CN114251571B - Gravity center and damping adjustable navigation binocular camera pitch angle adjusting structure - Google Patents
Gravity center and damping adjustable navigation binocular camera pitch angle adjusting structure Download PDFInfo
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- CN114251571B CN114251571B CN202111642361.2A CN202111642361A CN114251571B CN 114251571 B CN114251571 B CN 114251571B CN 202111642361 A CN202111642361 A CN 202111642361A CN 114251571 B CN114251571 B CN 114251571B
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- angle adjusting
- binocular vision
- vision camera
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- guide rail
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- 230000005484 gravity Effects 0.000 title claims abstract description 40
- 238000013016 damping Methods 0.000 title claims abstract description 20
- 230000007246 mechanism Effects 0.000 claims abstract description 27
- 229910000831 Steel Inorganic materials 0.000 claims description 6
- 239000010959 steel Substances 0.000 claims description 6
- 230000008859 change Effects 0.000 abstract description 5
- 230000007547 defect Effects 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 description 18
- 238000010586 diagram Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000399 orthopedic effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
Images
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Accessories Of Cameras (AREA)
Abstract
The invention relates to a gravity center and damping adjustable navigation binocular camera pitch angle adjusting structure which comprises a binocular vision camera, a binocular vision camera fixing piece, an arc-shaped guide rail, a balancing weight, a medical folding arm, an angle adjusting mechanism and an angle adjusting mechanism fixing piece, wherein one side of the binocular vision camera is connected with the binocular vision camera fixing piece, the tail part of the binocular vision camera fixing piece is fixed with the top part of the arc-shaped guide rail, and the angle adjusting mechanism comprises a bushing, an angle adjusting sliding block and an angle adjusting sliding block fixing piece; the angle adjusting mechanism is fixedly connected with the medical folding arm through an angle adjusting mechanism fixing piece. The gravity center of the binocular vision camera moving assembly of the structure coincides with the circle center of the moving track, additional damping is not needed to overcome the defect that gravity adjustment is smoother, a self-locking function is provided, and the pitching angle can be locked and cannot change due to gravity after being adjusted in place.
Description
Technical Field
The invention relates to the technical field of medical appliances, in particular to a pitching angle adjusting structure of a navigation binocular camera with adjustable gravity center and damping.
Background
In recent years, with the rapid development of orthopaedics technology, image assistance has become one of the main directions of orthopaedics. In this case, the binocular camera is widely used in the navigation system of the robot for the orthopedic surgery, but adjusting the pitch angle of the binocular camera becomes still another problem.
The current operation robot navigation binocular camera is more complicated in adjusting the pitch angle, for example, patent number CN103735315A provides a mode for adjusting the pitch angle of the binocular camera, but the patent is fixed on a folding bracket by using the binocular vision camera, wherein friction damping is generated at a connecting shaft, and the angle stability is kept by overcoming gravity through the friction force at the connecting shaft after the binocular vision camera is adjusted in place, so that the force required for downward adjustment is the friction force minus the gravity of the binocular vision camera when adjusting the pitch angle, the adjustment is easier, the force required for upward adjustment is the friction force plus the gravity of the binocular vision camera, and the adjustment is more laborious; in addition, the pitching angle of the binocular vision camera is fixed through friction force by the rotating shaft part, and after the rotating shaft is loosened after the binocular vision camera is used for a long time, the pitching angle is easy to change under the action of gravity.
The invention comprises the following steps:
the invention aims to overcome the defects of the prior device for adjusting the pitch angle of the navigation binocular camera in the background technology and provides a pitch angle adjusting structure of the navigation binocular camera with adjustable gravity center and damping. The gravity center of the binocular vision camera moving assembly of the structure coincides with the circle center of the moving track, additional damping is not needed to overcome the defect that gravity adjustment is smoother, a self-locking function is provided, and the pitching angle can be locked and cannot change due to gravity after being adjusted in place.
The technical scheme of the invention is as follows: the utility model provides a focus and damping adjustable navigation binocular camera pitch angle adjustment structure, includes binocular vision camera, binocular vision camera mounting, arc guide rail, balancing weight, medical folding arm, angle adjustment mechanism and angle adjustment mechanism mounting, one side of binocular vision camera is connected with binocular vision camera mounting, the afterbody of binocular vision camera mounting is fixed with the top of arc guide rail, angle adjustment mechanism includes the bush, angle adjustment slider mounting; the angle adjusting mechanism is fixedly connected with the medical folding arm through an angle adjusting mechanism fixing piece.
Preferably, the bushing of the angle adjusting mechanism is fixed between the angle adjusting slide block and the angle adjusting slide block fixing piece, a threaded through hole is formed in the angle adjusting slide block, the steel ball and the spring are limited in the threaded through hole by the set screw, a circular through hole is formed in the bushing, the steel ball penetrates through the circular through hole to be fixed on the arc-shaped guide rail, and damping when the arc-shaped guide rail slides is adjusted by screwing and unscrewing the set screw.
Further, the bushing of the angle adjusting mechanism is sleeved in the arc-shaped guide rail, and the arc-shaped guide rail slides in the bushing through pushing and pulling the adjusting handle, so that the pitch angle of the binocular vision camera is adjusted.
Further, the binocular vision camera fixing piece, the arc-shaped guide rail and the adjusting handle are combined to form a counterweight of the binocular vision camera moving assembly, so that the gravity center of the assembly and the circle center of the track of the arc-shaped guide rail are mutually overlapped.
Further, a chute with scales is arranged below the binocular vision camera fixing piece, and the balancing weight is fixed in the chute through a locking screw.
Further, an adjusting handle is fixed at the tail end of the arc-shaped guide rail.
Further, the binocular vision camera is fixed with the binocular vision camera fixing piece through a screw.
The invention provides a pitching angle adjusting structure of a navigation binocular camera with adjustable gravity center and damping, which has the following advantages: 1. the gravity center of the binocular vision camera motion assembly coincides with the circle center of the motion track, and additional damping is not needed to overcome the gravity to adjust the binocular vision camera motion assembly smoothly; 2. the self-locking function is provided, and the pitch angle can be locked and cannot change due to gravity after being adjusted in place; 3. the binocular vision cameras of different models can be matched by adjusting the positions of the balancing weights.
Drawings
Features, advantages, and technical effects of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings.
FIG. 1 is an exploded view of the present invention at an angle;
FIG. 2 is a schematic weight view of a binocular vision camera motion assembly of the present invention;
FIG. 3 is a schematic diagram of the center of gravity of the binocular vision camera motion assembly of the present invention; the center of gravity of the binocular vision camera moving assembly is coincident with the center of the circle of the motion track of the arc-shaped guide rail 9;
FIG. 4 is a schematic diagram of the center of gravity of the binocular vision camera motion assembly of the present invention; the center of gravity of the binocular vision camera moving assembly always coincides with the center of the circle of the motion track of the arc-shaped guide rail 9 under the condition of adjusting different pitch angles;
FIG. 5 is a schematic view of a binocular vision camera mount and counterweight of the present invention;
FIG. 6 is a schematic diagram of the center of gravity of a binocular vision camera motion assembly of a certain model of the present invention coinciding with the center of the motion trail of the arcuate guide rail 9;
fig. 7 is a schematic diagram of the invention, wherein the gravity centers of the binocular vision camera moving assemblies of different models are overlapped with the circle centers of the movement tracks of the arc-shaped guide rails 9 by adjusting the positions of the balancing weights.
Detailed Description
The following detailed description of embodiments of the invention and the accompanying drawings are provided to illustrate the principles of the invention and not to limit the scope of the invention, i.e. the invention is not limited to the described examples.
In the description of the present invention, it should be noted that, unless otherwise indicated, the meaning of "multiple" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," and the like are merely used for convenience in describing the present invention and to simplify the description, and do not denote or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "assembled" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention can be understood as appropriate by those of ordinary skill in the art.
For a better understanding of the present invention, the method and apparatus of the present invention are described in detail below with reference to the accompanying drawings.
As shown in fig. 1, the invention provides a pitching angle adjusting structure of a navigation binocular camera with adjustable gravity center and damping, which is characterized by comprising a binocular vision camera 1, a binocular vision camera fixing piece 2, an arc-shaped guide rail 9, a balancing weight 3, a medical folding arm 13, an angle adjusting mechanism and an angle adjusting mechanism fixing piece 12, wherein one side of the binocular vision camera is connected with the binocular vision camera fixing piece, the tail part of the binocular vision camera fixing piece is fixed with the top part of the arc-shaped guide rail, and the angle adjusting mechanism comprises a bushing 10, an angle adjusting sliding block 5 and an angle adjusting sliding block fixing piece 11; the angle adjusting mechanism is fixedly connected with the medical folding arm 13 through an angle adjusting mechanism fixing piece 12. The bushing 10 of the angle adjusting mechanism is fixed between the angle adjusting slide block 5 and the angle adjusting slide block fixing piece 11, a threaded through hole is formed in the angle adjusting slide block 5, the steel ball 8 and the spring 7 are limited in the threaded through hole by the set screw 6, a circular through hole is formed in the bushing 10, the steel ball 8 is fixed on the arc-shaped guide rail 9 through the circular through hole, and damping when the arc-shaped guide rail slides is adjusted by screwing and unscrewing the set screw 6. The bushing 10 of the angle adjusting mechanism is sleeved in the arc guide rail, and the arc guide rail 9 slides in the bushing 10 by pushing and pulling the adjusting handle 14, so that the pitch angle of the binocular vision camera 1 is adjusted.
The lower part of the binocular vision camera fixing piece is provided with a chute with scales, and the balancing weight 3 is fixed in the chute through a locking screw 4.
An adjusting handle 14 is fixed at the tail end of the arc-shaped guide rail.
The binocular vision camera 1 is fixed with the binocular vision camera fixing piece 2 through screws.
As shown in fig. 2, the balance weight of the binocular vision camera moving assembly composed of the binocular vision camera 1, the binocular vision camera fixing piece 7, the arc-shaped guide rail 9 and the adjusting handle 14 is designed so that the gravity center of the assembly and the track center of the arc-shaped guide rail 9 are mutually overlapped.
As shown in fig. 3, the binocular vision camera moving assembly moves along the arc of the arc guide 9 by pushing the adjustment handle 14 as shown in fig. 4. And because the gravity center of the binocular vision camera moving assembly coincides with the circle center of the guide rail moving track, the whole gravity center of the binocular vision camera moving assembly does not change in the adjusting process, and the binocular vision camera moving assembly does not move relatively under the action of gravity after the hands are loosened.
As shown in fig. 5, a chute to be calibrated is designed below the binocular vision camera fixing piece 2, and the counterweight sliding block 3 is fixed in the chute through a set screw 4. In actual use, the binocular vision cameras with different models can be replaced by adjusting the positions of the balancing weights, so that the center of gravity of the whole binocular vision camera moving assembly coincides with the center of the moving track of the arc-shaped guide rail 9, and the center of gravity coincides with the center of the moving track of the arc-shaped guide rail 9, as shown in fig. 6 and 7.
According to the invention, the angle adjusting slide block is fixed, the arc guide rail and the binocular vision camera are fixed into a motion assembly through the binocular vision camera fixing piece to perform arc motion, so that the pitch angle adjustment is realized in one embodiment, the angle adjusting slide block can also be changed into the arc guide rail fixing, and the angle adjusting slide block is fixed into a motion assembly through the binocular vision camera fixing piece and the binocular vision camera 1 to perform arc motion on the arc guide rail, so that the pitch angle adjustment is realized. Or other transmission mechanisms which can realize circular arc movement and the circle center of the movement track coincides with the gravity center of the movement assembly to achieve the same effect are adopted.
While the invention has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the technical features mentioned in the respective embodiments may be combined in any manner as long as there is no structural conflict. The present invention is not limited to the specific embodiments disclosed herein, but encompasses all technical solutions falling within the scope of the claims.
Claims (5)
1. The utility model provides a gravity center and damping adjustable navigation binocular camera pitch angle adjusting structure, its characterized in that includes binocular vision camera (1), binocular vision camera mounting (2), arc guide rail (9), balancing weight (3), medical folding arm (13), angle adjustment mechanism and angle adjustment mechanism mounting (12), one side of binocular vision camera is connected with binocular vision camera mounting, the afterbody of binocular vision camera mounting is fixed with the top of arc guide rail, angle adjustment mechanism includes bush (10), angle adjustment slider (5), angle adjustment slider mounting (11); the angle adjusting mechanism is fixedly connected with the medical folding arm (13) through an angle adjusting mechanism fixing piece (12);
the lining (10) of the angle adjusting mechanism is fixed between the angle adjusting sliding block (5) and the angle adjusting sliding block fixing piece (11), a threaded through hole is formed in the angle adjusting sliding block (5), the steel ball (8) and the spring (7) are limited in the threaded through hole by the set screw (6), a circular through hole is formed in the lining (10), the steel ball (8) penetrates through the circular through hole to be fixed on the arc-shaped guide rail (9), and damping when the arc-shaped guide rail slides is adjusted by screwing and unscrewing the set screw (6);
the binocular vision camera (1), the binocular vision camera fixing piece (2), the arc-shaped guide rail (9) and the adjusting handle (14) are combined to form a counterweight of the binocular vision camera moving assembly, so that the center of gravity of the assembly and the circle center of the track of the arc-shaped guide rail (9) are mutually overlapped.
2. The navigation binocular camera pitch angle adjusting structure with adjustable gravity center and damping according to claim 1, wherein a bushing (10) of the angle adjusting mechanism is sleeved in the arc-shaped guide rail, and the arc-shaped guide rail (9) slides in the bushing (10) by pushing and pulling an adjusting handle (14), so that the pitch angle of the binocular vision camera (1) is adjusted.
3. The navigation binocular camera pitch angle adjusting structure with adjustable gravity center and damping according to claim 1, wherein a chute with scales is arranged below the binocular vision camera fixing piece, and the balancing weight (3) is fixed in the chute through a locking screw (4).
4. A navigation binocular camera pitch angle adjustment structure with adjustable centre of gravity and damping according to claim 1, characterized in that the end of the arc-shaped guide rail is fixed with an adjustment handle (14).
5. The navigation binocular camera pitch angle adjusting structure with adjustable gravity center and damping according to claim 1, wherein the binocular vision camera (1) is fixed with a binocular vision camera fixing piece (2) through screws.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111642361.2A CN114251571B (en) | 2021-12-30 | 2021-12-30 | Gravity center and damping adjustable navigation binocular camera pitch angle adjusting structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111642361.2A CN114251571B (en) | 2021-12-30 | 2021-12-30 | Gravity center and damping adjustable navigation binocular camera pitch angle adjusting structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114251571A CN114251571A (en) | 2022-03-29 |
| CN114251571B true CN114251571B (en) | 2023-07-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111642361.2A Active CN114251571B (en) | 2021-12-30 | 2021-12-30 | Gravity center and damping adjustable navigation binocular camera pitch angle adjusting structure |
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Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2235759C (en) * | 1997-04-23 | 2005-09-27 | Francois Caron | Two degree-of-freedom spherical orienting device |
| CN106175934B (en) * | 2016-06-29 | 2019-04-30 | 微创（上海）医疗机器人有限公司 | Operating robot and its mechanical arm |
| CN106370669B (en) * | 2016-08-16 | 2019-08-27 | 凌云光技术集团有限责任公司 | Full view detection system |
| CN107061959A (en) * | 2017-04-19 | 2017-08-18 | 徐和云 | A kind of novel telescopic spring bracing |
| CN110375169B (en) * | 2019-06-23 | 2024-05-03 | 泰州市创新电子有限公司 | Display screen support frame |
| CN213333595U (en) * | 2020-08-28 | 2021-06-01 | 深圳市大疆创新科技有限公司 | Counterweight assembly and cloud platform |
| CN213712581U (en) * | 2020-11-20 | 2021-07-16 | 上海蓝贵教育科技有限公司 | Wall-mounted artificial intelligence online education terminal |
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| CN114251571A (en) | 2022-03-29 |
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Address after: 310023 rooms 305 and 306, building 8, 181 Wuchang Avenue, Wuchang Street, Yuhang District, Hangzhou City, Zhejiang Province Applicant after: Hangzhou Jianjia Medical Technology Co.,Ltd. Address before: 310023 rooms 305 and 306, building 8, 181 Wuchang Avenue, Wuchang Street, Yuhang District, Hangzhou City, Zhejiang Province Applicant before: HANGZHOU JIANJIA ROBOT Co.,Ltd. |
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