Hinge Structure, Viewfinder and Method for Adjusting the Reference of the Hinge Mechanism

Abstract

The present invention discloses a hinge structure, a viewfinder and a reference adjustment method for a hinge mechanism. Among them, the hinge structure includes a base; a first mounting bracket and a second mounting bracket are arranged at intervals on the base; support shafts are arranged on the first mounting bracket and the second mounting bracket, and a support arm is hinged to the support shafts; a first adapter support is fixed inside the first mounting bracket; a first adjustment surface and a first adjustment hole are arranged in the first adapter support; a first fixing seat is fitted in the first adjustment hole; a third bearing is arranged in the first fixing seat; a first adjustment screw is circumferentially fitted with the first fixing seat; the rod end face of the first adjustment screw abuts against the first adjustment surface; the structure of the second mounting bracket corresponds to that of the first mounting bracket. The hinge structure of the present invention can easily and conveniently adjust the axial position.

Description

Technical Field

[0001] The present invention relates to a hinge structure, a viewfinder and a method for adjusting the reference of a hinge mechanism. Background Art

[0002] Minimally invasive surgical robots can reduce the physical labor of doctors during surgery and achieve the purpose of precise surgery at the same time. The surgeon operates the entire process of the surgery relying on the doctor's console. While operating the master hand instrument through the console, the doctor observes the surgical situation through a viewfinder (optical 3D system). Since each doctor has different habits, different surgeons need different viewing angles for surgery. Therefore, it is necessary to adjust the pitch angle of the viewfinder. However, in order to achieve a relatively excellent 3D optical effect, the common way of the viewfinder is to symmetrically arrange the optical systems on both the left and right sides, leaving only a relatively narrow space in the middle for mechanical connection and pitching.

[0003] Installing a support shaft in a narrow space and positioning the loads on both sides axially, a generally intuitive method is to use a single shaft, design a step on the shaft, design a snap ring at the other end of the step, and use the step and the snap ring for positioning, or design a bushing to replace the snap ring for positioning. Neither of these two methods can achieve axial position adjustment. Only after the axial position of the shaft is adjusted, a set screw is used to machine a flat surface or a conical hole on the circumferential surface of the shaft for positioning. However, this method has inaccurate positioning and cannot be adjusted once determined; in addition, the stepped shaft needs to be inserted from one end of the support to the other end for assembly. When the shaft is relatively large or there is no assembly space on the outer side of the support, the installation is difficult or impossible. There is also a method of machining threads at both ends of the shaft and sleeving nuts for positioning, but this method is affected by the shaft diameter, the corresponding thread specifications and pitches, and anti-loosening measures need to be added. When the diameter of the shaft is large, it is also difficult to rotate the large-diameter shaft or nut to achieve the screwing in and out of the thread.

[0004] Therefore, those skilled in the art are committed to developing a hinge structure that is convenient for adjusting the axial position. 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 hinge structure that is convenient for adjusting the axial position.

[0006] To achieve the above object, the present invention provides a hinge structure, including a base; a first mounting bracket and a second mounting bracket are spaced apart on the base; a support shaft is provided on the first mounting bracket and the second mounting bracket, and a support arm is hinged to the support shaft;

[0007] A first adapter support is fixed to the inner side of the first mounting bracket; a first adjustment surface and a first adjustment hole are provided in the first adapter support; a first fixed seat is fitted in the first adjustment hole; a third bearing is provided in the first fixed seat; a first adjustment screw is circumferentially fitted to the first fixed seat; the end face of the rod body of the first adjustment screw abuts against the first adjustment surface;

[0008] A second adapter support is fixed to the inner side of the second mounting bracket; a second adjustment surface and a second adjustment hole are provided in the second adapter support; a second fixed seat is fitted in the second adjustment hole; a fourth bearing is provided in the second fixed seat; a second adjustment screw is circumferentially fitted to the second fixed seat; the end face of the rod body of the second adjustment screw abuts against the second adjustment surface;

[0009] 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 face of the support arm abuts against the positioning step surface; a bushing is provided between the other end face of the support arm and the inner end face of the fourth bearing.

[0010] The present invention also provides a viewfinder, including the above hinge structure.

[0011] The present invention also provides a method for adjusting the reference of the hinge mechanism, including the following steps:

[0012] 1) Provide adjustment references at both ends of the hinge shaft;

[0013] 2) Provide a mounting reference for the support arm in the middle of the hinge shaft;

[0014] 3) Apply an external force to move the hinge shaft axially, so that one side surface of the support arm abuts against the mounting reference;

[0015] 4) Maintain the relative positions of the support arm and the hinge shaft.

[0016] Preferably, the axial clearance between the support arm and the adjustment reference is zero.

[0017] The beneficial effects of the present invention are as follows: The hinge structure of the present invention uses an adjustment bolt to adjust the axial position. The diameter of the adjustment bolt is much smaller than that of the support shaft. Therefore, the pitch of the adjustment bolt is smaller than the pitch of the thread machined on the support shaft, which is convenient for adjustment and improves the adjustment accuracy; moreover, the adjustment torque is also very small. Even for large shafts or large loads, adjustment can be easily carried out; in addition, the axial clearance between the support arm and the adjustment reference in the present invention is zero, so as to improve the system stiffness and is applicable to high-precision systems that need to maintain stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic structural diagram of a viewfinder in a specific embodiment of the present invention.

[0019] Figure 2 Yes Figure 1 It is an enlarged schematic view of the local P in

[0020] Figure 3 It is a schematic structural view of the pentagon hinge mechanism in the viewfinder of a specific embodiment of the present invention.

[0021] Figure 4 Figure 3 It is an enlarged schematic view of the local Q in

[0022] Figure 5 It is a schematic structural view of point B in the viewfinder of a specific embodiment of the present invention.

[0023] Figure 6 It is an assembly schematic view of point B in the viewfinder of a specific embodiment of the present invention.

[0024] Figure 7 It is an assembly schematic view of point C in the viewfinder of a specific embodiment of the present invention.

[0025] Figure 8 It is a schematic principle view of the pentagon hinge mechanism in the viewfinder of a specific embodiment of the present invention. Specific Embodiment

[0026] The present invention will be further described below in conjunction with the accompanying drawings and embodiments:

[0027] A method for adjusting the reference of a hinge mechanism includes the following steps:

[0028] 1) Provide adjustment references at both ends of the hinge shaft;

[0029] 2) Provide an installation reference for the support arm in the middle of the hinge shaft;

[0030] 3) Apply an external force to move the hinge shaft axially, so that one side of the support arm abuts against the installation reference;

[0031] 4) Maintain the relative positions of the support arm and the hinge shaft;

[0032] 5) Make the axial clearance between the support arm and the adjustment reference zero.

[0033] As Figure 1 、 Figure 2 shown, the above method for adjusting the reference of the hinge mechanism can be realized by a hinge structure, which includes a base 7, on which a first mounting bracket 71 and a second mounting bracket 72 are arranged at intervals, a support shaft 8 is arranged on the first mounting bracket 71 and the second mounting bracket 72, and the support arm 4 is hinged to the support shaft 8.

[0034] The inner side of the first mounting bracket 71 is fixed with a first adapter support 18. 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. A third bearing 20 is provided in the first fixing seat 19. A first adjustment screw 21 is circumferentially fitted to the first fixing seat 19. The end face 21a of the rod body of the first adjustment screw 21 abuts against the first adjustment surface 18a.

[0035] The inner side of the second mounting bracket 72 is fixed with a second adapter support 22. A second adjustment surface 22a and a second adjustment hole 22b are provided in the second adapter 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 circumferentially fitted to the second fixing seat 23. The end face 25a of the rod body of the second adjustment screw 25 abuts against the second adjustment surface 22a.

[0036] 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 face of the support arm 4 abuts against the positioning step surface 8a. A bushing 26 is provided between the other end face of the support arm 4 and the inner end face of the fourth bearing 24.

[0037] The above hinge structure can be applied to a viewfinder.

[0038] When assembling the above hinge structure, first loosen the adjustment screws 21 and 25 so that the gaps L1 between the fixing seats 19 and 23 and the adjustment surfaces 18a and 22a are 0. At this time, the first adapter support 18 and the second adapter support 22 move closer to the center, and the adapter supports are inserted into the positioning circle I on the viewfinder base. Then adjust the adjustment screws 21 and 25 to center the support arm 4, which can ensure that the support arm 4 is centered and connected based on the lead screw nut mechanism, greatly improving the left - right position accuracy and stiffness of the mechanism, ensuring the movement flexibility of the mechanism, thereby effectively improving the physical stability of the optical system and avoiding dizziness.

[0039] In this embodiment, as Figure 3 、 Figure 4 shown, the above viewfinder includes a pentagonal hinge mechanism. The pentagonal hinge mechanism includes a guiding edge 1. A slider 2 is provided on the guiding edge 1. A movable support 3 is provided on the slider 2.

[0040] Above the guiding edge 1, there is a fixed hinge point A. 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. The other end of the movable arm 6 is hinged to the movable support 3.

[0041] The guiding edge 1 is a lead screw 9 arranged on the base 7. The lead screw 9 is driven by a motor 10. The slider 2 cooperates with the lead screw 9 to form a lead screw-nut mechanism, so as to drive the slider 2 to move on the lead screw 9.

[0042] The fixed support 5 is provided with a first bearing 11 and a second bearing 12 at intervals. The first bearing 11 and the second bearing 12 support a first hinge shaft 13 inside, and the movable arm 6 is hinged on the first hinge shaft 13.

[0043] A first bearing retaining ring 14 is arranged between the first bearing 11 and the movable arm 6, and 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, and 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, and the inner end face of the bearing end cover 16 abuts against the outer end face of the first bearing 11, so as to sequentially compress 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.

[0044] In this embodiment, as Figure 5 shown, when assembling the hinge structure at point B, the bearing end cover 16 is tightly pressed on the left side surface of the fixed support 5 by four M4 screws. The right end face of the bearing end cover 16 is tightly pressed on the outer ring of the first bearing 11. The right side of the inner ring of the first bearing 11 is tightly pressed on the first bearing retaining ring 14. The first bearing retaining ring 14 is tightly pressed on the left side surface of the movable arm 6. The right side surface of the movable arm 6 is tightly pressed on the left side surface of the second bearing retaining ring 15. The right side of the second bearing retaining ring 15 is tightly pressed on the inner ring of the second bearing 12. The outer ring of the second bearing 12 is tightly pressed on the bearing limiting step 5a. In this way, there is no axial clearance between the fixed support 5 and the movable arm 6.

[0045] At least one screw hole 5b is arranged at the top of the fixed support 5. The support arm 4 is provided with a counterbore 4a corresponding to the screw hole 5b. A first screw 17 is arranged in the screw hole 5b and the counterbore 4a, so as to connect the fixed support 5 and the support arm 4. A first positioning surface 4a can be arranged on the support arm 4 to strengthen the positioning between the fixed 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.

[0046] At least one through hole 27 is arranged at the lower part of the movable support 3. The second screw 28 passes through the through hole 27 and is connected to the slider 2. A second positioning surface 2a can be arranged on the slider 2 to strengthen the positioning between the movable support 3 and the slider 2. In other embodiments, a positioning pin can also be arranged. In this embodiment, the number of the through holes 27 is four.

[0047] As Figure 6 and Figure 7As 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.

[0048] 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.

[0049] 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.

[0050] According to the above conditions, it can be concluded that:

[0051] Z2P2=Z1P1-ΔL………………①

[0052] Z1O2=Z2O2…………………………②

[0053] ∠P2nP1=∠Z1O2Z2…………………………③

[0054]

[0055]

[0056] In △O1O2P2, according to the cosine theorem, we can get:

[0057]

[0058] so:

[0059] ∠Z1O2Z2=∠Z1O2O1-∠Z2O2P2-∠P2O2O1……………⑧

[0060] The simultaneous equations yield:

[0061]

[0062] Where: the length of the movable arm P1O1 = P2O1

[0063] Equation ⑨ is the relational expression between the linear motion distance ΔL and the rigid body rotation angle ∠P2nP1.

[0064] When the mechanism is implemented, the motor drives the synchronous belt to drive the rotation of the lead screw. When the lead screw rotates, it drives the slider to move linearly, and the linear motion of the slider drives the hinge point P1 of the sliding support to move linearly.

[0065] The preferred specific embodiments of the present invention have been described in detail above. It should be understood that those of ordinary skill in the art can make many modifications and variations based on the concept of the present invention without creative work. Therefore, all technical solutions that can be obtained by those skilled in the art in this technical field based on the concept of the present invention through logical analysis, reasoning, or limited experiments on the basis of the prior art should be within the protection scope determined by the claims.

Claims

1. An articulated structure, comprising a base (7); a first mounting bracket (71) and a second mounting bracket (72) are spaced apart on the base (7); a support shaft (8) is provided on the first mounting bracket (71) and the second mounting bracket (72), and a support arm (4) is hinged to the support shaft (8); characterized in that: A first transfer support (18) is fixed inside the first mounting bracket (71); a first adjustment surface (18a) and a first adjustment hole (18b) are provided in the first transfer support (18); a first fixed seat (19) is fitted in the first adjustment hole (18b); a third bearing (20) is provided in the first fixed seat (19); a first adjustment screw (21) is circumferentially fitted to the first fixed seat (19); the rod end face (21a) of the first adjustment screw (21) abuts against the first adjustment surface (18a); A second transfer support (22) is fixed inside the second mounting bracket (72); a second adjustment surface (22a) and a second adjustment hole (22b) are provided in the second transfer support (22); a second fixed seat (23) is fitted in the second adjustment hole (22b); a fourth bearing (24) is provided in the second fixed seat (23); a second adjustment screw (25) is circumferentially fitted to the second fixed seat (23); the rod end face (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 face of the support arm (4) abuts against the positioning step surface (8a); a bushing (26) is provided between the other end face of the support arm (4) and the inner end face of the fourth bearing (24).

2. A viewfinder, characterized in that: Comprising the articulated structure according to claim 1.

3. A method for adjusting an articulated structure as described in claim 1, characterized in that, Comprising the following steps: 1) Provide the first adjustment surface (18a) and the second adjustment surface (22a) at both ends of the support shaft (8); 2) Provide the positioning step surface (8a) of the support arm (4) in the middle of the support shaft (8); 3) Apply an external force to move the support shaft (8) axially, so that one side surface of the support arm (4) abuts tightly against the positioning step surface (8a); 4) Maintain the relative position of the support arm (4) and the support shaft (8).

4. The articulated structure adjustment method according to claim 3, characterized in that Further comprising the following steps: 5) Make the axial clearance between the support arm (4) and the first adjustment surface (18a) and the second adjustment surface (22a) zero.

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