CN101702050A - 6-DOF (degree of freedom) gravity balanced operating microscope frame - Google Patents
6-DOF (degree of freedom) gravity balanced operating microscope frame Download PDFInfo
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- CN101702050A CN101702050A CN200910212611A CN200910212611A CN101702050A CN 101702050 A CN101702050 A CN 101702050A CN 200910212611 A CN200910212611 A CN 200910212611A CN 200910212611 A CN200910212611 A CN 200910212611A CN 101702050 A CN101702050 A CN 101702050A
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Abstract
The invention discloses a 6-DOF (degree of freedom) gravity balanced operating microscope frame which comprises a footstand, an upright post, a bearing arm, a rear supporting seat, a balance arm, a front supporting seat and a small frame. The invention designs a combining mode of transmitting balance force through a cable and adding a balance moment through a movable pulley and a lever with a built-in balance weight to realize the balance of an operating microscope and a cantilever and designs a break-proof cable structure of double working cables and a safety cable so as to guarantee the working safety of the frame. Six rotation degrees of freedom of the whole frame are all electromagnetically locked, and the built-in gravity balanced structure effectively reduces the gravity center of the frame, thereby improving the stability. Compared with lever type gravity balance, the frame has the characteristics of flexibility and compact appearance.
Description
Technical field
The present invention relates to a kind of frame, especially a kind of have a built-in gravity balanced operating microscope frame of 6DOF.
Background technology
Operating microscope frame is the assembly of all parts of surgical operation microscope except that microscope.Its effect is to support microscope, for enough working spaces are provided in the micrurgy process, is up to 6 degree of freedom, provides microscope any position and attitude in operative region can both keep balance and positive lock.Operating microscope frame generally is divided into the fixing suspended structure of ceiling and adopts the moving structure of runners roller type, two kinds of structures all have cantilever design, the effect of cantilever mainly is to support microscope and provide surgical procedure the microscopical adjustment function that moves up and down, cantilever also claims balance arm, the balance mode of balance arm has three kinds, mechanical spring balance, pneumatic spring balance and gravitational equilibrium.Domestic surgical operation microscope mainly adopts the mechanical spring balance mode at present, adopts the pneumatic spring balance mode on a small quantity, still agravic balanced type operating microscope frame.Surgical operation microscope implement porter patent (ZL03220773.5) is the mechanical spring balance mode, the mechanical spring balance mode is simple in structure, but the nonlinearities change that between equilibrium area, has equilibrant, need apply bigger damping force to cradle head and guarantee at an arbitrary position balance, this has increased and has moved microscopical resistance.Pneumatic spring exists and the same problem of mechanical spring, and equilibrant is less, generally is used for more small-sized operating microscope frame.
The external existing patent that relates to the gravitational equilibrium operating microscope frame, as European patent " SurgicalMicroscope Unit " (EP0700665B1) and United States Patent (USP) " Counterbalanced SupportingFrame for a Surgical Microscope " (US5173802) the disclosed gravitational equilibrium frame that is used for surgical operation microscope belong to lever gravitational equilibrium frame, lever gravitational equilibrium frame has stable equalising torque ability in theory, but mechanism's more complicated, whole frame weight is heavier, counterweight block is external, moment of inertia is bigger, and can not relatively rotate between balance arm and the load bearing arm, when in surface level, rotating surgical operation microscope machine balance arm, need to rotate the whole weight except that base, reduced the surgical operation microscope flexibility of operation.
The present invention proposes a kind of counterbalance weight and be built in the interior gravitational equilibrium rack construction of column, transmit required balancing gravity and utilize pulley to change the power transmission direction by hawser, it is little to have a balance nonlinearity erron, good stability, mobile flexible characteristic, high gear surgical operation microscope in being mainly used in.
Summary of the invention
Disclosed by the invention have a built-in gravity balanced operating microscope frame of 6DOF, broken through the structure limitation of lever gravitational equilibrium frame, it is built-in to have designed a kind of counterbalance weight, rely on hawser to transmit equilibrant, add the array mode realization surgical operation microscope of trimming moment and the balance of cantilever by travelling block and lever, and the whole 6DOF revolute joints of frame are adopted electric lost electromagnetic lock enforcement joint locking and unclamp control.
For reaching above-mentioned technical purpose, 6DOF gravitational equilibrium surgical operation microscope disclosed by the invention comprises runners 10, column 20, load bearing arm 30, rear support 40, balance arm 70, preceding bearing 77, little frame 80; In the described column 20, be provided with the little frame 80 that is used for equalizing suspension system bearing 77 before balance arm 70 and the counter weight device 21 of microscope 100 weight, pass fixed pulley 32, the fixed pulley 36 that is positioned at load bearing arm 30 by the hawser 33 that is connected with balancing weight 210, and the leading block in rear support 40 49, the travelling block 48 by being installed in upper connecting rod 71 extension 71a, fixed pulley 46, sell the travelling block 73 that is connected on lower link 72 and be fixed in the terminal 47a of hawser on the upper connecting rod 71 extension 71a adjustment disks 47; Revolution place of described column 20, load bearing arm 30, rear support 40, little frame 80 is provided with electric lost electromagnetic lock 23,37,42,803,802,815 separately and respectively locking is implemented in the joint of 6 revolution degree of freedom I, II, III, IV, V, VI; Be provided with tensioner 34 in the described load bearing arm 30, comprise stretching pulley 341, guide bracket 342, spring 343, push rod 344 and alarm switch 345; Described hawser 33 is made up of 2 work cable 33a and 1 safety cable 33b; All have 3 annular groovings on described fixed pulley 32, fixed pulley 36, leading block 49, travelling block 48, fixed pulley 46, the travelling block 73, grooving 32a in the middle of safety cable 33b is positioned at "; 2 work cables lay respectively at both ends grooving 32a ', bear the pulling force of balancing weight 210.
The electromagnetic lock 42 of balance arm 70 cradle head III is housed, with the coaxial small pulley 41 of electromagnetic lock 42, through being fixed in big belt wheel 44 engagements of one with 43 with lower link 72 synchronously in the rear support 40 of the present invention.
Be provided with lamp box 50 in the rear support 40 of the present invention, light pricker seat 61 switched with pedestal 63 between left lamp 52 and right lamp 54 by rotating light pricker switching device shifter 60, and left lamp 52 and the right lamp 54 aimed at by left-handed opening 62 and right switch 64 conducting light prickers.
A kind of 6DOF gravity balanced operating microscope frame of the present invention is characterized in that the lower link 72 of described balance arm 70 is the bending structure, and when balance arm 70 swung up and down, it was spacing to contact realization with lower link 72 tops by upper connecting rod 71 bottoms.
The electromagnetic lock 815 that little frame 80 revolute joint VI of the present invention are provided with is realized the rotation of microscope 100 around microscope axis of rotation 817 by the engagement of the pinion wheel 814 that is sleeved on the bearing pin 812 and is connected in frictional disk 823 and sector gear 813.
Principal feature of the present invention:
1. balance arm of the present invention adopts travelling block and prolongs the novel structure that the leverage of upper connecting rod combines, and collection has that travelling block is laborsaving, and the hawser end is in the upper connecting rod extended end, and adjustable positions is provided, and duplex adds the hawser force transferring structure of safety cable protection as cable.
2. improving tradition adopts the spring balancing structure that balance arm is produced the equilibrant nonlinearity erron, guiding and break-in effect by hawser and fixed pulley, counterweight block is moved in the framework pillar near bottom section, make the center of gravity of frame be in 1/4～1/3 place of whole bracket height, and make whole frame center of gravity as far as possible near the base center, play the reduction center, improve stability.
3. to adopt operating microscope frame of the present invention be domestic the first all adopts the operating microscope frame of electromagnetic locking based on gravitational equilibrium and whole six revolution degree of freedom, and comparing with external gravitational equilibrium frame also is to have original novel structure.Built-in gravitational equilibrium frame.More traditional lever gravitational equilibrium has dirigibility and outward appearance is succinct.
Description of drawings
Accompanying drawing 1 is the general structure sketch of frame of the present invention;
Accompanying drawing 2 is A-A cut-open views of Fig. 1;
Accompanying drawing 3 is that the B of Fig. 1 is to view;
Accompanying drawing 4 is safety cable tension force warning device views;
Accompanying drawing 5 is plan view of Fig. 4.
Accompanying drawing 6 is partial enlarged views of Fig. 1 rear support 40
Accompanying drawing 7 is partial enlarged views of the little frame 80 of Fig. 1
Accompanying drawing 8 is that the C of Fig. 7 is to partial view
Among the figure: 10, runners, 11, the runners body, 12, castor, 13, connection is turned blue, and 14, bearing, 15, bearing pin, 16, guide roller, 17, screw 18, landing gear, 18a, shedding cam, 18b, the support domain, 19, release hook, 20, column, 201, strut, 202, terminal pad, 203, shell, 204, cover for seat, 21, counter weight device, 210, balancing weight, 210a, adjustment sheet, 211, attachment screw, 212, pulley, 213, pivot pin, 214, regulate cable, 215, the hawser Connection Block, 215a, back saddle, 215b, preceding saddle, 216, screw, 217, joint, 23, electromagnetic lock, 24, bearing, 25, axle sleeve, 26, the column axis, 27, handle, 30, load bearing arm, 31, the load bearing arm body, 32, fixed pulley, 32a, pulley, 32a ', the end grooving, 32a "; middle grooving; 32b; bearing pin, 32c; bearing, 33; hawser, 33a, the work cable, 33b, safety cable, 34, tensioner, 341, straining pulley, 342, guide bracket, 343, spring, 344, push rod, 345, alarm switch, 35, load bearing arm axis 36, fixed pulley, 37, electromagnetic lock, 38, bearing, 39, axle sleeve, 40, rear support, 41, small pulley, 42, electromagnetic lock, 43, be with synchronously, 44, big belt wheel, 45, bearing pin, 46, fixed pulley, 47, adjustment disk, 47a, the hawser end, 48, travelling block, 49, leading block, 50, lamp box, 51, handle, 52, left side lamp, 53, guide rail, 54, right lamp, 60, light pricker switching device shifter, 61, fiber bench, 62, left-handed opening, 63, pedestal, 64, right switch, 65, optical fiber, 70, balance arm, 71, upper connecting rod, 71a, the extension, 71a ', the extension is upper, 71a "; the extension is the next; 72; lower link; 73; travelling block, and 74, bearing pin, 75, preceding bearing axis, 76, bearing pin, 77, preceding bearing, 78, bearing pin, 80, little frame, 801, upper boom, 802, electromagnetic lock, 803, electromagnetic lock, 804, Connection Block, 805, bearing pin, 806, bearing pin, 807, bearing pin, 808, lower beam, 809, curved boom, 810, bearing pin, 811, bearing pin, 812, bearing pin, 813, sector gear, 814, pinion wheel, 815, electromagnetic lock, 816, knee, 817, the microscope axis of rotation, 818, bearing pin, 819, bearing pin, 820, bent plate, 821, pad,, 822, pin, 823, frictional disk, 823a, friction disc, 824, armature, 824a, friction disc, 825, spring, 826, magnetism isolating spacer, 827, set nut, 828, electromagnet, 828a, coil, 829, straight pin, 830, electromagnet base, 831, screw, 832, holding screw, 833, bearing pin, 834, screw, 100, microscope, 101, manipulating handgrip.
Embodiment
Below with specific embodiment, and in conjunction with the accompanying drawings, technical scheme of the present invention is described in further detail.Accompanying drawing provided by the present invention is a structure diagram, illustrates that implementation method of the present invention, primary structure form and layout, and omits or simplify less important detail structure.
Embodiment: accompanying drawing 1 is general structure sketch of the present invention: frame is made of base 10, column 20, load bearing arm 30, rear support 40, balance arm 70 and little frame 80, and microscope 100 links to each other with little frame 80.
Because balancing weight 210 weight are constant, if ignore pulley resistance and the weight of hawser own everywhere, then hawser 33 suffered tension force are constant, and hawser 33 suffered total tension force equal balancing weight 210 weight, two weight that work cable 33b respectively bears 1/2 balancing weight.Along with balance arm 70 swings up and down, the balancing moment that hawser 33 is produced by 73 pairs of lower links 72 of travelling block is along with balance arm 70 pivot angles change, the balancing moment that hawser 33 is applied by 48 pairs of upper connecting rods 71 of travelling block is also along with balance arm 70 pivot angles change, by rationally be provided with travelling block 73 the position of lower link 72 and travelling block 48 the position of upper connecting rod 71 extension 71a can make balance arm 70 swinging up and down interval in arbitrarily angled holding torque in a basic balance.
6 degree of freedom of whole frame all realize that by cradle head desirable duty is when electromagnetic lock unclamps, and microscope 100 all is in " weightlessness " state, can be by move operation handle 101 slim and graceful locus and the attitudes of adjusting microscope 100.
The big frame that is made of column 20, load bearing arm 30, balance arm 70 realizes 3 degree of freedom (I, II, III), mainly finish the Primary Location of microscope working position, the little frame 80 of the two parallelogram of head realizes the rotation of other 3 degree of freedom (IV, V, VI), can carry out the accurate adjustment and the location of microscope 100 position and attitude among a small circle.
The structure of electromagnetic lock 23, electromagnetic lock 37, electromagnetic lock 42, electromagnetic lock 803 is non-friction disk type electromagnetic lock, lock principle and structure referring to patent of invention " a kind of electromagnetic locking device with rotary joint " (ZL:200510092591.0), electromagnetic lock 802 and electromagnetic lock 815 adopt friction disk type structure commonly used.
Among Fig. 2, be provided with 3 uniform guide rollers 16 at balancing weight 210 excircles, turn blue on 13 being fixed on the bearing 14 and by screw 17 to connect by bearing pin 15 pin joints, balancing weight 210 is moved up and down is limited in along column axis 26 directions, prevent since ground not 13 endoporus that turn blue of balancing weight 210 and connection at ordinary times wipe mutually.
Among Fig. 3, by 4 screws 216 the preceding saddle 215b of hawser Connection Block 215 and back saddle 215a are compressed two work cable 33a, safety cable 33b and adjusting cable 214 are pressed in the hole of joint 217.
The trimming moment of balance arm 70 realizes by the weight that places the counterbalance weight 210 in the column 21, the microscope 100 that balance arm 70 is hung is because the annex difference, weight is different, can come the coarse adjustment balance by the adjustment sheet 210a of increase and decrease counterbalance weight 210 or the weight of change adjustment sheet 210a, and realize the fine setting of balance by the adjusting of the terminal 47a of upper connecting rod 71 hawsers position.
Among Fig. 4, the diameter of hawser 33 will satisfy the greatest limit pulling force and avoid the possibility of fatigue breakdown, and considers certain safety coefficient.During for 33 breakdown of assurance contingency hawser microscope 100 whereabouts accidents not taking place, must consider that hawser draws 33 just in case the safety precautions of being broken.Hawser 33 is divided into 2 work cable 33a in the present invention and 1 safety cable 33b constitutes, pulley 32a is supported on the bearing pin 32b by bearing 32c, on each pulley of 33 processes of hawser, be provided with three groovings, two work cable 33a embed in the grooving 32a ' of pulley 32a both ends grooving 32a in the middle of safety cable then is positioned respectively " in.Normal operating condition is born the pulling force of balancing weight 210 jointly by 2 work cable 33a, if in case work cable 33a breakdown situation occurs, then safety cable 33b works immediately, the length of safety cable 33b slightly is longer than work cable 33a, by tensioning under the effect of spring 343 and straining pulley 341, when work cable 33a operate as normal, do not play the load-bearing effect, only follow in the groove of pulley and slide.
The material of hawser 33 can be that wire rope, nylon rope or other have the flexible strand of carrying and power transmission ability.Because the length of safety cable 33b slightly is longer than the work cable, when a certain work cable 33a breakdown, small moving down can appear in balance arm (70) head, the safety cable 33b work cable 33a that takes over fracture transfers loaded state to subsequently, simultaneously guide wheel 341 is by jack-up, drives push rod 344 and overcomes on spring 343 power and move, and push rod 344 upper ends contact with alarm switch 345, send alerting signal, so that in time change hawser.During as generation hawser 33a breakdown in operation, can treat to change hawser 33a after operation finishes.
Among Fig. 5, represented the annexation between work cable 33a, safety cable 33b and hawser Connection Block 215 and the hawser counter weight device 21.Attachment screw 211, pulley 212, pivot pin 213 are set between balancing weight 210 and hawser Connection Block 215 and regulate cable 214, by changing the height and position of the length adjustment balancing weight 210 of regulating cable 214.Unclamp 4 screws 216 on the hawser Connection Block 215, can make separating of hawser 33 and balancing weight 210, be convenient to the split packed and transported of load bearing arm 30 with the column 20 of frame.
When breakdown takes place in work cable 33a, safety cable 33b replaces its function rapidly after load-bearing, because there are very little length difference in work cable 33a and safety cable 33b, can make 215 run-off the straights of hawser Connection Block, at this moment, regulating cable 214 and pulley 212 can regulate automatically, keeps balancing weight 210 not run-off the straights.
Among Fig. 6, rear support 40 plays balance support arm 70, around load bearing arm axis 35 revolution, electromagnetic lock 42 is installed, the guiding of hawser 33a, 33b and operation illuminator lamp case 50 is installed and is changed the function of lamp mechanism 60.In order to improve the locking torque that balance arm 70 swings up and down the joint, electromagnetic lock 42 has adopted the moment of tooth form synchronous belt transmission to increase mechanism.Patent " parallel-crank mechanism of band boosting-type electromagnetic locking device " (ZL03220972.X), adopt the transmission of gear reduction of speed to amplify locking torque, but because the existence of gear-driven gap can cause the idle motion of rotation, balance arm of the present invention 70 rotary joint electromagnetic locks 42 adopt reductions of speed to be with the reinforcement transmission synchronously, make to be with 43 to be in tensioning state and can to eliminate drive gap synchronously.
Be positioned at the adjustment disk 47 of upper connecting rod 71 extension 71a by rotation, can change hawser terminal 47a position and, play balance fine setting effect little frame 80 and microscope 100 weight with respect to the additional torque at bearing pin 45 centers.
In rear support 40, be provided with operation illuminator lamp case 50, in establish two groups of light sources, by rotating light pricker switching device shifter 60 light pricker seat 61 is switched between left lamp 52 and right lamp 54, and left lamp 52 and the right lamp 54 aimed at by left-handed opening 62 and right switch 64 conducting light prickers 65, guarantee when a certain light source damages, to switch to fast in the operation another group light source and continue operation, can lamp box 50 be pulled out along guide rail 53 by handle 51 after the operation and carry out replacing bulb.
Supplementary structures such as the not shown location of changing lamp mechanism and external knob.
Among Fig. 7, little frame 80 is formed parallel-crank mechanism by upper boom 801, lower beam 802, Connection Block 804, curved boom 809 by bearing pin 805,806,810,811, can rotate around bearing pin 805,811, drives curved boom 809 upper and lower translations by bearing pin 806,810.Constitute another parallelogram sturcutre by upper boom 801, lower beam 802, curved boom, connecting rod by bearing pin, link gear, the compound motion that provides microscope 100 to move up and down and rotate are provided two quadrilateral connecting rods.
The C shape structure of the bending of curved boom 810 and bent plate 816 is that microscope 100 is at paper plane counter-clockwise swing vacating space.Little frame 80 should overlap with preceding bearing axis 75 with microscope 100 and the formed center of gravity of annex thereof or be as close as possible.
The electromagnetic lock release button is provided on the manipulating handgrip 101, can realize that 6 rotary joints unclamp simultaneously, carry out the preliminary adjustment of microscope 100 locus and attitude, and can keep 3 degree of freedom of big arm (electromagnetic lock 23, electromagnetic lock 37, electromagnetic lock 42) under locking state, 3 of little frame 80 revolution degree of freedom (electromagnetic lock 803, electromagnetic lock 802, electromagnetic lock 815) are unclamped, satisfy the needs that adjust the telescope to one's eyes 100 locus and attitude are accurately adjusted.
Fig. 8 has represented the structure at electromagnetic lock 815 positions of revolute joint VI, by the sector gear 813 that is socketed in bearing pin 833 and is connected with bent plate 820 usefulness screws 834, be sleeved on pinion wheel 814 on the bearing pin 812, electromagnet 828 at electromagnet base 830 internal fixation with frictional disk 823 by what pin 822 was connected, bearing pin 812 is connected with electromagnet 828 by screw thread, and locks with set nut 827.Electromagnet base 830 is sleeved on bearing pin 833 and keeps spacing by pad 821 and bent plate, by holding screw 832 and bearing pin 833 lockings.Microscope 100 is located by bearing pin 833 right-hand members, and is solidified as a whole by screw 831 and electromagnet base 830.When electromagnet 828 interior loop 828a dead electricity, push armature 824 by the some springs 825 that are arranged in the electromagnet 828 through magnetism isolating spacer 826, make with the bonding friction disc 824a of armature 824 with the bonding friction disc 823a of frictional disk 823 and compress, by the friction force between friction disc 823a and the 824a, armature 823 leads by straight pin 829 with electromagnet 828 and limits its rotation, make electromagnet base 830 and pinion wheel 814 lockings, realization surgical operation microscope 100 is locked around 817 stop of microscope axis of rotation, during coil 828a energising, by the electromagnetic force that on electromagnet 828, produces armature 824 suctions are leaned against the electromagnet end face, friction disc 823a is separated with 824a, thereby microscope 100 is rotated around microscope axis of rotation 817 by the pinion wheel 814 and the engagement of sector gear 813.
Claims (8)
1. 6DOF gravity balanced operating microscope frame, it is characterized in that: it comprises runners (10), column (20), load bearing arm (30), rear support (40), balance arm (70), preceding bearing (77), little frame (80); In the described column (20), be provided with and be used for the counter weight device (21) of equalizing suspension system in the little frame (80) and microscope (100) weight of the preceding bearing of balance arm (70) (77), pass the fixed pulley (32) that is positioned at load bearing arm (30) by the hawser (33) that is connected with balancing weight (210), fixed pulley (36), and the leading block (49) in rear support (40), by being installed in the travelling block (48) of upper connecting rod (71) extension (71a), fixed pulley (46) is sold the travelling block (73) that is connected on lower link (72) and is fixed in hawser end (47a) on upper connecting rod (71) extension (71a) adjustment disk (47); Revolution place of described column (20), load bearing arm (30), rear support (40), little frame (80) is provided with electric lost electromagnetic lock (23,37,42,803,802,815) separately and respectively locking is implemented in the joint of 6 revolution degree of freedom (I, II, III, IV, V, VI); Be provided with tensioner (34) in the described load bearing arm (30), comprise stretching pulley (341), guide bracket (342), spring (343), push rod (344) and alarm switch (345); Described hawser (33) is made up of 2 work cables (33a) and 1 safety cable (33b); All have 3 annular groovings on described fixed pulley (32), fixed pulley (36), leading block (49), travelling block (48), fixed pulley (46), the travelling block (73), (the 32a "); 2 work cables lay respectively at both ends grooving (32a '), bear the pulling force of balancing weight (210) of grooving in the middle of safety cable (33b) is positioned at.
2. a kind of 6DOF gravity balanced operating microscope frame according to claim 1, it is characterized in that described little frame (80) forms parallel-crank mechanism by upper boom (801), lower beam (808), Connection Block (804), curved boom (809) by bearing pin (805,806,810,811), and can center on bearing pin (805,811) rotation, drive curved boom (809) upper and lower translation by bearing pin (806,810); Constitute another parallelogram sturcutre by lower beam (808), curved boom (809), knee (816) and bent plate (820) by bearing pin (807,810,818,819), two quadrilateral connecting rods constitute link gear, and the microscope compound motion that (100) move up and down and rotate is provided.
3. a kind of 6DOF gravity balanced operating microscope frame according to claim 1, it is characterized in that being equipped with in the described rear support (40) electromagnetic lock (42) of balance arm (70) cradle head (III), be with (43) and lower link (72) to be fixed in big belt wheel (44) engagement of one synchronously with small pulley (41), warp that electromagnetic lock (42) is coaxial.
4. according to claim 1 or 3 described a kind of 6DOF gravity balanced operating microscope frames, it is characterized in that being provided with in the described rear support (40) lamp box (50), by rotating light pricker switching device shifter (60) light pricker seat (61) is switched between left lamp (52) and right lamp (54) with pedestal (63), and left lamp (52) and the right lamp (54) aimed at by left-handed opening (62) and right switch (64) conducting light pricker.
5. a kind of 6DOF gravity balanced operating microscope frame according to claim 1, it is characterized in that described counter weight device (21), be provided with 3 guide rollers (16) at the balancing weight excircle, balancing weight (210) moved up and down be limited in along the column axis direction, prevent ground not at ordinary times balancing weight (210) (13) endoporus that turns blue with connection wipe mutually.
6. a kind of 6DOF gravity balanced operating microscope frame according to claim 1, it is characterized in that described column (20) is fabricated structure, be formed by connecting by assembling, and decorate by shell (203) parcel in some struts (201) of circumference uniform distribution, some terminal pads (202) and cover for seat (204) segmentation; Terminal pad (202) shell (204) in each segmentation is a semicircle subdivision subassembly, and is fixing by some screws and terminal pad (202).
7. a kind of 6DOF gravity balanced operating microscope frame according to claim 1, the lower link (72) that it is characterized in that described balance arm (70) is the bending structure, when swinging up and down, it is spacing to contact realization with lower link (72) top by upper connecting rod (71) bottom at balance arm (70).
8. a kind of 6DOF gravity balanced operating microscope frame according to claim 1 is characterized in that the engagement of electromagnetic lock (815) that described little frame (80) revolute joint (VI) the is provided with pinion wheel (814) by being sleeved on bearing pin (812) and going up and be connected in frictional disk (823) and sector gear (813) realizes the rotation of microscope (100) around microscope axis of rotation (817).
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| CN2009102126111A CN101702050B (en) | 2009-11-12 | 2009-11-12 | 6-DOF gravity balanced operating microscope frame |
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|---|---|---|---|
| CN2009102126111A CN101702050B (en) | 2009-11-12 | 2009-11-12 | 6-DOF gravity balanced operating microscope frame |
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| CN101702050B CN101702050B (en) | 2011-06-29 |
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2009
- 2009-11-12 CN CN2009102126111A patent/CN101702050B/en not_active Expired - Fee Related
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