CN205433721U - Remove electronic helping hand control device of X ray equipment and remove X ray equipment - Google Patents
Remove electronic helping hand control device of X ray equipment and remove X ray equipment Download PDFInfo
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- CN205433721U CN205433721U CN201521135016.XU CN201521135016U CN205433721U CN 205433721 U CN205433721 U CN 205433721U CN 201521135016 U CN201521135016 U CN 201521135016U CN 205433721 U CN205433721 U CN 205433721U
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Abstract
The utility model discloses a remove the electronic helping hand control device of X ray equipment, the electronic helping hand control device and the removal X ray equipment of movable equipment. The utility model discloses an electronic helping hand control device can gather the vector power of X orientation and Z orientation respectively, and control circuit differentiates eight directions of vector, and then controls the excercises prosecutor formula that the execution of left and right motor is advanced, is retreated and/or turns to according to the vector of the X orientation of gathering and the Z orientation signal of doing all can.
Description
Technical field
This utility model relates to technical field of medical instruments, particularly relates to the electric boosted actuation means of a kind of mobile X-ray equipment, the electric boosted actuation means of movable equipment and mobile X-ray equipment.
Background technology
The most a lot of equipment all have electric boosted actuation means, so that mobile operation, especially medical apparatus and instruments, such as move X-ray shooting system and be different from fixed X-ray shooting system, mainly it possesses and moves freely function, the film making demand of different occasion can be met, need mobile manipulation flexible, convenient under the conditions of indoor and outdoor difference field settings, typically realize this demand by electric boosted scheme.Power assisted operation handle is typically the scheme forms such as potentiometer, pressure-strain sheet, push-pull effort sensor, and user of service by push-and-pull or rotation, triggers electric control system and drives chassis to advance, retreat and turn on operation handle.For ensureing the abundant detection of potentiometer, front and back during push-and-pull, it is generally required to frame for movement reserves obvious gap stroke, sensing device is non-linear simultaneously, easily affects the smooth of actuating speed change, hence it is evident that affect the use impression of operator；Existing scheme turns to it is generally required to both hands manipulation realizing chassis, realizes motor-driven change by the difference of both sides sensing device, the convenience of one-handed performance is had bigger limitation.
Utility model content
This utility model embodiment provides the electric boosted actuation means of a kind of mobile X-ray equipment, the electric boosted actuation means of movable equipment and mobile X-ray equipment, moves motility and the convenience of X-ray equipment improving user operation.
On the one hand, provide the electric boosted actuation means of a kind of mobile X-ray equipment, including push-pull device at fixed, described push-pull device at fixed includes: handle, the first push-pull effort sensor of being arranged on described handle, the second push-pull effort sensor, the control circuit being connected with described first, second push-pull effort sensor, the motor being connected with described control circuit, described push-pull device at fixed is fixedly installed to described equipment；
Described first push-pull effort sensor is for gathering the vectorial force of X-direction and Z-direction, described second push-pull effort sensor is for gathering the vectorial force of X-direction and Z-direction, and the vectorial force transmission extremely described control circuit that described first push-pull effort sensor and the second push-pull effort sensor will gather, wherein, the positive and negative value of X-direction vectorial force represent respectively described equipment forward, backward directions move, the positive and negative value of Z-direction vectorial force represents that described device left, right direction move respectively；
Described control circuit, for the vectorial force signal gathered respectively according to described first, second push-pull effort sensor, determines the motion control mode of described equipment；
Described motor moves according to the described motion control mode determined for manipulating described equipment.
Preferably, described first push-pull effort sensor includes the first briquetting being sequentially connected with, first back-moving spring and the first buckling sensing chip, described first briquetting is fixing with one end of described handle to be connected, the front and rear direction of described first briquetting is respectively fitted with described first back-moving spring, and the left side of described first briquetting, front left side, left rear side, right side, forward right side, right lateral side are separately installed with described first buckling sensing chip；
Described second push-pull effort sensor includes the second briquetting being sequentially connected with, second back-moving spring and the second buckling sensing chip, described second briquetting is fixing with the other end of described handle to be connected, the front and rear direction of described second briquetting is respectively fitted with described second back-moving spring, and the left side of described second briquetting, front left side, left rear side, right side, forward right side, right lateral side are separately installed with described second buckling sensing chip.
Preferably, described first push-pull effort sensor and the second push-pull effort sensor are that integrated six are to push-pull effort sensor.
Preferably, described first push-pull effort sensor and the second push-pull effort sensor are respectively arranged at described handle two ends, described push-pull device at fixed also includes fixing, with described first push-pull effort sensor, the left arm being connected, and fix the right arm being connected, described left arm and described right arm with described second push-pull effort sensor and respectively described push-pull device at fixed is fixedly installed to described equipment.
Preferably, the electric boosted actuation means of described mobile X-ray equipment also includes fixing the left support plate being connected with described left arm, fixes the right support plate being connected with described right arm.
Preferably, described control circuit is used for the vectorial force signal of the X-direction according to described first push-pull effort sensor acquisition and the vectorial force signal of the X-direction of described second push-pull effort sensor acquisition, determines that the described equipment of manipulation turns in advancing；
Wherein, if the vectorial force signal of the X-direction of described first push-pull effort sensor acquisition be on the occasion of, and the vectorial force signal of the X-direction of described second push-pull effort sensor acquisition is negative value, it is determined that manipulates during described equipment is advanced and turns right；And/or
If the vectorial force signal of the X-direction of described first push-pull effort sensor acquisition is negative value, and the vectorial force signal of the X-direction of described second push-pull effort sensor acquisition be on the occasion of, it is determined that manipulate described equipment advance in turn left.
Preferably, described control circuit is used for the vectorial force signal of the Z-direction according to described first push-pull effort sensor acquisition and the vectorial force signal of the Z-direction of described second push-pull effort sensor acquisition, determines that the described equipment of manipulation carries out original place rotation；
Wherein, if the vectorial force signal of the Z-direction of described first push-pull effort sensor acquisition be on the occasion of, and the vectorial force signal of the Z-direction of described second push-pull effort sensor acquisition is negative value, it is determined that manipulate described equipment flicker；And/or
If the vectorial force signal of the Z-direction of described first push-pull effort sensor acquisition is negative value, and the vectorial force signal of the Z-direction of described second push-pull effort sensor acquisition be on the occasion of, it is determined that manipulate described equipment flicker.
The most described electric boosted actuation means is installed on the top of described equipment.
On the other hand, provide the electric boosted actuation means of a kind of movable equipment, for controlling the running gear of described movable equipment, including handle, the the first push-pull effort sensor being respectively fixedly connected with the two ends of described handle, second push-pull effort sensor, the left arm being connected is fixed with described first push-pull effort sensor, the right arm being connected is fixed with described second push-pull effort sensor, with described first, the control circuit that second push-pull effort sensor connects, the motor being connected with described control circuit, described left arm, right arm is fixedly installed to described equipment respectively；
Described first push-pull effort sensor is for gathering the vectorial force of X-direction and Z-direction, described second push-pull effort sensor is for gathering the vectorial force of X-direction and Z-direction, and the vectorial force transmission extremely described control circuit that described first push-pull effort sensor and the second push-pull effort sensor will gather, wherein, the positive and negative value of X-direction vectorial force represent respectively described equipment forward, backward directions move, the positive and negative value of Z-direction vectorial force represents that described device left, right direction move respectively；
Described control circuit is used for the vectorial force signal of the X-direction according to described first push-pull effort sensor acquisition and the vectorial force signal of the X-direction of described second push-pull effort sensor acquisition, or the vectorial force signal of the Z-direction of the vectorial force signal of the Z-direction of described first push-pull effort sensor acquisition and described second push-pull effort sensor acquisition, determine the steering manipulation mode of described equipment；
Described motor carries out divertical motion for the running gear manipulating described movable equipment according to the described steering manipulation mode determined.
Another aspect, it is provided that a kind of mobile type digital x-ray imaging equipment, including:
Body；
X-ray tube component, described x-ray tube component is located at described body；
Travel mechanism, is arranged at described organism bottom, and described body is moved by described travel mechanism；Described travel mechanism is the multiple rotation wheels being arranged at described organism bottom；
Also include the electric boosted actuation means being installed on described body, described electric boosted actuation means includes push-pull device at fixed, described push-pull device at fixed includes: handle, the first push-pull effort sensor of being respectively fixedly connected with the two ends of handle, the second push-pull effort sensor, the control circuit being connected with described first, second push-pull effort sensor, the motor being connected with described control circuit, described push-pull device at fixed is fixedly installed to described body；
The vectorial force of described first push-pull effort sensor acquisition Z-direction, and the vectorial force of described second push-pull effort sensor acquisition Z-direction, and the vectorial force of the Z-direction gathered is transmitted to described control circuit by described first push-pull effort sensor and the second push-pull effort sensor, wherein, the positive and negative value of Z-direction vectorial force represents that described device left, right direction move respectively；
Described control circuit is used for the vectorial force signal of the Z-direction according to described first push-pull effort sensor acquisition and the vectorial force signal of the Z-direction of described second push-pull effort sensor acquisition, determines the original place rotation direction of described equipment；
Described motor carries out original place rotation for manipulating described travel mechanism according to the described original place rotation direction determined.
Implement the electric boosted actuation means of a kind of mobile X-ray equipment, the electric boosted actuation means of movable equipment and mobile X-ray equipment that this utility model embodiment provides, have the advantages that
Electric boosted actuation means of the present utility model can gather the vectorial force of X-direction and Z-direction respectively, control circuit is according to the vectorial force signal of the X-direction gathered and Z-direction, differentiate eight direction vectors, and then control left and right motor and perform advance, retrogressing and/or the motion control mode turned to.
Additionally preferably, first, second push-pull effort sensor is fixing with other parts to be connected, and decreases the gap feel in operating process, such that it is able to improve motility and the convenience of user's mobile device.
Accompanying drawing explanation
In order to be illustrated more clearly that this utility model embodiment or technical scheme of the prior art, the accompanying drawing used required in embodiment or description of the prior art will be briefly described below, apparently, accompanying drawing in describing below is only embodiments more of the present utility model, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Schematic diagram after the exploded perspective view of the frame for movement of the electric boosted actuation means of a kind of mobile X-ray equipment that Fig. 1 provides for this utility model embodiment and assembling；
Schematic diagram after the exploded perspective view of the frame for movement of the electric boosted actuation means of the another kind of mobile X-ray equipment that Fig. 2 provides for this utility model embodiment and assembling；
Fig. 3 is the structural representation of mobile X-ray equipment；
Fig. 4 is the schematic diagram of the circuit structure of the electric boosted actuation means shown in Fig. 1 or Fig. 2.
Detailed description of the invention
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is clearly and completely described, it is clear that described embodiment is only a part of embodiment of this utility model rather than whole embodiments.Based on the embodiment in this utility model, the every other embodiment that those of ordinary skill in the art are obtained under not making creative work premise, broadly fall into the scope of this utility model protection.
This utility model embodiment provides the electric boosted actuation means of a kind of mobile X-ray equipment, the electric boosted actuation means of movable equipment and mobile X-ray equipment, electric boosted actuation means of the present utility model can gather the vectorial force of X-direction and Z-direction respectively, control circuit is according to the vectorial force signal of the X-direction gathered and Z-direction, differentiate eight direction vectors, and then control left and right motor and perform advance, retrogressing and/or the motion control mode turned to.Mobile X-ray equipment involved in the present invention can be such as the Medical X-ray diagnostic equipments such as mobile CR (computedradiography), mobile DR (digitalradiography).
Additionally preferably, first, second push-pull effort sensor is fixing with other parts to be connected, and decreases the gap feel in operating process, such that it is able to improve motility and the convenience of user's mobile device.
Schematic diagram after the exploded perspective view of the frame for movement of the electric boosted actuation means of a kind of mobile X-ray equipment that Fig. 1 provides for this utility model embodiment and assembling, Fig. 3 is the structural representation of the mobile X-ray equipment including the electric boosted actuation means shown in Fig. 1, this electric boosted actuation means 100 includes push-pull device at fixed, this push-pull device at fixed includes: handle 2, the the first push-pull effort sensor being arranged on handle 2, second push-pull effort sensor (is distinguished in figure, unifying identifier is sensor 5), with described first, the control circuit (not shown) that second push-pull effort sensor connects, the motor (not shown) being connected with described control circuit, described push-pull device at fixed is fixedly installed to described equipment 200；
Described first push-pull effort sensor is for gathering the vectorial force of X-direction and Z-direction, described second push-pull effort sensor is for gathering the vectorial force of X-direction and Z-direction, and the vectorial force transmission extremely described control circuit that described first push-pull effort sensor and the second push-pull effort sensor will gather, wherein, the positive and negative value of X-direction vectorial force represent respectively described equipment forward, backward directions move, the positive and negative value of Z-direction vectorial force represents that described device left, right direction move respectively；
Described control circuit, for the vectorial force signal gathered respectively according to described first, second push-pull effort sensor, determines the motion control mode of described equipment；
Described motor moves according to the described motion control mode determined for manipulating described equipment.
Further, described first push-pull effort sensor and the second push-pull effort sensor are respectively arranged at the two ends of described handle 2, described push-pull device at fixed also includes fixing, with described first push-pull effort sensor, the left arm 1 being connected, and fix, with described second push-pull effort sensor, the right arm 3 being connected, described push-pull device at fixed is fixedly installed to described equipment by described left arm 1 and described right arm 3 respectively.
In the present embodiment, first, second push-pull effort sensor be integrated six to push-pull effort sensor, left side, front left side, left rear side, right side, forward right side, the push-pull effort of right lateral side six direction can be sensed.
Specifically, the first, second push-pull effort sensor at two ends is connected by screw is fixing with left support arm 1, right support arm 3 respectively, left support arm 1, right support arm 3 are installed to equipment 200 by screw, after installation, the overall structure of equipment is as shown in Figure 3, electric boosted actuation means 100 is installed on the top of equipment 200, facilitating hand or hands on operator's walking process to control equipment to move, operator only need to hold handle 2, can be realized controlling equipment moved by the size and direction change holding power.
This electric boosted actuation means 100 may also include and the described fixing left support plate 6 being connected of left arm 1, with the described fixing right support plate 4 being connected of right arm 3, is used for supporting described electric boosted actuation means 100.
Schematic diagram after the exploded perspective view of the frame for movement of the electric boosted actuation means of the another kind of mobile X-ray equipment that Fig. 2 provides for this utility model embodiment and assembling, the present embodiment is with the difference of embodiment illustrated in fig. 1, described first, second push-pull effort sensor includes the briquetting 11 being sequentially connected with respectively, back-moving spring 10 and buckling sensing chip 9, specifically: described first push-pull effort sensor includes the first briquetting being sequentially connected with, first back-moving spring and the first buckling sensing chip, described first briquetting is fixing with one end of described handle 2 to be connected, before described first briquetting, rear is to being respectively fitted with described first back-moving spring, the left side of described first briquetting, front left side, left rear side, right side, forward right side, right lateral side is separately installed with described first buckling sensing chip；Described second push-pull effort sensor includes the second briquetting being sequentially connected with, second back-moving spring and the second buckling sensing chip, described second briquetting is fixing with the other end of described handle 2 to be connected, the front and rear direction of described second briquetting is respectively fitted with described second back-moving spring, and the left side of described second briquetting, front left side, left rear side, right side, forward right side, right lateral side are separately installed with described second buckling sensing chip.
Fig. 4 is the schematic diagram of the circuit structure of the electric boosted actuation means shown in Fig. 1 or Fig. 2, in the diagram, in Fig. 1 or Fig. 2, control circuit involved by embodiment includes the amplifying circuit being connected with described first, second push-pull effort sensor, the analog to digital conversion circuit being sequentially connected with described amplifying circuit and motion control circuit.When handle 2 back and forth or left and right push-and-pull, first, second push-pull effort sensors X, the foil gauge of Z-direction produce miniature deformation, ultra-weak electronic signal is caused to change, the linear amplification of amplified circuit 12, produce and be suitable for the level signal that analog to digital conversion circuit 13 gathers, motion control circuit 14 is according to four groups of signals of two sensors, differentiate eight direction vectors, and then control left and right motor 15 and perform advance, the motion control mode retreating, turning to, the most described amplifying circuit is for amplifying the vectorial force signal of described first, second push-pull effort sensor acquisition；The vectorial force signal of the analog-digital conversion circuit as described described first, second push-pull effort sensor acquisition after amplifying is converted to digital signal；Described motion control circuit, for the vectorial force signal according to the described first, second push-pull effort sensor acquisition after analog digital conversion, determines the motion control mode of described equipment.
Hereinafter describing the X according to first, second push-pull effort sensor (also known as " left and right sensor "), the stressing conditions of Z-direction, corresponding motion control mode is as follows:
That is: described control circuit is for the vectorial force signal of the X-direction according to described first push-pull effort sensor acquisition and the vectorial force signal of the X-direction of described second push-pull effort sensor acquisition, determines that the described equipment of manipulation turns in advancing；
Wherein, if the vectorial force signal of the X-direction of described first push-pull effort sensor acquisition be on the occasion of, and the vectorial force signal of the X-direction of described second push-pull effort sensor acquisition is negative value, it is determined that manipulates during described equipment is advanced and turns right；And/or
If the vectorial force signal of the X-direction of described first push-pull effort sensor acquisition is negative value, and the vectorial force signal of the X-direction of described second push-pull effort sensor acquisition be on the occasion of, it is determined that manipulate described equipment advance in turn left.
Described control circuit is used for the vectorial force signal of the Z-direction according to described first push-pull effort sensor acquisition and the vectorial force signal of the Z-direction of described second push-pull effort sensor acquisition, determines that the described equipment of manipulation carries out original place rotation；
Wherein, if the vectorial force signal of the Z-direction of described first push-pull effort sensor acquisition be on the occasion of, and the vectorial force signal of the Z-direction of described second push-pull effort sensor acquisition is negative value, it is determined that manipulate described equipment flicker；And/or
If the vectorial force signal of the Z-direction of described first push-pull effort sensor acquisition is negative value, and the vectorial force signal of the Z-direction of described second push-pull effort sensor acquisition be on the occasion of, it is determined that manipulate described equipment flicker.
In this utility model embodiment, the stress of minimum distinguishable as little as about the 0.1N of equipment, it is simple to light and handy realizes assistant exercise and turn to, and can realize the detection identification of small power, can bear the load resistance of more than 200kg, it is ensured that the reliability during manipulation simultaneously.Operator can realize the cornering operation of equipment in the case of one hand easy and conveniently.
Electric boosted actuation means according to a kind of mobile X-ray equipment that this utility model embodiment provides, this electric boosted actuation means can gather the vectorial force of X-direction and Z-direction respectively, control circuit is according to the vectorial force signal of the X-direction gathered and Z-direction, differentiate eight direction vectors, and then control left and right motor and perform advance, retrogressing and/or the motion control mode turned to；And first, second push-pull effort sensor and other parts fixing is connected, decrease the gap feel in operating process, such that it is able to motility and the convenience of X-ray equipment is moved in raising user operation.
Fig. 3 is the structural representation of mobile X-ray equipment, and this moves X-ray equipment can be such as mobile type digital x-ray imaging equipment.This moves X-ray equipment 200 and includes body, is located at the x-ray tube component on described body, is arranged at the travel mechanism of described organism bottom.Described body is moved by described travel mechanism, and wherein said travel mechanism is the multiple rotation wheels being arranged at described organism bottom.This moves the electric boosted actuation means 100 that X-ray equipment also includes being installed on described equipment body, described electric boosted actuation means includes push-pull device at fixed, described push-pull device at fixed includes: handle, the first push-pull effort sensor of being respectively fixedly connected with the two ends of handle, the second push-pull effort sensor, the control circuit being connected with described first, second push-pull effort sensor, the motor being connected with described control circuit, described push-pull device at fixed is fixedly installed to described equipment body；
When handle described in push-and-pull, described first push-pull effort sensor is by the vectorial force of the Z-direction of collection, and described second push-pull effort sensor by the vectorial force transmission of Z-direction that gathers to described control circuit, wherein, the positive and negative value of Z-direction vectorial force represents that described device left, right direction move respectively；
Described control circuit is used for the vectorial force signal of the Z-direction according to described first push-pull effort sensor acquisition and the vectorial force signal of the Z-direction of described second push-pull effort sensor acquisition, determines the original place rotation direction of described equipment；
Described motor carries out original place rotation for manipulating described travel mechanism according to the described original place rotation direction determined.Make the direction that equipment straight line is advanced relative to push and pull bar, X-direction represents the forward and backward orientation being parallel to equipment direct of travel, and Z-direction represents the left and right direction being basically perpendicular to equipment direct of travel.
Moving X-ray equipment according to the one that this utility model embodiment provides, this moves the electric boosted actuation means in X-ray equipment and gathers the vectorial force of Z-direction, and control circuit carries out original place rotation according to the vectorial force signal of the Z-direction gathered, control equipment；And first, second push-pull effort sensor and other parts fixing is connected, decrease the gap feel in operating process, such that it is able to motility and the convenience of X-ray equipment is moved in raising user operation.
This utility model embodiment additionally provides the electric boosted actuation means of a kind of movable equipment, for controlling the running gear of described movable equipment, this electric boosted actuation means includes handle, the the first push-pull effort sensor being respectively fixedly connected with the two ends of described handle, second push-pull effort sensor, the left arm being connected is fixed with described first push-pull effort sensor, the right arm being connected is fixed with described second push-pull effort sensor, with described first, the control circuit that second push-pull effort sensor connects, the motor being connected with described control circuit, described left arm, right arm is fixedly installed to described equipment respectively；
Described first push-pull effort sensor is for gathering the vectorial force of X-direction and Z-direction, described second push-pull effort sensor is for gathering the vectorial force of X-direction and Z-direction, and the vectorial force transmission extremely described control circuit that described first push-pull effort sensor and the second push-pull effort sensor will gather, wherein, the positive and negative value of X-direction vectorial force represent respectively described equipment forward, backward directions move, the positive and negative value of Z-direction vectorial force represents that described device left, right direction move respectively；
Described control circuit is used for the vectorial force signal of the X-direction according to described first push-pull effort sensor acquisition and the vectorial force signal of the X-direction of described second push-pull effort sensor acquisition, or the vectorial force signal of the Z-direction of the vectorial force signal of the Z-direction of described first push-pull effort sensor acquisition and described second push-pull effort sensor acquisition, determine the steering manipulation mode of described equipment；
Described motor carries out divertical motion for the running gear manipulating described movable equipment according to the described steering manipulation mode determined.Electric boosted actuation means according to a kind of movable equipment that this utility model embodiment provides, this electric boosted actuation means can gather the vectorial force of X-direction and Z-direction respectively, control circuit is according to the vectorial force signal of the X-direction gathered and Z-direction, differentiate eight direction vectors, and then control to turn to the motion control mode with pivot stud during left and right motor performs to advance；And first, second push-pull effort sensor and other parts fixing is connected, decrease the gap feel in operating process, such that it is able to the motility of raising user operation movable equipment and convenience.
In the above-described embodiments, the description to each embodiment all emphasizes particularly on different fields, and does not has the part described in detail, may refer to the associated description of other embodiments in certain embodiment.
In a word, the foregoing is only the preferred embodiment of technical solutions of the utility model, be not intended to limit protection domain of the present utility model.All within spirit of the present utility model and principle, any modification, equivalent substitution and improvement etc. made, within should be included in protection domain of the present utility model.
Claims (10)
1. the electric boosted actuation means moving X-ray equipment, it is characterized in that, including push-pull device at fixed, described push-pull device at fixed includes: handle, the first push-pull effort sensor of being arranged on described handle, the second push-pull effort sensor, the control circuit being connected with described first, second push-pull effort sensor, the motor being connected with described control circuit, described push-pull device at fixed is fixedly installed to described equipment；
Described first push-pull effort sensor is for gathering the vectorial force of X-direction and Z-direction, described second push-pull effort sensor is for gathering the vectorial force of X-direction and Z-direction, and the vectorial force transmission extremely described control circuit that described first push-pull effort sensor and the second push-pull effort sensor will gather, wherein, the positive and negative value of X-direction vectorial force represent respectively described equipment forward, backward directions move, the positive and negative value of Z-direction vectorial force represents that described device left, right direction move respectively；
Described control circuit, for the vectorial force signal gathered respectively according to described first, second push-pull effort sensor, determines the motion control mode of described equipment；
Described motor moves according to the described motion control mode determined for manipulating described equipment.
2. the electric boosted actuation means of mobile X-ray equipment as claimed in claim 1, it is characterized in that, described first push-pull effort sensor includes the first briquetting being sequentially connected with, first back-moving spring and the first buckling sensing chip, described first briquetting is fixing with one end of described handle to be connected, the front and rear direction of described first briquetting is respectively fitted with described first back-moving spring, and the left side of described first briquetting, front left side, left rear side, right side, forward right side, right lateral side are separately installed with described first buckling sensing chip；
Described second push-pull effort sensor includes the second briquetting being sequentially connected with, second back-moving spring and the second buckling sensing chip, described second briquetting is fixing with the other end of described handle to be connected, the front and rear direction of described second briquetting is respectively fitted with described second back-moving spring, and the left side of described second briquetting, front left side, left rear side, right side, forward right side, right lateral side are separately installed with described second buckling sensing chip.
3. the electric boosted actuation means of mobile X-ray equipment as claimed in claim 1, it is characterised in that described first push-pull effort sensor and the second push-pull effort sensor are that integrated six are to push-pull effort sensor.
4. the electric boosted actuation means of the mobile X-ray equipment as described in claim 1-3 any one, it is characterized in that, described first push-pull effort sensor and the second push-pull effort sensor are respectively arranged at described handle two ends, described push-pull device at fixed also includes fixing, with described first push-pull effort sensor, the left arm being connected, and fix the right arm being connected, described left arm and described right arm with described second push-pull effort sensor and respectively described push-pull device at fixed is fixedly installed to described equipment.
5. the electric boosted actuation means of mobile X-ray equipment as claimed in claim 4, it is characterised in that also include fixing the left support plate being connected with described left arm, fix the right support plate being connected with described right arm；Described electric boosted actuation means is installed on the top of described equipment.
6. the electric boosted actuation means of equipment as claimed in claim 4, it is characterized in that, described control circuit includes the amplifying circuit being connected with described first, second push-pull effort sensor, the analog to digital conversion circuit being sequentially connected with described amplifying circuit and motion control circuit；
Described amplifying circuit is for amplifying X-direction and the vectorial force signal of Z-direction that described first, second push-pull effort sensor gathers respectively；
X-direction and the vectorial force signal of Z-direction that the analog-digital conversion circuit as described described first, second push-pull effort sensor after amplifying gathers respectively are converted to digital signal；
Described motion control circuit, for the X-direction gathered respectively according to the described first, second push-pull effort sensor after analog digital conversion and the vectorial force signal of Z-direction, determines the motion control mode of described equipment.
7. the electric boosted actuation means of mobile X-ray equipment as claimed in claim 1, it is characterized in that, described control circuit is used for the vectorial force signal of the X-direction according to described first push-pull effort sensor acquisition and the vectorial force signal of the X-direction of described second push-pull effort sensor acquisition, determines that the described equipment of manipulation turns in advancing；
Wherein, if the vectorial force signal of the X-direction of described first push-pull effort sensor acquisition be on the occasion of, and the vectorial force signal of the X-direction of described second push-pull effort sensor acquisition is negative value, it is determined that manipulates during described equipment is advanced and turns right；And/or
If the vectorial force signal of the X-direction of described first push-pull effort sensor acquisition is negative value, and the vectorial force signal of the X-direction of described second push-pull effort sensor acquisition be on the occasion of, it is determined that manipulate described equipment advance in turn left.
8. the electric boosted actuation means of mobile X-ray equipment as claimed in claim 1, it is characterized in that, described control circuit is used for the vectorial force signal of the Z-direction according to described first push-pull effort sensor acquisition and the vectorial force signal of the Z-direction of described second push-pull effort sensor acquisition, determines that the described equipment of manipulation carries out original place rotation；
Wherein, if the vectorial force signal of the Z-direction of described first push-pull effort sensor acquisition be on the occasion of, and the vectorial force signal of the Z-direction of described second push-pull effort sensor acquisition is negative value, it is determined that manipulate described equipment flicker；And/or
If the vectorial force signal of the Z-direction of described first push-pull effort sensor acquisition is negative value, and the vectorial force signal of the Z-direction of described second push-pull effort sensor acquisition be on the occasion of, it is determined that manipulate described equipment flicker.
9. the electric boosted actuation means of a movable equipment, for controlling the running gear of described movable equipment, it is characterized in that, including handle, the first push-pull effort sensor of being respectively fixedly connected with the two ends of handle, the second push-pull effort sensor, the left arm being connected is fixed with described first push-pull effort sensor, the right arm being connected is fixed with described second push-pull effort sensor, the control circuit being connected with described first, second push-pull effort sensor, the motor being connected with described control circuit, described left arm, right arm are fixedly installed to described equipment respectively；
Described first push-pull effort sensor is for gathering the vectorial force of X-direction and Z-direction, described second push-pull effort sensor is for gathering the vectorial force of X-direction and Z-direction, and the vectorial force transmission extremely described control circuit that described first push-pull effort sensor and the second push-pull effort sensor will gather, wherein, the positive and negative value of X-direction vectorial force represent respectively described equipment forward, backward directions move, the positive and negative value of Z-direction vectorial force represents that described device left, right direction move respectively；
Described control circuit is used for the vectorial force signal of the X-direction according to described first push-pull effort sensor acquisition and the vectorial force signal of the X-direction of described second push-pull effort sensor acquisition, or the vectorial force signal of the Z-direction of the vectorial force signal of the Z-direction of described first push-pull effort sensor acquisition and described second push-pull effort sensor acquisition, determine the steering manipulation mode of described equipment；
Described motor carries out divertical motion for the running gear manipulating described movable equipment according to the described steering manipulation mode determined.
10. a mobile type digital x-ray imaging equipment, including:
Body；
X-ray tube component, described x-ray tube component is located at described body；
Travel mechanism, is arranged at described organism bottom, and described body is moved by described travel mechanism；Described travel mechanism is the multiple rotation wheels being arranged at described organism bottom；
It is characterized in that, also include the electric boosted actuation means being installed on described body, described electric boosted actuation means includes push-pull device at fixed, described push-pull device at fixed includes: handle, the first push-pull effort sensor of being respectively fixedly connected with the two ends of handle, the second push-pull effort sensor, the control circuit being connected with described first, second push-pull effort sensor, the motor being connected with described control circuit, described push-pull device at fixed is fixedly installed to described body；
The vectorial force of described first push-pull effort sensor acquisition Z-direction, and the vectorial force of described second push-pull effort sensor acquisition Z-direction, and the vectorial force of the Z-direction gathered is transmitted to described control circuit by described first push-pull effort sensor and the second push-pull effort sensor, wherein, the positive and negative value of Z-direction vectorial force represents that described device left, right direction move respectively；
Described control circuit is used for the vectorial force signal of the Z-direction according to described first push-pull effort sensor acquisition and the vectorial force signal of the Z-direction of described second push-pull effort sensor acquisition, determines the original place rotation direction of described equipment；
Described motor carries out original place rotation for manipulating described travel mechanism according to the described original place rotation direction determined.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521135016.XU CN205433721U (en) | 2015-12-30 | 2015-12-30 | Remove electronic helping hand control device of X ray equipment and remove X ray equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521135016.XU CN205433721U (en) | 2015-12-30 | 2015-12-30 | Remove electronic helping hand control device of X ray equipment and remove X ray equipment |
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| CN205433721U true CN205433721U (en) | 2016-08-10 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105832361A (en) * | 2016-06-03 | 2016-08-10 | 深圳柏斯生物科技有限公司 | Electric booster for X-ray machine and control method thereof |
| CN106923848A (en) * | 2015-12-30 | 2017-07-07 | 深圳迈瑞生物医疗电子股份有限公司 | The electric boosted actuation means of mobile X-ray equipment and mobile X-ray equipment |
-
2015
- 2015-12-30 CN CN201521135016.XU patent/CN205433721U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106923848A (en) * | 2015-12-30 | 2017-07-07 | 深圳迈瑞生物医疗电子股份有限公司 | The electric boosted actuation means of mobile X-ray equipment and mobile X-ray equipment |
| CN106923848B (en) * | 2015-12-30 | 2024-03-12 | 深圳迈瑞生物医疗电子股份有限公司 | Electric power-assisted control device of mobile X-ray equipment and mobile X-ray equipment |
| CN105832361A (en) * | 2016-06-03 | 2016-08-10 | 深圳柏斯生物科技有限公司 | Electric booster for X-ray machine and control method thereof |
| CN105832361B (en) * | 2016-06-03 | 2019-07-30 | 深圳柏斯生物科技有限公司 | Electric booster and its control method on X-ray machine |
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Assignee: Shenzhen Mindray Animal Medical Technology Co.,Ltd. Assignor: SHENZHEN MINDRAY BIO-MEDICAL ELECTRONICS Co.,Ltd. Contract record no.: X2022440020009 Denomination of utility model: Electric power control device for mobile X-ray equipment and mobile X-ray equipment Granted publication date: 20160810 License type: Common License Record date: 20220804 |