An online three-dimensional adjustment device and method for a rotating rack two-pole magnet vacuum chamber

Abstract

The present invention relates to an online three-dimensional adjustment device and method for a rotating gantry dipole magnet vacuum chamber. The device comprises: 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. The X-axis lateral adjustment unit is arranged perpendicularly to 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. A controller is communicatively connected to the drive and adjustment assembly and is configured to obtain position information of the vacuum chamber, analyze position errors, and thereby control the drive and adjustment assembly to adjust the three-dimensional spatial position of the vacuum chamber. This device solves the current problem of the inability to adjust the interior of a dipole magnet vacuum chamber when installed in an abnormal posture.

Description

Technical Field

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

[0002] Radiation therapy for cancer is a highly popular technique. Ion beams, due to their inverted depth-dose distribution and high relative biological effect, kill tumor cells while minimizing harm to normal cells, making them an internationally advanced and effective method of radiotherapy for cancer. The most commonly used ions for ion therapy are protons and carbon ions. To achieve multi-angle irradiation, a rotating gantry is often used. These gantry types are typically either horizontal or vertical, with the dipole magnet mounted in an unconventional position and moving back and forth with the gantry.

[0003] According to theoretical design, the dipole magnet and vacuum chamber must maintain a fixed assembly position and precision. However, the three-dimensional spatial position adjustment and precision of the dipole magnet vacuum chamber on existing rotating gantry systems primarily rely on flanges at both ends of the pipe, which directly apply a forced corrective force to the pipe. The vacuum chamber within the magnet core cannot be adjusted and lacks a fixed mechanism, leaving it suspended in the air. To meet diverse accelerator applications, an increasing number of accelerators are operating in pulsed mode, with increasing magnetic field ramp rates, towards higher repetition rates. This increased pulse frequency leads to greater eddy currents between the vacuum chamber and the magnet. To mitigate these eddy currents, thin-walled (0.3 mm) reinforced or titanium-alloy lined vacuum chambers are typically used. These structures have poor vacuum chamber rigidity and are prone to deformation. The dipole magnet vacuum chamber typically consists of an elongated vacuum beam pipe structure with bellows elastic elements installed at both ends. This further weakens the rigidity of the vacuum chamber and bellows assembly, making it susceptible to significant deformation and displacement under the influence of complex factors such as the continuous action of gravity, material creep, gantry rotation, and ambient temperature fluctuations. The main three-dimensional deformations are radial deflection, axial torsion, and other three-dimensional deformations. Long-term accumulation results in excessive three-dimensional offsets in the vacuum chamber, leading to asymmetry between the dipole magnet and the iron core in the direction perpendicular to the air gap. This causes a significant offset between the ideal trajectory of the beam spot and the theoretical geometric position of the vacuum chamber design. The beam will hit the vacuum chamber wall, causing severe particle beam loss on the vacuum chamber wall. This will lead to a rapid decrease in dynamic vacuum, trajectory distortion, unstable beam, poor quality, and low transmission efficiency. Furthermore, the thin-walled vacuum chamber is prone to cracking under long-term deformation stress, leading to vacuum seal failure. The rotating gantry is a large medical device, and downtime for maintenance is difficult and time-consuming, affecting beam delivery time and reducing 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:

[0007] An online three-dimensional adjustment device for a rotating frame dipole magnet vacuum chamber, comprising:

[0008] A pipe clamping mechanism for clamping the vacuum chamber;

[0009] 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;

[0010] 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.

[0011] 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.

[0012] The online 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 fixed plates, at least two guide rods and two fixed support seats, the two fixed support seats are fixed on the movable part of the Y-axis longitudinal adjustment unit, the two fixed plates are fastened together with the two fixed support seats in a one-to-one correspondence, the two ends of each guide rod are respectively connected to the two fixed plates, the two connecting plates are respectively a first connecting plate and a second connecting plate, the first connecting plate is slidably mounted on the guide rod, the second connecting plate is not mounted 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 together constitute the movable part of the X-axis lateral adjustment unit, and the second connecting plate is connected to the Z-axis vertical adjustment unit.

[0013] The online three-dimensional adjustment device for the rotating frame two-pole magnet vacuum chamber, preferably, the ball screw pair includes a screw and a nut sleeved on the screw, the nut is fastened to the first connecting plate, the two ends of the screw are respectively connected to the two fixed plates through bearings, a first bevel gear is provided near the first end of the screw, and a second bevel gear is provided at the output end of the first drive mechanism, and the first bevel gear is meshed with the second bevel gear.

[0014] The online 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 drive mechanism, the fixed horizontal plate is slidably connected to the guide rail through a guide rail slider, and the fixed horizontal plate and the synchronous belt are connected together to form the moving part of the Y-axis longitudinal adjustment unit, the two ends of the synchronous belt are set on the synchronous pulley, and the synchronous pulley is connected to the output end of the second drive mechanism.

[0015] The online 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 drive mechanism, a gear and a rack arranged on the clamping base, the pipe clamping mechanism includes two symmetrical clamping plates, an upper clamping plate and a lower clamping plate, the lower clamping plate is fastened to the rack, the upper clamping plate is only in contact with the rack but not fixed, the upper clamping plate and the lower clamping plate are used to fasten the vacuum chamber together, the output end of the third drive mechanism is connected to the gear by interference fit, and the gear drives the rack to move up and down, thereby driving the vacuum chamber to move up and down.

[0016] In the online three-dimensional adjustment device for the rotating frame dipole magnet vacuum chamber, preferably, the clamping base is provided with a guide rail, the guide rail is provided with a guide rail slot, and the symmetrical clamping plate is installed in the guide rail slot.

[0017] 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.

[0018] 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.

[0019] 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:

[0020] 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;

[0021] 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;

[0022] 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.

[0023] The present invention has the following advantages due to the adoption of the above technical solution:

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 4. The device of the present invention can be adjusted in situ. The device can be directly integrated into the existing dipole magnet-vacuum system without changing the original layout of the accelerator or suspending operation, realizing "online" remote adjustment and position maintenance.

[0028] 5. The device of the present invention is applicable to large horizontal and vertical rotating racks, fixed treatment terminal beam lines, and dipolar magnet vacuum chambers with tilted installations. It is applicable not only to heavy ion but also to proton therapy devices, and is a universal solution.

[0029] 6. The device of the present invention can achieve ±30mm longitudinal adjustment displacement in the X-axis direction, and the adjustment accuracy can reach less than 5 microns. The Y-axis can achieve ±50mm lateral adjustment displacement, and the adjustment accuracy can reach less than 5 microns. The Z-axis can achieve ±20mm vertical displacement, and the adjustment accuracy is also less than 5 microns. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A diagram showing the position of a dipole magnet and its vacuum chamber on a vertical rotating frame provided in one embodiment of the present invention;

[0031] Figure 2 A schematic diagram of the assembly relationship between the two-pole magnet, its vacuum chamber, and the three-dimensional adjustment device provided in this embodiment of the present invention;

[0032] Figure 3 A schematic diagram of the specific structural layout of the three-dimensional adjustment device for the rotating frame two-pole magnet vacuum chamber provided in this embodiment of the present invention;

[0033] Figure 4 A schematic diagram of an X-axis lateral adjustment unit of a three-dimensional adjustment device for a rotating gantry dipole magnet vacuum chamber provided in this embodiment of the present invention;

[0034] Figure 5 A schematic diagram of a Y-axis longitudinal adjustment unit of a three-dimensional adjustment device for a rotating gantry dipole magnet vacuum chamber provided in this embodiment of the present invention;

[0035] Figure 6 Schematic diagram of the Z-axis vertical adjustment unit and the pipe clamping mechanism of the three-dimensional adjustment device for the rotating frame two-pole magnet vacuum chamber provided in this embodiment of the present invention;

[0036] The reference numerals in the figures are as follows:

[0037] 1-dipolar 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-screw; 13-first bevel gear; 14-first servo motor; 15-motor support; 16-fixed support seat; 17-second bevel gear; 18-nut; 19-bearing; 20-synchronous pulley; 21-pulley fixed support seat; 22-fixed horizontal plate; 23-guide rail; 24-travel switch; 25-second servo motor; 26-synchronous belt; 27-guide rail slider; 28-symmetrical clamping plate; 29-clamping base; 30-motor fixed plate; 31-third servo motor; 32-gear; 33-rack. DETAILED DESCRIPTION

[0038] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention are described clearly and completely below. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. All other embodiments derived by ordinary persons in this field based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0039] Unless otherwise defined, the technical or scientific terms used in the present invention shall have the usual meanings understood by persons of ordinary skill in the field to which the present invention belongs. The words "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. Words such as "include" or "comprise" mean that the elements or objects preceding the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Words such as "connect" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect.

[0040] For ease of description, spatially relative terms may be used herein to describe the relationship of one element or feature relative to another element or feature as shown in the figures, such as "inside," "outside," "inner side," "outer side," "lower," "upper," etc. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures.

[0041] 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.

[0042] 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.

[0043] 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:

[0044] 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.

[0045] 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. Figure 4As shown, the self-lubricating guide rod bushing assembly includes two connecting plates 8, two fixed plates 10, three guide rods 11 and two fixed support seats 16. The two fixed support seats 16 are fixed to the moving part of the Y-axis longitudinal adjustment unit 4 by bolts. The two fixed plates 10 and the two fixed support seats 16 are connected together by bolts one by one. The two ends of each guide rod 11 are respectively connected to the two fixed plates 10 to form the guide rail of the moving part of the X-axis lateral 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 mounted on the guide rod 11, and the second connecting plate is not mounted on the guide rod 11 but is bolted to the first connecting plate through the connecting rod 9. The first connecting plate and the second connecting plate together constitute the moving part of the X-axis lateral adjustment unit 5, and the second connecting plate is connected to the Z-axis vertical adjustment unit 6.

[0046] like Figure 4 As shown, the ball screw pair includes a screw 12 and a nut 18 mounted on the screw 12. The nut 18 is connected to the first connecting plate by bolts. The two ends of the screw 12 are connected to the two fixed plates 10 through bearings 19. The first end of the screw 12 (the first end refers to the Figure 4 The second end refers to the right side of Figure 4 A first bevel gear 13 is provided at the left side of the Y-axis longitudinal adjustment unit 4, which is in gear connection with the output end of the first servo motor 14. A second bevel gear 17 is provided at the output end of the first servo motor 14, which is in gear connection with the first bevel gear 13. The first servo motor 14 is fixed to the moving portion of the Y-axis longitudinal adjustment unit 4 via a motor support 15. The output end of the first servo motor 14 is connected to the second bevel gear 17 by an 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, thereby driving the nut 18 to rotate, causing the moving portion of the X-axis lateral adjustment unit 5 to reciprocate along the direction of the guide rod 11, thereby driving the pipe clamping mechanism 7 arranged on the moving portion of the X-axis lateral adjustment unit 5 to reciprocate left and right, thereby achieving lateral adjustment of the three-dimensional spatial position of the vacuum chamber 2.

[0047] like 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 disposed 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 disposed on a synchronous pulley 20. The synchronous pulley 20 is fixedly supported by a pulley fixing support 21 and is 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 pulley 20 to rotate, and the synchronous pulley 20 drives the synchronous belt 26 to rotate, thereby driving the fixed horizontal plate 22 to reciprocate along the guide rails 23. As a result, the moving portion of the Y-axis longitudinal adjustment unit 4 (the fixed horizontal plate 22 and the synchronous belt 26 are connected together to form the moving portion of the Y-axis longitudinal adjustment unit 4) drives the pipe clamping mechanism 7 to move back and forth along the guide rails 23, thereby achieving three-dimensional longitudinal adjustment of the vacuum chamber 2.

[0048] like Figure 6 As shown, the Z-axis vertical adjustment unit 6 includes a clamping base 29, a third servo motor 31, a gear 32, and a rack 33 mounted on the clamping base 29. The pipe clamping mechanism 7 includes two symmetrical clamping plates 28, one upper and one lower. The lower clamping plate is bolted to the rack 33 and fixed to the guide rail slot of the clamping base 29. The upper clamping plate is only in contact with the rack 33 but is also fixed to the guide rail slot of the clamping base 29. The upper and lower clamping plates are bolted together and then connected to the vacuum chamber 2. The third servo motor 31 is fixed to the clamping base 29 via a motor fixing plate 30. The output end of the third servo motor 31 is connected to the gear 32 by an interference fit. During operation, the output gear of the third servo motor 31 rotates, driving the rack 33 to move up and down, thereby driving the vacuum chamber 2 fixed by the symmetrical clamping plates 28 to move up and down, thereby achieving vertical adjustment of the three-dimensional spatial position of the vacuum chamber 2.

[0049] Furthermore, to ensure that the moving components do not excessively slide on their corresponding guide rails, travel switches 24 are installed on both the guide rod 11 and the guide rail 23 to limit travel distance. The surface of the symmetrical clamping plate 28 is padded with an elastic buffer layer made of a polyimide-based composite material. This surface features diamond-shaped raised patterns to disperse contact stress and increase the coefficient of friction. This flexible contact structure (elastic buffer layer) disperses localized stress, preventing indentations or plastic deformation in the thin-walled vacuum chamber that could disrupt the vacuum, while effectively supporting the chamber while allowing for position adjustment.

[0050] 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.

[0051] 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:

[0052] 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;

[0053] 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.

[0054] 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.

[0055] 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.

[0056] 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 online three-dimensional adjustment device for a rotating frame dipole magnet vacuum chamber, 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 online three-dimensional adjustment device for a rotating frame dipole magnet vacuum chamber according to claim 1, characterized in that: 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 online three-dimensional adjustment device for a rotating frame two-pole magnet vacuum chamber 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 online three-dimensional adjustment device for a rotating frame two-pole magnet vacuum chamber 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 online three-dimensional adjustment device for a rotating frame two-pole magnet vacuum chamber 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 a rotating frame two-pole magnet vacuum chamber 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 online three-dimensional adjustment device for a rotating frame two-pole magnet vacuum chamber 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 online three-dimensional adjustment device for a rotating frame two-pole magnet vacuum chamber 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 online three-dimensional adjustment device for a rotating gantry dipole magnet vacuum chamber according to claim 7, 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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