CN209122257U - Mobile X-ray device - Google Patents

Abstract

The utility model discloses a mobile X-ray machine device, which comprises an X-ray source module, a control module and a transmission arm module. The transmission arm module is arranged on the control module, connected between the X-ray source module and the control module, and comprises a plurality of arms, wherein the plurality of arms are respectively and sequentially connected to the X-ray source module in series and pivotally connected from the control module, and are assembled to form a plurality of rotating shafts at the connection between the transmission arm module and the control module and at the connection between the plurality of arms, wherein the control module is electrically connected to the plurality of arms of the transmission arm module, and controls the plurality of arms to rotate respectively with the corresponding plurality of rotating shafts as the axis, so that the X-ray source module is displaced to a specific position.

Description

Mobile X-ray device

technical field

The utility model relates to an X-ray machine device, in particular to a mobile X-ray machine device with a transmission arm module.

Background technique

X-ray equipment is an important device in routine medical examinations, and a mobile structure is often used to improve the mobility of diagnosis and treatment. Compared with fixed X-ray machines, mobile X-ray machines can not only eliminate the need to take photos during surgery, and patients with severe or incapacitated mobility have to rush between the ward and examination room, but also reduce the possibility of the aforementioned patients moving. injury, and ensure the life safety of critically ill patients.

In the traditional mobile X-ray machine, the necessary components still occupy a considerable volume and weight, which easily affects the flexibility and convenience of the mobile X-ray machine. Moreover, when the operator moves the X light source module, it is more likely that the front line of sight is not good due to its bulky size and inconvenient movement. In particular, the X light source module has a considerable weight, which often leads to difficulty in handling.

In order to meet the displacement requirements of the X-ray source module, the traditional mobile X-ray machine is equipped with a retractable vertical arm and a retractable horizontal telescopic arm and other mechanisms. The purpose of vertical telescopic operation can be achieved by a plurality of retractable vertical arm segments in the vertical arm, thereby controlling the height of the X light source module. In addition, by collapsing a plurality of horizontal arm sections, the purpose of horizontal telescopic operation can be achieved, thereby controlling the position of the X light source module in the horizontal direction.

However, the conventional mobile X-ray machine cannot freely transform and displace the X light source module through the operation of the horizontal telescopic arm and the vertical arm, and easily obstructs the operator's sight of the operation platform, which cannot meet the practical application requirements.

In view of this, it is necessary in the art to provide a mobile X-ray machine device, which can realize the purpose of freely moving the X-ray light source module at any two points in space, so as to solve the problems that cannot be solved by the prior art.

Utility model content

The purpose of the utility model is to provide a mobile X-ray machine device. The transmission arm module is assembled with at least six-axis robotic arms to achieve the purpose of freely moving the X light source module at any two points in space. Since the transmission arm module has at least six rotational degrees of freedom, the X-ray source module can be freely displaced to any specific position in space, so as to facilitate the X-ray imaging procedure. In addition to reducing the burden of changing the position of the X light source module through the transmission arm module, it also effectively improves the efficiency and accuracy of moving the X light source module.

Another object of the present invention is to provide a mobile X-ray machine device. At least the transmission arm module assembled with the six-axis robotic arm is further provided with a skin detector. In addition to moving the X light source module to a specific position lightly and efficiently through the transmission arm module, the skin detector is more sensitive to the movement of the transmission arm module. Detect personnel activities to avoid personal injury caused by improper operation.

In order to achieve the aforementioned purpose, the present invention provides a mobile X-ray machine device, the structure of which includes an X light source module, a control module and a transmission arm module. The transmission arm module is disposed on the control module, connected between the X light source module and the control module, and includes a plurality of support arms, wherein the plurality of support arms are respectively pivoted in series by the control module to the X light source module, and assembled together A plurality of rotating shafts are formed at the connection between the transmission arm module and the control module and at the connection of the plurality of supporting arms, wherein the control module is electrically connected to the plurality of supporting arms of the transmission arm module, and controls the plurality of supporting arms to correspond to each other. The plurality of rotating shafts are pivoted to make the X light source module move to a specific position.

In order to achieve the aforementioned purpose, the present invention further provides a mobile X-ray machine device, the structure of which includes an X light source module, a control module and a transmission arm module. The transmission arm module is arranged on the control module, is connected between the X light source module and the control module, and includes at least six support arms, wherein the at least six support arms are respectively connected and pivoted to the X light source module in series by the control module, and At least six rotating shafts are assembled to form at least six rotating shafts at the connection between the transmission arm module and the control module and at the joint of the at least six support arms, wherein the control module is electrically connected to the at least six support arms of the transmission arm module, and controls the at least six support arms. The arms are respectively rotated around the corresponding at least six rotating shafts, so that the X light source module is displaced to a specific position.

In one embodiment, the plurality of support arms include a first support arm, a second support arm, a third support arm, a fourth support arm, a fifth support arm and a sixth support arm, and a plurality of The rotating shaft includes a first rotating shaft, a second rotating shaft, a third rotating shaft, a fourth rotating shaft, a fifth rotating shaft and a sixth rotating shaft, wherein one end of the first support arm is pivotally connected to the control module and assembled to form the first rotating shaft. a rotating shaft; the other end of the first support arm is pivotally connected to one end of the second support arm, and assembled to form a second rotating shaft; the other end of the second support arm is pivotally connected to one end of the third support arm, and assembled to form the first rotating shaft Three pivots; the other end of the third arm is pivoted to one end of the fourth arm, and assembled to form the fourth pivot; the other end of the fourth arm is pivoted to one end of the fifth arm, and assembled to form the fourth pivot Five rotating shafts; the other end of the fifth supporting arm is pivotally connected to one end of the sixth supporting arm, and assembled to form a sixth rotating shaft; the other end of the sixth supporting arm is connected to the X light source module.

In one embodiment, the first rotating shaft is a vertical rotating shaft, and the second rotating shaft and the third rotating shaft are respectively a horizontal rotating shaft.

In one embodiment, the fourth rotation axis is a central axis of the third support arm and the fourth support arm, and the fourth rotation axis is perpendicular to the third rotation axis.

In one embodiment, the fifth rotating shaft is perpendicular to the fourth rotating shaft, and the sixth rotating shaft is perpendicular to the fifth rotating shaft.

In one embodiment, the mobile X-ray machine device further includes a plurality of skin detectors, which are respectively disposed on at least one side wall of the second arm and the third arm.

In one embodiment, the mobile X-ray machine device further includes a main body portion with a moving module configured with the mobile mobile X-ray machine device, wherein the control module is disposed on the main body portion and is electrically connected to the moving module.

In one embodiment, the mobile X-ray machine device further includes a display module having at least one first display, which is disposed on the main body and is electrically connected to the control module.

In one embodiment, the display module further includes a second display disposed on the X light source module.

In one embodiment, the mobile X-ray machine device further includes a detector, which is opposite to the X-ray source module, and is assembled with the X-ray source module to execute an X-ray imaging procedure.

In one embodiment, the mobile X-ray machine device further includes a detection module, which is communicatively connected to the control module, and includes at least one position emission source and at least one position receiver, wherein the position emission source is disposed on the detector, and the position The receiver is arranged on the X light source module. When the position emission source transmits a position signal of the detector to the position receiver, the position receiver transmits the position signal to the control module.

In one embodiment, the detection module further includes at least one skin detector disposed on the transmission arm module.

In one embodiment, the transmission arm module is a six-axis robotic arm.

In one embodiment, the X light source module includes a body and a frame, and the body is pivotally connected to the frame and rotates relative to the frame.

In one embodiment, the mobile X-ray machine device further includes a power module electrically connected to the control module.

Description of drawings

FIG. 1 is a perspective structural view of a mobile X-ray machine device according to a first preferred embodiment of the present invention.

FIG. 2 is a three-dimensional structural view of the mobile X-ray machine device from another viewing angle showing the first preferred embodiment of the present invention.

FIG. 3 is an exploded view showing the structure of the mobile X-ray apparatus according to the first preferred embodiment of the present invention.

FIG. 4 is a cross-sectional view showing the mobile X-ray machine device according to the first preferred embodiment of the present invention.

5 is a block diagram showing the structure of the mobile X-ray apparatus according to the first preferred embodiment of the present invention.

6 is an exploded view showing the structure of the X light source module and the transmission arm module according to the first preferred embodiment of the present invention.

FIG. 7 is a schematic diagram showing the structure of the transmission arm module according to the first preferred embodiment of the present application.

FIG. 8 is a schematic structural diagram showing the transmission arm module of the first preferred embodiment of the present application from another perspective.

FIG. 9 is a cross-sectional structural view showing FIG. 8 .

FIG. 10 is a schematic diagram showing the folded state of the mobile X-ray apparatus according to the first preferred embodiment of the present application.

FIG. 11 is a perspective structural view of an X light source module and a transmission arm module according to a second preferred embodiment of the present invention.

FIG. 12 is a block diagram showing the structure of the mobile X-ray apparatus according to the second preferred embodiment of the present invention.

The reference numerals are:

1: Mobile X-ray machine device

10: Main body

11: Mobile Module

12: Control module

121: Control Panel

122: Platform

13: The first display

14: Power combination

15: Power Module

20: Transmission arm module

21: The first arm

22: Second arm

23: The third arm

24: Fourth Arm

25: Fifth Arm

26: Sixth Arm

3: Display module

30: X light source module

31: Body

32: Frames

33: Second Display

40: Detector

5: Detection module

50A: Position emission source

50B: Position Acceptor

51 Skin Detector

A1: The first reel

A2: The second reel

A3: The third reel

A4: Fourth reel

A5: Fifth reel

A6: sixth reel

Detailed ways

Some typical embodiments embodying the features and advantages of the present invention will be described in detail in the following description. It should be understood that the present utility model can have various changes in different aspects without departing from the scope of the present utility model, and the descriptions and illustrations therein are essentially used for illustration rather than limitation The utility model.

Please refer to Figure 1 to Figure 9. FIG. 1 is a perspective structural view of a mobile X-ray machine device according to a first preferred embodiment of the present invention. FIG. 2 is a three-dimensional structural view of the mobile X-ray machine device from another viewing angle showing the first preferred embodiment of the present invention. FIG. 3 is an exploded view showing the structure of the mobile X-ray apparatus according to the first preferred embodiment of the present invention. FIG. 4 is a cross-sectional view showing the mobile X-ray machine device according to the first preferred embodiment of the present invention. FIG. 5 is a block diagram showing the structure of the mobile X-ray apparatus according to the first preferred embodiment of the present application. 6 is an exploded view showing the structure of the X light source module and the transmission arm module according to the first preferred embodiment of the present invention. FIG. 7 is a schematic view showing the structure of the transmission arm module according to the first preferred embodiment of the present invention. FIG. 8 is a schematic structural diagram showing the transmission arm module of the first preferred embodiment of the present invention from another perspective. FIG. 9 is a cross-sectional structural view showing FIG. 8 . As shown in the figure, the mobile X-ray machine device 1 of the present invention includes a main body 10 , a control module 12 , a transmission arm module 20 and an X light source module 30 . The control module 12 is constructed on the body portion 10 , and the transmission arm module 20 is disposed on the control module 12 and is connected between the X light source module 30 and the control module 12 . In this embodiment, the main body portion 10 further has a moving module 11 for assembling the mobile X-ray machine device 1 , wherein the control module 12 is disposed on the main body portion 10 and is electrically connected to the moving module 11 for controlling movement. position of the X-ray machine device 1. In another embodiment, the moving module 11 can be, for example, a manual push wheel set, which can push the mobile X-ray machine device 1 to a desired position by the user, but the present invention is not limited to this.

In addition, the transmission arm module 20 is, for example, a six-axis robotic arm, including six support arms that are pivotally connected to the X light source module 30 in series by the control module 12 respectively, and are assembled to form six rotating shafts between the transmission arm module 20 and the X light source module 30 . The connection point of the control module 12 and the point where the six support arms meet each other, wherein the control module 12 is electrically connected to the six support arms of the transmission arm module 20, and the six support arms are controlled to take the corresponding six rotating shafts as the axis respectively Rotate to move the X light source module 30 to a specific position. In this embodiment, the six support arms of the transmission arm module 20 are the first support arm 21 , the second support arm 22 , the third support arm 23 , the fourth support arm 24 , the fifth support arm 25 and the sixth support arm respectively. Arm 26. The six rotating shafts formed by the combination of the transmission arm module 20 and the control module 12 are respectively a first rotating shaft A1, a second rotating shaft A2, a third rotating shaft A3, a fourth rotating shaft A4, a fifth rotating shaft A5 and a sixth rotating shaft A6. One end of the first support arm 21 is pivotally connected to the control module 12, and is assembled to form the first rotation axis A1, so that the first support arm 21 takes the first rotation axis A1 as the axis to rotate relative to the control module 12; The other end of the arm 21 is pivotally connected to one end of the second support arm 22, and is assembled to form a second rotation axis A2, so that the second support arm 22 takes the second rotation axis A2 as the axis to rotate relative to the first support arm 21; The other ends of the two support arms 22 are pivotally connected to one end of the third support arm 23, and are assembled to form a third rotation axis A3, so that the third support arm 23 can rotate relative to the second support arm 22 with the third rotation axis A3 as the axis The other end of the third support arm 23 is pivotally connected to one end of the fourth support arm 24, and is assembled to form the fourth rotation axis A4, so that the fourth support arm 24 takes the fourth rotation axis A4 as the axis and relative to the third support arm 23 rotates; the other end of the fourth arm 24 is pivotally connected to one end of the fifth arm 25, and is assembled to form a fifth axis A5, so that the fifth arm 25 takes the fifth axis A5 as the axis and is opposite to the fourth The support arm 24 rotates; the other end of the fifth support arm 25 is pivotally connected to one end of the sixth support arm 26, and is assembled to form a sixth rotation axis A5, so that the sixth support arm 26 is opposite to the sixth rotation axis A6 The fifth arm 25 rotates; the other end of the sixth arm 26 is connected to the X light source module 30 . In this embodiment, the X light source module 30 includes a body 31 and a frame 32 . The body 31 is pivotally connected to the frame 32 , and the body 31 can rotate relative to the frame 32 , for example. The X light source module 30 is fixed to the other end of the sixth arm 26 through the frame 32, for example. In this embodiment, the length of the second arm 22 may be greater than the respective lengths of the third arm 23 , the fourth arm 24 , the fifth arm 25 and the sixth arm 26 , so as to facilitate the movement of the transmission arm module 20 When the X light source module 30 is used, the extendable distance range is increased. In one embodiment, the length of the second arm 22 may be equal to or greater than the sum of the lengths of the third arm 23 and the fourth arm 24, so as to facilitate the transmission arm module 20 to fold the X light source module 30 within a minimum volume range. . However, the present invention is not limited to this.

In this embodiment, the control module 12 includes, for example, a control panel 121 and is constructed with a platform 122 , and the transmission arm module 20 is disposed on the platform 122 . In addition, between the first arm 21 of the transmission arm module 20 and the control module 12, there is a power combination 14 such as an axis motor and a reduction gear, which is disposed between the transmission arm module 20 and the control module 12 , the power combination 14 is controlled by the control module 12 to drive the first support arm 21 to rotate relative to the control module 12 . Similarly, the pivot connection between the first support arm 21 and the second support arm 22 , the pivot connection between the second support arm 22 and the third support arm 23 , and the pivot connection between the third support arm 23 and the fourth support arm 24 , the pivot joint of the fourth arm 24 and the fifth arm 25, and the pivot joint of the fifth arm 25 and the sixth arm 26 can also be constructed with a similar axis motor and a reduction gear (reduction gear) power combination, but it is not a necessary technical feature of the present invention, and will not be repeated here. It should be noted that the first arm 21 is pivotally connected to the control module 12 through the platform 122 , the first rotation axis A1 can be, for example, a vertical rotation axis, and the second rotation axis A2 and the third rotation axis A3 are respectively a horizontal rotation axis. In addition, the fourth rotation axis A4 is a central axis of the third support arm 23 and the fourth support arm 24, and the fourth rotation axis A4 is perpendicular to the third rotation axis A3. The fifth rotation axis A5 is perpendicular to the fourth rotation axis A4, and the sixth rotation axis A6 is perpendicular to the fifth rotation axis A5. In this way, the transmission arm module 20 can keep six degrees of freedom of rotation, and can freely move the X-ray source module 30 to any specific position in space, so as to facilitate the X-ray imaging procedure and effectively improve the efficiency and accuracy of moving the X-ray source module .

On the other hand, in the present embodiment, the mobile X-ray machine device 1 further includes a detector 40 which is independent of the transmission arm module 20 and opposite to the X-ray source module 30 , and is assembled with the X-ray source module 30 to execute an X-ray imaging procedure . In one embodiment, the mobile X-ray machine device 1 further includes a detection module 5 having at least one position emission source 50A (eg, an infrared ray) and at least one position receiver 50B (eg, an infrared receiver). The communication is connected to the control module 12 , and further description, the position emission source 50A is configured on the detector 40 , for example, the position receiver 50B is configured on the X light source module 30 , for example, the position emission source 50A transmits a position signal of the detector 40 When the position receiver 50B reaches the position receiver 50B, the position receiver 50B transmits the position signal to the control module 12, and the control module 12 can obtain the position of the detector 40 relative to the X light source module 30 through calculation according to the position signal, and then control the transmission The arm module 20 moves the X light source module 30 to a specific position, so that the X light source module 30 is correctly aligned with the detector 40 . For example, the control module 12 can determine whether the position receiver 50B is aligned with the position emission source 50A according to the position signal, so that the X beam of the X light source module 30 is, for example, perpendicular to the detector 40 . In addition, the mobile X-ray machine device 1 includes a display module 3 with at least one first display 13 disposed on the main body 10 and electrically connected to the control module 12 for the user to browse the information of the X-ray angiography procedure. In this embodiment, the display module 3 further includes a second display 33 disposed on the X-ray source module 30, which can also be used by the user to browse the information of the X-ray angiography procedure, but the present invention is not limited to this. In addition, a power supply module 15 is further disposed in the main body portion 10 , which is electrically connected to the control module 12 to provide the power required by the mobile X-ray machine device 1 . The present invention is not limited to this, and will not be repeated.

It should be emphasized that the transmission arm module 20 of the mobile X-ray machine device 1 of the present invention is assembled to form at least six degrees of freedom of rotation, which can easily realize the displacement of the X-ray light source module 30 to any specific position in space with the shortest distance. It is helpful for the X-ray imaging procedure, and effectively improves the efficiency and accuracy of the mobile X-ray light source module. When the mobile X-ray machine device 1 is not in use or is being displaced, the transmission arm module 20 and the X-ray light source module 30 of the mobile X-ray machine device 1 can be folded in the smallest volume, as shown in FIG. 10 . Of course, in other embodiments, the number and size of the arms of the transmission arm module 20 can also be adjusted according to actual application requirements, and the present invention is not limited to the foregoing embodiments.

FIG. 11 is a perspective structural view of an X light source module and a transmission arm module according to a second preferred embodiment of the present invention. FIG. 12 is a block diagram showing the structure of the mobile X-ray apparatus according to the second preferred embodiment of the present invention. In this embodiment, the mobile X-ray machine device is similar to the mobile X-ray machine device 1 shown in FIGS. 1 to 9 , and the same component numbers represent the same components, structures and functions, which will not be repeated here. In this embodiment, the detection module 5 further includes at least one skin detector 51 , which is disposed on the transmission arm module 20 to detect the movement of surrounding persons when the transmission arm module 20 moves the X light source module 30 to avoid improper operation. Personnel injured. For example, when the transmission arm module 20 moves the X light source module 30, if the skin detector 51 comes into contact with a person or is collided by a person, the control module 12 will stop the operation of the transmission arm module 20, so as to prevent personnel from being damaged by improper operation. Injuried. In one embodiment, a plurality of skin detectors 51 are further disposed on the side walls of the longer second arm 22 and the third arm 23 respectively, so as to effectively detect the movement of surrounding persons. Of course, the present invention is not limited to this.

In summary, the present invention provides a mobile X-ray machine device. The transmission arm module is assembled with at least six-axis robotic arms to achieve the purpose of freely moving the X light source module at any two points in space. Since the transmission arm module has at least six rotational degrees of freedom, the X-ray source module can be freely displaced to any specific position in space, so as to facilitate the X-ray imaging procedure. In addition to reducing the burden of changing the position of the X light source module through the transmission arm module, it also effectively improves the efficiency and accuracy of moving the X light source module. In addition, the transmission arm module assembled with at least the six-axis robotic arm is further provided with a skin detector. In addition to moving the X light source module to a specific position easily and efficiently through the transmission arm module, the skin detector is more convenient than the transmission arm module. When moving the X light source module, the movement of personnel is also detected to avoid personal injury caused by improper operation.

The utility model can be modified in various ways by those skilled in the art, but all of them do not deviate from those intended to be protected by the scope of the appended claims.

Claims (16)

1. a kind of Moveable X-ray-machine device characterized by comprising

One X source module；

One control module；And

One transmission arm module, is set in the control module, is connected between the X source module and the control module, and including Multiple support arms, wherein multiple support arm respectively sequentially by the control module series winding be pivoted to the X source module, and assemble to be formed it is more A shaft is in the transmission arm module and the control module junction and the place that adjoins one another of multiple support arm, the wherein control mould Block is electrically connected to the transmission arm module, and controls multiple support arm respectively using corresponding multiple shaft as axis rotation, with Make the X source module displacement to a specific position.

2. Moveable X-ray-machine device as described in claim 1, which is characterized in that multiple support arm includes a first support arm, one Second support arm, a third support arm, one the 4th support arm, one the 5th support arm and one the 6th support arm, and multiple shaft includes one the One shaft, one second shaft, a third shaft, one the 4th shaft, one the 5th shaft and one the 6th shaft, wherein this first One end of arm is pivoted to the control module, and assembles and to form the first rotating shaft；The other end of the first support arm be pivoted to this second One end of support arm, and assemble and to form second shaft；The other end of the second support arm is pivoted to one end of the third support arm, and group With forming the third shaft；The other end of the third support arm is pivoted to one end of the 4th support arm, and assembles and to form the 4th turn Axis；The other end of 4th support arm is pivoted to one end of the 5th support arm, and assembles and to form the 5th shaft；5th support arm The other end is pivoted to one end of the 6th support arm, and assembles and to form the 6th shaft；The other end of 6th support arm connects the X-ray Source module.

3. Moveable X-ray-machine device as claimed in claim 2, which is characterized in that the length of the second support arm is equal to or more than The length of the third support arm and the 4th support arm and.

4. Moveable X-ray-machine device as claimed in claim 2, which is characterized in that the first rotating shaft is a vertical rotation axis, this Two shafts and the third shaft are respectively a horizontal rotating shaft.

5. Moveable X-ray-machine device as claimed in claim 2 or 4, which is characterized in that the 4th shaft be the third support arm with One central axis of the 4th support arm, and the vertical third shaft of the 4th shaft.

6. Moveable X-ray-machine device as claimed in claim 5, which is characterized in that vertical 4th shaft of the 5th shaft, and Vertical 5th shaft of 6th shaft.

7. Moveable X-ray-machine device as claimed in claim 2 or 3 or 4, which is characterized in that it further includes multiple skins and detects device, point It is not set at least one side wall of the second support arm Yu the third support arm.

8. Moveable X-ray-machine device as described in claim 1, which is characterized in that further include a body part, there is a mobile mould Block assembles the mobile Moveable X-ray-machine device, and wherein the control module is set on the body part, and is electrically connected to the movement Module.

9. Moveable X-ray-machine device as described in claim 1, which is characterized in that further include a display module, have at least one First display is set on the body part, and is electrically connected to the control module.

10. Moveable X-ray-machine device as claimed in claim 9, which is characterized in that the display module further includes one second display Device is set in the X source module.

11. Moveable X-ray-machine device as described in claim 1, which is characterized in that further include a detector, the opposite X source Module, and an X-ray radiography procedure is executed with the X source composed piece.

12. Moveable X-ray-machine device as claimed in claim 11, which is characterized in that further include a detection module, communication connection To the control module, and including an at least position emission source and an at least position recipient, wherein the position emission source is configured at On the detector, and the position recipient is configured in the X source module, and in the position, emission source transmits one of the detector When confidence number to the position recipient, which is transferred to the control module for the position signal.

13. Moveable X-ray-machine device as claimed in claim 12, which is characterized in that the detection module further includes an at least skin Skin detector is set in the transmission arm module.

14. the Moveable X-ray-machine device as described in claim 1 or 13, which is characterized in that the transmission arm module is one or six axis machines Tool arm.

15. Moveable X-ray-machine device as described in claim 1, which is characterized in that the X source module includes a body and one Frame, the body are articulated in the frame, and the opposite frame member.

16. a kind of Moveable X-ray-machine device characterized by comprising

One X source module；

One control module；And

One transmission arm module, is set in the control module, is connected between the X source module and the control module, and including At least six support arms, wherein at least six support arm is sequentially pivoted to the X source module, and group by control module series winding respectively With at least six shafts of formation in the phase each other of the transmission arm module and the control module junction and at least six support arm Place is met, wherein the control module is electrically connected to the transmission arm module, and controlling at least six support arm respectively should with corresponding At least six shafts are axis rotation, so that the X source module displacement is to a specific position.