WO2017084019A1 - 浮动机构及其超声诊断仪 - Google Patents

浮动机构及其超声诊断仪 Download PDF

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Publication number
WO2017084019A1
WO2017084019A1 PCT/CN2015/094741 CN2015094741W WO2017084019A1 WO 2017084019 A1 WO2017084019 A1 WO 2017084019A1 CN 2015094741 W CN2015094741 W CN 2015094741W WO 2017084019 A1 WO2017084019 A1 WO 2017084019A1
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WO
WIPO (PCT)
Prior art keywords
arm
rotation
axis
floating mechanism
translation
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.)
Ceased
Application number
PCT/CN2015/094741
Other languages
English (en)
French (fr)
Inventor
赵彦群
杨荣富
陈志武
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Mindray Bio Medical Electronics Co Ltd
Original Assignee
Shenzhen Mindray Bio Medical Electronics Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Shenzhen Mindray Bio Medical Electronics Co Ltd filed Critical Shenzhen Mindray Bio Medical Electronics Co Ltd
Priority to CN202010100264.XA priority Critical patent/CN111358491B/zh
Priority to CN201580082016.4A priority patent/CN107850257B/zh
Priority to CN202010100102.6A priority patent/CN111358488B/zh
Priority to PCT/CN2015/094741 priority patent/WO2017084019A1/zh
Priority to CN202010100108.3A priority patent/CN111358489A/zh
Priority to CN202010100122.3A priority patent/CN111358490A/zh
Publication of WO2017084019A1 publication Critical patent/WO2017084019A1/zh
Priority to US15/978,637 priority patent/US10695028B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
    • A61B8/4405—Device being mounted on a trolley
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/46—Ultrasonic, sonic or infrasonic diagnostic devices with special arrangements for interfacing with the operator or the patient
    • A61B8/461—Displaying means of special interest
    • A61B8/462—Displaying means of special interest characterised by constructional features of the display
    • 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
    • F16M11/043—Allowing translations
    • 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
    • F16M11/043—Allowing translations
    • F16M11/045—Allowing translations adapted to left-right translation movement
    • 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
    • F16M11/043—Allowing translations
    • F16M11/048—Allowing translations adapted to forward-backward translation movement
    • 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
    • F16M11/08—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a vertical axis, e.g. panoramic heads
    • 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
    • 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
    • F16M11/2014—Undercarriages with or without wheels comprising means allowing pivoting adjustment around a vertical axis
    • 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
    • F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/04—Analysing solids
    • G01N29/06—Visualisation of the interior, e.g. acoustic microscopy
    • G01N29/0609—Display arrangements, e.g. colour displays
    • 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
    • F16M2200/044—Balancing means for balancing rotational 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

Definitions

  • the invention relates to the field of mechanical structures, in particular to a floating mechanism and an ultrasonic diagnostic apparatus thereof.
  • the operation panel is required to be flexible, that is, the operation panel. It can realize full floating operation such as up and down, forward and backward translation, left and right translation and rotation.
  • Conventional operation panel devices mainly have two ways to realize the lifting and rotating functions of the operation panel.
  • the first is a separate lifting structure (inside the vertical plane) plus independent front and rear translation and rotation structures (in the horizontal plane).
  • the lifting, front-rear movement and rotation of the floating structure are respectively realized by two independent mechanisms, the lifting structure occupies a large host space, and the operation panel lacks left and right translation, the operation range is limited, and the user experience is relatively poor.
  • the other is an independent lifting structure (inside the vertical plane) plus a separate frog leg structure (in the horizontal plane), the frog leg structure is a deformed parallel four-bar linkage structure, the fixed end is formed by two rotating fulcrums
  • the operation panel is fixed at the ends of the two moving arms, so that the front and rear translation, the left and right translation and the rotation function within a certain range are realized.
  • the lifting action of the floating structure and the translation and rotation in the horizontal plane need to be operated separately without linkage.
  • Some embodiments of the present invention provide a floating mechanism including a lifting arm, a translation arm, and a connecting frame, one end of the lifting arm being rotatably coupled to the connecting frame, the connecting frame and the translation One end of the arm is rotatably connected, and the elevating arm is driven by the other end opposite to the translation arm as a fulcrum to rotate the translation arm in two intersecting planes and up and down respectively; the translation arm is further A connection point to the connector can be translated in a translational plane in which the axis intersects the lifting arm.
  • Some embodiments of the present invention provide a floating mechanism for connecting a first component and a second component.
  • the floating mechanism includes:
  • a first connecting seat connected to the first component by a first rotating pair having a first axis of rotation and rotatable relative to the first component about the first axis of rotation;
  • the lifting arm including a first end and a second end opposite the first end, the first end of the lifting arm being coupled to the first by a second rotating pair having a second axis of rotation a connecting seat and rotatable relative to the first connecting seat about the second axis of rotation, wherein the second axis of rotation is not parallel to the first axis of rotation;
  • a connecting bracket connected to the second end of the lifting arm by a third rotating pair having a third axis of rotation and rotatable relative to the lifting arm about the third axis of rotation;
  • a translational arm including a first end and a second end opposite the first end, the first end of the translational arm being coupled to the connector by a fourth rotational pair having a fourth axis of rotation Up and rotatable relative to the connecting frame about the fourth axis of rotation, wherein the fourth axis of rotation is not parallel to the third axis of rotation;
  • a second end of the translational arm is coupled to the second component.
  • one end of the lifting arm is rotatably connected to the translation arm through a connecting frame, so that the connecting point of the translation arm and the connecting frame is a translation of the axis in a plane intersecting the lifting arm, and the lifting arm is simultaneously
  • the other end opposite to the translation arm is used as a fulcrum to drive the translation arm to rotate up and down in two intersecting planes, so that the lifting arm and the translation arm can jointly drive the operation panel up and down in two intersecting planes.
  • Lifting and rotating, and at the same time can also translate back and forth in the translation plane; the entire floating mechanism has a large operating range, good linkage, small footprint and simultaneous lifting, translation and rotation.
  • FIG. 1 is a schematic structural view of an ultrasonic diagnostic apparatus with a floating mechanism according to a preferred embodiment of the present invention
  • FIG. 2 is a schematic structural view of an ultrasonic diagnostic apparatus with a floating mechanism according to another embodiment of the present invention
  • FIG. 3 is a partial structural schematic view of the ultrasonic diagnostic apparatus shown in FIG. 1;
  • Figure 4 is an exploded view of the floating mechanism shown in Figure 1;
  • Figure 5 is a partial cross-sectional view of the floating mechanism of Figure 4.
  • Figure 6 is an enlarged view of a portion A of the floating mechanism shown in Figure 5;
  • FIG. 7a-7b are schematic diagrams showing a brief analysis of the force state of the upper and lower brackets in the floating mechanism shown in FIG. 5;
  • Figure 8 is a schematic structural view of the connecting frame in the floating mechanism shown in Figure 4.
  • Figure 9 is a cross-sectional view showing the connecting arm of the floating mechanism of Figure 4 connected to the fixing seat;
  • Figure 10a 1 - 10f 2 is a schematic view of the movement of the floating mechanism shown in Figure 3;
  • 11a-11c are schematic structural views of a floating mechanism according to another embodiment of the present invention.
  • Figure 12a is a schematic view showing the connection structure of the components of the floating mechanism in the preferred embodiment of the present invention shown in Figure 3;
  • 12b-12d are schematic views showing a modification of the floating mechanism of the present invention.
  • the ultrasonic diagnostic apparatus 100 includes a main body 10, a floating mechanism 30, an operation panel 50, a support arm 70, and a display 90.
  • the main body 10 includes a frame 11 and a plurality of pulleys 13.
  • a plurality of pulleys 13 are provided at the bottom of the frame 11 to facilitate movement of the ultrasonic diagnostic apparatus 100.
  • a floating mechanism is used to connect two components (generally referred to herein as a first component and a second component).
  • the floating mechanism can connect the rack 11 and the control panel 50 (eg, the embodiment of FIG. 1), at this point, the first component may be the frame 11 or the control panel 50, and the second component may be the control panel 50 or the frame 11 accordingly.
  • the floating mechanism can connect the control panel 50 and the display 90 (eg, the embodiment of FIG. 2), where the first component can be the control panel 50 or the display 90, and the second component can be the display 90 or Control panel 50.
  • the floating mechanism can directly connect the gantry 11 and the display 90 (not shown). In this case, the first component can be the gantry 11 or the display 90, and the second component can be the display 90 or the corresponding rack. 11.
  • the floating mechanism can be used in any other application where such a floating connection mechanism is required to connect the components.
  • the float mechanism 30 can include a first connector block 31, a lift arm 33, a connector bracket 349, and a translation arm 37.
  • the first connector 31 can be coupled to the first of the two components to which the float mechanism 30 is coupled.
  • the first connecting seat 31 is coupled to the first member by a first rotating pair having a first axis of rotation AA, and is rotatable relative to the first axis of rotation about the first axis of rotation AA The first component rotates.
  • the lift arm 33 includes a first end and a second end opposite the first end.
  • the first end of the lifting arm 33 can be connected to the first connecting seat 31 by a second rotating pair having a second axis of rotation BB and can be rotated relative to the first connecting seat by the second rotating pair about the second axis of rotation BB 31 is rotated, wherein the second axis of rotation BB is not parallel to the first axis of rotation AA.
  • the connecting bracket 349 is coupled to the second end of the elevating arm 33 via a third rotational pair having a third axis of rotation CC and is rotatable relative to the elevating arm 33 about the third axis of rotation CC by the third pivoting pair.
  • the translation arm 37 includes a first end and a second end opposite the first end.
  • the first end of the translation arm 37 is coupled to the connecting frame 349 by a fourth rotating pair having a fourth axis of rotation DD, and is rotatable relative to the connecting frame 349 by the fourth rotating pair about the fourth axis of rotation DD, wherein
  • the fourth axis of rotation DD is not parallel to the third axis of rotation CC.
  • the second end of the translation arm 37 can be coupled to a second one of the two components to which the float mechanism 30 is coupled as previously described.
  • the first component is connected to the second component by the floating mechanism described above.
  • the first rotation axis AA of the first rotation pair is not parallel to the second rotation axis BB of the second rotation pair, and the first rotation axis AA and the second rotation axis BB may be in the same plane. , can also be in different planes.
  • the first axis of rotation AA may intersect the second axis of rotation BB.
  • the first rotation axis AA may be perpendicular to the second rotation axis BB or may not be perpendicular to each other.
  • two axes of rotation perpendicular to each other
  • the two are perpendicular to each other; when the two axes of rotation are not in the same plane, The two are spatially perpendicular to each other, i.e., the projection of one of the axes of rotation on the plane in which the other axis of rotation is perpendicular to the other axis of rotation.
  • intersection when the two axes of rotation are in the same plane, the two intersect each other; when the two axes of rotation are not in the same plane, The projection of one axis of rotation on the plane in which the other axis of rotation intersects the other axis of rotation.
  • the second rotational axis BB of the aforementioned second rotational pair may be parallel to the third rotational axis CC of the third rotational pair.
  • the second axis of rotation BB may also intersect the third axis of rotation CC, ie, the two are not parallel to each other.
  • the first rotational axis AA of the aforementioned first rotational pair may intersect the third rotational axis CC of the third rotational pair. At this time, the first rotation axis AA may be perpendicular to the third rotation axis CC or may not be perpendicular to each other.
  • the first rotational axis AA of the aforementioned first rotational pair may be parallel to the fourth rotational axis DD of the fourth rotational pair.
  • the first axis of rotation AA may also intersect the fourth axis of rotation DD, ie, the two are not parallel to each other.
  • connection between the second end of the translation arm 37 and the second component may use a plurality of suitable connection manners, which may be a fixed connection or a rotatable connection; it may be directly fixed or It is rotatably connected to the second component or may be fixedly or rotatably connected to the second component by the intermediate member.
  • the float mechanism 30 can further include a second connector 39.
  • the second connecting seat 39 can be coupled to the second end of the translation arm 37 by a fifth rotational pair having a fifth axis of rotation EE and can be rotated relative to the translation arm 37 about the fifth axis of rotation EE by the fifth pair of rotations .
  • the second connecting seat 39 may be a separate component separate from the second component and connected to the second component by a connecting device, or may be a component integrated with the second component. It is part of the second part itself.
  • the fifth axis of rotation EE of the aforementioned fifth pair of rotations may be parallel to the fourth axis of rotation DD of the fourth pair of rotations. In other embodiments of the invention, the fifth axis of rotation EE may also intersect the fourth axis of rotation DD, ie, the two are not parallel to each other.
  • the aforementioned first rotating pair, second rotating pair, third rotating pair, fourth rotating pair and fifth rotating pair may be any suitable rotating auxiliary mechanism, for example, may be rotated by a pin and
  • the rotating pair formed by the pin holes may also be a rotating pair formed by the rotating base and the rotating shaft, and the like.
  • the aforementioned lifting arm 33 and the translation arm 37 may be any suitable supporting or connecting arm structure, for example, an original piece which may be integrally formed as a single rod, or may be formed of a plurality of parts (for example) , as in the embodiment of Figures 4 to 6).
  • the shape of the lift arm 33 and the translation arm 37 can be any suitable shape, such as a linear, curved or other shape.
  • the elevating arm 33 is rotatably coupled to the first connecting base 31 by the second rotating pair, and the first connecting base 31 itself is rotatably coupled to the first member by the first rotating pair, and
  • the axes of rotation of the first rotating pair and the second rotating pair intersect (ie, are not parallel or coincident with each other), and thus the directions of rotation of the first rotating pair and the second rotating pair are different. Therefore, the elevating arm 33 will have rotational freedom in two directions (i.e., the rotational direction of the first rotational pair and the rotational direction of the second rotational pair) with respect to the first member.
  • the translation arm 37 is rotatably coupled to the connecting frame 349 by the fourth rotating pair, and the connecting frame 349 itself is rotatably coupled to the lifting arm 33 by the third rotating pair, and due to the third rotating pair and The rotational axes of the fourth rotational pair intersect (i.e., do not parallel or coincide with each other), and thus the rotational directions of the third rotational pair and the fourth rotational pair are different. Therefore, the translational arm 37 also has rotational freedom in two directions (i.e., the rotational direction of the third rotational pair and the rotational direction of the fourth rotational pair) with respect to the elevating arm 37.
  • the second member attached to the translation arm 37 and the first member attached to the first connector 31 will have a great degree of freedom of movement, enabling simultaneous realization between the first member and the second member. Movement in multiple directions or according to multiple degrees of freedom.
  • the second component can be simultaneously implemented relative to The first component is translated back and forth, left and right, left and right, and up and down.
  • the first member and the second member to which the floating mechanism 30 is connected may respectively be the frame 11, the operation panel 50 or the display 90, or any other suitable floating mechanism.
  • Connected components may also be other connecting arms, support arms or connecting rods or other intermediate connecting elements, and are not limited to the target elements to be connected.
  • the first connecting seat 31 is connected to the frame 11, and the translation arm 37 is connected to the operation panel 50, that is, the first component is the frame 11 and the second component is the operation panel 50.
  • the first connector block 31 can also be coupled to the operator panel 50, and the translational arm is coupled to the chassis 11, i.e., the first component is the operator panel 50 and the second component is the chassis 11. That is to say, in the embodiment of the present invention, which component is the first member and the second member, respectively, is not limited, and can be set as needed.
  • a floating mechanism as described above may be disposed between the foregoing first component and the second component, or at least two (for example, two or more) may be disposed as described above.
  • Floating mechanism For example, in some embodiments, two floating mechanisms as previously described (eg, as shown in the embodiment of the figures) are provided between the first component and the second component, in which case the first component and the first component can be secured. The stability and balance of the connection and support between the second components can also reduce the likelihood of mutual interference of motion between the floating mechanisms.
  • the first connecting seats of the respective floating mechanisms may be separate or independent from each other, or may be shared or partially shared.
  • the floating mechanism 30 is coupled between the operation panel 50 and the frame 11 for enabling the operation panel 50 to be raised and lowered in a vertical plane relative to the frame 11.
  • the spatially full floating operation of the operation panel 50 can be achieved by rotating and translating in a translational plane that intersects the vertical plane.
  • the operation panel 50 is generally provided with a button, a knob, and the like, and the user can operate the ultrasonic diagnostic apparatus 100 through the operation panel 50.
  • One end of the support arm 70 is coupled to the operation panel 50, and the display 90 is fixedly coupled to the other end of the support arm 70 away from the operation panel 50 for displaying information of the processing, results of processing completion, or other information.
  • the float mechanism 30 can be used to other locations on the ultrasonic diagnostic apparatus 100 and not only to the float of the operator panel 50.
  • the floating mechanism 30 can be used to control the floating of the display 90, and may also be used on other movable parts that need to be floated, which is not limited herein; as shown in FIG. 2, the floating mechanism 30 is connected to the operation panel 50 instead of the support arm 70.
  • a schematic diagram for controlling the display 90 to float; or the floating mechanism 30 is disposed directly between the display and the frame 11 of the mainframe 10.
  • the floating mechanism 30 may include an elevating arm 33, a translating arm 37, and a connecting bracket 349.
  • One end of the lifting arm 33 is rotatably connected to the connecting frame 349 by a rotating pair, and the connecting frame 349 is rotatably connected to the translation arm 37 by a rotating pair, and the lifting arm 33 can be fulcrum with the other end opposite to the translation arm 37.
  • the translational arm 37 is respectively rotated in two intersecting planes to move up and down; at the same time, the translation arm 37 can also be connected to the connection point of the connection frame 349 (for example, the translational arm 37 and the rotation pair of the connection frame 349) Translating in a translational plane that intersects the lift arm 33.
  • the lifting arm 33 has two degrees of rotational freedom in the two intersecting planes with the other end opposite to the translation arm 37 as a fulcrum.
  • the floating mechanism 30 includes a support base 31.
  • the support base 31 is for mounting on a base that requires the use of the floating mechanism 30.
  • the pedestal is the frame 11 of the ultrasonic diagnostic apparatus 100.
  • the pedestal can also be any platform or other support or connection structure that requires the use of a floating mechanism 30.
  • the support base 31 is rotatable about its own axis, and the lift arm 33 is coupled between the support base 31 and the translation arm 37.
  • An end of the lifting arm 33 opposite to the translation arm 37 is rotatably coupled to the support base 31 by a rotating pair, and the pivoting arm 37 is driven by the connection point with the supporting base 31 at the two intersecting planes respectively. Internal rotation and up and down.
  • the translation arm 37 is rotatably coupled to the connecting frame 349 by a rotating pair, and
  • the connecting frame 349 is in turn rotatably coupled to the other end of the lifting arm 33 away from the bearing block 31 by a rotating pair, and the translation arm 37 is translatable relative to the lifting arm 33 in a translational plane perpendicular to the axial direction of the bearing block 31.
  • a plane of translation perpendicular to the axial direction of the support block 31 it is also possible to translate in a suitably tilted, incompletely perpendicular translation plane.
  • one end of the elevating arm 33 is rotatably coupled to the support base 31 by a rotating pair, and the connection point of the elevating arm 33 and the support base 31 (for example, the elevating arm 33 and the support base are connected)
  • the rotating pair of 31 rotates the shaft in a plane in which the axis of the support base 31 is located, and drives the translation arm 37 up and down relative to the support base 31.
  • the translation arm 37 is rotatably coupled to the connecting frame 349 by a rotating pair, and the connecting frame 349 is rotatably coupled to the other end of the lifting arm 33 away from the supporting base 31 by a rotating pair, and the translation arm 37 can be opposite to the lifting arm
  • the arm 33 translates in a translation plane perpendicular to the axial direction of the support base 31. Since the support base 31 is rotatable about its own axis, the support base 31 can drive the lift arm 33 and thereby drive the translation arm 37 to rotate the support base 31 as a fulcrum in the translation plane.
  • the floating mechanism 30 includes a mount 39 (shown in FIG. 3).
  • the fixing base 39 is rotatably coupled to one end of the translation arm 37 away from the lifting arm 33 by a rotating pair, and the fixing base 39 is rotatably coupled to the rotation axis of the translation arm 37 (for example, the aforementioned fifth rotation axis EE) is parallel to The axis of rotation of the support block 31 (for example, the aforementioned first axis of rotation AA).
  • the support bases 31 are two, and are installed at intervals on the top of the frame 11.
  • the lift arm 33 is two in the same manner as the translation arm 37, and each lift arm 33 is rotationally coupled to each of the translation arms 37 at a predetermined angle to form a set of link assemblies.
  • the two lifting arms 33 of the two sets of connecting rod assemblies are respectively rotatably connected to the two supporting seats 31.
  • the two translational arms 37 are rotatably connected to the two sides of the fixing seat 39 away from the end of the corresponding lifting arm 33. .
  • the operation panel 50 (or the display 90 or other components requiring floating support) is fixedly mounted on the fixing base 39, and can be lifted up and down with the two sets of link assemblies in the vertical plane with respect to the frame 11 in the axis of the support base 31. And a fully floating operation that translates and rotates back and forth, left and right in the translation plane.
  • the structure of the two supporting bases 31 and the structure of the two sets of connecting rod assemblies may be substantially the same.
  • only the one set of connecting rod assemblies and the corresponding supporting bases 31 are taken as an example, and the structure of the floating mechanism 30 and The principle is described in detail.
  • the support base 31 includes a limiting post 310 and Rotating member 312.
  • the limiting post 310 is generally cylindrical and is fixedly mounted to the frame 11.
  • a limit groove 3101 is formed on the outer surface of the limiting post 310 in the circumferential direction.
  • the rotating member 312 is generally a hollow cylindrical shape that is open at one end, and is rotatably disposed outside the limiting post 310 through the open end.
  • a limit pin 3121 is protruded from the rotating member 312 facing the inner surface of the limiting post 310.
  • One end of the limiting pin 3121 is embedded in the limiting slot 3101 to limit the rotation angle of the rotating member 312 relative to the limiting post 310.
  • the support base 31 can also be one mounted on the top of the frame 11, and the two lift arms 33 are respectively rotatably mounted on opposite sides of a support base 31.
  • the rotating structure of the support base 31 can be designed as needed, and only needs to realize the function of rotating the lifting arm 33 and the translation arm 37 in the translational plane of the corresponding link assembly relative to the frame 11 under the action of an external force. It is not limited here.
  • the limiting post 310 is rotatably mounted on the frame 11 and the rotating member 312 is sleeved on the limiting post 310 to rotate with the limiting post 310 relative to the frame 11; or the limiting post 310 is directly
  • the rotary member 312 is integrally formed as an integral rotary member that can be directly rotatably mounted to the frame 11.
  • the bearing block 31 further includes a bushing 314 disposed between the limiting post 310 and the rotating member 312 for reducing wear of the limiting post 310 and the rotating member 312.
  • the bearing block 31 may further include a damper pin 316 which is screwed through the rotating member 312 and abuts against the bushing 314 for adjusting the rotational damping force between the limiting post 310 and the rotating member 312. .
  • the lift arm 33 includes a lift bracket 340 and a damping balance compensation system 350.
  • the lifting bracket 340 is connected between the rotating member 312 of the support base 31 and the connecting frame 349.
  • the damping balance compensation system 350 is disposed in the lifting bracket 340 for compensating for the change of the moment acting on the lifting arm 33 caused by the rotation of the lifting arm 33 by a certain angle, so that the torque acting on the lifting arm 33 is balanced, and thus The operation panel 50 and the display 90 are smoothly supported.
  • the lifting bracket 340 includes a lifting upper bracket 341 and a lifting lower bracket 345.
  • the opposite ends of the lifting upper bracket 341 are rotatably connected between the rotating member 312 and the connecting frame 349 by the respective upper rotating pair 3410, and the opposite ends of the lifting lower bracket 345 are respectively rotatably connected to the rotating by the respective lower rotating pair 3450.
  • the lifting upper bracket 341 and the lifting lower bracket 345 are disposed in parallel with each other, and the two together form a receiving space 342.
  • the positions of the two pairs of upper rotating pair 3410 and lower rotating pair 3450 are substantially a parallelogram, and the four rotating pairs are respectively at the four vertex positions of the parallelogram.
  • the two rotating pairs connected by the connecting frame 349 together constitute an example of the aforementioned third rotating pair, and the two rotating pairs connected to the rotating member 312 collectively constitute an example of the aforementioned second rotating pair.
  • the damping balance compensation system 350 is received in the receiving space 342 and includes a guiding rod 351 , a guiding barrel 352 and a spring 353 .
  • the guide cylinder 352 includes a first connecting end 3521 and an open end 3523.
  • the first connecting end 3521 is coupled to the rotating member 312 by a connecting rotating pair 3525.
  • the open end 3523 is recessed inward to form a receiving cavity 3527.
  • the guide rod 351 includes a second connecting end 3510, a first extending end 3511, and a second extending end 3512.
  • the second connecting end 3510 is rotatably connected to the lifting upper bracket 341 of the lifting bracket 340 by the guiding rod rotating pair 3513, and the second connecting end 3510 protrudes away from the end of the connecting bracket 349 to form a first extending end 3511.
  • the one end of the first extending end 3511 away from the second connecting end 3510 continues to protrude to form a second extending end 3512.
  • the size of the second connecting end 3510, the first extending end 3511 and the second extending end 3512 are sequentially reduced, so that the guiding rod 351 forms a three-step shape.
  • the second extending end 3512 extends into the receiving cavity 3527 of the guiding cylinder 352 through the open end 3523 and is movable in the axial direction with respect to the guiding cylinder 352 in the receiving cavity 3527.
  • the second extended end 3512 is provided with a friction pad 3514 that is in pressure contact with the inner surface of the receiving cavity 3527.
  • One end of the friction pad 3514 abuts the second extension end 3512 and the first extension end 3511, and the other end is fixed to the end of the second extension end 3512 away from the first extension end 3511 by a fixing nut 3515 to prevent it from falling off.
  • the spring 353 is sleeved outside the guide rod 351 and the guide cylinder 352, and the guide rod 351 and the guide cylinder 352 pass through the middle of the spring 353 in the axial direction.
  • the second connecting end 3510 of the guiding rod 351 is convexly provided with a flange 3516, and the first connecting end 3521 of the guiding sleeve 352 is externally screwed with a spring adjusting nut 3529.
  • the spring 353 abuts between the flange 3516 and the spring adjustment nut 3529.
  • the spring 353 generates a certain thrust to the guide rod 351, and the operator can adjust the distance between the nut 3529 and the flange 3516 by adjusting the spring to adjust the magnitude of the thrust generated by the spring 353 against the guide rod 351.
  • FIG. 7a is a schematic diagram of a brief analysis of the stress state according to an embodiment of the present invention, wherein 341 represents a lifting upper bracket, 31 represents a supporting seat, 345 represents a lifting lower bracket, and 3410, 3450, 3513 are respectively a lifting upper bracket 341, and are lifted and lowered.
  • F1 is the force of the spring 353 on the lifting upper bracket 341, the force arm is L1, the torque is F1 ⁇ L1; F2 is acting on the upper part of the lifting upper bracket 341 (for example, the operation carried on the lifting bracket 340)
  • the force applied to the upper bracket 341 by the panel 50, the support arm 70, and the weight of the display 90 is L2, and the torque is F2 ⁇ L2; and the torque of F1 is opposite to the direction of the torque of F2. Therefore, only when the lengths L1 and L2 of the respective arm and the size of F1 or F2 are appropriately adjusted, so that the size of F1 ⁇ L1 is equal to the size of F2 ⁇ L2, the upper bracket 341 can be balanced, and the upper bracket is acted upon. The components on the 341 are balancedly supported.
  • the ultrasonic diagnostic apparatus 100 needs to rotate the floating mechanism 30 around the support base 31 during operation to rotate the operation panel 50 upward or downward by an angle.
  • the lifting upper bracket 341 is rotated by an angle in the direction of the arrow A.
  • the length of the spring 353 changes, that is, the amount of compression of the spring 353 changes, so that in the new
  • the force F1 of the position raising and lowering bracket 341 changes, and the arms of F1 and F2 also change due to the rotation of the support.
  • F1' represents the force at which the new position spring 353 acts on the upper bracket 341
  • L1' represents the force arm of the new position force F1'
  • L2' represents the force arm at the new position F2.
  • the sizes of F1' ⁇ L1' and F2 ⁇ L2' do not necessarily remain equal.
  • the torque acting on the lifting upper bracket 341 may not always be balanced, and the upper bracket may be raised and lowered. The 341 cannot stably support the operation panel 50 and the display 90 at this desired position.
  • the structure of an embodiment of the invention can compensate for such torque variations.
  • the second extended end 3512 of the guiding rod 351 is sleeved with a friction pad 3514 , and the friction pad 3514 is in pressure contact with the inner surface of the receiving cavity 3527 of the guiding cylinder 352 .
  • the lifting upper bracket 341 has a downward rotation tendency.
  • the downward movement of the upper bracket 341 causes the guiding rod 351 to have The tendency to move along the axial guide cylinder 352, that is, the guide rod 351 has a tendency to move intensively within the receiving cavity 3527 of the guide cylinder 352.
  • the friction pad 3514 disposed at the second extending end 3512 of the guiding rod 351 is in pressure contact with the inner surface of the receiving cavity 3527 of the guiding cylinder 352, the friction pad 3514 and the inner surface of the receiving cavity 3527 will generate static friction.
  • the static frictional force F3 (shown in Fig. 7b) acting on the guide bar 351 here is the same as F1'.
  • the moment received by the upper bracket 341 is balanced by the force of the spring 353, and the upper bracket 341 is lifted by the frictional friction between the friction pad 3514 provided on the guide rod 351 and the inner surface of the guide cylinder 352.
  • the torque received is further compensated and balanced, so that the lifting upper bracket 341 can be balanced at any position, and in the case of attenuating the spring force value, the attenuation of the spring force value can be compensated, so that the lifting upper bracket 341 is balanced, thereby Stable support is provided to the operator panel 50 and display 90.
  • the damping compensation system 350 may have other implementations, which are not limited herein.
  • a structural form such as a gas spring, a tension spring, and a torsion spring is used.
  • a side of the connecting frame 349 away from the support base 31 is convexly formed with a first lug 348.
  • the first lug 348 is formed by an arc extending from the edge of the connecting bracket 349 on the side of the guiding rod 351, and a first shaft hole 3481 for rotatably connecting with the corresponding translation arm 37 is disposed thereon.
  • the first lug 348 is further provided with an arcuate first rotating groove 3482.
  • the first rotating groove 3482 circumferentially surrounds the periphery of the first shaft hole 3481 for defining a rotation angle of the translation arm 37 with respect to the lifting arm 33.
  • the two first lugs 348 on the two connecting brackets 349 are bent in an intimate manner toward each other, so that the two supporting seats 31, the two sets of connecting rod assemblies and the fixing seat 39 are provided.
  • the connection between them is a hexagon.
  • the two first lugs 348 can also be bent away from each other in an external manner, which is not limited herein.
  • the translation arm 37 includes an arm portion 370 and a first rotating portion 371 and a second lug 372 respectively disposed at opposite ends of the arm portion 370.
  • the first rotating portion 371 is substantially U-shaped with the opening facing the first lug 348 of the connecting frame 349, and the first rotating shaft hole 3710 corresponding to the first shaft hole 3481 of the first lug 348 is respectively opened at the upper and lower ends thereof. .
  • the first lug 348 is clamped between the upper and lower ends of the first rotating portion 371.
  • the rotating shaft 373 passes through the first shaft hole 3481 and the first rotating shaft hole 3710, and the translation arm 37 is rotatably connected with the connecting frame 349.
  • the first rotating portion 371 is further provided with a first rotating pin 374 (shown in FIG. 8) embedded in the first rotating groove 3482 for defining a rotation angle of the first rotating portion 371 with respect to the first lug 348.
  • a first rotating pin 374 shown in FIG. 8
  • the cooperation between the rotating shaft 373 and the first shaft hole 3481 and the first rotating shaft hole 3710 constitutes an example of the aforementioned fourth rotating pair.
  • the shape of the second lug 372 is substantially the same as that of the first lug 348, and the second shaft hole 3721 is opened thereon and the arc is disposed on the periphery of the second shaft hole 3721 in the circumferential direction.
  • the opposite ends of the fixing seat 39 respectively include a second matching with the two second lugs 372 of the two translational arms 37.
  • the shape of the second rotating portion 390 is substantially the same as the shape of the first rotating portion 371, and a second rotating shaft hole 3901 corresponding to the second shaft hole 3721 of the second lug 372 is opened.
  • the second lug 372 is clamped between the upper and lower ends of the second rotating portion 390.
  • the rotating shaft 375 passes through the second shaft hole 3721 and the second rotating shaft hole 3901, and is fixed to the fixing seat 39 through the retaining ring 377.
  • the translation arm 37 is rotatably coupled to the fixed seat 39.
  • the second rotating portion 390 is further provided with a second rotating pin 376 embedded in the second rotating groove 3723 for defining a rotation angle of the second rotating portion 390 with respect to the second lug 372.
  • the translation arm 37 further includes a bushing 379 disposed between the rotating shaft 375 and the corresponding second lug 372 for reducing wear between the rotating shaft 375 and the second lug 372.
  • the operator can control the movement of the operation panel 50 by operating the floating mechanism 30 during operation.
  • the lifting arm 33 can be raised and lowered in a vertical plane around the respective upper rotating pair 3410 and the lower rotating pair 3450 with respect to the rotating member 312 of the supporting seat 31.
  • the translating arm 37 and the operation panel 50 fixed to the fixing base 39 are vertically moved up and down with respect to the frame 11; when the operation panel 50 needs to be rotated left and right, the elevating arm 33 can be wound around the limiting post along with the rotating member 312.
  • the left and right rotations of the 310 are performed to move the operation panel 50 fixed on the translation arm 37.
  • the translation arm 37 can be translated relative to the connection frame 349 about the rotation shaft 373 to drive the operation panel. 50 sports.
  • the above motion may be implemented one or more at a time, which is not limited herein.
  • the bracket 349 is disposed in a horizontal direction, i.e., from a third pivot pair coupled to the bracket 349 to a fourth pivot pair (or vice versa) coupled to the bracket 349.
  • the connecting frame 349 may be disposed in a vertical direction or in other directions.
  • the connecting frame 349 may be disposed in a vertical direction, that is, from a third rotating pair connected to the connecting frame 349 to the first connecting to the connecting frame 349.
  • the direction of the four rotating pairs (or vice versa) is in the vertical direction.
  • the translational arm 37 is rotatably coupled to the upper portion of the elevating arm 33 at least partially vertically, so that the space occupied by the floating mechanism 30 in the direction perpendicular to the superposition direction can be reduced.
  • connection manner between the two sets of link assemblies can be determined according to requirements, for example, in this embodiment, two sets of link assemblies, two support seats 31 and a fixed seat 39
  • the connection between the lines is hexagonal (as shown in FIG. 12a); and in another embodiment of the present invention, the support base 31 may be one.
  • Two lifting arms 33 of the two sets of connecting rod assemblies are respectively disposed on opposite sides of the supporting base 31.
  • the connection between the entire floating mechanism 30 is a pentagon (as shown in FIG. 12b), and Further, the fixing base 39 is omitted, and the adjacent ends of the two translational arms 37 are rotatably connected to each other.
  • connection between the entire floating mechanism 30 is quadrangular (as shown in FIG. 12c); in addition, the two sets of connecting rod assemblies
  • the two first lugs 348 on the middle connecting frame 349 can also be bent in a direction away from each other, and the floating mechanism 30 is a four-bar tilting structure (as shown in Fig. 12d).
  • the elevating arm 33 of the floating mechanism 30 is rotatably coupled to the support base 31 in the axial direction of the support base 31 and is rotatably coupled to the translating arm 37 via the connecting bracket 349, such that the elevating arm 33 is
  • the translation arm 37 can jointly drive the operation panel 50 up and down in the plane where the axial direction of the support base 31 is up and down, and can be translated back and forth in the translation plane. Meanwhile, since the support base 31 can rotate around the axis, the operation panel 50 can also be driven along with the lift branch.
  • the arm 33 and the translation arm 37 rotate in a translation plane; the entire floating mechanism 30 has a large operating range, good linkage, small footprint, and simultaneous up and down movement in the vertical plane and translation and rotation in the translation plane.

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Abstract

一种浮动机构（30），包括升降支臂（33）、平移支臂（37）和连接架（349），升降支臂（33）的一端与连接架（349）转动连接，连接架（349）又与平移支臂（37）转动连接，升降支臂（33）以与平移支臂（37）相对的另一端为支点带动平移支臂（37）在两个相交的平面内旋转与上下升降；平移支臂（37）还可以与连接架（349）的连接点为轴在与升降支臂（33）相交的平移平面内平移。所述浮动机构（30）中升降支臂（33）与平移支臂（37）可共同带动操作面板（50）在竖直平面内上下升降与平移平面内前后左右平移；同时还可带动操作面板（50）随升降支臂（33）和平移支臂（37）在平移平面内旋转。还提供了一种带有该浮动机构（30）的超声诊断仪（100）及浮动支撑方法。

Description

浮动机构及其超声诊断仪 技术领域
本发明涉及机械结构领域，特别涉及一种浮动机构及其超声诊断仪。
背景技术
医护人员在使用带有操作面板的医疗仪器时(以超声诊断仪为例)，往往基于操作、诊断、治疗的需要，尤其在做不同的体位检查时，要求操作面板能够运动灵活，即操作面板可以实现上下升降、前后平移、左右平移以及旋转等全浮动操作。
传统操作面板装置主要有两种方式实现操作面板的升降和转动功能。第一种是独立的升降结构(竖直面内)加独立的前后平动和转动结构(水平面内)。这种浮动结构的升降、前后移动和旋转分别由两套独立的机构实现，其升降结构占用主机空间大，并且操作面板缺少左右平动，操作范围受限，用户体验比较差。另一种是独立的升降结构(竖直面内)加独立的青蛙腿结构方式(水平面内)，青蛙腿结构是一种变形的平行四连杆结构，其固定端由两个转动的支点形成，以带动四个移动臂，操作面板固定在两个移动臂的端部，如此实现一定范围内的前后平移、左右平移和旋转功能。这种浮动结构的升降动作和水平面内的平移及转动需单独操作，没有联动性。
发明内容
基于此，有必要提供一种能够同时实现操作面板在竖直面内上下升降以及在平移平面内平移及旋转的浮动机构及其超声诊断仪。
本发明的一些实施例中提供了一种浮动机构，其包括升降支臂、平移支臂和连接架，所述升降支臂的一端与所述连接架转动连接，所述连接架与所述平移支臂的一端转动连接，所述升降支臂以与所述平移支臂相对的另一端为支点带动所述平移支臂分别在两个相交的平面内旋转与上下升降；所述平移支臂还可以与所述连接架的连接点为轴在与所述升降支臂相交的平移平面内平移。
本发明的一些实施例中提供了一种用于连接第一部件和第二部件的浮动机构。该浮动机构包括：
第一连接座，所述第一连接座通过具有第一转动轴线的第一转动副连接到所述第一部件上并可绕所述第一转动轴线相对于所述第一部件转动；
升降支臂，所述升降支臂包括第一端和与第一端相反的第二端，所述升降支臂的第一端通过具有第二转动轴线的第二转动副连接到所述第一连接座上并可绕所述第二转动轴线相对于所述第一连接座转动，其中所述第二转动轴线与所述第一转动轴线不平行；
连接架，所述连接架通过具有第三转动轴线的第三转动副连接在所述升降支臂的第二端上并可绕所述第三转动轴线相对于所述升降支臂转动；
平移支臂，所述平移支臂包括第一端和与第一端相反的第二端，所述平移支臂的第一端通过具有第四转动轴线的第四转动副连接到所述连接架上并且可绕所述第四转动轴线相对于所述连接架转动，其中所述第四转动轴线与所述第三转动轴线不平行；
所述平移支臂的第二端连接到所述第二部件。
本发明浮动机构中升降支臂的一端通过连接架与平移支臂可转动地连接，使平移支臂可以与连接架的连接点为轴在与升降支臂相交的平面内平移，同时升降支臂以与平移支臂相对的另一端为支点还可带动平移支臂在两个相交的平面内旋转与上下升降，如此升降支臂与平移支臂可共同带动操作面板在两个相交的平面内上下升降与旋转，且同时还能在平移平面内前后左右平移；整个浮动机构操作范围大，联动性好，占用空间小并可同时实现上下升降、平移以及旋转。
附图说明
图1为本发明一较佳实施例中带浮动机构的超声诊断仪的结构示意图；
图2为本发明另一实施例中带浮动机构的超声诊断仪的结构示意图；
图3为图1所示超声诊断仪的部分结构示意图；
图4为图1所示浮动机构的分解图；
图5为图4所示浮动机构的部分剖视图；
图6为图5所示浮动机构中A处的放大图；
图7a-7b为图5所示浮动机构中升降上支架的受力状态简略分析示意图；
图8为图4所示浮动机构中连接架的结构示意图；
图9为图4所示浮动机构中平移支臂与固定座连接的剖视图；
图10a1-10f2为图3所示浮动机构的运动示意图；
图11a-11c为本发明另一实施例中浮动机构的结构示意图；
图12a为图3所示本发明较佳实施例中浮动机构各部件连线结构示意图；
图12b-12d为本发明浮动机构的变形方案示意图。
具体实施方式
为了便于理解本发明，下面将参照相关附图对本发明进行更全面的描述。附图中给出了本发明的较佳实施例。但是，本发明可以以许多不同的形式来实现，并不限于本文所描述的实施例。相反地，提供这些实施例的目的是使对本发明的公开内容的理解更加透彻全面。
需要说明的是，当元件被称为“固定于”另一个元件，它可以直接固定在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
图1为本发明一较佳实施例中超声诊断仪100的结构。为了便于说明，仅示出了与本发明实施例相关的部分。该超声诊断仪100包括主机10、浮动机构30、操作面板50、支撑臂70以及显示器90。
主机10包括机架11及若干滑轮13。若干滑轮13设置于机架11的底部，以便于超声诊断仪100的移动。
本发明的实施例中，浮动机构用于连接两个部件(本文中概括性地称之为第一部件和第二部件)。例如，一些实施例中，浮动机构可以连接机架11和控制面板 50(例如，图1的实施例)，此时，第一部件可以为机架11或者控制面板50，第二部件可以相应地为控制面板50或者机架11。另一些实施例中，浮动机构可以连接控制面板50和显示器90(例如，图2的实施例)，此时第一部件可以为控制面板50或者显示器90，第二部件可以相应地为显示器90或者控制面板50。另一些实施例中，浮动机构可以直接连接机架11和显示器90(未图示)，此时，第一部件可以为机架11或者显示器90，第二部件可以相应地为显示器90或者机架11。
容易理解，在其他的实施例中，浮动机构也可以用在其他任何需要使用这种浮动连接机构来连接部件的场合。
参考图3，本发明的一些实施例中，浮动机构30可以包括第一连接座31、升降支臂33、连接架349和平移支臂37。
第一连接座31可以连接到该浮动机构30所连接的两个部件中的第一部件上。例如，如图3所示，第一连接座31通过具有第一转动轴线AA的第一转动副连接到该第一部件上，并且能够通过该第一转动副绕该第一转动轴线AA相对于该第一部件转动。
升降支臂33包括第一端和与第一端相反的第二端。升降支臂33的第一端可以通过具有第二转动轴线BB的第二转动副连接到第一连接座31上并且能够通过该第二转动副绕该第二转动轴线BB相对于第一连接座31转动，其中该第二转动轴线BB与第一转动轴线AA不平行。
连接架349通过具有第三转动轴线CC的第三转动副连接在升降支臂33的第二端上，并且能够通过该第三转动副绕该第三转动轴线CC相对于升降支臂33转动。
平移支臂37包括第一端和与第一端相反的第二端。平移支臂37的第一端通过具有第四转动轴线DD的第四转动副连接到连接架349上，并且能够通过该第四转动副绕该第四转动轴线DD相对于连接架349转动，其中第四转动轴线DD与第三转动轴线CC不平行。
平移支臂37的第二端可以连接到前述的该浮动机构30所连接的两个部件中的第二部件。
这样，通过上述的浮动机构，第一部件即被连接到第二部件上。
本发明的实施例中，前述的第一转动副的第一转动轴线AA与第二转动副的第二转动轴线BB不平行，并且第一转动轴线AA和第二转动轴线BB可以在同一平面内，也可以在不同的平面内。例如，一些实施例中，第一转动轴线AA可以与第二转动轴线BB相交。此时，第一转动轴线AA可以与第二转动轴线BB相互垂直，也可以不相互垂直。
本文中，当提及两条转动轴线“相互垂直”时，可以指的是：当这两条转动轴线在同一平面内时，二者相互垂直；当这两条转动轴线不在同一平面内时，二者在空间上相互垂直，即其中一条转动轴线在另一条转动轴线所在的平面上的投影与该另一条转动轴线相互垂直。
本文中，当提及两条转动轴线“相交”时，可以指的是：当这两条转动轴线在同一平面内时，二者彼此相交；当这两条转动轴线不在同一平面内时，其中一条转动轴线在另一条转动轴线所在的平面上的投影与该另一条转动轴线彼此相交。
本发明的一些实施例中，前述的第二转动副的第二转动轴线BB可以与第三转动副的第三转动轴线CC相互平行。本发明的另一些实施例中，第二转动轴线BB也可以与第三转动轴线CC相交，即二者不相互平行。
本发明的一些实施例中，前述的第一转动副的第一转动轴线AA可以与第三转动副的第三转动轴线CC相交。此时，第一转动轴线AA可以与第三转轴轴线CC相互垂直，也可以不相互垂直。
本发明的一些实施例中，前述的第一转动副的第一转动轴线AA可以与第四转动副的第四转动轴线DD相互平行。本发明的另一些实施例中，第一转动轴线AA也可以与第四转动轴线DD相交，即二者不相互平行。
本发明的实施例中，平移支臂37的第二端与第二部件之间的连接可以使用很多适合的连接方式，可以是固定连接，也可以是可转动的连接；可以是直接固定地或者可转动地连接到第二部件上，也可以是通过中间元件固定地或者可转动地连接到第二部件上。
例如，一些实施例中，浮动机构30可以还包括第二连接座39。第二连接座39可以通过具有第五转动轴线EE的第五转动副连接到平移支臂37的第二端，并且能够通过该第五转动副绕第五转动轴线EE相对于平移支臂37旋转。
本发明的一些实施例中，该第二连接座39可以是与第二部件相互分离的独立的部件，并通过连接装置连接到第二部件上，也可以是与第二部件为一体的部件，即为第二部件本身的一部分。
本发明的一些实施例中，前述的第五转动副的第五转动轴线EE可以与第四转动副的第四转动轴线DD相互平行。本发明的另一些实施例中，第五转动轴线EE也可以与第四转动轴线DD相交，即二者不相互平行。
本发明的实施例中，前述的第一转动副、第二转动副、第三转动副、第四转动副和第五转动副可以是任何适合的转动副机构，例如，可以是由转动销和销孔形成的转动副，也可以是旋转座和旋转轴形成的转动副，等等。一些转动副的具体的结构的实例将在下文中参考附图进行详细描述。但是，容易理解，前述的转动副的结构将不限于下文中详细说明的实例。
本发明的实施例中，前述的升降支臂33和平移支臂37可以是任何适合的支撑或者连接臂结构，例如，可以整体为单个杆形成的原件，也可以是由多个部件形成(例如，如图4至6的实施例中的一样)。升降支臂33和平移支臂37的形状可以是任何适合的形状，例如可以是直线形的、弯曲形的或者其他的形状。
前述的结构中，升降支臂33通过第二转动副可转动地连接到第一连接座31，而第一连接座31本身又通过第一转动副可转动地连接到第一部件上，并且由于该第一转动副和第二转动副的转动轴线相交(即，不相互平行或者重合)，因此第一转动副和第二转动副的转动方向不同。因此，升降支臂33相对于第一部件将具有在两个方向(即第一转动副的转动方向和第二转动副的转动方向)上的转动自由度。同时，平移支臂37通过第四转动副可转动地连接到连接架349，而连接架349本身又通过第三转动副可转动地连接到升降支臂33上，并且由于该第三转动副和第四转动副的转动轴线相交(即，不相互平行或者重合)，因此第三转动副和第四转动副的转动方向不同。因此，平移支臂37相对于升降支臂37也具有在两个方向(即第三转动副的转动方向和第四转动副的转动方向)上的转动自由度。这样，连接在平移支臂37上的第二部件与连接在第一连接座31上的第一部件之间将具有极大的运动自由度，能够同时实现第一部件与第二个部件之间在多个方向上或者根据多个自由度的运动。例如，一些实施例中，可以同时实现第二部件相对于 第一部件的前后平移、左右平移、左右旋转和上下升降。这些同时实现的在多个方向上或者根据多个自由度的运动的合成效果使得第二部件能够自由地相对于第一部件以任何运动路径运动到与第一部件相距一定距离的一定空间范围内的任意位置。
此外，前述的这些实施例中，当第一转动轴线AA垂直于第二转动轴线BB和/或第二转动轴线BB平行于第三转动轴线CC和/或第三转动轴线CC垂直于第四转动轴线DD和/或第四转动轴线DD平行于第五转动轴线EE时，平移支臂37(及连接于其上的第二部件)、升降支臂33以及第一连接座31(及连接于其上的第一部件)中涉及的两者或者多者相互之间的运动将在相互垂直的方向上进行，从而更便于用户操作。
如前文所述，前述的实施例中，浮动机构30连接的第一部件和第二部件分别均可以相应地为机架11、操作面板50或者显示器90，或者其他任何适合的需要用该浮动机构连接的元件。在其他的实施例中，第一部件和/或第二部件也可以为其他的连接臂、支撑臂或连接杆或者其他中间连接元件，而不限于是所需要连接的目标元件。
在附图的实施例中，第一连接座31连接于机架11上，平移支臂37连接到操作面板50上，即第一部件为机架11，第二部件为操作面板50。在其他的实施例中，第一连接座31也可以连接在操作面板50上，而平移支臂连接在机架11上，即第一部件为操作面板50，第二部件为机架11。也就是说，本发明的实施例中，对第一部件和第二部件分别是哪个部件并无限制，可以根据需要设定。
本发明的实施例中，前述的第一部件和第二部件之间可以设置一个如前文所述的浮动机构，也可以设置至少两个(例如，两个或者更多个)如前文所述的浮动机构。例如，一些实施例中，第一部件和第二部件之间设有两个如前文所述的浮动机构(例如，如附图中的实施例所示)，此时即能够保证第一部件和第二部件之间的连接和支撑的稳定性和平衡性，也能够减小浮动机构之间的运动的相互干涉的可能性。当第一部件和第二部件之间设有多个如前文所述的浮动机构时，各个浮动机构的第一连接座可以是相互分离的或独立的，也可以是共用的或者部分共用的。
下面将进一步详细说明本发明的一些实施例。
如附图所示，本发明的一些实施例中，浮动机构30连接于操作面板50与机架11之间，用于使操作面板50能够相对于机架11在竖直平面内上下升降，也能够沿与竖直平面相交的平移平面内旋转与平移，即实现操作面板50的空间全浮动操作。其中，操作面板50上一般设置有按键、旋钮等，用户可以通过操作面板50对超声诊断仪100进行操作。支撑臂70的一端连接于操作面板50上，显示器90固定连接于支撑臂70远离操作面板50的另一端上，用来显示处理过程的信息、处理完成的结果或者其它信息。
可以理解地，在其它一些实施例中，浮动机构30可使用到超声诊断仪100上的其它位置而不仅局限在操作面板50的浮动上。例如，浮动机构30可用于控制显示器90的浮动，也可能使用到其他需要浮动的活动部件上，在此不作限定；如图2所示为浮动机构30取代上述支撑臂70连接于操作面板50与显示器90之间，用于控制显示器90浮动的示意图；或者将浮动机构30直接设置于显示器与主机10的机架11之间。具体地，浮动机构30可以包括升降支臂33、平移支臂37和连接架349。升降支臂33的一端通过转动副与连接架349可转动连接，连接架349又通过转动副与平移支臂37可转动连接，升降支臂33能够以与平移支臂37相对的另一端为支点带动平移支臂37分别在两个相交的平面内旋转与上下升降；同时平移支臂37还可以与连接架349的连接点(例如，连接平移支臂37和连接架349的转动副)为轴在与升降支臂33相交的平移平面内平移。其中，升降支臂33以与平移支臂37相对的另一端为支点分别在上述两个相交的平面内具有两个方向的转动自由度。
进一步地，浮动机构30包括支承座31。支承座31用于安装在需要使用浮动机构30的基座上。在本具体实施例中，基座为超声诊断仪100的机架11，在其他实施例中，基座还可以是各种需要使用浮动机构30的平台或者其他支撑或者连接结构。支承座31可绕自身轴线转动，升降支臂33连接于支承座31与平移支臂37之间。升降支臂33与平移支臂37相对的一端通过转动副可转动地连接于支承座31上，并以其与支承座31的连接点为轴带动平移支臂37分别在上述两个相交的平面内旋转与上下升降。平移支臂37通过转动副可转动地连接到连接架349，而 连接架349又通过转动副可转动地连接于升降支臂33远离支承座31的另一端，平移支臂37能够相对于升降支臂33于与支承座31的轴线方向垂直的平移平面内平移。当然，除了在与支承座31的轴线方向垂直的平移平面内平移外，还可以在适当倾斜的不完全垂直的平移平面内平移。
在本具体实施例中，升降支臂33的一端通过转动副可转动地连接于支承座31上，并以升降支臂33与支承座31的连接点(例如，连接升降支臂33和支承座31的该转动副)为轴在支承座31的轴线所在的平面内转动，并带动平移支臂37相对于支承座31上下升降。平移支臂37通过转动副可转动地连接到连接架349，而连接架349又通过转动副可转动地连接于升降支臂33远离支承座31的另一端，平移支臂37能够相对于升降支臂33于与支承座31的轴线方向垂直的平移平面内平移。由于支承座31可绕自身轴线转动，从而支承座31可以带动升降支臂33并由此带动平移支臂37以支承座31为支点于所述平移平面内旋转。
进一步地，浮动机构30包括固定座39(如图3所示)。固定座39通过转动副可转动地连接在平移支臂37远离升降支臂33的一端，且固定座39转动连接于平移支臂37的转动轴线(例如，前述的第五转动轴线EE)平行于支承座31的转动轴线(例如，前述的第一转动轴线AA)。
请参看图3，在本具体实施例中，支承座31为两个，间隔安装于机架11顶部。升降支臂33与平移支臂37同样为两个，且每个升降支臂33与每个平移支臂37呈预定角度转动连接形成一组连杆组件。其中，两组连杆组件中两个升降支臂33分别可转动地连接于两个支承座31上，两个平移支臂37远离对应升降支臂33的末端转动连接于固定座39的两侧。操作面板50(或者显示器90或者其他需要浮动支撑的元件)固定安装于固定座39上，并可随两组连杆组件相对于机架11在支承座31轴线所在的竖直平面内进行上下升降、以及在平移平面内前后左右平移和旋转的全浮动操作。
其中，两个支承座31的结构以及两组连杆组件的结构可以基本相同，为简单起见，下面仅以其中一组连杆组件与对应支承座31配合为例，对浮动机构30的结构及原理进行详细说明。
请一并参看图4与图5，在本具体实施例中，支承座31包括限位柱310以及 转动件312。限位柱310大体呈圆柱形，其固定安装于机架11上。限位柱310的外表面上沿周向开设有限位槽3101。转动件312大体为一端开口的中空圆柱形，其通过开口端转动套设于限位柱310外。这样，限位柱310与转动件312之间的配合构成前述的第一转动副的一个实例。转动件312面向限位柱310的内表面上凸出设置有限位销3121。限位销3121的一端嵌于限位槽3101内，以限制转动件312相对于限位柱310的转动角度。
可以理解地，在其它一些实施例中，支承座31亦可为安装于机架11顶部的一个，两个升降支臂33分别转动安装于一个支承座31相对的两侧。支承座31的旋转结构可以根据需要而设计，只需实现其可在外力作用下带动对应连杆组件中升降支臂33与平移支臂37相对于机架11于平移平面内旋转的功能即可，在此不作限定。例如，将限位柱310可转动地安装于机架11上，并将转动件312套设于限位柱310以随限位柱310一同相对于机架11旋转；或者直接将限位柱310与转动件312一体设计为一个整体的转动元件，其直接可转动地安装于机架11上亦可。
进一步地，支承座31还包括设置于限位柱310与转动件312之间的衬套314，衬套314用于减少限位柱310与转动件312的磨损。同时，支承座31还可以包括阻尼销钉316，阻尼销钉316穿过转动件312通过旋紧并抵接作用于衬套314上，用于调节限位柱310与转动件312之间的转动阻尼力。
升降支臂33包括升降支架340以及阻尼平衡补偿系统350。其中，升降支架340连接于支承座31的转动件312与连接架349之间。阻尼平衡补偿系统350设置于升降支架340内，用于补偿因升降支臂33转动一定角度导致的作用于升降支臂33的力矩的变化，使作用于升降支臂33的力矩保持平衡，进而能平稳支撑操作面板50及显示器90。
具体地，升降支架340包括升降上支架341和升降下支架345。升降上支架341的相对的两端通过各自的上转动副3410转动连接于转动件312与连接架349之间，升降下支架345的相对的两端分别通过各自的下转动副3450转动连接于转动件312与连接架349之间。其中，升降上支架341与升降下支架345相对平行设置，两者共同围成收容空间342。两对上转动副3410和下转动副3450的位置大致成一平行四边形，且四个转动副分别在平行四边形的四个顶点位置。本实施例中，与 连接架349连接的两个转动副共同构成了前述的第三转动副的一个实例，而与转动件312连接的两个转动副共同构成了前述的第二转动副的一个实例。
请具体参看图6，阻尼平衡补偿系统350收容于收容空间342内，其包括导杆351、导筒352以及弹簧353。导筒352包括第一连接端3521以及开口端3523。第一连接端3521通过连接转动副3525与转动件312连接。开口端3523向内凹陷形成收容腔3527。
导杆351包括第二连接端3510、第一延伸端3511以及第二延伸端3512。第二连接端3510通过导杆转动副3513与升降支架340中升降上支架341转动连接，且第二连接端3510远离连接架349的末端凸出延伸形成第一延伸端3511。第一延伸端3511远离第二连接端3510的一端继续凸出延伸形成第二延伸端3512。其中，第二连接端3510、第一延伸端3511以及第二延伸端3512的尺寸依次减小，从而使导杆351形成三级阶梯状。
第二延伸端3512通过开口端3523伸入导筒352的收容腔3527中，并可在收容腔3527内相对于导筒352沿轴向方向移动。第二延伸端3512外套设有与收容腔3527的内表面抵压接触的摩擦垫3514。摩擦垫3514的一端抵接于第二延伸端3512与第一延伸端3511连接处，另一端通过固定螺母3515固定于第二延伸端3512远离第一延伸端3511的末端，防止其脱落。
弹簧353套设于导杆351与导筒352外，且导杆351与导筒352沿轴向从弹簧353中间穿过。具体地，导杆351的第二连接端3510外凸设有法兰3516，导筒352的第一连接端3521外螺接有弹簧调节螺母3529。弹簧353抵接于法兰3516与弹簧调节螺母3529之间。此时，弹簧353对导杆351产生一定推力，且操作者可以通过调节弹簧调节螺母3529与法兰3516之间的距离，以调节弹簧353对导杆351产生的推力的大小。
请参看图7a，为本发明实施例的受力状态简略分析示意图，其中341代表升降上支架，31代表支承座，345代表升降下支架，3410、3450、3513分别为升降上支架341、升降下支架345以及导杆351上的连接副，349代表连接架，353代表弹簧。F1为弹簧353对升降上支架341的作用力，其力臂为L1，力矩大小为F1×L1；F2为作用于升降上支架341上各部件(例如承载于升降支架340上的操 作面板50、支撑臂70以及显示器90的重力)对升降上支架341的作用力，其力臂为L2，力矩大小为F2×L2；且F1的力矩与F2的力矩的方向相反。因此，只有当各力臂的长度L1和L2以及适当调整F1或F2的大小，使得F1×L1的大小等于F2×L2的大小，即可使升降上支架341平衡，此时作用于升降上支架341上各部件即被平衡支撑。
超声诊断仪100在工作中需要绕支承座31转动浮动机构30使操作面板50向上或向下运动转动一个角度。如图7a所示，将升降上支架341按箭头A的方向转动一个角度，转动到新的位置后，弹簧353的长度会发生变化，也就是弹簧353的压缩量会发生变化，因此在新的位置升降上支架341所受的力F1会发生变化，而F1和F2的力臂也会因支撑转动了一定角度而发生变化。如图7b，以F1’代表新的位置弹簧353作用在升降上支架341的力，以L1’代表新的位置力F1’的力臂，以L2’表示在新的位置F2的力臂。此时，F1’×L1’和F2×L2’的大小不一定保持相等，此时如果没有另外的力矩补偿的话，作用在升降上支架341上的力矩不一定仍然能保持平衡，可能升降上支架341无法将操作面板50和显示器90稳定支撑在此期望的位置。
本发明的实施例的结构可以对这种力矩变化进行补偿。如图6所示，本发明实施例中，导杆351的第二延伸端3512上套设有摩擦垫3514，摩擦垫3514与导筒352的收容腔3527的内表面抵压接触。如图7b所示，当在新的位置，F2的力矩大于F1’的力矩时，升降上支架341有向下转动的趋势，此时，升降上支架341向下运动的趋势带动导杆351有沿轴向向导筒352运动的趋势，也就是导杆351有向导筒352的收容腔3527内深入运动的趋势。此时，由于导杆351的第二延伸端3512处套设的摩擦垫3514与导筒352的收容腔3527的内表面抵压接触，因此，摩擦垫3514与收容腔3527内表面将产生静摩擦力。根据静摩擦力的特点可知，此处作用在导杆351上的静摩擦力F3(如图7b所示)，其方向与F1’相同。由于导杆351与升降上支架341连接，因此此摩擦力F3将作用在升降上支架341上，其力矩的方向与F1’相同，与F2相反。如此，F3的力矩可以补偿F1’的力矩与F2的力矩的差，使得作用于升降上支架341的力矩仍然保持平衡，总的力矩保持为0。同样地，当沿上述相反方向转动导致F1的力矩无法与F2的力矩平衡的情况， 其分析过程与上述过程类似，在此不再赘述。
因此，在发明实施例中，通过弹簧353的作用力平衡升降上支架341所受的力矩，并通过导杆351上设置的摩擦垫3514与导筒352内表面的静摩擦力对升降上支架341所受的力矩进行进一步的补偿平衡，从而使升降上支架341可以在任意位置保持平衡，而且在弹簧力值衰减的情况下，也可补偿弹簧力值的衰减，使升降上支架341保持平衡，从而对操作面板50和显示器90提供稳定支撑。可以理解地，在其它一些实施例中，该阻尼补偿系统350还可以有其他的实现方式，在此不作限定。例如，采用气弹簧、拉簧、扭簧等结构形式。
请参看图8，连接架349远离支承座31的一侧凸出形成有第一凸耳348。第一凸耳348由连接架349背向导杆351一侧的边缘呈弧形延伸而成，且其上开设有用以与对应平移支臂37转动连接的第一轴孔3481。第一凸耳348上还开设有弧形第一转动槽3482。第一转动槽3482沿周向包围于第一轴孔3481的外围，用于限定平移支臂37相对于升降支臂33的转动角度。在本具体实施例中，两个连接架349上的两个第一凸耳348以向相互靠近的内括方式弯曲而成，从而使两个支承座31、两组连杆组件以及固定座39之间的连线为六边形。在其它一些实施例中，两个第一凸耳348亦可以向相互远离的外括方式弯曲而成，在此不作限定。
请重新参看图4，平移支臂37包括臂部370及分别设置于臂部370相对两端的第一转动部371与第二凸耳372。第一转动部371大体为开口面向连接架349上第一凸耳348的U字型，其上下两端分别开设有与第一凸耳348上第一轴孔3481对应的第一转动轴孔3710。第一凸耳348夹持于第一转动部371的上下两端之间，转轴373穿过第一轴孔3481与第一转动轴孔3710，将平移支臂37与连接架349转动连接。同时，第一转动部371上还设置有嵌入第一转动槽3482内的第一转动销374(如图8所示)，用以限定第一转动部371相对于第一凸耳348的转动角度。本实施例中，转轴373与第一轴孔3481和第一转动轴孔3710之间的配合构成了前述的第四转动副的一个实例。
请一并参看图9，第二凸耳372的形状与第一凸耳348的形状基本相同，其上开设有第二轴孔3721及沿周向设置于第二轴孔3721外围的弧形第二转动槽3723。固定座39相对的两端分别包括与两个平移支臂37上两个第二凸耳372配合的第 二转动部390。第二转动部390的形状与第一转动部371的形状基本相同，其上开设有与第二凸耳372上第二轴孔3721对应的第二转动轴孔3901。第二凸耳372夹持于第二转动部390的上下两端之间，转轴375穿过第二轴孔3721与第二转动轴孔3901，并通过挡圈377固定于固定座39上，将平移支臂37与固定座39转动连接。同时，第二转动部390上还设置有嵌入第二转动槽3723内的第二转动销376，用以限定第二转动部390相对于第二凸耳372的转动角度。
进一步地，平移支臂37还包括衬套379，衬套379设置于转轴375与对应的第二凸耳372之间，用于减少转轴375与第二凸耳372之间的磨损。
请参看图10(a1-f2)，在操作使用时，操作人员可以通过操作浮动机构30控制操作面板50的运动。例如，在需要对操作面板50进行上下升降时，升降支臂33可绕各自的上转动副3410、下转动副3450相对于支承座31的转动件312在竖直平面内上升与下降，以带动平移支臂37以及固定于固定座39上的操作面板50相对于机架11作上下升降运动；在需要对操作面板50进行左右转动时，升降支臂33可随转动件312一同绕限位柱310进行左右转动并带动固定在平移支臂37上的操作面板50运动；在需要对操作面板50进行前后左右平移时，平移支臂37可绕转轴373相对于连接架349平移，以带动操作面板50的运动。其中，在实际操作过程中，上述运动可一次实现其中的一种或多种，在此不作限定。
图3-6和图9的实施例中，连接架349在水平方向上设置，即从与连接架349连接的第三转动副到与连接架349连接的第四转动副(或者反之)的方向在水平方向上。但是，本发明不限于此，在其他的实施例中，连接架349也可以在竖直方向或者其他方向上设置。例如，请参看图11(a-c)，在本发明另一些实施例中，连接架349可以在竖直方向上设置，即从与连接架349连接的第三转动副到与连接架349连接的第四转动副(或者反之)的方向在竖直方向上。这样，使得平移支臂37至少部分地垂直叠加地转动连接于升降支臂33上方，如此可减小浮动机构30在于叠加方向垂直的方向上所占用的空间。
请参看图12(a-d)，本发明中，两组连杆组件之间的连接方式可以根据需要而定，例如，本实施例中，两组连杆组件、两个支承座31以及固定座39之间的连线为六边形(如图12a所示)；而在本发明另一实施例中，支承座31可为一个， 两组连杆组件中两个升降支臂33分别设置于该支承座31相对的两侧，此时整个浮动机构30之间的连线为五边形(如图12b所示)，同时还可进一步的省略固定座39，两个平移支臂37相邻的两端相互转动连接，此时整个浮动机构30之间的连线为四边形(如图12c所示)；另外，两组连杆组件中连接架349上的两个第一凸耳348亦可以向相互远离的外括的方向弯曲而成，此时浮动机构30为四杆外翻结构(如图12d所示)。
本发明中，浮动机构30中升降支臂33沿支承座31的轴线方向可转动地连接于支承座31上并同时通过连接架349与平移支臂37可转动地连接，如此升降支臂33与平移支臂37可共同带动操作面板50在支承座31轴线方向所在的平面内上下升降与平移平面内前后左右平移；同时由于支承座31可绕轴线转动，如此还可带动操作面板50随升降支臂33和平移支臂37在平移平面内旋转；整个浮动机构30的操作范围大，联动性好，占用空间小并可同时实现竖直平面内的上下升降与平移平面内的平动与旋转。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对本发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (25)

  1. 一种浮动机构，其特征在于：包括升降支臂、平移支臂和连接架，所述升降支臂的一端与所述连接架转动连接，所述连接架与所述平移支臂的一端转动连接，所述升降支臂以与所述平移支臂相对的另一端为支点带动所述平移支臂分别在两个相交的平面内旋转与上下升降；所述平移支臂还可以与所述连接架的连接点为轴在与所述升降支臂相交的平移平面内平移。
  2. 如权利要求1所述的浮动机构，其特征在于：所述升降支臂以与所述平移支臂相对的另一端为支点分别在所述两个相交的平面内具有两个方向的转动自由度。
  3. 如权利要求1所述的浮动机构，其特征在于：所述升降支臂与所述平移支臂均为两个，每个升降支臂与每个平移支臂呈预定角度通过连接架转动连接形成一组连杆组件，两组连杆组件中两个升降支臂与两个平移支臂的相互连接的两端以相互靠近或远离的方式设置。
  4. 如权利要求1所述的浮动机构，其特征在于：还包括支承座，所述升降支臂与所述平移支臂相对的一端可转动地连接于所述支承座上，并以所述支承座为支点带动所述平移支臂分别在两个所述相交的平面内旋转与上下升降。
  5. 如权利要求4所述的浮动机构，其特征在于：所述支承座可绕其轴线转动带动所述升降支臂带动所述平移支臂以所述支承座为支点于所述平移平面内旋转，所述升降支臂沿所述支承座的轴线方向所在的平面内带动所述平移支臂相对于所述支承座上下升降；所述平移支臂可转动地连接于所述连接架，并相对于所述升降支臂于与所述支承座的轴线方向垂直的平移平面内平移。
  6. 根据权利要求4所述的浮动机构，其特征在于：所述支承座为一个或间隔设置的两个，所述升降支臂与所述平移支臂均为两个，两个所述升降支臂的两端分别活动连接于一个所述支承座的两侧或两个所述支承座上。
  7. 根据权利要求4所述的浮动机构，其特征在于：所述支承座包括限位柱及转动套设于所述限位柱上的转动件，所述升降支臂的一端可转动的铰接于所述转动件上并可随所述转动件带动所述平移支臂绕所述限位柱旋转。
  8. 根据权利要求7所述的浮动机构，其特征在于：所述限位柱的外表面上沿周向开设有限位槽，所述转动件面向所述限位柱的内表面上凸出设置有嵌于所述限位槽内的限位销。
  9. 根据权利要求7所述的浮动机构，其特征在于：所述支承座还包括阻尼销钉及设置于所述限位柱与所述转动件之间的衬套，所述阻尼销钉穿过所述转动件旋紧并抵接作用于所述衬套上。
  10. 根据权利要求4所述的浮动机构，其特征在于：所述升降支臂包括升降支架，所述升降支架包括升降上支架和升降下支架，所述升降上支架的相对的两端分别通过各自的上转动副转动连接于所述转动件与所述连接架之间，所述升降下支架的相对的两端分别通过各自的下转动副转动连接于所述转动件与所述连接架之间，两对上转动副和下转动副的位置成一平行四边形，且四个转动副分别在所述平行四边形的四个顶点位置。
  11. 根据权利要求10所述的浮动机构，其特征在于：所述连接架远离所述支承座的一侧凸出形成有第一凸耳，所述第一凸耳上开设有用以与对应平移支臂转动连接的第一轴孔。
  12. 根据权利要求11所述的浮动机构，其特征在于：所述第一轴孔的外围沿周向设置有弧形的第一转动槽；所述平移支臂包括转动连接于所述第一凸耳上第一转动部，所述第一转动部上设置有嵌入所述第一转动槽内的第一转动销。
  13. 根据权利要求4所述的浮动机构，其特征在于：还包括固定座，所述固定座转动连接在所述平移支臂远离所述升降支臂的一端，所述固定座转动连接于所述平移支臂的转动轴线平行于所述支承座的转动轴线。
  14. 根据权利要求13所述的浮动机构，其特征在于：所述固定座包括与所述平移支臂转动连接的第二转动部；所述平移支臂包括第二凸耳，所述第二凸耳上开设有用以与所述第二转动部转动连接的第二轴孔，所述第二轴孔的外围沿周向设置有弧形的第二转动槽；所述第二转动部上设置有嵌入所述第二转动槽内的第二转动销。
  15. 根据权利要求14所述的浮动机构，其特征在于：所述平移支臂还包括衬套、转轴以及挡圈，所述第二转动部上开设有与所述第二凸耳上第二轴孔对应的 第二转动轴孔；所述转轴穿过所述第二轴孔与所述第二转动轴孔，并通过所述挡圈固定于所述固定座上；所述衬套设置于所述转轴与所述第二凸耳之间。
  16. 一种超声诊断仪，其特征在于：所述超声诊断仪包括主机、操作面板、浮动机构以及显示器，所述浮动机构连接于所述操作面板或所述显示器与所述主机之间、或所述操作面板与所述显示器之间；所述浮动机构为上述权利要求1-15中任意一项所述的浮动机构。
  17. 一种浮动机构，所述浮动机构用于连接第一部件和第二部件，其特征在于，包括：
    第一连接座，所述第一连接座通过具有第一转动轴线的第一转动副连接到所述第一部件上并可绕所述第一转动轴线相对于所述第一部件转动；
    升降支臂，所述升降支臂包括第一端和与第一端相反的第二端，所述升降支臂的第一端通过具有第二转动轴线的第二转动副连接到所述第一连接座上并可绕所述第二转动轴线相对于所述第一连接座转动，其中所述第二转动轴线与所述第一转动轴线不平行；
    连接架，所述连接架通过具有第三转动轴线的第三转动副连接在所述升降支臂的第二端上并可绕所述第三转动轴线相对于所述升降支臂转动；
    平移支臂，所述平移支臂包括第一端和与第一端相反的第二端，所述平移支臂的第一端通过具有第四转动轴线的第四转动副连接到所述连接架上并且可绕所述第四转动轴线相对于所述连接架转动，其中所述第四转动轴线与所述第三转动轴线不平行；
    所述平移支臂的第二端连接到所述第二部件。
  18. 如权利要求17所述的浮动机构，其特征在于：所述第三转动轴线与所述第四转动轴线相互垂直。
  19. 如权利要求17所述的浮动机构，其特征在于：所述第三转动轴线与所述第二转动轴线相互平行。
  20. 如权利要求17所述的浮动机构，其特征在于：所述第一转动轴线与所述第二转动轴线和/或所述第三转动轴线相互垂直。
  21. 如权利要求17所述的浮动机构，其特征在于：所述第一转动轴线与所述第四转动轴线相互平行。
  22. 如权利要求17所述的浮动机构，其特征在于：还包括第二连接座，所述第二连接座通过具有第五转动轴线的第五转动副连接到所述平移支臂的第二端上并可绕所述第五转动轴线相对于所述平移支臂转动，并且所述第二连接座与所述第二部件连接。
  23. 如权利要求22所述的浮动机构，其特征在于：所述第四转动轴线与所述第五转动轴线相互平行。
  24. 一种超声诊断仪，其特征在于，包括主机、操作面板、显示器和至少一个如权利要求17至23中任意一项所述的浮动机构，所述浮动机构连接于所述操作面板或所述显示器与所述主机之间、或所述操作面板与所述显示器之间。
  25. 如权利要求24所述的超声诊断仪，其特征在于，包括至少两个所述浮动机构，所述至少两个所述浮动机构接于所述操作面板或所述显示器与所述主机之间、或所述操作面板与所述显示器之间。
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