KR101794681B1 - Dental 3-dimensional scanner and driving method thereof - Google Patents

Abstract

The present invention relates to a dental three-dimensional scanner and to a driving method thereof, wherein the scanner comprises an elevation driving means for adjusting the height of a subject placed on a subject arm part, an angular motion driving means for adjusting the tilt of the subject and a rotational motion driving means for rotating the subject to acquire various three-dimensional images quickly, easily and accurately while appropriately moving the subject depending on the size and shape of the subject, and the operation of the elevation driving means, the angular motion drive means, and the rotational motion driving means is automatically performed to improve the convenience of use, reduce a time for acquiring images, and acquire uniform image information having excellent quality regardless of the level of the user.

Description

[0001] DENTAL 3-DIMENSIONAL SCANNER AND DRIVING METHOD THEREOF [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a dental three-dimensional scanner and a driving method thereof, and more particularly, to a dental three-dimensional scanner and a method of driving the same, And more particularly, to a dental three-dimensional scanner and a method for driving the same, which can acquire information more quickly through height adjustment of an imaging position according to the size and shape of a subject, and can improve convenience in use and handling .

A dental 3-dimensional scanner (Dental 3-Dimensional Sscanner) is a dental 3-dimensional scanner that acquires the same image information as a real image of a subject by deriving a three-dimensional image from a two-dimensional image obtained by photographing a subject having a three- And can be used to acquire various three-dimensional images of the shape of teeth and oral tissues during dental treatment of restoration of teeth, prosthesis, and the like.

For example, a three-dimensional scanner for dental use has been proposed as disclosed in Korean Patent Registration No. 10-1358631.

As shown in FIG. 1, the above-described dental desktop three-dimensional scanner includes a scanning object 105 placed on a photographing stage 106, a rotary shaft 101 perpendicular to the stage, and a rotary shaft 102 horizontal to the stage And data obtained by photographing the scan pattern image irradiated to the scan object 105 through the projector 103 at all angles except for the bottom surface of the scan object 105 through the camera 104 while rotating the scan object 105 Dimensional digital model.

The above-described conventional dental desktop 3D scanner has a disadvantage in that it acquires the following limitations in acquiring a three-dimensional image.

Even if the size of the object to be scanned 105 is small, there are many cases where the object is not within the shooting range of the camera 104 and the projector 103 depending on the height fixed and the position placed on the photographing stage 106. [ In such a case, it is necessary to accumulate a layer of the height adjusting tool or adjust the position within the shooting range by using another additional fixing tool. Therefore, it takes a lot of time to acquire the image as well as the inconvenience of use, And the resultant value of the image information varies according to the size of the image.

In addition, when the size of the object to be scanned 105 is large enough to deviate from the photographable range of the camera 104 and the projector 103, the conventional dental desktop 3D scanner can not obtain three-dimensional information.

Korean Registered Patent No. 10-1358631 "A dental desktop 3D scanner having a camera and a projector having a two-axis motion unit coupled with a stage horizontal rotation axis rotational motion unit,

Disclosure of Invention Technical Problem [8] The present invention has been made in view of the above-described subject matter, and it is an object of the present invention to provide a dental imaging apparatus capable of easily, quickly, and accurately acquiring various 3D images by enabling elevation adjustment operation of a subject, tilt adjustment operation of a subject, Dimensional scanner and a driving method thereof.

It is another object of the present invention to provide an image display apparatus capable of automatically performing a height adjustment operation, a tilt adjustment operation, and a rotation operation of a subject, thereby improving convenience in use and shortening the acquisition time of an image, Dimensional scanner and a method of driving the same.

In order to achieve the above object, a dental three-dimensional scanner according to the present invention is a dental three-dimensional scanner, comprising: a frame provided with an image pickup unit; A subject arm unit provided on the frame and including a seat plate on which a subject is mounted; And elevation driving means connected to the subject arm portion for applying a rising force.

In order to achieve the above object, a dental three-dimensional scanner according to the present invention is a dental three-dimensional scanner, comprising: a frame provided with an imaging section; A subject arm unit provided on the frame and including a seat plate on which a subject is mounted; An elevation driving means connected to the subject arm portion for applying a rising force; And angular motion driving means connected to the subject arm portion for applying a rotational force for angular motion.

Preferably, in order to achieve the above object, a dental three-dimensional scanner according to the present invention is a dental three-dimensional scanner, comprising: a frame on which an image pickup unit is installed; A subject arm unit provided on the frame and including a seat plate on which a subject is mounted; An elevation driving means connected to the subject arm portion for applying a rising force; Angular motion driving means connected to the subject arm portion for applying a rotational force for each motion; And rotational driving means connected to the seat plate for applying a rotational force for rotational motion.

Here, the subject arm portion is formed in a cylindrical shape having an accommodation space therein, and the rotational movement driving means includes a rotation axis shaft installed in the accommodation space of the subject arm portion and connected to the seat plate, And a power transmission unit for transmitting the rotation force of the rotation motor to the rotation axis.

In this case, the power transmitting portion includes a driven timing pulley coupled to the rotational shaft; A drive timing pulley connected to the output shaft of the rotary motor; A timing belt connected between the driven timing pulley and the drive timing pulley; And an idle pulley installed on the subject arm portion to adjust the tension of the timing belt.

On the other hand, the elevation driving means includes an elevating actuator connected to the subject arm portion; And an elevating motor connected to the elevating actuator to apply a driving force thereto.

The elevation motor control unit may be configured to accelerate and decelerate the rotation of the elevation motor so that the subject can be quickly moved to the imaging point to shorten the image acquisition time.

Wherein the elevating motor control unit includes a high-speed rotation region that rotates at a high speed from a placement point of the subject to an image pickup point at a high speed, a low-speed rotation region that rotates at a low speed relative to the high- Control.

Preferably, the elevating actuator comprises an elbow guide module, and a slider provided on the elbow guide module for performing elevation movement may be connected to the subject arm portion via an arm connection bracket.

Each of the motion driving means includes: a respective motion gear to which the subject arm is connected; An angular motion motor having a driving gear engaged with each of the plurality of motors; And a motion guide plate to which the subject arm part is connected and is rotatably coupled to the frame.

Here, the gears of the respective planetary gears are formed in gear-shaped peripheral portions of the plate-shaped body, gear portions engaging with the drive gears are formed, and arm mount grooves on which the subject arms are seated are formed, A tilting shaft bearing coupled to the tilting shaft, and a tilting shaft bracket coupled to the tilting shaft, wherein the tilting shaft is coupled to the tilting shaft, ≪ / RTI >

The frame may further include a side wall portion having an operation hole in which the subject arm moves up and down and angular movement, an upper body connected to an upper portion of the side wall portion and having the imaging portion and a lens hole formed therein, A main frame formed of a 'C' shaped cylinder made of a lower body on which the arms are arranged; And an inner frame disposed inside the side wall portion and having the elevation driving means incorporated therein.

According to another aspect of the present invention, there is provided a method of driving a dental three-dimensional scanner, the method comprising the steps of: A subject rotation process in which the subject is rotated by driving; An object angular movement process for driving each of the motion driving means to angularly move the subject; And a subject ascending and descending process of moving the subject to an image pick-up point by driving the elevation driving means so as to shorten the image acquisition time by moving the subject quickly.

Preferably, the subject elevating and lowering process includes a high-speed rotation region for rotating the elevating motor provided at the elevation driving means at a high speed from a mounting point of the subject to a section close to the imaging point, and a low- The driving of the elevating motor can be controlled so as to have a low-speed rotation region for stopping the rotation and stopping the rotation.

According to the dental three-dimensional scanner and the driving method of the present invention, it is possible to precisely acquire image information in all directions since it is possible to adjust the height of the subject, the tilt of the subject, and the rotation of the subject. Dimensional stereoscopic model can be constructed by using the image information data obtained from the stereoscopic image data.

According to the three-dimensional dental scanner and the driving method of the present invention, it is possible to automatically perform the height adjusting operation of the subject, the tilt adjusting operation of the subject, and the rotating operation of the subject through a simple operation of the user, It is possible not only to shorten the acquisition time of the image but also to acquire high quality uniform image information regardless of the level of the user.

1 is a view for explaining a conventional three-dimensional scanner for dental use,
FIGS. 2A and 2B are perspective views showing the entire outer appearance of a dental three-dimensional scanner according to an embodiment of the present invention;
FIG. 3 is a perspective view showing the internal structure of a dental three-dimensional scanner according to an embodiment of the present invention,
FIG. 4 is a side view showing an internal structure of a dental three-dimensional scanner according to an embodiment of the present invention;
FIGS. 5A and 5B are views for explaining a part of an elevation driving means of a dental three-dimensional scanner according to an embodiment of the present invention;
FIGS. 6A and 6B are views for explaining each movement driving means of a dental three-dimensional scanner according to an embodiment of the present invention;
FIG. 7 is a perspective view for explaining rotation driving means of a dental three-dimensional scanner according to an embodiment of the present invention;
FIG. 8A is a diagram for explaining the overall operation of a dental three-dimensional scanner according to an embodiment of the present invention; FIG.
FIG. 8B is a view for explaining the height adjusting operation according to the operation of the elevation driving means of the dental three-dimensional scanner according to the embodiment of the present invention; FIG.
FIG. 8C is a view for explaining the tilt adjusting operation according to the operation of each motion driving means of the dental three-dimensional scanner according to the embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description and the accompanying drawings, detailed description of well-known functions or constructions that may obscure the subject matter of the present invention will be omitted. It should be noted that the same constituent elements are denoted by the same reference numerals as possible throughout the drawings.

The terms and words used in the present specification and claims should not be construed to be limited to ordinary or dictionary meanings and the inventor is not limited to the concept of terminology for describing his or her invention in the best way. It should be interpreted as meaning and concept consistent with the technical idea of the present invention. Therefore, the embodiments described in the present specification and the configurations shown in the drawings are merely the most preferred embodiments of the present invention, and not all of the technical ideas of the present invention are described. Therefore, It is to be understood that equivalents and modifications are possible.

2A and 2B are perspective views showing the entire outer appearance of a dental three-dimensional scanner according to an embodiment of the present invention. FIG. 2A shows an overall appearance of a front view, FIG. And the rear cover plate of the main frame is removed. FIG. 3 is a perspective view illustrating an internal structure of a dental three-dimensional scanner according to an embodiment of the present invention. FIG. 4 is a side view illustrating an internal structure of a dental three- In which a part of the cover plate is removed.

Referring to FIGS. 2A to 4, a dental 3D scanner according to an embodiment of the present invention includes a frame 1 on which an image pickup unit is installed, a seat mounted on the frame 1 and on which a subject (not shown) A lifting and driving means (3) provided with a subject arm portion (2) provided with a plate (21) and adjusting the height of the subject so that various three-dimensional images can be obtained easily, quickly, and accurately, Each of the motion drive means 4 and the rotational motion drive means 5 for rotating the object are constituted.

The frame 1 is a constituent element forming a skeleton of a three-dimensional scanner, and is constituted by a main frame 11, an inner frame 12, and the like.

The main frame 11 is formed by a plurality of cover plates so that the overall structure of the main frame 11 is formed in a substantially 'C' shape so that the remaining portions of the main frame 11 other than the surfaces including the respective motion guide plates 43 are opened. A side wall portion 111 formed with an operation hole 111a in which the subject arm portion 2 moves up and down and a motion hole formed therein and an upper portion of the side wall portion 111, A lower body 113 connected to a lower portion of the upper body 112 and the side wall 111 and having a storage box 116 therein is provided.

The inner frame 12 is disposed inside the rear surface of the side wall portion 111 and is a portion to which the components such as the elevation driving means 3 are coupled. The inner frame 12 is formed by a plate material so as to have an overall rectangular cross-sectional shape.

On the other hand, the subject arm portion 2 is a member of a cantilever structure in which an end portion of the arm body 22 having a rectangular tube shape having a receiving space therein is connected to the elevation driving means 3, The power transmission portion 53 of the rotary motion driving means 5 is arranged to rotate the seat plate 21 mounted on the arm body 22. [

Here, the seating plate 21 is formed in a substantially disc shape, and a fastening hole or the like is formed so as to mount a separate fixing member (not shown) for stably positioning and fixing a subject having a different size and shape have. In addition, although the seat plate 21 is formed in the shape of a disk in the embodiment of the present invention, if the subject can be raised, the shape and structure of the seat plate 21 may be variously changed within the range not deviating from the technical idea of the present invention Can be applied.

FIGS. 5A and 5B are views for explaining a part of the elevation driving means of the dental three-dimensional scanner according to the embodiment of the present invention, wherein FIG. 5A is an exploded perspective view and FIG.

4 to 5B, the elevation driving means 3 is a component connected to the subject arm portion 2 for applying the upward force. The elevation driving means 3 includes a lifting actuator 31 connected to the subject arm portion 2, And an elevating motor 32 connected to the elevating actuator 31 for applying a driving force thereto.

The elevating actuator 31 may be a pneumatic cylinder (not shown) in which the rod is moved back and forth by compressed air if the object arm portion 2 can translate the object arm portion 2 upward or downward, or an electric actuator (Not shown) or the like. However, in this embodiment, a linear movement mechanism called an LM guide module is generally used.

5A and 5B, the elevating actuator 31 includes an elevating member 311 in which a ball screw 312 rotated by an elevating motor 32 is mounted, an elevating member 311, And a slider 314 connected to the ball screw 312 and raised and lowered.

The slider 314 is a member connected to the elevating member 311 and translationally moving along the ascending and descending direction. The arm connecting bracket 315 is coupled to the subject arm portion 2.

The elevating motor 32 is a component for applying a driving force for moving the slider 314 and is composed of a servomotor mounted on an upper portion of the elevating member 311 and generating a driving force so that the output shaft lifts the slider 314 And is connected to the ball screw 312.

The elevating member 311 is further provided with elevation control means (not shown) such as an optical sensor capable of setting or limiting the vertical stroke distance when the slider 314 is moved up and down.

On the other hand, the elevating motion driving means is characterized in that the image capturing time can be shortened by moving the subject quickly to the image capturing point. To this end, the lifting / lowering drive means 3 is provided with a lifting / lowering motor control unit (not shown) for accelerating / decelerating the rotating operation of the lifting / lowering motor 32.

The elevating motor control unit includes a high-speed rotation region in which the subject rotates at a high speed from a placement point on which the object is placed to an imaging point close to the imaging point, and a low- By controlling the camera to have a low-speed rotation area, the rise time of the subject can be reduced and the overall image acquisition time can be shortened.

Here, the high-speed rotation region and the low-speed rotation region of the elevation motor 32 may appropriately arrange a sensing means such as an image sensor for sensing the size and shape of the subject, an optical sensor for sensing the position of the subject, (Not shown) on the basis of the detection result, and the driving of the elevating motor can be controlled based on this. However, the elevating motor simply performs the high-speed rotation operation from the mounting point, It is possible to control the elevating motor at a low speed by judging the point close to the image pickup point and to stop the elevating motor when the center of the subject and the center line of the projection angle of the camera module coincide with each other.

FIGS. 6A and 6B are views for explaining respective motion driving means of a dental three-dimensional scanner according to an embodiment of the present invention, wherein FIG. 6A is an exploded perspective view and FIG. 6B is an assembled state view.

4, 6A and 6B, each of the motion driving means 4 is a component connected to the subject arm portion 2 for applying a rotational force for the respective motions, in which the subject arm portion 2 is connected Each motive motor 42 having the respective motive gears 41, the driving gear 44 meshing with the motive gears 41 and the subject arm unit 2 are connected and rotatably coupled to the frame 1 And the movement guide plate 43 is provided.

Each of the kinetic gears 41 is formed with a gear portion 411 that engages with a driving gear along a circumferential portion of an arc of a plate-like body having a hemispherical body, and an arm portion 411 on which a subject arm portion 2 is seated And the seating groove 412 is recessed.

Each of the motion motors 42 is installed on the lower body 113 of the main frame 11 and is composed of a servo motor and the drive gear 44 is coupled to the output shaft.

Each of the movement guide plates 43 is formed as a disk-shaped body having a central portion rotatably coupled to the side wall portion. An elevation groove 432, in which the subject arm portion 2 is inserted and raised, .

The tilting shaft 433 is connected to the tilting shaft 433 and the tilting shaft 433 is coupled to the tilting shaft 433 so as to be rotatably coupled to the side wall 111. [ And a tilting shaft bracket 435 coupled thereto.

FIG. 7 is a perspective view for explaining rotation driving means of a dental three-dimensional scanner according to an embodiment of the present invention. In FIG. 7, a part of the arm body 22 of the subject arm unit 2 is removed, It is.

7, the rotary motion driving means 5 is a component for applying a rotational force for rotational movement of the seat plate 21, and is disposed in a receiving space of the subject arm portion 2, A rotary motion motor 52 constituted by a thermo-motor for generating and applying a driving force for rotating the rotary shaft 52, And a power transmitting portion 54 for transmitting the rotational force of the motor 53 to the rotational shaft 52. [

The power transmission unit 54 includes a driven timing pulley 541 coupled to the rotary shaft 52, a drive timing pulley 542 connected to the output shaft of the rotary motor 53, a driven timing pulley 541, A timing belt 544 connected between the timing pulleys 542 and an idle pulley 543 provided on the subject arm portion 2 for adjusting the tension of the timing belt.

2B is a view showing the imaging unit 9, in which 91 is a camera module, 92 is a filter, 93 is a photo mirror, and the reference numeral 81 is a cooling fan for discharging heat inside the frame. Reference numeral 82 denotes a printed circuit board on which a microcomputer, various circuits and elements for controlling the elevation driving means 3, the respective movement driving means 4, and the rotation driving means 5 are mounted. In addition, in FIGS. 2B to 7A to 7C, a fastening member such as a bolt for fastening between the respective components, a sensing sensor for sensing the rotation range of each of the kinetic gears 41 provided in each of the kinetic driving means 4, Or members performing additional functions will be omitted.

Hereinafter, the operation of the dental three-dimensional scanner according to an embodiment of the present invention will be briefly described.

8A is a view for explaining the overall operation of a dental 3D scanner according to an embodiment of the present invention.

The driving method of a dental three-dimensional scanner according to the present invention is a method of moving a subject up and down to move an object to an image pickup point by driving the elevation driving means 3 so as to shorten the image acquisition time by moving the object p quickly A subject rotating operation for driving the rotary motion driving means 5 to acquire an image while rotating the subject, a subject rotating operation for driving the respective movement driving means 4 to adjust the inclination of the subject, And is driven in such a manner that each exercise process is performed.

2A to 8A, when the elevation driving means 3 is actuated in accordance with an operation signal of the user in a state in which the subject p is placed on the seat plate 21 of the subject arm portion 2, The subject p can be moved up and down while the arm unit 2 is lifted and lowered and the subject arm unit 2 can be moved in the time and counterclockwise directions When the rotary motion driving means 5 is operated, the seat plate 21 can be rotated in the forward and reverse directions to rotate the subject.

As described above, according to the dental three-dimensional scanner according to the embodiment of the present invention, when the elevation driving means 3, the angular driving means 4, and the rotational driving means 5 are operated, The tilt adjustment operation of the subject and the rotation operation of the subject can be performed, so that image information in all directions can be obtained, and a complete three-dimensional model can be constructed using the acquired image information data.

Since the elevation adjustment operation of the subject, the tilt adjustment operation of the subject, and the rotation operation of the subject are automatically performed through a simple operation of the user, the convenience of use is improved and the acquisition time of the image is shortened. It is possible to obtain uniform image information.

FIG. 8B is a view for explaining the height adjusting operation according to the operation of the lifting and driving means of the dental three-dimensional scanner according to the embodiment of the present invention, and FIG. 8C is a cross- FIG. 5 is a view for explaining a tilt adjusting operation according to the operation of each motion driving means of FIG.

3 and 4, the operation of the elevating actuator 31 is controlled by a forward rotation operation of the elevating motor 32, as shown in FIGS. 3 and 4, When the ball screw 312 is rotated, the slider 314 connected to the ball screw 312 is raised to raise the arm connection bracket 315 and the object arm portion 2 to which the arm connection bracket 315 is connected is raised, The upward movement of the subject p is performed as shown. Conversely, the lowering operation of the subject is performed by the reverse operation of the slider 314, the arm connection bracket 315, and the subject arm portion 2 which are lowered in the reverse rotation of the elevation motor 32.

The elevating and lowering driving process performed by the elevating driving means 3 is performed by moving the elevating motor 32 provided at the elevation driving means 3 to the imaging point at the mounting point of the object p under the control of the elevation motor control unit It is possible to positively position the image at the image pickup point more quickly than in the case of controlling to have a high-speed rotation area for rotating the high-speed rotation area to a section close to the high-speed rotation area and a low- There is an advantage that the acquisition time can be remarkably shortened.

The tilt adjustment operation of the subject of each motion drive means 4 for performing the subject angular motion process is performed by forward and reverse rotation of each of the motion motors 42 and the forward rotation of the drive gear 44, When the gear 41 is rotated in one direction or the other direction, the object arm portion 2 connected to each of the moving gears 41 is interlocked and rotated in one direction or the other direction to change the inclination as shown in Fig. 8C. At this time, the motion guide plates 43 are rotated to interlock with each other to guide the angular movement of the subject arm portion 2.

When the tilt adjustment operation of the subject is performed by the operation of each of the motion driving means 4 as described above, since it is moved from the position (a) to the position (b) and the position (c) It is possible to adjust the distance to the subject by a simple operation, to adjust the center of the subject (p), or to obtain optimal 3D image information while variously changing the imaging direction.

7, when the rotary motor 53 is rotated, the driving timing pulley 542 is rotated and the timing belt 544 is rotated The driven pulley 541 is rotated and the driven pulley 52 having the driven pulley 541 fixed thereto is rotated so that the seat plate 21 coupled to the turning shaft 52 is rotated Thereby performing a rotating operation of the subject.

When the subject rotates as described above, the image information of the circumferential surface can be easily obtained without rotating the subject one by one.

It should be noted that the embodiments of the present invention disclosed in the present specification and drawings are only illustrative of specific examples for the purpose of understanding and are not intended to limit the scope of the present invention. It will be apparent to those skilled in the art that other modifications based on the technical idea of the present invention are possible in addition to the embodiments disclosed herein.

The terms used in the above embodiments are used only to describe specific embodiments and are not intended to limit the present invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprises" or "having" and the like are used to specify that there is a feature, a number, a step, an operation, an element, a component or a combination thereof described in the specification, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

1: Frame 11: Main frame
111: side wall portion 112: upper body
113: lower body 12: inner frame
2: subject arm portion 21: seat plate
22: arm body 3: lifting drive means
31: lift actuator 32: lift motor
4: angular motion driving means 41: angular motion gear
42: angular motion motor 43: angular motion guide plate
44: driving gear 5: rotational driving means
52: rotary shaft 53: rotary motor
54: Power transmission unit

Claims (12)

delete A dental three-dimensional scanner comprising:
A frame provided with an image pickup section;
A subject arm unit provided on the frame and including a seat plate on which a subject is mounted;
An elevation driving means connected to the subject arm portion for applying a rising force; And
And angular motion driving means connected to the subject arm portion for applying rotational force for angular motion,
The elevation driving means includes an elevating actuator connected to the subject arm portion; And an elevating motor connected to the elevating actuator for applying a driving force,
Wherein each of the motion driving means includes: a respective motion gear to which the subject arm is connected; An angular motion motor having a driving gear engaged with each of the plurality of motors; And each motion guide plate connected to the subject arm portion and rotatably coupled to the frame.
A dental three-dimensional scanner comprising:
A frame provided with an image pickup section;
A subject arm unit provided on the frame and including a seat plate on which a subject is mounted;
An elevation driving means connected to the subject arm portion for applying a rising force;
Angular motion driving means connected to the subject arm portion for applying a rotational force for each motion; And
And rotary motion driving means connected to the seat plate for applying rotational force for rotational motion,
The elevation driving means includes an elevating actuator connected to the subject arm portion; And an elevating motor connected to the elevating actuator for applying a driving force,
Wherein each of the motion driving means includes: a respective motion gear to which the subject arm is connected; An angular motion motor having a driving gear engaged with each of the plurality of motors; And each motion guide plate connected to the subject arm portion and rotatably coupled to the frame.
The method of claim 3,
Wherein the subject arm portion is formed in a cylindrical shape having a receiving space therein,
Wherein the rotary motion driving means includes a rotary shaft installed in the accommodation space of the subject arm and connected to the seat plate, a rotary motor for generating a rotary force applied to the rotary shaft, And a power transmitting portion for transmitting the force to the shaft.
5. The method of claim 4,
The power transmission unit includes:
A driven timing pulley coupled to the rotational shaft;
A drive timing pulley connected to the output shaft of the rotary motor;
A timing belt connected between the driven timing pulley and the drive timing pulley; And
And an idle pulley mounted on the subject arm portion to adjust the tension of the timing belt.
delete The method according to claim 2 or 3,
And an elevation motor controller for accelerating and decelerating the rotational motion of the elevation motor so as to shorten the image acquisition time by quickly moving the subject to the imaging point.
8. The method of claim 7,
Wherein the elevating motor control unit includes a high-speed rotation region that rotates at a high speed from a placement point of the subject to an image pickup point at a high speed, a low-speed rotation region that rotates at a low speed relative to the high- Dimensional scanner.
The method according to claim 2 or 3,
Wherein the elevating actuator comprises an elbow guide module, and a slider provided on the elbow guide module for performing elevation movement is connected to the subject arm portion via an arm connection bracket. delete delete delete

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