阅读说明：本技术 升降装置以及x射线成像系统 (Lifting device and X-ray imaging system ) 是由 李玉庆 王清涛 许峰 李雪婵 于 2020-04-17 设计创作，主要内容包括：本申请提供了一种升降装置以及X射线成像系统。所述升降装置包括固定立柱,可移动立柱,成像装置以及控制装置,其中,可移动立柱与固定立柱连接且能够相对于固定立柱沿竖直方向移动,成像装置与可移动立柱连接且能够相对于可移动立柱沿竖直方向移动,控制装置基于接收的控制信号控制可移动立柱和成像装置中的至少一个移动。(The application provides a lifting device and an X-ray imaging system. The lifting device comprises a fixed upright post, a movable upright post, an imaging device and a control device, wherein the movable upright post is connected with the fixed upright post and can move along the vertical direction relative to the fixed upright post, the imaging device is connected with the movable upright post and can move along the vertical direction relative to the movable upright post, and the control device controls at least one of the movable upright post and the imaging device to move based on a received control signal.)

1. A lifting device, comprising:

fixing the upright post;

a movable column connected to the fixed column and movable in a vertical direction with respect to the fixed column;

an imaging device connected to the movable column and movable in a vertical direction relative to the movable column; and

a control device that controls movement of at least one of the movable column and the imaging device based on the received control signal.

2. The lifting device as claimed in claim 1, wherein the control device includes a driving module for driving at least one of the movable column and the image forming device to move.

3. The lifting device as claimed in claim 2, wherein the control device includes a braking module for braking one of the movable column and the image forming device when the driving module is operated.

4. The lifting device of claim 3, wherein the braking module is further configured to brake the movable column or the imaging device when the movable column or the imaging device moves to a preset height.

5. The lifting device as claimed in claim 3, wherein the driving module includes a motor, a rotating shaft, a driving drum, and a bracket, the bracket is mounted on the fixed column, the rotating shaft is disposed on the bracket, and the motor can drive the driving drum to rotate around the rotating shaft.

6. The lifting device as claimed in claim 5, wherein the driving module further comprises a synchronous wheel and a synchronous belt, the synchronous wheel is connected to the driving drum, and the motor drives the synchronous wheel to rotate through the synchronous belt wound on the synchronous wheel, so as to drive the driving drum to rotate.

7. The lifting device of claim 5, wherein the drive module further comprises a drive spool bearing and a rotation shaft bearing disposed between the rotation shaft and the drive spool such that the drive spool is able to rotate when the rotation shaft is braked.

8. The lifting device of claim 5, wherein the drive module further comprises a rotational bearing disposed between the rotating shaft and the bracket.

9. The lifting device of claim 5, wherein the drive module further comprises:

an upper reel assembly mounted on the movable column;

a lower pulley assembly mounted at the bottom of the movable upright;

one end of the first connecting rope is fixed on one side of the driving winding drum, and the other end of the first connecting rope is wound on the lower pulley assembly and fixed on one side of the upper winding drum assembly; and

a second connection rope having one end fixed to the other side of the upper reel assembly and the other end fixed to the image forming apparatus;

when the motor works and the imaging device is braked, the first connecting rope drives the movable upright post to move, and when the motor works and the movable upright post is braked, the first connecting rope and the second connecting rope drive the imaging device to move.

10. The lifting device as claimed in claim 9, wherein the first connection cord includes a main connection cord and an auxiliary connection cord for protection, and the second connection cord also includes a main connection cord and an auxiliary connection cord for protection.

11. The lifting device as claimed in claim 9, wherein the first connection cord and the second connection cord are wound on the upper reel assembly in opposite directions, and when the upper reel assembly is rotated to wind in one of the first connection cord and the second connection cord, the other of the first connection cord and the second connection cord is released.

12. The lifting apparatus as claimed in claim 9, wherein the braking means includes a first braking unit for being connected with the rotation shaft to brake the movable column by braking the rotation shaft, and a second braking unit for being connected with the upper reel assembly to brake the image forming apparatus by braking the upper reel assembly.

13. The lifting device as claimed in claim 9, wherein the control device further comprises a first balancing module for balancing a weight of the image forming device.

14. The lifting apparatus as claimed in claim 13, wherein the first balancing module comprises a balancing unit and a third connecting rope, one end of the third connecting rope is fixed to the other side of the driving drum, and the other end thereof is fixed to the balancing unit.

15. The lifting device as claimed in claim 14, wherein the first and third connection ropes are wound on the driving reel in opposite directions, and when the driving reel rotates to wind in one of the first and third connection ropes, the other of the first and third connection ropes is released.

16. The lifting device of claim 5, wherein the control device further comprises a second balancing module for balancing the weight of the moveable mast assembly.

17. The lifting device as claimed in claim 16, wherein the second balancing module comprises:

a weight unit having a weight approximately equal to a weight of the movable column assembly;

a sprocket connected to the rotating shaft through a key; and

and one end of the chain is connected with the weight unit, and the other end of the chain is connected to the movable support through the chain wheel.

18. The lifting apparatus as claimed in claim 17, wherein the rotation shaft and the sprocket are rotated as the movable column is lifted and lowered when the second brake unit is braked, and the weight unit is moved in a vertical direction to balance the weight of the movable column.

19. The lifting apparatus as claimed in claim 5, wherein the control apparatus further comprises a position feedback module including a first feedback unit mounted on the rotation shaft to transmit position information of the rotation shaft to the control apparatus and a second feedback unit connected with the upper reel assembly to transmit the position information of the upper reel assembly to the control apparatus.

20. The lifting device as claimed in claim 5, wherein the control device further comprises a limit module including a first limit unit mounted on the movable column for limiting a movable range of the image forming device and a second limit unit mounted on the fixed column for limiting a movable range of the movable column.

21. The lifting device of claim 1, wherein the distance from the ground of the imaging device can exceed 2 meters when the imaging device and the movable column are moved to the highest position.

22. The lifting device as claimed in claim 1, wherein the lifting device further comprises a moving wheel provided at a bottom end of the fixed column.

23. An X-ray imaging system, comprising:

the lifting device of any one of claims 1-22; and

a controller for sending a control signal to the control device.

Technical Field

The invention relates to the medical imaging technology, in particular to a lifting device and an X-ray imaging system.

Background

In X-ray imaging systems, radiation from an X-ray source is directed to a subject, typically a patient in medical diagnostic applications. A portion of the radiation passes through the inspected object and strikes a detector, which is divided into a matrix of discrete elements (e.g., pixels). The detector elements are read out to produce output signals based on the amount or intensity of radiation impinging on each pixel area. The signals may then be processed to generate a medical image that may be displayed for viewing, which may be displayed in a display device of an X-ray imaging system.

For an extensible ball Tube Suspension (OTS) system, a stand (wall stand) with a detector is usually required to be separately arranged, in order to meet different shooting requirements of different heights and different positions, the stand is usually required to be arranged at a height of more than 2 meters, and the current stand height cannot meet the requirement.

Disclosure of Invention

The invention provides a lifting device and an X-ray imaging system.

An exemplary embodiment of the present invention provides a lifting apparatus including a fixed column, a movable column connected with the fixed column and movable in a vertical direction with respect to the fixed column, an imaging device connected with the movable column and movable in a vertical direction with respect to the movable column, and a control device controlling at least one of the movable column and the imaging device to move based on a received control signal.

Optionally, the control device comprises a driving module for driving at least one of the movable column and the imaging device to move.

Specifically, the control device includes a braking module for braking one of the movable column and the image forming device when the driving module is operated.

Further, the braking module is further used for braking the movable upright post or the imaging device when the movable upright post or the imaging device moves to a preset height.

Further, the drive module comprises a motor, a rotating shaft, a drive winding drum and a support, the support is installed on the fixed stand column, the rotating shaft is arranged on the support, and the motor can drive the drive winding drum to rotate around the rotating shaft.

Furthermore, the driving module further comprises a synchronous wheel and a synchronous belt, the synchronous wheel is connected with the driving drum, and the motor drives the synchronous wheel to rotate through the synchronous belt wound on the synchronous wheel so as to drive the driving drum to rotate.

Still further, the drive module further includes a drive spool bearing and a rotation shaft bearing disposed between the rotation shaft and the drive spool such that the drive spool is still able to rotate when the rotation shaft is braked.

Still further, the driving module further includes a rotational bearing disposed between the rotational shaft and the bracket.

Further, the driving module further includes an upper reel assembly installed on the movable stand, a lower reel assembly installed at the bottom of the movable stand, a first connection rope having one end fixed to one side of the driving reel and the other end wound around the lower reel assembly and fixed to one side of the upper reel assembly, and a second connection rope having one end fixed to the other side of the upper reel assembly and the other end fixed to the image forming apparatus, wherein the first connection rope drives the movable stand to move when the motor operates and the image forming apparatus is braked, and the first connection rope and the second connection rope drive the image forming apparatus to move when the motor operates and the movable stand is braked.

Specifically, the first connecting rope comprises a main connecting rope and an auxiliary connecting rope for protection, and the second connecting rope also comprises a main connecting rope and an auxiliary connecting rope for protection.

Specifically, the first connection string and the second connection string are wound on the upper reel assembly in opposite directions, and when the upper reel assembly is rotated to wind in one of the first connection string and the second connection string, the other of the first connection string and the second connection string is released.

Specifically, the braking module includes a first braking unit for being connected with the rotation shaft to brake the movable column by braking the rotation shaft, and a second braking unit for being connected with the upper reel assembly to brake the image forming apparatus by braking the upper reel assembly.

Specifically, the control device further includes a first balancing module for balancing a weight of the image forming device.

Further, the first balancing module comprises a balancing unit and a third connecting rope, one end of the third connecting rope is fixed to the other side of the driving winding drum, and the other end of the third connecting rope is fixed to the balancing unit.

Further, the first connecting rope and the third connecting rope are wound on the driving reel in opposite directions, and when the driving reel rotates to wind in one of the first connecting rope and the third connecting rope, the other of the first connecting rope and the third connecting rope is released.

In particular, the control device further comprises a second balancing module for balancing the weight of the movable upright assembly.

Further, the second balancing module includes: the weight unit is approximately the weight of the movable upright post assembly, the chain wheel is in key connection with the rotating shaft, one end of the chain is connected with the weight unit, and the other end of the chain is connected to the movable upright post through the chain wheel.

Further, when the second brake unit brakes, the rotation shaft and the sprocket rotate as the movable column ascends and descends, and the weight unit moves in a vertical direction to balance the weight of the movable column.

Specifically, the control device further includes a position feedback module including a first feedback unit mounted on the rotation shaft to transmit position information of the rotation shaft to the control device and a second feedback unit connected with the upper reel assembly to transmit the position information of the upper reel assembly to the control device.

Specifically, the control device further comprises a limiting module, wherein the limiting module comprises a first limiting unit and a second limiting unit, the first limiting unit is installed on the movable stand column, the second limiting unit is installed on the fixed stand column, the first limiting unit is used for limiting the movable range of the imaging device, and the second limiting unit is used for limiting the movable range of the movable stand column.

In particular, when the imaging device and the movable mast are moved to the highest position, the distance of the imaging device from the ground can exceed 2 meters.

Specifically, the lifting device further comprises a movable wheel arranged at the bottom end of the fixed upright post.

An exemplary embodiment of the present invention provides an X-ray imaging system comprising a lifting device as described above and a controller for sending control signals to the control device.

Other features and aspects will become apparent from the following detailed description, the accompanying drawings, and the claims.

Drawings

The invention may be better understood by describing exemplary embodiments thereof in conjunction with the following drawings, in which:

FIG. 1 is a schematic view of an X-ray imaging system according to some embodiments of the invention;

FIG. 2 is a schematic view of a first state of a lifting device according to some embodiments of the present invention;

FIG. 3 is a schematic view of a second state of the lifting device according to FIG. 2;

FIG. 4 is a perspective view of a lift device according to some embodiments of the present invention;

FIG. 5 is a cross-sectional view of the lifting device according to FIG. 4 in the direction C-C;

fig. 6 is a partially enlarged view of a portion a of the lifting device shown in fig. 4;

FIG. 7 is a cross-sectional view according to the portion A shown in FIG. 6;

fig. 8 is a partially enlarged view of a portion B of the lifting device shown in fig. 4;

FIG. 9 is a schematic view of a lift apparatus according to further embodiments of the present invention; and

fig. 10 is a schematic view of a lifting device according to further embodiments of the present invention.

Detailed Description

While specific embodiments of the invention will be described below, it should be noted that in the course of the detailed description of these embodiments, in order to provide a concise and concise description, all features of an actual implementation may not be described in detail. It should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions are made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another. Moreover, it should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another.

Unless otherwise defined, technical or scientific terms used in the claims and the specification should have the ordinary meaning as understood by those of ordinary skill in the art to which the invention belongs. The use of "first," "second," and similar terms in the description and claims of the present application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. The terms "a" or "an," and the like, do not denote a limitation of quantity, but rather denote the presence of at least one. The word "comprise" or "comprises", and the like, means that the element or item listed before "comprises" or "comprising" covers the element or item listed after "comprising" or "comprises" and its equivalent, and does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, nor are they restricted to direct or indirect connections.

FIG. 1 illustrates an X-ray imaging system 100 according to some embodiments of the present invention. As shown in FIG. 1, X-ray imaging system 100 includes an X-ray source 104, a detector 106, and a control subsystem 108. In some embodiments, the X-ray imaging system 100 may be a stationary X-ray imaging system disposed in a stationary X-ray imaging room, or may be a mobile X-ray imaging system.

The X-ray source 104 may project X-rays 114 toward a desired region of interest in the inspected object 102. In particular, the X-ray source 104 may be positioned adjacent to a beam limiter 116, the beam limiter 116 being used to direct the X-rays 114 to a desired region of interest in the inspected object 102. At least a portion of X-rays 114 may be attenuated by inspected object 102 and may be incident on detector 106.

The control subsystem 108 includes a source controller (not shown) and a detector controller (not shown). The source controller is used to command the X-ray source 104 to emit X-rays 114 for image exposure. The detector controller is used to coordinate the control of various detector functions, e.g. to perform various signal processing and filtering functions, in particular for initial adjustment of dynamic range, interleaving of digital image data, etc. In some embodiments, the control subsystem 108 may provide power and timing signals for controlling the operation of the X-ray source 104 and the detector 106. In particular, the control subsystem 108 may provide power and timing signals to the X-ray source 104 and/or the detector 106 through the use of a power supply 110 and one or more wired and/or wireless communication links 112, respectively, where the communication links 112 may correspond to a backplane bus, a local area network, a wide area network, and/or the internet, among others. In some embodiments, the power supply 110 includes one or more batteries, and further, although FIG. 1 illustrates the power supply 110 coupled to the X-ray source 104 via a communication link, those skilled in the art will appreciate that the power supply 110 and the X-ray source 104 may be directly coupled.

The control subsystem 108 may be provided and/or arranged to be used in different ways. For example, in some implementations, a single control subsystem 108 may be used; in other implementations, multiple control subsystems 108 are configured to work together (e.g., based on a distributed processing configuration) or separately, each control subsystem 108 being configured to process a particular aspect and/or function, and/or to process data for generating a model for only a particular medical imaging system. In some implementations, the control subsystem 108 may be local (e.g., co-located with one or more X-ray imaging systems 100, e.g., within the same facility and/or the same local network); in other implementations, the control subsystem 108 may be remote and thus accessible only via a remote connection (e.g., via the internet or other available remote access technology). In particular implementations, control subsystem 108 may be configured in a cloud-like manner and may be accessed and/or used in a substantially similar manner as other cloud-based systems are accessed and used.

In some embodiments, the system 100 further includes a computing device 120, the computing device 120 may be configured to use the digitized signals to reconstruct one or more desired images and/or determine useful diagnostic information corresponding to the detected object 102, wherein the computing device 120 may include one or more special purpose processors, graphics processing units, digital signal processors, microcomputers, microcontrollers, Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs), or other suitable processing devices.

In some embodiments, the system 100 also includes a storage device 122, and the computing device 120 may store the digitized signal in the storage device 122. For example, storage device 122 may include a hard disk drive, a floppy disk drive, a compact disk read/write (CD-R/W) drive, a Digital Versatile Disk (DVD) drive, a flash drive, and/or a solid state storage device. The storage device is used for storing a program which can be executed by a computer and when the program is executed by the computer, can make a plurality of components of the X-ray imaging system implement the operation corresponding to the imaging sequence. When the computer executes the program, a medical imaging method may also be executed to post-process the original image to obtain an optimized image after post-processing.

Although fig. 1 illustrates storage device 122, computing device 120, and control subsystem 108 as separate devices, in some embodiments, one or more of them may be combined into a single device to efficiently use the footprint and/or meet the desired imaging requirements.

In one embodiment, the system 100 further includes a display device 124, and the display device 124 may be used to display reconstructed images and/or diagnostic information, and the like.

In one embodiment, the system 100 further includes an operator workstation 126, the operator workstation 126 allowing a user to receive and evaluate the reconstructed image, as well as to input control instructions (operation signals or control signals). The operator workstation 126 may include some form of user interface (or user input device), such as a keyboard, mouse, voice-activated controller, or any other suitable input device, through which an operator may input operational/control signals to the control subsystem 108, such as one or more scan parameters and/or request desired diagnostic information and/or images to assess the internal structure and/or functioning of the inspected object 102.

Fig. 2 illustrates a first state diagram of the lifting device 200 according to some embodiments of the present invention, and fig. 3 illustrates a second state diagram of the lifting device 200 shown in fig. 2. As shown in fig. 2-3, the lifting device 200 includes a fixed column 210, a movable column 220, a control device 300, and an image forming device 240.

The movable column 220 is connected to the fixed column 210 and is movable in a vertical direction with respect to the fixed column 210, the imaging device 240 is connected to the movable column 220 and is movable in a vertical direction with respect to the movable column 220, and the control device 300 may control at least one of the movable column 220 and the imaging device 240 to move based on the received control signal.

In some embodiments, the imaging device 240 includes a detector, an X-ray source (or an X-ray tube), and optionally, the imaging device 240 further includes a connecting arm 241 connecting the imaging device to the movable column, and the rotation of the imaging device 240 can be realized by a mechanical structure and an electrical control inside the connecting arm 241, and since the rotation of the imaging device 240 does not belong to the scope of the improvement of the present invention, it will not be described herein again.

In some embodiments, the fixed upright 210 is fixed on the ground through a bottom plate 211, and the movable upright 220 is connected to the fixed upright 210 through a movable connecting member (not shown in the figure), specifically, a movable track is disposed in the fixed upright 210 along the vertical direction, and a movable connecting member capable of moving in the track is disposed in the movable upright 220, and the movable connecting member can move in the track of the fixed upright to drive the movable upright to move relative to the fixed upright, and in some embodiments, the movable connecting member is a pulley which includes four movable wheels. Similarly, the imaging device 240 and its arm 241 are also connected to the movable column 220 by a movable connection (not shown).

Although the imaging device 240 shown in fig. 2-3 is defined as a detector, it will be appreciated by those skilled in the art that the elevating device of the present invention can also be applied to elevate an X-ray source, such as that shown in fig. 9, i.e., the imaging device 240 can also be an X-ray tube and a beam limiter. Furthermore, the lifting device of the invention can also be arranged to be movable, for example with wheels arranged at the bottom of the supporting surface of the stationary upright for moving the lifting device.

In some embodiments, the control device 300 includes a control circuit board 301 for receiving control signals sent by the X-ray imaging system and controlling components or modules in the lifting device. Specifically, the control device 300 may receive a control signal sent by a control subsystem (e.g., the component 108 shown in fig. 1) of the X-ray imaging system, for example, the control signal includes a control signal such as a height and an angle of the detector required in the current scan, and the control device 300 may set the detector at a preset height by a component provided in the lifting device.

The control logic set for the lifting device of the invention is to control the imaging device to move firstly in the lifting process and then control the movable upright post to move, and to control the movable upright post to move firstly and then control the imaging device to move in the descending process. Specifically, during the ascent, the control device 300 first controls the image forming device 240 to ascend to a preset height with respect to the movable mast 220, and if the image forming device 240 has reached the maximum height with respect to the movable mast 220 that still does not satisfy the preset height, the control device 300 starts to control the movable mast 220 to move upward with respect to the fixed mast, and during the upward movement of the movable mast 220, the image forming device 240 is maintained at the maximum height with respect to the movable mast 220. In the descending process, the control device 300 firstly controls the movable upright 220 to move downwards relative to the fixed upright 210, when the movable upright 220 descends to the minimum height relative to the fixed upright 210 and still does not meet the preset height, the control device 300 controls the imaging device 240 to start descending relative to the movable upright 220 until the preset height is reached, for example, the current position of the detector is 0.5 m away from the ground, the detector needs to be lifted to the height of 1.5 m, the height of the movable upright is set to be 1.3 m, the control device firstly controls the detector to ascend to the highest position, and then controls the movable upright to continue ascending until the detector is 1.5 m away from the ground. Through the setting, the priority sequence of the control is defined, the logic of the control is clear, and the imaging device can be controlled to reach the preset position conveniently, and time and labor are saved. In some embodiments, the control device automatically controls the movable post to move when the imaging device moves to the uppermost position during the ascent.

Although the present invention is limited to the control logic described above, it will be appreciated by those skilled in the art that other suitable control logic may be provided, such as raising the movable column and then raising the imaging device during ascent, and lowering the imaging device and then raising the movable column during descent, although it is also possible to raise the movable column and then raise the imaging device during ascent, lower the movable column and then raise the imaging device during descent, or raise the imaging device and then raise the movable column during ascent, and lower the imaging device and then raise the movable column during descent. In addition, the control device can also determine an optimal control strategy according to the current position and the target position of the imaging device, for example, based on the current position and the current position, the control can be realized by only moving the movable upright, and then the movable upright is directly controlled to ascend or descend to the target height. Alternatively, the control device may control the movable mast and the imaging device to be raised or lowered simultaneously so that the imaging device reaches the preset position as quickly as possible.

Fig. 4 illustrates a perspective view of a lifting device 200 according to some embodiments of the present invention, fig. 5 illustrates a cross-sectional view of the lifting device in a C-C direction according to fig. 4, fig. 6 is a partial enlarged view of a portion a of the lifting device 200 according to fig. 4, fig. 7 is a sectional view of a portion a of the lifting device 200 according to fig. 6, and fig. 8 is a partial enlarged view of the lifting device 200 according to fig. 4. As shown in fig. 4 to 8, the image forming device 240 is omitted from fig. 4 to 8 for convenience of illustration and description, and the connection relationship of the chains and a part of the mounting or wiring arrangement are omitted from fig. 5, and the balancing unit is simplified.

The control device 300 includes a driving module 310, and the driving module 310 is used for driving at least one of the movable column 220 and the imaging device 240 to move. In some embodiments, the driving module 310 is used to drive the movable mast 220 or the imaging device 240 to move, and in other embodiments, the driving module 310 is used to drive the movable mast 220 and the imaging device 240 to move together.

The control device 300 further includes a brake module 320, the brake module 320 being configured to brake one of the movable mast 220 and the image forming device 240 when the driving module 310 is operated. Specifically, when the driving module 310 is used to drive the movable mast 220 or the imaging device 240 to move, the braking module 320 is used to brake the other of the movable mast 220 and the imaging device 240 when the driving module 310 is in operation, for example, when the movable mast 220 is driven by the driving module 310, the braking module 320 brakes the imaging device 240, and when the imaging device 240 is driven by the driving module 310, the braking module 320 brakes the movable mast 220.

In addition, the braking module 320 is further used for braking the movable mast 220 or the imaging device 240 when the movable mast 220 or the imaging device 240 moves to a preset height. Specifically, when the movable column 220 moves to a predetermined height relative to the fixed column 210, based on the control signal of the control circuit board 301, the driving module 310 (the motor 311) stops rotating, but the pulley or other module therein slips or continues to move due to inertia, and the braking module 320 can further brake the other module, so that the movable column 220 or the imaging device 240 is fixed at the predetermined height, and the positioning accuracy is further improved.

In some embodiments, the driving module 310 includes a motor 311, a rotating shaft 312, a driving reel 313 and a bracket 319, the bracket 319 is mounted on the fixed column 210, the rotating shaft 312 is disposed on the bracket 319, and the motor 311 can drive the driving reel 313 to rotate around the rotating shaft 312. Referring specifically to fig. 6 and 7, a support 319 is disposed on the fixed upright 210, the support 319 includes a bottom plate and two side plates extending in a vertical direction, each of the two side plates includes an opening, the rotation shaft 312 passes through the openings of the two side plates and is axially and circumferentially limited,

in some embodiments, the driving module 310 further includes a synchronous wheel 314 and a synchronous belt 315, the synchronous wheel 314 is connected to the driving drum 313, and the motor 311 drives the synchronous wheel 314 to rotate through the synchronous belt 315 wound on the synchronous wheel 314, so as to drive the driving drum 313 to rotate.

The connecting part connected with the motor 311 adopts a driving drum, so that the problem that a connecting rope (particularly a steel wire) slips can be solved, the rotating distance (number of turns) of the motor can be accurately controlled, and the moving height of the imaging device and/or the movable upright post can be accurately controlled.

In addition, the motor 311 includes a motor body 31a and a gear 31b, the motor body 31a can drive the gear 31b to rotate, the gear 31b drives the synchronizing wheel 314 to rotate through the timing belt 315, and since the synchronizing wheel 314 is connected with the driving reel 313 in a key manner, the rotation of the synchronizing wheel 314 further drives the driving reel 313 to rotate, that is, the driving reel 313 also rotates under the driving of the motor 311.

The term "keyed" is the circumferential fixation between the shaft and the part on the shaft by a key to transmit motion and torque.

In some embodiments, the driving module 310 includes only one motor 311, and the motor 311 can control the movement of driving one of the movable column and the image forming apparatus.

Although the driving module includes only one motor 311 in some embodiments of the present invention, it should be understood by those skilled in the art that in other embodiments, the driving module 310 may include two motors, wherein one motor controls a first driving roller, a connecting rope is fixed to the first driving roller at one end and to the movable upright at the other end for controlling the movement of the movable upright, and the other motor controls a second driving roller, and a connecting rope is fixed to the second driving roller at one end and to the imaging device at the other end for controlling the movement of the imaging device, and the movable upright and the imaging device are driven to move simultaneously by the motors. Of course, the drive module may also include any number of motors to achieve different functions. Such as rotation of the imaging device, etc. Although the motor in the driving module of the lifting device in some embodiments of the present invention drives the synchronous wheel to rotate the driving drum, it should be understood by those skilled in the art that the motor may be controlled to directly drive the driving drum to rotate without passing through the synchronous wheel or by other suitable control methods.

In some embodiments, the drive module 310 further includes a drive spool bearing and a rotation shaft bearing disposed between the rotation shaft 312 and the drive spool 313 such that the drive spool is still able to rotate when the rotation shaft is braked. In fig. 7, element 316 represents the drive spool bearing and the rotary shaft bearing described above. By providing the bearing 316, a relatively variable movement between the rotating shaft 312 and the driving reel 313 can be achieved, for example, when the driving reel 313 rotates, the rotating shaft 312 can rotate along with the driving reel 313, and the rotating shaft 312 can also be relatively stationary with respect to the support 319, that is, when the braking unit 321 connected with the rotating shaft 312 operates, the rotating shaft stops rotating, and at this time, the driving reel 313 can also rotate.

In some embodiments, the drive module 310 further includes a rotational bearing 317 disposed between the rotational shaft 312 and the support 319. The rotation shaft 312 may rotate with respect to the side plate of the bracket 319 due to the rotation bearing 317.

Referring to fig. 5, the driving module 310 further includes an upper reel assembly 331, a lower reel assembly 332, a first connecting rope 333 and a second connecting rope 334, the upper reel assembly 331 is mounted on the movable column 220, the lower reel assembly 332 is mounted at the bottom of the movable column 220, one end of the first connecting rope 333 is fixed at one side of the driving reel 313, the other end is wound around the lower reel assembly 332 and fixed at one side of the upper reel assembly 332, one end of the second connecting rope 334 is fixed at the other side of the upper reel assembly 331, and the other end is fixed at the imaging device 240, wherein when the motor 311 is operated and the imaging device 240 is braked, the first connecting rope 333 drives the movable column 220 to move, and when the motor 311 is operated and the movable column 220 is braked, the first connecting rope 333 and the second connecting rope 334 drive the imaging device 240 to move. Specifically, the other end of the first connecting cord 333 is fixed to the arm 241 of the image forming apparatus 240 after being sequentially wound around the lower pulley assembly 332 and the upper reel assembly 332.

Go up reel subassembly not only can solve the problem that the connecting rope (especially steel wire) skidded, can also be to the accurate control of distance of rotation (number of turns), and then the height that accurate control image device and/or movable stand removed.

Specifically, the driving module 310 further includes an upper reel rotating shaft 337, and the upper reel assembly 331 may rotate about the upper reel rotating shaft 337. Be provided with support 339 on portable stand 220, support 339 also includes bottom plate and two curb plates along vertical direction extension, and two curb plates all include an opening, and it is spacing axially and circumference that go up reel axis of rotation 337 passes the opening on two curb plates, and goes up reel subassembly 331 and sets up between two curb plates.

In some embodiments, the first and second connecting cords 333, 334 are inextensible connecting cords, specifically metal wires, more specifically steel wires.

The first and second connecting cords 333 and 334 are wound on the upper reel assembly 331 in opposite directions, and when the upper reel assembly 331 is rotated to wind in one of the first and second connecting cords 333 and 334, the other of the first and second connecting cords 333 and 334 is released. Specifically, when the image forming apparatus 240 is raised, the second connecting string 334 is wound into the upper reel assembly 331 and the first connecting string 333 is released, and by winding the two connecting strings in opposite directions into the reels, it is possible to achieve the need for control, to achieve a compact design, and to save the space occupied by the equipment.

Although the first connection string 333 and the second connection string 334 in fig. 5 to 8 are each illustrated as one connection string, it will be understood by those skilled in the art that the first connection string 333 may include a main connection string and an auxiliary connection string for protection, and the second connection string 334 may also include a main connection string and an auxiliary connection string for protection, and by such an arrangement, when one of the main connection strings is broken due to a failure, the auxiliary connection string may serve as protection.

Referring to fig. 6 and 8, the braking module 320 includes a first braking unit 321 and a second braking unit 322, the first braking unit 321 is used for cooperating with the rotating shaft 312 to brake the movable column 220, and the second braking unit 322 is used for cooperating with the upper reel assembly 331 to brake the image forming apparatus 240.

In some embodiments, the first brake unit 321 is mounted on the rotating shaft 312 and the second brake unit 322 is mounted on the upper spool rotating shaft 337.

In some embodiments, only one of the first and second braking units 321 and 322 is operated (braked) when one of the movable mast 220 and the image forming apparatus 240 is moved. When the image forming apparatus 240 reaches the preset position, both the movable column 220 and the image forming apparatus 240 stop moving, and the first brake unit 321 and the second brake unit 322 operate (brake) simultaneously.

Specifically, when the first braking unit 321 brakes and the second braking rotation unit 322 does not work (release), the rotation shaft 312 is locked to be incapable of rotating, the upper reel assembly 331 can slide, at this time, the motor 311 can drive the driving reel 313 to rotate, and further drive the imaging device 240 to move in the vertical direction relative to the movable upright column 220 through the winding of the first connecting rope 333 in the driving reel 313, whereas, when the second braking unit 322 brakes and the first braking rotation unit 321 does not work (release), the upper reel assembly 331 is locked to be incapable of rotating, and the rotation shaft 312 can rotate, at this time, the motor 311 can drive the driving reel 313 to rotate, and further drive the movable upright column 220 to move in the vertical direction relative to the fixed upright column 210 through the winding of the first connecting rope 333 in the driving reel 313. In other embodiments, when the image forming apparatus is raised to the uppermost position, even if the second brake unit 322 does not apply a brake, since the distance of the connection cord between the image forming apparatus and the upper reel assembly 331 cannot be changed, the movable column 220 can be moved in the vertical direction even if the second brake unit 322 does not apply a brake.

Further, when the first brake unit 321 and the second brake unit 322 are not operated (release) at the same time, that is, the rotating shaft 312 may be rotated and the upper reel assembly 331 may also be rotated, at this time, the movable column 220 and the image forming apparatus 240 may be moved together, and in the case of lifting, the image forming apparatus 240 is lifted first, the movable column 220 is lifted again, and the image forming apparatus 240 is switched to be lifted until the preset position is reached, during which the switching is cyclically performed in the image forming apparatus and the movable column due to resistance.

Through the matching of the two brake units, the invention realizes that one motor controls the movement of two components (the movable upright post and the imaging device), thereby saving the cost and improving the control efficiency.

By providing two motors, or by making both braking units inoperative, it is possible to move the movable mast and the imaging device together (or simultaneously) so that the imaging device reaches a preset position as quickly as possible.

In some embodiments, the braking module 320 further includes a third braking unit (not shown in the drawings), and the third braking unit is connected to the gear 31b of the motor 311, so that when the motor stops rotating, the gear 31b can stop rotating in time, and the control accuracy is improved.

In some embodiments, with continued reference to fig. 4, the control device 300 further includes a first balancing module 340 for balancing the weight of the imaging device 240. Specifically, the first balancing module 340 is used for balancing the total weight of the imaging device 240 and the connecting arm 241.

The first balancing module 340 includes a balancing unit 341 and a third connecting rope 342, one end of the third connecting rope 342 is fixed to the other side of the driving drum 313, and the other end is fixed to the balancing unit 341. Specifically, the balancing unit 341 applies tension to the driving reel 313 through the third connecting string 342. The balancing unit 341 is provided at a lower portion of the fixing post 210, and a tension of the balancing unit 341 is set to balance the total weight of the imaging device 240 and the arm 241. The internal structure of the balancing unit 341 is not described in detail herein.

The first and third connecting ropes 333 and 342 are wound on the driving drum 313 in opposite directions, and when the driving drum 313 rotates to wind in one of the first and third connecting ropes 333 and 342, the other of the first and third connecting ropes 333 and 342 is released. By winding the two connecting ropes in opposite directions in the winding drum, the control requirement can be realized, a compact design can be obtained, and the space occupied by equipment is saved.

In some embodiments, the third connecting string 342 also includes a main connecting string and an auxiliary connecting string for protection, so that when the main connecting string is broken, the auxiliary connecting string can play a role of protection.

Although the present invention employs three connecting ropes to connect the driving drum and the upper drum assembly (first connecting rope), the upper drum assembly and the image forming apparatus (second connecting rope), and the driving drum and the balancing unit (third connecting rope), respectively, it should be understood by those skilled in the art that a connecting rope may be employed, one end of which is fixed to the balancing unit, and the other end of which is fixed to the image forming apparatus or a connecting arm thereof via the driving drum, the lower pulley assembly, and the upper drum assembly, in turn.

Furthermore, although fig. 4 (as well as fig. 2, 3 and 5) shows the balancing unit 341 being disposed at the lower portion of the fixed column and disposed at the outer side of the fixed column, i.e., exposed to air, it should be understood by those skilled in the art that the balancing unit may be disposed at the inner portion of the fixed column or any other suitable position.

In some embodiments, with continued reference to fig. 5, the control device 300 further includes a second balancing module 350 for balancing the weight of the assembly of the movable mast 220.

The second balancing module 350 includes a weight unit 351, a sprocket 352 and a chain 353, the weight of the weight unit 351 is approximately the weight of the movable column 220, the sprocket 352 is keyed with the rotation shaft 312, one end of the chain 353 is connected with the weight unit 351, and the other end is connected with the movable column 220 through the sprocket 352.

The weight of the movable column assembly further includes the housing of the movable column and some of the connectors and fasteners therein.

In some embodiments, the sprocket 352 is keyed to the rotating shaft 312 such that the sprocket 352 may follow the rotation of the rotating shaft 312 as it rotates.

Although only one sprocket is shown in fig. 5, as seen from the enlarged partial view of fig. 6 and the sectional view of fig. 7, the second balancing module 350 includes two sprockets and two chains, one of which is disposed between one side plate and the driving drum 313 and the other of which is disposed between the other side plate and the synchronizing wheel 314, but it will be appreciated by those skilled in the art that any number of sprockets and chains may be included and the sprockets may be disposed at different positions with respect to the bracket 319 as long as the weight of the movable upright 220 can be balanced.

Although one end of the chain 353 is not connected in fig. 5, it will be appreciated by those skilled in the art that the end of the chain 353 can be connected to the bottom end of the movable post 220 or to a movable connector (e.g., a pulley, not shown) that allows the movable post 220 to move relative to the fixed post 220.

In some embodiments, when the second brake unit 322 brakes, the rotation shaft 312 and the sprocket 352 rotate as the movable column 220 ascends and descends, and the weight unit 351 moves in a vertical direction to balance the weight of the movable column 220.

The second balancing module 350 plays a role of balancing the movable upright column 220, and the first balancing module 340 and the second balancing module 350 are arranged, so that the manual control of the movable upright column is further realized on the basis of realizing the motorized control of the movable upright column.

With continued reference to fig. 4, the control apparatus 300 further includes a position feedback module 360, the position feedback module 360 including a first feedback unit 361 and a second feedback unit 362, the first feedback unit 361 being mounted on the rotation shaft 312 to transmit the position information of the rotation shaft 312 to the control apparatus 300 (control circuit board 301), the second feedback unit 362 being connected to the upper reel assembly 331 to transmit the position information of the upper reel assembly 331 to the control apparatus 300 (control circuit board 301). Specifically, the second feedback unit 362 is mounted on the upper reel rotating shaft 337 for transmitting the position information of the upper reel assembly 331 to the control device 300 (control circuit board 301). The position information includes the number of turns or distance the rotating shafts (the rotating shaft 312 and the upper drum rotating shaft 337) rotate.

In some embodiments, the first feedback unit 361 and the second feedback unit 362 include encoders and potentiometers.

With continued reference to fig. 5, the control device 300 further includes a limiting module 370, which includes a first limiting unit 371/372 mounted on the movable upright 220 and a second limiting unit 373/374 mounted on the fixed upright 210, the first limiting unit 371/372 being used for limiting the movable range of the imaging device 340, and the second limiting unit 373/374 being used for limiting the movable range of the movable upright 220.

The first stopper unit 371 is installed at an upper side of the movable column 220, the first stopper unit 372 is installed at a lower side of the movable column 220, the second stopper unit 373 is installed at an upper side of the fixed column 210, and the second stopper unit 374 is installed at a lower side of the fixed column 210.

When the imaging device 240 and the movable mast 220 are moved to the uppermost position, the distance from the ground of the imaging device 240 can exceed 2 meters. Specifically, the lifting device of the present invention may enable the maximum height of the imaging device to exceed 2 meters, and when the imaging device 240 moves to the highest position with respect to the movable column 220, that is, to the position of the first stopper unit 371, and the movable column 220 also moves to the highest position with respect to the fixed column 210, that is, to the position of the second stopper unit 373, the ground clearance of the imaging device 240 at this time may exceed 2 meters.

Although two limiting units are provided on each upright in the present invention, it should be understood by those skilled in the art that any number of limiting units may be provided on each upright.

Fig. 9 shows a schematic view of a lifting device 400 according to further embodiments of the present invention. Unlike the lifting device 200 shown in fig. 2, the imaging device 440 in the lifting device 400 shown in fig. 9 includes an X-ray source 441 and a beam limiter 442. The control device 300 may control the movement of the X-ray source 441 and the beam limiter 442 or the movement of the movable column 220.

Fig. 10 shows a schematic view of a lifting device 500 according to further embodiments of the invention. Unlike the lifting apparatus 200 shown in fig. 2, the lifting apparatus 500 shown in fig. 10 further includes a moving wheel 512 provided at the bottom end of the fixed column 210.

Specifically, the moving wheel 512 is disposed at the bottom of the bottom plate 211. Although only two moving wheels are shown in fig. 10, it should be understood by those skilled in the art that the lifting device 500 may include four moving wheels and that the lifting yellow diamond 500 may include any number of moving wheels.

The moving wheels are arranged at the bottom of the lifting device, so that the lifting device can move at any time, and the control circuit board in the lifting device can also control the lifting device to move to a preset position based on a received instruction. Through such setting, can make OTS and detector can cooperate and reach predetermined position or angle, realize a key location more conveniently.

The lifting device of some embodiments of the invention can be used for lifting a detector, lifting an X-ray source and certainly can also be used in a movable X-ray imaging system, so that the height requirement on a scanning room for installing the X-ray imaging system can be reduced, the difficulty in packing, transporting, assembling and maintaining can be reduced, and lifting equipment is not needed any more. Furthermore, the telescopic design can meet greater height requirements, for example positions exceeding 2m, since the upright is provided in two parts, fixed and movable.

The lifting device of some embodiments of the invention only adopts the matching of one motor and two braking units to directly control the movement of the movable upright post or two different parts of the imaging device, thereby saving the cost of the motor and the weight of the upright post, and through setting a control logic, the movement of the imaging device can be more efficiently controlled, so that the imaging device can more accurately move to the preset height. In addition, because the balance module (counter weight) respectively set for the imaging device and the movable upright post, not only manual control is added on the basis of the motorization of the upright post, and the control flexibility is increased, but also the counter weight is set, so that the power of the motor does not need to be too large, and the lifting function can be realized by the motor with small power.

As used herein, the term "computer" may include any processor-based or microprocessor-based system including systems using microcontrollers, Reduced Instruction Set Computers (RISC), Application Specific Integrated Circuits (ASICs), logic circuits, and any other circuit or processor capable of executing the functions described herein. The above examples are exemplary only, and are thus not intended to limit in any way the definition and/or meaning of the term "computer".

Some exemplary embodiments have been described above, however, it should be understood that various modifications may be made. For example, suitable results may be achieved if the described techniques are performed in a different order and/or if components in the described systems, architectures, devices, or circuits are combined in a different manner and/or replaced or supplemented by additional components or their equivalents. Accordingly, other embodiments are within the scope of the following claims.