WO2014010764A1 - 로크장치를 구비한 5 자유도 관절기구 - Google Patents
로크장치를 구비한 5 자유도 관절기구 Download PDFInfo
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- WO2014010764A1 WO2014010764A1 PCT/KR2012/005519 KR2012005519W WO2014010764A1 WO 2014010764 A1 WO2014010764 A1 WO 2014010764A1 KR 2012005519 W KR2012005519 W KR 2012005519W WO 2014010764 A1 WO2014010764 A1 WO 2014010764A1
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- Prior art keywords
- arm
- degrees
- locking
- base
- hook
- Prior art date
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- 230000007246 mechanism Effects 0.000 title claims abstract description 23
- 238000000034 method Methods 0.000 claims description 27
- 230000000284 resting effect Effects 0.000 claims description 6
- 230000008531 maintenance mechanism Effects 0.000 claims description 5
- 238000012285 ultrasound imaging Methods 0.000 claims description 4
- 230000000452 restraining effect Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 25
- 230000001105 regulatory effect Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 229920006351 engineering plastic Polymers 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 230000001050 lubricating effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000001603 reducing effect Effects 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 239000013585 weight reducing agent Substances 0.000 description 1
Images
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/20—Undercarriages with or without wheels
- F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
- F16M11/2014—Undercarriages with or without wheels comprising means allowing pivoting adjustment around a vertical axis
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/20—Undercarriages with or without wheels
- F16M11/2092—Undercarriages with or without wheels comprising means allowing depth adjustment, i.e. forward-backward translation of the head relatively to the undercarriage
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/20—Undercarriages with or without wheels
- F16M11/24—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M2200/00—Details of stands or supports
- F16M2200/02—Locking means
- F16M2200/021—Locking means for rotational movement
- F16M2200/024—Locking means for rotational movement by positive interaction, e.g. male-female connections
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M2200/00—Details of stands or supports
- F16M2200/04—Balancing means
- F16M2200/041—Balancing means for balancing rotational movement of the head
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M2200/00—Details of stands or supports
- F16M2200/04—Balancing means
- F16M2200/044—Balancing means for balancing rotational movement of the undercarriage
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M2200/00—Details of stands or supports
- F16M2200/06—Arms
- F16M2200/063—Parallelogram arms
Definitions
- 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.
- 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.
- 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.
- 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.
- 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.
- 5-DoF 5-degree of freedom
- 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.
- 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.
- 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.
- 1 is a side view and a partially enlarged view showing a five degree of freedom joint mechanism
- FIG. 2 is a configuration diagram showing an internal structure of a third arm
- FIG. 3 is a configuration diagram showing a structure of a support body connecting portion
- FIG. 4 is a configuration diagram showing an internal structure of a first arm
- FIG. 5 is a configuration diagram showing the internal structure of the arm head and the fourth arm of FIG.
- FIG. 6 is a configuration diagram showing the internal structure of the hook locking device
- FIG. 8 is a configuration diagram showing the configuration of the arm unlocking operation portion.
- 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.
- 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.
- 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.
- the first end shaft 13 is inserted into the first pivotal support hole 10 on the base 2, and the inserted state thereof.
- the first end shaft 13 is coupled to the connecting plate 25.
- a cylindrical sleeve made of, for example, an engineering plastic material for lubricating action is fitted between the first end shaft 13 and the first pivotal support hole 10.
- 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.
- FIG. 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
- 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.
- 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.
- 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.
- 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.
- 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.
- the gas cylinder 22 is stretched, and when the arm head 18 moves downward, the gas cylinder 22 is compressed.
- 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.
- FIG. 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
- FIG. 3 (b) is a configuration diagram when the support body 8 is tilted upward
- 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.
- 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.
- 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.
- 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.
- FIG. 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
- 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
- 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.
- a first lock pin 45 having an alphabet T-shaped cross section is provided in the first lock guide 40 in the arm groove bottom 44.
- 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.
- 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.
- 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.
- FIG. 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
- 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.
- 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.
- 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.
- 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.
- FIG. 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
- 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.
- the hook locking device 68 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
- 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.
- FIG. 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
- FIG. 7B is a configuration diagram illustrating a state in which the lock clasp plate 69 is locked.
- 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.
- FIG. 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.
- 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.
- 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.
- the locking lever 74 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.
- 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.
- 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.
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- General Engineering & Computer Science (AREA)
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Abstract
Description
Claims (27)
- 로크(lock) 가능한 5 자유도(5-DoF) 관절기구에 있어서,베이스;수직축을 중심으로 좌우로 회동 가능하게 상기 베이스 상측에 구비된 제1 아암;일측에 힌지부를 갖고, 수직축을 중심으로 좌우로 회동 가능하게 상기 제1 아암 상측에 구비된 제2 아암;아암헤드와 일측이 상기 아암헤드에 연결된 복수 개의 링크를 포함하며, 수평축을 중심으로 상하로 회동 가능하게 상기 힌지부와 연결된 제3 아암;수직축을 중심으로 좌우로 회동 가능하게 상기 아암헤드 하측에 구비된 제4 아암;일측이 피지지체에 연결되고, 타측이 상기 제4 아암에 연결되며, 수평축을 중심으로 상하로 회동 가능하게 구비된 피지지체 연결부; 및상기 베이스와 상기 제1 아암이 소정의 상대 위치에 도달할 때, 상기 제1 아암의 회동을 로크(lock)하는 제1 로크장치를 포함하는 것을 특징으로 하는 5 자유도 관절기구.
- 제 1 항에 있어서,상기 베이스는 상부에 제1 아암휴지면을 구비하고, 상기 제1 아암휴지면의 중앙에는 제1 회동지지구멍이 구비된 것을 특징으로 하는 5 자유도 관절기구.
- 제 2 항에 있어서,상기 제1 아암은 일측에 제1 단부를 구비하고, 타측에 제2 단부를 구비하며, 상기 제1 단부의 중앙에는 수직하게 제1 단부축이 구비되고, 상기 제2 단부의 중앙에는 수직하게 제2 회동지지구멍이 구비된 것을 특징으로 하는 5 자유도 관절기구.
- 제 3 항에 있어서,상기 제1 아암은 상기 제1 단부축이 상기 제1 회동지지구멍에 삽입되어 상기 베이스 상에서 상기 제1 단부축을 중심으로 회동하는 것을 특징으로 하는 5 자유도 관절기구.
- 제 4 항에 있어서,상기 제1 아암이 상기 베이스의 상기 제1 아암휴지면 상에서 회동하는 범위는 홈 포지션 상태에서 좌우로 각각 90도인 것을 특징으로 하는 5 자유도 관절기구.
- 제 5 항에 있어서,상기 제2 아암은 하부에 제3 단부를 구비하고, 상기 제3 단부의 중앙에는 수직하게 제3 단부축이 구비된 것을 특징으로 하는 5 자유도 관절기구.
- 제 6 항에 있어서,상기 제2 아암은 상기 제3 단부축이 상기 제2 회동지지구멍에 삽입되어 상기 제2 단부 상에서 상기 제3 단부축을 중심으로 회동하는 것을 특징으로 하는 5 자유도 관절기구.
- 제 7 항에 있어서,상기 제2 아암이 상기 제1 아암의 상기 제2 단부 상에서 회동하는 범위는 상기 홈 포지션 상태에서 좌우로 각각 90도인 것을 특징으로 하는 5 자유도 관절기구.
- 제 5 항에 있어서,상기 아암헤드는 하부에 제4 단부를 구비하고, 상기 제4 단부의 중앙에는 수직하게 제3 회동지지구멍이 구비된 것을 특징으로 하는 5 자유도 관절기구.
- 제 1 항에 있어서,상기 제3 아암이 상기 힌지부의 수평축을 중심으로 상하로 회동할 때, 상기 아암헤드가 수평축에 대한 각도를 유지하는 것을 특징으로 하는 5 자유도 관절기구.
- 제 10 항에 있어서,상기 제3 아암의 내부에 자세유지기구를 더 포함하되, 상기 제3 아암이 상기 자세유지기구에 의하여 자세를 유지하는 것을 특징으로 하는 5 자유도 관절기구.
- 제 10 항에 있어서,상기 제3 아암이 수평축을 중심으로 상하로 회동하는 범위는 수평면을 기준으로 하측으로 -10도, 상측으로 40도인 것을 특징으로 하는 5 자유도 관절기구.
- 제 9 항에 있어서,상기 제4 아암은 상부에 제5 단부를 구비하고, 상기 제5 단부의 중앙에는 수직하게 제5 단부축이 구비되며, 상기 제5 단부 상에는 상기 제5 단부축과 간격을 둔 위치에 요홈이 구비된 것을 특징으로 하는 5 자유도 관절기구.
- 제 13 항에 있어서,상기 제4 아암은 상기 제5 단부축이 상기 제3 회동지지구멍에 삽입되어 상기 아암헤드 상에서 상기 제5 단부축을 중심으로 회동하는 것을 특징으로 하는 5 자유도 관절기구.
- 제 14 항에 있어서,상기 제4 아암이 상기 제4 단부 상에서 회동하는 범위는 상기 홈 포지션 상태에서 좌우로 각각 90도인 것을 특징으로 하는 5 자유도 관절기구.
- 제 1 항에 있어서,상기 피지지체는 디스플레이 수단인 것을 특징으로 하는 5 자유도 관절기구.
- 제 1 항 내지 제 16 항 중 어느 하나의 항에 있어서,상기 제4 아암과 상기 제3 아암이 소정의 상대 위치에 도달할 때, 상기 제4 아암의 회동을 로크(lock)하는 제2 로크장치를 더 포함하는 것을 특징으로 하는 5 자유도 관절기구.
- 제 1 항 내지 제 16 항 중 어느 하나의 항에 있어서,상기 제1 아암과 상기 제4 아암 사이를 구속하는 체결장치로서, 상기 제4 아암의 하부에 연결되고, 상기 체결장치의 상단에는 캠과 캠축이 형성되고, 하단에는 후크가 형성된 체결장치를 더 포함하는 것을 특징으로 하는 5 자유도 관절기구.
- 제 17 항에 있어서,수평축을 중심으로 상하로 회동 가능하게 상기 제4 아암의 하부에 힌지 결합된 체결장치를 더 포함하는 것을 특징으로 하는 5 자유도 관절기구.
- 제 18 항에 있어서,상기 제4 아암 내부에 상기 체결장치의 휴지공간이 구비되어 있고, 상기 체결장치가 상기 휴지공간 내, 외부로 인출입되는 것을 특징으로 하는 5 자유도 관절기구.
- 제 18 항에 있어서,상기 제1 아암의 내부에 장착되고, 잠금레바에 의하여 잠금걸쇠판이 슬라이딩 작동하는 후크잠금장치를 더 포함하는 것을 특징으로 하는 5 자유도 관절기구.
- 제 21 항에 있어서,상기 제1 로크장치에 의한 로크 상태와 상기 후크잠금장치에 의한 후크잠금 상태를 동시에 해제하는 아암 로크해제 조작부를 더 포함하는 것을 특징으로 하는 5 자유도 관절기구.
- 베이스;상기 베이스에 순차적으로 연결된 제1 아암, 제2 아암, 제3 아암, 제4 아암 및 피지지체 연결부;상기 베이스와 상기 제1 아암의 연결부를 로크(lock)시키는 제1 로크장치;를 포함하는 것을 특징으로 하는 초음파 촬영 장치.
- 제 23 항에 있어서,상기 제3 아암과 상기 제4 아암의 연결부를 로크(lock)시키는 제2 로크장치를 더 포함하는 것을 특징으로 하는 초음파 촬영 장치.
- 제 23 항 및 제 24 항 중 어느 한 항에 있어서,상기 제1 아암과 상기 제4 아암을 체결하는 체결장치를 더 포함하는 것을 특징으로 하는 초음파 촬영 장치.
- 제 25 항에 있어서,상기 제1 아암의 내부에 장착되고, 잠금레바에 의하여 잠금걸쇠판이 슬라이딩 작동하는 후크잠금장치를 더 포함하는 것을 특징으로 하는 초음파 촬영 장치.
- 제 26 항에 있어서,상기 제1 로크장치에 의한 로크 상태와 상기 후크잠금장치에 의한 후크잠금 상태를 동시에 해제하는 아암 로크해제 조작부를 더 포함하는 것을 특징으로 하는 초음파 촬영 장치.
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JP2015521523A JP6150890B2 (ja) | 2012-07-11 | 2012-07-11 | ロック装置を備えた5自由度関節機構 |
KR1020157000709A KR101673133B1 (ko) | 2012-07-11 | 2012-07-11 | 로크장치를 구비한 5 자유도 관절기구 |
PCT/KR2012/005519 WO2014010764A1 (ko) | 2012-07-11 | 2012-07-11 | 로크장치를 구비한 5 자유도 관절기구 |
CN201280074674.5A CN104768715B (zh) | 2012-07-11 | 2012-07-11 | 一种具有锁定装置的5自由度关节机构 |
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Cited By (2)
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WO2014201375A2 (en) * | 2013-06-14 | 2014-12-18 | Ergotron | Arm locking system and method |
CN112674641A (zh) * | 2020-12-30 | 2021-04-20 | 碧桂园生活服务集团股份有限公司 | 一种压簧式多自由度限位的锁止机构 |
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JP6603152B2 (ja) * | 2016-02-22 | 2019-11-06 | 株式会社日立製作所 | 超音波診断装置 |
JP7161156B2 (ja) * | 2018-05-29 | 2022-10-26 | 株式会社アールティ | 多関節ロボット |
CN111006620A (zh) * | 2019-12-10 | 2020-04-14 | 渤海造船厂集团有限公司 | 一种液动关节柔性定位支撑装置 |
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CN104768715B (zh) | 2017-05-31 |
JP6150890B2 (ja) | 2017-06-21 |
KR20150096643A (ko) | 2015-08-25 |
KR101673133B1 (ko) | 2016-11-09 |
JP2015527937A (ja) | 2015-09-24 |
CN104768715A (zh) | 2015-07-08 |
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