CN203647342U - Automatic transferring device - Google Patents
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- CN203647342U CN203647342U CN201320773117.4U CN201320773117U CN203647342U CN 203647342 U CN203647342 U CN 203647342U CN 201320773117 U CN201320773117 U CN 201320773117U CN 203647342 U CN203647342 U CN 203647342U
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Abstract
The utility model provides an automatic transferring device which comprises a clamping mechanism used for clamping a bed board, a carrying mechanism used for carrying the clamping mechanism and connected with the clamping mechanism, a motion mechanism used for driving the carrying mechanism to move and connected with the carrying mechanism and a control mechanism used for controlling the motion mechanism to move along a preset route and connected with the motion mechanism. According to the automatic transferring device with high accuracy, a patient can be automatically and safely moved with the high accuracy and accurately transported among different imaging devices, namely under the assistance of the automatic transferring device, the switch of movement and inspection of the patient is automatically conducted without the assistance of a doctor among multiple medical devices. Damage caused by the medical devices to the doctor can be avoided through the transferring device, pain of the patient is relieved, the intelligent level of the devices in a hospital is improved, and the effect of more efficient and more accurate diagnosis is achieved.
Description
Technical field
This utility model relates to field of medical technology, relates in particular to a kind of transloading equipment automatically.
Background technology
The physicist roentgen of Germany in 1895 has found x-ray, is used to soon the disease examination of human body, and has formed thus radiodiagnostics.Over nearly 30 years, computer tomography (computer tomography, CT), nuclear magnetic resonance (magnetic resonanceimaging, MRI), positron emission tomography scanning (positron emission tomography, PET) development, has advanced the fast development of Medical Imaging greatly.But, because various imaging examinations have pluses and minuses separately, there is no up to now a kind of Imaging Technology comprehensive diagnostic message can be provided, conventionally must could carry out overall merit to pathological changes by use in conjunction derived techniques.
For can early discovery focus, can accurately provide again location, quantitatively, the information such as etiologic diagnosis and staging, two kinds of equipment that have the Imaging Technology of complementary action to combine together are arisen at the historic moment, PET/CT, PET/MRI, DSA/CT etc. are applied to clinical gradually, and inspection technology and method be also in constantly innovation, and diagnostic imaging diagnose and developed into the comprehensive diagnos system that collects form, function, metabolism and change into one from single dependence metamorphosis.The paramophia of lesions showed merely, and can provide the pathophysiological change such as blood flow, the metabolism information of pathological changes, for the diagnosis and treatment of clinical disease provide more objective detailed image data, and can make everybody further be familiar with essence and the development law thereof of disease.
PET/CT has promoted the development of nuclear medicine greatly, obtain very large clinical advantage, but the combination of CT and PET has also exposed many limitation with its efficiently and accurately, as soft tissue resolution and poor image quality, cannot practical function imaging, and the x-ray radiation of high dose etc.PET/MR can realize the integrated image of complete structure, function and molecule, and can get rid of CT radiation and improve soft tissue chart's image quality simultaneously, and experiment confirmation, utilize PET/MRI to position epileptic focus, PET/MRI is better than additive method.Ledezma etc. have reported the effect of PET/MRI in glioma diagnosis especially, and result shows that PET/MRI can improve the recall rate of brain tumor.But it has lost the accurate anatomic information of CT.Design one integrates various armarium advantages, and medical imaging equipment that can complementary shortcoming is each other extremely urgent.
Between various device profile structure, detection principle and different to the technical requirement of environment, build with reference to PET/MRI system structure, the binding pattern that can consider at present mainly contains three kinds, i.e. plug-in type, integrated and tandem.Taking PET/MRI as example, in plug in construction, PET detector is placed in MRI equipment, disturbs larger problem but exist between PET probe and MRI magnetic field, and the space that while PET occupies MRI cavity also needs further reduction, just can obtain data accurately and reliably.And integrated structure mainly depends on three kinds of technology at present, 1. set up two independent, dynamic controlled magnet, excite respectively proton and receive MR signal, intersection collection; 2. PET gauging ring is positioned at division cryogenic magnetic field, is further processed outside magnetic field by optical fiber transport scintillation photons; 3. scintillation crystal and photomultiplier tube assembly are between MRI send and receive coil.But so far, this technology can only apply to downfield and have special magnetic field gradient setting, lack practicality and promotional value.The only fusion of these two technology, these two kinds of methods have just exposed greatly not realizability, and for the running between more equipment etc., problem is heavy especially.Moreover plug-in type and integrated existing common, very important problem are the renewal Cost Problems of equipment.No matter be any in above two schemes, be all to buy brand-new equipment, and the original MRI of hospital, PET cannot obtain follow-up utilization, become " the high-tech rubbish " of high price.The innovation cost that brought is like this that most of hospital is difficult to bear.But series-mode frame can address this problem.This method only need be arranged existing equipment order, adopts the method for substep image data, and the interference between not only can abatement apparatus, has possessed the succession of sci-tech product especially, has greatly improved the service efficiency of equipment, is to consider the medical solution implemented.But this brings again a new difficult problem, how to realize the running between distinct device?
The manual type that adopts Hospitals at Present realizes the carrying of patient from nursing bed to CT, between PET and MRI more, realizes the image co-registration without position chanP.In addition, the radiation injury being brought by CT, also becomes medical personnel's very big puzzlement.So, urgently a kind of automatic controlling device that realizes the transhipment of patient from nursing bed to CT, between PET and MRI.
Utility model content
In order to overcome in prior art, the radiation hazradial bundle that by a dead lift bring of patient from nursing bed to image check equipment room is large, troublesome poeration and locate inaccurate technical problem handling process, and this utility model provides a kind of automatic transloading equipment.
In order to solve the problems of the technologies described above, this utility model adopts following technical scheme:
This utility model provides a kind of automatic transloading equipment, comprising:
For accommodating the blessing mechanism of bed board;
For carrying the load carrier of described blessing mechanism, described load carrier is connected with described blessing mechanism;
For driving the motion of described load carrier motion, described motion is connected with described load carrier;
For controlling the controlling organization that described motion moves along predetermined paths, described controlling organization is connected with described motion.
Furthermore, in described automatic transloading equipment, described automatic transloading equipment comprises left part and the right side part of two opposed settings, described left part and described right side divide between interval one for holding the spatial accommodation of bed board, the top of the top of described left part and described right side part by an arch be connected cover be connected; Described left part and described right side part include: a load carrier, and the top of described load carrier is provided with and accommodates mechanism, and described spatial accommodation is stretched in described blessing mechanism, and described load carrier bottom is provided with multiple described motions.
Furthermore, in described automatic transloading equipment, each described motion is included in the wheel that install described load carrier bottom, on described wheel, clutch is installed; Described wheel connects and is controlled by advance motor and the steer motor of controlling described wheel steering that the described wheel of control is advanced.
Furthermore, in described automatic transloading equipment, each described load carrier comprises:
The tie-beam being connected with described blessing mechanism;
For the lifting module that drives described tie-beam to move up and down, described lifting module is installed on the bottom of described tie-beam;
Wherein described in one, the bottom of lifting module is provided with the gage for measuring described lifting module adjustable height;
On described left part and described right side part end face and side, be separately installed with multiple for measuring the sonar sensor of obstacle distance and multiple for adjusting the infrared sensor of course according to metal reflective bar on pre-determined route.
Furthermore, in described automatic transloading equipment, described controlling organization comprises:
For gathering the acquisition module of the electronics size signal that signal that described sonar sensor obtains, signal that described infrared sensor obtains and described gage obtain, described acquisition module is connected with described sonar sensor, described infrared sensor and described gage respectively; Described acquisition module is also connected with described lifting module, and transmits elevating control signal to described lifting module;
Described motor and the described steer motor and the motor drive plate being connected of advancing;
Host computer, with described acquisition module and the communication connection of described motor drive plate.
Furthermore, in described automatic transloading equipment, described automatic transloading equipment also comprise for the control station of described upper machine communication, described control station comprises industrial computer and covers at the cabinet on described industrial computer, described industrial computer top setting operation panel and display.
Furthermore, in described automatic transloading equipment, described blessing mechanism comprises:
The Connection Block being connected with described tie-beam;
For determining the bed board contact switch of bed board distance, described bed board contact switch is arranged at the end of described tie-beam;
Upper blessing refers to, hinged with described Connection Block;
Lower blessing refers to, is connected with described Connection Block, and described lower blessing refers to the corresponding setting in the bottom referring in described upper blessing.
Furthermore, in described automatic transloading equipment, described automatic transloading equipment comprises and is placed in the power panel of installing in described left part or described right side part, described power panel comprises the power safety and the on and off switch that are connected with accumulator, described power panel also comprises the charging inlet that is used to described charge in batteries, and described charging inlet is connected with described accumulator.
Furthermore, in described automatic transloading equipment, described automatic transloading equipment also comprises the debugging interface for debugging described automatic transloading equipment, and described debugging interface is connected with described controlling organization.
Furthermore, in described automatic transloading equipment, the emergency stop switch for stopping described motion motion is installed on described arch cover and is furnished with cable.
The beneficial effects of the utility model are: this utility model provide a kind of patient between CT, MR, PET, PET/CT, PET/MR, PET/CT/MR and CT/MR distinct device automatically, safety, high precision movement and the accurate High Precision Automatic transloading equipment of carrying.Namely, under the back work of automatic transloading equipment, realize without the auxiliary lower patient of doctor automated movement inspection between many armarium and switching.This equipment can be avoided the injury of armarium to doctor, reduces the pain of sufferer, improves the intelligent level of hospital equipment, reaches more efficiently, the object of diagnosis effect more accurately.Can make patient in the same space, complete PCT, MR, PET, PET/CT, PET/MR, PET/CT/MR and seven kinds of inspections of CT/MR, the advantage of comprehensive three kinds of image documentation equipments, realize and having had complementary functions, realize the clinical effectiveness that the image information of three kinds of image documentation equipments is greater than 3, guaranteed the registration accuracy of image co-registration.Automatic transloading equipment of the present utility model is saved space, human and material resources, is more conducive to tripartite's consultation of doctors, avoids mistaken diagnosis; System configuration is flexible, and the free selectance of client is high; Each equipment is come into operation to greatest extent, improve business efficiency; Can realize green health check-up, be conducive to set up senior Physical Examination Center; Be applied to and carry out clinical research, can greatly promote medical development.
Brief description of the drawings
Fig. 1 represents the general assembly schematic diagram of automatic transloading equipment in this utility model embodiment;
Fig. 2 represents the left part schematic diagram of automatic transloading equipment in this utility model embodiment;
Fig. 3 represents the right side part schematic diagram of automatic transloading equipment in this utility model embodiment;
Fig. 4 represents motion schematic diagram in this utility model embodiment;
Fig. 5 represents sonar sensor scheme of installation in this utility model embodiment;
Fig. 6 represents to connect in this utility model embodiment cover structure schematic diagram;
Fig. 7 represents to accommodate in this utility model embodiment mechanism structure schematic diagram;
Fig. 8 represents to accommodate in this utility model embodiment the right bedboard contact switch schematic diagram of mechanism;
Fig. 9 represents to accommodate in this utility model embodiment the left bed board contact switch schematic diagram of mechanism;
Figure 10 represents control station schematic diagram in this utility model embodiment;
Figure 11 represents the electrical system power supply connection diagram of automatic transloading equipment in this utility model embodiment;
Figure 12 represents motor drive plate wiring diagram in this utility model embodiment;
Figure 13 represents the wiring diagram of first signal collection plate in this utility model embodiment;
Figure 14 represents the wiring diagram of secondary signal collection plate in this utility model embodiment;
Figure 15 represents the wiring diagram of the 3rd signal acquiring board in this utility model embodiment;
Figure 16 represents the schematic diagram of sonar drive plate in this utility model embodiment;
Figure 17 represents sonar transducer pole figure in this utility model embodiment;
Figure 18 A represents sonar transducer dimensional drawing one in this utility model embodiment;
Figure 18 B represents sonar transducer dimensional drawing two in this utility model embodiment;
Figure 19 represents the schematic diagram of debugging interface in this utility model embodiment;
Figure 20 represents the schematic diagram of power panel in this utility model embodiment.
Detailed description of the invention
For making the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with the accompanying drawings and the specific embodiments this utility model is described in detail.
This utility model provides a kind of automatic transloading equipment, comprising: accommodate mechanism, for accommodating bed board; Load carrier, for carrying described blessing mechanism, described load carrier is connected with described blessing mechanism; Motion, for driving described load carrier motion, described motion is connected with described load carrier; Controlling organization, moves along predetermined paths for controlling described motion.
Specifically, automatic transloading equipment of the present utility model, accommodates bed board by accommodating mechanism, accommodates mechanism and is fixed on load carrier, and motion drives load carrier motion.The moving line of motion determined by controlling organization, so just can drive patient on bed board between CT, MR, PET, PET/CT, PET/MR, PET/CT/MR and CT/MR distinct device automatically, safety, high precision movement and the accurate High Precision Automatic transloading equipment of carrying.Namely, under the back work of automatic transloading equipment, realize without the auxiliary lower patient of doctor automated movement inspection between many armarium and switching.This equipment can be avoided the injury of armarium to doctor, reduces the pain of sufferer, improves the intelligent level of hospital equipment, reaches more efficiently, the object of diagnosis effect more accurately.
Shown in Fig. 1, automatic transloading equipment of the present utility model comprises left part 1 and the right side part 2 of two opposed settings, and two parts are symmetrical arranged.Between left part 1 and right side part 2, interval one is for holding the spatial accommodation of bed board.Bed board is placed along the length of left part 1 and right side part 2.The top of the top of left part 1 and right side part 2 is connected cover 3 by an arch and is connected.Left part 1 and right side part 2 include: a load carrier, the top of load carrier is provided with and accommodates mechanism 4, accommodates mechanism 4 and stretches to the spatial accommodation between left part 1 and right side part 2, is convenient to accommodate the bed board in spatial accommodation.Accommodate mechanism 4 and comprise bed board contact switch 41, ensure that bed board, in the time of correct position, accommodates the action that structure 4 accommodates.Load carrier bottom is provided with multiple motions, drives whole automatic transloading equipment to move.
Shown in Fig. 3 and Fig. 4, the each load carrier that distributes of the middle body of machine left and right sides assembly.Each load carrier comprises: the tie-beam 51 being connected with blessing mechanism 4 and the lifting module that drives tie-beam 51 to move up and down.Lifting module is installed on the bottom of tie-beam 51.Lifting module comprises lifting column 52, and lifting column 52 is installed on lifting column mount pad 53.The both sides of lifting column mount pad 53 arrange guide rails assembling seat 54, and the both sides of guide rails assembling seat 54 arrange slide block holder 55.The bottom of left part is also provided with the lifting drive plate 56 of controlling lifting column 52 liftings.
Lifting column is wherein selected the BL4 lifting column of power Nanogram Corp., adjustable height 300mm, but originally penalizing the adjustable height that only utilizes its 240mm in hitting.Adopt the mode of Synchronization Control to ensure that two pillar liftings of left and right sides assembly are synchronous.The load capacity of single pillar is greater than 100kg.
Wherein, the lifting module bottom of left part is provided with the gage 6 for measuring lifting column 52 adjustable heights, and the bottom of left part is also provided with power supply 11, host computer 12.On the end face of left part and right side part and side, be separately installed with multiple for measuring the sonar sensor 7 of obstacle distance and multiple for adjusting the infrared sensor of course according to metal reflective bar on pre-determined route.The sonar drive plate 71 driving work that sonar sensor 7 is installed by its below.
Two motions 8 are installed respectively in the bottom of left part and right side part, and motion 8 is included in the wheel that install load carrier bottom, and clutch is installed on wheel; Wheel is connected with the motor and for controlling the steer motor of wheel steering of advancing for controlling that wheel advances, and the motor of advancing is connected with motor drive plate 81 with steer motor.
The bottom of right side part is provided with power supply 11.Position in the middle of part bottom, right side is also provided with circuit board 13.
Automatic transloading equipment of the present utility model comprises 10 freedoms of motion, and symmetrical respectively have 5.Respectively four-wheel drive and the four-wheel steering of left part and right side part, and crane lifting degree of freedom.
Left part and right side part are covered respectively and are established outer housing 101, for protecting elevating mechanism and some electronic circuit modules, and play effect attractive in appearance.
Shown in Fig. 4, left part and part bottom, right side be mounted movable mechanism respectively.Motion is included in the wheel 82 that install load carrier bottom, and clutch 83 is installed on wheel 82, and clutch 83 is used for switching power transmission mode.Wheel 82 is installed by wheel mount pad 84.Wheel 82 is connected with the motor and for controlling the steer motor of wheel steering of advancing for controlling that wheel advances, and the motor of advancing is connected with motor drive plate with steer motor.Wheel 82 adopts the transmission of driven by motor harmonic speed reducer mode, makes its structure compacter, stable drive.Steer motor drives steering spindle to support 85 by harmonic speed reducer, completes and turns to.
Shown in Fig. 5,87 of steer motor are installed in the vertical cover 86 of motor.With sonar sensor mounting bracket 72, sonar sensor 7 being fixed in the draw-in groove of the vertical cover of motor makes sonar sensor 7 loosening.The sonar sensor of left and right sides part is to fix by same fixed form.
Shown in Fig. 6, the top of the top of left part and right side part is connected cover by an arch and is connected.Connect the emergency stop switch 31 that the motion motion for stopping automatic transloading equipment is installed on cover, connect cover upper cover and establish outer housing 33, outer housing 33 is supported by upper connector 32, and upper connector 32 is as main link.Connect the connector of cover as left and right sides part, born the two-part Main Function power in left and right, and the two-part electric system in left and right is also that the cable by arranging on arch cover connects.
Shown in Fig. 7, be installed on the tie-beam of the load carrier of left part and right side part for accommodating the blessing mechanism of bed board, and stretch in the spatial accommodation between dividing of left part and right side.Accommodating mechanism comprises: the Connection Block 42 being connected with tie-beam; Be fixed on upper blessing on Connection Block 42 refer to 43 and lower blessing refer to 44.Upper blessing refers to that 43 is hinged with Connection Block 42; Lower blessing refers to that 44 are connected with Connection Block 42, and lower blessing refers to that 43 refer to 44 corresponding setting the in bottom in upper blessing, and two blessings refer to that involutory completing accommodates action.Upper blessing wherein refers to that 43 by pointing the hinged of axle 45 realizations and Connection Block 42.
Shown in Fig. 8 and Fig. 9, accommodate mechanism and also comprise the bed board contact switch for determining bed board distance, bed board contact switch is arranged at the end of tie-beam.Bed board contact switch part is made up of left bed board contact switch and right bedboard contact switch two parts.Each bed board contact switch comprises the bed board switch installation seat 411 of one and a half months shape, and one end of bed board switch installation seat 411 is provided with bed board touch sensor 413, and the outside cover of bed board touch sensor 413 is established bed board contact switch guard shield 412.Wherein, on two sides of the bed board contact switch guard shield 412 of left bed board contact switch, a bed board contact switch catch 414 is installed respectively.
Bed board contact switch is arranged on tie-beam end, determines by bed board touch sensor 413 distance that accommodates mechanism and bed board, triggers bed board contact switch catch 414 and make bed board reach optimum position in the time that bed board is sent into blessing mechanism.
Shown in Figure 10, automatically transloading equipment also comprise for the control station of upper machine communication, control station comprises industrial computer 102 and covers at the cabinet 103 on industrial computer 102, setting operation panel 104 and display 105 on cabinet 103.
Minister 1300mm on automatic transloading equipment of the present utility model, wide 1028mm; Lower minister 1540mm, wide 996mm.The high 995mm in bottom, connects the upper height of cover 1430mm.Wherein this body weight 134kg of automatic transloading equipment, bed board weight 26kg.Can realize the lifting of 240mm height, promote maximum weight 150kg, maximum operational speed can reach 0.2m/s.
Introduce the electric control system of the automatic transloading equipment of this utility model below in conjunction with each critical piece.
The master control system of whole moving transloading equipment is the host computer of robot, completes moving transloading equipment upper strata action planning task.The function mainly completing comprises: and communication between remote console; Sensor information gathers; The motion planning of motion and motor control.
Controlling organization comprises: acquisition module, drive plate and host computer.The electronics size signal that wherein acquisition module obtains for gathering signal that sonar sensor obtains, signal that infrared sensor obtains and gage, acquisition module is connected with sonar sensor, infrared sensor and gage respectively; Acquisition module is also connected with lifting module, and transmits elevating control signal to lifting module.Drive plate is connected with the motor of advancing with the steer motor of motion.Host computer and acquisition module and the communication connection of motor drive plate.
Shown in Figure 11, what the power acquisition in this utility model was used is lithium ion battery, and lithium ion battery is also connected successively with power safety, emergency stop switch, main switch.Lithium ion battery provides 24V voltage for motor drive plate and DC-DC module.DC-DC module provides the uses such as 5V, 12V Voltage-output signal acquiring board, gage, host computer.Sonar sensor 1,2,3, the 4 and 5 5V voltages that use DC-DC modules to provide, in order to prevent the impact of pressure drop on infrared sensor signal, are to supply with sonar sensor 6,7,8 uses after 5V by the 7805 12V voltage transitions that DC-DC module is provided. Sonar sensor 6,7,8 and DC-DC module are positioned at the both sides of automatic transloading equipment.
Shown in Figure 12, totally four motor drive plates in whole control system, install near four wheels respectively, and every drive plate drives two motors, is responsible for drive motors and the steer motor of corresponding wheel.Every drive plate obtains by power module the 24V voltage that battery provides.Wherein, EC90-90W motor is brushless disk motor, is responsible for the driving of wheel; RE30 motor is brush motor, is responsible for turning to of wheel.The power line of two motors is connected with drive plate, and the holding wire of two motors connects with the junction point of corresponding automatically transloading equipment separately respectively.Wherein, driver is Elmo driver, and motor all selects by Maxon company and produces.
Shown in Figure 13, Figure 14 and Figure 15, in system, there are three block signal collection plates, be provided with two in right side part, left part is provided with one.Three block signal collection plates complete to 8 infrared sensors, 8 sonar sensors and for measuring the size signal collection of gage of lifting column height.On three block signal collection plates, be equipped with serial ports, for and host computer between information exchange, the 12V power supply that three block signal collection plate application DC-DC modules provide, control box and sonar sensor drive plate that drive plate is also responsible for lifting column provide control signal.
Shown in Figure 16, Figure 17, Figure 18 A and Figure 18 B, each sonar sensor is made up of a drive plate and a Sonar Probe.The required supply voltage of drive plate is 4.5V-6.8V, five 5V voltages that sonar sensor uses DC-DC module to provide in native system, in order to prevent the impact of pressure drop on infrared sensor signal, its excess-three sonar sensor is to supply with and use after 5V by the 7805 12V voltage transitions that DC-DC module is provided.The wherein electric current of sonar sensor: ignition point is 2000mA, all the other 100mA.
Shown in Figure 19, transloading equipment also comprises the debugging interface for debugging automatic transloading equipment automatically, and debugging interface is connected with controlling organization.External debug interface comprises mouse interface 111, keyboard interface 112, usb 1 13 and VGA interface 114, can be connected to the control system of introducing above, for debugging machine people by connecting corresponding equipment.As unexpected problem appears in robot, also can carry out debugging machine people by connecting mouse, keyboard and display.
Shown in Figure 20, automatically transloading equipment comprises and is placed in the power panel of installing in left part or right side part, power panel comprises the power safety 121 and the on and off switch 123 that are connected with accumulator, power panel also comprises the charging inlet 122 that is used to lithium cell charging, and charging inlet 122 is connected with described lithium battery.
Controlling organization performance parameter is wherein as follows:
Pentium-M1.6CPU;
2GDDR internal memory
80G solid state hard disc;
Keyboard, mouse, video interface
10M/100M LAN interface
4 serial ports
4 USB2.0 interfaces
2 pci interfaces, 1 MiniPCI interface, 1 CF card interface.
Assign to introduce automatic transloading equipment action control principle according to the electrical control division of the automatic transloading equipment of this utility model below.
Automatic transloading equipment of the present utility model adopts the infrared line technology that follows of multichannel to realize location navigation.The ground of canyon, according to the pre-determined route of automatic transloading equipment, special smooth reflecting metal bar is housed, multiple infrared emittings and receiving system are equipped with in corresponding transloading equipment bottom automatically, when infrared launcher under while launching a certain amount of infrared ray, if transloading equipment is on pre-determined route automatically,, due to the direct reflection effect of bonding jumper, now infrared receiving device will receive more infrared ray.Accordingly, if automatically transloading equipment has departed from pre-determined route, due to the diffuse effect on ground etc., the infrared signal that receptor receives will weaken greatly.Like this, return the power of signal according to sensor, calculate by host computer, automatic transloading equipment can independently be made relevant adjustment, and sends a command to below driver, has realized automatic transloading equipment autonomous operation and the accurate location of route in accordance with regulations.This automatically transloading equipment adopt four-wheel steering actuation techniques, can realize the operation of any direction and turn to, the multiple method of operation such as comprise turning operation and rotation, advance, even therefore also can intelligent patrol line in complicated road environment in narrow space.Be applied to practice, just can be by the equipment that will connect as being connected by reflecting strips between PET, CT and MRI etc.What start automatic transloading equipment independently follows line function, and the automatic intelligent that can realize many equipment connects, for the indispensable condition that provides is provided many equipment.In addition, utilize the principle of wireless network communication technique, native system also carries frequency image monitoring system, can realize wireless navigation, can be by numerical control software and work station remote monitoring, independently complete the transporting of examiner, realize running and the more systematized management of higher flexibility ratio.
This equipment has also configured sonar ranging and the electro-optical distance measurement module module that keeps in obscurity as robot.Robot front, rear, left and right four direction is equipped with sonar sensor and infrared sensor, utilizes the principle of supersonic sounding, according to the size of the ultrasonic return time of launching, independently measures the distance of barrier., in order to improve certainty of measurement, keep in obscurity to realize accurately, robot also adopts optical-electric module to utilize light modulated to carry out precise distance measurement meanwhile.
For the running problem of bed board between distinct device, this robot adopts bed board perception, location and crawl technology, and grasping mechanism is controlled in the bed board on the autonomous detection and localization equipment of blessing mechanism and patient's position simultaneously, realizes autonomous crawl and the release of bed board.Realize the robot omnidistance Automatic Control that turns round.
Meanwhile, for the special strong magnetic field circumstance requirement of MRI, equipment design of the present utility model adopts Alloy Anti magnetic field material, diamagnetic field motor, can realize the organic combination of the equipment such as PET and CT and MRI.
Preliminary clinical trial confirmation, this equipment can be realized the running between many medical imaging equipments, for a new breakthrough has been created in the new development of Medical Imaging.
The main use step of automatic transloading equipment of the present utility model is as follows:
1, opening power
Open and connect the cover emergency stop switch of redness above, then open the on and off switch on switch panel.
At this moment successfully can hear as powered on the sound that sonar sensor is lighted a fire in turn, or voltage shows that charactron has had voltage to show.Two other interface on power control panel is respectively power safety and battery charging inlet.The supply voltage of the lithium ion battery that voltage charactron shows, while being full of electricity, voltage is 28V, and electric discharge end voltage is 23V, and along with the use of battery, these two parameters may change.
2, robot remote login is controlled
After automatic transloading equipment energising of the present utility model starts, the startup of its inner embedded system needs a period of time, be approximately 2-3 minute, then open the client of automatic transloading equipment of the present utility model, in the control zone on client right side, input the IP that robot is correct, clickthrough.After linking successfully, status bar shows " game server success ", just can be by the motion of client control automatic transloading equipment of the present utility model.In the time can not setting up communication for a long time, automatic transloading equipment power-off of the present utility model will be restarted.
3, select robot transportation route
Login after robot by remote desktop, start automatic transloading equipment control sequence of the present utility model.First allow steer motor seek zero, then control bed board to corresponding height.The 3rd step is exactly to select the route of automatic transloading equipment operation of the present utility model, namely between which platform equipment, moves.
4, robot running
After having selected running route, automatic transloading equipment of the present utility model will move according to the route of setting.In the process of operation, effector observes automatic transloading equipment ruuning situation at any time, as occurs special circumstances, please stops in time automatic transloading equipment.Very urgent in the situation that, will press and connect cover emergency stop switch above.
The automatic transloading equipment of utility model is realized without the auxiliary lower patient of doctor automated movement inspection between many armarium and being switched.Can make patient in the same space, complete PCT, MR, PET, PET/CT, PET/MR, PET/CT/MR and seven kinds of inspections of CT/MR, the advantage of comprehensive three kinds of image documentation equipments, realize and having had complementary functions, realize the clinical effectiveness that the image information of three kinds of image documentation equipments is greater than 3, guaranteed the registration accuracy of image co-registration.This equipment can be avoided the injury of armarium to doctor, reduces the pain of sufferer, improves the intelligent level of hospital equipment, reaches more efficiently, the object of diagnosis effect more accurately.Automatic transloading equipment of the present utility model is saved space, human and material resources, is more conducive to tripartite's consultation of doctors, avoids mistaken diagnosis; System configuration is flexible, and the free selectance of client is high; Each equipment is come into operation to greatest extent, improve business efficiency; Can realize green health check-up, be conducive to set up senior Physical Examination Center; Be applied to and carry out clinical research, can greatly promote medical development.
Above-described is preferred implementation of the present utility model; should be understood that the ordinary person for the art; can also make some improvements and modifications not departing under principle prerequisite described in the utility model, these improvements and modifications are also in protection domain of the present utility model.
Claims (10)
1. an automatic transloading equipment, is characterized in that, comprising:
For accommodating the blessing mechanism of bed board;
For carrying the load carrier of described blessing mechanism, described load carrier is connected with described blessing mechanism;
For driving the motion of described load carrier motion, described motion is connected with described load carrier;
For controlling the controlling organization that described motion moves along predetermined paths, described controlling organization is connected with described motion.
2. automatic transloading equipment as claimed in claim 1, it is characterized in that, described automatic transloading equipment comprises left part and the right side part of two opposed settings, described left part and described right side divide between interval one for holding the spatial accommodation of bed board, the top of the top of described left part and described right side part by an arch be connected cover be connected; Described left part and described right side part include: a load carrier, and the top of described load carrier is provided with and accommodates mechanism, and described spatial accommodation is stretched in described blessing mechanism, and described load carrier bottom is provided with multiple described motions.
3. automatic transloading equipment as claimed in claim 2, is characterized in that, each described motion is included in the wheel that install described load carrier bottom, on described wheel, clutch is installed; Described wheel connects and is controlled by advance motor and the steer motor of controlling described wheel steering that the described wheel of control is advanced.
4. automatic transloading equipment as claimed in claim 3, is characterized in that, each described load carrier comprises:
The tie-beam being connected with described blessing mechanism;
For the lifting module that drives described tie-beam to move up and down, described lifting module is installed on the bottom of described tie-beam;
Wherein described in one, the bottom of lifting module is provided with the gage for measuring described lifting module adjustable height;
On described left part and described right side part end face and side, be separately installed with multiple for measuring the sonar sensor of obstacle distance and multiple for adjusting the infrared sensor of course according to metal reflective bar on pre-determined route.
5. automatic transloading equipment as claimed in claim 4, is characterized in that, described controlling organization comprises:
For gathering the acquisition module of the electronics size signal that signal that described sonar sensor obtains, signal that described infrared sensor obtains and described gage obtain, described acquisition module is connected with described sonar sensor, described infrared sensor and described gage respectively; Described acquisition module is also connected with described lifting module, and transmits elevating control signal to described lifting module;
Described motor and the described steer motor and the motor drive plate being connected of advancing;
Host computer, with described acquisition module and the communication connection of described motor drive plate.
6. automatic transloading equipment as claimed in claim 5, it is characterized in that, described automatic transloading equipment also comprise for the control station of described upper machine communication, described control station comprises industrial computer and covers at the cabinet on described industrial computer, described industrial computer top setting operation panel and display.
7. automatic transloading equipment as claimed in claim 4, is characterized in that, described blessing mechanism comprises:
The Connection Block being connected with described tie-beam;
For determining the bed board contact switch of bed board distance, described bed board contact switch is arranged at the end of described tie-beam;
Upper blessing refers to, hinged with described Connection Block;
Lower blessing refers to, is connected with described Connection Block, and described lower blessing refers to the corresponding setting in the bottom referring in described upper blessing.
8. automatic transloading equipment as claimed in claim 2, it is characterized in that, described automatic transloading equipment comprises and is placed in the power panel of installing in described left part or described right side part, described power panel comprises the power safety and the on and off switch that are connected with accumulator, described power panel also comprises the charging inlet that is used to described charge in batteries, and described charging inlet is connected with described accumulator.
9. automatic transloading equipment as claimed in claim 1, is characterized in that, described automatic transloading equipment also comprises the debugging interface for debugging described automatic transloading equipment, and described debugging interface is connected with described controlling organization.
10. automatic transloading equipment as claimed in claim 2, is characterized in that, the emergency stop switch for stopping described motion motion is installed on described arch cover and is furnished with cable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320773117.4U CN203647342U (en) | 2013-11-29 | 2013-11-29 | Automatic transferring device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320773117.4U CN203647342U (en) | 2013-11-29 | 2013-11-29 | Automatic transferring device |
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| CN203647342U true CN203647342U (en) | 2014-06-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201320773117.4U Expired - Fee Related CN203647342U (en) | 2013-11-29 | 2013-11-29 | Automatic transferring device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104622658A (en) * | 2015-03-09 | 2015-05-20 | 北京大基康明医疗设备有限公司 | Telescopic claw of medical hospital bed transporting robot and method for grabbing bed board by using telescopic claw |
| CN109124667A (en) * | 2018-07-23 | 2019-01-04 | 中国科学院苏州生物医学工程技术研究所 | A kind of cage modle CT scanner regulating device |
-
2013
- 2013-11-29 CN CN201320773117.4U patent/CN203647342U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104622658A (en) * | 2015-03-09 | 2015-05-20 | 北京大基康明医疗设备有限公司 | Telescopic claw of medical hospital bed transporting robot and method for grabbing bed board by using telescopic claw |
| CN109124667A (en) * | 2018-07-23 | 2019-01-04 | 中国科学院苏州生物医学工程技术研究所 | A kind of cage modle CT scanner regulating device |
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