Two-dimensional mechanical arm self-leveling device for testing water tank

Abstract

The utility model relates to a two-dimensional mechanical arm self-leveling device of a test water tank, which comprises the test water tank, the test water tank is a box body structure enclosed by a bottom plate, a front panel, a left panel, a rear panel and a right panel, a horizontal straight arm is arranged above the front panel of the test water tank, and the horizontal straight arm is used for installing a two-dimensional mechanical arm. The right side of the horizontal straight arm is connected with a horizontal side arm, sensor supports are arranged at the two ends of the side face, facing the inner cavity of the test water tank, of the horizontal straight arm and the side face, facing the inner cavity of the test water tank, of the horizontal side arm, and distance measuring sensors are installed on the sensor supports; a first levelness adjusting device is installed between the upper end of the left panel and the bottom of the horizontal straight arm, and a second levelness adjusting device is installed between the upper end of the right panel and the bottom of the horizontal side arm. The device is simple to operate and high in accuracy, the distance between the horizontal straight arm and the water surface and the distance between the horizontal side arm and the water surface are measured through the distance measuring sensor, the position is electrically adjusted, and the adjusting precision is improved; the positioning is convenient, and the positioning efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of X-ray radiotherapy testing, in particular to a two-dimensional mechanical arm self-leveling device for a testing water tank. Background Art

[0002] As the gold standard of X-ray radiotherapy, water tank testing plays a pivotal role in the research and development, production, acceptance and annual inspection of radiotherapy equipment, and plays an important role in providing basic data for dose distribution calculation of treatment plans. The test items mainly include percentage dose depth and dose distribution curve. The percentage dose depth is used to characterize the X-ray energy, and the dose distribution curve is used to obtain dose distribution information, such as dose distribution symmetry, radiation field size, penumbra, etc.

[0003] In the water tank test, the box is used to hold the test water, and the two-dimensional robotic arm is placed on the box to drive the ionization chamber to move in the water tank. The adjusting screw is used to adjust the horizontality and verticality of the robotic arm. The control box is used to control the movement direction of the robotic arm. The electrometer is used to collect the amount of charge generated by the ionization chamber under radiation.

[0004] The accuracy of water tank positioning is an important link to ensure the reliability of dose depth and dose distribution curve test results. At present, the most difficult part of water tank positioning is to adjust the level of the robotic arm to ensure the horizontality and verticality of the ionization chamber's motion trajectory. This test mainly relies on the naked eye to observe the positional relationship between the ionization chamber and the laser light and between the ionization chamber and the water surface, and the accuracy is difficult to guarantee. Especially for the ring frame, the test needs to be carried out at the isocenter position, that is, inside the center tube. When positioning the water tank, it is necessary to consider the impact of the treatment bed's sedimentation. Therefore, it is necessary to observe the positional relationship between the ionization chamber's motion trajectory and the water surface in the center tube. The observation is very difficult, and the adjustment method of the robotic arm relies entirely on manual adjustment. Therefore, it is necessary to observe repeatedly after each adjustment to confirm whether the ionization chamber's motion trajectory is horizontal, which is inefficient. Utility Model Content

[0005] The utility model aims to solve the deficiencies of the prior art and provides a two-dimensional mechanical arm self-leveling device for a test water tank.

[0006] In order to achieve the above-mentioned purpose, the utility model adopts the following technical solutions:

[0007] A two-dimensional mechanical arm self-leveling device for a test water tank comprises a test water tank, wherein the test water tank is a box structure formed by a bottom plate, a front panel, a left panel, a rear panel and a right panel, a horizontal straight arm is arranged above the front panel of the test water tank, the horizontal straight arm is used to install the two-dimensional mechanical arm, a horizontal side arm is connected to the right side of the horizontal straight arm, sensor brackets are arranged on both ends of the side of the horizontal straight arm facing the inner cavity of the test water tank and on the side of the horizontal side arm facing the inner cavity of the test water tank, and a distance measuring sensor is installed on the sensor bracket; a first levelness adjustment device is installed between the upper end of the left panel and the bottom of the horizontal straight arm, and a second levelness adjustment device is installed between the upper end of the right panel and the bottom of the horizontal side arm.

[0008] The first level adjustment device includes a first bracket plate fixed on the top of the left panel, the first bracket plate extends out of the front panel and a first motor bracket is fixed on the extended end surface, a first driving motor is fixedly installed on the first motor bracket, a pulley bracket is fixed to the bottom of the extended end of the first bracket plate, a pulley is installed on the pulley bracket, a transmission belt is installed between the pulley and the output shaft of the first driving motor, a sliding key is arranged and connected to the central axis of the pulley, a threaded hole is provided at the extended end of the first bracket plate and a first adjusting pin is threadedly installed in the threaded hole, a key slot is provided at the bottom of the first adjusting pin, the sliding key is inserted and installed in the key slot, and the top of the first adjusting pin abuts against the bottom of the horizontal straight arm.

[0009] The second level adjustment device includes a second bracket plate fixed on the top of the right panel, the second bracket plate extends out of the front panel, a swing arm mounting groove is opened on the outer side surface of the second bracket plate below the horizontal side arm, a swing arm is installed in the swing arm mounting groove through a pin shaft, a sleeve gear plate is installed at a position of the swing arm center corresponding to the pin shaft, a second motor bracket is installed on the outer side surface of the second bracket plate, a second driving motor is installed outside the second motor bracket, an output shaft of the second driving motor is connected to a driving gear plate, the driving gear plate is meshed and installed with the sleeve gear plate, both ends of the upper surface of the swing arm are provided with a head, and a second adjusting pin is movably mounted on the second bracket plate corresponding to each head, a spring is provided between the bottom of the outer wall of the second adjusting pin and the second bracket plate, and the top of the second adjusting pin abuts against the bottom of the horizontal side arm.

[0010] It also includes a control box arranged on one side of the test water tank, and the control box is communicatively connected with the distance measuring sensor, the first level adjustment device, the second level adjustment device, and the two-dimensional mechanical arm.

[0011] The beneficial effects of the utility model are as follows: the utility model is simple to operate and has high accuracy, uses a distance measuring sensor to measure the distance from the horizontal straight arm and the horizontal side arm to the water surface, and electrically adjusts the position, thereby improving the adjustment accuracy; the positioning is convenient and the positioning efficiency is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a structural schematic diagram of one direction of the utility model;

[0013] Figure 2 It is a structural schematic diagram of another direction of the utility model;

[0014] Figure 3 This is a schematic diagram of the structure of the test water tank;

[0015] Figure 4 It is a schematic diagram of the structure of the horizontal straight arm and the horizontal side arm;

[0016] Figure 5 is a structural schematic diagram of a first level adjustment device;

[0017] Figure 6 is a cross-sectional view of a first level adjustment device;

[0018] Figure 7 is a structural schematic diagram of a second level adjustment device;

[0019] Figure 8 It is a structural schematic diagram of the swing arm;

[0020] In the figure: 1-test water tank; 2-horizontal straight arm; 3-horizontal side arm; 4-sensor bracket; 5-distance sensor; 6-first level adjustment device; 7-second level adjustment device; 8-control box;

[0021] 101-bottom panel; 102-front panel; 103-left panel; 104-rear panel; 105-right panel;

[0022] 601-first bracket plate; 602-first motor bracket; 603-first drive motor; 604-pulley bracket; 605-pulley; 606-transmission belt; 607-sliding key; 608-threaded hole; 609-first adjustment pin; 610-key slot;

[0023] 701-second bracket plate; 702-swing arm mounting slot; 703-pin shaft; 704-swing arm; 705-sleeve gear plate; 706-second motor bracket; 707-second drive motor; 708-head; 709-second adjustment pin; 710-spring; 711-side T-shaped fixing seat;

[0024] The following is a detailed description of the embodiments of the present invention with reference to the accompanying drawings. DETAILED DESCRIPTION

[0025] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention. The present invention is described in more detail in the following paragraphs by way of example with reference to the accompanying drawings. The advantages and features of the present invention will become clearer according to the following description. It should be noted that the drawings are all in a very simplified form and are not in precise proportions, and are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention.

[0026] It should be noted that when a component is referred to as being "fixed to" another component, it may be directly on the other component or there may also be a component centered. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may also be a component centered. When a component is considered to be "set on" another component, it may be directly set on the other component or there may also be a component centered. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art in the technical field of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0028] The utility model is further described below in conjunction with the accompanying drawings and embodiments:

[0029] A two-dimensional mechanical arm self-leveling device for testing water tanks, such as Figure 1 to Figure 2 As shown, it includes a test water tank 1, a horizontal straight arm 2, a horizontal side arm 3, a sensor bracket 4, a distance sensor 5, a first level adjustment device 6, a second level adjustment device 7, and a control box 8.

[0030] The test water tank 1 is a box structure surrounded by a bottom plate 101, a front panel 102, a left panel 103, a rear panel 104 and a right panel 105. A horizontal straight arm 2 is provided above the front panel of the test water tank 1. The horizontal straight arm 2 is used to install a two-dimensional robotic arm. A horizontal side arm 3 is connected to the right side of the horizontal straight arm 2. Sensor brackets 4 are provided on both ends of the side of the horizontal straight arm 2 facing the inner cavity of the test water tank 1 and on the side of the horizontal side arm 3 facing the inner cavity of the test water tank 1. A distance measuring sensor 5 is installed on the sensor bracket 4; a first levelness adjustment device 6 is installed between the upper end of the left panel 103 and the bottom of the horizontal straight arm 2, and a second levelness adjustment device 7 is installed between the upper end of the right panel 105 and the bottom of the horizontal side arm 3.

[0031] It also includes a control box 8 arranged on one side of the test water tank 1, and the control box 8 is communicatively connected with the distance sensor 5, the first level adjustment device 6, the second level adjustment device 7, and the two-dimensional robotic arm.

[0032] The first level adjustment device 6 includes a first bracket plate 601 fixed on the top of the left panel 103, the first bracket plate 601 extends out of the front panel 102 and a first motor bracket 602 is fixed on the extended end surface, a first drive motor 603 is fixedly installed on the first motor bracket 602, a pulley bracket 604 is fixed to the bottom of the extended end of the first bracket plate 601, a pulley 605 is installed on the pulley bracket 604, a transmission belt 606 is installed between the pulley 605 and the output shaft of the first drive motor 603, a slide key 607 is arranged and connected to the central axis of the pulley 605, a threaded hole 608 is provided at the extended end of the first bracket plate 601, and a first adjusting pin 609 is threadedly installed in the threaded hole 608, a key slot 610 is provided at the bottom of the first adjusting pin 609, the slide key 607 is penetrated and installed in the key slot 610, and the top of the first adjusting pin 609 abuts against the bottom of the horizontal straight arm 2.

[0033] The first motor bracket 602 is an L-shaped structure.

[0034] The first bracket plate 601 is detachably mounted on the top of the left panel 103 by bolts.

[0035] The second level adjustment device 7 includes a second bracket plate 701 fixed on the top of the right panel 105, the second bracket plate 701 extends out of the front panel 102, a swing arm mounting groove 702 is provided on the outer side of the second bracket plate 701 below the horizontal side arm 3, a swing arm 704 is installed in the swing arm mounting groove 702 through a pin shaft 703, a sleeve gear plate 705 is installed at a position of the center of the swing arm 704 corresponding to the pin shaft 703, a second motor bracket 706 is installed on the outer side of the second bracket plate 701, and the second A second driving motor 707 is installed outside the motor bracket 706, and the output shaft of the second driving motor 707 is connected to a driving gear disc, which is meshed with the sleeve gear disc 705. Both ends of the upper surface of the swing arm 704 are provided with a head 708, and each head 708 on the second bracket plate 701 is movably sleeved with a second adjusting pin 709. A spring 710 is provided between the bottom of the outer wall of the second adjusting pin 709 and the second bracket plate 701, and the top of the second adjusting pin 709 abuts against the bottom of the horizontal side arm 3.

[0036] A vertical groove is opened on the side wall of the second bracket plate 701 at a position corresponding to the second adjusting pin 709, and a side T-shaped fixing seat 711 is installed in the vertical groove. The side T-shaped fixing seat 711 is fixed to the side wall of the second bracket plate 701 by bolts, and the second adjusting pin 709 is passed through the side T-shaped fixing seat 711. The spring 710 is arranged between the bottom of the outer wall of the second adjusting pin 709 and the bottom of the side T-shaped fixing seat 711.

[0037] The second bracket plate 701 is detachably mounted on the top of the right panel 105 by bolts.

[0038] When the utility model is actually used, the two-dimensional mechanical arm is fixed on the horizontal straight arm 2 and the horizontal side arm 3, and the ionization chamber is installed on the two-dimensional mechanical arm. The two-dimensional mechanical arm drives the ionization chamber to move two-dimensionally in the vertical and horizontal directions in the water tank, and the amount of charge generated by the ionization chamber under the radiation is collected by the external electrometer. The horizontality of the two-dimensional mechanical arm is controlled by the horizontality of the horizontal straight arm 2 and the horizontal side arm 3, and the horizontality of the horizontal straight arm 2 and the horizontal side arm 3 can be adjusted by the first horizontality adjustment device 6, the second horizontality adjustment device 7 in conjunction with the distance sensor 5 and the control box 8. The specific adjustment process is as follows:

[0039] Two of the three distance sensors 5 are located at both ends of the horizontal straight arm 2, and are used to obtain the distance from the horizontal straight arm 2 to the water surface. When the data measured by the two distance sensors 5 are consistent, it can be shown that the horizontal straight arm 2 is parallel to the water surface; another of the three distance sensors 5 is located at the horizontal side arm 3, and is used to obtain the distance from the horizontal side arm 3 to the water surface. When the data measured by the distance sensor 5 is consistent with the data measured by the two distance sensors 5 of the horizontal straight arm 2, it can be shown that the horizontal side arm 3 is parallel to the water surface. If the data are inconsistent, the signal is transmitted to the control box 8, and the control box 8 adjusts the first level adjustment device 6 and the second level adjustment device 7 as needed. The first driving motor 603 drives the pulley 605 and the sliding key 607 to rotate through the transmission belt 606. The sliding key 607 is installed with the first adjustment pin 609 through the keyway 610. Under the action of rotation, the first adjustment pin 609 can rise or fall due to the action of the thread of the threaded hole 608, thereby completing the adjustment of the height of the horizontal straight arm 2. The output shaft of the second driving motor 707 rotates, driving the driving gear disc and the sleeve gear disc 705 to rotate, thereby causing the swing arm 704 to swing, driving the second adjusting pins 709 at both ends to rise or fall to adjust the height of the horizontal side arm 3 until the requirements are met. After the leveling is completed, the leveling control box 8 can be closed to lock the current position, and then the normal water tank scanning procedure can be carried out.

[0040] The model of the control box 8 may be Omron PLC--CPM1A-V1 series.

[0041] The utility model is simple to operate and has high accuracy. It no longer relies on naked eye observation, but uses a distance measuring sensor 5 to measure the distance from the horizontal straight arm 2, the horizontal side arm 3 to the water surface, and electrically adjusts the height of the horizontal straight arm 2, the horizontal side arm 3, thereby improving the adjustment accuracy; it is convenient for positioning and improves the positioning efficiency. The horizontal degree of the horizontal straight arm 2, the horizontal side arm 3 can be adjusted by one button without manual repeated adjustment.

[0042] The utility model is described above by way of example in conjunction with the accompanying drawings. It is obvious that the specific implementation of the utility model is not limited to the above-mentioned method. As long as various improvements are made using the method concept and technical solution of the utility model, or are directly applied to other occasions without improvement, they are all within the protection scope of the utility model.

Claims

1. A two-dimensional mechanical arm self-leveling device for a test water tank, characterized in that: The invention comprises a test water tank (1), wherein the test water tank (1) is a box structure formed by enclosing a bottom plate (101), a front panel (102), a left panel (103), a rear panel (104) and a right panel (105); a horizontal straight arm (2) is arranged above the front panel of the test water tank (1); the horizontal straight arm (2) is used to install a two-dimensional mechanical arm; a horizontal side arm (3) is connected to the right side of the horizontal straight arm (2); sensor brackets (4) are arranged on both ends of the side of the horizontal straight arm (2) facing the inner cavity of the test water tank (1) and on the side of the horizontal side arm (3) facing the inner cavity of the test water tank (1); a distance measuring sensor (5) is installed on the sensor bracket (4); a first levelness adjusting device (6) is installed between the upper end of the left panel (103) and the bottom of the horizontal straight arm (2); and a second levelness adjusting device (7) is installed between the upper end of the right panel (105) and the bottom of the horizontal side arm (3).

2. A two-dimensional mechanical arm self-leveling device for a test water tank according to claim 1, characterized in that: The first level adjustment device (6) comprises a first bracket plate (601) fixed on the top of the left panel (103), the first bracket plate (601) extends out of the front panel (102) and a first motor bracket (602) is fixed on the extended end surface, a first driving motor (603) is fixedly mounted on the first motor bracket (602), a pulley bracket (604) is fixed at the bottom of the extended end of the first bracket plate (601), a pulley (605) is mounted on the pulley bracket (604), and the pulley (605) is connected to the first A transmission belt (606) is installed between the output shafts of a driving motor (603), a sliding key (607) is arranged on the central axis of the pulley (605) and is connected, a threaded hole (608) is provided at the extended end of the first bracket plate (601), and a first adjusting pin (609) is installed with a thread in the threaded hole (608), a key slot (610) is provided at the bottom of the first adjusting pin (609), the sliding key (607) is inserted and installed in the key slot (610), and the top of the first adjusting pin (609) contacts the bottom of the horizontal straight arm (2).

3. A two-dimensional mechanical arm self-leveling device for testing a water tank according to claim 2, characterized in that: The first motor bracket (602) is an L-shaped structure.

4. A two-dimensional mechanical arm self-leveling device for testing a water tank according to claim 3, characterized in that: The first bracket plate (601) is detachably mounted on the top of the left panel (103) by means of bolts.

5. A two-dimensional mechanical arm self-leveling device for testing a water tank according to claim 1, characterized in that: The second level adjustment device (7) comprises a second bracket plate (701) fixed on the top of the right panel (105), the second bracket plate (701) extending out of the front panel (102), a swing arm installation groove (702) is provided on the outer side surface of the second bracket plate (701) below the horizontal side arm (3), a swing arm (704) is installed in the swing arm installation groove (702) via a pin shaft (703), a sleeve toothed disc (705) is installed at the position of the center of the swing arm (704) corresponding to the pin shaft (703), and a second motor bracket (706) is installed on the outer side surface of the second bracket plate (701), A second drive motor (707) is installed outside the second motor bracket (706), and the output shaft of the second drive motor (707) is connected to a drive gear disc, which is meshed with the sleeve gear disc (705). Both ends of the upper surface of the swing arm (704) are provided with a head (708), and a second adjustment pin (709) is movably mounted on each head (708) on the second bracket plate (701). A spring (710) is provided between the bottom of the outer wall of the second adjustment pin (709) and the second bracket plate (701), and the top of the second adjustment pin (709) contacts the bottom of the horizontal side arm (3).

6. A two-dimensional mechanical arm self-leveling device for testing a water tank according to claim 5, characterized in that: A vertical groove is provided on the side wall of the second bracket plate (701) at a position corresponding to the second adjusting pin (709), and a side T-shaped fixing seat (711) is installed in the vertical groove. The side T-shaped fixing seat (711) is fixed to the side wall of the second bracket plate (701) by bolts. The second adjusting pin (709) is inserted into the side T-shaped fixing seat (711), and the spring (710) is arranged between the bottom of the outer wall of the second adjusting pin (709) and the bottom of the side T-shaped fixing seat (711).

7. A two-dimensional mechanical arm self-leveling device for testing a water tank according to claim 6, characterized in that: The second bracket plate (701) is detachably mounted on the top of the right panel (105) by bolts.

8. The two-dimensional mechanical arm self-leveling device for testing a water tank according to claim 1, characterized in that: It also includes a control box (8) arranged on one side of the test water tank (1), and the control box (8) is communicatively connected with the distance sensor (5), the first level adjustment device (6), the second level adjustment device (7), and the two-dimensional mechanical arm.

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