CN101229069A - Even pace fan-shaped scan running device of type-B ultrasonic - Google Patents
Even pace fan-shaped scan running device of type-B ultrasonic Download PDFInfo
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- CN101229069A CN101229069A CNA2007100011932A CN200710001193A CN101229069A CN 101229069 A CN101229069 A CN 101229069A CN A2007100011932 A CNA2007100011932 A CN A2007100011932A CN 200710001193 A CN200710001193 A CN 200710001193A CN 101229069 A CN101229069 A CN 101229069A
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Abstract
The invention relates to a scanning device, in particular to a type-B ultrasonic constant sector scanning moving device which includes a dial on an X-Y plane driven by a motor, a balance arranged on the dial and a slide block which is driven by the balance and can move flatly along the directions of an X shaft and a Z shaft. A swing body provided with a type-B ultrasonic probe is connected with the slide block through a rotary shaft. The swing body can swing along the Y-shaft direction on the X-Z plane; wherein, the slide block is provided with a plane cam swing slot driven by the balance and a contour line of the plane cam swing slot meets an equations set; wherein, d relates to a projection of the distance between the balance and the center of the slide block on the X shaft; R relates to a rotary radius of the balance; a relates to the included angle between the rotary radius of the balance on the dial and the Y shaft; r relates to the distance from a swing shaft to a rotary shaft of the swing body; b relates to the included angle between the swing radius of the swing body and the Z shaft; k relates to a proportionality factor. The invention is also provided with a position sensor sensing the swing position of the slide block. The invention switches the constant rotation of the motor into the constant swing of the sector scanning probe, which is simple in structure and is stable and reliable.
Description
Technical field
The present invention relates to a kind of scanning motion device, the particularly a kind of B ultrasonic sector scanning telecontrol equipment that can realize at the uniform velocity sector scanning by simple space mechanism conversion.
Background technology
At present, the known telecontrol equipment that is used for B ultrasonic/UBM sector scanning has following dual mode usually: first kind is used the direct current electric rotating machine to drive fork by one-level rotation-oscillation shifter, will rotatablely move and directly be converted to swing.Its principle is that the rotating disk 1 on the X-Y coordinate plane is provided with a pivot pin 2 as shown in Figure 1, and described pivot pin 2 drives a slide plate 3 along the X-axis translation, and is described along the oscillation center swing around pendulum mass in the Z-X plane of X-axis translation slide plate 3 drive pendulum masses.Under this kind type of drive, be uniform rotation if drive the motor of rotating disk 1, then slide plate 3 is done cosinusoidal motion along X-direction in X-Y plane, and the characteristics of motion of corresponding pendulum mass 4 can be tried to achieve by following computing.
If rotating disk 1 on X-Y plane with angular velocity omega
1Do at the uniform velocity rotation, the angle a of t time and Y-axis is ω
1T, at this moment, the component velocity V of the X-axis of pivot pin 2
PinX=R ω
1Cos ω
1T=R ω
1Cosa, the angular velocity of establishing pendulum mass is ω
2, the component velocity V of the X-axis of pendulum mass then
PendulumX=r ω
2Cos ω
2T=r ω
2Cosb, because the motion of pendulum mass drives by slide plate 3, therefore, V
PendulumX=V
PinX.By above-mentioned formula as can be seen, only when the radius of turn R of pivot pin 2 equaled the pendulum radius r of pendulum mass, pendulum mass could at the uniform velocity be swung; If r is greater than R, pendulum mass and Z-axle clamp angle are 0 o'clock, angular velocity omega
2Maximum is R ω
1/ r; Along with pendulum mass and Z-axle clamp angle increase angular velocity omega
2=R ω
1Cosa/rcosb, because b is less than a, cosb is less than cosa, so ω
2Reduce gradually; If r is less than R, ω
2To increase gradually.
Even the radius of turn R of pivot pin 2 equals the pendulum radius r of pendulum mass, pendulum mass is done at the uniform velocity swing, and the probe that is installed on the pendulum mass end also is by the swing of cosine rule, causes the two ends B ultrasonic image of scanning process serious geometric distortion to occur.The second way is to use the customization motor, directly drives fork, closed loop control is arranged or do not have closed loop control, complex structure own.If do not adopt closed loop, the concordance of motion and at the uniform velocity property be difficult to be guaranteed; Adopt then cost height of closed loop.How adopting simple structure to realize at the uniform velocity sector scanning campaign of B ultrasonic, is the medium-term and long-term unsolved difficult problem of B ultrasonic device fabrication.
Summary of the invention
Technical problem to be solved by this invention is in order to overcome the existing above-mentioned deficiency that is used for B ultrasonic/UBM sector scanning telecontrol equipment, to propose at the uniform velocity sector scanning telecontrol equipment of a kind of B ultrasonic simple in structure.Its concrete scheme is as follows:
A kind of B ultrasonic is the sector scanning telecontrol equipment at the uniform velocity, comprise: motor, by motor-driven in the rotating disk that rotates on the X-Y plane, be located at balancing point on the rotating disk, one by balancing point drive can be along the slide block of X-axis and Z-direction translation, one pendulum mass that is provided with Ultrasonic-B probe connects described slide block by rotating shaft, and described pendulum mass can be around the axial balance staff swing of Y-on the X-Z plane; The center of rotation of described rotating disk is positioned at the X-Y zero; It is characterized in that: be provided with the plane cam pendulum groove that drives for balancing point in described slide block, the contour line of described plane cam pendulum groove satisfies equation group
Wherein:
D--works as balancing point and is rotated counterclockwise, when being a with the Y-axis angle, and balancing point and the projection of slide block centre distance on X-axis;
Balancing point radius of turn on the R--rotating disk;
The balancing point radius of turn on the a--rotating disk and the angle of Y-axis;
R--pendulum mass balance staff is to the distance of rotating shaft, the i.e. pendulum radius of pendulum mass;
The angle of the pendulum radius of b-pendulum mass and Z axle;
K-proportionality coefficient=b/a, the size of k has determined the pendulum angle of pendulum mass;
And be provided with the position sensor of sensing slide block swing position.
Described B ultrasonic is the sector scanning telecontrol equipment at the uniform velocity, it is characterized in that: the contour line of putting groove according to the plane cam of described equation group design constitutes by four sections, wherein two sections are: establish R=r, k=1, a=-a1～+ a1 and a=(180 °-a1)～(180 °+a1) gained is divided into the straightway on the Y-axle of being positioned at of X-axle both sides; Wherein in addition two sections be R=r, k=0, a=+a1～(180 °-a1) with a=(180 °+a1)～-the arc section formation that is connected two straightways of a1 gained; Described angle a1 is determined by the pendulum angle of required pendulum mass.
Described B ultrasonic is the sector scanning telecontrol equipment at the uniform velocity, it is characterized in that: described plane cam pendulum sheave profile satisfies equation group
And R=r, k are=arbitrary positive number.
Described B ultrasonic is the sector scanning telecontrol equipment at the uniform velocity, it is characterized in that: described plane cam pendulum sheave profile satisfies equation group
And R ≠ r, k are=arbitrary positive number.
Described B ultrasonic is the sector scanning telecontrol equipment at the uniform velocity, it is characterized in that: described position sensor is to be located at by the side of rotating disk, and makes slide block movement to the two ends extreme position in the rotating disk rotation, and the rotating disk side of correspondence position pick off is provided with miniature magnet steel.
Described B ultrasonic is the sector scanning telecontrol equipment at the uniform velocity, it is characterized in that: described position sensor is an extreme position of being located at slide block movement, and is provided with miniature magnet steel in the slide block two ends.
Described B ultrasonic is the sector scanning telecontrol equipment at the uniform velocity, it is characterized in that: described position sensor is near switch.
Described B ultrasonic is the sector scanning telecontrol equipment at the uniform velocity, it is characterized in that: described position sensor is a Hall element, is provided with miniature magnet steel in the slide block end.
Described B ultrasonic is the sector scanning telecontrol equipment at the uniform velocity, it is characterized in that: described motor is a direct current generator.
Sector scanning telecontrol equipment usage space of the present invention mechanism converts the uniform rotation of direct current generator the at the uniform velocity swing of sector scanning probe to, and is simple in structure, and stable and reliable operation.
The present invention solves the scheme that its technical problem adopts and is to use special-shaped plane cam pendulum groove to convert uniform rotation at the uniform velocity swing, comprising:
1) uses direct current generator to drive rotating disk and at the uniform velocity swing, a balancing point is installed on the rotating disk, be used to drive plane cam pendulum groove;
2) the plane cam pendulum groove of the special profile of processing makes it the uniform rotation of rotating disk is converted to the at the uniform velocity swing of plane cam pendulum groove;
3) plane cam is put groove and be connected, make plane cam pendulum groove get the at the uniform velocity swing that at the uniform velocity swing converts the sector scanning head to the sector scanning head;
The present invention compares with first kind driving in the background technology, uses one-level space shifter (plane cam pendulum groove mechanism) more, realizes uniform rotation to the conversion of at the uniform velocity swinging, and has eliminated because the serious B ultrasonic image geometric distortion that the non-at the uniform velocity property of swinging causes.
The present invention compares with the closed loop control driving in the background technology, does not need use angle pick off and closed control circuit, can realize the at the uniform velocity swing that precision is suitable equally, has greatly reduced the complexity and the cost of device, has improved the reliability of device simultaneously.
For structure of the present invention, scheme, feature and effect thereof are further understood again, enumerate specific embodiment now and be described with reference to the accompanying drawings as follows.
Description of drawings
Fig. 1 is the principle schematic of existing machinery sector scanning telecontrol equipment.
Fig. 2 is the contour line derivation sketch map of plane cam pendulum groove of the present invention;
Fig. 3 is an at the uniform velocity sector scanning telecontrol equipment schematic perspective view of B ultrasonic of the present invention.
Fig. 4 is the at the uniform velocity working state schematic representation of sector scanning telecontrol equipment of B ultrasonic of the present invention.
Fig. 5 a kind of special-shaped plane cam pendulum groove figure of the present invention, wherein: k=1.
Fig. 6 is that the special-shaped plane cam of another kind of the present invention is put groove figure wherein: k=3, R=r.
Fig. 7 is that another special-shaped plane cam of the present invention is put groove figure wherein: k=4, R=r.
Fig. 8 is the swing curve figure of probe.
Fig. 9 is an at the uniform velocity sector scanning telecontrol equipment workflow diagram of B ultrasonic of the present invention.
The specific embodiment
Shown in Figure 3 is at the uniform velocity sector scanning telecontrol equipment schematic perspective view of B ultrasonic of the present invention.B ultrasonic of the present invention is the sector scanning telecontrol equipment at the uniform velocity, comprise: motor 1, by motor 1 drive in the rotating disk 2 that rotates on the X-Y plane, be located at balancing point 3 on the rotating disk 2, one by balancing point 3 drive can be along the slide block 4 of X-axis and Z-direction translation, one pendulum mass 6 that is provided with Ultrasonic-B probe 5 connects described slide block 4, and described pendulum mass 6 can be swung around the X-axle; The center of rotation of described rotating disk 2 is positioned at the X-Y zero; Wherein: be provided with the plane cam pendulum groove 7 that drives for balancing point 3 in described slide block 4, and the contour line of described plane cam pendulum groove 7 is made of with the arc section B that is connected the two line segment two sections straightway A that are parallel to the Y-axle that are divided into X-axle both sides, and is provided with the position sensor 8 of sensing slide block 4 swing position.
Specifically be, described pendulum mass 6 is installed on the shell 10 by balance staff 9, and the described slide block 4 that is provided with plane cam pendulum groove 7 is crossed slide opening 12 and is slidedly arranged on the slide bar 13, and described slide bar 13 is fixedly arranged on the shell 10, and described slide block 4 also is connected with pendulum mass 6 by rotating shaft 11.One rotating disk 2 is connected with described motor 1 by shaft joint, and described motor is a direct current generator; Be provided with balancing point 3 in rotating disk 2, described balancing point 3 is inserted in the plane cam pendulum groove 7 of slide block 4.Direct current generator 1 rotates and drives rotating disk 2, and balancing point 3 is followed rotating disk 2 and rotated, and moves back and forth thereby drive slide block 4 by plane cam pendulum groove 7, and slide block 4 drives pendulum mass 6 around balance staff 9 swings.
Can only translation in order to limit the slide block 4 that is provided with plane cam pendulum groove 7, two columns 15 are installed on shell 10, two vertical slippers 16 can slide up and down along column 15, two slide bars 13 are connected on described two vertical slippers 16, and the described slide block 4 that is provided with plane cam pendulum groove 7 is slidedly arranged on described two slide bars 13 by slide opening 12.Slide block 4 can only can not be swung along 13 translations of two slide bars like this.
Fig. 2 is plane cam pendulum groove The outline design derivation sketch map.Wherein: O is the center of rotation (projection on the X-Y plane) of rotating disk 2, O
1For being inserted in the balancing point 3 and the intersection center (projection on the X-Z plane) of putting groove 7, O in the plane cam pendulum groove 7
3Be the center of the rotating shaft on the slide block 4 11, O
2Center (projection on the X-Z plane) for balance staff 9; R is the radius of turn of balancing point 3, and r is the pendulum radius of pendulum mass 6, d be balancing point 3 to the projection of slide block 4 centre distances on X-axis, a is the angle that rotating disk turns over, b is the angle of pendulum mass swing.As seen from the figure, balancing point 3 at the projected position of X-axis is:
X
1＝R*sina＝h*sinb+d ①
Wherein, rotating disk 2 uniform rotation also are at the uniform velocity swing as pendulum mass 6, and satisfy b=k α, then balancing point 3 to the distance at slide block 4 centers X to projection d be:
d＝R*sina-h*sin(ka)②
Therefore the profile of plane cam pendulum groove is:
Wherein:
D--works as balancing point and is rotated counterclockwise, when being a with the Y-axis angle, and balancing point and the projection of slide block centre distance on X-axis;
Balancing point radius of turn on the R--rotating disk;
The balancing point radius of turn on the a--rotating disk and the angle of Y-axis;
R--pendulum mass balance staff is to the distance of rotating shaft, the i.e. pendulum radius of pendulum mass;
The angle of the pendulum radius of b-pendulum mass and Z axle;
K-proportionality coefficient=b/a, the size of k has determined the pendulum angle of pendulum mass;
Wherein have two class special states to be convenient to the design profile wire shaped most:
The I class:
R=r, k=1, this moment, the contour line of plane cam pendulum groove 7 was a straight line, and the angular velocity of pendulum mass 6 angle of oscillation speed and dial rotation is consistent.
The II class:
K=0, this moment, plane cam pendulum groove 7 contour lines were circular arc, when rotating disk 2 rotated, plane cam pendulum groove 7 (or slide block) and pendulum mass 6 kept static.
According to above two kinds of special states, can design the most easy plane cam pendulum sheave profile.
Fig. 5 is the plane cam pendulum sheave profile according to the two kind special states designs of formula in 3..The contour line of this plane cam pendulum groove constitutes by four sections, and wherein two sections are: establish R=r, and k=1, a=-a1～+ a1 and a=(180 °-a1)～(180 °+a1) gained is divided into the straightway on the Y-axle of being positioned at of X-axle both sides; Wherein in addition two sections be R=r, k=0, a=+a1～(180 °-a1) with a=(180 °+a1)～-the arc section formation that is connected two straightways of a1 gained; Described angle a1 is determined by the pendulum angle of required pendulum mass.In the diagram specific embodiment, a1 is 45 °.
When wherein balancing point 3 was in I, V straightway, pendulum mass 6 angle of oscillation speed were consistent with rotating disk 2 rotational angular.When rotating disk 2 rotational angular at the uniform velocity the time, pendulum mass 6 is at the uniform velocity swung with same angular velocity.Obviously at the uniform velocity swing is impossible, object can not be immediately with the opposite velocity attitude swing of big or small equidirectional when swinging to extreme position with a certain speed, speed can not be suddenlyd change, the process that one variable motion must be arranged, this stage is utilized the II class, k=0, the contour line of plane cam being put groove 7 is designed to arc section III, and will be arranged to braking section II between arc section III and the straightway I, be arranged to accelerating sections IV between arc section III and the straightway V, (please in conjunction with Fig. 8) rotating disk 2 rotates, and enters braking section II by straightway I, when balancing point 3 was in braking section II, the swing speed of pendulum mass 6 was decelerated to zero from+ω; Balancing point 3 enters arc section 3, and pendulum mass 6 is static; Then, balancing point 3 enters accelerating sections IV, and pendulum mass 6 is accelerated to-ω angular velocity.
Describedly satisfy equation group
Plane cam pendulum sheave profile, can make R=r, k is arbitrary positive number.Draw the corresponding array of X, Y, shown in table 1,2; Can get plane cam pendulum sheave profile according to the tabulation number.
Describedly satisfy equation group
Plane cam pendulum sheave profile, also can make R ≠ r, k is arbitrary positive number.Draw the corresponding array of X, Y; Can get plane cam pendulum sheave profile according to ordered series of numbers.
The strict theory of above-mentioned plane cam pendulum sheave profile should be the movement locus of balancing point 3 centrages, and plane cam pendulum sheave profile should be balancing point 3 centrages during by described orbiting motion, the envelope of the circumference of balancing point 3.
Fig. 6, cam shown in Figure 7 pendulum sheave profile are k to be set as 3 or 4 respectively, R=r=4.5mm.
Table 1R=r=4.5mm, k=3
| X | Y | X | Y | X | Y | X | Y | X | Y |
| -0.039 | -2.598 | -4.438 | -0.494 | -1.465 | 2.497 | 3.936 | 1.426 | 2.832 | -2.181 |
| -0.431 | -2.589 | -4.486 | -0.235 | -1.089 | 2.542 | 4.111 | 1.204 | 2.516 | -2.290 |
| -0.820 | -2.567 | -4.500 | 0.026 | -0.704 | 2.575 | 4.255 | 0.969 | 2.182 | -2.373 |
| -1.203 | -2.530 | -4.479 | 0.287 | -0.314 | 2.594 | 4.366 | 0.723 | 1.830 | -2.440 |
| -1.576 | -2.481 | -4.425 | 0.545 | 0.079 | 2.598 | 4.445 | 0.468 | 1.465 | -2.497 |
| -1.937 | -2.421 | -4.336 | 0.797 | 0.470 | 2.588 | 4.489 | 0.209 | 1.089 | -2.542 |
| -2.284 | -2.351 | -4.215 | 1.041 | 0.859 | 2.564 | 4.499 | -0.052 | 0.704 | -2.575 |
| -2.613 | -2.260 | -4.062 | 1.272 | 1.240 | 2.526 | 4.475 | -0.313 | 0.314 | -2.594 |
| -2.923 | -2.144 | -3.877 | 1.490 | 1.613 | 2.475 | 4.417 | -0.571 | 0.000 | -2.598 |
| -3.210 | -2.002 | -3.664 | 1.690 | 1.973 | 2.414 | 4.326 | -0.822 | ||
| -3.472 | -1.837 | -3.422 | 1.872 | 2.318 | 2.343 | 4.201 | -1.064 | ||
| -3.709 | -1.652 | -3.154 | 2.032 | 2.645 | 2.250 | 4.045 | -1.295 | ||
| -3.917 | -1.447 | -2.862 | 2.169 | 2.952 | 2.131 | 3.857 | -1.510 | ||
| -4.095 | -1.227 | -2.516 | 2.290 | 3.237 | 1.987 | 3.641 | -1.709 | ||
| -4.242 | -0.993 | -2.182 | 2.373 | 3.497 | 1.820 | 3.396 | -1.889 | ||
| -4.357 | -0.748 | -1.830 | 2.440 | 3.731 | 1.632 | 3.126 | -2.047 |
Table 1R=r=4.5mm, k=4
| X | Y | X | Y | X | Y | X | Y | X | Y |
| -0.039 | -2.869 | -4.357 | -0.842 | -2.250 | 2.732 | 3.182 | 2.304 | 3.897 | -1.663 |
| -0.431 | -2.876 | -4.432 | -0.585 | -1.902 | 2.819 | 3.447 | 2.111 | 3.664 | -1.919 |
| -0.820 | -2.895 | -4.483 | -0.294 | -1.539 | 2.875 | 3.686 | 1.897 | 3.422 | -2.131 |
| -1.203 | -2.899 | -4.500 | 0.000 | -1.165 | 2.900 | 3.897 | 1.663 | 3.154 | -2.322 |
| -1.576 | -2.871 | -4.483 | 0.294 | -0.781 | 2.893 | 4.078 | 1.412 | 2.893 | -2.473 |
| -1.937 | -2.812 | -4.432 | 0.585 | -0.392 | 2.875 | 4.229 | 1.147 | 2.581 | -2.617 |
| -2.284 | -2.722 | -4.347 | 0.870 | -0.000 | 2.869 | 4.347 | 0.870 | 2.250 | -2.732 |
| -2.613 | -2.603 | -4.229 | 1.147 | 0.392 | 2.875 | 4.432 | 0.585 | 1.902 | -2.819 |
| -2.923 | -2.457 | -4.078 | 1.412 | 0.781 | 2.893 | 4.483 | 0.294 | 1.539 | -2.875 |
| -3.210 | -2.286 | -3.897 | 1.663 | 1.165 | 2.900 | 4.500 | 0.000 | 1.165 | -2.900 |
| -3.472 | -2.091 | -3.686 | 1.897 | 1.539 | 2.875 | 4.483 | -0.294 | 0.781 | -2.893 |
| -3.709 | -1.874 | -3.447 | 2.111 | 1.902 | 2.819 | 4.432 | -0.585 | 0.392 | -2.875 |
| -3.917 | -1.638 | -3.182 | 2.304 | 2.250 | 2.732 | 4.347 | -0.870 | 0.000 | -2.869 |
| -4.095 | -1.386 | -2.893 | 2.473 | 2.581 | 2.617 | 4.229 | -1.147 | ||
| -4.242 | -1.120 | -2.581 | 2.617 | 2.893 | 2.473 | 4.078 | -1.412 |
In order to provide at the uniform velocity section starting point, in section at the uniform velocity the position sensor 8 of one sensing slide block, 4 swing position is set near the starting point, specifically be that a miniature magnet steel 17 is adhered to rotating disk 2 sides, simultaneously with one suddenly ear 18 be fixed on the shell 14, when miniature magnet steel by ear suddenly 18 near the time, ear 18 produces a rising edge suddenly, at the uniform velocity section beginning of prompting.
Specifically be, described position sensor 8 is to be located at by the side of rotating disk 2, and makes slide block movement to the two ends extreme position in rotating disk 2 rotations, and the rotating disk side of correspondence position pick off is provided with miniature magnet steel 17.Also can be, described position sensor is located at the extreme position of slide block movement, and be provided with miniature magnet steel in the slide block two ends.Described position sensor also can adopt near switch.
Fig. 4 is three kinds of attitudes of pendulum mass swing in the sector scanning process.
Fig. 9 is B ultrasonic/UBM fan type scanning motion device workflow, at first control device make direct current generator 1 electric, direct current generator 1 rotation.When miniature magnet steel 17 during by ear 18 suddenly, ear 18 produces a rising edge suddenly, at the uniform velocity section beginning, and control device begins to make continuously ultrasonic probe 5 emission ultrasonic pulses, obtains ultrasonic echo simultaneously.After finishing transmitting sequence, at the uniform velocity section finishes.Control device generates the B ultrasonic image by echo-signal is handled.
Claims (9)
1. B ultrasonic sector scanning telecontrol equipment at the uniform velocity, comprise: motor, by motor-driven in the rotating disk that rotates on the X-Y plane, be located at balancing point on the rotating disk, one by balancing point drive can be along the slide block of X-axis and Z-direction translation, one pendulum mass that is provided with Ultrasonic-B probe connects described slide block by rotating shaft, and described pendulum mass can be around the axial balance staff swing of Y-on the X-Z plane; The center of rotation of described rotating disk is positioned at the X-Y zero; It is characterized in that: be provided with the plane cam pendulum groove that drives for balancing point in described slide block, the contour line of described plane cam pendulum groove satisfies equation group
Wherein:
D--works as balancing point and is rotated counterclockwise, when being a with the Y-axis angle, and balancing point and the projection of slide block centre distance on X-axis;
Balancing point radius of turn on the R--rotating disk;
The balancing point radius of turn on the a--rotating disk and the angle of Y-axis;
R--pendulum mass balance staff is to the distance of rotating shaft, the i.e. pendulum radius of pendulum mass;
The angle of the pendulum radius of b-pendulum mass and Z axle;
K-proportionality coefficient=b/a, the size of k has determined the pendulum angle of pendulum mass;
And be provided with the position sensor of sensing slide block swing position.
2. B ultrasonic according to claim 1 is the sector scanning telecontrol equipment at the uniform velocity, it is characterized in that: the contour line of putting groove according to the plane cam of described equation group design constitutes by four sections, wherein two sections are: establish R=r, k=1, a=-a1～+ a1 and a=(180 °-a1)～(180 °+a1) gained is divided into the straightway on the Y-axle of being positioned at of X-axle both sides; Wherein in addition two sections be R=r, k=0, a=+a1～(180 °-a1) with a=(180 °+a1)～-the arc section formation that is connected two straightways of a1 gained; Described angle a1 is determined by the pendulum angle of required pendulum mass.
3. B ultrasonic according to claim 1 is the sector scanning telecontrol equipment at the uniform velocity, it is characterized in that: described plane cam pendulum sheave profile satisfies equation group
And R=r, k are=arbitrary positive number.
4. B ultrasonic according to claim 1 is the sector scanning telecontrol equipment at the uniform velocity, it is characterized in that: described plane cam pendulum sheave profile satisfies equation group
And R ≠ r, k are=arbitrary positive number.
5. B ultrasonic according to claim 1 is the sector scanning telecontrol equipment at the uniform velocity, it is characterized in that: described position sensor is to be located at by the side of rotating disk, and make slide block movement to the two ends extreme position in the rotating disk rotation, the rotating disk side of correspondence position pick off is provided with miniature magnet steel.
6. B ultrasonic according to claim 1 is the sector scanning telecontrol equipment at the uniform velocity, it is characterized in that: described position sensor is an extreme position of being located at slide block movement, and is provided with miniature magnet steel in the slide block two ends.
7. according to claim 5 or 6 described B ultrasonic sector scanning telecontrol equipment at the uniform velocity, it is characterized in that: described position sensor is near switch.
8. according to claim 5 or 6 described B ultrasonic sector scanning telecontrol equipment at the uniform velocity, it is characterized in that: described position sensor is a Hall element, is provided with miniature magnet steel in the slide block end.
9. B ultrasonic according to claim 1 is the sector scanning telecontrol equipment at the uniform velocity, it is characterized in that: described motor is a direct current generator.
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| WO2015169261A1 (en) * | 2014-05-09 | 2015-11-12 | 杨松 | B ultrasonic scanning probe, b ultrasonic scanning system and b ultrasonic scanning method |
| CN106344066A (en) * | 2016-08-26 | 2017-01-25 | 飞依诺科技(苏州)有限公司 | Probe robot device |
| CN108065964A (en) * | 2018-01-16 | 2018-05-25 | 中国科学院苏州生物医学工程技术研究所 | A kind of ultrasonic imaging method, device, equipment and ultrasound imaging probe |
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|---|---|---|---|---|
| JPS52130178A (en) * | 1976-04-23 | 1977-11-01 | Tokyo Shibaura Electric Co | Ultrasonic high speed repetition scanning device |
| JPS54112587A (en) * | 1978-02-23 | 1979-09-03 | Tokyo Shibaura Electric Co | Ultrasonic wave diagnosis device |
-
2007
- 2007-01-22 CN CN200710001193A patent/CN100579462C/en active Active
Cited By (7)
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| CN102348424A (en) * | 2009-03-09 | 2012-02-08 | 皇家飞利浦电子股份有限公司 | Catheter, apparatus, method and computer program for applying energy to object |
| CN102178546A (en) * | 2011-05-30 | 2011-09-14 | 华南理工大学 | Low degree-of-freedom medical three-dimensional ultrasonic imaging device |
| WO2015169261A1 (en) * | 2014-05-09 | 2015-11-12 | 杨松 | B ultrasonic scanning probe, b ultrasonic scanning system and b ultrasonic scanning method |
| CN106344066A (en) * | 2016-08-26 | 2017-01-25 | 飞依诺科技(苏州)有限公司 | Probe robot device |
| US11253227B2 (en) | 2016-08-26 | 2022-02-22 | Vinno Technology (Suzhou) Co., Ltd. | Probe robot device |
| CN108065964A (en) * | 2018-01-16 | 2018-05-25 | 中国科学院苏州生物医学工程技术研究所 | A kind of ultrasonic imaging method, device, equipment and ultrasound imaging probe |
| CN108065964B (en) * | 2018-01-16 | 2021-04-20 | 中国科学院苏州生物医学工程技术研究所 | Ultrasonic imaging method, device and equipment and ultrasonic imaging probe |
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| Publication number | Publication date |
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| CN100579462C (en) | 2010-01-13 |
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