Online three-dimensional adjusting device and method for dipolar magnet vacuum chamber of rotating rack

Abstract

The invention relates to an online three-dimensional adjusting device and method for a dipolar magnet vacuum chamber of a rotating rack, and the device comprises a pipeline clamping mechanism which is used for clamping the vacuum chamber; the driving and adjusting assembly comprises an X-axis transverse adjusting unit, a Y-axis longitudinal adjusting unit and a Z-axis vertical adjusting unit, the X-axis transverse adjusting unit is vertically arranged on a moving part of the Y-axis longitudinal adjusting unit, and the Z-axis vertical adjusting unit is connected with the moving part of the X-axis transverse adjusting unit; the pipeline clamping mechanism is connected with the Z-axis vertical adjusting unit; and the controller is in communication connection with the driving and adjusting assembly and is used for acquiring position information of the vacuum chamber and analyzing position errors so as to control the driving and adjusting assembly, so that the three-dimensional space position of the vacuum chamber is adjusted. The device solves the problem that the interior of a vacuum chamber cannot be adjusted when a dipolar magnet is installed in an abnormal posture at present.

Description

Technical Field

[0001] The present invention relates to an on-line three-dimensional adjustment device and method for a rotating gantry dipole magnet vacuum chamber, belonging to the technical field of adjustment of particle accelerator components. Background Art

[0002] Radiation cancer treatment is a very popular technical means at present. Due to the inverted depth dose distribution and relatively high relative biological effect of ion beam irradiation on organisms, it can better avoid damage to normal cells while killing tumor cells, making ion cancer treatment an advanced and effective cancer radiotherapy method in the world today. The most commonly used ions for ion cancer treatment are protons and carbon ions. In order to achieve multi-angle irradiation, a rotating gantry is usually adopted. The rotating gantry usually has two types: horizontal and vertical. The dipole magnets on it are installed in an unconventional posture and move back and forth with the rotating gantry.

[0003] The dipole magnet and the vacuum chamber must maintain a fixed assembly position relationship and precision requirements according to the theoretical design. The three-dimensional spatial position adjustment and precision maintenance of the dipole magnet vacuum chamber on the existing rotating gantry mainly rely on the flanges at both ends of the pipeline. A forced correction force is directly applied to the pipeline through the flanges at both ends, while the part of the vacuum chamber inside the magnet core cannot be adjusted and there is no fixing measure, so it is in a suspended state. In order to meet different application scenarios of the accelerator, more and more accelerators are operating in pulse mode, and the magnetic field rising rate is gradually increasing, developing towards high repetition frequency. The increase in pulse frequency leads to a greater eddy current effect between the vacuum chamber and the magnet. In order to reduce the eddy current effect, a thin-wall (0.3 mm) stiffened or titanium alloy-lined vacuum chamber is usually adopted. This structure of the vacuum chamber has poor rigidity and is easy to deform. Usually, the dipole magnet vacuum chamber belongs to a slender vacuum beam pipe structure, and bellows elastic elements are installed at both ends, resulting in even poorer rigidity of the assembly composed of the vacuum chamber and the bellows. It is extremely easy to cause large deformation and displacement of the thin-wall vacuum chamber under the influence of complex factors such as the continuous action of its own gravity, material creep, the rotation movement of the gantry, and environmental temperature fluctuations. There are mainly three-dimensional deformations such as radial deflection and axial torsion. Long-term accumulation makes the three-dimensional spatial offset of the vacuum chamber too large, resulting in asymmetry between the dipole magnet and the iron core in the vertical air gap direction, and a serious offset between the ideal orbit of the beam spot and the designed theoretical geometric position of the vacuum chamber. The beam will hit the wall of the vacuum chamber, causing serious loss of the particle beam on the wall of the vacuum chamber. This will lead to a rapid decrease in the dynamic vacuum degree, distortion of the orbit, unstable beam, poor quality, low transmission efficiency, and the thin-wall vacuum chamber is prone to cracks under the long-term action of deformation stress, resulting in vacuum seal failure. The rotating gantry belongs to a large medical device, and it is difficult and time-consuming to stop for maintenance, which affects the beam supply time and reduces the treatment efficiency.

[0004] To achieve micron-level positional accuracy within the rotating gantry's dipole magnet vacuum chamber under extremely high vacuum conditions, ensuring that the vacuum chamber and dipole magnet are assembled according to the theoretically designed position and maintain high precision over the long term, it is necessary to address the three-dimensional positional offset of the large, thin-walled vacuum chamber caused by deformation due to its own gravity, rapid rotation of the gantry, environmental disturbances, or material creep when installed in an abnormal position (at a certain angle to the ground). There is an urgent need to develop an online three-dimensional adjustment and position-maintaining device for the rotating gantry's dipole magnet vacuum chamber. This device needs to be compact (total height less than 100mm), maintain the assembly relationship between the dipole magnet and the vacuum chamber, and maintain vacuum. Through high-precision posture feedback and micro-force drive technology, it can achieve in-situ real-time correction and position maintenance of the vacuum chamber within the dipole magnet's air gap, thereby improving the high precision, long-term stability, and reliability of the rotating gantry's dipole magnet vacuum chamber. Summary of the Invention

[0005] In response to the above technical problems, the present invention provides an online three-dimensional adjustment device and method for the vacuum chamber of a rotating frame dipole magnet. The device aims to achieve three-dimensional adjustment and position maintenance of the vacuum chamber inside the air gap of the dipole magnet through a multi-degree-of-freedom micro-force drive mechanism without changing the assembly relationship between the dipole magnet and the vacuum chamber and without destroying the vacuum, thereby ensuring that the relative position of the dipole magnet and the vacuum chamber is accurate and no deformation occurs during long-term service, thereby creating high-precision, reliable and stable vacuum conditions for the beam track.

[0006] To achieve the above object, the present invention adopts the following technical solutions: An online three-dimensional adjustment device for a rotating frame dipole magnet vacuum chamber, comprising: A pipe clamping mechanism for clamping the vacuum chamber; A drive and adjustment assembly, comprising an X-axis lateral adjustment unit, a Y-axis longitudinal adjustment unit, and a Z-axis vertical adjustment unit, wherein the X-axis lateral adjustment unit is vertically arranged on the movable portion of the Y-axis longitudinal adjustment unit, the Z-axis vertical adjustment unit is connected to the movable portion of the X-axis lateral adjustment unit, and the pipe clamping mechanism is connected to the Z-axis vertical adjustment unit; The controller is in communication with the driving and adjusting component, and is used to obtain the position information of the vacuum chamber, analyze the position error, and then control the driving and adjusting component to adjust the three-dimensional spatial position of the vacuum chamber.

[0007] The online three-dimensional adjustment device for the rotating frame dipole magnet vacuum chamber, preferably, the X-axis lateral adjustment unit includes a ball screw pair, a first drive mechanism and a self-lubricating guide rod bushing assembly, the ball screw pair is transmission-connected to the first drive mechanism, and the ball screw pair is arranged on the self-lubricating guide rod bushing assembly.

[0008] The on-line three-dimensional adjustment device for the rotating frame dipole magnet vacuum chamber. Preferably, the self-lubricating guide rod bushing assembly includes two connecting plates, two fixing plates, at least two guide rods and two fixed support seats. The two fixed support seats are fixed on the moving part of the Y-axis longitudinal adjustment unit. The two fixing plates are fastened to the two fixed support seats in one-to-one correspondence. The two ends of each guide rod are respectively connected to the two fixing plates. The two connecting plates are the first connecting plate and the second connecting plate respectively. The first connecting plate is slidably sleeved on the guide rod. The second connecting plate is not sleeved on the guide rod but is fastened to the first connecting plate through a connecting rod. The first connecting plate and the second connecting plate jointly form the moving part of the X-axis lateral adjustment unit. The second connecting plate is connected to the Z-axis vertical adjustment unit.

[0009] The on-line three-dimensional adjustment device for the rotating frame dipole magnet vacuum chamber. Preferably, the ball screw pair includes a screw rod and a nut sleeved on the screw rod. The nut is fastened to the first connecting plate. The two ends of the screw rod are respectively connected to the two fixing plates through bearings. A first bevel gear is arranged near the first end of the screw rod. The output end of the first driving mechanism is provided with a second bevel gear. The first bevel gear meshes with the second bevel gear.

[0010] The on-line three-dimensional adjustment device for the rotating frame dipole magnet vacuum chamber. Preferably, the Y-axis longitudinal adjustment unit includes two parallel guide rails, a fixed horizontal plate, a synchronous belt and a second driving mechanism. The fixed horizontal plate is slidably connected to the guide rails through guide rail sliders. At the same time, the fixed horizontal plate is connected to the synchronous belt to jointly form the moving part of the Y-axis longitudinal adjustment unit. The two ends of the synchronous belt are arranged on synchronous belt wheels. The synchronous belt wheels are connected to the output end of the second driving mechanism.

[0011] The on-line three-dimensional adjustment device for the rotating frame dipole magnet vacuum chamber. Preferably, the Z-axis vertical adjustment unit includes a clamping base and a third driving mechanism, a gear and a rack arranged on the clamping base. The pipe clamping mechanism includes two symmetric clamping plates, namely an upper clamping plate and a lower clamping plate. The lower clamping plate is fastened to the rack. The upper clamping plate only contacts but is not fixed to the rack. The upper clamping plate and the lower clamping plate are used to fasten and connect the vacuum chamber together. The output end of the third driving mechanism is in interference fit connection with the gear. The gear drives the rack to move up and down, and further drives the vacuum chamber to move up and down.

[0012] The on-line three-dimensional adjustment device for the rotating frame dipole magnet vacuum chamber. Preferably, a guide rail is arranged on the clamping base, and a guide rail slot is arranged on the guide rail. The symmetric clamping plates are installed in the guide rail slot.

[0013] In the online three-dimensional adjustment device for the rotating frame two-pole magnet vacuum chamber, preferably, the surface of the symmetrical clamping plate is affixed with an elastic buffer layer, and the surface of the elastic buffer layer is provided with a diamond-shaped raised texture.

[0014] In the online three-dimensional adjustment device for the rotating frame two-pole magnet vacuum chamber, preferably, both the guide rod and the guide rail are provided with travel switches for limiting the moving distance.

[0015] A second aspect of the present invention provides an operating method for an online three-dimensional adjustment device for a rotating frame dipole magnet vacuum chamber, comprising the following steps: The online three-dimensional adjustment device is fastened to the inner wall of the two-pole magnet by bolts, and then the symmetrical clamping plate is driven to close by a third driving mechanism so that the elastic buffer layer of the symmetrical clamping plate is in full contact with the outer wall of the vacuum chamber; When the dipole magnet is in a stopped state, a laser tracker is used to scan the theoretical position of the vacuum chamber to generate a three-dimensional reference coordinate, the reference coordinate is input through a closed-loop control module, and each axis moving part is driven to the mechanical zero point to complete the position calibration; During the operation of the accelerator, the laser displacement sensor collects the displacement of the three-dimensional space of the middle section of the vacuum chamber in real time, and performs multi-axis collaborative driving based on the obtained displacement data, that is, adjusting the three-dimensional spatial position of the vacuum chamber. After the adjustment is completed, the laser sensor remeasures the position of the vacuum chamber. If the position deviation in the corresponding direction is greater than the set threshold, a secondary adjustment compensation will be performed until it is adjusted to the set position.

[0016] The present invention has the following advantages due to the adoption of the above technical solution: 1. The online three-dimensional adjustment device of the present invention does not require drilling holes or welding operations on the two-pole magnet vacuum chamber, does not change the mechanical structure of the vacuum chamber, and is highly compatible with ordinary thick-walled, thin-walled reinforced or thin-walled lined vacuum chambers.

[0017] 2. The online three-dimensional adjustment device of the present invention has a compact structure. During the installation and adjustment process, there is no need to remove the outer cover, coil or other connecting parts of the dipole magnet, so the physical integrity of the dipole magnet and the vacuum system is maintained, which solves the current problem that the dipole magnet cannot be adjusted inside the vacuum chamber when installed in an abnormal posture.

[0018] 3. The device of the present invention applies a corrective force to the vacuum chamber through external clamping and adopts a flexible contact structure to disperse local stress, thereby avoiding indentation or plastic deformation of the thin-walled vacuum chamber to avoid destroying the vacuum, and effectively supporting the vacuum chamber while adjusting the position.

[0019] 4. The device of the present invention can be adjusted in-situ, and can be directly integrated into the existing dipole magnet-vacuum system without changing the original layout of the accelerator or pausing the operation, realizing "online" remote adjustment and position holding.

[0020] 5. The device of the present invention is applicable to the dipole magnet vacuum chambers of large horizontal and vertical rotating gantries and fixed treatment terminal beam lines with inclined installation, and is applicable not only to heavy ion but also to proton therapy devices, which is a general solution.

[0021] 6. The device of the present invention can achieve a longitudinal adjustment displacement of ±30 mm in the X-axis direction, with an adjustment accuracy of less than 5 microns, a transverse adjustment displacement of ±50 mm in the Y-axis direction, with an adjustment accuracy of less than 5 microns, and a vertical displacement of ±20 mm in the Z-axis direction, with an adjustment accuracy also less than 5 microns. Description of the Drawings

[0022] Figure 1 It is a pose diagram of the dipole magnet and its vacuum chamber provided by an example of the present invention on a vertical rotating gantry; Figure 2 It is a schematic diagram of the assembly relationship between the dipole magnet and its vacuum chamber and the three-dimensional adjustment device provided by this example of the present invention; Figure 3 It is a schematic diagram of the specific structural layout of the three-dimensional adjustment device for the dipole magnet vacuum chamber of the rotating gantry provided by this example of the present invention; Figure 4 It is a schematic diagram of the X-axis transverse adjustment unit of the three-dimensional adjustment device for the dipole magnet vacuum chamber of the rotating gantry provided by this example of the present invention; Figure 5 It is a schematic diagram of the Y-axis longitudinal adjustment unit of the three-dimensional adjustment device for the dipole magnet vacuum chamber of the rotating gantry provided by this example of the present invention; Figure 6 It is a schematic diagram of the Z-axis vertical adjustment unit and the pipeline clamping mechanism of the three-dimensional adjustment device for the dipole magnet vacuum chamber of the rotating gantry provided by this example of the present invention; The reference numerals in the drawings are as follows: 1 - Dipole magnet; 2 - Vacuum chamber; 3 - Online three - dimensional adjustment device; 4 - Y - axis longitudinal adjustment unit; 5 - X - axis lateral adjustment unit; 6 - Z - axis vertical adjustment unit; 7 - Pipe clamping mechanism; 8 - Connecting plate; 9 - Connecting rod; 10 - Fixed plate; 11 - Guide rod; 12 - Lead screw; 13 - First bevel gear; 14 - First servo motor; 15 - Motor support; 16 - Fixed support base; 17 - Second bevel gear; 18 - Nut; 19 - Bearing; 20 - Synchronous pulley; 21 - Belt pulley fixed support base; 22 - Fixed horizontal plate; 23 - Guide rail; 24 - Travel switch; 25 - Second servo motor; 26 - Synchronous belt; 27 - Guide rail slider; 28 - Symmetric clamping plate; 29 - Clamping base; 30 - Motor fixed plate; 31 - Third servo motor; 32 - Gear; 33 - Rack. Detailed implementation mode

[0023] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be described clearly and completely below. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of them. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0024] Unless otherwise defined, the technical terms or scientific terms used in the present invention shall have the ordinary meanings understood by those with ordinary skills in the field to which the present invention pertains. The "first", "second", "third", "fourth" and similar terms used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. The terms such as "include" or "comprise" mean that the elements or objects appearing before this word cover the elements or objects listed after this word and their equivalents, without excluding other elements or objects. The terms such as "connect" or "be connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect.

[0025] For the convenience of description, spatial relative - relationship terms can be used in the text to describe the relationship between one element or feature shown in the figure and another element or feature. These relative - relationship terms are, for example, "inner", "outer", "inner side", "outer side", "below", "above", etc. Such spatial relative - relationship terms are intended to include different orientations of the device in use or operation in addition to the orientations depicted in the figure.

[0026] To achieve micron-level positional accuracy within the rotating gantry's dipole magnet vacuum chamber under extremely high vacuum conditions, ensuring that the vacuum chamber and dipole magnet are assembled according to the theoretically designed position and maintain high precision over the long term, it is necessary to address the three-dimensional positional offset of the large, thin-walled vacuum chamber caused by deformation due to its own gravity, rapid rotation of the gantry, environmental disturbances, or material creep when installed in an abnormal position (at a certain angle to the ground). There is an urgent need to develop an online three-dimensional adjustment and position-maintaining device for the rotating gantry's dipole magnet vacuum chamber. This device needs to be compact (total height less than 100mm), maintain the assembly relationship between the dipole magnet and the vacuum chamber, and maintain vacuum. Through high-precision posture feedback and micro-force drive technology, it can achieve in-situ real-time correction and position maintenance of the vacuum chamber within the dipole magnet's air gap, thereby improving the high precision, long-term stability, and reliability of the rotating gantry's dipole magnet vacuum chamber.

[0027] Based on the technical defect that the existing tilted accelerator dipole magnet thin-walled vacuum chamber magnet has no adjustment structure inside and deformation control is performed through flanges at both ends, the present invention provides an online three-dimensional adjustment device for the vacuum chamber of the rotating frame dipole magnet. The purpose is to achieve three-dimensional adjustment and position maintenance of the vacuum chamber inside the air gap of the dipole magnet through a multi-degree-of-freedom micro-force drive mechanism without changing the assembly relationship between the dipole magnet and the vacuum chamber and without destroying the vacuum, thereby ensuring the accurate relative position of the dipole magnet and the vacuum chamber, without deformation during long-term service, and creating high-precision, reliable and stable vacuum conditions for the beam track.

[0028] like Figure 1 、 Figure 2 、 Figure 3 As shown, the online three-dimensional adjustment device for the rotating frame two-pole magnet vacuum chamber involved in the present invention includes: It includes a pipe clamping mechanism 7, a controller and a driving and adjusting component. The driving and adjusting component includes an X-axis lateral adjustment unit 5, a Y-axis longitudinal adjustment unit 4 and a Z-axis vertical adjustment unit 6. The X-axis lateral adjustment unit 5 is vertically arranged on the moving part of the Y-axis longitudinal adjustment unit 4 through a fixed support seat 16. The Z-axis vertical adjustment unit 6 and the pipe clamping mechanism 7 are fixed to the moving part of the X-axis lateral adjustment unit 5 by bolts. After the pipe clamping mechanism 7 fixes the vacuum chamber 2, the controller obtains the position information of the vacuum chamber 2 and analyzes the position error, and then controls the adjustment units in the three directions to make corresponding adjustments to the three-dimensional spatial position of the vacuum chamber 2.

[0029] Furthermore, the X-axis lateral adjustment unit 5 includes a ball screw pair, a first drive mechanism and a self-lubricating guide rod bushing assembly, the ball screw pair is in transmission connection with the first drive mechanism, and the ball screw pair is arranged on the self-lubricating guide rod bushing assembly. Specifically, Figure 4As shown, the self-lubricating guide rod bushing assembly includes two connecting plates 8, two fixing plates 10, three guide rods 11, and two fixed support seats 16. The two fixed support seats 16 are fixed on the moving part of the Y-axis longitudinal adjustment unit 4 by bolts. The two fixing plates 10 and the two fixed support seats 16 are connected to each other by bolts in one-to-one correspondence. The two ends of each guide rod 11 are respectively connected to the two fixing plates 10 to form the guide rails of the moving part of the X-axis transverse adjustment unit 5. The two connecting plates 8 are respectively the first connecting plate and the second connecting plate. The first connecting plate is slidably sleeved on the guide rod 11. The second connecting plate is not sleeved on the guide rod 11 but is connected to the first connecting plate by a connecting rod 9 by bolts. The first connecting plate and the second connecting plate jointly form the moving part of the X-axis transverse adjustment unit 5. The second connecting plate is connected to the Z-axis vertical adjustment unit 6.

[0030] As Figure 4 shown, the ball screw pair includes a lead screw 12 and a nut 18 sleeved on the lead screw 12. The nut 18 is connected to the first connecting plate by bolts. The two ends of the lead screw 12 are respectively connected to the two fixing plates 10 through bearings 19. Near the first end of the lead screw 12 (the first end refers to Figure 4 the right side in Figure 4 and the second end refers to

[0031] the left side in Figure 5 ), a first bevel gear 13 that is tooth-engaged with the output end of the first servo motor 14 is provided. The output end of the first servo motor 14 is provided with a second bevel gear 17 that is tooth-engaged with the first bevel gear 13. The first servo motor 14 is fixed on the moving part of the Y-axis longitudinal adjustment unit 4 through a motor support 15. The output end of the first servo motor 14 is connected to the second bevel gear 17 by interference fit. During operation, the output end of the first servo motor 14 drives the lead screw 12 to rotate through a pair of meshing bevel gears, and then drives the nut 18 to rotate, so that the moving part of the X-axis transverse adjustment unit 5 makes a reciprocating motion along the direction of the guide rod 11, and then drives the pipe clamping mechanism 7 arranged on the moving part of the X-axis transverse adjustment unit 5 to make a left-right reciprocating motion, realizing the transverse adjustment of the three-dimensional space position of the vacuum chamber 2.

[0031] As Figure 5As shown, the Y-axis longitudinal adjustment unit 4 includes a fixed horizontal plate 22, two parallel guide rails 23, a second servo motor 25, a synchronous belt 26, and a guide rail slider 27. The fixed horizontal plate 22 is connected to the guide rail slider 27 by bolts and is arranged on the two parallel guide rails 23. The fixed horizontal plate 22 is bound to the synchronous belt 26. The two ends of the synchronous belt 26 are arranged on the synchronous belt pulleys 20. The synchronous belt pulleys 20 are fixedly supported by belt pulley fixed support seats 21. The synchronous belt pulleys 20 are connected to the output end of the second servo motor 25. During operation, the output end of the second servo motor 25 drives the synchronous belt pulley 20 to rotate. The synchronous belt pulley 20 drives the synchronous belt 26 to rotate, and then drives the fixed horizontal plate 22 to reciprocate back and forth along the guide rail 23, so that the moving part of the Y-axis longitudinal adjustment unit 4 (the fixed horizontal plate 22 and the synchronous belt 26 are connected together to jointly form the moving part of the Y-axis longitudinal adjustment unit 4) drives the pipe clamping mechanism 7 to move back and forth along the guide rail 23, thereby realizing the longitudinal adjustment of the three-dimensional space of the vacuum chamber 2.

[0032] As Figure 6 As shown, the Z-axis vertical adjustment unit 6 includes a clamping base 29 and a third servo motor 31, a gear 32, and a rack 33 arranged on the clamping base 29. The pipe clamping mechanism 7 includes two symmetric clamping plates 28, namely an upper clamping plate and a lower clamping plate. The lower clamping plate is connected to the rack 33 by bolts and is fixed in the guide rail slot of the clamping base 29. The upper clamping plate only contacts but is not fixed to the rack 33 and is also fixed in the guide rail slot of the clamping base 29. The upper clamping plate and the lower clamping plate are connected by bolts and then connected to the vacuum chamber 2 together. The third servo motor 31 is fixed on the clamping base 29 through a motor fixing plate 30. The output end of the third servo motor 31 is connected to the gear 32 by interference fit. During operation, the gear at the output end of the third servo motor 31 rotates to drive the rack 33 to move up and down, and then drives the vacuum chamber 2 fixed by the symmetric clamping plates 28 to move up and down, thereby realizing the vertical adjustment of the three-dimensional space position of the vacuum chamber 2.

[0033] Furthermore, in order to ensure that the moving parts do not have excessive displacement when sliding on the corresponding guide rails, travel switches 24 for limiting the moving distance are arranged on both the guide rod 11 and the guide rail 23. The surface layer of the symmetric clamping plates 28 is pasted with a polyimide-based composite material lining elastic buffer layer. The surface of the elastic buffer layer is provided with diamond-shaped raised textures for dispersing the contact stress and increasing the friction coefficient. By adopting a flexible contact structure (elastic buffer layer) to disperse the local stress, indentation or plastic deformation of the thin-walled vacuum chamber is avoided, so as not to damage the vacuum, and the vacuum chamber is effectively supported while adjusting the position.

[0034] The X-axis lateral adjustment unit 5 of the present invention can achieve ±30mm longitudinal adjustment displacement with an adjustment accuracy of less than 5 microns; the Y-axis longitudinal adjustment unit 4 can achieve ±50mm lateral adjustment displacement with an adjustment accuracy of less than 5 microns; and the Z-axis vertical adjustment unit 6 can achieve ±20mm vertical displacement with an adjustment accuracy of less than 5 microns. The overall height of the device can be reduced to less than 100mm.

[0035] The present invention also provides an operating method for an online three-dimensional adjustment device for a rotating frame dipole magnet vacuum chamber, comprising the following steps: The online three-dimensional adjustment device 3 is fastened to the inner wall of the two-pole magnet 1 by bolts, and then the third servo motor 31 is used to drive the symmetrical clamping plate 28 to close, so that the elastic buffer layer of the symmetrical clamping plate 28 is in full contact with the outer wall of the vacuum chamber 2; When the dipole magnet 1 is stopped, a laser tracker is used to scan the theoretical position of the vacuum chamber 2 to generate three-dimensional reference coordinates (X, Y, Z). The reference coordinates are input into the closed-loop control module, and the moving parts of each axis are driven to the mechanical zero point to complete the position calibration. During the operation of the accelerator, the laser displacement sensor collects the displacement of the three-dimensional space of the middle section of the vacuum chamber 2 in real time, and performs multi-axis coordinated driving based on the obtained displacement data, that is, adjusting the three-dimensional spatial position of the vacuum chamber 2. After the adjustment is completed, the laser sensor re-measures the posture of the vacuum chamber 2. If the position deviation in the corresponding direction is greater than the set threshold, a secondary adjustment compensation will be performed until it is adjusted to the set position.

[0036] The online three-dimensional adjustment device 3 of the present invention does not require drilling holes or welding operations on the dipole magnet vacuum chamber, does not change the mechanical structure of the vacuum chamber, and is highly compatible with ordinary thick-walled, thin-walled reinforced, or thin-walled lined vacuum chambers. It has a compact structure, and the installation and adjustment process does not require the removal of the outer cover, coil, or other connecting components of the dipole magnet, maintaining the physical integrity of the connection between the dipole magnet and the vacuum system, thus solving the current problem of the inability to adjust the interior of the dipole magnet vacuum chamber when installed in an abnormal posture. Furthermore, it is applicable to large horizontal and vertical rotating racks, and to dipole magnet vacuum chambers with fixed treatment terminal beams installed at an angle. It is suitable not only for heavy ion but also for proton therapy devices, and is a universal solution.

[0037] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. An on-line three-dimensional adjustment device for the vacuum chamber of a rotating frame dipole magnet, characterized in that include: A pipe clamping mechanism (7) for clamping the vacuum chamber (2); A driving and adjusting assembly comprises an X-axis transverse adjusting unit (5), a Y-axis longitudinal adjusting unit (4) and a Z-axis vertical adjusting unit (6), wherein the X-axis transverse adjusting unit (5) is vertically arranged on a movable portion of the Y-axis longitudinal adjusting unit (4), the Z-axis vertical adjusting unit (6) is connected to the movable portion of the X-axis transverse adjusting unit (5), and the pipe clamping mechanism (7) is connected to the Z-axis vertical adjusting unit (6); a controller, in communication with the driving and adjusting component, for obtaining position information of the vacuum chamber (2), analyzing position errors, and then controlling the driving and adjusting component to adjust the three-dimensional spatial position of the vacuum chamber (2); The X-axis lateral adjustment unit (5) comprises a ball screw pair, a first drive mechanism and a self-lubricating guide rod bushing assembly, the ball screw pair is in transmission connection with the first drive mechanism, and the ball screw pair is arranged on the self-lubricating guide rod bushing assembly.

2. The on-line three-dimensional adjustment device for rotating the vacuum chamber of the frame two-pole magnet according to claim 1, wherein, The self-lubricating guide rod bushing assembly comprises two connecting plates (8), two fixed plates (10), at least two guide rods (11) and two fixed support seats (16), the two fixed support seats (16) are fixed on the movable part of the Y-axis longitudinal adjustment unit (4), the two fixed plates (10) and the two fixed support seats (16) are fastened together in a one-to-one correspondence, the two ends of each guide rod (11) are respectively connected to the two fixed plates (10), the two connecting plates (8) are respectively a first connecting plate and a second connecting plate, the first connecting plate is slidably mounted on the guide rod (11), the second connecting plate is not mounted on the guide rod (11) but is fastened together with the first connecting plate through a connecting rod (9), the first connecting plate and the second connecting plate together constitute the movable part of the X-axis lateral adjustment unit (5), and the second connecting plate is connected to the Z-axis vertical adjustment unit (6).

3. The on-line three-dimensional adjustment device for rotating the vacuum chamber of the toroidal rack dipole magnet according to claim 2, characterized in that, The ball screw pair includes a screw (12) and a nut (18) sleeved on the screw (12), the nut (18) being fastened to the first connecting plate, the two ends of the screw (12) being connected to the two fixing plates (10) via bearings (19), a first bevel gear (13) being provided near the first end of the screw (12), a second bevel gear (17) being provided at the output end of the first driving mechanism, and the first bevel gear (13) being meshed with the second bevel gear (17).

4. The on-line three-dimensional adjustment device for rotating the vacuum chamber of the toroidal rack dipole magnet according to claim 3, characterized in that, The Y-axis longitudinal adjustment unit (4) includes two parallel guide rails (23), a fixed horizontal plate (22), a synchronous belt (26) and a second driving mechanism. The fixed horizontal plate (22) is slidably connected to the guide rail (23) through a guide rail slider (27). At the same time, the fixed horizontal plate (22) and the synchronous belt (26) are connected together to form a moving part of the Y-axis longitudinal adjustment unit (4). Both ends of the synchronous belt (26) are arranged on a synchronous pulley (20), and the synchronous pulley (20) is connected to the output end of the second driving mechanism.

5. The on-line three-dimensional adjustment device for rotating the vacuum chamber of the rack dipole magnet according to claim 4, characterized in that, The Z-axis vertical adjustment unit (6) includes a clamping base (29) and a third driving mechanism, a gear (32) and a rack (33) arranged on the clamping base (29); the pipe clamping mechanism (7) includes two symmetrical clamping plates (28), namely an upper clamping plate and a lower clamping plate; the lower clamping plate is fastened to the rack (33); the upper clamping plate and the rack (33) are only in contact but not fixed; the upper clamping plate and the lower clamping plate are used to fasten the vacuum chamber (2) together; the output end of the third driving mechanism is connected to the gear (32) by interference fit; the gear (32) drives the rack (33) to move up and down, thereby driving the vacuum chamber (2) to move up and down.

6. The online three-dimensional adjustment device for rotating the vacuum chamber of the frame two-pole magnet according to claim 5, characterized in that A guide rail is provided on the clamping base (29), a guide rail slot is provided on the guide rail, and the symmetrical clamping plate (28) is installed in the guide rail slot.

7. The on-line three-dimensional adjustment device for rotating the vacuum chamber of the frame two-pole magnet according to claim 5, characterized in that, An elastic buffer layer is attached to the surface of the symmetrical splint (28), and a diamond-shaped raised texture is provided on the surface of the elastic buffer layer.

8. The on-line three-dimensional adjustment device for rotating the vacuum chamber of the frame two-pole magnet according to claim 4, characterized in that, The guide rod (11) and the guide rail (23) are both provided with a travel switch (24) for limiting the moving distance.

9. An operating method for an on-line three-dimensional adjustment device of a rotating frame two-pole magnet vacuum chamber, characterized in that, The steps include: The online three-dimensional adjustment device (3) is fastened to the inner wall of the two-pole magnet (1) by means of bolts, and then the symmetrical clamping plate (28) is driven to close by a third driving mechanism so that the elastic buffer layer of the symmetrical clamping plate (28) is in full contact with the outer wall of the vacuum chamber (2); When the dipole magnet (1) is in a stopped state, a laser tracker is used to scan the theoretical position of the vacuum chamber (2) to generate a three-dimensional reference coordinate, the reference coordinate is input through a closed-loop control module, and each axis moving part is driven to a mechanical zero point to complete position calibration; During the operation of the accelerator, the laser displacement sensor collects the displacement of the three-dimensional space of the middle section of the vacuum chamber (2) in real time, and performs multi-axis coordinated driving based on the obtained displacement data, that is, adjusts the three-dimensional spatial position of the vacuum chamber (2). After the adjustment is completed, the laser sensor re-measures the posture of the vacuum chamber (2). If the position deviation in the corresponding direction is greater than a set threshold, a secondary adjustment compensation will be performed until it is adjusted to the set position.

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