Floating support device, floating loaded object and ultrasonic equipment

Abstract

The present invention discloses a spatial floating support device, a floating loaded object and an ultrasonic device, which are used to carry the loaded object, and include a fixed seat, two constraint mechanisms and two rotating disks, the mounting ends of the two constraint mechanisms are connected to the fixed seat through a first left-right rotating joint, the first ends of the two rotating disks are connected to the connecting ends of the two constraint mechanisms through two second left-right rotating joints, the second ends of the two rotating disks can be connected to the loaded object through two third left-right rotating joints, the rotation axes of the two third left-right rotating joints are parallel, and, under the constraint of the two constraint mechanisms, the two rotating disks remain horizontal. The device can realize forward and backward translation, left-right translation and left-right rotation, which not only increases the motion range of the loaded object, but also improves the operating experience.

Description

Technical Field

[0001] The invention relates to the field of medical equipment, and in particular to a floating support device used in ultrasonic equipment. Background Art

[0002] When medical staff use medical instruments with display devices (such as ultrasonic diagnostic instruments), they often require that the positional relationship between the display device and the operator's line of sight can be adjusted during work based on the needs of operation, diagnosis, and treatment, and combined with the needs of doctors of different heights for visual comfort. The display device is required to be able to move flexibly, that is, it can realize operations such as up and down lifting, forward and backward movement, left and right movement, and left and right rotation, so that the display device can be freely adjusted according to the operator's intention. In general, desktop ultrasonic diagnostic instruments can be divided into the following categories in terms of movement form: the first type is composed of a horizontal connecting rod and a support arm with a lifting function. The horizontal connecting rod is hinged to the support arm through a rotating joint, and the support arm is installed on the main body, such as the structure used in the desktop ultrasonic equipment. The floating operation in the plane is realized by the rotating joint. In addition, the up and down movement of the support arm, the above movement combination can realize the movement of the display device in space. The second type is that two support arms with lifting functions are fixedly coupled in the up and down directions, and the two support arms are connected by a rotating joint to realize the floating operation in the plane, such as the structure used in the desktop ultrasonic equipment. In addition, the up and down lifting movement of the support arm, the above movement combination can realize the movement of the display device in space. The third type is a disc-type support arm, which is a closed system consisting of two rotating discs facing each other and two connecting rods. The connecting rods are hinged to the edges of the discs. This closed system can realize the movement of the horizontal plane, and with the addition of the lifting function, the above combination of movements can realize the movement of the device in space. The fourth type is a flying support arm, such as the flying support arm structure used in ultrasound equipment. It is a closed system consisting of a number of simplified connecting rods, such as a four-link connecting rod, two of which are support arms with lifting functions, and the remaining three are horizontal connecting rods, which are hinged by joints. The movement in the horizontal plane is realized by the closed five-link connection, and with the up and down lifting movement of the lifting support arm, the above combination of movements can realize the movement of the display device in space.

[0003] The first implementation method has a simple structure, but the operating experience is affected by the matching of damping force values ​​between rotating joints, the range of motion is small, local space cannot be reached, and there is no forward and backward translation; the second implementation method has a large range of motion, but the operating experience is affected by the matching of damping force values ​​between rotating joints, local space cannot be reached, the volume is large, and the forward and backward translation is accompanied by lifting and lowering movements, which gives a poor experience. The third implementation method has a stable motion form of a disc connecting rod, with a compact structure and good plane floating effect, but a small range of motion, more parts, a more complex structure, and high assembly and maintenance costs. The fourth implementation method has a large range of motion and good full-floating motion performance in space, but requires multiple connecting rods, lifting support structures, and rotating hinges between connecting rods. It has more parts, a more complex structure, and high assembly and maintenance costs. Summary of the invention

[0004] The invention provides a new floating support device, a floating control panel and ultrasonic equipment.

[0005] The present invention provides a floating support device, comprising a fixed seat, a first and a second independent constraint mechanism and a first and a second independent rotating disk, the first and the second constraint mechanism each having a mounting end and a connecting end, the first and the second rotating disk each having a first end and a second end, the mounting ends of the first and the second constraint mechanism each being connected to the fixed seat through a first left-right rotating joint, the first end of the first rotating disk and the connecting end of the first constraint mechanism are connected to the connecting ends of the two constraint mechanisms through a second left-right rotating joint, the first end of the second rotating disk and the connecting end of the second constraint mechanism are connected through another second left-right rotating joint, the second end of the first rotating disk is connected to the carried object through a third left-right rotating joint, the second end of the second rotating disk is connected to the carried object through another third left-right rotating joint, the rotation axes of the two third left-right rotating joints are parallel, and, under the constraints of the first and the second constraint mechanisms, the first and the second rotating disks remain horizontal.

[0006] The first and second restraint mechanisms include horizontally arranged connecting rods, and the mounting ends of the two connecting rods are rotatably connected to the fixing seat through the same Z-axis pin. The Z-axis is a vertical direction, which is perpendicular to the horizontal plane. The rotation around the Z-axis is left-right rotation.

[0007] The floating support device also includes a rotation limiting structure capable of limiting the rotation angle range of the left and right rotation joints.

[0008] The first and second restraint mechanisms both have a lifting part connecting the mounting end and the connecting end, and the lifting part is connected to the mounting end through an up and down rotating joint.

[0009] The lifting part includes a first connecting rod and a second connecting rod, the two ends of the first connecting rod are respectively hinged to the mounting end and the connecting end through a horizontally arranged axle pin, the two ends of the second connecting rod are respectively hinged to the mounting end and the connecting end through a horizontally arranged axle pin, the first connecting rod and the second connecting rod are parallel, and the first connecting rod, the second connecting rod, the mounting end and the connecting end constitute a parallelogram mechanism. The first and second connecting rods can rotate up and down in a vertical plane relative to the mounting end. The up and down rotation joint can include the above-mentioned horizontally arranged axle pin, etc.

[0010] The first connecting rod is sleeved on the damping assembly, the damping assembly is hinged to the mounting end through a transmission rod, the damping assembly is connected to one end of the elastic body, and the other end of the elastic body is fixed to the connecting end or the first connecting rod. The elastic body can be sleeved on the first connecting rod, and of course, the elastic body can also be not sleeved on the first connecting rod.

[0011] In each left-right rotating joint, the rotational freedom of three left-right rotating joints can be locked by the left-right rotating locking structure; in each up-down rotating joint, the rotational freedom of one up-down rotating joint can be locked by the up-down rotating locking structure. Through the left-right rotating locking structure and the up-down rotating locking structure, the spatial position of the carried object can be locked. Both the left-right rotating locking structure and the up-down rotating locking structure have a locked state and an unlocked state. In the locked state, the spatial position of the carried object is locked; in the unlocked state, the carried object can move. The rotating joint can realize the relative rotation of the first part and the second part connected. The up-down rotating joint refers to a rotating joint that can realize the up-down rotation of the first part relative to the second part. The left-right rotating joint refers to a rotating joint that can realize the left-right rotation of the first part relative to the second part.

[0012] The left-right rotation joint can connect the first part and the second part that rotate with each other. The left-right rotation locking structure includes a gear plate, a tooth block and an operating part that controls the movement of the tooth block. The gear plate is provided at the first part, and the tooth block is provided at the second part. The operating part is connected to the tooth block and controls the tooth block to switch between a locked position and an unlocked position. In the locked position, the tooth block is meshed with the gear plate; in the unlocked position, the tooth block is disengaged from the gear plate. The tooth block can slide or rotate.

[0013] A floating loaded object comprises a loaded object body and a floating support device, wherein the second end of the first rotating disk of the floating support device is connected to the loaded object body via a third left-right rotating joint, and the second end of the second rotating disk of the floating support device is connected to the loaded object body via another third left-right rotating joint, and the rotation axes of the two third left-right rotating joints are parallel.

[0014] The carried object body is a control panel of an ultrasonic device or a display device of an ultrasonic device.

[0015] An ultrasonic device comprises a control panel, a main body and a floating support device, wherein a fixed seat of the floating support device is connected to the main body, a second end of a first rotating disk of the floating support device is connected to the control panel via a third left-right rotating joint, a second end of a second rotating disk of the floating support device is connected to the control panel via another third left-right rotating joint, and the axes of the two third left-right rotating joints are parallel.

[0016] The beneficial effects of the present invention are as follows: the two constraint mechanisms are rotatably connected to the fixed seat, the two rotating disks are respectively rotatably connected to the two constraint mechanisms, the second ends of the two rotating disks are independent of each other and are respectively rotatably connected to the carried object, and the second ends of the two rotating disks are not coaxial, which can realize front and rear translation, left and right translation and left and right rotation, and the movement in the horizontal plane can be independent of the lifting movement in the vertical plane, which not only increases the movement range of the carried object, but also improves the operating experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic diagram of the three-dimensional structure of the floating support device of this embodiment;

[0018] Figure 2 is a three-dimensional exploded schematic diagram of the floating support device of this embodiment;

[0019] Figure 3 is a schematic diagram of the three-dimensional structure of the first lifting link of this embodiment;

[0020] Figure 4 is a cross-sectional schematic diagram of the first lifting link of the present embodiment;

[0021] Figure 5 is a schematic diagram of a left-right rotation limiting structure of the lifting connecting rod of this embodiment;

[0022] Figure 6 is a schematic diagram of another left-right rotation limiting structure of the lifting connecting rod in this embodiment;

[0023] Figure 7 is a front view schematic diagram of the rotation locking structure of the control panel of this embodiment;

[0024] Figure 8 is a cross-sectional schematic diagram of the rotation locking structure of the control panel of this embodiment;

[0025] Fig. 91 is a schematic diagram of the motion state of the floating support device of this embodiment when the control panel is in the highest position, wherein from top to bottom, three groups of figures respectively represent front and rear translation, left and right translation and left and right rotation, and in each group of figures, the upper part is a front view schematic diagram and the lower part is a top view schematic diagram;

[0026] Fig.10 It is a three-dimensional structural schematic diagram of a plane floating support device;

[0027] Fig.11 It is a three-dimensional exploded schematic diagram of a planar floating support device;

[0028] Figure 12-14 They are schematic diagrams of the structures of three types of lifting links. DETAILED DESCRIPTION

[0029] The present invention is further described in detail below by specific embodiments in conjunction with the accompanying drawings. In addition, the term "connection" or "coupling" in this application includes both direct and indirect connection, unless otherwise specified.

[0030] The present invention proposes a floating support device, which can realize full floating operation of the carried object in space, such as up and down lifting, front and back translation, left and right translation, left and right rotation, etc.; it can also be simplified into a floating support device in a plane, which can realize floating operation of the carried object in a plane, such as front and back translation, left and right translation, left and right rotation, etc. The floating support device can be applied to both the display device of the ultrasonic diagnostic instrument and the control panel of the ultrasonic diagnostic instrument.

[0031] In one embodiment, a floating support device is provided, including a fixed seat, a first and a second independent constraint mechanism and a first and a second independent rotating disk, the first and the second constraint mechanism each having a mounting end and a connecting end, the first and the second rotating disk each having a first end and a second end, the mounting ends of the first and the second constraint mechanism are connected to the fixed seat through a first left-right rotating joint, the first end of the first rotating disk and the connecting end of the first constraint mechanism are connected to the connecting ends of the two constraint mechanisms through a second left-right rotating joint, the first end of the second rotating disk and the connecting end of the second constraint mechanism are connected through another second left-right rotating joint, the second end of the first rotating disk is connected to the carried object through a third left-right rotating joint, the second end of the second rotating disk is connected to the carried object through another third left-right rotating joint, the rotation axes of the two third left-right rotating joints are parallel, and, under the constraints of the first and the second constraint mechanisms, the first and the second rotating disks remain horizontal.

[0032] The constraint mechanism, the second left-right rotation joint and the rotating disk correspond to each other, that is, the connecting end of each constraint mechanism is connected to the first end of the corresponding rotating disk through the corresponding second left-right rotation joint. The rotating disk corresponds to the third left-right rotation joint, that is, the second end of each rotating disk is connected to the carried object through the corresponding third left-right rotation joint. The rotation axes of the two third left-right rotation joints are parallel, that is, the two third left-right rotation joints are not coaxial. The carried object installed on the two rotating disks can move horizontally left and right, move horizontally forward and backward, and rotate horizontally left and right. The horizontal left and right translation refers to the left and right translation in the horizontal plane, the horizontal forward and backward translation refers to the forward and backward translation in the horizontal plane, and the horizontal left and right rotation refers to the left and right rotation in the horizontal plane. The two constraint mechanisms can be coaxially connected to the fixed seat for rotation, that is, the first and second constraint mechanisms can be connected to the fixed seat through the same first left-right rotation joint, or they can be non-coaxially connected to the fixed seat for rotation. , that is, the first constraint mechanism is connected to the fixed seat through a first left-right rotation joint, and the second constraint mechanism is connected to the fixed seat through another first left-right rotation joint.

[0033] Each left and right rotating joint and up and down rotating joint such as a rotating matching axle pin, axle core, pin and axle hole or hinge, etc.

[0034] In one embodiment, the left-right rotation joint can connect the first part and the second part that rotate with each other, and the left-right rotation locking structure includes a gear plate, a tooth block and an operating part that controls the movement of the tooth block. The gear plate is provided at the first part, and the tooth block is provided at the second part. The operating part is connected to the tooth block and controls the tooth block to switch between a locked position and an unlocked position. In the locked position, the tooth block is engaged with the gear plate; in the unlocked position, the tooth block is disengaged from the gear plate. The tooth block can slide or rotate.

[0035] The left-right rotation locking structure is applied to the left-right rotation locking between the rotating disk and the object being carried, the first part is like the rotating disk, and the second part is like the object being carried. The left-right rotation locking structure is applied to the left-right rotation locking between the rotating disk and the restraining mechanism, the first part is like the rotating disk, and the second part is like the restraining mechanism.

[0036] The technical solution of the present invention is described by taking a control panel applied to an ultrasonic diagnostic instrument as an example. Figures 1 to 9As shown, the floating support device includes two non-coaxial rotating disks 54 and 55, two sets of lifting links 52 and 53 and a fixed seat 51. The two lifting links 52 and 53 are both rotatably connected to the fixed seat 51. The first ends 557 and 563 of the two rotating disks are rotatably connected to the two lifting links 52 and 53 respectively, and the second ends 548 and 559 of the two rotating disks are non-coaxial. The floating support device is installed between the control panel and the main body of the ultrasonic diagnostic instrument. The lower end of the floating support device is connected to the main body through the fixed seat 51, and the upper end of the floating support device is movably connected to the control panel through the two rotating disks, so that the control panel has a floating function relative to the main body.

[0037] The two sets of lifting links are defined as the first lifting link 52 and the second lifting link 53, respectively. The first lifting link 52 and the second lifting link 53 are independently arranged, and both can swing up and down. The first lifting link 52 has a first mounting end 529 and a first connecting end 526, and the first mounting end 529 is rotatably connected to the fixed seat 51, so that the first lifting link 52 can rotate left and right relative to the fixed seat 51. The second lifting link 53 has a second mounting end 539 and a second connecting end 537, and the second mounting end 539 is rotatably connected to the fixed seat 51, so that the second lifting link 53 can rotate left and right relative to the fixed seat 51. The first rotating disk 54 and the second rotating disk 55 are independently arranged, and both have a first end and a second end. The first end 563 of the first rotating disk 54 is rotatably connected to the first connecting end 526 of the first lifting link 52, so that the first rotating disk 54 can rotate left and right relative to the first lifting link 52. The first end 557 of the second rotating disk 55 is rotatably connected to the second connecting end 537 of the second lifting link 53, so that the second rotating disk 55 can rotate left and right relative to the second lifting link 53. The second end 548 of the first rotating disk 54 and the second end 559 of the second rotating disk 55 are both rotatably connected to the base 15 of the control panel, and the second ends of the two rotating disks are not coaxial when they are rotatably connected to the base 15. Under the constraint of the first and second lifting links, the first rotating disk 54 and the second rotating disk 55 remain horizontal. The horizontal lifting of the control panel is achieved through the first and second lifting links. The horizontal left and right rotation, horizontal front and back translation, and horizontal left and right translation of the control panel are achieved through the left and right rotation of the first and second lifting links and the left and right rotation of the first and second rotating disks.

[0038] The first mounting end 529 of the first lifting link and the second mounting end 539 of the second lifting link can be hinged to the fixed seat 51 through the same Z-axis pin 515. The second connecting end 537 of the second lifting link can be provided with a Z-axis cylindrical shaft core, and the first end 557 of the second rotating disk can be provided with a Z-axis circular shaft hole correspondingly, and the shaft core is upwardly inserted into the shaft hole, and the shaft core is sleeved with a first gasket 571 and a second gasket 572, and the end surface of the shaft core is fixed with a cover plate 573 by screws, and the cover plate 573 is embedded and fixed in the shaft hole of the first end 557, so that the second connecting end 537 of the second lifting link and the first end 557 of the second rotating disk are connected as one, and the rotation connection of the second lifting link and the second rotating disk around the Z axis is realized through the cooperation of the shaft core and the shaft hole.

[0039] like Figure 3 and Figure 4 As shown, the first lifting link 52 has the same structure as the second lifting link 53, and the first lifting link 52 is used as an example to describe its structural composition. The first lifting link includes a first mounting end 529, a first connecting end 526, a sliding rod 354 and a lower bracket 358. The sliding rod 354 is parallel to the lower bracket 358. The two ends of the sliding rod 354 are respectively hinged to the first mounting end and the first connecting end through a horizontal shaft pin 71 and a shaft pin 81. The two ends of the lower bracket 358 are respectively hinged to the first mounting end and the first connecting end through a horizontal shaft pin 75 and a shaft pin 85, thereby forming a planar quadrilateral mechanism to ensure that the first connecting end 526 is always parallel to the first mounting end 529 during the lifting process, so as to realize the horizontal lifting of the first and second rotating disks. In addition, the sliding rod 354 passes through the compression spring 356 and the damping assembly 355, the damping assembly 355 is hinged to the first mounting end 529 through the transmission rod 352, one end of the compression spring 356 is fixed to the sliding rod 354 or to the first connecting end 526, and the other end of the compression spring 356 is connected to the damping assembly 355. During the lifting process, the damping assembly 355 can move along the sliding rod 354. Through the design, it can be ensured that the load force value of the first connecting end 526 is relatively constant during the lifting process, and the first lifting link 52 has a certain damping force value, so that the control panel can be stably stopped at any position during the horizontal lifting process.

[0040] like Figure 5 As shown, the left and right rotation range of the first and second lifting links 52 and 53 relative to the fixed seat 51 can be determined by the rotation limit structure 68. The rotation limit structure 68 includes a limit pin 684 fixed in the installation end of the lifting link and a limit slot 681 provided in the fixed seat. The limit pin 684 and the limit slot 681 are both arranged horizontally. The limit pin is horizontally inserted into the limit slot 681, and the left and right rotation range of the lifting link is limited by the two groove edges of the limit slot. Figure 6As shown, in a variation of the limiting structure, the limiting structure 381 includes a limiting pin 3814 and an arc-shaped limiting groove 3811. The limiting pin 3814 is vertically arranged along the Z direction, and the limiting groove is horizontally arranged. The limiting pin is vertically inserted into the limiting groove, and the left and right rotation range of the lifting link is limited by the two groove edges of the limiting groove. Further, in order to achieve that the first and second lifting links can stop at any position during the left and right rotation, rotation damping can also be set, such as fixing a pin in the installation end of the lifting link, tightening the pin, so that the pin presses the Z-direction pin 515 of the fixed seat, so that the lifting link generates rotation damping relative to the fixed seat, and the size of the rotation damping can be adjusted by tightening or loosening the pin. Of course, the left and right rotation position of the lifting link can also be locked by other existing rotation locking structures.

[0041] The left and right rotation of the control panel can be locked and unlocked by the left and right rotation locking structure. Now take the first rotating disk as an example. Figure 2 , Figure 7 and Figure 8 As shown, the rotation locking structure includes a gear plate 583, a sliding tooth block 65, a cable 62, a reset spring 63 and a handle 61. The second end 548 of the first rotating plate 54 has an axis core, which passes upward into the axis hole of the control panel base 15, and the gear plate 583 is fixed to the upper end surface of the axis core. The sliding tooth block 65 is arranged in the slide groove 66 of the control panel and can slide in the slide groove 66. The two ends of the cable 62 are respectively connected to the handle 61 and the sliding tooth block 65, and the reset spring 63 is arranged in the slide groove 66, and its two ends are respectively connected to the groove edge of the slide groove 66 and the sliding tooth block 65. Under normal conditions, the sliding tooth block 65 is engaged with the gear plate 583, and the rotation locking structure is in a locked state. At this time, the control panel cannot rotate left and right. After pulling the handle, the sliding tooth block is disengaged from the gear plate and enters an unlocked state. At this time, the control panel can rotate left and right.

[0042] like Fig. 9 As shown, when the control panel moves forward and backward, when it is in the last position, the angle between the first lifting link 52 and the second lifting link 53 is the smallest; in the process of pulling the control panel forward, the angle gradually increases until it reaches the maximum; when the control panel continues to be pulled forward, the angle gradually decreases. When the control panel moves left and right, when it moves from the left extreme position to the middle position, the control panel moves forward while moving rightward; when it moves from the middle position to the right extreme position, the control panel moves backward while moving rightward. When the control panel rotates left and right, at the left extreme position, the first gear plate 583 on the first rotating disk 54 can be located behind the second gear plate 593 on the second rotating disk 55; at the right extreme position, the first gear plate 583 can be located in front of the second gear plate 593.

[0043] In this embodiment, the first and second lifting links have the freedom to rotate left and right, the first and second rotating plates have the freedom to rotate left and right, the control panel has the freedom to rotate left and right relative to the first and second ends, and the first and second lifting links both have the freedom to lift relative to the fixed seat. By locking any three rotational degrees of freedom and any one lifting degree of freedom, the floating support device can be locked at any position.

[0044] In this embodiment, due to the six rotational degrees of freedom and two lifting degrees of freedom, the floating support device has a larger operating range and better linkage flexibility. The various components of the floating device can be modularly designed to make the structure simpler, reduce the number of parts, reduce costs, and facilitate maintenance.

[0045] The floating support device can also be simplified as a floating support device in a plane. Fig.10 and Fig.11 As shown, the floating device includes a first rotating disk 34, a second rotating disk 35, a first connecting rod 32, a second connecting rod 33 and a fixed seat 31. The first connecting rod 32 is horizontally arranged, and its mounting end is rotatably connected to the fixed seat 31, so that the first connecting rod can rotate left and right relative to the fixed seat. The second connecting rod 33 is horizontally arranged, and its mounting end is rotatably connected to the fixed seat 31, so that the second connecting rod can rotate left and right relative to the fixed seat. The first end of the first rotating disk 34 is rotatably connected to the connecting end of the first connecting rod 32, so that the first rotating disk can rotate left and right relative to the first connecting rod. The first end of the second rotating disk 35 is rotatably connected to the connecting end of the second connecting rod 33, so that the second rotating disk can rotate left and right relative to the second connecting rod. The second end 348 of the first rotating disk and the second end 359 of the second rotating disk are both rotatably connected to the base 15 of the control panel, so that the control panel can rotate relative to the first and second rotating disks.

[0046] The first mounting end 329 of the first connecting rod and the second mounting end 339 of the second connecting rod can be hinged to the fixed seat 31 through the same Z-axis pin 315. The second connecting end 337 of the second connecting rod can be provided with a Z-axis cylindrical shaft core, and the first end 357 of the second rotating disk can be provided with a Z-axis circular shaft hole correspondingly. The shaft core is inserted into the shaft hole upwardly, and the first gasket 371 and the second gasket 372 are sleeved on the shaft core. The end surface of the shaft core is fixed with a cover plate 373 by screws, and the cover plate 373 is embedded and fixed in the shaft hole of the first end 357, so that the second connecting end 337 and the first end 357 are connected as one, and the rotation connection between the second connecting rod and the second rotating disk is realized through the cooperation of the shaft core and the shaft hole. The second end 348 of the first rotating disk is provided with a Z-axis shaft core, and the base 15 is provided with a shaft hole correspondingly. The shaft core is inserted into the shaft hole upwardly, and the first gasket 381 and the second gasket 382 are sleeved, and then the gear plate 383 is fixed to the upper end surface of the shaft core by screws.

[0047] like Fig.12As shown, it is a first variation structure of the lifting link. The lifting link includes a mounting end 351, a connecting end 359, a connecting rod 3510 and a belt 3511. The belt is tightly stretched on a pulley 3512. One end of the connecting rod 3510 and a pulley are rotatably connected to the mounting end through an axle pin, and the other end of the connecting rod 3510 and another pulley are rotatably connected to the connecting end through another axle pin. The rotating disk is rotatably connected to the connecting end, and under the constraint of the lifting link, the rotating disk remains horizontal.

[0048] like Fig.13 As shown, it is a second variation structure of the lifting link. The lifting link includes a mounting end 351, a connecting end 359, a connecting rod 3510 and a rope 3513. The two ends of the connecting rod 3510 are respectively hinged with the mounting end 351 and the connecting end 359 through an axle pin 3517 and an axle pin 3518. The two ends of the rope 3513 are respectively connected to the cross bar 3516 of the mounting end and the cross bar 3516 of the connecting end, and the middle part 3515 of the rope is supported on the support plate 3514 in the middle part of the connecting rod. The rotating disk is rotatably connected to the connecting end, and under the constraint of the lifting link, the rotating disk remains horizontal.

[0049] like Fig.14 As shown, it is a third variation structure of the lifting link. The lifting link includes a mounting end 351, a connecting end 359 and a connecting rod 3510. The two ends of the connecting rod 3510 are respectively hinged to the mounting end and the connecting end. The rotating disk is rotatably connected to the connecting end, and under the constraint of the lifting link, the rotating disk remains horizontal.

[0050] In order to achieve the control panel, display device and other carried objects to stop steadily at any lifting position, a lifting link with damping balance can be designed, such as a gas spring, tension spring, compression spring, constant force spring (such as a coil spring), torsion spring or internal friction damping structure, that is, the locking structure of the lifting position can adopt the existing technical solutions.

[0051] The floating support device includes two constraint mechanisms, two rotating disks and a fixed seat. The two constraint mechanisms are both rotatably connected to the fixed seat, the first ends of the two rotating disks are respectively rotatably connected to the two constraint mechanisms, the second ends of the two rotating disks are respectively rotatably connected to the carried object, and the second ends of the two rotating disks are not coaxial. Under the constraint of the two constraint mechanisms, the two rotating disks remain horizontal, so that the carried object can be lifted and lowered horizontally, moved horizontally forward and backward, moved horizontally left and right, and rotated horizontally left and right. The constraint mechanisms are such as the various lifting links mentioned above or other mechanisms that can achieve lifting and lowering and can ensure that the rotating disk is level. When the control panel floats in space or in a plane, the two rotating disks do not interfere with each other.

[0052] The above contents are further detailed descriptions of the present invention in combination with specific implementation methods, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, several simple deductions or substitutions can be made without departing from the concept of the present invention.

Claims

1. A floating support device for carrying an object, characterized in that: The invention comprises a fixed seat, first and second independent constraint mechanisms and first and second independent rotating disks, wherein the constraint mechanisms each have a mounting end and a connecting end, and the rotating disks each have a first end and a second end, the mounting end of the constraint mechanism is connected to the fixed seat through a first left-right rotating joint, the first end of the first rotating disk is connected to the connecting end of the first constraint mechanism through a second left-right rotating joint, the first end of the second rotating disk is connected to the connecting end of the second constraint mechanism through another second left-right rotating joint, the second end of the first rotating disk is connected to the carried object through a third left-right rotating joint, the second end of the second rotating disk is connected to the carried object through another third left-right rotating joint, the rotating axes of the two third left-right rotating joints are parallel, and, under the constraint of the first and second constraint mechanisms, the first and second rotating disks remain horizontal; The first constraint mechanism includes a first lifting link, and the second constraint mechanism includes a second lifting link; when the carried object moves forward and backward, the angle between the first lifting link and the second lifting link gradually increases and then gradually decreases during the translation of the carried object from the rearmost position to the frontmost position, and / or when the carried object moves left and right: during the translation of the carried object from the left extreme position to the middle, the angle between the first lifting link and the second lifting link gradually increases; during the translation of the carried object from the middle to the right extreme position, the angle between the first lifting link and the second lifting link gradually decreases, and / or when the carried object rotates left and right: during the rotation of the carried object from the left extreme position to the middle, the angle between the first lifting link and the second lifting link gradually increases; during the rotation of the carried object from the middle to the right extreme position, the angle between the first lifting link and the second lifting link gradually decreases.

2. The floating support device according to claim 1, characterized in that: The first and second restraint mechanisms both include horizontally arranged connecting rods, and the mounting ends of the two connecting rods are rotatably connected to the fixing seat through the same Z-axis pin.

3. The floating support device according to claim 1, characterized in that: It also includes a rotation limiting structure that can limit the rotation angle range of the left and right rotation joints.

4. The floating support device according to claim 1, characterized in that: The first and second restraining mechanisms both have a lifting part connecting the mounting end and the connecting end, and the lifting part is connected to the mounting end through an up and down rotating joint.

5. The floating support device according to claim 4, characterized in that: The lifting part includes a first connecting rod and a second connecting rod, the two ends of the first connecting rod are respectively hinged to the mounting end and the connecting end through a horizontally arranged axle pin, the two ends of the second connecting rod are respectively hinged to the mounting end and the connecting end through a horizontally arranged axle pin, the first connecting rod and the second connecting rod are parallel, and the first connecting rod, the second connecting rod, the mounting end and the connecting end constitute a parallelogram mechanism.

6. The floating support device according to claim 5, characterized in that: The first connecting rod is sleeved on the damping assembly, the damping assembly is hinged to the mounting end through a transmission rod, the damping assembly is connected to one end of the elastic body, and the other end of the elastic body is fixed to the connecting end or the first connecting rod.

7. The floating support device according to claim 4, characterized in that: In each left-right rotating joint, the three rotational degrees of freedom of the left-right rotating joint can be locked by the left-right rotating locking structure; in each up-down rotating joint, the rotational degree of freedom of one up-down rotating joint can be locked by the up-down rotating locking structure.

8. The floating support device according to any one of claims 1 to 7, characterized in that: The left-right rotating joint connects a first part and a second part that can rotate relative to each other. The left-right rotating locking structure includes a gear plate, a tooth block and an operating part for manipulating the movement of the tooth block. The gear plate is arranged on the first part, and the tooth block is arranged on the second part. The operating part is connected to the tooth block and controls the tooth block to switch between a locked position and an unlocked position. In the locked position, the tooth block is meshed with the gear plate; in the unlocked position, the tooth block is disengaged from the gear plate.

9. A floating object, comprising a body of the object, characterized in that: It also includes the floating support device according to any one of claims 1 to 8, wherein the second end of the first rotating disk of the floating support device is connected to the carried object body via a third left-right rotating joint, and the second end of the second rotating disk of the floating support device is connected to the carried object body via another third left-right rotating joint, and the rotation axes of the two third left-right rotating joints are parallel.

10. The floating object according to claim 9, characterized in that: The carried object body is a control panel of an ultrasonic device or a display device of an ultrasonic device.

11. An ultrasonic device, comprising a control panel and a main body, characterized in that: It also includes the floating support device described in any one of claims 1 to 8, wherein the fixed seat of the floating support device is connected to the main body, the second end of the first rotating disk of the floating support device is connected to the control panel via a third left-right rotating joint, the second end of the second rotating disk of the floating support device is connected to the control panel via another third left-right rotating joint, and the rotation axes of the two third left-right rotating joints are parallel.

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