindrical inner cavity. A left shielding slider is located in the left horizontal channel, and a right shielding slider is located in the right horizontal channel. A left manual pull rod and a right manual pull rod are respectively located on both sides of the shielding tank. Each manual pull rod includes a manual lever and a short rod. The manual lever is hinged to the shielding tank, and one end of the short rod is hinged to the manual lever, while the other end is hinged to the shielding slider. A left drive rack and a right drive rack are respectively located on the left and right shielding sliders. The shielding slider moves synchronously with it; the docking flange is located at the bottom of the shielding tank, and the inside of the docking flange is a hollow cylindrical shape that can accommodate the shielding rod to pass through vertically. The S-axis electrical components include the S1 axis main drive motor, S1 axis auxiliary drive motor, S2 axis main drive motor, S2 axis auxiliary drive motor, and S-axis electrical switch. The S1 axis main drive motor and S1 axis auxiliary drive motor are independent of each other, and the S2 axis main drive motor and S2 axis auxiliary drive motor are independent of each other. The components are respectively installed and fixed on the fixed mounting plates on the left and right sides of the shielding tank. The S1 axis main drive motor and S1 axis auxiliary drive motor are respectively connected to the left transmission rack through two reducers and a pinion connected to the end of the reducer. The S2 axis main drive motor and S2 axis auxiliary drive motor are respectively connected to the right transmission rack through two reducers and a pinion connected to the end of the reducer. The S-axis electrical switches include two S-axis main electrical switches on the left and two S-axis auxiliary electrical switches on the right. The two electrical switches are respectively located at the limit positions of the linear motion range of their respective shielding sliders.

[0011] Furthermore, the auxiliary tooling components include a source tank flange, a gamma knife equipment flange, a guide flange, a source tank bracket, and a bracket leveling rod. The source tank flange has a cylindrical interface at its lower end for connecting to the source tank, and a cylindrical interface at its upper end for connecting to the guide flange. The gamma knife equipment flange connects to the gamma knife equipment at its lower end, and a cylindrical interface at its upper end for connecting to the guide flange. The guide flange has an interface on its lower surface that matches the upper surfaces of the source tank flange and the gamma knife equipment flange for positioning and connection with them, and a cylindrical guide positioning surface on its upper surface for guiding and positioning with the docking flange. The source tank bracket is located at the bottom of the source tank, and a bracket leveling rod is located at the bottom of the source tank bracket. The mounting bracket is located on the guide flange.

[0012] Furthermore, the camera assembly includes a shielding shell, a camera, a camera bracket, lead glass, and a shielding cover. The camera is mounted inside the shielding shell via the camera bracket, the lead glass is located on one side of the shielding shell at the front of the camera, and the shielding cover is located on top of the shielding shell.

[0013] Furthermore, the counterweight assembly includes counterweight lead, a counterweight box, and a counterweight box cover. The counterweight lead is filled inside the counterweight box, and the counterweight box cover is located on top of the counterweight box and suspended from one end of the counterweight chain.

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

[0015] 1) Source tank docking: After the automatic source reversing device and the gamma knife equipment are docked and set up, in manual mode, the source reversing tank component is lifted from the ground by the hoisting tool and transported to the top of the source tank for docking; after the source reversing tank component is successfully docked with the source tank, the switch is triggered and the source reversing channel of the source reversing tank component is automatically opened;

[0016] 2) Loading the source tank: Manually remove the lifting tools, readjust the position of the automatic source tank, connect the connector of the terminal execution component to the top of the shielding rod, and connect the mounting bracket at the end of the robotic arm component to the connecting flange of the source tank and move to the initial transfer position.

[0017] 3) Source retrieval: The terminal execution component at the end of the robotic arm automatically extracts the shielding rod containing the radioactive source from the source transport container and places it in the source repositioning container. After reaching a safe position, it triggers an electrical switch, and the source repositioning channel automatically closes.

[0018] 4) Transfer: The automatic source-reversing device hangs the source-reversing tank, lifts it from the source-transfer tank, and transfers it to the source-loading position above the Gamma Knife equipment;

[0019] 5) Gamma knife docking: The automatic source-reversing device slowly descends under the control of the control system and, guided by the vision system, docks the source-reversing tank with the source-loading hole of the gamma knife equipment.

[0020] 6) Source reversal: After the source reversal tank is accurately connected to the Gamma Knife equipment, the electrical switch is triggered, the source reversal tank channel is opened, and the hoisting mechanism on the terminal execution component drops the shielding rod carrying the radiation source into the source loading cavity of the Gamma Knife equipment, completing the source reversal.

[0021] This invention provides an automatic source-reversing device and method. The automatic source-reversing device includes a mechanical system, a control system, and a vision system. By combining the control system and vision system with the mechanical system, the automatic source-reversing device achieves automatic control and visual guidance, ultimately completing the automatic transfer and reversal of the source-reversing container carrying the radioactive source between different workstations within a shielded equipment room. Therefore, this invention has the following advantages:

[0022] 1) This invention enables automatic source switching in an unmanned environment, reducing the skill requirements for source switching operators, reducing the time that radiation operators spend in the radiation environment, reducing the radiation dose received by radiation operators during each operation, and improving the safety of source switching operations.

[0023] 2) This invention can automatically realize safe and reliable radioactive source reversal operation without the need for operators to stay in the operation room, reducing the risk of radiation exposure to operators, improving the safety of source reversal operation, and reducing the personnel costs of enterprises.

[0024] 3) This invention is designed with a precise mechanical transmission system, a precise electrical control system, and a visual guidance system to ensure the safety, accuracy, and reliability of the automatic source switching.

[0025] 4) This invention is designed with redundant power supply, which can still safely and smoothly complete the automatic power switching in the event of a power outage in the hospital.

[0026] 5) The automatic source switching device provided by this invention is designed with redundant drive modes: a) Under normal working conditions, the main electric drive unit operates normally; b) In the event of a failure of the main electric drive unit, the control system switches to the auxiliary electric drive unit; c) In the event of simultaneous failure of both the main and auxiliary electric drive units, it is considered an emergency, and an operator enters the machine room to handle the emergency by manually cranking the drive unit. By using two independent electric drive units plus an independent manual drive unit, the risk of source switching operation failure is reduced to a low level.

[0027] 6) The present invention is designed with a safe shielded source-returning container, which ensures that the radioactive source is in a safe radiation shielding body throughout the entire source-returning process, from taking the shielding rod carrying the radioactive source out of the source transport container, to the transfer of the radioactive source to different work positions by the robotic arm carrying the source-returning container containing the shielding rod, and then pouring the shielding rod into the gamma knife equipment. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the structure of the present invention;

[0029] Figure 2 This is a schematic diagram of the mechanical system of the present invention;

[0030] Figure 3 This is a schematic diagram of the base assembly of the present invention;

[0031] Figure 4 This is a schematic diagram of the column assembly of the present invention;

[0032] Figure 5 This is a schematic diagram of the structure of the robotic arm assembly of the present invention;

[0033] Figure 6 This is a schematic diagram of the structure of the terminal component of the present invention;

[0034] Figure 7 This is a schematic diagram of the structure of the inverted source tank assembly of the present invention;

[0035] Figure 8 This is a schematic diagram of the internal channel structure of the inverted source tank assembly of the present invention;

[0036] Figure 9 This is a schematic diagram of the vision system of the present invention;

[0037] Figure 10 This is a schematic diagram of the camera assembly of the present invention;

[0038] Figure 11 This is a schematic diagram of the vision system algorithm of the present invention;

[0039] Figure 12 This is a schematic diagram of visual contour image acquisition according to the present invention;

[0040] Figure 13 This is a schematic diagram of the source tank tilting position according to the present invention;

[0041] Figure 14 This is a schematic diagram of the source inversion position of the gamma knife device of the present invention;

[0042] Figure 15 This is a schematic diagram of the transfer station for the source tank according to the present invention.

[0043] The following are the descriptions of the reference numerals:

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

[0045] 100. Gamma knife equipment; 101. Power supply tank; 102. Shielding rod

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

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

[0048] 1231. Mains 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 shell; 1322. Camera; 1323. Camera bracket; 1324. Lead glass; 1325. Shielding cover;

[0055] 1101, Base; 1102, Rotating shaft; 1103, Rotating gear; 1104, Horizontal adjustment rod; 1105R, Hand crank mechanism for shaft;

[0056] 1111, Column; 1112, Counterweight bracket; 1113, Pallet bracket; 1114, Counterweight chain; 1115, Sprocket; 1116, Counterweight guide column; 1117, Z-axis hand crank; 1118, Robotic arm mounting plate;

[0057] 1121. Robotic arm; 1122. Mounting bracket; 1123. Tensioning adjustment screw; 1124. Tightening adjustment screw;

[0058] 1131. L-axis mounting base; 1132. Pulley; 1133. Pressure roller; 1134. Tightening screw; 1135. End pressure block; 1136. Positioning handwheel; 1137. L-drive shaft; 1138. Synchronous belt; 1139. Lifting connector;

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

[0060] 1161. Source tank flange; 1162. Gamma knife equipment flange; 1163. Guide flange; 1164. Source tank bracket; 1165. Bracket leveling rod. Detailed Implementation

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

[0062] See Figure 12. The structure of a 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-turning tank assembly 115, and an auxiliary tooling assembly 116. The base assembly 110 and the gamma knife host 100 are positioned, docked, and fixedly connected on the side to ensure that their geometric reference datums are consistent, laying the foundation for accurate source-turning; the column assembly 111 is connected to the rotating shaft 1... The shielding rod 102 is mounted on the base assembly 110 and can rotate horizontally around the rotation axis 1102; the robotic arm assembly 112 is mounted on one side of the column assembly 111 and can move vertically along the column assembly 111; the terminal execution assembly 113 is mounted at the end of the robotic arm assembly 112, and can lift and lower the shielding rod 102 at the end through a hoisting mechanism to achieve the purpose of source acquisition and source loading; the counterweight assembly 114 is mounted on the other side of the column assembly 111, and the source-pouring tank assembly 115 is mounted on the robotic arm assembly 11. 3. The counterweight assembly 114 is installed on the column assembly 111. The control system 12 includes a workstation 120, a control cabinet 121, a manual control box 122, a power supply assembly 123, a local area network switch 124, an R-axis electrical assembly 125, a Z-axis electrical assembly 126, an L-axis electrical assembly 127, and an S-axis electrical assembly 128. The power supply assembly 123 is connected to the workstation 120 and the control cabinet 121 respectively via power cables, providing two independent power supplies for both. The workstation 120, control cabinet 121, and manual control box 122 are also included. Box 122 and vision system 13 are both connected to LAN switch 1214 via network cables, and data interaction between the four is established through LAN switch 124. R-axis electrical component 125, Z-axis electrical component 126, L-axis electrical component 127, and S-axis electrical component 128 are all separately installed and fixed on base component 110, column component 111, robotic arm component 112, terminal execution component 113, and source-reversing tank component 115 in mechanical system 11, and are connected to control cabinet 121 via power and signal lines. Workstation 120 is equipped with control software to achieve automatic control of the automatic source-reversing device from outside the shielded room. The control software includes automatic and manual modes. In automatic mode, the source-reversing operation can be automatically executed with a single button press on workstation 120; in manual mode, a specified motion axis can be selected via a hand-held control box to execute the source-reversing operation at a specified speed. The power supply assembly 123 includes a mains power supply 1231 and an uninterruptible power supply 1232. The two power supplies are independent of each other and redundant, 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. The camera assembly 132 is mounted and fixed on the auxiliary tooling assembly 116 through the vision system mounting bracket 131.

[0063] See Figure 3The structure 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 1105. The base assembly 110 and the gamma knife device 100 are positioned, docked, and fixedly connected on the side to ensure that their geometric reference datums are consistent, laying the foundation for accurate source reversal. A horizontal adjustment reference surface is provided on the base 1101 for placing a level to ensure that the automatic source reversal device is installed horizontally. A rotating shaft 1102 is mounted on a base 1101 and can rotate around the base. Its upper surface has a mounting interface for positioning and connection with a column 1111. A rotating gear 1103 is mounted on the rotating shaft 1102 and can rotate synchronously with it. Four horizontal adjustment rods 1104 are located at the four corners of the bottom of the base 1101 and can adjust the level of the base via threads. The R-axis electrical assembly 125 includes an R-axis main drive motor 1251, an R-axis auxiliary drive motor 1252, and an R-axis electrical switch 1253. The R-axis main drive motor 1251 and the R-axis auxiliary drive motor 1252 are independent of each other and are connected via two... Each reducer drives a pinion connected to its end, which in turn drives a rotating gear 1103 meshing with the pinion to rotate. The reducer corresponding to the R-axis main drive motor 1251 is bidirectional, and the other power input end is equipped with an R-axis hand crank 1105, which can also drive the gear to rotate by hand. In the event of failure of all electric automatic drives, an emergency situation is entered, and personnel are required to manually drive the gear. The R-axis electrical switch 1253 includes a main R-axis electrical switch 1253A and a secondary R-axis electrical switch 1253B, which are installed at two different positions on 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 4The structure 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 column 1116, a Z-axis electrical assembly 126, a Z-axis hand crank device 1117, and a robotic arm mounting plate 1118. The column 1111 is mounted on a rotating shaft 1102 and can rotate horizontally synchronously with the rotating shaft 1102. The counterweight bracket 1112 is mounted on the column. The top of one side of the counterweight bracket 1111 is fixed to the column 1111 and is used to support the counterweight assembly 114. The support plate bracket 1113 is set at the bottom of the column 1111 and fixed to the column. There are two counterweight guide columns 1116, which are set between the counterweight bracket 1112 and the support plate bracket 1113 to guide the counterweight assembly 114. The counterweight bracket 1112 has a sprocket 1115 and a guide sprocket at both ends, and the counterweight chain 1114 is arranged around the sprocket 1115 and the guide sprocket. The column On the other side of column 1111, a robotic arm mounting plate 1118 and a Z-axis hand crank 1117 are provided. The robotic arm mounting plate 1118 can be raised and lowered vertically along column 1111. The surface of the robotic arm mounting plate 1118 is provided with a positioning interface for positioning and fixing with the robotic arm 1121. The surface of the robotic arm mounting plate 1118 is also provided with a drive structure interface for installing drive components. One end of the counterweight chain 1114 is connected to the counterweight assembly 114, and the other end passes around the sprocket 11. 15 is connected and fixed to the robotic arm mounting plate 1118; the Z-axis electrical assembly 126 includes a Z-axis main drive motor 1261, a Z-axis auxiliary drive motor 1262 and a Z-axis electrical switch 1263. The Z-axis main drive motor 1261 and the Z-axis auxiliary drive motor 1262 are independent of each other. A Z-axis hand crank device 1117 is also provided on the other side of the column 1111. With an appropriate reduction device, it can be ensured that the Z-axis can be easily cranked to move when personnel enter the site to intervene in the reversing operation in an emergency.The Z-axis main drive motor 1261 and the Z-axis auxiliary drive motor 1262 drive the pinions at the ends of the reducers via two reducers, thereby driving the robotic arm mounting plate 1118 to move vertically up and down along the rack mounted on the column 1111. The Z-axis electrical switches 1263 include a Z-axis main electrical switch 1263A and a Z-axis auxiliary electrical switch 1263B, which are installed at two different positions above and below 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, with the top passing over the sprocket. 1115 and the guide sprocket form a pulley-like balancing mechanism that allows for left-rising and right-falling or left-falling and right-rising movements. The guide sprocket shaft extends from the outer side of the column 1111, with another chain following it. A Z-axis hand crank 1117 is located at the lower end of this chain. When the motor drives the end pinion to crawl along the vertical rack, the counterweight chain 1114 moves up and down following the robotic arm mounting plate 1118. Simultaneously, the external Z-axis hand crank 1117 rotates along with the side-following chain until it reaches the desired height, triggering a switch to stop the movement. Conversely, when the Z-axis hand crank 1117 is manually cranked, all components on the aforementioned transmission chain move synchronously.

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

[0066] See Figure 5 The structure of the robotic arm assembly 112 of the present invention includes a robotic arm 1121, a mounting bracket 1122, a tension adjusting screw 1123, and a top-tightening adjusting screw 1124. One end of the robotic arm 1121 is fixed to the robotic arm mounting plate 1118 and moves up and down on the column 1111 in the vertical direction. The other end is provided with a mounting bracket 1122, which can move linearly on the robotic arm in the horizontal direction. The terminal execution component 113 is provided on the mounting bracket 1122. The tension adjusting screw 1123 and the top-tightening adjusting screw 1124 are both provided on the end face of the end of the robotic arm 1121 and connected to the mounting bracket 1122. The position of the mounting bracket 1122 can be adjusted by tensioning or top-tightening.

[0067] See Figure 6The terminal execution component 113 of the present invention includes an L-axis mounting base 1131, a pulley 1132, a clamping wheel 1133, a tightening screw 1134, an end pressure block 1135, a positioning handwheel 1136, an L-drive shaft 1137, a synchronous belt 1138, and a lifting connector 1139. The L-axis mounting base 1131 is mounted on a mounting bracket 1122. A winch mechanism allows for the lifting and lowering of the shielding rod at the terminal, achieving the purpose of source acquisition and loading. The pulley 1132, clamping wheel 1133, tightening screw 1134, end pressure block 1135, positioning handwheel 1136, and L-drive shaft 1137 are all mounted on the L-axis mounting base 1131. The pulley 1132 and L-drive shaft 1137 are coaxially fixed. The synchronous belt 1138 is wound around the pulley 1132 and driven by the L-drive shaft 1137. The synchronous belt 1138 enables the lifting and lowering motion at its end; the pressure roller 1133 is located on one side of the synchronous belt 1138 and is in contact with the synchronous belt 1138; the tightening screw 1134 is located on one side of the pressure roller 1133, and the tension of the pressure roller 1133 and the synchronous belt 1138 is adjusted by the tightening screw 1134; the end pressure block 1135 is in contact with the other side of the synchronous belt 1138; the positioning handwheel 1136 is connected to the end pressure block 1135; the positioning handwheel 1136 drives the end pressure block 1135 to rotate, which can increase the wrap angle between the synchronous belt 1138 and the pulley 1132 and improve the stress conditions of the synchronous belt; the lifting joint 1139 is located at the lower end of the synchronous belt 1138 and hangs vertically; its joint end has a threaded structure and can be connected to the shielding rod 102; under the action of the above-mentioned synchronous belt hoisting mechanism, the source of radiation is picked up and loaded at the end of the device. L-axis electrical assembly 127 includes L-axis drive motor 1271 and L-axis electrical switch 1272. L-axis drive motor 1271 is mounted on terminal execution assembly 113, and L-axis electrical switch 1272 is mounted on source tank assembly 115. L-axis drive motor 1271 is coaxially connected to pulley 1132, driving synchronous belt 1138 wound around pulley 1132 to move up and down, driving lifting connector 1139 at the end and shielding rod 102, which is threadedly connected to the inner cavity of source tank assembly, to move up and down synchronously. When shielding rod 102 is lifted to the top of inner cavity of source tank assembly, L-axis electrical switch 1272 is triggered to stop lifting shielding rod.

[0068] See Figure 7 , 8The structure of the inverted source tank assembly 115 of the present invention includes a shielded 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 drive rack 1158, a right drive rack 1159, and an S-axis electrical assembly 128. The mounting flange 1152 is located on the top of the shielded tank body 1151, and a hollow cylindrical stepped mounting interface is provided inside the mounting flange 1152. The mounting bracket 1122 passes through the cylindrical step. The mounting interface, mounting flange 1152, enables transfer between different workstations. Its central area is a hollow structure, capable of accommodating the vertical passage of the synchronous belt 1138 and lifting joint 1139. The main body of the shielding tank 1151 is made of radiation shielding material, with sufficient wall thickness to ensure that after the inner cavity accommodates the shielding rod 102 containing the radiation source, the emitted radiation is reduced to a certain safe range after being shielded. The shielding tank 1151 has a cylindrical inner cavity channel, and the shielding rod 102 is placed inside the cylindrical inner cavity channel and can move vertically along the cylindrical inner cavity channel. The shielding rod 102 is connected to the lifting connector 1139 at its upper end. A left horizontal channel and a right horizontal channel are respectively provided on both sides of the bottom of the cylindrical inner cavity channel. A left shielding slider 1156 is installed in the left horizontal channel, and a right shielding slider 1157 is installed in the right horizontal channel. They can slide relative to each other in the horizontal direction. The left and right shielding sliders 1156 and 1157 open and close the inverted source channel below the tank by moving away from or closer to each other. A left manual pull rod 1154 and a right manual pull rod 1155 are respectively provided on both sides of the shielding tank 1151. The left manual pull rod... Both rod 1154 and right manual lever 1155 include a manual lever and a short lever. The manual lever is hinged to the shielding tank 1151. One end of the short lever is connected to the manual lever via a hinge, and the other end is connected to the shielding slider via a hinge. The left manual lever 1154 and right manual lever 1155 can rotate around the hinge fixed to the shielding tank 1151, driving the short lever below to move in the opposite direction. The left transmission rack 1158 and right transmission rack 1159 are respectively fixed to the left shielding slider 1156 and the right shielding slider 1157, and can move synchronously with them.A docking flange 1153 is located at the bottom of the shielding tank 1151. The interior of the docking flange 1153 is a hollow cylindrical shape, capable of accommodating the vertical passage of the shielding rod. Its outer shape is a near-cylindrical structure, and its outer cylindrical surface can dock with the guide 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, as are the S2-axis main drive motor 1283 and the S2-axis auxiliary drive motor 1284. The S1-axis main drive motor 1281, the S1-axis auxiliary drive motor 1282, the S2-axis main drive motor 1283, and the S2-axis auxiliary drive motor 1284 are independent of each other. The two-axis auxiliary drive motor 1284 and the S-axis electrical switch 1285 are fixedly mounted on the two outer sides of the shielded tank 1151. The S1 axis main drive motor 1281 and S1 axis auxiliary drive motor 1282 are respectively connected to the left drive rack 1158 via two reducers and pinions connected to the ends of the reducers. The S2 axis main drive motor 1283 and S2 axis auxiliary drive motor 1284 are respectively connected to the right drive rack 1159 via two reducers and pinions connected to the ends of the reducers. The S-axis electrical switches 1285 include two S-axis main electrical switches 1285A on the left and two S-axis auxiliary electrical switches 1285B on the right. The two electrical switches are located at the extreme positions of the linear motion range of the shielded slider on their respective sides.

[0069] See Figure 9 The vision system 13 of the present invention, in a specific embodiment, includes vision algorithm software, a mounting bracket 131, and multiple camera components 132. The vision algorithm software is integrated into a workstation to provide visual guidance for the automatic source switching device outside the shielded equipment room. The mounting surface of the mounting bracket 131 is provided with a positioning interface, which allows for precise connection and fixation to the guide flange 1163 through consistent interface matching. In this embodiment, there are three camera components 132, respectively located at positions 132A, 132B, and 132C on both sides of the mounting bracket 131.

[0070] See Figure 10The structure of the camera assembly 132 of the present invention includes a shielding shell 1321, a camera 1322, a camera bracket 1323, lead glass 1324, and a shielding cover 1325. The camera 1322 is mounted inside the shielding shell 1321 via the camera bracket 1323. The lead glass 1324 is located on one side of the shielding shell 1321, at the front end of the camera 1322, providing a transparent image acquisition window and providing front-end radiation shielding protection for the camera 1322 to prevent damage from radiation exposure. The shielding cover 1325 is located above the shielding shell 1321. The shielding cover 1325 and the shielding shell 1321 provide radiation shielding protection for the other five sides of the camera 1322 to prevent damage from radiation exposure.

[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 guide flange 1163 are installed, the camera components 132B and 132C on the vision system 13 acquire the contour images of the pre-set precision calibration holes 1163.1 on both sides of the guide flange 1163 and perform image processing to improve the clarity. Then, the acquired contour dimensions and relative distances are compared with the known precision calibration hole data. If the error is within the allowable range, normal acquisition can be performed without correction; if the error exceeds the allowable range, the vision parameters are corrected before acquisition.

[0073] At the same time, camera components 132B and 132C acquire the guide groove contour 1163.2 on the left and right flat end faces of the guide flange 1163, and calculate the center position of the flange, i.e. the target center position.

[0074] 2) Edge detection and calculation: such as Figure 12 The camera component 132B on the vision system 13 acquires and detects the right contour of the object to be guided, i.e. the right contour of the inverted can assembly 115, and calculates its edge distance C1. At the same time, the camera component 132C acquires and detects the left contour of the object to be guided, i.e. the left contour of the inverted can 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 and make corresponding data corrections and adjustments;

[0076] 4) Calculate the center coordinates: Using the data C1 and C2 adjusted in 3) above, calculate the outline center coordinates of the object to be guided, i.e., the inverted source tank assembly 115;

[0077] 5) Target comparison and adjustment: Compare the contour center coordinates calculated in 4) with the flange center position calculated in 1), calculate the position error, and feed the adjustment value back to the workstation 120 through the local area network switch 124 to control the automatic source switching device to move to the correct coordinates and switch the source in real time.

[0078] Figure 12 The outer contour shape of the upper and middle inverted source tank assembly is the target of visual contour acquisition. After acquisition, the positional deviation between the contour centerline and the centerline of the flange groove below is automatically identified and visual guidance is provided. 1163.1 represents the precise calibration hole with known dimensions and spacing of the flange end face, which is used for visual system accuracy correction before guidance. 1163.2 represents the target flange groove that needs to be aligned for visual guidance.

[0079] See Figure 12 , 13 14. The structure of the auxiliary tooling component of the present invention in a specific embodiment includes: a source tank flange 1161, a gamma knife equipment flange 1162, a guide flange 1163, a source tank bracket 1164, and a bracket horizontal adjustment rod 1165. The source tank flange 1161 has a cylindrical interface at its lower end for connection to the source tank 101, and a cylindrical interface at its upper end for connection to the guide flange 1163; the gamma knife equipment flange 1162 has its lower end connected to the gamma knife equipment 100, and its upper end has a cylindrical interface for connection to the guide flange 1163; the lower surface of the guide flange 1163 has an interface consistent with the upper surfaces of the source tank flange 1161 and the gamma knife equipment flange 1162, for positioning and connection with both, and its upper surface has a cylindrical interface. A cylindrical guide and positioning surface guides and positions the tank 101 against the docking flange 1153. The source tank bracket 1164 is located on the ground next to the gamma knife equipment in the shielded room, at the bottom of the source tank 101, and supports the source tank 101. Four bracket leveling rods 1165 are respectively installed at the four corners of the bottom of the bracket 1164. Each rod has a level reference surface in two horizontal directions on its upper surface. These rods, combined with the four leveling rods 1165, can adjust the level of the source tank 101. The mounting bracket 131 is installed on the guide flange 1163.

[0080] See Figure 15 The specific implementation scenarios of the automatic source switching device of the present invention are as follows:

[0081] After the radioactive source arrives at the shielded room, the lead plug on top of the source container 101 is removed, and the source container flange 1161 is installed onto the source container 101. Then, the guide flange 1163 is installed onto the source container flange 1161. Finally, the vision system 13 is installed onto the guide flange 1161, completing the source preparation for the source container. Simultaneously, the gamma knife equipment flange 1162 and guide flange 1161 are installed at the source loading position of the gamma knife equipment 100, and the vision system 13 is installed onto the guide flange 1161, completing the preparation of the gamma knife equipment.

[0082] After the automatic source switching device is installed in the shielded room and the interface of the base assembly 110 is accurately connected to the gamma knife device 100, the control system 12, under the command of the control software 129, drives the base assembly 110 of the mechanical system 11 to rotate to... Figure 15 Workstation 1 is shown.

[0083] Switch to manual mode, control the robotic arm assembly 112 to descend to the lifting height via the hand control box 122, and use the lifting device to vertically lift the inverted source tank 115, which is built into the ground in the shielded room.

[0084] The base assembly 110 is rotated via the hand control box 122. Figure 15 At workstation 2, guided by the vision system 13, the robotic arm assembly 112 is slowly lowered. Simultaneously, based on positional deviation feedback from the vision system, the angle of the base assembly 111 is adjusted to complete the docking of the bottom flange 1153 of the inverted source tank 115 with the guide flange 1163 installed on the transport source tank flange 1161. Figure 13 As shown.

[0085] After the lifting device is unloaded, the synchronous belt 1132 of the terminal execution component 113 slowly descends, connecting the lifting connector 1139 at its end to the threaded hole at the top of the shielding rod 102 inside the source tank 101; the control software drives the mounting bracket 1122 at the end of the robotic arm component 112 to automatically mount the mounting flange 1152 at the top of the source tank 115, completing the source preparation.

[0086] After the operator checks that the status is normal, they leave the site and begin the source relocation process. The terminal execution component 113 drives the pulley 1132 to rotate, which in turn lifts the lifting joint 1139 below the synchronous belt 1138, automatically lifting the shielding rod 102 into the inner cavity channel of the source relocation tank 115. After triggering the electrical switch 1272, the lifting stops. At the same time, the left shielding slider 1156 and the right shielding slider 1157 below the source relocation tank 115 automatically close, shutting off the source relocation channel.

[0087] Under the command of the control software, the robotic arm assembly 112 rises to its highest position. Simultaneously, the base assembly 110 drives the robotic arm assembly 112 and the inverted tank 115 mounted below it to automatically move to the designated position. Figure 15 Workstation 3 is shown.

[0088] Guided by the vision system 13, the robotic arm assembly 112 is slowly lowered. Simultaneously, based on the positional deviation feedback from the vision system, the angle of the base assembly 111 is adjusted to complete the docking of the bottom flange 1153 of the inverted source tank 115 with the guide flange 1163 installed on the gamma knife equipment flange 1162. Figure 14 As shown.

[0089] The terminal execution component 113 drives the pulley 1132 to rotate, which in turn causes the lifting joint 1139 below the synchronous belt 1138 to descend, automatically dropping the shielding rod 102 into the inner cavity channel of the gamma knife device 100, thus completing the source reversal.

[0090] This invention also provides an automatic source dumping method, the specific steps of which are as follows:

[0091] 1) Source tank docking: After the automatic source reversing device and the gamma knife equipment are docked and set up, in manual mode, the source reversing tank component is lifted from the ground by the hoisting tool and transported to the top of the source tank for docking; after the source reversing tank component is successfully docked with the source tank, the switch is triggered and the source reversing channel of the source reversing tank component is automatically opened;

[0092] 2) Loading the source tank: Manually remove the lifting tools, readjust the position of the automatic source tank, connect the connector of the terminal execution component to the top of the shielding rod, and connect the mounting bracket at the end of the robotic arm component to the connecting flange of the source tank and move to the initial transfer position.

[0093] 3) Source retrieval: The terminal execution component at the end of the robotic arm automatically extracts the shielding rod containing the radioactive source from the source transport container and places it in the source repositioning container. After reaching a safe position, it triggers an electrical switch, and the source repositioning channel automatically closes.

[0094] 4) Transfer: The automatic source-reversing device hangs the source-reversing tank, lifts it from the source-transfer tank, and transfers it to the source-loading position above the Gamma Knife equipment;

[0095] 5) Gamma knife docking: The automatic source-reversing device slowly descends under the control of the control system and, guided by the vision system, docks the source-reversing tank with the source-loading hole of the gamma knife equipment.

[0096] 6) Source reversal: After the source reversal tank is accurately connected to the Gamma Knife equipment, the electrical switch is triggered, the source reversal tank channel is opened, and the hoisting mechanism on the terminal execution component drops the shielding rod carrying the radiation source into the source loading cavity of the Gamma Knife equipment, completing the source reversal.

[0097] The technical contents of this invention and those not specifically described in the above embodiments are the same as those in the prior art.

[0098] The above are merely specific embodiments disclosed in this invention, but the scope of protection disclosed in this invention is not limited thereto. The scope of protection disclosed in this invention should be determined by the scope of the claims.

Claims

1. An automatic source switching device, characterized in that: The automatic source-returning 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 actuator assembly, a counterweight assembly, a source-returning tank assembly, and auxiliary tooling assemblies. The base assembly is located on the side of the gamma knife main unit. The column assembly is mounted on the base assembly via a rotation axis and can rotate horizontally around the axis. The robotic arm assembly is located on one side of the column assembly and can move linearly up and down along the vertical direction of the column assembly. The terminal actuator assembly is located at the end of the robotic arm assembly, the counterweight assembly is located on the other side of the column assembly, and the source-returning tank assembly is mounted on the robotic arm assembly. The control system comprises a workstation, a control cabinet, a handheld control box, a power supply assembly, a local area network (LAN) switch, and R-axis, Z-axis, L-axis, and S-axis electrical components. The R-axis electrical components are mounted on the base assembly, the Z-axis electrical components on the column assembly, the L-axis electrical components on the terminal execution assembly, and the S-axis electrical components on the inverted tank assembly. The power supply assembly is connected to both the workstation and the control cabinet via power cables, providing independent power to both. The workstation, control cabinet, handheld control box, and vision system are all connected to the LAN switch via network cables. The system connects to the workstation, control cabinet, handheld control box, and vision system via a local area network switch, enabling data interaction between them. The R-axis, Z-axis, L-axis, and S-axis electrical components are all connected to the control cabinet via power and signal cables. The vision system includes a mounting bracket and a camera assembly. The camera assembly is mounted on the mounting bracket, which is mounted on an auxiliary tooling assembly. The terminal actuator can raise and lower the shielding rod. The auxiliary tooling assembly includes a source tank flange, a gamma knife equipment flange, a guide flange, a source tank bracket, and a bracket leveling rod. The lower end is provided with a cylindrical interface for connecting to the source tank, and the upper end is provided with a cylindrical interface for connecting to the guide 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 guide flange; the lower surface of the guide flange is provided with an interface consistent with the upper surface of the source tank flange and the gamma knife equipment flange, for positioning and connection with them, and the upper surface is provided with a cylindrical guide positioning cylindrical surface for guiding and positioning with the docking flange of the source tank assembly; the source tank bracket is provided at the bottom of the source tank, and the bottom of the source tank bracket is provided with a bracket horizontal adjustment rod; the mounting bracket is provided on the guide flange.

2. The automatic source switching device according to claim 1, characterized in that: The base assembly includes a base, a rotating shaft, a rotating gear, a leveling rod, an R-axis electrical assembly, and an R-axis hand crank. The rotating shaft is mounted on the base and can rotate around it. The rotating gear is mounted on the rotating shaft. The leveling rod is located at the bottom of the base. The R-axis electrical assembly includes a main R-axis drive motor, a secondary R-axis drive motor, and an R-axis electrical switch. The main R-axis drive motor and the secondary R-axis drive motor are independent of each other and are respectively mounted on the side of the rotating gear. The main R-axis drive motor and the secondary R-axis drive motor are each driven by two reducers, and a pinion gear connected to the end of the reducer meshes with a rack. The reducer corresponding to the main R-axis drive motor is bidirectional input, and the other power input end is equipped with an R-axis hand crank. The R-axis electrical switch includes a main R-axis electrical switch and a secondary R-axis electrical switch, which are respectively installed at two different work positions on the base. A leveling reference surface is provided on the base, and a level is placed on the leveling reference surface.

3. The automatic source switching device according to claim 2, characterized in that: The column assembly includes a column, a counterweight bracket, a pallet bracket, a counterweight chain, a sprocket, a counterweight guide column, a Z-axis hand crank, a Z-axis electrical assembly, and a robotic arm mounting plate. The column is mounted on a rotating axis. A counterweight bracket is located at the top of one side of the column, and a pallet bracket is located at the bottom. The counterweight guide column is positioned between the counterweight bracket and the pallet bracket. A sprocket and a guide sprocket are respectively located 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 are located on the other side of the column. The robotic arm mounting plate can move vertically along the column. One end of the counterweight chain is connected to the counterweight assembly, and the other end passes around the sprocket and connects to the robotic arm mounting plate. The Z-axis electrical assembly includes... The system comprises a Z-axis main drive motor, a Z-axis auxiliary drive motor, and a Z-axis electrical switch. The Z-axis main drive motor and the Z-axis auxiliary drive motor are independent of each other and are respectively mounted on the robotic arm mounting plate. A rack is installed on the column. The Z-axis main drive motor and the Z-axis auxiliary drive motor are respectively connected to two reducers and a pinion connected to the end of the reducer, which mesh with the rack. The Z-axis electrical switch includes a Z-axis main electrical switch and a Z-axis auxiliary electrical switch, which are respectively installed at two different positions above and below the column. A Z-axis hand crank is installed on the side of the column. A chain that moves with the guide sprocket shaft is installed at one end of the outer side of the column, and the Z-axis hand crank is installed at the lower end of the chain.

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 adjusting screw, and a top-adjusting screw. One end of the robotic arm is connected to a robotic arm mounting plate, and the other end is provided with a mounting bracket. The mounting bracket can move linearly along the horizontal direction on the robotic arm. The terminal actuator is mounted on the mounting bracket. The tension adjusting screw and the top-adjusting screw are both located on the end face of the robotic arm and are connected to the mounting bracket.

5. The automatic source switching device according to claim 4, characterized in that: The terminal execution component includes an L-axis mounting base, a pulley, a clamping wheel, a tightening screw, an end pressure block, a positioning handwheel, an L-axis drive shaft, an L-axis electrical assembly, a synchronous belt, and a lifting connector. The L-axis mounting base is mounted on a mounting bracket. The pulley, clamping wheel, tightening screw, end pressure block, positioning handwheel, and L-axis drive shaft are all mounted on the L-axis mounting base. The pulley and L-axis drive shaft are coaxially fixed. The synchronous belt is wrapped around the pulley. The clamping wheel is located on one side of the synchronous belt and is in contact with the synchronous belt. The tightening screw is located on the clamping wheel. On one side, the tension of the pressure wheel and the timing belt is adjusted by tightening screws; the end pressure block is in contact with the other side of the timing belt, the positioning handwheel is connected to the end pressure block, and the positioning handwheel drives the end pressure block to rotate, which can increase the wrap angle between the timing belt and the pulley; the lifting joint is set at the lower end of the timing belt; the L-axis electrical assembly includes an L-axis drive motor and an L-axis electrical switch; the L-axis drive motor is mounted on the terminal execution assembly; the L-axis drive motor is coaxially connected to the pulley; and the L-axis electrical switch is mounted on the upper part of the source tank assembly.

6. The automatic source switching device according to claim 5, characterized in that: The source-reversing tank assembly includes a shielded 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 drive rack, a right drive rack, and an S-axis electrical assembly. The mounting flange is located on the top of the shielded tank body and has a hollow cylindrical stepped mounting interface inside. The mounting bracket mounts the mounting flange through the cylindrical stepped mounting interface. The mounting flange can accommodate a synchronous belt and a lifting connector to pass vertically. The shielded tank body has a cylindrical inner cavity channel, and the shielding rod is located inside the cylindrical inner cavity channel and can move up and down along the cylindrical inner cavity channel. The shielding rod is connected at its upper end to a lifting connector. A left horizontal channel and a right horizontal channel are respectively provided on both sides of the bottom of the cylindrical inner cavity channel. A left shielding slider is provided in the left horizontal channel, and a right shielding slider is provided in the right horizontal channel. A left manual pull rod and a right manual pull rod are respectively provided on both sides of the shielding tank. Each manual pull rod includes a manual pull rod and a short rod. The manual pull rod is hinged to the shielding tank. One end of the short rod is hinged to the manual pull rod, and the other end is hinged to the shielding slider. A left drive rack and a right drive rack are respectively provided on the left... The shielding slider and the right shielding slider are on the shielding slider and can move synchronously with it; the docking flange is set at the bottom of the shielding tank, and the docking flange is a hollow cylindrical shape that can accommodate the shielding rod to pass through vertically. The S-axis electrical assembly includes an S1-axis main drive motor, an S1-axis auxiliary drive motor, an S2-axis main drive motor, an S2-axis auxiliary drive motor, and an S-axis electrical switch. The S1-axis main drive motor and the S1-axis auxiliary drive motor are independent of each other, and the S2-axis main drive motor and the S2-axis auxiliary drive motor are independent of each other. The S-axis electrical switches are respectively mounted on the fixed mounting plates on the left and right sides of the shielded tank. The S1 axis main drive motor and the S1 axis auxiliary drive motor are respectively connected to the left drive rack through two reducers and a pinion connected to the end of the reducer. The S2 axis main drive motor and the S2 axis auxiliary drive motor are respectively connected to the right drive rack through two reducers and a pinion connected to the end of the reducer. The S-axis electrical switches include two S-axis main electrical switches on the left and two S-axis auxiliary electrical switches on the right. The two electrical switches are respectively located at the limit positions of the linear motion range of their respective shielded sliders.

7. The automatic source switching device according to any one of claims 3 to 6, characterized in that: The camera assembly includes a shielding shell, a camera, a camera bracket, lead glass, and a shielding cover. The camera is mounted inside the shielding shell via the camera bracket. The lead glass is located on one side of the shielding shell, at the front of the camera. The shielding cover is located on top of the shielding shell.

8. The automatic source switching device according to claim 7, characterized in that: The counterweight assembly includes a counterweight lead, a counterweight box, and a counterweight box cover. The counterweight lead is filled inside the counterweight box, and the counterweight box cover is located on top of the counterweight box and suspended from one end of the counterweight chain.

9. A method for implementing the automatic source switching device according to claim 1, characterized in that: The method includes the following steps: 1) Source tank docking: After the automatic source reversing device and the gamma knife equipment are docked and set up, in manual mode, the source reversing tank component is lifted from the ground by the hoisting tool and transported to the top of the source tank for docking; after the source reversing tank component is successfully docked with the source tank, the switch is triggered and the source reversing channel of the source reversing tank component is automatically opened; 2) Loading the source tank: Manually remove the lifting tools, readjust the position of the automatic source tank, connect the lifting joint of the terminal execution component to the top of the shielding rod, and connect the mounting bracket at the end of the robotic arm component to the connecting flange of the source tank and move to the initial transfer position. 3) Source retrieval: The terminal execution component at the end of the robotic arm automatically extracts the shielding rod containing the radioactive source from the source transport container and places it in the source repositioning container. After reaching a safe position, it triggers an electrical switch, and the source repositioning channel automatically closes. 4) Transfer: The automatic source-reversing device hangs the source-reversing tank, lifts it from the source-transfer tank, and transfers it to the source-loading position above the Gamma Knife equipment; 5) Gamma knife docking: The automatic source-reversing device slowly descends under the control of the control system and, guided by the vision system, docks the source-reversing tank with the source-loading hole of the gamma knife equipment. 6) Source reversal: After the source reversal container is accurately connected to the Gamma Knife equipment, the electrical switch is triggered, the source reversal container channel is opened, and the terminal execution component drops the shielding rod carrying the radiation source into the source loading cavity of the Gamma Knife equipment, completing the source reversal.

Images