JP5706477B2 - 重量補償式の保持装置 - Google Patents
重量補償式の保持装置 Download PDFInfo
- Publication number
- JP5706477B2 JP5706477B2 JP2013144221A JP2013144221A JP5706477B2 JP 5706477 B2 JP5706477 B2 JP 5706477B2 JP 2013144221 A JP2013144221 A JP 2013144221A JP 2013144221 A JP2013144221 A JP 2013144221A JP 5706477 B2 JP5706477 B2 JP 5706477B2
- Authority
- JP
- Japan
- Prior art keywords
- support arm
- holding device
- rotary joint
- support
- holding
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
-
- 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
- F16M11/105—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis the horizontal axis being the roll axis, e.g. for creating a landscape-portrait rotation
-
- 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
- F16M11/20—Undercarriages with or without wheels
- F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
- F16M11/2035—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction
- F16M11/2064—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction for tilting and panning
-
- 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
- F16M11/20—Undercarriages with or without wheels
- F16M11/2092—Undercarriages with or without wheels comprising means allowing depth adjustment, i.e. forward-backward translation of the head relatively to the undercarriage
-
- 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
- F16M11/20—Undercarriages with or without wheels
- F16M11/24—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other
-
- 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
- F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
- F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/001—Counterbalanced structures, e.g. surgical microscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
- A61B2090/5025—Supports for surgical instruments, e.g. articulated arms with a counter-balancing mechanism
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/20—Surgical microscopes characterised by non-optical aspects
-
- 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
- F16M2200/00—Details of stands or supports
- F16M2200/04—Balancing means
- F16M2200/048—Balancing means for balancing translational movement of the undercarriage
-
- 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
- F16M2200/00—Details of stands or supports
- F16M2200/06—Arms
- F16M2200/063—Parallelogram arms
Description
g: 重力加速度;
M: 支持アーム101に受けられている負荷物の質量;
L: 支持アーム101の有効長;
φ: 支持アームの角度位置
FFeder: 線形ばね構造120によって生成されるばね力;
r: レバーユニットとして機能するフック状のリンク機構案内部材119に対してばね力が作用する地点;
K: ばね定数
x: エネルギー蓄積器の撓み;
c: 定数;
Ψ: ばね力と、フック状のリンク機構案内部材119に対するその作用の位置ベクトルとの間の角度。
Claims (8)
- 医療光学機器(809)のための保持装置を含む保持装置(800)であって、
保持ユニット(804)と、
前記医療光学機器(809)を受けるようにされた第1の支持アーム(801)と第2の支持アーム(802)と、
前記第1の支持アーム(801)は、前記保持ユニット(804)に対して相対的に旋回可能に支承された第1の回転ジョイント(803)を有し、
前記第1の支持アーム(801)は、第2の回転ジョイント(805)を介して前記第2の支持アーム(802)に接続され、
前記第2の支持アーム(802)は、前記第1の回転ジョイント(803)と前記第2の回転ジョイント(805)で、負荷トルクを発生する負荷物を受け、
前記保持装置(800)はさらに、
前記第1の支持アーム(801)に固定的に接続された第1のカム支持体(821)と、
第1の端部と第2の端部とを有する長手方向の力を生成するための第1の手段(822)と、を含み、
前記第1の手段(822)は、前記負荷トルクに対抗するために前記第1の端部において前記カム支持体の表面に対して垂直方向に力を及ぼし、
前記第1の手段(822)は、前記第2の端部において旋回可能に前記保持ユニット(804)に接続され、
さらに、
前記第2の支持アーム(802)に作用接続された第2のカム支持体(834)と、
第1の端部と第2の端部とを有する長手方向の力を生成するための第2の手段(835)と、
前記第2の手段は、前記第1の端部の力を前記第2のカム支持体(834)の表面に及ぼし、そして、前記第2の手段(835)は、前記第2の端部において前記保持ユニット(804)に旋回可能に支承されていることを特徴とする保持装置。 - 長手方向の力を生成するための前記第1の手段(822)と前記第2の手段(835)の少なくとも1つは1つのばね部材(825、838)又は複数のばね部材を含んでいることを特徴とする請求項1に記載の保持装置。
- 線形ばね(825、838)として構成されたばねが設けられていることを特徴とする請求項2に記載の保持装置。
- 長手方向の力を生成するための前記第1の手段(822)は、前記保持ユニット(804)上を前記第1の支持アーム(801)が動いたときに前記第1のカム支持体(821)に沿って転動する軸受部材に対して作用することを特徴とする請求項1から3のいずれか1項に記載の保持装置。
- 長手方向の力を生成するための前記第2の手段(835)は、前記第1の支持アーム(801)上を前記第2の支持アーム(802)が動いたときに前記第2のカム支持体(834)に沿って転動する軸受部材に対して作用することを特徴とする請求項1から4のいずれか1項に記載の保持装置。
- さらに、フロントリンク(807)を有し、
前記フロントリンク(807)は、前記第2の支持アーム(802)が負荷を保持するための第3の回転ジョイント(806)と前記第2の支持アーム(802)のフロントエンドで回転自在に接続されていることを特徴とする請求項1から5のいずれか1項に記載の保持装置。 - 前記第2の支持アーム(802)の位置に関わりなく同じに保たれる前記フロントリンク(807)のアライメントを保証する、前記フロントリンク(807)と前記保持ユニット(804)の間の作用接続部(816、817、819)が設けられていることを特徴とする請求項6に記載の保持装置。
- 第1のカム支持体(821)と前記第2のカム支持体(834)の少なくとも1つが腎臓形に構成されていることを特徴とする請求項1に記載の保持装置。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102005054010A DE102005054010A1 (de) | 2005-11-10 | 2005-11-10 | Haltevorrichtung mit Gewichtsausgleich |
DE102005054010.4 | 2005-11-10 |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2008539348A Division JP5367374B2 (ja) | 2005-11-10 | 2006-11-10 | 重量補償式の保持装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2013240613A JP2013240613A (ja) | 2013-12-05 |
JP5706477B2 true JP5706477B2 (ja) | 2015-04-22 |
Family
ID=37833554
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2008539348A Expired - Fee Related JP5367374B2 (ja) | 2005-11-10 | 2006-11-10 | 重量補償式の保持装置 |
JP2013144221A Expired - Fee Related JP5706477B2 (ja) | 2005-11-10 | 2013-07-10 | 重量補償式の保持装置 |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2008539348A Expired - Fee Related JP5367374B2 (ja) | 2005-11-10 | 2006-11-10 | 重量補償式の保持装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US8205845B2 (ja) |
EP (1) | EP1945994A1 (ja) |
JP (2) | JP5367374B2 (ja) |
DE (1) | DE102005054010A1 (ja) |
WO (1) | WO2007054327A1 (ja) |
Families Citing this family (16)
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EP1932631B1 (en) * | 2006-12-13 | 2012-02-08 | Fotona d.d. | Manually guided articulated arm |
US9186222B2 (en) | 2008-09-03 | 2015-11-17 | Fotona D.D. | Manually guided articulated arm |
DE102008060725B4 (de) * | 2008-12-05 | 2010-11-04 | Carl Zeiss Surgical Gmbh | Stativ zur Halterung einer Last und Mikroskopiesystem |
DE102009060495A1 (de) | 2009-12-23 | 2011-06-30 | Karl Storz GmbH & Co. KG, 78532 | Haltevorrichtung für medizinische Instrumente |
DE102010010131B4 (de) * | 2010-03-04 | 2017-08-24 | Leica Microsystems (Schweiz) Ag | Stativ für ein Mikroskop, insbesondere für ein Operationsmikroskop, und Verwendung eines solchen Stativs |
CN102853236A (zh) * | 2012-10-11 | 2013-01-02 | 南京莱斯信息技术股份有限公司 | 设备支架 |
US10353165B2 (en) | 2013-05-24 | 2019-07-16 | Koh Young Technology Inc. | Stand equipped with counterbalance unit |
KR101740699B1 (ko) * | 2013-05-24 | 2017-05-26 | 주식회사 고영테크놀러지 | 카운터 밸런스부를 구비한 스탠드 |
DE102014210348A1 (de) | 2014-06-02 | 2015-12-03 | Huber Diffraktionstechnik Gmbh & Co. Kg | Vorrichtung und Verfahren zur Kompensation der Gewichtskraft |
US20180080598A1 (en) * | 2016-09-20 | 2018-03-22 | Apple Inc. | Counterbalanced display stand |
US10845000B2 (en) * | 2016-10-21 | 2020-11-24 | Colebrook Bosson Saunders (Products) Limited | Display support system |
EP3658814B1 (en) * | 2018-03-23 | 2022-03-02 | SZ DJI Technology Co., Ltd. | Load-stabilizing apparatus |
CN109027551B (zh) * | 2018-08-17 | 2020-06-26 | 深圳市美佳爱科技有限公司 | 一种信息技术调节式显示屏幕 |
CN109805669B (zh) * | 2019-01-16 | 2021-03-09 | 宜庭家纺有限公司 | 一种动态展示绒柜 |
CN109746901B (zh) * | 2019-03-13 | 2020-10-02 | 北京理工大学 | 一种用于外骨骼机器人的动态负载信息计算方法 |
US11199289B2 (en) * | 2019-09-18 | 2021-12-14 | Carl Zeiss Meditec Ag | Apparatus, surgical microscopy system, and method for compensating a balancing error in a stand for a surgical microscope |
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-
2005
- 2005-11-10 DE DE102005054010A patent/DE102005054010A1/de not_active Ceased
-
2006
- 2006-11-10 JP JP2008539348A patent/JP5367374B2/ja not_active Expired - Fee Related
- 2006-11-10 EP EP06818454A patent/EP1945994A1/de not_active Withdrawn
- 2006-11-10 WO PCT/EP2006/010777 patent/WO2007054327A1/de active Application Filing
-
2008
- 2008-05-06 US US12/149,621 patent/US8205845B2/en not_active Expired - Fee Related
-
2013
- 2013-07-10 JP JP2013144221A patent/JP5706477B2/ja not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
JP2009514633A (ja) | 2009-04-09 |
JP5367374B2 (ja) | 2013-12-11 |
DE102005054010A1 (de) | 2007-05-24 |
EP1945994A1 (de) | 2008-07-23 |
JP2013240613A (ja) | 2013-12-05 |
US8205845B2 (en) | 2012-06-26 |
WO2007054327A1 (de) | 2007-05-18 |
US20080237413A1 (en) | 2008-10-02 |
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