Vertical CT scanning apparatus

Abstract

The application provides a vertical CT scanning device, which comprises a scanning module, a first driving module and a second driving module. The second driving module comprises at least two driving assemblies, and each driving assembly is located between the scanning module and the first driving module in the vertical direction. The first driving module is connected with each driving assembly, the scanning module has a plurality of spaced connection positions, the number of the connection positions is equal to the number of the driving assemblies, and each driving assembly is rotationally connected to each connection position in a one-to-one manner. The first driving module is configured to drive each driving assembly to move in the horizontal direction, and each driving assembly is configured to drive at least a part of the scanning module to move in the vertical direction, so that the first driving module and the second driving module drive the scanning module in parallel. The vertical CT scanning device can realize flexible scanning operation at multiple angles, and is beneficial to improving the imaging accuracy and integrity.

Description

Technical Field

[0001] This application relates to the field of computer scanning imaging technology, specifically to a vertical CT scanning device. Background Technology

[0002] CT (Computed Tomography) is commonly used in medical diagnosis and quality inspection. In vertical CT scanners, the CT scanner and the target being scanned are moved relative to each other in the vertical direction to perform the scanning task. However, these CT scanners lack the ability to adjust the scanning angle, which limits the flexibility of the scanning operation. Especially when facing targets with complex structures and diverse shapes, a single scanning angle is insufficient to ensure the accuracy and completeness of the scanned image. Utility Model Content

[0003] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a vertical CT scanning device that can achieve flexible multi-angle scanning of the target to be scanned, which is beneficial to improving the accuracy and integrity of imaging.

[0004] The vertical CT scanning device according to an embodiment of this application includes a scanning module, a first driving module, and a second driving module; The second drive module includes at least two drive components, which are located between the scanning module and the first drive module in the vertical direction. The first drive module is connected to each drive component. The scanning module has multiple connection positions set at intervals. The number of connection positions is equal to the number of drive components. Each drive component is rotatably connected to each connection position in a corresponding manner. The first drive module is configured to drive each drive component to move in the horizontal direction, and each drive component is configured to drive at least a portion of the scanning module to move in the vertical direction, so that the first drive module and the second drive module drive the scanning module in parallel.

[0005] The vertical CT scanning device according to the embodiments of this application has at least the following beneficial effects: A first driving module drives a second driving module and a scanning module to move horizontally, thereby adjusting the horizontal position of the scanning module. Each driving component drives at least a portion of the scanning module to move vertically. When one driving component drives a portion of the scanning module to move vertically, each driving component rotates relative to the scanning module, causing the scanning module to rotate around a horizontal axis, thus achieving angle adjustment of the scanning module. When each driving component simultaneously drives the scanning module to move vertically, the height of the scanning module changes, achieving position adjustment of the scanning module. Therefore, through the driving of the first and second driving modules, both the horizontal and vertical positions of the scanning module can be adjusted, as well as the angle deflection adjustment of the scanning module can be achieved. Consequently, the scanning module can perform flexible multi-angle scanning of the target, which is beneficial for improving the accuracy and completeness of imaging.

[0006] According to some embodiments of this application, each driving component includes a driving part and at least two connecting arms. The driving part is connected to the first driving module, and the connecting arms are connected in sequence. Adjacent connecting arms are rotatably connected. The connecting arm at the first end is connected to the driving part, and the connecting arm at the last end is rotatably connected to the scanning module.

[0007] According to some embodiments of this application, the second drive module includes three drive components, which are rotatably connected to three connection positions in a one-to-one correspondence. Each connection position is arranged at equal intervals around a vertical axis passing through the central region of the scanning module.

[0008] According to some embodiments of this application, each drive component includes a drive unit, each drive unit is connected to a first drive module, and each drive unit is arranged at equal intervals around a vertical axis passing through the first drive module.

[0009] According to some embodiments of this application, each driving component is omnidirectionally connected to the scanning module.

[0010] According to some embodiments of this application, the first driving module includes a first translation component and a second translation component. The horizontal direction includes a first direction. Along the first direction, the first translation component and the second translation component are movably connected, and each driving component is connected to the first translation component.

[0011] According to some embodiments of this application, the first drive module further includes a third translation component, the horizontal direction including the second direction, and the third translation component is movably connected to the second translation component along the second direction.

[0012] According to some embodiments of this application, the first translation component includes a first connector, a second connector, and a third connector. The first connector is movably connected to the second translation component, and the third connector is connected to each driving component. In the vertical direction, the first connector is located on the side of the second translation component away from the third translation component, and the third connector is located on the side of the third translation component away from the second translation component. At least one of the second and third translation components has a clearance area. The second connector passes through the clearance area. One end of the second connector is connected to the side of the first connector facing the third connector, and the other end of the second connector is connected to the end of the third connector facing the first connector.

[0013] According to some embodiments of this application, the third connector is rotatably connected to the second connector.

[0014] According to some embodiments of this application, the scanning module is provided with a scanning channel.

[0015] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0016] The present application will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 This is a schematic diagram of the structure of a vertical CT scanning device in its first state. Figure 2 This is a front view of the vertical CT scanning device in its first state; Figure 3 This is a bottom view of the vertical CT scanning device in its first state; Figure 4 This is a top view of the vertical CT scanning device in its first state; Figure 5 This is a schematic diagram of a vertical CT scanning device viewed from another angle in the first state. Figure 6 This is a schematic diagram of the vertical CT scanning device in the second state. Figure 7 This is a schematic diagram of a vertical CT scanning device viewed from another angle in the second state. Figure 8 This is a schematic diagram of the structure of the first drive module in an embodiment of this application; Figure 9 This is a top view of the first drive module according to an embodiment of this application; Figure 10 This is a bottom view of the first drive module according to an embodiment of this application; Figure 11 This is a schematic diagram of the structure of the first drive module from another perspective of an embodiment of this application.

[0017] Reference numerals: First drive module 100, first translation component 110, first connector 111, second connector 112, third connector 113, second translation component 120, third translation component 130; Second drive module 200, drive assembly 210, first connecting arm 211, second connecting arm 212, drive unit 213; Scanning module 300, first connection bit 310, second connection bit 320, third connection bit 330, scanning channel 340. Detailed Implementation

[0018] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0019] In the description of this application, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0020] In the description of this application, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0021] In the description of this application, unless otherwise expressly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0022] In the description of this application, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0023] The embodiments of this application are described below with reference to the accompanying drawings: refer to Figures 1 to 5 According to an embodiment of this application, a vertical CT scanning device includes a scanning module 300, a first drive module 100, and a second drive module 200. The second drive module 200 includes at least two drive components 210. Each drive component 210 is located between the scanning module 300 and the first drive module 100 in a vertical direction. The first drive module 100 is connected to each drive component 210 and is configured to drive each drive component 210 to move horizontally. The scanning module 300 has a plurality of spaced-apart connection positions, the number of which is equal to the number of drive components 210. Each drive component 210 is rotatably connected to each connection position. Each drive component 210 is configured to drive at least a portion of the scanning module 300 to move vertically, so that the first drive module 100 and the second drive module 200 drive the scanning module in parallel. Thus, under the synchronous drive of each drive component 210, the scanning module 300 can be raised and lowered vertically. Also, under the drive of a portion of the drive components 210, a portion of the scanning module 300 can move vertically to change the angle of the scanning module 300 relative to the horizontal plane, thereby achieving angle adjustment of the scanning module 300.

[0024] Therefore, the first drive module 100 can drive the second drive module 200 and the scanning module 300 to move together in the horizontal direction, thereby adjusting the horizontal position of the scanning module 300. Through the multiple drive components 210 of the second drive module 200, the scanning module 300 can be raised and lowered, and the angle of the scanning module 300 relative to the horizontal plane can be adjusted, enabling flexible scanning of the target from multiple angles, which is beneficial to improving the accuracy and integrity of imaging.

[0025] It should be noted that when the scanning module 300 is adjusted, the scanning module 300 rotates relative to the drive component 210, ensuring that a portion of the scanning module 300 moves vertically within a certain range. The angle of the scanning module 300 relative to the horizontal plane should be understood as the angle between the plane containing the maximum cross-section of the scanning module 300 and the horizontal plane.

[0026] In addition, the scanning module 300 may include an X-ray emission source for emitting X-rays and a detector for receiving X-rays. During the scanning operation, the emission source emits X-rays that penetrate the target to be detected, and the detector is used to detect the X-rays that pass through the target to be detected and upload them to the image reconstruction system. Thus, the scanning angle can also be understood as the angle between the X-ray and the plane of the position to be scanned.

[0027] refer to Figures 1 to 5In other embodiments, the scanning module 300 is used to scan the target to be scanned, and the first drive module 100 is used to be installed on a wall or other location to ensure that the vertical CT scanning device has a relatively definite coordinate with the ground. The drive of the first drive module 100 can be achieved through a high-precision structure such as a gear rack, toothed conveyor belt, or lead screw structure. The first drive module 100 is used to drive the second drive module 200 and the scanning module 300 to move in the horizontal direction. The drive assembly 210 may include a cylinder, the cylinder body of which is connected to the first drive module 100, and the telescopic rod of the cylinder is rotatably connected to the scanning module 300. The four telescopic rods of different drive assemblies 210 are connected to different connection positions. By synchronously extending and retracting the telescopic rods of each cylinder, the height of each connection position can be adjusted synchronously to achieve height adjustment of the scanning module 300. Furthermore, by making the extension and retraction lengths of each telescopic rod different, the connection positions at different locations can be at different heights, thereby causing the scanning module 300 to deflect relative to the horizontal plane and achieving angle adjustment of the scanning module 300. Therefore, the vertical CT scanning device in this application can not only achieve horizontal and vertical position adjustment, but also achieve multi-angle scanning of the target to be scanned, which is beneficial to adapting to targets with complex structures and diverse shapes, and making the scanning imaging more accurate and complete.

[0028] refer to Figure 7 and Figure 8 In some embodiments, each drive assembly 210 includes a drive unit 213 and at least two connecting arms. The drive unit 213 is connected to the first drive module 100, and the connecting arms are connected in sequence. Adjacent connecting arms are rotatably connected to form a connecting arm group with a head end and a tail end. The connecting arm at the head end is connected to the drive unit 213, and the connecting arm at the tail end is rotatably connected to the scanning module 300. The drive unit 213 is used to drive the connecting arm at the head end to move, thereby driving the adjacent connecting arms to move. Thus, under the drive of the drive unit 213, each connecting arm can rotate relative to the adjacent connecting arm or the scanning module 300, and the length of the connecting arm group in the vertical direction changes, thereby realizing the height adjustment of the scanning module 300. Moreover, the drive units 213 of different drive assemblies 210 are driven independently, so that the connecting arm groups defined by different drive assemblies 210 have different lengths, thereby realizing the angle adjustment of the scanning module 300.

[0029] It should be noted that when the drive unit 213 in one of the drive components 210 drives the connecting arm to move, the connecting arm included in the other drive component 210 can adaptively rotate to avoid limiting the angle adjustment of the scanning module 300.

[0030] Specifically, the drive assembly 210 includes a drive unit 213 and two connecting arms. The two connecting arms are rotatably connected to form a connecting arm assembly. One connecting arm serves as the head end, and the other connecting arm serves as the tail end. The connecting arm at the head end is also connected to the drive unit 213, and the connecting arm at the tail end is also rotatably connected to one of the connection positions of the scanning module 300. The drive unit 213 can be a drive motor, which can drive the connecting arm at the head end to rotate around a horizontal axis, thereby moving the connecting arm at the tail end. In turn, the connecting arm at the tail end drives the scanning module 300 to move, thereby driving a part of the scanning module 300 to move in the vertical direction, realizing the angle adjustment of the scanning module 300. In addition, all parts of the scanning module 300 move in the vertical direction at the same time, realizing the height adjustment of the scanning module 300.

[0031] refer to Figures 4 to 8 In other embodiments, along the vertical direction, the scanning module 300 has two connection positions on the side facing the second drive module 200. These two connection positions are arranged at equal intervals around an axis passing through the central region of the scanning module 300, i.e., the interval angle between the two connection positions is 180°. Correspondingly, the second drive module 200 includes two drive components 210, each connected to one of the two connection positions. Each drive component 210 includes a drive part 213 and two connecting arms. The drive part 213 is connected to the first drive module 100, and the two connecting arms are rotatably connected. One connecting arm is also connected to the drive part 213, and the other connecting arm is also connected to the scanning module 300. The drive part 213 can be a motor used to drive the connecting arms to rotate.

[0032] The following further explains the adjustment process of the vertical CT scanning device in this application: refer to Figures 4 to 8 The connecting arm can be divided into a first connecting arm 211 and a second connecting arm 212. The first connecting arm 211 and the second connecting arm 212 are rotatably connected, forming a connecting arm group. The first connecting arm 211, as the head end of the connecting arm group, is connected to the drive unit 213. The second connecting arm 212, as the tail end of the connecting arm group, is rotatably connected to the connection position of the scanning module 300. It should be understood that the second connecting arms 212 belonging to different drive components 210 are rotatably connected to different connection positions.

[0033] When the scanning module 300 needs height adjustment, within one of the drive components 210, the drive unit 213 drives the first connecting arm 211 to rotate clockwise around a horizontal axis, causing the first connecting arm 211 and the second connecting arm 212 to rotate relative to each other. Consequently, the second connecting arm 212 rotates relative to the scanning module 300, moving the scanning module 300 vertically. Simultaneously, within the other drive component 210, the drive unit 213 drives the first connecting arm 211 to rotate counterclockwise around a horizontal axis, causing the first connecting arm 211 and the second connecting arm 212 to rotate relative to each other. Consequently, the second connecting arm 212 rotates relative to the scanning module 300, moving the scanning module 300 vertically. Thus, through the cooperation of the two drive components 210, the scanning module 300 can be raised or lowered.

[0034] It should be understood that by switching the clockwise and counterclockwise rotation of the drive unit 213, the scanning module 300 can be raised or lowered.

[0035] When the scanning module 300 needs to adjust its angle, the first connecting arm 211 is driven to rotate by only one drive unit 213, thereby driving the second connecting arm 212 to rotate. In turn, the second connecting arm 212 drives a part of the scanning module 300 to move in the vertical direction. The second connecting arm 212 of the scanning module 300 rotates relative to the second connecting arm 212 of its other drive components 210, thereby realizing the angle deflection adjustment of the scanning module 300.

[0036] When the scanning module 300 needs to be adjusted in horizontal position, the first drive module 100 drives the second drive module 200 to move, and the second drive module 200 drives the scanning module 300 to move, thereby adjusting the horizontal position of the scanning module 300.

[0037] After the scanning operation is completed, the first connecting arm 211 and the second connecting arm 212 can be bent and stored by relative rotation, making the structure of the vertical CT scanning device more compact and convenient for storage and placement when not scanning, reducing space occupation. When the drive component 210 is performing a scanning operation, the first connecting arm 211 and the second connecting arm 212 rotate and unfold. The length of the drive component 210 is the length of the first connecting arm 211 and the second connecting arm 212 connected together, which enables the vertical CT scanning device to perform scanning operations over a longer distance in the vertical direction.

[0038] refer to Figures 1 to 7In some embodiments, the second drive module 200 includes three drive components 210, and the scanning module 300 includes three connection positions. The three drive components 210 are rotatably connected to the three connection positions one-to-one. The three connection positions are arranged at equal intervals around the vertical axis passing through the central region of the scanning module 300. The scanning module 300 is driven to move in the vertical direction by the three drive components 210. The scanning module 300 can also rotate around the line connecting any two adjacent connection positions, which is beneficial to further improve the precision of the angle adjustment of the scanning module 300 and realize the pitch angle adjustment and yaw angle adjustment of the scanning module 300.

[0039] It should be understood that the three connection points can be arranged in a circle around the axis passing through the center of the scanning module 300, with each pair spaced 120° apart. That is, the angle between the line connecting two adjacent connection points and the center of the scanning module 300 is 120°.

[0040] refer to Figures 4 to 7 In some embodiments, each drive component 210 includes a drive part 213, each drive part 213 is connected to the first drive module 100, and each drive part 213 is arranged at equal intervals around a vertical axis passing through the first drive module 100. Thus, in the vertical direction, each drive part 213 can be projected one-to-one onto each connection position. Compared with the staggered arrangement of the projection of the drive part 213 and the position of the connection position in the vertical direction, the distance between the drive part 213 and the connection position can be shortened, which makes it easier to simplify the structure of the drive component 210.

[0041] Specifically, three drive units 213 are distributed around a vertical axis in the first drive module 100, and the included angle between the rotation axes of the connecting arms driven by two adjacent drive units 213 is 60°. The three drive components 210 can be controlled in parallel, that is, each drive unit 213 can be driven independently to realize the angle adjustment of the scanning module 300.

[0042] It should be noted that the scanning module 300 may also be provided with four, five, six or other connection positions. Correspondingly, the second drive module 200 includes four, five, six or other drive components 210. The number of drive components 210 can be adjusted according to the needs, which is beneficial for achieving more precise adjustment of the angle of the scanning module 300.

[0043] refer to Figure 6 The connection bits can be divided into a first connection bit 310, a second connection bit 320, and a third connection bit 330.

[0044] refer to Figures 1 to 7In other embodiments, each drive assembly 210 includes a drive unit 213 and three connecting arms. The three connecting arms are connected in sequence to form a connecting arm group. The connecting arm group includes a connecting arm at the beginning, a connecting arm in the middle, and a connecting arm at the end. The connecting arm at the beginning and the connecting arm at the end are connected through the connecting arm in the middle, and adjacent connecting arms are rotatably connected. The connecting arm at the beginning is also connected to the drive unit 213, and the connecting arm at the end is also rotatably connected to the scanning module 300. The drive unit 213 is also connected to the first drive module 100. The drive unit 213 drives the connecting arm at the beginning to rotate relative to the first drive module 100, thereby sequentially driving the connecting arm in the middle and the connecting arm at the end to move, making the connecting arm group more flexible and the angle adjustment of the scanning module 300 more precise.

[0045] refer to Figures 4 to 8 In some embodiments, each drive component 210 is universally connected to the scanning module 300. For example, the drive component 210 and the scanning module 300 are connected by a universal joint, so that the drive component 210 and the scanning module 300 can transmit power between different axes. The different axes can have an included angle, and the rotation between the drive component 210 and the scanning module 300 is more flexible, which facilitates more flexible angle adjustment of the scanning module 300 and makes the lifting and lowering adjustment of the scanning module 300 more flexible.

[0046] refer to Figures 5 to 11 In some embodiments, the first drive module 100 includes a first translation component 110 and a second translation component 120. The horizontal direction includes a first direction. Along the first direction, the first translation component 110 and the second translation component 120 are movably connected. The drive component 210 is connected to the first translation component 110. The second translation component 120 is used for fixed installation on a wall or other location. The first translation component 110 and the second translation component 120 can be connected by means of slide rail, lead screw structure, gear rack, chain structure, etc. The first translation component 110 is driven to move relative to the second translation component 120 along the first direction. When the first translation component 110 moves, it drives the second drive module 200 and the scanning module 300 to move synchronously, thereby realizing the adjustment of the scanning module 300 along the first direction.

[0047] refer to Figures 5 to 11In some embodiments, the first drive module 100 further includes a third translation component 130. The horizontal direction includes a second direction. Along the second direction, the third translation component 130 is movably connected to the second translation component 120. The third translation component 130 and the second translation component 120 can be connected by means of slide rails, lead screw structures, gear racks, chain structures, etc. The third translation component 130 can be fixedly installed on the wall. The second translation component 120 moves relative to the third translation component 130 along the second direction, which can drive the first translation component 110 to move together relative to the third translation component 130. In turn, the first translation component 110 drives the second drive module 200 and the scanning module 300 to move along the second direction. In addition, the first translation component 110 can also move relative to the second translation component 120 along the first direction to realize the position adjustment of the second drive module 200 and the scanning module 300 along the first direction.

[0048] The horizontal direction should be understood as a direction parallel to the horizontal plane. Therefore, the horizontal direction includes any direction on the horizontal plane. Both the first direction and the second direction are horizontal directions. The first direction can be perpendicular to the second direction. The first driving module 100 drives the second driving module 200 and the scanning module 300 to move together along the first and second directions, which enables the scanning module 300 to reach any position within its adjustable range.

[0049] refer to Figures 5 to 11 In some embodiments, the first translation component 110 includes a first connector 111, a second connector 112, and a third connector 113. Along a first direction, the first connector 111 is movably connected to the second translation component 120, and the third connector 113 is connected to each drive component 210. Along a vertical direction, the first connector 111 is located on the side of the second translation component 120 away from the third translation component 130, and the third connector 113 is located on the side of the third translation component 130 away from the second translation component 120. At least one of the second translation component 120 and the third translation component 130 is provided with a clearance area. The second connector 112 passes through the clearance area. One end of the second connector 112 is connected to the side of the first connector 111 facing the third connector 113, and the other end of the second connector 112 is connected to the end of the third connector 113 facing the first connector 111. The third translation component 130 is fixedly installed on the wall. The second translation component 120 and the first connector 111 are both installed above the third translation component 130. The third translation component 130 supports the second translation component 120 and the first connector 111, thus achieving more stable support.

[0050] Specifically, the first connecting member 111 carries the first translation component 110, the second drive module 200, and the scanning module 300. Compared to the vertical direction, where the first translation component 110 and the second translation component 120 are positioned below the third translation component 130, the first drive module 100 in this application can avoid the translation components being connected only by guide rails, making the horizontal position adjustment of the scanning module 300 more reliable.

[0051] refer to Figures 7 to 11 In some embodiments, the third connector 113 is rotatably connected to the second connector 112. The third connector 113 can rotate relative to the second connector 112 about a vertical axis. The third connector 113 can simultaneously drive each drive component 210 and the scanning module 300 to rotate together about the vertical axis relative to the second connector 112. Thus, when the scanning module 300 deflects a certain angle relative to the horizontal plane, it can scan around the target to be scanned, which is beneficial to improving the accuracy and integrity of the scanning image.

[0052] refer to Figures 1 to 7 In some embodiments, the scanning module 300 is provided with a scanning channel 340 for the target to pass through. When the target passes through the scanning channel 340, the scanning module 300 can perform a surround scan of the target, achieving surround detection of the target. On the one hand, this can improve the efficiency of the scanning operation. For example, the scanning module 300 is driven vertically by the second driving module 200, and the target can pass through the scanning channel 340 vertically, thus achieving surround scanning of the target. On the other hand, surround scanning of the target is beneficial for obtaining more comprehensive tomographic image information and improving the accuracy of CT scans.

[0053] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this application. Furthermore, unless otherwise specified, the embodiments and features described in the embodiments of this application can be combined with each other.

Claims

1. A vertical CT scanning device, characterized in that, include: Scanning module; First drive module; The second driving module includes at least two driving components, which are located between the scanning module and the first driving module in a vertical direction. The first driving module is connected to each of the driving components. The scanning module has a plurality of spaced connection positions. The number of connection positions is equal to the number of driving components. Each driving component is rotatably connected to each of the connection positions. The first driving module is configured to drive each of the driving components to move in the horizontal direction, and each of the driving components is configured to drive at least a portion of the scanning module to move in the vertical direction, so that the first driving module and the second driving module drive the scanning module in parallel.

2. The vertical CT scanning device according to claim 1, characterized in that, Each of the driving components includes a driving part and at least two connecting arms. The driving part is connected to the first driving module. The connecting arms are connected in sequence, and adjacent connecting arms are rotatably connected. The connecting arm at the first end is connected to the driving part, and the connecting arm at the end is rotatably connected to the scanning module.

3. The vertical CT scanning device according to claim 1, characterized in that, The second driving module includes three driving components, which are rotatably connected to three connection positions in a one-to-one correspondence. Each connection position is arranged at equal intervals around a vertical axis passing through the central region of the scanning module.

4. The vertical CT scanning device according to claim 3, characterized in that, Each of the driving components includes a driving part, each driving part is connected to the first driving module, and each driving part is arranged at equal intervals around a vertical axis passing through the first driving module.

5. The vertical CT scanning device according to claim 1, characterized in that, Each of the driving components is omnidirectionally connected to the scanning module.

6. The vertical CT scanning device according to claim 1, characterized in that, The first driving module includes a first translation component and a second translation component. The horizontal direction includes a first direction. Along the first direction, the first translation component and the second translation component are movably connected, and each driving component is connected to the first translation component.

7. The vertical CT scanning device according to claim 6, characterized in that, The first drive module further includes a third translation component, the horizontal direction including a second direction, and the third translation component is movably connected to the second translation component along the second direction.

8. The vertical CT scanning device according to claim 7, characterized in that, The first translation component includes a first connector, a second connector, and a third connector. The first connector is movably connected to the second translation component, and the third connector is connected to each of the driving components. Along the vertical direction, the first connector is located on the side of the second translation component opposite to the third translation component, and the third connector is located on the side of the third translation component opposite to the second translation component. At least one of the second and third translation components has a clearance area. The second connector passes through the clearance area. One end of the second connector is connected to the side of the first connector facing the third connector, and the other end of the second connector is connected to the end of the third connector facing the first connector.

9. The vertical CT scanning device according to claim 8, characterized in that, The third connector is rotatably connected to the second connector.

10. The vertical CT scanning device according to any one of claims 1 to 9, characterized in that, The scanning module is equipped with a scanning channel.

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