JP2009284935A - Radiography apparatus for round visit - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To easily move the whole apparatus in a left and right width direction. <P>SOLUTION: In a first steering process L1, only a right wheel 3b is rotated around a grounding point of a left wheel 3a and steered by operating a horizontal width direction moving switch. In a first traveling process L2, a radiography apparatus goes forward by the left and right wheels 3a and 3b. In a second steering process L3, only the right wheel 3b is rotated in the reverse direction for twice as much as a steering amount in the first steering process L1 and steered around the grounding point of the left wheel 3a as the center. In a second traveling process L4, the apparatus goes backward by the left and right wheels 3a and 3b. In a third steering process L5, only the right wheel 3b is rotated in the same direction and amount just for the same as a steering amount in the first steering process L1 and steered around the grounding point of the left wheel 3a as the center. The processes allow a carriage 1 to be placed closer in the left direction for a set amount. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention provides a left and right wheels provided with a left wheel drive mechanism and a right wheel drive mechanism that can be driven independently on the other side while providing a turnable wheel on one side of a front end side and a rear end side of a vehicle body, The present invention relates to a round-trip X-ray imaging apparatus provided with X-ray imaging means for generating X-rays and irradiating a subject on the carriage.

Conventionally, the following are known as this type of round-ray X-ray imaging apparatus.
That is, an X-ray tube, an arm that holds the X-ray tube, a support column that can turn on the carriage, a vertical movement unit that moves the arm up and down along the support column, a turnable front wheel, and a rear wheel that cannot be steered (right X, which moves forward or backward by a drive motor (right motor, left motor) provided at the lower part by operating the operation handle provided on the handle holding base attached to the carriage back and forth. It is comprised from the trolley | bogie which mounts a line control part.

  An X-ray tube support mechanism and a rotation mechanism, and an arm that expands and contracts in the horizontal direction, is designed to be a mechanism that can move vertically on the column smoothly and balance, and in any direction depending on the subject's imaging location. The X-ray emission port of the collimator of the X-ray tube is directed to a spatial position. Since the weight of this round-trip X-ray apparatus may be 450 kg or more, it is very difficult to move the carriage without the help of power. Generally, a pair of rear wheels that are fixed and cannot be steered are provided at the rear part of the carriage, and the front part of the carriage is supported by a pair of casters, that is, pivotable front wheels. The rear wheels are generally driven by drive motors (right motor, left motor) mounted on the carriage.

  The trolley has a main circuit 100-120V, 60Hz as an internal power source with an automotive battery and inverter, a high-voltage transformer and a capacitor, and its control circuit is a solid system. Many devices are used. The cart uses rubber tires and is designed to allow entry and exit in hospital rooms, operating rooms, and elevators, and includes a brake system, cassette box, and accessory devices. It is important for this round-trip X-ray imaging device to be small, light and easy to operate as a mobile device. It can be easily used in hospitals such as bedrooms, laboratory rooms, operating rooms, children's rooms, X-ray rooms, and baby rooms. It can be easily used for X-ray photography on site.

  The left wheel and the right wheel are respectively driven by a left motor and a right motor, and the left motor and the right motor are individually controlled by a motor drive circuit. The motor drive circuit is subjected to switching control by pulse width control (PWM) by the PWM control circuit. The duty control width of the switching control is controlled by a signal from the CPU. When the operator operates the operation handle of the carriage back and forth, signals from the left pressure sensor and the right pressure sensor provided at both ends of the operation handle are input to the CPU as left input and right input independently on the left and right. On the other hand, the rotation speed is input to the CPU as a speed signal from a left encoder and a right encoder that are provided on the axles of the left and right wheels and detect the rotation speed. From the forward and backward input signals from the left and right pressure sensors and the speed signals from the left and right encoders, the CPU inputs a duty control width signal for the corresponding switching control to the PWM control circuit. The control circuit controls the motor control circuit, and the motor drive circuit controls the rotation speeds of the left motor and the right motor. The pressure sensor is configured by combining a flexible spring member, a Hall effect sensor, and a magnet.

  The operating handle is connected to the carriage via a relatively stiff but flexible spring member. The two spring members connected to the trolley are composed of hard leaf springs, and by providing the spring members, the operation is performed according to the force applied to the operation handle that pushes or pulls the operation handle. The handle can be slightly displaced in the front-rear direction. A pair of linear magnets that move together with the operation handle are attached to both ends of the operation handle.

  On the other hand, a pair of Hall effect sensors are attached to the carriage and are arranged adjacent to the corresponding magnets. The Hall effect sensors are each connected to a power source. When the Hall effect sensor is centered with respect to the magnet, the Hall effect sensor output signal is at zero level, and when the magnet is shifted, the Hall effect sensor output signal is between the positive maximum value and the negative maximum value. Changes almost linearly. The sign or polarity of the sensor signal indicates the direction of displacement of the operation handle, and the magnitude of the sensor signal is proportional to the amount of displacement. By operating the operation handle, the operation handle can be relatively easily displaced by the spring action of the spring member, and can be quickly returned to the neutral position or the center position when the operation handle is released.

  Further, a fine movement switch for finely moving the apparatus is provided on the side surface of the collimator. When the fine movement switch is tilted back and forth, the apparatus finely moves back and forth. When tilted to the left or right, one of the wheels (right wheel or left wheel) rotates and is finely moved left and right on the arc.

  In addition, since it is configured to stop the fine movement switch in a certain direction and automatically stop after a certain period of time, it cannot be moved greatly at one time, but the fine movement switch is depressed at certain intervals. If the operation is repeated, a large movement is possible. In addition, the device is configured to automatically stop when another person accidentally presses the operation handle of the device while operating the fine movement switch. The fine movement switch used here may be either a handle type that is operated by being tilted or one that is provided with a separate push button (including a touch film). Either a method in which the speed is changed depending on the inclination of the fine movement switch or a method in which the speed is changed by a pressing force may be used.

  When the fine movement switch is operated, the input signal is input to the drive command circuit and the direction determination circuit of the CPU, and the direction determination circuit determines the forward, backward, left rotation, and right rotation commands according to the direction of the fine movement switch. The rotation speed V of the drive wheels (left wheel and right wheel) is 0 while the device is stopped, but when the arithmetic circuit of the CPU receives input from the fine movement switch, the motor drive circuit determines the size of the motor. Outputs a pulse control signal to the PWM control circuit so that it is driven with a torque of β (β is a constant). The direction discriminating circuit recognizes the front / rear, left / right of the fine movement switch, and in the front / rear operation, signals for both wheels forward drive or both wheels reverse drive, and for the left / right operations, only the left wheel or only the right wheel is driven. A drive signal is output to the PWM control circuit. The PWM control circuit controls the motors (left motor and right motor) via the direction discriminating circuit and the arithmetic circuit of the fine movement switch, so that the apparatus finely moves.

With the above configuration, when the device is moved to the bedside, etc., and the X-ray tube collimator is positioned away from the operation handle when aligning the imaging region, the fine movement switch is operated so that it does not return to the operation handle. However, alignment can be performed quickly (see Patent Document 1).
JP 2002-45353 A (FIGS. 1 and 2)

  However, in the conventional apparatus, in order to adjust the position of the X-ray tube and the subject, when the entire apparatus is moved in the left-right width direction, the apparatus and the bed on which the subject is placed, etc. There is a room for improvement in terms of improving inspection efficiency, which requires a complicated operation of inputting the fine movement switch a plurality of times while confirming the position, moving the device left and right and moving it forward and backward.

  The present invention has been made in view of such circumstances, and an object of the present invention is to make it possible to easily move the entire apparatus in the left-right width direction.

The invention according to claim 1 has the following configuration in order to achieve the above-described object.
That is, a left and right wheel provided with a left wheel drive mechanism and a right wheel drive mechanism that can be independently driven on the other side and a left and right wheels provided on one side of the front end side and the rear end side of the vehicle body are provided on the carriage. In the X-ray imaging apparatus for rounds provided with X-ray imaging means for generating X-rays and irradiating the subject,
The carriage is automatically moved by a set distance in the left-right width direction of the vehicle body in cooperation with the stop of one of the left wheel drive mechanism and the right wheel drive mechanism, the steering by the other drive, and the front-rear driving by both driving And a width-shifting starting means for starting the width-shifting control means.

(Action / Effect)
According to the configuration of the X-ray imaging apparatus for round trip of the invention according to claim 1, by driving the width adjusting control means by the width adjusting starting means, the left wheel driving mechanism and the right wheel driving mechanism are driven, and steering is performed. The vehicle can be moved forward and backward, and the carriage can be automatically moved by a set distance in the lateral width direction of the vehicle body.
Therefore, when the apparatus is brought close to the bed on which the subject is placed, it is only necessary to activate the width adjustment control means by the width adjustment activation means, and the entire apparatus can be easily moved in the left-right width direction. And the inspection efficiency by X-ray imaging can be improved.

The invention according to claim 2
The round X-ray imaging apparatus according to claim 1,
The width-shifting control means steers by stopping one of the left wheel driving mechanism and the right wheel driving mechanism and driving the other based on a preset width-shifting amount, a steering angle, and a travel distance. 1 steering process; a first traveling process that moves forward or backward by driving both the left wheel drive mechanism and the right wheel drive mechanism after the first steering process; and the first steering process. A second steering step for steering in the opposite direction by twice the steering amount in the first steering step, and the left wheel drive mechanism after the second steering step; A second traveling process in which both the right wheel drive mechanism is driven in the opposite direction to the first traveling process and travels the same distance as the first traveling process; and the same stop and stop as in the first steering process. The same amount as the steering amount in the first steering step depending on the drive mode The third steering step and automatically performed to those in which rounds for X-ray imaging apparatus to steer the direction.

(Action / Effect)
According to the configuration of the X-ray imaging apparatus for round visit of the invention according to claim 2, in the first steering step, steering is performed by rotation of a preset angle around one ground point of the left and right wheels, In the first traveling process thereafter, traveling for a preset distance is performed by moving forward or backward. Thereafter, in the second steering step, steering is performed by rotating in the reverse direction by a set angle that is twice the set angle in the first steering step, and in the subsequent second traveling step, the first steering step is performed. Reverse or advance in the reverse direction by the same set distance as the travel process. Finally, in the third steering process, the width can be adjusted by steering by a set angle in the same direction as the first steering process.
Therefore, when setting the width in the left-right direction of the vehicle body, that is, the shift width, for example, if the steering angle in the first steering step is θ and the shift width is S, the first and second The travel distance D in the travel process is obtained from the relationship S = D · sin θ, the steering angle in the second steering process is set to 2θ in the reverse direction, and the steering angle in the third steering process. The steering angle and the travel distance can be easily set with respect to the set shift width so that the angle θ is set to θ in the same direction as the steering direction in the first steering step.

The invention according to claim 3
The round X-ray imaging apparatus according to claim 2,
A width adjustment amount adjusting means for adjusting and setting the travel distance in the first and second travel steps is provided.

(Action / Effect)
According to the configuration of the X-ray imaging apparatus for round visits of the invention according to claim 3, as described above, if the steering angle is set to a specific angle, the shift width and the travel in the first and second travel steps Focusing on the fact that the distance is proportional, the amount of width adjustment can be adjusted by adjusting the travel distance in the first and second travel steps.
Therefore, when a plurality of width adjustment amounts are set in advance, the travel distance may be adjusted and set in correlation with the width adjustment amount, and the setting is easy.

The invention according to claim 4
The round X-ray apparatus according to claim 2 or 3,
The operation from the first traveling process to the third steering process is configured to be repeated a plurality of times.

(Action / Effect)
If the steering angle is large, the swing angle of the vehicle body also becomes large, which causes a disadvantage that the vehicle body or an apparatus such as an X-ray imaging apparatus mounted thereon collides with another object. On the other hand, if the steering angle is reduced, there is an inconvenience that the range of movement of the vehicle body in the front-rear direction in one forward and backward movement is increased, and a large space is required for this.
According to the configuration of the roundabout X-ray imaging apparatus of the invention according to claim 4 made in view of the above, the range of movement of the vehicle body in the forward and backward direction is not increased by repeating the forward and backward movement. In addition, it is possible to lengthen a substantial traveling distance and obtain a desired shift width with a small steering angle.
Therefore, it is possible to satisfactorily avoid the collision of the vehicle body with other objects by reducing the steering angle, and the range of movement of the vehicle body in the forward / rearward direction can be reduced. The shifting can be performed well.

According to the configuration of the X-ray imaging apparatus for round trip of the invention according to claim 1, by driving the width adjusting control means by the width adjusting starting means, the left wheel driving mechanism and the right wheel driving mechanism are driven, and steering is performed. The vehicle can be moved forward and backward, and the carriage can be automatically moved by a set distance in the lateral width direction of the vehicle body.
Therefore, when the apparatus is brought close to the bed on which the subject is placed, it is only necessary to activate the width adjustment control means by the width adjustment activation means, and the entire apparatus can be easily moved in the left-right width direction. And the inspection efficiency by X-ray imaging can be improved.

Embodiments of the present invention will be described below with reference to the drawings.
FIG. 1 shows a first example of a roundabout X-ray imaging apparatus according to the present invention, in which (a) is a body side view, (b) is an overall rear view, and (c) is an overall plan view. Front wheels 2a and 2b that are turnable on the left and right of the front end side are provided, and rear wheels 3a and 3b are provided on the left and right of the rear end side, respectively.

A support column 4 is provided at the front portion of the carriage 1 so as to be able to turn around a vertical axis, and a support arm 5 that can extend and contract in the horizontal direction is provided on the support column 4. An X-ray tube 6 and a collimator 7 as X-ray imaging means are provided on the distal end side of the support arm 5.
On the other hand, a handle holding base 8 is attached to the rear portion of the carriage 1, and an operation handle 9 is provided on the handle holding base 8 so as to be able to be pushed and pulled in the longitudinal direction of the vehicle body.

  A left wheel electric motor 10a as a left wheel drive mechanism is linked to the rear left wheel 3a, and a right wheel electric motor 10b as a right wheel drive mechanism is linked to the rear right wheel 3b. The rear left and right wheels 3a and 3b can be driven and stopped independently.

As shown in the configuration diagram of the travel control of the first embodiment in FIG. 2, the carriage 1 is mounted with a travel control unit having a motor drive circuit 11, a PWM control circuit 12, and a CPU 13 as a width adjusting control unit.
The left wheel electric motor 10a is provided with a left wheel rotary encoder 14a for detecting the amount of rotation, while the right wheel electric motor 10b is provided with a right wheel rotary encoder 14b for detecting the amount of rotation. The detected rotation amounts from the left and right wheel rotary encoders 14 a and 14 b are input to the CPU 13.

  In addition, pressure sensors 15 are attached to the front and rear directions of the vehicle body at both ends of the operation handle 9, pressure signals from the pressure sensors 15 are input to the CPU 13, and the CPU 13 responds to the front and rear operations of the operation handle 9. The switching control duty control width signal is input to the PWM control circuit 12, and the PWM control circuit 12 controls the motor drive circuit 11 to drive the left and right wheel electric motors 10a and 10b forward and backward, thereby moving the carriage 1 forward or backward. Is configured to do.

On the side surface of the collimator 7, a fine movement switch 16 and a lateral width direction movement switch 17 as a width-shifting starting means are provided, and the fine movement switch 16 and the lateral width direction movement switch 17 are connected to the CPU 13.
The fine movement switch 16 is provided so as to be able to be displaced in the front / rear and left / right directions, while the lateral direction movement switch 17 is provided so as to be able to be displaced in the cross direction of left diagonally forward, right diagonally forward, left diagonally rear and right diagonally rear. Yes.

As shown in the block diagram of the control system of the first embodiment in FIG. 3, the CPU 13 includes a drive command circuit 18, an operation handle movement calculation circuit 19, a fine movement switch movement calculation circuit 20, a lateral direction movement switch movement calculation circuit 21, First and second direction discriminating circuits 22 and 23, and a switching discriminating circuit 24 are provided.
The lateral width direction movement switch computing circuit 21 is connected to a width adjustment amount setting device 25, a steering angle setting device 26, and a travel distance setting device 27.

In the operation handle movement calculation circuit 19, a value obtained by multiplying the maximum values Vla and Vra of the respective components of the rotational speeds V (Vl and Vr) of the left and right wheel electric motors 10a and 10b by appropriately set conversion functions α and the operation handle. 9, output torques Tla, Tra from the motor drive circuit 11 are obtained from the magnitudes Fla, Fra of the respective components inputted from the pressure sensor 15 attached to the motor 9 via the drive command circuit 18, and the corresponding pulse control is performed. A signal is output to the PWM control circuit 12.
Tla = α (Vla) ・ Fla
Tra = α (Vra) ・ Fra
Further, a signal from the pressure sensor 15 is input to the first direction discriminating circuit 22, and in response to the signal, it is discriminated which direction is the front and back, and the direction signal and operation handle movement calculation based on the discrimination result The pulse control signal from the circuit 19 is input to the PWM control circuit 12, the drive signal is output from the motor drive circuit 11 based on both signals, and the output torques of the left and right wheel electric motors 10a and 10b become Tla and Tra. So as to drive forward or backward.

In the fine movement switch movement arithmetic circuit 20, when the operation signal from the fine movement switch 16 is input via the drive command circuit 18, the left and right wheel electric motors 10a and 10b are driven with a torque of β (constant). As described above, the pulse control signal is output to the PWM control circuit 12.
Further, an operation signal from the fine movement switch 16 is input to the second direction determination circuit 23, and in response to the signal, it is determined whether the direction is front, rear, left or right, and the direction signal and the fine movement switch based on the determination result The pulse control signal from the movement arithmetic circuit 20 is input to the PWM control circuit 12, and a drive signal is output from the motor drive circuit 11 based on both signals, while stopping one of the left and right wheel electric motors 10a and 10b. Steering by driving the other and fine movement of forward or reverse by both driving are performed.

In the lateral direction movement switch movement calculation circuit 21, the left and right wheels are preliminarily inputted by setting the width adjustment amount and the steering angle or the travel distance from the width adjustment amount setting device 25, the steering angle setting device 26 and the travel distance setting device 27. The first steering process steered by stopping one of the electric motors 10a and 10b and driving the other, and driving both the left and right wheel electric motors 10a and 10b after the first steering process A first traveling process that moves forward or backward, and a second steering process that steers in the opposite direction by twice the steering amount in the first steering process by the same stop / drive configuration as the first steering process. Then, after the second steering step, both the left and right wheel electric motors 10a, 10b are driven in the opposite direction to the first traveling step, and the second traveling backward or forward by the same distance as the first traveling step. Driving process and the first operation A third steering process that steers in the same direction as the steering amount in the first steering process by the same stop / drive mode as the process is stored, and pulse control signals corresponding to four types of travel modes Is input to the PWM control circuit 12 and steered and traveled while being confirmed by the left and right wheel rotary encoders 14a and 14b.
That is, when the steering angle θ and the travel distance D are in a relationship of S = D · sin θ with respect to the width adjustment amount S and a predetermined width adjustment amount S is to be obtained, the steering angle θ and the travel distance D are obtained. As long as one of these is set and input, the other value can be uniquely obtained by calculation.

  In addition, an operation signal from the horizontal direction movement switch 17 is input to the switching determination circuit 24, and in response to the signal, it is determined whether the direction is left diagonally forward, right diagonally forward, left diagonally rearward or right diagonally backward. Then, the direction signal based on the determination result and the pulse control signal from the lateral width direction movement switch movement calculation circuit 21 are input to the PWM control circuit 12, and the electric motors 10a and 10b for the left and right wheels are handled based on both signals. The vehicle 1 is driven or stopped according to the traveling mode to perform the width adjustment of the carriage 1.

Next, the four types of travel modes will be described.
(1) Travel mode by left diagonal forward operation (see schematic diagram for description of control operation in FIG. 4)
In the first steering process L1, the right wheel electric motor 10b is rotated by a set amount while the left wheel electric motor 10a is stopped, and only the right wheel 3b is rotated around the ground point of the left wheel 3a. Steer.
In the first traveling step L2, after the first steering step L1, both the left and right wheel electric motors 10a and 10b are rotationally driven by a set amount and advanced by the left and right wheels 3a and 3b.
In the second steering step L3, the right wheel electric motor 10b is twice the steering amount in the first steering step L1 with the left wheel electric motor 10a stopped after the first traveling step L2. Only the right wheel 3b is rotated in the opposite direction and steered around the ground point of the left wheel 3a.
In the second traveling process L4, after the second steering process L3, both the left and right wheel electric motors 10a and 10b are reversely driven by a set amount and moved backward by the left and right wheels 3a and 3b.
In the third steering step L5, with the left wheel electric motor 10a stopped, the right wheel electric motor 10b rotates only the right wheel 3b in the same direction as the steering amount in the first steering step L1. And steer around the ground contact point of the left wheel 3a.
Through the above steps, the cart 1 can be moved to the left by a set amount.
(2) Travel mode by diagonally right forward operation (see schematic diagram for description of control operation in FIG. 4)
The procedure opposite to the traveling mode by the left diagonal forward operation, that is, the third steering process L5 → the second traveling process L4 → the second steering process L3 → the first traveling process L2 → the first steering. The set amount of the carriage 1 can be moved rightward by the process L1.

(3) Travel mode by leftward and backward operation (see schematic diagram for explanation of control operation in FIG. 5)
In the first steering process L1, the right wheel electric motor 10b is reversed by a set amount while the left wheel electric motor 10a is stopped, and only the right wheel 3b is rotated around the ground point of the left wheel 3a. Steer.
In the first traveling process L2, both the left and right wheel electric motors 10a and 10b are rotationally driven by a set amount after the first steering process L1 and moved backward by the left and right wheels 3a and 3b.
In the second steering step L3, the right wheel electric motor 10b is twice the steering amount in the first steering step L1 with the left wheel electric motor 10a stopped after the first traveling step L2. Only the right wheel 3b is rotated in the opposite direction and steered around the ground point of the left wheel 3a.
In the second traveling process L4, after the second steering process L3, both the left and right wheel electric motors 10a and 10b are rotationally driven by a set amount and advanced by the left and right wheels 3a and 3b.
In the third steering step L5, with the left wheel electric motor 10a stopped, the right wheel electric motor 10b rotates only the right wheel 3b in the same direction as the steering amount in the first steering step L1. And steer around the ground contact point of the left wheel 3a.
Through the above steps, the cart 1 can be moved to the left by a set amount.
(4) Traveling form by the right rearward operation (see schematic diagram for explanation of control operation in FIG. 5)
The procedure opposite to the traveling mode by the left oblique rear operation, that is, the third steering process L5 → the second traveling process L4 → the second steering process L3 → the first traveling process L2 → the first steering. The set amount of the carriage 1 can be moved rightward by the process L1.
In each of the first, second, and third steering steps L1, L3, and L5, only the left wheel 3a is steered around the ground point of the right wheel 3b with the right wheel electric motor 10b stopped. You may do it.

  4 and 5 are exaggerated in the description of the above-described traveling mode. Actually, as shown in the overall schematic plan view for explaining the traveling mode in FIG. The width adjustment amount is smaller than the lateral width of the carriage 1, and the traveling amount in the longitudinal direction of the vehicle body is at most about the entire length of the carriage 1 in the longitudinal direction of the vehicle body. B in the figure shows a bed on which the subject is placed.

FIG. 7 is a schematic diagram for explaining the control operation of the traveling mode of the second embodiment of the round-robin X-ray imaging apparatus according to the present invention. The differences from the first embodiment are as follows.
That is, the width adjustment is performed by repeating the operation from the first steering process L1 to the third steering process L3 twice. Other configurations are the same as those of the first embodiment, and the same reference numerals are given and description thereof is omitted.

  In the case of the second embodiment, the steering angle can be reduced and the swing angle of the carriage 1 can be reduced when the width adjustment amount is the same as in the first embodiment, and the carriage 1 and the X-ray tube 6 can be reduced. In addition, it has an advantage that it is easy to avoid contact and collision with other objects such as the collimator 7.

FIG. 8 is a block diagram of a control system according to the third embodiment. The differences from the first embodiment are as follows.
That is, the travel distance setting device 27 is provided with a width adjustment amount adjusting means 31.
Although not shown in the drawing, the width adjusting amount adjusting means 31 is composed of a dial with a scale such as +2 cm, +4 cm on one side and -2 cm, -4 cm, etc. on the other side from the neutral position. The travel distances in the first and second travel steps L2 and L4 are adjusted and set, and the width adjustment amount can be adjusted. Other configurations are the same as those of the first embodiment, and the same reference numerals are given and description thereof is omitted.

In the above-described embodiment, the front wheels 2a and 2b that can turn freely are provided on the left and right sides of the carriage 1, respectively. However, in the present invention, one front wheel may be provided.
Further, a drive wheel may be provided on the front left and right of the carriage 1 and a turnable wheel may be provided on the rear.

  The width alignment starting means is not limited to the horizontal width direction movement switch 17 that can be operated in the cross direction as in the above-described embodiment, and various types of configurations such as a plurality of types of push buttons and touch panels can be employed.

1 shows a first example of a roundabout X-ray imaging apparatus according to the present invention, in which (a) is a side view of the body, (b) is an overall rear view, and (c) is an overall plan view. It is a block diagram of the traveling control of Example 1. FIG. 3 is a block diagram illustrating a control system according to the first embodiment. FIG. 6 is a schematic diagram for explaining a control operation of a traveling mode by a left diagonal forward operation of the first embodiment. FIG. 6 is a schematic diagram for explaining a control operation of a traveling mode by a left oblique rear operation according to the first embodiment. It is the whole schematic plan view with which it uses for description of a practical driving | running | working form. FIG. 6 is a schematic diagram for explaining a control operation of a traveling mode by a left diagonal forward operation of the first embodiment. FIG. 10 is a block diagram illustrating a control system according to a third embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Bogie 2a ... Left front wheel 2b ... Right front wheel 3a ... Left rear wheel 3b ... Right rear wheel
6 ... X-ray tube (X-ray imaging means)
7 ... Collimator (X-ray imaging means)
10a ... Left wheel electric motor (left wheel drive mechanism)
10b ... Electric motor for right wheel (right wheel drive mechanism)
13 ... CPU (width adjustment control means)
17 ... Horizontal width direction moving switch (width-shifting start means)
31 ... Width adjustment amount adjusting means L1 ... 1st steering process L2 ... 1st driving process L3 ... 2nd steering process L4 ... 2nd driving process L5 ... 3rd steering process

Claims (4)

A left and right wheel provided with a left wheel drive mechanism and a right wheel drive mechanism that can be driven independently on the other side while providing a turnable wheel on one side of the front end side and the rear end side of the vehicle body is provided on the carriage, In an X-ray imaging apparatus for rounds provided with an X-ray imaging means for generating X-rays and irradiating the subject,
The carriage is automatically moved by a set distance in the left-right width direction of the vehicle body in cooperation with the stop of one of the left wheel drive mechanism and the right wheel drive mechanism, the steering by the other drive, and the front-rear driving by both driving A rounding X-ray imaging apparatus, comprising: a width-shifting control unit that controls the width-shifting control unit that starts the width-shifting control unit. The round X-ray imaging apparatus according to claim 1,
The width-shifting control means steers by stopping one of the left wheel driving mechanism and the right wheel driving mechanism and driving the other based on a preset width-shifting amount, a steering angle, and a travel distance. 1 steering process; a first traveling process that moves forward or backward by driving both the left wheel drive mechanism and the right wheel drive mechanism after the first steering process; and the first steering process. A second steering step for steering in the opposite direction by twice the steering amount in the first steering step, and the left wheel drive mechanism after the second steering step; A second traveling process in which both the right wheel drive mechanism is driven in the opposite direction to the first traveling process and travels the same distance as the first traveling process; and the same stop and stop as in the first steering process. The same amount as the steering amount in the first steering step depending on the drive mode The third steering step and automatically performed to those in which rounds for X-ray imaging apparatus to steer the direction. The round X-ray imaging apparatus according to claim 2,
A round trip X-ray imaging apparatus comprising a width adjustment amount adjusting means for adjusting and setting a travel distance in the first and second travel steps. The round X-ray apparatus according to claim 2 or 3,
A round trip X-ray imaging apparatus that repeats the operations from the first traveling process to the third steering process a plurality of times.

Images