Pentagonal articulated mechanism, viewfinder and transmission method

Abstract

The present invention discloses a pentagonal hinge mechanism, a viewfinder and a transmission method, wherein the pentagonal hinge mechanism comprises a guide edge; a slider is arranged on the guide edge; a movable support is arranged on the slider; a fixed hinge point is arranged above the guide edge; a support arm is hinged at the fixed hinge point; a fixed support is arranged at the lower part of the support arm; the fixed support is hinged to one end of the movable arm; and the other end of the movable arm is hinged to the movable support. The pentagonal hinge mechanism of the present invention can be accurately transmitted in a narrow space, so that the viewfinder has a smaller size.

Description

Technical Field

[0001] The invention relates to a mechanism and a viewfinder for adjusting an angle. Background Art

[0002] Minimally invasive surgical robots can reduce the physical labor of doctors during the operation and achieve the purpose of precise surgery. The surgeon relies on the doctor's console to operate the entire process of the operation. While the doctor operates the instrument with the main hand of the console, he observes the operation through the viewfinder (optical 3D system). Because each doctor has different habits, different surgeons need different observation angles for surgery. Therefore, it is necessary to adjust the pitch angle of the viewfinder. However, in order to achieve a better 3D optical effect, the more common way of the viewfinder is to arrange the optical system symmetrically on the left and right sides, leaving only a narrow space in the middle for mechanical connection and pitch.

[0003] For the pitch mechanism, one method is to drive the reducer directly through the motor; the other method is to drive the main gear through the motor, and the main gear drives the tooth arc drive. In these two methods, either the motor shaft and the pitch axis are parallel, or the direction is changed through the bevel gear. The parallelism of the motor shaft and the pitch axis will inevitably require a larger axial dimension; and the gear transmission noise is large, which is not suitable for use in the operating room.

[0004] Therefore, those skilled in the art are committed to developing a mechanism that can accurately transmit the power in a narrow space so that the viewfinder has a smaller size. Summary of the invention

[0005] In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is to provide a mechanism that can accurately transmit in a narrow space so that the viewfinder has a smaller size.

[0006] To achieve the above-mentioned purpose, the present invention provides a pentagonal hinge mechanism, comprising a guide edge; a slider is arranged on the guide edge; a movable support is arranged on the slider;

[0007] A fixed hinge point is arranged above the guide edge; a support arm is hinged at the fixed hinge point; a fixed support is arranged at the lower part of the support arm; the fixed support is hinged to one end of the movable arm; and the other end of the movable arm is hinged to the movable support.

[0008] The present invention also provides a viewfinder, comprising a base; a first mounting frame and a second mounting frame are arranged on the base at intervals; and the pentagonal hinge mechanism mentioned above is also provided;

[0009] The first mounting frame and the second mounting frame are provided with a support shaft, and the support arm is hinged to the support shaft to form the fixed hinge point;

[0010] The guide edge is a screw rod arranged on the base; the screw rod is driven by a motor; and the slider cooperates with the screw rod.

[0011] Preferably, a first bearing and a second bearing are spaced apart on the fixed support; a first hinge shaft is supported in the first bearing and the second bearing; and the movable arm is hinged on the first hinge shaft.

[0012] In order to eliminate the axial clearance between the fixed support and the movable arm, a first bearing retaining ring is arranged between the first bearing and the movable arm; a second bearing retaining ring is arranged between the second bearing and the movable arm; a bearing limiting step is arranged on one side of the fixed support; the second bearing abuts against the bearing limiting step; a bearing end cover is fixed on the other side of the fixed support; the inner end face of the bearing end cover abuts against the outer end face of the first bearing, thereby sequentially pressing the first bearing, the first bearing retaining ring, the movable arm, the second bearing retaining ring and the second bearing.

[0013] In order to facilitate axial adjustment of the support arm, at least one screw hole is provided on the top of the fixed support; the support arm is provided with a countersunk hole corresponding to the screw hole; a first screw is provided in the screw hole and the countersunk hole to connect the fixed support and the support arm.

[0014] To facilitate assembly, a first adjustment gap is provided between the first screw and the countersunk hole.

[0015] Furthermore, at least one through hole is provided at the lower portion of the movable support; the second screw passes through the through hole and is connected to the sliding block.

[0016] To facilitate assembly, a second adjustment gap is provided between the second screw and the through hole.

[0017] In order to ensure that the support arm is centered, a first transfer support is fixed on the inner side of the first mounting frame; a first adjustment surface and a first adjustment hole are provided in the first transfer support; a first fixing seat is matched in the first adjustment hole; a third bearing is provided in the first fixing seat; a first adjustment screw is matched in the circumferential direction of the first fixing seat; the end face of the first adjustment screw is against the first adjustment surface;

[0018] A second transfer support is fixed on the inner side of the second mounting frame; a second adjustment surface and a second adjustment hole are provided in the second transfer support; a second fixing seat is matched in the second adjustment hole; a fourth bearing is provided in the second fixing seat; a second adjustment screw is matched in the circumferential direction of the second fixing seat; the end face of the shaft of the second adjustment screw abuts against the second adjustment surface;

[0019] The support shaft is supported by the third bearing and the fourth bearing; a positioning step surface is provided in the middle of the support shaft; one end surface of the support arm abuts against the positioning step surface; a sleeve is provided between the other end surface of the support arm and the inner end surface of the fourth bearing.

[0020] The present invention also provides a transmission method for realizing a rotational motion in a narrow space, comprising the following steps:

[0021] 1) The rotating member is hinged on a base;

[0022] 2) providing a slider capable of linear motion;

[0023] 3) A first hinge support and a second hinge support are respectively provided on opposite sides of the rotating member and the sliding block;

[0024] 4) Provide a movable arm, with its two ends respectively hinged in the first hinge support and the second hinge support.

[0025] The beneficial effect of the present invention is that the pentagonal hinge mechanism of the present invention can accurately transmit in a narrow space, so that the viewfinder has a smaller size. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of a pentagonal hinge mechanism in a viewfinder according to a specific embodiment of the present invention.

[0027] Figure 2 yes Figure 1 A magnified schematic diagram of the local Q in the graph.

[0028] Figure 3 It is a structural schematic diagram of a viewfinder in a specific implementation manner of the present invention.

[0029] Figure 4 yes Figure 3 A magnified schematic diagram of the local P in the figure.

[0030] Figure 5 It is a schematic structural diagram of point B in the viewfinder according to a specific embodiment of the present invention.

[0031] Figure 6 It is a schematic diagram of the assembly of point B in the viewfinder of a specific embodiment of the present invention.

[0032] Figure 7 It is a schematic diagram of the assembly of point C in the viewfinder of a specific embodiment of the present invention.

[0033] Figure 8 It is a schematic diagram of the principle of a pentagonal hinge mechanism in a viewfinder according to a specific embodiment of the present invention. DETAILED DESCRIPTION

[0034] The present invention will be further described below in conjunction with the accompanying drawings and embodiments:

[0035] A transmission method for realizing a rotational motion in a narrow space comprises the following steps:

[0036] 1) The rotating member is hinged on a base;

[0037] 2) providing a slider capable of linear motion;

[0038] 3) A first hinge support and a second hinge support are respectively provided on opposite sides of the rotating member and the sliding block;

[0039] 4) Provide a movable arm, with its two ends respectively hinged in the first hinge support and the second hinge support.

[0040] like Figure 1 , Figure 2 As shown, the transmission method for realizing the rotational motion in the narrow space can be realized by a pentagonal hinge mechanism, which includes a guide edge 1, a slider 2 is arranged on the guide edge 1, and a movable support 3 is arranged on the slider 2.

[0041] A fixed hinge point A is provided above the guide edge 1 , a support arm 4 is hinged at the fixed hinge point A, a fixed support 5 is provided at the lower part of the support arm 4 , the fixed support 5 is hinged to one end of a movable arm 6 , and the other end of the movable arm 6 is hinged to the movable support 3 .

[0042] like Figure 3-Figure 7 As shown, the above-mentioned pentagonal hinge mechanism can be applied to a viewfinder, which includes a base 7, on which a first mounting frame 71 and a second mounting frame 72 are arranged at intervals, and also includes the above-mentioned pentagonal hinge mechanism.

[0043] A support shaft 8 is provided on the first mounting frame 71 and the second mounting frame 72 , and the support arm 4 is hinged to the support shaft 8 , thereby forming a fixed hinge point A.

[0044] The guide edge 1 is a screw rod 9 arranged on the base 7. The screw rod 9 is driven by a motor 10. The slider 2 cooperates with the screw rod 9 to form a screw-nut mechanism to drive the slider 2 to move on the screw rod 9.

[0045] A first bearing 11 and a second bearing 12 are arranged on the fixed support 5 at intervals. A first hinge shaft 13 is supported in the first bearing 11 and the second bearing 12 . The movable arm 6 is hingedly connected to the first hinge shaft 13 .

[0046] A first bearing retaining ring 14 is arranged between the first bearing 11 and the movable arm 6, a second bearing retaining ring 15 is arranged between the second bearing 12 and the movable arm 6, a bearing limiting step 5a is arranged on one side of the fixed support 5, the second bearing 12 abuts against the bearing limiting step 5a, and a bearing end cover 16 is fixed on the other side of the fixed support 5, the inner end face of the bearing end cover 16 abuts against the outer end face of the first bearing 11, thereby sequentially pressing the first bearing 11, the first bearing retaining ring 14, the movable arm 6, the second bearing retaining ring 15 and the second bearing 12.

[0047] In this embodiment, Figure 5 As shown, when the hinged structure at point B is assembled, the bearing end cover 16 is pressed tightly against the left side of the fixed support 5 by four M4 screws, the right end face of the bearing end cover 16 is pressed tightly against the outer ring of the first bearing 11, the right side of the inner ring of the first bearing 11 is pressed tightly against the first bearing retaining ring 14, the first bearing retaining ring 14 is pressed tightly against the left side of the movable arm 6, the right side of the movable arm 6 is pressed tightly against the left side of the second bearing retaining ring 15, the right side of the second bearing retaining ring 15 is pressed tightly against the inner ring of the second bearing 12, and the outer ring of the second bearing 12 is pressed tightly against the bearing limiting step 5a, so that there is no axial gap between the fixed support 5 and the movable arm 6.

[0048] At least one screw hole 5b is provided on the top of the fixing support 5, and a countersunk hole 4a corresponding to the screw hole 5b is provided on the support arm 4. A first screw 17 is provided in the screw hole 5b and the countersunk hole 4a, so as to connect the fixing support 5 and the support arm 4. A first positioning surface 4a can be provided on the support arm 4 to strengthen the positioning between the fixing support 5 and the support arm 4. In other embodiments, a positioning pin can also be arranged. In this embodiment, the number of the screw holes 5b is four.

[0049] At least one through hole 27 is provided at the bottom of the movable support 3, and the second screw 28 passes through the through hole 27 and is connected to the slider 2. A second positioning surface 2a can be provided on the slider 2 to strengthen the positioning between the movable support 3 and the slider 2. In other embodiments, positioning pins can also be arranged. In this embodiment, the number of through holes 27 is four.

[0050] like Figure 6 and Figure 7 As shown, a first clearance G and a second clearance H are respectively provided between the first screw 17 and the counterbore 4a, and between the second screw 28 and the through hole 27, so that the axial adjustment amount of points B and C is transferred to the clearance. When the hinged structure of points B and C is assembled, the movable arm 6 can rotate radially around the BC axis, thereby realizing the adjustment of the hinge axes of points B and C, further increasing the adjustable dimension of the pentagonal mechanism.

[0051] A first adapter support 18 is fixed to the inner side of the first mounting frame 71, and a first adjustment surface 18a and a first adjustment hole 18b are provided in the first adapter support 18. A first fixing seat 19 is fitted in the first adjustment hole 18b, and a third bearing 20 is provided in the first fixing seat 19. The first fixing seat 19 is circumferentially fitted with a first adjustment screw 21, and a rod end face 21a of the first adjustment screw 21 abuts against the first adjustment surface 18a.

[0052] A second transfer support 22 is fixed to the inner side of the second mounting frame 72. A second adjustment surface 22a and a second adjustment hole 22b are provided in the second transfer support 22. A second fixing seat 23 is matched in the second adjustment hole 22b. A fourth bearing 24 is provided in the second fixing seat 23. A second adjustment screw 25 is matched with the second fixing seat 23 along the circumferential direction. The end surface 25a of the second adjustment screw 25 abuts against the second adjustment surface 22a.

[0053] The support shaft 8 is supported by the third bearing 20 and the fourth bearing 24; a positioning step surface 8a is provided in the middle of the support shaft 8; one end surface of the support arm 4 abuts against the positioning step surface 8a; a sleeve 26 is provided between the other end surface of the support arm 4 and the inner end surface of the fourth bearing 24.

[0054] When assembling the above-mentioned viewfinder, first loosen the adjustment screws 21, 25 to make the gap L1 between the fixing seats 19, 23 and the adjustment surfaces 18a, 22a respectively equal to 0. At this time, the first adapter support 18 and the second adapter support 22 move closer to the center, and the adapter support is inserted into the positioning circle I on the viewfinder base; then adjust the adjustment screws 21, 25 to center the support arm 4, so as to ensure that the support arm 4 is connected in the center with the screw nut mechanism as the reference, which greatly improves the left and right position accuracy and rigidity of the mechanism, ensures the movement flexibility of the mechanism, thereby effectively improving the physical stability of the optical system and avoiding dizziness.

[0055] like Figure 8 As shown, the principle of the above-mentioned pentagonal hinge mechanism, wherein O1 and O2 are two fixed rotation centers, Z1P1 is the axis of the straight line parallel to the screw rod and passing through the hinge point of the slider, the axis can rotate around O2, O2Z1 is the vertical distance from O2 to Z1P1, the Z1P1 rod is hinged to the O1P1 rod at P1, and the O1P1 rod can rotate around the point O1.

[0056] Drive point P1 to move toward Z1 on rod Z1P1, and the moving distance is ΔL. At this time, point P1 reaches P2, and rod Z1P1 rotates around point O2 to Z2P2, where Z2 is the foot of the perpendicular from O2 to the screw shaft. Z2P2 is extended in the reverse direction and intersects with Z1P1 at point n. At this time, the angle of rotation of the screw shaft is ∠P2nP1.

[0057] According to the above conditions, it can be concluded that:

[0058] Z2P2=Z1P1-ΔL………………①

[0059] Z1O2=Z2O2…………………………②

[0060] ∠P2nP1=∠Z1O2Z2…………………………③

[0061]

[0062]

[0063] In △O1O2P2, according to the cosine theorem, we can get:

[0064]

[0065] so:

[0066] ∠Z1O2Z2=∠Z1O2O1-∠Z2O2P2-∠P2O2O1……………⑧

[0067] The simultaneous equations yield:

[0068]

[0069] Where: the length of the movable arm P1O1 = P2O1

[0070] Equation 9 is the relationship between the linear motion distance ΔL and the rigid body rotation angle ∠P2nP1.

[0071] When the mechanism is implemented, the motor drives the synchronous belt to drive the screw to rotate, and the rotation of the screw drives the slider to make a linear motion. The linear motion of the slider drives the hinge point P1 of the sliding support to make a linear motion.

[0072] The preferred specific embodiments of the present invention are described in detail above. It should be understood that a person skilled in the art can make many modifications and changes based on the concept of the present invention without creative work. Therefore, any technical solution that can be obtained by a person skilled in the art through logical analysis, reasoning or limited experiments based on the concept of the present invention on the basis of the prior art should be within the scope of protection determined by the claims.

Claims

1. A viewfinder comprising a base (7) and a pentagonal hinge mechanism; The pentagonal hinge mechanism comprises a guide edge (1); a slider (2) is arranged on the guide edge (1); and a movable support (3) is arranged on the slider (2); A fixed hinge point (A) is provided above the guide edge (1); a support arm (4) is hinged at the fixed hinge point (A); a fixed support (5) is provided at the bottom of the support arm (4); the fixed support (5) is hinged to one end of a movable arm (6); the other end of the movable arm (6) is hinged to the movable support (3); A first mounting frame (71) and a second mounting frame (72) are arranged on the base (7) at intervals; a support shaft (8) is arranged on the first mounting frame (71) and the second mounting frame (72); the support arm (4) is hinged to the support shaft (8), thereby forming the fixed hinge point (A); the guide edge (1) is a screw rod (9) arranged on the base (7); the screw rod (9) is driven by a motor (10); the slider (2) cooperates with the screw rod (9); The support arm (4) is provided with a first positioning surface.

2. The viewfinder according to claim 1, wherein: A first bearing (11) and a second bearing (12) are arranged on the fixed support (5) at intervals; a first hinge shaft (13) is supported inside the first bearing (11) and the second bearing (12); and the movable arm (6) is hingedly connected to the first hinge shaft (13).

3. The viewfinder according to claim 2, characterized in that: A first bearing retaining ring (14) is arranged between the first bearing (11) and the movable arm (6); a second bearing retaining ring (15) is arranged between the second bearing (12) and the movable arm (6); a bearing limiting step (5a) is arranged on one side of the fixed support (5); the second bearing (12) abuts against the bearing limiting step (5a); a bearing end cover (16) is fixed on the other side of the fixed support (5); the inner end surface of the bearing end cover (16) abuts against the outer end surface of the first bearing (11), thereby sequentially pressing the first bearing (11), the first bearing retaining ring (14), the movable arm (6), the second bearing retaining ring (15) and the second bearing (12).

4. The viewfinder as claimed in claim 2, characterized in that: The top of the fixed support (5) is provided with at least one screw hole (5b); the support arm (4) is provided with a countersunk hole (4a) corresponding to the screw hole (5b); and a first screw (17) is provided in the screw hole (5b) and the countersunk hole (4a), thereby connecting the fixed support (5) and the support arm (4).

5. The viewfinder as claimed in claim 4, characterized in that: A first adjustment gap (G) is provided between the first screw (17) and the countersunk hole (4a).

6. The viewfinder according to any one of claims 1 to 5, characterized in that: At least one through hole (27) is provided at the lower portion of the movable support (3); a second screw (28) passes through the through hole (27) and is connected to the sliding block (2).

7. The viewfinder according to claim 6, characterized in that: A second adjustment gap (H) is provided between the second screw (28) and the through hole (27).

8. The viewfinder according to any one of claims 1 to 5, characterized in that: A first transfer support (18) is fixed on the inner side of the first mounting frame (71); a first adjustment surface (18a) and a first adjustment hole (18b) are provided in the first transfer support (18); a first fixing seat (19) is fitted in the first adjustment hole (18b); a third bearing (20) is provided in the first fixing seat (19); a first adjustment screw (21) is fitted in the circumferential direction of the first fixing seat (19); an end surface (21a) of the first adjustment screw (21) abuts against the first adjustment surface (18a); A second transfer support (22) is fixed on the inner side of the second mounting frame (72); a second adjustment surface (22a) and a second adjustment hole (22b) are provided in the second transfer support (22); a second fixing seat (23) is fitted in the second adjustment hole (22b); a fourth bearing (24) is provided in the second fixing seat (23); a second adjustment screw (25) is fitted in the circumferential direction of the second fixing seat (23); an end surface (25a) of the second adjustment screw (25) abuts against the second adjustment surface (22a); The support shaft (8) is supported by the third bearing (20) and the fourth bearing (24); a positioning step surface (8a) is provided in the middle of the support shaft (8); one end surface of the support arm (4) abuts against the positioning step surface (8a); and a shaft sleeve (26) is provided between the other end surface of the support arm (4) and the inner end surface of the fourth bearing (24).

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