JP2008029594A - Movable radiography device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To improve safety when an endless turning body is fractured even while increasing the degree of freedom of the arranging position of an electric motor using the endless turning body such as a belt. <P>SOLUTION: When a V type transmission belt 20 is fractured and is not present at a normal position anymore, an infrared ray sensor 28 detects that fact, and a controller 29 outputs abnormality signals. In response to the abnormality signals, a permanent electromagnet 21 is switched to a non-energizing state and the power source of the electric motor 15 is switched OFF. While separating the magnet member 24 of the permanent electromagnet 21 from the side face of a driven pulley 17 in an energizing state at normal time, by changeover to the non-energizing state, the magnet member 24 of the permanent electromagnet 21 is attracted to the side face of the driven pulley 17, the rotation of drive wheels 1 is stopped and the traveling of the movable radiography device is stopped. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a mobile X-ray apparatus used for X-ray imaging or round-trip X-ray imaging in an operating room or emergency room.

Conventionally, this type of mobile X-ray apparatus is known as configured as follows.
A. First Conventional Example That is, a support column is erected on a front part of a carriage having a pair of left and right front wheels and a rear wheel, and a support table is attached to the support column so as to be movable up and down. A telescopic arm is extended in a cantilevered manner in the horizontal direction, an X-ray irradiation device comprising an X-ray tube and a collimator is attached to the tip, and a control device is mounted on the rear part of the carriage.

  The front wheels are configured as caster wheels that can rotate in all directions, and each rear wheel is configured as a drive wheel that is rotated forward and backward independently by an electric motor with a reduction gear. Each of the left and right electric motors is electrically linked via a drive circuit to left and right handles equipped with a back and forth displacement within a certain range around the fulcrum and equipped with a neutral return bias at the upper rear part of the control device. When the forward rotation switch is turned on by pressing the left handle forward, the left electric motor is driven forward. Similarly, when the reverse rotation switch is turned on by pressing the left handle backward, The motor is driven in reverse.

  The left and right rear wheels and the electric motor are mounted on the rear unit at the lower part of the vehicle body, and this drive unit is axially supported and driven so as to be able to turn all around the vertical axis center located at the center of the left and right rear wheels. The unit can be switched between a turnable state and a non-turnable state by the lock mechanism.

  The lock mechanism consists of a holder fixed on the drive unit and an electromagnet fitted and supported so that it can only move up and down, and the energized electromagnet is made of magnetic metal for mounting the drive unit on the bottom of the carriage. The drive unit is fixed to the carriage by being attracted to the flange, and turning of the drive unit is allowed by releasing the energization to the electromagnet.

  In addition, the lock mechanism is configured so that the electromagnet is energized and the drive unit is fixed when the switch provided at the tip of the handle is not pushed in, and the electromagnet is de-energized while the switch is pushed in and the drive unit is Turn is allowed.

  With the above configuration, the drive unit is normally fixed so that the left and right rear wheels are directed forward and backward, and the left and right handles are simultaneously pressed forward or backward to advance the vehicle straight forward or backward, and one handle forward or backward. The vehicle body is steered by rotating only one rear wheel forward or backward, and the left and right handles are pressed in opposite directions to drive the left and right rear wheels to rotate in opposite directions. Rotate (spin) on the spot.

  When laying the vehicle on the side of a bed or wall, first push the switch to release the lock mechanism and press the left and right handles in opposite directions to rotate the left and right rear wheels in opposite directions. Drive, rotate only the drive unit by an appropriate angle and tilt the left and right rear wheels with respect to the vehicle body. Next, the vehicle body can be translated obliquely by pressing the left and right handles simultaneously forward or backward while the drive unit is fixed in an inclined posture (see, for example, Patent Document 1).

B. Second Conventional Example That is, a driving device provided with a traveling handle at the rear of the carriage, a pair of main wheels on the left and right of the rear, and a motor, a differential, and an electromagnetic brake directly connected to the output shaft of the motor Is driven by power.
The electromagnetic brake is configured to operate when the connection circuit is OFF, and the entire mobile X-ray apparatus is stopped by this braking.

Each main wheel has a braking device, these braking devices are fixed to the carriage, and the sprocket attached to the output shaft of each braking device and the sprocket fixed to each main wheel are connected via a chain. In addition, each main wheel can be braked independently.
A pair of pressure sensors corresponding to each braking device is attached to the left and right ends of the traveling handle, detects the pressing force of the operator acting on the left and right ends of the traveling handle, and according to the detected pressing force, for example, The braking force of the braking device on the side opposite to the pressed side is controlled.

With the above configuration, when the direction is to be changed, the operator uses the traveling handle to place the pressure sensor on the opposite side to the direction to be changed among the pressure sensors provided at the left and right ends of the traveling handle. Press. This pressing force is detected via the pressure sensor, and the braking device on the side to be changed in direction is selected from the left and right braking devices. At the same time, the braking force of the braking device is linked to the magnitude of the pressing force of the operator. And change. On the other hand, since the pressure sensor on the opposite side of the traveling handle does not receive the pressing force, the corresponding braking device is not braked and the braking force does not change. For this reason, a difference corresponding to the angle at which the carriage changes the direction is generated in the braking force of the left and right braking devices, and the carriage can be changed to a desired direction (see, for example, Patent Document 2).
JP-A-6-245926 JP-A-5-277094

However, in the case of the first conventional example, the rear wheel is configured as a drive wheel that is rotated forward and backward independently by an electric motor with a speed reducer, and the speed reducer and the electric motor are integrated with each other so However, there is a problem that a large space is required as a whole when installing other components such as a control system of the X-ray apparatus. In addition, when the driving wheel collides with another object, the impact force is transmitted to the electric motor, and the electric motor is damaged.
In addition, when the electromagnet lock mechanism is used, the drive unit is fixed to the carriage by energizing the electromagnet, and the drive unit is allowed to turn by releasing the electromagnet energization. Although it makes it easy to travel, it does not contribute to stopping traveling.

In the case of the second conventional example, the main wheel and the output shaft of the motor are linked to each other via a differential device, and a chain or the like is used as a transmission configuration from the output shaft of the motor to the differential device. The position of the vehicle can be set freely, and the impact force from the drive wheels can be prevented from being transmitted to the motor, but in the event of an emergency where the chain breaks, the vehicle cannot stop traveling and unexpectedly collides with people or other objects. However, there was a problem of low safety.
In addition, an electromagnetic brake is provided on the output shaft of the motor, and a braking device is provided on each main wheel via a chain to stop the travel of the entire device and to facilitate the steering operation when changing the moving direction. However, even with these configurations, the vehicle body traveling stoppage in the case of an emergency described above cannot be performed.

  The present invention has been made in view of the circumstances as described above, and it is possible to increase the degree of freedom of the arrangement position of the electric motor by using an endless rotating body such as a belt, and safety at the time of breaking the endless rotating body. It aims to be able to improve.

In order to achieve the above object, the invention according to claim 1 has the following configuration.
That is, a speed reducer is attached to a drive wheel of a carriage equipped with an X-ray irradiation means for irradiating the subject with X-rays, and the input shaft of the speed reducer and the output shaft of the electric motor are linked via an endless rotating body. A connected mobile X-ray device,
A rotation stop mechanism attached to the drive wheel for stopping the rotation of the drive wheel, and detecting whether or not the endless rotating body is present at a normal position, and an abnormality accompanying detection of an abnormal state not existing at the normal position An abnormality detection means for outputting a signal, and a rotation stop control means for stopping rotation by the rotation stop mechanism in response to an abnormality signal from the abnormality detection means.
As the endless rotating body, a V belt, a flat belt, a chain, or the like is employed.

(Action / Effect)
According to the configuration of the mobile X-ray apparatus of the first aspect of the invention, when the endless rotating body breaks, the endless rotating body moves out of the normal position along with the breakage, so that the abnormality detecting means detects this. Then, an abnormal signal is output, the rotation is stopped by the rotation stop mechanism in response to the abnormal signal, the rotation of the driving wheel is stopped, and the traveling of the carriage can be stopped.

Therefore, the endless rotating body such as a V-shaped transmission belt, a flat transmission belt, or a chain can be used to increase the degree of freedom of the arrangement position of the electric motor, but the carriage travels in an unexpected direction due to the breakage of the endless rotating body. , You can avoid unexpected collisions with people and other things, and can improve safety.
In addition, it is possible to prevent the mobile X-ray apparatus itself from being damaged due to a collision with a person or another object.

  According to a second aspect of the present invention, in the mobile X-ray apparatus according to the first aspect, the endless rotating body is constituted by a transmission belt.

(Action / Effect)
According to the configuration of the mobile X-ray apparatus of the invention according to claim 2, even if the driving wheel collides with another object, the impact force is absorbed by the transmission belt, and the impact force is transmitted from the driving wheel to the electric motor. Can be eased. In addition, the noise can be reduced compared to the case of a chain.

  According to a third aspect of the present invention, in the mobile X-ray apparatus according to the first or second aspect, the rotation stop mechanism is separated from the side surface of the driven pulley attached to the input shaft of the speed reducer in an energized state. And configured to be a permanent electromagnet that admits rotation of the drive wheel and attracts it in a non-energized state to stop the rotation of the drive wheel, and the rotation stop control means responds to an abnormality signal from the abnormality detection means. It is configured to switch to a non-energized state.

(Action / Effect)
According to the configuration of the mobile X-ray apparatus of the third aspect of the invention, the rotation stop mechanism is constituted by the permanent electromagnet that is attracted in a non-energized state to stop the rotation of the drive wheel. Of course, when the moving body breaks down, the drive wheels can stop rotating even in a non-energized state where the running of the carriage itself is stopped, so that it is possible to prevent the carriage from moving unexpectedly, resulting in collisions with other objects. In addition to preventing damage to the mobile X-ray apparatus itself, it is possible to avoid damage to people and other objects, thereby further improving safety.

  As described above, according to the configuration of the mobile X-ray apparatus of the invention according to claim 1, when the endless rotating body breaks, the endless rotating body moves out of the normal position along with the breakage. Is detected by the abnormality detection means, and an abnormality signal is output. In response to the abnormality signal, the rotation is stopped by the rotation stop mechanism, and the rotation of the driving wheel is stopped to stop the traveling of the carriage.

Therefore, the endless rotating body such as a V belt, a flat belt, or a chain can be used to increase the degree of freedom in arranging the electric motor, but the carriage travels in an unexpected direction due to the breakage of the endless rotating body. It is possible to avoid collisions with other objects and improve safety.
In addition, it is possible to prevent the mobile X-ray apparatus itself from being damaged due to a collision with a person or another object.

  Next, embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is an overall schematic side view of a mobile X-ray apparatus according to a first embodiment of the present invention. A driving wheel 1 is provided on each of the left and right rear parts, and a front wheel 2 is provided on each of the left and right front parts. Is configured.

  A support column 4 is erected on the front side of the carriage 3, and a support member 5 is provided on the support column 4 so as to be rotatable around a vertical axis and movable up and down. A horizontal arm 6 is provided so as to be extendable and contractible, and an X-ray tube 7 as an X-ray irradiation means for irradiating the subject H with X-rays is provided at the tip of the horizontal arm 6. As a result, when the carriage 3 is moved and traveled, the horizontal arm 6 faces rearward and can be in a compact posture overlapping the carriage 3 in plan view. 7 is configured to be easily moved above the subject H.

  A flat panel X-ray detector 9 is connected to the carriage 3 via a wiring 8 so that it can be easily put in and out of a storage section (not shown) provided in the front part of the carriage 11 and is light and thin on the bed. The X-ray is easily set on the back side of the subject H in a supine posture and can detect X-rays irradiated from the X-ray tube 5 and transmitted through the subject H. Further, the carriage 3 is provided with a display monitor 10, an operation panel 11, an X-ray irradiation control unit 12, and a traveling handle 13.

  As shown in the plan view of the traveling system in FIG. 2, the carriage 3 is provided with a speed reducer 14 attached to each of the drive wheels 1 and 1 and an electric motor 15 capable of forward and reverse rotation. A driven pulley 17 is attached to the input shaft 16 of the speed reducer 14, while a main pulley 19 is attached to the output shaft 18 of the electric motor 15, and a V-type transmission belt as an endless rotating body extends between the driven pulley 17 and the main pulley 19. 20 is wound, and the electric motor 15 and the drive wheel 1 are interlockedly connected.

A permanent electromagnet 21 is provided close to the side surface of the driven pulley 17 to constitute a rotation stopping mechanism that stops the rotation of the drive wheel 1.
The permanent electromagnet 21 is configured as shown in the partially cutaway enlarged plan view of the main part of FIG. That is, the guide rod 25 is provided on the electromagnet 23 side of the magnet member 24 in which the permanent magnet 22 and the electromagnet 23 are integrated, and the guide rod 25 is slidably provided on the metal casing 26.

In the casing 26, a leaf spring 27 is interposed at the end of the guide rod 25 in order to bias the magnet member 24 in a direction away from the driven pulley 17, and the electromagnet 23 is not energized in the non-energized state. As shown in FIG. 3A, the magnet is demagnetized and displaced against the urging force of the leaf spring 27 by the magnetic force of the permanent magnet 22, and the magnet member 24 (permanent magnet 22) is attracted to the driven pulley 17. It is comprised so that rotation of the drive wheel 1 may be stopped.
On the other hand, in the energized state, the electromagnet 23 is excited, the magnetic force of the permanent magnet 22 and the magnetic force of the electromagnet 23 cancel each other, and the magnet member 24 is moved by the urging force of the leaf spring 27 as shown in FIG. It is configured to be pulled away from the driven pulley 17 and separated from the driven pulley 17 to allow the drive wheel 1 to rotate.

  An infrared sensor 28 is provided in the vicinity of the V-type transmission belt 20, and a controller 29 is connected to the infrared sensor 28 to constitute an abnormality detection means. The infrared sensor 28 includes a light projecting unit and a light receiving unit, and infrared light is projected from the light projecting unit to the oblique side surface of the V-type transmission belt 20 at regular intervals (for example, 0.1 seconds), thereby V-type transmission. Infrared light reflected from the side surface of the belt 20 is received by a light receiving unit and a light reception signal is output. The controller 29 outputs an abnormal signal when a light reception signal from the light receiving unit is not received for a set time (for example, 1 second), that is, when the V-type transmission belt 20 is broken and no longer exists in the normal position. It is configured.

  Both controllers 29, 29 are connected to the energization control unit 30 and the electric motor 15 of both permanent electromagnets 21. When an abnormal signal is received from either controller 29, the permanent electromagnet 21 responds to the abnormal signal. Is switched to the non-energized state and the power of the electric motor 15 is switched to OFF, and the magnet member 24 is switched to the non-energized state while the magnet member 24 is kept away from the side surface of the driven pulley 17 in a normally energized state. The rotation stop control means is configured to stop the rotation of the drive wheels 1 and 1 by being attracted to the side surface of the driven pulley 17 and stop the traveling of the carriage 3.

In addition, a power source (battery) 32 is connected to the permanent electromagnet 21 via a release switch 31. After the emergency stop of the travel due to the breaking of the V-type transmission belt 20, the permanent electromagnet 21 is switched to an energized state and driven. The rotation stop with respect to the wheel 1 is canceled, and the carriage 3 can be easily moved to a safe position or the like by human power.
In the figure, reference numeral 33 denotes a brake for the electric motor 15, which makes a turning run with the rotation directions of the left and right electric motors 15 reversed, a gentle turning run by changing the rotation speed of the left and right electric motors 15, and one of the electric motors. It is comprised so that the turning driving | running | working etc. which can stop 15 rotations temporarily can be performed.

FIG. 4 is a partially cutaway plan view of the main part of a mobile X-ray apparatus according to Embodiment 2 of the present invention. The differences from Embodiment 1 are as follows.
In other words, a pair of guide rods 41, 41 are slidably provided on the casing 26, and a brake disk 42 is attached to the tips of the guide rods 41, 41. A compression coil spring 43 is provided on the guide rods 41 and 41 between the casing 26 and the brake disk 42, and the brake disk 42 is pressed against the side surface of the driven pulley 17 by the urging force of the compression coil spring 43, thereby A rotation stop mechanism is configured to stop the rotation.

  In the casing 26, a solenoid 44 is attached to the guide rods 41, 41. When the solenoid 44 is energized, the solenoid 44 is excited to separate the brake disk 42 against the urging force of the compression coil spring 43. In the energized state, the solenoid 44 is demagnetized, and the brake disk 42 is pressed against the side surface of the driven pulley 17 to stop the rotation of the drive wheel 1 as described above. Other configurations are the same as those of the first embodiment, and the description thereof is omitted.

5 is a partially cutaway plan view of the main part of a mobile X-ray apparatus according to Embodiment 3 of the present invention, FIG. 6 is a side view of a driven pulley, and FIG. 7 is a side view of a casing. The differences are as follows.
That is, a cylindrical body 51 is provided in the casing 26, and a pin 52 having a spherical tip surface is provided on the cylindrical body 51 so as to be slidable. In the casing 26, a solenoid 53 is provided so as to act on the tip side of the pin 52, and a compression coil spring 54 that biases the pin 52 to be pushed out is provided in the cylindrical body 51.
On the other hand, eight pin holes 55 are provided on the side surface of the driven pulley 17 at a predetermined interval in the circumferential direction, and the pins 52 can be inserted into any one of the pin holes 55.

According to the configuration of the third embodiment, in the energized state, by energizing the solenoid 53, the pin 52 is displaced toward the casing 26 against the urging force of the compression coil spring 54, while in the non-energized state. Then, the solenoid 53 is demagnetized, the pin 52 is protruded by the urging force of the compression coil spring 54, the pin 52 is inserted into any of the pin holes 55, and the rotation of the drive wheel 1 is stopped. Other configurations are the same as those of the first embodiment, and the description thereof is omitted.
In the third embodiment, an arcuate tapered surface for guide may be formed on the peripheral portion of the pin hole 55 in order to facilitate the insertion of the pin 52.

In the above embodiment, the left and right drive wheels 1 and 1 are configured to be driven by the individual electric motors 15. However, in the present invention, for example, the left and right wheels 1 and 1 are linked to one speed reducer. The V-type transmission belt 20 may be wound around the input shaft of the reduction gear and the output shaft of one electric motor.
In the present invention, a flat belt or a chain may be used instead of the V-type transmission belt 20, and these are collectively referred to as an endless rotating body.

  In the above embodiment, the reflection type infrared sensor is used to detect whether or not the V-type transmission belt 20 exists at the normal position, that is, whether or not the V-type transmission belt 20 is broken. A so-called transmissive sensor may be used in which a projector is provided on one side and a light receiver is provided on the other side with the V-type transmission belt 20 in between. Further, it may be configured to detect whether or not the V-type transmission belt 20 is present at a normal position by contact.

1 is an overall schematic side view of a mobile X-ray apparatus according to Embodiment 1 of the present invention. It is a top view which shows a traveling system. It is a partially notched enlarged plan view of a main part, (a) shows a non-energized state, and (b) shows an energized state. It is a partially notched top view of the principal part of the mobile X-ray apparatus which concerns on Example 2 of this invention. It is a partial notch top view of the principal part of the mobile X-ray apparatus which concerns on Example 3 of this invention. It is a side view of a driven pulley. It is a side view of a casing.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Drive wheel 3 ... Bogie 7 ... X-ray tube (X-ray irradiation means)
DESCRIPTION OF SYMBOLS 14 ... Reducer 15 ... Electric motor 16 ... Input shaft 17 ... Driven pulley 18 ... Output shaft 20 ... V-type transmission belt (endless rotating body)
21 ... Permanent electromagnet 28 ... Infrared sensor (abnormality detection means)
29 ... Controller (abnormality detection means)

Claims (3)

A reduction gear is attached to the drive wheel of a carriage equipped with an X-ray irradiation means for irradiating the subject with X-rays, and the input shaft of the reduction gear and the output shaft of the electric motor are interlocked and connected via an endless rotating body. A mobile X-ray device,
A rotation stop mechanism attached to the drive wheel for stopping the rotation of the drive wheel, and detecting whether or not the endless rotating body is present at a normal position, and an abnormality is detected along with detection of an abnormal state not existing at the normal position. A mobile X-ray apparatus comprising: an abnormality detection means for outputting a signal; and a rotation stop control means for stopping rotation by the rotation stop mechanism in response to an abnormality signal from the abnormality detection means. The mobile X-ray apparatus according to claim 1,
A movable X-ray apparatus whose endless rotating body is a transmission belt. The mobile X-ray apparatus according to claim 1 or 2,
The rotation stop mechanism is separated from the side surface of the driven pulley attached to the input shaft of the speed reducer in an energized state to permit the rotation of the drive wheel, and adsorbs in the non-energized state to stop the rotation of the drive wheel. A mobile X-ray apparatus, which is an electromagnet, wherein the rotation stop control means switches the permanent electromagnet to a non-energized state in response to an abnormality signal from the abnormality detection means.

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