JPS6047854B2 - counterbalance device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a counterbalance device in a laser scalpel device having a manipulator.

The structure and function of such an counterbalance device and manipulator have already been described in detail in Japanese Patent Application No. 54-91437 (Japanese Unexamined Patent Publication No. 15739-1982) filed by the same applicant as the present application.

Further, an example of a conventionally known manipulator is US Pat.
It is described in the specification of No. 913582 and Japanese Patent Application Laid-open No. 49-9418. Therefore, in this specification, their structures and functions will only be summarized. Previously known manipulators usually consist of a flexible articulated light guide with seven articulated mirrors and eight arms, in particular long horizontal and vertical arms, which prevent drooping and maintain balance. A counterbalance device is required to maintain proper operability.

In other words, no matter what posture the manipulator takes,
No reaction force is exerted on the operator's hand due to the change in posture,
Furthermore, it must be an counterbalance device that maintains the manipulator in any position even if it is left in that position.

Conventional counterbalance devices use the manipulator base (first axis) as a fulcrum, and the tip of the horizontal arm is suspended by a gimbal mechanism at the tip of a balance rod installed in parallel at the top of the horizontal arm, while a balancer weight is attached on the opposite side. It has a structure in which it is attached.

Such balances and gimbal mechanisms increase the height of the laser scalpel device, and when the horizontal arm is raised, there is a risk of contact with the surgical light, and there is also a risk of contacting or colliding with unnecessary protrusions and damaging the manipulator optical system. It is also possible to deviate the optical axis of the Furthermore, since the arm is suspended by a gimbal, the horizontal arm and the portion distal to the suspension part 1 are likely to be distorted. In the counterbalance device according to the present invention, in order to eliminate these defects, the base of the vertical arm is supported at the tip of the support tube that covers the horizontal arm, thereby increasing the rigidity of the horizontal arm, etc., and at the same time increasing the rigidity of the horizontal arm. By positioning the weight with the first axis at the base of the radar as a fulcrum on the opposite side of the horizontal arm with respect to the first axis, it is possible to prevent misalignment due to cantilevered loads and to maintain balance regarding the vertical movement of the manipulator. At the same time, we adopted a mechanism that can offset this couple of forces around the axis.

The purpose of the present invention is, firstly, to ensure the stability of the laser optical axis due to the grinding motion of the first axis, secondly, to ensure the operation that cancels the moment of the manipulator, and thirdly, to eliminate the deflection of the manipulator. Fourthly, the laser scalpel should have no protruding parts and limit the overall height of the laser scalpel to eliminate the risk of contact or impact, and fifthly, it should have a simple appearance that does not come into contact with the operator, etc. To provide an inexpensive underbalance device with a relatively simple mechanism.

Hereinafter, a counterbalance device according to the present invention will be explained according to the drawings.

FIGS. 1 and 2 are diagrams showing one embodiment of a counterbalance device according to the present invention, and are a plan view and an elevation view, respectively.

The manipulator has three arms at the tip: a first arm 2, a second arm 3, a horizontal third arm 4, a fourth arm 5, a vertical fifth arm 6, and a joint at the top of the laser head 1; 7
, 8, 9, 10, and tip joints 11, 12, 13; and a hand piece 14 including a condensing lens that can be attached to and detached from the tip joint 13, and can rotate around each arm.

Of these arms, the horizontal third arm 4 and the vertical fifth arm 6 are considerably longer than the other short arms, and therefore the rotation around each of the first arm 2, second arm 3, and third arm 4 is The combination of motions allows the handpiece 14 to be moved over a wide range.

Since the second arm 3 is attached to a shaft 16 that fits into a bearing 15 provided on the first arm 2, it rotates around the axis of the first arm 2. A joint 7 is attached to this second arm 3, and the laser beam guided from the laser head 1 is deflected toward the joint 8. This joint 8: can rotate around the second arm 3 by means of a metal bearing 17. On the other hand, the third
Since the other end of the arm 4 is fitted into a bearing 18 fixed to the joint 9, the joint 9 can rotate around the third arm 4. Next, the counterbalance mechanism will be described. The support arm 19 of the counterbalance is fitted into the outer rings of bearings 20 and 21 attached to the second arm 3 and can rotate around the second arm 3. The shaft metal 22 at one end of the support arm 19 surrounds the outer periphery of the third arm 4 near the joint 8, and fixes the support tube 23. This support tube 23 covers the third arm 4, and its right end fits into a bearing 18 fixed to the joint 9. That is, the manipulator is supported by the support tube 23 at the bearing 18 of this joint 9. A vibrator 24 is fixed to the left end of the support arm 19, and a weight 25 is attached to the tip of the vibrator 24 with a screw 26 to adjust the balance of the manipulator. has been done. In addition, there is a stopper...2 at the rear end of the weight 25.
7, and a weight 25 is fixed to the vibrator 24 to prevent the risk of it falling off. As is clear from the above, the entire counterbalance device follows the rotation of the first arm 2, the second arm 3, and the third arm 4 and is linked with the manipulator.

By the way, the weight 25 is installed on the opposite side of the third arm 4 with respect to the axis of the first arm 2. The reason for this is that if the weight 25 is on the extension of the axis of the third arm 4, the total weight of the manipulator and the weight will shift in one direction, causing the first arm 2 and the shaft 16 to bend, causing the optical axis of the laser knife to bend. to make someone crazy;
Furthermore, due to such a biased load, a couple force around the axis of the first arm acts on the manipulator, making it impossible to operate the manipulator moment-free. Since the counterbalance device of the present invention supports the joint part with the support tube that covers the horizontal arm, there is no unnecessary protrusion, so there is no risk of impact from people or objects, and the horizontal arm No deflection occurs.

Furthermore, since there is no balance or gimbal mechanism, the overall height of the laser scalpel device is low, the entire mechanism is simple, and the design is extremely simple. Note that the counterbalance device of the present invention is applicable not only to laser scalpels but also to
It can also be adopted when using the same type of manipulator in other laser processing equipment.

BRIEF DESCRIPTION OF THE DRAWINGS FIGS. 1 and 2 are diagrams showing one embodiment of a counterbalance device according to the present invention, and are a plan view and an elevation view, respectively.

1: laser head, 3: second arm, 4: third arm, 9: joint, 19: support arm, 23: support tube, 25: weight.

Claims (1)

[Claims] 1. A laser scalpel device having a manipulator includes a support arm that can rotate around the second arm of the manipulator, and a support arm that is fixed to one end of the support arm so as to cover the outer periphery of the third arm, and that allows rotation of the third joint. A support tube that supports the third joint, and a weight that is fixed to the part of the support arm opposite to the manipulator with respect to the second arm and located in the opposite direction to the third arm with respect to the axis of the first arm. A counterbalance device is characterized in that it can offset fluctuations in rotational moment that occur when operating a manipulator and improve its operability.