WO2014010764A1 - Joint mechanism having 5 degrees of freedom provided with lock devices - Google Patents

Description

5 degrees of freedom articulation mechanism with locking device

One embodiment of the present invention relates to a five-degree-of-freedom joint mechanism having a lock device installed in an ultrasound imaging apparatus or the like configured to obtain an image at a position close to a patient in a hospital or the like. More specifically, in a five degree of freedom joint mechanism comprising a base, a first arm, a second arm, a third arm, a fourth arm, and a support body connecting portion, the first arm is provided with a first locking device; And a second locking device on the fourth arm, and a fastening device between the first and fourth arms to constrain four degrees of freedom among the five degrees of freedom.

The contents described in this section merely provide background information on the embodiments of the present invention and do not constitute a prior art.

BACKGROUND Ultrasound imaging apparatuses are widely used as devices for obtaining images inside the body of a patient. The ultrasonic imaging apparatus including the support and the probe portion as an integrated structure is relatively small and can be easily moved using a wheel mounted on the lower portion of the main body.

On the other hand, a display means may be considered as an embodiment of the support of the ultrasound imaging apparatus, which is evolving from a CRT (cathode ray tube) to an LCD (liquid crystal display), and thus the weight of the support is decreasing. Due to this weight reduction, it is possible to arrange an articular instrument having a plurality of articulating arms between the upper portion of the main body and the supported body.

The articulation device having a plurality of articulating arms enables the support member to be moved quickly and easily in various directions such as horizontal, vertical and diagonal, and the support member can be moved to a position slightly separated from the main body.

However, the support body attached to the articulation device having a plurality of articulating arms may experience a large positional variation due to vibration or shock generated in the process of carrying or storing the main body. This change in the position of the supported body causes inconvenience in carrying or storing the main body, and there is a possibility that the supported body collides with the wall or the passenger while carrying the main body, and as a result, the supported body is damaged, There is a possibility of injury to the person carrying the car.

Therefore, there is a need for the development of a locking device that can lock the articulating arms of an articular instrument having a plurality of articulating arms.

An embodiment of the present invention provides a lockable 5-degree of freedom (5-DoF) articulation device comprising: a base; A first arm provided above the base to be able to rotate left and right about a vertical axis; A second arm having a hinge portion at one side and provided above the first arm so as to be rotatable left and right about a vertical axis; A third arm having an arm head and a plurality of links connected to the arm head, the third arm being connected to the hinge portion so as to be rotatable up and down about a horizontal axis; A fourth arm provided below the arm head to pivot left and right about a vertical axis; A supporter connecting portion having one side connected to the support body, the other side connected to the fourth arm, and rotatably provided up and down about a horizontal axis; And a first locking device for locking the rotation of the first arm when the base and the first arm reach a predetermined relative position. There is a main purpose.

One embodiment of the present invention, the base; A first arm provided above the base to be able to rotate left and right about a vertical axis; A second arm having a hinge portion at one side and provided above the first arm so as to be rotatable left and right about a vertical axis; A third arm having an arm head and a plurality of links connected to the arm head, the third arm being connected to the hinge portion so as to be rotatable up and down about a horizontal axis; A fourth arm provided below the arm head to pivot left and right about a vertical axis; A supporter connecting portion having one side connected to the support body, the other side connected to the fourth arm, and rotatably provided up and down about a horizontal axis; And a first locking device for locking the rotation of the first arm when the base and the first arm reach a predetermined relative position.

In addition, an embodiment of the present invention, the base; A first arm, a second arm, a third arm, a fourth arm and a support body connecting portion sequentially connected to the base; And a first locking device for locking the connection portion between the base and the first arm.

As described above, according to one embodiment of the present invention, four degrees of freedom can be constrained to a joint mechanism having five degrees of freedom including a base, a first arm, a second arm, a third arm, a fourth arm, and a support support. Locking device that can be effective in suppressing the positional change of the support body attached to the joint mechanism having a plurality of articulating arms due to vibration or shock generated in the process of carrying or storing the ultrasonic slide device.

In addition, it is possible to secure convenience in transporting or storing the main body by suppressing the positional variation of the main body, and it is possible to damage the main body during transportation of the main body or to injure a passenger or person carrying the main body. It has a reducing effect.

1 is a side view and a partially enlarged view showing a five degree of freedom joint mechanism,

2 is a configuration diagram showing an internal structure of a third arm,

3 is a configuration diagram showing a structure of a support body connecting portion;

4 is a configuration diagram showing an internal structure of a first arm;

5 is a configuration diagram showing the internal structure of the arm head and the fourth arm of FIG.

6 is a configuration diagram showing the internal structure of the hook locking device,

7 is a side view showing the hook locking device,

8 is a configuration diagram showing the configuration of the arm unlocking operation portion.

Hereinafter, some embodiments of the present invention will be described in detail through exemplary drawings. In adding reference numerals to the components of each drawing, it should be noted that the same reference numerals are assigned to the same components as much as possible even though they are shown in different drawings. In addition, in describing the present invention, when it is determined that the detailed description of the related well-known configuration or function may obscure the gist of the present invention, the detailed description thereof will be omitted.

In addition, in describing the component of this invention, terms, such as 1st, 2nd, A, B, (a), (b), can be used. These terms are only for distinguishing the components from other components, and the nature, order or order of the components are not limited by the terms. If a component is described as being "connected", "coupled" or "connected" to another component, that component may be directly connected to or connected to that other component, but there may be another configuration between each component. It is to be understood that the elements may be "connected", "coupled" or "connected".

1 is a side view and a partially enlarged view showing a five degree of freedom joint mechanism 1. First, the home position is 5 free in the state shown in Fig. 1, that is, the first arm 3 and the third arm 5 overlap, and the base 2 and the fourth arm 6 are not rotated from side to side. Also means a state aligned to face the front of the joint mechanism (1).

The 5 degrees of freedom articulation mechanism 1 includes a base 2, a first arm 3, a second arm 4, a third arm 5, a fourth arm 6 and a support body connection 7. do. The base 2 can be supported by the main body, and a first arm resting surface 9 is formed at an upper portion thereof, and a first pivot support hole 10 is formed in the center of the first arm resting surface 9.

The first arm 3 is connected to the base 2 so as to rotate left and right about the vertical axis, and has a first end 11 on one side and a second end 12 on the other side. A first end shaft 13 is vertically formed in the center of the first end 11, and a second pivot support hole 14 is vertically formed in the center of the second end 12, and the first end shaft is vertically formed. 13 is inserted into the first pivotal support hole 10 and is rotatable about the first end shaft 13 on the base 2. In relation to the range of rotation, the first arm 3 is rotatable relative to the base 2 in a range of 90 degrees from side to side in the home position state on the first arm rest surface 9 of the base 2.

The second arm 4 includes a hinge portion 15 at an upper portion thereof, and is connected to the first arm 3 so as to rotate left and right about a vertical axis, and has a third end portion 16 at a lower portion thereof. A third end shaft 17 is formed vertically in the center of the third end portion 16, and the third end shaft 17 is inserted into the second pivot support hole 14 to form a third end on the second end portion 12. It is rotatable about the end shaft 17. In relation to the range of rotation, the second arm 4 is rotatable relative to the first arm 3 in a range of 90 degrees from side to side in the home position on the second end 12 of the first arm 3, respectively.

The five degree of freedom joint mechanism 1 has three rotation apparatuses. Three pivoting devices are located between the base 2 and the first arm 3, the first arm 3 and the second arm 4, and the third arm 5 and the fourth arm 6, respectively. Since the configurations of the three rotating devices are similar, only the rotating device between the base 2 and the first arm 3 will be described as an example for convenience of description.

Looking at the structure of the pivoting device between the base 2 and the first arm 3, the first end shaft 13 is inserted into the first pivotal support hole 10 on the base 2, and the inserted state thereof. In the first end shaft 13 is coupled to the connecting plate 25. Between the first end shaft 13 and the first pivotal support hole 10, a cylindrical sleeve made of, for example, an engineering plastic material for lubricating action is fitted.

The support body connecting portion 7 is connected to the fourth arm 6 so as to be rotatable up and down about the horizontal axis, and rotates the fourth arm 6 in the range of -90 degrees forward and 15 degrees rearward about the vertical axis. Tilt is possible regardless.

2 is a configuration diagram showing the internal structure of the third arm 5. FIG. 2 (a) is a configuration view of the third arm 5 viewed from above, and FIG. 2 (b) is a configuration view of the third arm 5 viewed from below. The third arm 5 comprises an arm head 18 and a plurality of links 19. 2 illustratively shows four links 19. Referring to FIG. 2, four links 19 are provided to connect the arm head 18 and the second arm 4, two parallel to the left and right sides of the third arm 5, respectively, up and down in parallel. Located. One side of the four links 19 is connected to two connecting shafts 21 of the hinge portion 15 of the second arm 4, respectively, and the other side of the two linking shafts 20 on the arm head 18. Are each connected to.

When the third arm 5 rotates up and down about the horizontal axis of the hinge portion 15 through the four links 19 connecting the arm head 18 and the second arm 4, the arm head simultaneously. 18 maintains an angle with respect to the horizontal axis.

The third arm 5 may further include a posture maintenance mechanism therein, and may maintain the posture by the posture maintenance mechanism. The angle of rotation of the third arm 5 in the up and down direction relative to the second arm 4 can be continuously adjusted by manual operation within a predetermined range, but due to the attitude holding mechanism incorporated in the third arm 5 If you do not add an external force is to support the angle. For this reason, the 3rd arm 5 does not fall naturally by the weight of the support body 8, etc.

As an embodiment of the posture maintenance mechanism, a gas cylinder 22 is provided. That is, the protruding groove 23 is formed in the hinge portion 15, one side of the gas cylinder is connected to the arm head 18, and the other side is connected to the protruding groove 23 of the hinge portion 15. When the arm head 18 moves upward, the gas cylinder 22 is stretched, and when the arm head 18 moves downward, the gas cylinder 22 is compressed. In relation to the rotation range, the third arm 5 is rotatable in a range of 40 degrees and -10 degrees, respectively, up and down about the horizontal axis.

The fourth arm 6 is connected to the arm head 18 so as to be able to rotate left and right about the horizontal axis, and is rotatable with respect to the arm head 18 in a range of 90 degrees from side to side in the home position state.

3 is a configuration diagram showing the structure of the support body connecting portion 7. FIG. 3 (a) is a configuration diagram when the support body connection portion 7 is viewed from above, and FIG. 3 (b) is a configuration diagram when the support body 8 is tilted upward, and FIG. 3 (c) is shown in FIG. It is a block diagram which shows when the to-be-supported body 8 tilted downward.

The support body connection part 7 includes a support body fixing part 27, a tilting shaft 28, a pair of cam plates 30 and 31 in which an inclined regulating groove portion 29 is formed at an outer circumference thereof, and a pair of inclination regulating parts. Stoppers 32, 33, a pair of leaf springs 34, 35, and a pair of torsion springs 36, 37.

The pair of cam plates 30 and 31 are attached to the fixed body 27 and rotate together when the supported body 27 rotates. On the outer circumferential portion of the cam plates 30 and 31, an inclined regulating groove bottom 39 for regulating the tilting range of the support body 8 is formed, and the tilting shaft 28 has a first stop of the inclined regulating groove bottom 39. A pair of stoppers 32 and 33 are provided which can abut against the surface or the second stop surface. When one side surface of the stoppers 32 and 33 abuts the first stop surface, or the other side surfaces of the stoppers 32 and 33 abut the second stop surface, the rotation of the cam plates 30 and 31 is stopped. The supported body 8 on which the supported body fixing part 16 and the cam plates 30 and 31 are fixed is tilted in the range of -90 degrees forward and 15 degrees backward with respect to the axis 38.

In this case, the pair of leaf springs 34 and 35 perform a function of applying a force to maintain the support 8 in a tilted state when the user tilts the support 8, and a pair of torsion springs ( 36 and 37 perform a function of imparting a restoring force for the support 8 to return to its original position. With the help of the leaf springs 34 and 35 and the torsion springs 36 and 37, the user can easily adjust the angle of the support body 8.

4 is a configuration diagram showing the internal structure of the first arm 3. FIG. 4A is a configuration diagram showing a state in which the first arm 3 is locked, and FIG. 4B is a configuration diagram illustrating a state in which the lock of the first arm 3 is released. An arm groove portion 43 is formed in the arm cover 42 of the first arm 3, and a cylindrical first lock guide 40 penetrating into the first end 11 is formed in the arm groove bottom 44. It is formed vertically. The 1st lock guide 40 is arrange | positioned at the back side of the front-back direction of the 5 degree-of-freedom joint mechanism 1 with respect to the 1st end shaft 13 at intervals.

Further, on the first end resting surface 9, a cylindrical second lock guide 41 having an opening at its upper end is formed vertically. The cylindrical second lock guide 41 corresponds to the position of the first lock guide 40 when the five degrees of freedom joint mechanism 1 is in the home position with respect to the first pivot support hole 10. It is formed in.

In the first lock guide 40 in the arm groove bottom 44, a first lock pin 45 having an alphabet T-shaped cross section is provided. The upper part of the 1st lock pin 45 is formed with the 1st flange part 46, and the 1st spring 47 is fitted in the upper end of the 1st lock pin 45. As shown in FIG. The first spring 47 exerts a force on the arm groove bottom 44 such that the first lock pin 45 rises upward in the first lock guide 40.

The hook locking box 48 is provided inside the arm groove 43. The hook lock box 48 has a lock shaft guide 79 that penetrates the side of the hook lock box 48, and a lock shaft 49 is inserted into the lock shaft guide 79. On the lock shaft 49, the first lock pin pusher 50 of the unreacted form is connected.

The first lock pin presser is rotated by the rotation of the locking shaft 49 while the first arm 3 is positioned at the position where the first lock guide 40 and the second lock guide 41 overlap on the base 2. When 50 presses the first flange portion 46 of the first lock pin 45, the first lock pin 45 is displaced downward along the first and second lock guides 40, 41, 1 The spring 47 is compressed. The first lock pin pusher 50 is forcibly stopped while contacting the arm groove side surface 51.

The rotation of the first arm 3 relative to the base 2 is locked by inserting the lower end of the first lock pin 45 into the second lock guide 41. The first lock device 52 includes a first lock pin 45, a first lock pin presser 50, a first spring 47, a first lock guide 40, and a second lock guide 41. do.

5 is a configuration diagram showing the internal structure of the arm head 10 and the fourth arm 6 of FIG. FIG. 5A is a configuration diagram showing a state in which the fourth arm 6 is locked, and FIG. 5B is a configuration diagram illustrating a state in which the lock of the fourth arm 6 is released. A fifth end shaft 54 is vertically formed at the center of the fifth end 53 of the fourth arm 6, and a third pivot support hole 56 is formed at the center of the fourth end 55 of the arm head 10. ) Is formed. The fourth arm 6 rotates about the fifth end shaft 54.

On the fifth end 53 of the fourth arm 6, a cylindrical third lock penetrating the fourth arm 6 vertically at a predetermined distance to the left when the five degree of freedom articulation mechanism is viewed from the front. A guide 57 is formed, and on the fourth end 55 of the arm head 10, the groove 58 is disposed at a position corresponding to the third lock guide 57 in the home position of the five degree of freedom articulation mechanism 1. ) Is formed. In the third lock guide 57, a second lock pin 59 having a cross-section T-shaped is provided, and a second spring 61 is fitted below the second lock pin 59. The second spring 61 applies a force so that the second lock pin 59 moves downward.

The second lock pin 59 is vertically displaced in the third lock guide 57 by the rotation of the cam 62. That is, the state in which the second flange portion 60 of the second lock pin 59 is in contact with the wide support 63a on the cam 62 is the reason why the second lock pin 59 is displaced downward, The lock on the third arm 5 of the arm 6 is released. In addition, the state in which the second flange portion 60 of the second lock pin 59 is in contact with the narrow support 63b on the cam 62 is the case where the second lock pin 59 is displaced upward. The rotation of the 4th arm 6 with respect to the 3 arm 5 is locked. That is, the rotation of the fourth arm 3 with respect to the third arm 5 is locked by inserting the end of the second lock pin 59 into the groove 58. The second lock device 64 includes a second lock pin 59, a second spring 61, a third lock guide 57, a recess 58, and a cam 62.

5 shows the internal structure of the fastening device 66. FIG. 5 (a) is a block diagram showing a ready state for the fastening device 66 to be engaged with the first arm 3, and FIG. 5 (b) is a block diagram showing a state where the fastening device 66 is at rest. . A cam 62 and a camshaft are formed at the upper end of the fastening device, and a hook 65 is formed at the lower end.

The resting space 67 of the fastening device 66 is formed inside the fourth arm 6. The fastening device 66 may be drawn into the rest space 67 by a manual operation of an operator to maintain a rest state. The hook locking device 68 may be drawn out of the rest space 67 and installed inside the first arm 3. It may be in a state to combine with. When the user pulls out the fastening device 66 by manual operation while the fastening device 66 is in the idle space 67, the cam 62 also rotates and the third arm ( The rotation of the fourth arm 6 relative to 5 is already explained.

6 is a configuration diagram showing the internal structure of the hook locking device 68. The upper plate 73 of the hook locking device 68 is in a removed state. The locking clasp plate 69 is formed with two rectangular holes. The large hole 70 is a hole for locking the inserted hook 65, and the small hole 71 is a hole in which the lock bar 72 is fitted. The locking latch plate 69 slides on both side walls of the hook locking device 68 by the movement of the locking bar 72. The hook locking device 68 includes a hook locking box 48, a locking clasp plate 69, an upper plate 73, and a fastening device 66.

7 is a side view illustrating the hook locking device 68. The upper plate 73 of the hook locking device 68 is in a removed state. FIG. 7A is a configuration diagram illustrating a state in which the lock clasp plate 69 is opened, and FIG. 7B is a configuration diagram illustrating a state in which the lock clasp plate 69 is locked.

When the user moves the third arm 5 downward by manual operation in the state in which the fastening device 66 is pulled out, the hook 65 formed at the bottom of the fastening device 66 is located at the upper end of the first arm 3. Inserted into the hole, when the locking lever 72 is rotated to move the locking bar 72, the locking latch plate 69 is moved together to lock the hook 65. This locks the rotation of the second arm 4 with respect to the first arm 3 and simultaneously the rotation of the second arm 4 with the third arm 5.

8 is a configuration diagram of an arm unlocking operation unit. Fig. 8A is a perspective view showing the positions of the components of the arm unlocking operation portion. 8 (b) is a block diagram showing a state in which the hook 65 is locked by the hook locking device 68, Figure 8 (c) is a lock of the hook 65 by the hook locking device 68 is released. It is a block diagram which shows the completed state. Referring to the structure of the arm unlocking operation portion, the locking lever 74 is connected to one side of the locking shaft 75, the third spring 77 is connected to the other side, and pressing the locking lever 74, the third The spring 77 is compressed. In addition, the lock shaft 75 is inserted into the lock shaft guide 79 on the hook lock box 48. A first lock pin pusher 50, a lock bar 72, and a lock pin 76 are attached to the lock shaft 75. When the locking lever 74 is pressed in the state of FIG. 8 (b) and turned clockwise when viewed from the direction of the third spring 77 in FIG. 8 (b), the locking shaft 75 rotates together, and the locking shaft Lock bar 72 and first lock pin pusher 50 and lock pin 76 attached on 75 rotate together. The lock bar 72 moves the lock clasp 69 and moves the first lock pin 45 upward while the first lock pin pusher 50 moves upward. In this case, the locking pin 76 is positioned on the right side of the protruding groove 78 as shown in FIG. As a result, the lock of the first locking device 52 is released. At the same time, the lock of the hook 65 is released and maintained in the unlocked state, and the fastening device 66 can be extracted from the hole in the upper portion of the first arm 3. The arm unlocking operation portion includes a lock lever 74, a lock shaft 75, a lock bar 72, a lock pin 76, and a third spring 77.

Although the invention has been described in detail only with respect to specific examples, it will be apparent to those skilled in the art that various modifications and variations are possible within the spirit of the invention, and such modifications and variations belong to the appended claims.

(Explanation of the sign)

1: 5 degrees of freedom joint mechanism

20: two connecting shafts on the arm head

21: two connecting shafts on the hinge part

29: slope control groove

38: axis

52: first locking device

64: second locking device

66: fastening device

68: hook lock

Claims (27)

In a lockable 5-DOF articulation mechanism, Base; A first arm provided above the base to be able to rotate left and right about a vertical axis; A second arm having a hinge portion at one side and provided above the first arm so as to be rotatable left and right about a vertical axis; A third arm having an arm head and a plurality of links connected to the arm head, the third arm being connected to the hinge portion so as to be rotatable up and down about a horizontal axis; A fourth arm provided below the arm head to pivot left and right about a vertical axis; A supporter connecting portion having one side connected to the support body, the other side connected to the fourth arm, and rotatably provided up and down about a horizontal axis; And A first locking device for locking the rotation of the first arm when the base and the first arm reach a predetermined relative position 5 degrees of freedom joint mechanism comprising a. The method of claim 1, And the base has a first arm resting surface at an upper portion thereof, and a first pivotal support hole is provided at a center of the first arm resting surface. The method of claim 2, The first arm has a first end at one side, a second end at the other side, a first end shaft is provided vertically at the center of the first end, and vertically at the center of the second end. 5 degrees of freedom joint mechanism, characterized in that the rotation support hole is provided. The method of claim 3, wherein And said first arm has said first end shaft inserted into said first pivot support hole to pivot about said first end shaft on said base. The method of claim 4, wherein And the range in which the first arm rotates on the first arm rest surface of the base is 90 degrees from side to side in the home position state. The method of claim 5, And said second arm has a third end portion at the bottom thereof, and a third end shaft is provided vertically at the center of said third end portion. The method of claim 6, And said second arm has said third end shaft inserted into said second pivot support hole to rotate about said third end shaft on said second end. The method of claim 7, wherein And the range in which the second arm pivots on the second end of the first arm is 90 degrees each to the left and right in the home position. The method of claim 5, The arm head has a fourth end portion at the bottom, and the center of the fourth end is a five degree of freedom joint mechanism characterized in that the third pivot support hole is provided vertically. The method of claim 1, And said arm head maintains an angle with respect to a horizontal axis when said third arm rotates up and down about a horizontal axis of said hinge portion. The method of claim 10, And a posture maintenance mechanism inside the third arm, wherein the third arm maintains its posture by the posture maintenance mechanism. The method of claim 10, The range of rotation of the third arm up and down about the horizontal axis is -10 degrees to the lower side, 40 degrees to the upper side relative to the horizontal plane. The method of claim 9, The fourth arm has a fifth end at the top, a fifth end shaft is provided vertically at the center of the fifth end, and a recess is provided at a position spaced apart from the fifth end shaft on the fifth end. 5 degrees of freedom joint mechanism characterized in that. The method of claim 13, And said fourth arm has said fifth end shaft inserted into said third pivot support hole to rotate about said fifth end shaft on said arm head. The method of claim 14, The range of rotation of the fourth arm on the fourth end is 90 degrees from side to side in the home position state, respectively. The method of claim 1, And said support member is a display means. The method according to any one of claims 1 to 16, And a second locking device for locking the rotation of the fourth arm when the fourth arm and the third arm reach a predetermined relative position. The method according to any one of claims 1 to 16, A fastening device for restraining between the first arm and the fourth arm, the fastening device is connected to the lower portion of the fourth arm, the upper end of the fastening device is formed with a cam and a cam shaft, the lower end further comprises a fastening device formed with a hook 5 degrees of freedom joint mechanism characterized in that. The method of claim 17, And a fastening device hinged to a lower portion of the fourth arm to pivot up and down about a horizontal axis. The method of claim 18, And a rest space of the fastening device is provided inside the fourth arm, and the fastening device is drawn in and out of the rest space. The method of claim 18, And a hook locking device mounted to the inside of the first arm and configured to slide the locking latch plate by the locking lever. The method of claim 21, And an arm unlocking operation unit for releasing the locked state by the first lock device and the hook locked state by the hook locking device at the same time. Base; A first arm, a second arm, a third arm, a fourth arm and a support body connecting portion sequentially connected to the base; A first locking device for locking the connection portion of the base and the first arm; Ultrasound imaging apparatus comprising a. The method of claim 23, And a second locking device for locking the connecting portion of the third arm and the fourth arm. The method according to any one of claims 23 and 24, And a fastening device for fastening the first arm and the fourth arm. The method of claim 25, And a hook locking device mounted inside the first arm and configured to slide the locking latch plate by a locking lever. The method of claim 26, And an arm unlocking operation unit for releasing the locked state by the first lock device and the hook locked state by the hook locking device at the same time.

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