Centering positioning device and medical apparatus

Abstract

The application discloses a centering and positioning device and medical equipment, and relates to the technical field of medical equipment, in particular to a centering and positioning device and medical equipment. The centering and positioning device comprises a double-shaft swing module, a displacement module and a lifting module. The double-shaft swing module comprises a first swing component capable of swinging around a first rotation axis and a second swing component capable of swinging around a second rotation axis. The displacement module comprises a first translation component capable of driving the double-shaft swing module to move in a first direction and a second translation component capable of driving the first translation component to move in a second direction. The lifting module is used for driving the displacement module to lift and lower, so that the displacement module drives the double-shaft swing module to synchronously lift and lower. The first rotation axis and the second rotation axis are intersected, and the intersection point of the first rotation axis and the second rotation axis can coincide with a preset point, so that the first swing component and the second swing component can respectively perform isocentric swinging around the preset point. The centering and positioning device has the advantages of compact structure, large adjustment range and isocentric swinging.

Description

Technical Field

[0001] This invention relates to the field of high-end medical equipment technology, and in particular to a centering positioning device and medical equipment. Background Technology

[0002] A positioning device is used to move a part to a preset position. The positioning device includes a six-DOF positioning mechanism. A six-DOF positioning mechanism is a mechanical system that provides six independent degrees of freedom of motion in three-dimensional space. It can precisely position and control the orientation of the part by controlling its motion. Six-DOF positioning mechanisms are commonly used in robotics, automated production lines, precision manufacturing, 3D printing, and other fields, enabling the part to be positioned and its orientation controlled with extremely high precision in three-dimensional space.

[0003] However, the existing six-degree-of-freedom positioning mechanisms are not compact enough, occupy a lot of space, and cannot meet the needs of applications with limited space. At the same time, the displacement range of the six-degree-of-freedom positioning mechanisms in the height and horizontal directions is small, which cannot meet the requirements of large-range adjustment.

[0004] Therefore, the existing placement device needs further improvement. Summary of the Invention

[0005] The purpose of this invention is to provide a centering positioning device and medical equipment, which is not only compact in structure and occupies little space, meeting the needs of applications with limited space, but also has a large adjustment range in both the horizontal and vertical directions. At the same time, it can achieve isocentric swing, which improves the accuracy of positioning and reduces the difficulty of positioning.

[0006] The objective of this invention is achieved through the following technical solution:

[0007] A centering and positioning device, comprising:

[0008] A dual-axis swing module includes a first swing component and a second swing component. The first swing component is disposed on the second swing component. The first swing component is used to carry the part to be positioned. The first swing component can swing around a first rotation axis. The second swing component can swing around a second rotation axis and drive the first swing component to swing synchronously.

[0009] The displacement module includes a first translation component and a second translation component. The dual-axis swing module is disposed on the first translation component, and the first translation component is disposed on the second translation component. The first translation component can drive the dual-axis swing module to move along a first direction, and the second translation component can drive the first translation component to move along a second direction and drive the dual-axis swing module to move synchronously. The first direction and the second direction are not parallel.

[0010] A lifting module is provided, wherein the displacement module is disposed on the lifting module, and the lifting module is used to drive the displacement module to lift and lower, so that the displacement module drives the dual-axis swing module to lift and lower synchronously.

[0011] The first rotation axis and the second rotation axis are intersecting, and the intersection point of the first rotation axis and the second rotation axis can coincide with a preset point, so that the first swing component and the second swing component can swing around the preset point at the same center.

[0012] Preferably, the second rotation axis is perpendicular to the first rotation axis.

[0013] Preferably, the first swing assembly includes a first support platform and a first base. A first arc-shaped slider is provided on the side of the first support platform facing the first base, and a first arc-shaped guide rail matching the first arc-shaped slider is provided on the side of the first base facing the first support platform. The first arc-shaped slider can slide along the first arc-shaped guide rail to drive the first support platform to swing.

[0014] The second swing assembly includes a second support platform and a second base. The first base is connected to the second support platform. A second arc-shaped slider is provided on the side of the second support platform facing the second base. A second arc-shaped guide rail matching the second arc-shaped slider is provided on the side of the second base facing the second support platform. The second arc-shaped slider can slide along the second arc-shaped guide rail to drive the second support platform to swing. The second support platform drives the first support platform to swing.

[0015] Preferably, the first swing assembly further includes a first driving mechanism for driving the first support platform to swing along the first arc-shaped guide rail, and the second swing assembly further includes a second driving mechanism for driving the second support platform to swing along the second arc-shaped guide rail.

[0016] Preferably, the first translation component includes a first support plate, a second support plate, a first linear slider disposed on the first support plate, a first linear guide rail disposed on the second support plate, and a third drive mechanism. The first support plate is connected to the dual-axis swing module, and the third drive mechanism is used to drive the first support plate so that the first linear slider moves along the first linear guide rail in a first direction.

[0017] The second translation component includes a third support plate, a second linear slider disposed on the second support plate, a second linear guide rail disposed on the third support plate, and a fourth driving mechanism. The fourth driving mechanism is used to drive the second support plate so that the second linear slider moves along the second linear guide rail in a second direction.

[0018] Preferably, the lifting module includes a first platform, a second platform, and a drive assembly disposed between the first platform and the second platform. The drive assembly includes at least one first support rod and at least one second support rod, which are arranged in an X-shape. The two ends of the first support rod are pivotally connected to the first platform and the second platform, respectively. The lifting of the first platform is controlled by controlling the intersection angle of the first support rod and the second support rod.

[0019] Preferably, the driving assembly further includes a fifth driving mechanism, a third linear slider, and a third linear guide rail. The third linear slider is at least disposed at one end of the first support rod, and the third linear guide rail is correspondingly disposed on the first platform and / or the second platform. The fifth driving mechanism is used to drive the third linear slider to move the first support rod along the third linear guide rail; and / or,

[0020] The third linear slider is at least disposed at one end of the second support rod, and the third linear guide rail is correspondingly disposed on the first platform and / or the second platform. The fifth driving mechanism is used to drive the third linear slider to move the second support rod along the third linear guide rail.

[0021] Preferably, the first support rod and the second support rod are arranged in pairs, and the two pairs of the first support rod and the second support rod are respectively arranged on opposite sides of the lifting module. The drive assembly also includes a connecting rod, and the two ends of the connecting rod are pivotally connected to the intersection of the first support rod and the second support rod located on both sides of the lifting module.

[0022] Preferably, the lifting module includes a first platform, a second platform, and at least two actuators disposed between the first platform and the second platform. The two ends of the actuators are respectively connected to the first platform and the second platform, and the actuators are used to drive the first platform to move and / or rotate.

[0023] Preferably, the lifting module further includes a rotating component, which is disposed on the first platform. The rotating component includes a sixth driving mechanism and a rotating platform. The rotating platform is connected to the displacement module. The sixth driving mechanism is used to drive the rotating platform to drive the displacement module to rotate circumferentially around a third rotation axis, wherein the third rotation axis can coincide with the intersection point of the first rotation axis and the second rotation axis.

[0024] The present invention also provides a medical device, the medical device including the aforementioned centering and positioning device.

[0025] Compared with the prior art, the beneficial effects of the present invention include at least the following:

[0026] The centering and positioning device of this invention, through modular design, not only makes the overall structure compact and space-saving, meeting the needs of applications with limited space, but also facilitates installation, reduces assembly difficulty, and improves assembly accuracy. By using a displacement module to drive the positioning component horizontally and a lifting module to drive it vertically, the adjustment range in both directions is increased, meeting the needs of large-scale adjustment. The dual-axis swing module drives the positioning component to swing around a first and a second rotation axis, and the intersection of the first and second rotation axes coincides with a preset point. This allows the first and second swing components to swing around the preset point at equal centers, improving positioning accuracy, reducing positioning difficulty, shortening adjustment time, and thus increasing adjustment efficiency. Attached Figure Description

[0027] Figure 1 This is an exploded view of the centering and positioning device according to an embodiment of the present invention.

[0028] Figure 2 yes Figure 1 A magnified view of a portion of point A in the middle.

[0029] Figure 3 This is a three-dimensional structural schematic diagram of the centering and positioning device according to an embodiment of the present invention.

[0030] Figure 4 This is a three-dimensional structural diagram of the lifting module in an embodiment of the present invention.

[0031] Figure 5 This is an exploded view of the lifting module in an embodiment of the present invention.

[0032] In the diagram: 100, Centering and Positioning Device; 1, Dual-Axis Swing Module; 11, First Swing Component; 111, First Support Platform; 112, First Base; 113, First Arc-Shaped Slider; 114, First Arc-Shaped Guide Rail; 115, First Drive Mechanism; 12, Second Swing Component; 121, Second Support Platform; 122, Second Base; 123, Second Arc-Shaped Slider; 124, Second Arc-Shaped Guide Rail; 125, Second Drive Mechanism; 2, Displacement Module; 21, First Translation Component; 211, First Support Plate; 212, Second Support Plate; 213, First Linear Slider; 214, First Linear Guide Rail; 215. Third drive mechanism; 216, First limit block; 22, Second translation component; 221, Third support plate; 222, Second linear slider; 223, Second linear guide rail; 224, Fourth drive mechanism; 225, Second limit block; 3, Lifting module; 31, First platform; 32, Second platform; 33, Drive component; 331, First support rod; 332, Second support rod; 333, Fifth drive mechanism; 334, Third linear slider; 335, Third linear guide rail; 336, Connecting rod; 34, Rotation component; 341, Sixth drive mechanism; 342, Rotary table; 4, Platform; 200, Preset point. Detailed Implementation

[0033] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided to make the invention more comprehensive and complete, and to fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore repeated descriptions of them will be omitted.

[0034] The terms used to express position and direction in this invention are illustrated with reference to the accompanying drawings, but changes can be made as needed, and all such changes are included within the scope of protection of this invention.

[0035] Reference Figures 1 to 5 The present invention provides a centering and positioning device 100. The centering and positioning device 100 of this application can be applied to multi-degree-of-freedom positioning scenarios, such as six-degree-of-freedom positioning scenarios, for example, in the fields of radiotherapy medical equipment, 3D printing quality inspection, CT examination of objects, motion simulation, precision operation and flight simulation.

[0036] The centering and positioning device 100 may include: a dual-axis swing module 1, a displacement module 2, and a lifting module 3. The dual-axis swing module 1 can be used to support the object to be positioned (not shown). The dual-axis swing module 1 can drive the object to be positioned to swing around a first rotation axis and a second rotation axis. The dual-axis swing module 1 can be disposed on the displacement module 2, and the displacement module 2 can drive the dual-axis swing module 1 to move horizontally, that is, the displacement module 2 can drive the dual-axis swing module 1 to translate horizontally. The displacement module 2 can be disposed on the lifting module 3, and the lifting module 3 can drive the displacement module 2 to move vertically, and cause the displacement module 2 to drive the dual-axis swing module 1 to move synchronously in the vertical direction. The centering and positioning device 100 may also include a stage 4, which can be disposed on the side of the dual-axis swing module 1 facing away from the displacement module 2. The stage 4 can be used to support the object to be positioned, which may be a patient. The stage 4 can also fix the object to be positioned, ensuring the stability of the position of the object to be positioned, preventing the object to be positioned from shifting during movement, and ensuring the accuracy and stability of positioning.

[0037] Specifically, refer to Figure 1 , Figure 3 The dual-axis swing module 1 may include a first swing component 11 and a second swing component 12. Preferably, the first swing component 11 and the second swing component 12 are independent of each other, meaning they operate independently to avoid mutual interference and ensure the accuracy of their movements. The first swing component 11 may be disposed on top of the second swing component 12. The first swing component 11 is used to support the part to be positioned; that is, the side of the first swing component 11 facing the second swing component 12 can be connected to the second swing component 12, and the side of the first swing component 11 facing away from the second swing component 12 can support the part to be positioned. The first swing component 11 can swing around a first rotation axis, and the second swing component 12 can swing around a second rotation axis, driving the first swing component 11 to swing synchronously. The first swing component 11 can swing back and forth on the left and right sides of the first rotation axis. The swing angle of the first swing component 11 is, for example, 0 to 90°. The second swing component 12 can swing back and forth on the left and right sides of the second rotation axis. The swing angle of the second swing component 12 is, for example, 0 to 90°.

[0038] Reference Figure 1 , Figure 2 , Figure 3The displacement module 2 may include a first translation component 21 and a second translation component 22. The dual-axis swing module 1 may be disposed on the first translation component 21. In this embodiment, the second swing component 12 is connected to the first translation component 21, and the first translation component 21 may be disposed on the second translation component 22. The first translation component 21 can drive the dual-axis swing module 1 to move along a first direction, that is, the first translation component 21 can drive the second swing component 12 to move along the first direction. The second translation component 22 can drive the first translation component 21 to move along a second direction and drive the dual-axis swing module 1 to move synchronously, that is, the second translation component 22 can drive the first translation component 21 to move along the second direction and drive the second swing component 12 to move synchronously. The first direction and the second direction are not parallel, that is, the movement direction of the first translation component 21 and the translation direction of the second translation component 22 are not the same direction. The first direction and the second direction are preferably two mutually perpendicular directions, that is, the first translation component 21 can move along the X-axis direction and the second translation component 22 can move along the Y-axis direction, or the first translation component 21 can move along the Y-axis direction and the second translation component 22 can move along the X-axis direction. In this embodiment, the first translation component 21 moves along the X-axis direction and the second translation component 22 moves along the Y-axis direction.

[0039] Reference Figure 1 , Figure 3 The displacement module 2 can be disposed on the lifting module 3, that is, the second displacement component can be connected to the lifting module 3. The lifting module 3 is used to drive the displacement module 2 to move up and down, that is, the lifting module 3 is used to drive the second displacement component to move up and down, so that the displacement module 2 drives the dual-axis swing module 1 to move up and down synchronously. In this embodiment, the lifting module 3 is used to drive the displacement module 2 to move up and down in the height direction, that is, the lifting module 3 is used to drive the displacement module 2 to move up and down in the Z-axis direction.

[0040] The first rotation axis and the second rotation axis can be intersected, and the intersection point of the first rotation axis and the second rotation axis can coincide with the preset point 200, so that the first swing component 11 and the second swing component 12 can swing around the preset point 200 at the same center.

[0041] As a preferred embodiment, when the component to be positioned is located in the centering device 100, the component to be positioned can be located at the intersection of the first rotation axis and the second rotation axis, that is, the component to be positioned can be located at the preset point 200. When the first swing component 11 and / or the second swing component 12 swing, the component to be positioned can swing around the preset point 200 at an isocentric point.

[0042] Furthermore, the second rotation axis is preferably perpendicular to the first rotation axis, that is, the swing direction of the first swing component 11 and the swing direction of the second swing component 12 can be perpendicular to each other.

[0043] In some embodiments, the stage 4 can adjust the position of the part to be positioned. For example, the stage 4 can control the position of the part to be positioned in the height direction, and the stage 4 can also control the position of the part to be positioned in the horizontal direction. That is, by adjusting the stage 4, different parts to be positioned and different positions of the parts to be positioned can be moved to the intersection of the first rotation axis and the second rotation axis, so that different parts to be positioned and different positions of the parts to be positioned can swing around the preset point 200 at the same center.

[0044] In this application, the dual-axis swing module 1, displacement module 2, and lifting module 3 can all be assembled independently, and then assembled together accordingly. This modular design not only makes the centering and positioning device 100 compact and space-saving, meeting the needs of applications with limited space, but also facilitates installation, reduces assembly difficulty, and improves assembly accuracy. By using displacement module 2 to drive the component to be positioned horizontally and lifting module 3 to drive it vertically, the adjustment range of the centering and positioning device 100 in both horizontal and vertical directions is increased, meeting the needs of wide-range adjustment. By using dual-axis swing module 1 to drive the component to be positioned to swing around the first and second rotation axes, and ensuring that the intersection of the first and second rotation axes coincides with a preset point 200, the first swing component 11 and the second swing component 12 can swing around the preset point 200 at equal centers. This not only improves positioning accuracy but also reduces positioning difficulty, shortens adjustment time, and thus improves adjustment efficiency.

[0045] In one specific implementation, refer to Figure 1 , Figure 3The first swing assembly 11 may include a first support platform 111 and a first base 112. The first support platform 111 may be generally flat, and in this embodiment, the first support platform 111 may be generally a flat quadrilateral. A first arc-shaped slider 113 may be provided on the side of the first support platform 111 facing the first base 112. The first arc-shaped slider 113 may be generally D-shaped, and the side of the first arc-shaped slider 113 facing the first base 112 may be arc-shaped. The side of the first base 112 facing the first support platform 111 may be arc-shaped. A first arc-shaped guide rail 114 matching the first arc-shaped slider 113 may be provided on the side of the first base 112 facing the first support platform 111. The first arc-shaped slider 113 can slide along the first arc-shaped guide rail 114 to drive the first support platform 111 to swing, that is, the first arc-shaped slider 113 can slide along the first arc-shaped guide rail 114 to drive the first support platform 111 to swing around the first rotation axis. Compared to making the side of the first support platform 111 facing the first base 112 arc-shaped, the weight of the first support platform 111 can be reduced by setting the first arc-shaped slider 113, thereby reducing the driving load of the centering and positioning device 100. Making the side of the first base 112 facing the first support platform 111 arc-shaped not only provides stable support for the first arc-shaped guide rail 114, but also reduces the weight of the first base 112, thereby reducing the driving load of the centering and positioning device 100.

[0046] The number of first arc-shaped sliders 113 and the number of first arc-shaped guide rails 114 can be one or more, and the number of first arc-shaped sliders 113 and the number of first arc-shaped guide rails 114 are the same, that is, the first arc-shaped sliders 113 and the first arc-shaped guide rails 114 are arranged in pairs. In this embodiment, the number of first arc-shaped sliders 113 and the number of first arc-shaped guide rails 114 are both two. The two first arc-shaped sliders 113 are respectively arranged close to both sides of the first support platform 111, and the two first arc-shaped guide rails 114 are respectively arranged close to both sides of the first base 112. The two pairs of first arc-shaped sliders 113 and first arc-shaped guide rails 114 can make the swing of the first support platform 111 smoother, and can improve the stability and accuracy of the swing of the first support platform 111.

[0047] The first swing assembly 11 may further include a first drive mechanism 115, which drives the first support platform 111 to swing along the first arc-shaped guide rail 114. As an example, the first drive mechanism 115 may include a motor and a lead screw, etc. The second drive mechanism 125 can not only realize the automatic swing of the first support platform 111, but also improve the swing accuracy of the first support platform 111, and at the same time improve the repeatability accuracy of the first support platform 111, that is, improve the repeatability accuracy of the part to be positioned.

[0048] Reference Figure 1 , Figure 3 The second swing assembly 12 may include a second support platform 121 and a second base 122. The second support platform 121 may be in the shape of a flat plate. In this embodiment, the second support platform 121 may be in the shape of a flat quadrilateral. The side of the first base 112 facing the second support platform 121 may be in the shape of a flat quadrilateral. The first base 112 may be connected to the second support platform 121. A second arc-shaped slider 123 may be provided on the side of the second support platform 121 facing the second base 122. The second arc-shaped slider 123 may be D-shaped in general. The side of the second arc-shaped slider 123 facing the second base 122 may be arc-shaped. The side of the second base 122 facing the second support platform 121 may be arc-shaped. A second arc-shaped guide rail 124 matching the second arc-shaped slider 123 may be provided on the side of the second base 122 facing the second support platform 121. The second arc-shaped slider 123 can slide along the second arc-shaped guide rail 124 to drive the second support platform 121 to swing. That is, the second arc-shaped slider can slide along the second arc-shaped guide rail 124 to drive the second support platform 121 to swing around the second rotation axis. The second support platform 121 drives the first support platform 111 to swing. That is, the second support platform 121 drives the first support platform 111 to swing around the second rotation axis. Compared to making the side of the second support platform 121 facing the second base 122 arc-shaped, the weight of the second support platform 121 can be reduced by setting the second arc-shaped slider 123, thereby reducing the driving load of the centering and positioning device 100. Making the side of the second base 122 facing the second support platform 121 arc-shaped not only provides stable support for the second arc-shaped guide rail 124, but also reduces the weight of the second base 122, thereby reducing the driving load of the centering and positioning device 100.

[0049] The number of second arc-shaped sliders 123 and second arc-shaped guide rails 124 can be one or more, and the number of second arc-shaped sliders 123 and second arc-shaped guide rails 124 is the same, that is, the second arc-shaped sliders 123 and second arc-shaped guide rails 124 are arranged in pairs. In this embodiment, the number of second arc-shaped sliders 123 and the number of second arc-shaped guide rails 124 are both two. The two pairs of second arc-shaped sliders 123 are respectively arranged near the two sides of the second support platform 121, and the two pairs of second arc-shaped guide rails 124 are respectively arranged near the two sides of the second base 122. The two pairs of second arc-shaped sliders 123 and second arc-shaped guide rails 124 can make the swing of the second support platform 121 smoother, and can improve the stability and accuracy of the swing of the second support platform 121.

[0050] The second swing assembly 12 may further include a second drive mechanism 125, which drives the second support platform 121 to swing along the second arc-shaped guide rail 124. As an example, the second drive mechanism 125 may also include a motor and a lead screw, etc. The second drive mechanism 125 not only enables the second support platform 121 to swing automatically, but also improves the swing accuracy of the second support platform 121, and also improves the accuracy of the repeated swing of the second support platform 121, thus improving the repeatability of the positioning of the part to be positioned.

[0051] As a preferred method, refer to Figure 1 , Figure 2 , Figure 3 The first translation component 21 may include a first support plate 211, a second support plate 212, a first linear slider 213 disposed on the first support plate 211, a first linear guide rail 214 disposed on the second support plate 212, and a third drive mechanism 215. The first support plate 211 may be connected to the dual-axis swing module 1, that is, the first support plate 211 may be connected to the second swing component 12. The third drive mechanism 215 is used to drive the first support plate 211 so that the first linear slider 213 moves along the first linear guide rail 214 in a first direction. As an example, the third drive mechanism 215 may also include a motor and a lead screw, etc. The third drive mechanism 215 can not only realize the automatic movement of the first support plate 211 in the first direction, but also improve the accuracy of the movement of the first support plate 211, and at the same time improve the accuracy of the repeated swing of the first support plate 211, that is, improve the repeatability of the positioning of the part to be positioned.

[0052] First limiting blocks 216 can also be provided at both ends of the first linear guide rail 214. The first limiting blocks 216 can not only limit the range of movement of the first linear slider 213 on the first linear guide rail 214, but also prevent the first linear slider 213 from falling off the first linear guide rail 214, thus ensuring the safety of the centering and positioning device 100.

[0053] Reference Figure 1 , Figure 2 , Figure 3The second translation component 22 may include a third support plate 221, a second linear slider 222 disposed on the second support plate 212, a second linear guide rail 223 disposed on the third support plate 221, and a fourth drive mechanism 224. The fourth drive mechanism 224 is used to drive the second support plate 212 so that the second linear slider 222 moves along the second linear guide rail 223 in the second direction. As an example, the fourth drive mechanism 224 may also include a motor and a lead screw, etc. The fourth drive mechanism 224 can not only realize the automatic movement of the second support plate 212 in the second direction, but also improve the accuracy of the movement of the second support plate 212, and at the same time improve the accuracy of the repeated oscillation of the second support plate 212, that is, improve the repeatability of the positioning of the part to be positioned.

[0054] Second limit blocks 225 can also be provided at both ends of the second linear guide rail 223. The second limit blocks 225 can not only limit the range of movement of the second linear slider 222 on the second linear guide rail 223, but also prevent the second linear slider 222 from falling off the second linear guide rail 223, thus ensuring the safety of the centering and positioning device 100.

[0055] In one specific implementation, refer to Figure 3 , Figure 4 , Figure 5 The lifting module 3 may include a first platform 31, a second platform 32, and a drive assembly 33 disposed between the first platform 31 and the second platform 32. The first platform 31 may be disposed above the second platform 32, that is, the first platform 31 may be disposed close to the translation module. The drive assembly 33 may include at least one first support rod 331 and at least one second support rod 332. The first support rod 331 and the second support rod 332 may be arranged in an X-shape, that is, the first support rod 331 and the second support rod 332 may be scissor-shaped. The two ends of the first support rod 331 may be pivotally connected to the first platform 31 and the second platform 32 respectively. The lifting and lowering of the first platform 31 is controlled by controlling the intersection angle of the first support rod 331 and the second support rod 332. When the intersection angle between the first support rod 331 and the second support rod 332 increases, the first platform 31 can rise, thereby driving the part to be positioned to rise. When the intersection angle between the first support rod 331 and the second support rod 332 decreases, the first platform 31 can descend, thereby driving the part to be positioned to descend.

[0056] Reference Figure 4 , Figure 5The first support rod 331 and the second support rod 332 are arranged in an X-shape, which not only ensures that the lifting module 3 has a large adjustment range in the height direction, but also makes the lifting module 3 small in size when the intersection angle of the first support rod 331 and the second support rod 332 is the smallest, that is, when the lifting module 3 is in the initial state. This makes the centering and positioning device 100 compact in overall structure, occupies little space, meets the application scenarios with relatively small space, is easy to install, reduces assembly difficulty, and can improve assembly accuracy.

[0057] The first support rod 331 and the second support rod 332 are preferably arranged in pairs, that is, one first support rod 331 and one second support rod 332 are arranged in an X shape. In this embodiment, the drive assembly 33 may include two pairs of first support rods 331 and second support rods 332. The two pairs of first support rods 331 and second support rods 332 are respectively arranged on opposite sides of the lifting module 3. The two pairs of first support rods 331 and second support rods 332 can make the lifting of the first platform 31 more stable.

[0058] Reference Figure 4 , Figure 5 The drive assembly 33 may also include a connecting rod 336, the two ends of which are pivotally connected to the intersection of the first support rod 331 and the second support rod 332 located on both sides of the lifting module 3. The connecting rod 336 can not only make the connection between the first support rod 331 and the second support rod 332 of the same pair more stable, but also make the connection between the two pairs of first support rod 331 and the second support rod 332 more stable, thereby making the lifting of the first platform 31 more stable.

[0059] The number of connecting rods 336 is preferably multiple. The two ends of the connecting rods 336 can be pivotally connected to the ends of the two first support rods 331 near the first platform 31, the two ends of the connecting rods 336 can be pivotally connected to the ends of the two first support rods 331 near the second platform 32, the two ends of the connecting rods 336 can be pivotally connected to the ends of the two second support rods 332 near the first platform 31, and the two ends of the connecting rods 336 can be pivotally connected to the ends of the two second support rods 332 near the second platform 32. Multiple connecting rods 336 can make the connection between the two pairs of first support rods 331 and second support rods 332 more stable.

[0060] As a preferred method, refer to Figure 4 , Figure 5The driving assembly 33 may further include a fifth driving mechanism 333, a third linear slider 334, and a third linear guide rail 335. The third linear slider 334 is at least disposed at one end of the first support rod 331, and the third linear guide rail 335 may be correspondingly disposed on the first platform 31 and / or the second platform 32. The fifth driving mechanism 333 is used to drive the third linear slider 334 to move the first support rod 331 along the third linear guide rail 335. That is, when the third linear slider 334 is disposed at the end of the first support rod 331 near the first platform 31, the third linear guide rail 335 may be correspondingly disposed on the first platform 31; when the third linear slider 334 is disposed at the end of the first support rod 331 near the second platform 32, the third linear guide rail 335 may be correspondingly disposed on the second platform 32; when the third linear slider 334 is disposed at both ends of the first support rod 331, the third linear guide rail 335 may be correspondingly disposed on the first platform 31 and the second platform 32.

[0061] The third linear slider 334 is at least disposed at one end of the second support rod 332, and the third linear guide rail 335 can be correspondingly disposed on the first platform 31 and / or the second platform 32. The fifth drive mechanism 333 is used to drive the third linear slider 334 to move the second support rod 332 along the third linear guide rail 335. That is, when the third linear slider 334 is disposed at one end of the second support rod 332 near the first platform 31, the third linear guide rail 335 can be correspondingly disposed on the first platform 31; when the third linear slider 334 is disposed at one end of the second support rod 332 near the second platform 32, the third linear guide rail 335 can be correspondingly disposed on the second platform 32; when the third linear slider 334 is disposed at both ends of the second support rod 332, the third linear guide rail 335 can be correspondingly disposed on the first platform 31 and the second platform 32 respectively.

[0062] The third linear slider 334 and the third linear guide rail 335 enable smoother and more stable movement of the first support rod 331 and the second support rod 332, thereby making the lifting and lowering of the first platform 31 smoother and more stable. In this embodiment, the third linear slider 334 is respectively disposed at the end of the first support rod 331 near the first platform 31 and the end of the second support rod 332 near the second platform 32, and the third linear guide rail 335 is correspondingly disposed at the first platform 31 and the second platform 32. That is, the third linear slider 334 and the third linear guide rail 335 are disposed on the same side of the lifting module 3, which further makes the movement of the first support rod 331 and the second support rod 332 smoother and more stable, thereby making the lifting and lowering of the first platform 31 smoother and more stable.

[0063] As an example, refer to Figure 5The fifth drive mechanism 333 can also include a motor and a lead screw, etc. The lead screw can be connected to the connecting rod 336. The motor drives the connecting rod 336 to move by controlling the lead screw. The connecting rod 336 can drive the first support rod 331 and the second support rod 332 to move, thereby controlling the intersection angle of the first support rod 331 and the second support rod 332, and thus controlling the lifting and lowering of the first platform 31. The fifth drive mechanism 333 can not only realize the automatic lifting and lowering of the first platform 31 in the height direction, but also improve the lifting and lowering accuracy of the first platform 31, and at the same time improve the repeatability of the lifting and lowering accuracy of the first platform 31, that is, improve the repeatability of the positioning of the part to be positioned.

[0064] In some embodiments, the lifting module 3 may include a first platform 31, a second platform 32, and at least two actuators (not shown) disposed between the first platform 31 and the second platform 32. The first platform 31 may be disposed above the second platform 32, i.e., the first platform 31 is disposed close to the translation module. The two ends of the actuators are respectively connected to the first platform 31 and the second platform 32, and the actuators are used to drive the first platform 31 to move and / or rotate. Each actuator may operate independently, and the actuator may change the position of the first support by telescoping.

[0065] As a preferred method, refer to Figure 4 , Figure 5 The lifting module 3 may also include a rotating component 34, which can be mounted on the first platform 31. The rotating component 34 may include a sixth drive mechanism 341 and a rotating platform 342. The rotating platform 342 can be connected to the displacement module 2, i.e., the rotating platform 342 can be connected to the second translation component 22. The sixth drive mechanism 341 drives the rotating platform 342 to rotate the displacement module 2 circumferentially around a third rotation axis. This third rotation axis can coincide with the intersection point of the first and second rotation axes. When the intersection point of the first and second rotation axes coincides with a preset point 200, the sixth drive mechanism 341 can drive the rotating platform 342 to rotate around the preset point 200. As an example, the sixth drive mechanism 341 may include a motor, which can drive the rotating platform 342 to rotate circumferentially. The sixth drive mechanism 341 can drive the support platform to rotate 360° circumferentially, and the rotating component 34 can rotate the object to be positioned to any desired angle.

[0066] In some embodiments, the present invention also provides a medical device including the aforementioned centering and positioning device, which improves the positioning accuracy of patients, reduces the difficulty of positioning, and shortens the time for position adjustment, thereby improving the efficiency of medical services and allowing patients to experience more advanced medical technology.

[0067] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the invention without departing from the principles and spirit of the invention, and all such changes should fall within the protection scope of the claims of the present invention.

Claims

1. A centering and positioning device, characterized in that, include: A dual-axis swing module includes a first swing component and a second swing component. The first swing component is disposed on the second swing component. The first swing component is used to carry the part to be positioned. The first swing component can swing around a first rotation axis. The second swing component can swing around a second rotation axis and drive the first swing component to swing synchronously. The displacement module includes a first translation component and a second translation component. The dual-axis swing module is disposed on the first translation component, and the first translation component is disposed on the second translation component. The first translation component can drive the dual-axis swing module to move along a first direction, and the second translation component can drive the first translation component to move along a second direction and drive the dual-axis swing module to move synchronously. The first direction and the second direction are not parallel. A lifting module is provided, wherein the displacement module is disposed on the lifting module, and the lifting module is used to drive the displacement module to lift and lower, so that the displacement module drives the dual-axis swing module to lift and lower synchronously. The first rotation axis and the second rotation axis are intersecting, and the intersection point of the first rotation axis and the second rotation axis can coincide with a preset point, so that the first swing component and the second swing component can swing around the preset point at the same center.

2. The centering and positioning device according to claim 1, characterized in that, The second rotation axis is set perpendicular to the first rotation axis.

3. The centering and positioning device according to claim 1, characterized in that, The first swing assembly includes a first support platform and a first base. A first arc-shaped slider is provided on the side of the first support platform facing the first base. A first arc-shaped guide rail matching the first arc-shaped slider is provided on the side of the first base facing the first support platform. The first arc-shaped slider can slide along the first arc-shaped guide rail to drive the first support platform to swing. The second swing assembly includes a second support platform and a second base. The first base is connected to the second support platform. A second arc-shaped slider is provided on the side of the second support platform facing the second base. A second arc-shaped guide rail matching the second arc-shaped slider is provided on the side of the second base facing the second support platform. The second arc-shaped slider can slide along the second arc-shaped guide rail to drive the second support platform to swing. The second support platform drives the first support platform to swing.

4. The centering and positioning device according to claim 3, characterized in that, The first swing assembly further includes a first drive mechanism for driving the first support platform to swing along the first arc-shaped guide rail. The second swing assembly further includes a second drive mechanism for driving the second support platform to swing along the second arc-shaped guide rail.

5. The centering and positioning device according to claim 1, characterized in that, The first translation component includes a first support plate, a second support plate, a first linear slider disposed on the first support plate, a first linear guide rail disposed on the second support plate, and a third driving mechanism. The first support plate is connected to the dual-axis swing module, and the third driving mechanism is used to drive the first support plate so that the first linear slider moves along the first linear guide rail in a first direction. The second translation component includes a third support plate, a second linear slider disposed on the second support plate, a second linear guide rail disposed on the third support plate, and a fourth driving mechanism. The fourth driving mechanism is used to drive the second support plate so that the second linear slider moves along the second linear guide rail in a second direction.

6. The centering and positioning device according to claim 1, characterized in that, The lifting module includes a first platform, a second platform, and a drive assembly disposed between the first platform and the second platform. The drive assembly includes at least one first support rod and at least one second support rod, which are arranged in an X-shape. The two ends of the first support rod are pivotally connected to the first platform and the second platform, respectively. The lifting of the first platform is controlled by controlling the intersection angle of the first support rod and the second support rod.

7. The centering and positioning device according to claim 6, characterized in that, The driving assembly further includes a fifth driving mechanism, a third linear slider, and a third linear guide rail. The third linear slider is at least disposed at one end of the first support rod, and the third linear guide rail is correspondingly disposed on the first platform and / or the second platform. The fifth driving mechanism is used to drive the third linear slider to move the first support rod along the third linear guide rail; and / or... The third linear slider is at least disposed at one end of the second support rod, and the third linear guide rail is correspondingly disposed on the first platform and / or the second platform. The fifth driving mechanism is used to drive the third linear slider to move the second support rod along the third linear guide rail.

8. The centering and positioning device according to claim 6, characterized in that, The first support rod and the second support rod are arranged in pairs, and the two pairs of the first support rod and the second support rod are respectively arranged on opposite sides of the lifting module. The drive assembly also includes a connecting rod, and the two ends of the connecting rod are pivotally connected to the intersection of the first support rod and the second support rod located on both sides of the lifting module.

9. The centering and positioning device according to claim 1, characterized in that, The lifting module includes a first platform, a second platform, and at least two actuators disposed between the first platform and the second platform. The two ends of the actuators are respectively connected to the first platform and the second platform, and the actuators are used to drive the first platform to move and / or rotate.

10. The centering and positioning device according to claim 6 or 9, characterized in that, The lifting module further includes a rotating component, which is disposed on the first platform. The rotating component includes a sixth driving mechanism and a rotating platform. The rotating platform is connected to the displacement module. The sixth driving mechanism is used to drive the rotating platform to drive the displacement module to rotate circumferentially around a third rotation axis, wherein the third rotation axis can coincide with the intersection point of the first rotation axis and the second rotation axis.

11. A medical device, characterized in that, The device includes the centering and positioning device as described in any one of claims 1-10.

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