A displacement device for automatically moving a scanning bed longitudinally during a lifting process

Abstract

The utility model discloses a displacement device that automatically moves a scanning bed longitudinally during a lifting process, comprising a scanning bed, a control unit, a lifting frame sensor, a motor, a lead screw pair and a lead screw sensor. The motor is connected to the lead screw pair to drive the rotation and movement of the lead screw pair. The control unit is connected to the lifting frame sensor, the motor and the lead screw sensor, and controls the rotation of the motor according to data measured by the lifting frame sensor and the lead screw sensor. The displacement device provided by the utility model measures the swing angle of the scanning bed lifting frame to obtain the vertical height and longitudinal displacement of the bed board bracket. The motor and the lead screw pair move the bed board longitudinally to compensate for the displacement of the bed board bracket, so that the longitudinal position of the bed board is not changed while the height of the bed board is changed.

Description

Technical Field

[0001] The utility model relates to a displacement device which automatically moves a scanning bed longitudinally during a lifting process, and belongs to the technical field of medical equipment. Background Art

[0002] The scanning bed used in the static CT system needs to realize lifting and lowering movement in the vertical direction (i.e., Y direction) and horizontal movement in the longitudinal direction (i.e., Z direction). When the scanning bed is lifted and lowered by a parallelogram lifting mechanism, the longitudinal position of the bed plate is offset due to the influence of mechanical linkage while it is lifted and lowered in the vertical direction.

[0003] In the Chinese invention with patent number ZL 201910800684.6, a vehicle-mounted medical diagnostic device is disclosed. The technical solution includes a scanning bed frame, a lifting mechanism for controlling the scanning bed frame, and a base for fixing the lifting mechanism. The lifting mechanism includes a front swing bar, a rear swing bar, and an actuator for driving the front swing bar and the rear swing bar to adjust the position. The top ends of the front swing bar and the rear swing bar are respectively connected to the scanning bed frame, and the bottom ends of the front swing bar and the rear swing bar are respectively connected to the base. A longitudinal limit device is provided on the lifting mechanism to lock the lifting mechanism.

[0004] In addition, in the Chinese patent application with application number 201910170187.2, a longitudinal braking device for a medical MR scanner is disclosed. The technical solution includes a scanning bed frame, a fixed bed board and a movable bed board, the fixed bed board is fixedly arranged on the scanning bed frame, a vertical baffle is fixedly arranged on the tail end surface of the fixed bed board, a main ball screw is arranged on the left end surface of the fixed bed board, a main ball screw is arranged on the main ball screw, a driven light bar is arranged on the right end surface of the fixed bed board, and a driven light bar is arranged on the driven light bar. The left and right ends of the back of the movable bed board are respectively fixed on the main screw pair and the light bar pair, and the movable bed board can be freely moved through the main screw pair and the light bar pair.

[0005] Similarly, the existing technologies all adjust the height of the scanning bed vertically and then move the bed board longitudinally to position the patient, that is, to align the relative positions of the patient and the CT machine. When the longitudinal position has been aligned, adjusting the height of the scanning bed will also change the longitudinal position, resulting in the need to move the bed board longitudinally again. The positioning operation takes a long time and the patient experience is poor. Summary of the invention

[0006] The technical problem to be solved by the utility model is to provide a displacement device which can automatically move a scanning bed longitudinally during a lifting process.

[0007] In order to achieve the above technical objectives, the utility model adopts the following technical solutions:

[0008] According to an embodiment of the utility model, a displacement device for automatically moving a scanning bed longitudinally during a lifting process is provided, comprising a scanning bed, a control unit, a lifting frame sensor, a motor, a lead screw pair and a lead screw sensor; wherein,

[0009] The motor is connected to the lead screw pair to drive the rotation and movement of the lead screw pair; the control unit is respectively connected to the lifting frame sensor, the motor and the lead screw sensor, and controls the rotation of the motor according to the data measured by the lifting frame sensor and the lead screw sensor;

[0010] The control unit, the lifting frame sensor, the motor, the lead screw pair and the lead screw sensor are arranged in the scanning bed.

[0011] Preferably, the control unit includes a data table for calculating the height and longitudinal displacement of the scanning bed corresponding to the data measured by the lifting frame sensor.

[0012] Preferably, the lifting frame sensor is disposed on the bottom plate of the scanning bed and connected to the lower end of the lifting frame of the scanning bed, and is used to measure the angle and direction of the rotation and swing of the lifting frame;

[0013] Preferably, the motor and the lead screw pair are arranged in a bed plate bracket of the scanning bed, and the lead screw pair is arranged in the longitudinal direction and connected to the motor and the bed plate of the scanning bed; the motor is used to drive the lead screw pair to rotate and move, and the bed plate moves in the longitudinal direction with the rotation of the lead screw pair;

[0014] Preferably, the screw sensor is connected to the screw pair to measure the rotation angle, speed and direction of the screw pair;

[0015] Preferably, the lifting frame sensor is an angle encoder;

[0016] Preferably, the lead screw sensor is an angle encoder;

[0017] Preferably, the lifting frame is a quadrilateral swing rod structure;

[0018] Preferably, the lifting frame is an X-shaped rocker structure.

[0019] Compared with the prior art, the displacement device provided in the embodiment of the utility model measures the swing angle of the scanning bed lifting frame to obtain the vertical height and longitudinal displacement of the bed plate bracket, and the motor and the lead screw pair move the bed plate longitudinally to compensate for the displacement of the bed plate bracket. When the scanning bed changes the height of the bed plate, the longitudinal position of the bed plate does not change. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1This is a schematic structural diagram of a displacement device for automatically moving a scanning bed longitudinally during a lifting process in an embodiment of the utility model;

[0021] Figure 2 for Figure 1 In the figure, the structural diagram of the motor, the lead screw pair and the lead screw sensor;

[0022] Figure 3 for Figure 1 , a schematic diagram of the structure of the lifting frame sensor;

[0023] Figure 4 for Figure 1 Schematic diagram of the connection between the control unit and the lifting frame sensor, screw sensor and motor. DETAILED DESCRIPTION

[0024] The technical content of the present utility model is described in detail below with reference to the accompanying drawings and specific embodiments.

[0025] The technical concept in the embodiment of the utility model is: the bed plate of the scanning bed is moved by a motor and a lead screw pair, and the longitudinal position is adjusted according to the height of the bed plate. Specifically, a lifting frame sensor is used to measure the swing angle of the scanning bed lifting frame, and the height and longitudinal displacement of the bed plate are calculated. The motor and the lead screw pair drive the bed plate to move in the longitudinal direction, and the lead screw sensor measures the rotation amount of the lead screw to calculate the actual position of the bed plate in the longitudinal direction.

[0026] It should be noted that the scanning bed used in the embodiment of the utility model is a prior art, including a base plate 200, a lifting frame 300, a bed plate bracket 400 and a bed plate 500. Among them, the base plate 200 is a fixing and supporting structure of the scanning bed, and the lower end of the lifting frame 300 is connected to the base plate 200 and can rotate and swing around the transverse axis of the connection. The upper end of the lifting frame 300 is rotatably connected to the bed plate bracket 400, and the lifting frame 300 lifts or lowers the height of the bed plate bracket 400 during the swinging process. The bed plate 500 moves longitudinally on the bed plate bracket 400, and rises and falls with the bed plate bracket 400 and remains horizontal.

[0027] In the field of scanning beds, the longitudinal direction (Z direction) is the direction of the long axis of the patient's body when the patient is lying horizontally, the vertical direction (Y direction) is the vertical direction perpendicular to the longitudinal direction, and the transverse direction (X direction) is the horizontal direction perpendicular to the longitudinal and vertical directions. This part is common knowledge.

[0028] First embodiment

[0029] like Figure 2 and Figure 3As shown, the embodiment of the utility model provides a displacement device 100 for automatically moving a scanning bed longitudinally during a lifting process, including a scanning bed, a control unit 1, a lifting frame sensor 2, a motor 3, a screw pair 4 and a screw sensor 5. Among them, the lifting frame sensor 2 is arranged on the bottom plate 200, connected to the rotation connection between the lower end of the lifting frame 300 and the bottom plate 200, and is used to measure the angle and direction of the lifting frame 300 rotating around the lower end connection. The selection of the lifting frame sensor 2 includes an angle encoder.

[0030] Preferably, the lifting frame 300 includes an active lifting frame 301 and a driven lifting frame 302, and the lifting frame sensor 2 is connected to the rotation connection between the driven lifting frame 302 and the bottom plate 200. The power device is connected to the active lifting frame 301 to drive the scanning bed to rise and fall. The driven lifting frame 302 is not connected to the power device and rotates and swings with the lifting and lowering movement of the scanning bed. Therefore, the driven lifting frame 302 is less affected by the vibration of the power device, and the lifting frame sensor 2 is connected to the driven lifting frame 302, and the measured result is more stable and accurate.

[0031] The motor 3, the lead screw pair 4 and the lead screw sensor 5 are arranged on the bed plate bracket 400. The lead screw pair 4 is arranged in the longitudinal direction and connected to the motor 3, the bed plate 500 and the lead screw sensor 5. The motor 3 is connected to the lead screw pair 4 to drive the lead screw pair 4 to rotate and move. The bed plate 500 moves in the longitudinal direction with the rotation of the lead screw pair 4, and the moving distance and speed are related to the rotation speed and rotation time of the lead screw pair 4. The lead screw sensor 5 is used to measure the rotation angle, speed and direction of the lead screw pair 4. The selection of the lead screw sensor 5 includes an angle encoder.

[0032] like Figure 4 As shown, the control unit 1 is connected to the lifting frame sensor 2, the motor 3 and the lead screw sensor 5 respectively. Among them, the control unit 1 stores a data table, including the vertical height and longitudinal displacement of the bed board bracket 400 corresponding to the angle change of the lifting frame sensor 2, and the movement of the bed board 500 relative to the bed board bracket 400 corresponding to the angle change of the lead screw sensor 5. In other words, the control unit 1 obtains the vertical height and longitudinal displacement of the bed board bracket 400 after the bed board bracket 400 swings a certain angle, and the displacement of the bed board 500 relative to the bed board bracket 400 after the lead screw pair 4 rotates a certain angle by querying the data table.

[0033] The lifting frame 300 provided in this embodiment is a quadrilateral swing rod structure. The scanning bed with a lifting mechanism adopting a quadrilateral swing rod structure is a prior art and will not be described in detail here.

[0034] When the power device (such as a lifting motor) drives the scanning bed to rise, the lifting frame 300 swings around the connection with the bottom plate 200, and the bed plate bracket 400 and the bed plate 500 are displaced in the longitudinal direction. The lifting frame sensor 2 collects the swing angle, swing speed and swing direction of the lifting frame 300, and transmits the data to the control unit 1. The control unit 1 determines the height and longitudinal displacement of the bed plate bracket 400 and the bed plate 500 in the vertical direction according to the data of the lifting frame sensor 2, and gives the rotation direction and rotation speed instructions to the motor 3. The motor 3 drives the lead screw pair 4 to rotate, and the lead screw pair 4 drives the bed plate 500 to move in the longitudinal direction. The lead screw sensor 5 collects the rotation angle, rotation speed and rotation direction of the lead screw pair 4, and transmits the data to the control unit 1. The control unit 1 determines the longitudinal displacement of the bed plate 500 according to the data of the lead screw sensor 5, and gives the rotation direction and rotation speed instructions to the motor 3. The motor 3 drives the lead screw pair 4 according to the instructions of the control unit 1, corrects the longitudinal displacement of the bed plate 500, and keeps the longitudinal position of the bed plate 500 unchanged.

[0035] This embodiment uses the angle encoder as an example for the lifting frame sensor 2 and the lead screw sensor 5, and uses the encoder code value increment to reflect the angle change. In other words, the swing and rotation physical quantities of the lifting frame 300 and the lead screw pair 4 provided in this embodiment are measured and converted into encoder code value increments. The corresponding control steps are as follows:

[0036] S1: When the scanning bed receives a lifting start instruction, the control unit 1 records the initial code values ​​of the lifting frame sensor 2 and the lead screw sensor 5;

[0037] S2: the lifting frame 300 swings, the lifting frame sensor 2 collects the swing data of the lifting frame 300, and sends the encoder code value to the control unit 1;

[0038] S3: The control unit 1 determines the vertical height and longitudinal displacement of the bed board bracket 400 and the bed board 500 according to the encoder code value of the lifting frame sensor 2;

[0039] S4: the control unit 1 issues a motion command to the motor 3 to drive the bed board 500 to move in the opposite direction of the longitudinal movement direction of the bed board bracket 400;

[0040] S5: The lead screw sensor 5 collects the rotation data of the lead screw pair 4 and sends the encoder code value to the control unit 1;

[0041] S6: The control unit 1 determines the longitudinal displacement of the bed board 500 relative to the bed board bracket 400 according to the encoder code value of the lead screw sensor 5;

[0042] S7: the control unit 1 issues a motion command to the motor 3 to control the moving speed of the bed board 500 relative to the bed board bracket 400 to be lower than the moving speed of the bed board bracket 400 in the longitudinal direction; and control the moving amount of the bed board 500 relative to the bed board bracket 400 to be smaller than the moving amount of the bed board bracket 400 in the longitudinal direction;

[0043] S8: When the scanning bed receives the lifting stop command, the control unit 1 records the code values ​​of the lifting frame sensor 2 and the lead screw sensor 5, compares them with the initial code values ​​recorded in step S1, determines the vertical height and longitudinal displacement of the bed plate bracket 400; obtains the displacement of the bed plate 500 that has been completed in steps S4 to S7, and the remaining displacement that needs to be completed;

[0044] S9: The control unit 1 issues a motion instruction to the motor 3 to control the bed plate 500 to complete the remaining displacement at a required speed;

[0045] S10: The lead screw sensor 5 collects the rotation data of the lead screw pair 4 and sends the encoder code value to the control unit 1.

[0046] It is worth noting that when the scanning bed starts to lift, the bed board 500 starts to move in the longitudinal direction. As long as the lifting movement in the vertical direction does not stop, the bed board 500 will continue to move in the longitudinal direction to offset the partial displacement of the bed board bracket 400 in the longitudinal direction. When the lifting movement in the vertical direction stops, the vertical height and longitudinal displacement of the bed board bracket 400 and the remaining displacement of the bed board 500 are obtained according to the data table. The bed board 500 is driven to complete the remaining displacement and reach the end of the movement.

[0047] For vertical lifting movements at different speeds, the speed of the bed board 500's longitudinal displacement is also different. The displacement device 100 provided in the embodiment of the utility model can automatically adapt to the lifting speed at different speeds to reduce the overshoot or lag of the bed board 500. For example, when the operator manually controls the lifting of the scanning bed, because the time when the operator stops the vertical movement is unpredictable and the terminal position of the bed board bracket 400 is unpredictable, the bed board 500 is first moved at a speed lower than the bed board bracket 400 to keep the offset distance from being further enlarged.

[0048] The control steps of the scanning bed lowering process are the same as above and will not be repeated here.

[0049] Second embodiment

[0050] Different from the first embodiment, the lifting frame 300 provided in this embodiment is an X-shaped swing rod structure. The scanning bed with a lifting mechanism adopting an X-shaped swing rod structure is a prior art and will not be described in detail here.

[0051] When the scanning bed is lifted or lowered within the set height range, the control unit 1 determines that the code value measured by the lifting frame sensor 2 is within the set range, does not send a signal to the motor 3, and the bed board 500 does not move longitudinally. When the scanning bed is lifted or lowered outside the set height range, the control unit 1 determines that the code value measured by the lifting frame sensor 2 is outside the set range, gives a rotation direction and rotation speed instruction to the motor 3, and the bed board 500 moves longitudinally, changing the longitudinal position of the bed board 500. The control steps are as shown in the first embodiment.

[0052] Third embodiment

[0053] Different from the first embodiment, the displacement device 100 provided in this embodiment moves the bed board 500 and changes the longitudinal position of the bed board according to the calculated vertical height and longitudinal displacement of the bed board bracket 400. The control steps are as shown in the first embodiment.

[0054] In summary, the embodiment of the utility model provides a displacement device that automatically moves the scanning bed longitudinally during the lifting process. By measuring the swing angle of the scanning bed lifting frame, the vertical height and longitudinal displacement of the bed board bracket are obtained. The motor and the lead screw pair move the bed board longitudinally to compensate for the displacement of the bed board bracket, so that the longitudinal position of the bed board is not changed while the height of the bed board is changed. When the longitudinal position of the bed board is rapidly offset, the response time is short and the compensation speed is fast. For different offset speeds, the compensation speed can be dynamically adapted without causing overshoot or lag of the bed board.

[0055] It should be noted that the above-mentioned multiple embodiments are only examples, and the technical solutions of the various embodiments can be combined, all of which are within the protection scope of the present utility model.

[0056] The terms "horizontal", "vertical", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they should not be understood as limitations on the present invention.

[0057] The above is a detailed description of a displacement device for automatically moving the scanning bed longitudinally during the lifting process provided by the utility model. For a person skilled in the art, any obvious changes made to the utility model without departing from the essence of the utility model will constitute an infringement of the patent right of the utility model and will bear the corresponding legal liability.

Claims

1. A displacement device for automatically moving a scanning bed longitudinally during a lifting process, characterized in that It includes a scanning bed, a control unit, a lifting frame sensor, a motor, a lead screw pair and a lead screw sensor; wherein, The motor is connected to the lead screw pair to drive the rotation and movement of the lead screw pair; the control unit is respectively connected to the lifting frame sensor, the motor and the lead screw sensor, and is used to control the rotation of the motor according to the data measured by the lifting frame sensor and the lead screw sensor; the lifting frame sensor is an angle encoder; The control unit, the lifting frame sensor, the motor, the lead screw pair and the lead screw sensor are arranged in the scanning bed.

2. The displacement device according to claim 1, characterized in that: The control unit includes a data table for calculating the height and longitudinal displacement of the scanning bed corresponding to the data measured by the lifting frame sensor.

3. The displacement device according to claim 2, characterized in that: The scanning bed comprises a bottom plate and a lifting frame, wherein the lower end of the lifting frame is rotatably connected to the bottom plate; The lifting frame sensor is arranged on the bottom plate, connected to the rotation connection between the lifting frame and the bottom plate, and is used to measure the angle and direction of the lifting frame rotating around the connection with the bottom plate.

4. The displacement device according to claim 3, characterized in that: The scanning bed comprises a bed board bracket and a bed board; The motor and the lead screw pair are arranged in the bed board bracket; the lead screw pair is arranged in the longitudinal direction and connected with the motor and the bed board; The motor is used to drive the screw pair to rotate and move; The bed plate is designed to move longitudinally along with the rotation of the screw pair.

5. The displacement device according to claim 4, characterized in that: The lead screw sensor is connected to the lead screw pair and is used to measure the rotation angle, speed and direction of the lead screw pair.

6. The displacement device according to claim 5, characterized in that: The lifting frame includes an active lifting frame and a driven lifting frame; the lifting frame sensor is connected to a rotation connection between the driven lifting frame and the bottom plate.

7. The displacement device according to claim 5, characterized in that: The lead screw sensor is an angle encoder.

8. The displacement device according to claim 5, characterized in that: The lifting frame is a quadrilateral swing rod structure.

9. The displacement device according to claim 5, characterized in that: The lifting frame is an X-shaped rocker structure.

Images