WO2020061862A1

WO2020061862A1 - Ultrasonic device

Info

Publication number: WO2020061862A1
Application number: PCT/CN2018/107756
Authority: WO
Inventors: 何绪金; 赵彦群; 杨荣富; 陈志武; 魏开云
Original assignee: 深圳迈瑞生物医疗电子股份有限公司; 深圳迈瑞科技有限公司
Priority date: 2018-09-26
Filing date: 2018-09-26
Publication date: 2020-04-02
Also published as: CN112654814A; CN112654814B

Abstract

Disclosed is an ultrasonic device, comprising a moving component (3), a main body (2) and a planar connecting rod assembly (4), the planar connecting rod assembly (4) comprising a first connecting rod (41), a second connecting rod (42), a third connecting rod (43) and a fourth connecting rod (44), wherein the first connecting rod (41) is rotatably connected to the main body (2), two ends of the second connecting rod (42) are respectively rotatably connected to the first connecting rod (41) and the fourth connecting rod (44), two ends of the third connecting rod (43) are respectively rotatably connected to the first connecting rod (41) and the fourth connecting rod (44), the second connecting rod (42) is parallel to the third connecting rod (43), and the fourth connecting rod (44) is rotatably connected to the moving component (3). The ultrasonic device uses the planar connecting rod assembly (4) comprising at least four connecting rods, wherein two connecting rods are respectively movably connected to the main body (2) and the moving component (3), and the other two connecting rods are connected in parallel between the two connecting rods movably connected to the main body (2) and the moving component (3), so that the four connecting rods are connected in series to form a three-armed structure, such that the moving component (3) has a wider range of movement and can move to any position, and the middle is formed of two parallel connecting rods, thereby improving the stability and flexibility of movement.

Description

Ultrasound device

Technical field

The present application relates to an ultrasonic device, and in particular to an ultrasonic device having a function of plane floating and space floating.

Background technique

When medical personnel use medical instruments with display equipment (taking ultrasound diagnostic equipment as an example), they are often based on the needs of operation, diagnosis, and treatment, combined with the need for visual comfort of doctors of different heights, and require that the display can be adjusted during work. The positional relationship between the device and the operator's line of sight requires the display device to be able to move flexibly, that is, it can achieve operations such as up and down, back and forth, left and right, and left and right rotation (full floating operation), so that the display device can meet the operator's requirements. The intention can be freely adjusted for movement.

The motion connection form of the desktop ultrasound diagnostic instrument can be divided into the following categories: The first type is composed of a horizontal link and a support arm with a lifting function, the head and tail joints are articulated, and the floating operation in the plane is achieved by joint rotation, plus The vertical movement of the lifting support arm, the combination of the above movements can achieve the movement of the display device in the space; the second type is the fixed coupling of the two supporting arms with the lifting function in the up and down direction, and the floating operation in the plane is realized by turning the joint end to end, and then Coupled with the up and down movement of the lifting support arm, the above combination of movements can achieve the movement of the display device in the space; the third is a disc-type support arm form, a closed system consisting of two sets of relatively rotating discs and two links The connecting rod is hinged with the edge of the disc, and the closed disc system can realize the horizontal motion pattern, and the function of lifting is added. The above combination of motions can realize the movement of the equipment in the space.

However, the above-mentioned kinematic connection form has the following disadvantages: the range of motion is small, and it cannot be moved in all directions within a large range, so that many positions cannot be reached, and the structure is more complicated, and the assembly and maintenance costs are high.

Summary of the Invention

An embodiment provides an ultrasound device including a moving part, a main body, and a planar link assembly. The planar link assembly includes a first link, a second link, a third link, and a fourth link. The rod is rotatably connected to the main body. The two ends of the second link are rotatably connected to the first and fourth links, respectively. The two ends of the third link are rotatably connected to the first and fourth links. For the rotating connection, the second link is parallel to the third link, and the fourth link is rotatably connected to the moving part.

Further, the ultrasonic device further includes a base and a connecting member. The base is mounted on the main body. The first link is connected to the base in a rotatable manner, the link is mounted on a moving part, and the fourth link is connected to the link in a horizontally rotatable manner. .

Further, the connection piece and the moving part can be connected upside down.

Further, the connecting member is connected to the moving part through a damping shaft.

Further, the first link is connected to the base, the second link, and the third link through a rotating shaft or a damping shaft, respectively, and the fourth link is connected to the connecting member, the second link, and the third link through a rotating shaft or a damping shaft, respectively. connection.

Further, a limit pin and an arc-shaped groove are respectively provided on any one of the first link, the base, and the connected rotating shaft or the damping shaft, and the limit pin is clamped in the arc-shaped groove.

Further, a limit pin and an arc-shaped groove are respectively provided on any two of the fourth link, the connecting member, and the connected rotating shaft or damping shaft, and the limit pin is clamped in the arc-shaped groove.

In one embodiment, there are two planar link assemblies. The two planar link assemblies are a first planar link assembly and a second planar link assembly. The first link of the first planar link assembly is rotatably connected to the base. The fourth link of the first planar link assembly is rotatably connected to the first link of the second planar link assembly, and the fourth link of the second planar link assembly is rotatably connected to the connecting member.

In one embodiment, the planar link assembly further includes a fifth link, and the fifth link is rotatably mounted between the fourth link and the connecting member, or the fifth link is rotatably mounted on the first link. And the base.

In one embodiment, the ultrasonic device further includes a lifting floating assembly, which is installed between the base and the planar link assembly, or between the planar link assembly and the connecting member.

Further, the lifting floating assembly includes a lifting bracket, a spring, and a lifting slide block. The lifting slide block is slidably mounted on the lifting bracket, one end of the spring is mounted on the lifting bracket, and the other end is mounted on the upper lifting slide block. It is directly installed on the fourth link, and the lifting sliding block is connected with the connecting piece.

Further, the lifting floating assembly further includes a lifting shell, the lifting shell is installed on the fourth link, the lifting bracket, the spring, and the lifting slide block are installed in the lifting shell, and the side of the lifting shell is provided with a vertical opening, and the lifting slide block passes through. Connected to the connecting piece through the opening.

In one embodiment, the lifting floating assembly includes an outer column, an inner column, and a lifting damper. The outer column is a sleeve structure and is installed on the base. The inner column can be rotated and lifted into the outer column and the lifting damper is installed. Between the outer pillar and the inner pillar, the upper end of the inner pillar is connected to the first link.

In one embodiment, the lifting floating assembly includes a lifting link, a fixed block and a moving block, and the two ends of the lifting link are respectively swingably connected to the fixed block and the moving block through a rotating shaft; the fixed block is connected to the fourth link, The moving block is connected with the connecting member, or the fixed block is connected with the base, and the moving block is connected with the first link.

Further, the rotating shaft connecting the lifting link to the fixed block and the moving block is a damping rotating shaft. A damping auxiliary member is provided on the damping rotating shaft. The damping auxiliary member is a tension spring, a spring, a torsion spring or an internal friction structure.

In one embodiment, the lifting floating assembly further includes a driving wheel and a driving belt. The driving wheel has two driving wheels, which are respectively installed on the rotating shafts at both ends of the lifting link, and the driving belt is connected between the two sprocket wheels.

Further, the transmission wheel is a sprocket, a timing belt or a pulley, and the transmission belt corresponds to a chain, a timing belt, or a belt.

In one embodiment, the lifting and floating assembly further includes a rope. Both ends of the rope are fixed on the fixed block and the moving block. The middle portion of the lifting link has a protrusion. The end of the protrusion is provided with a chute. The middle of the rope Sliding tightly in the chute of the lifting link.

In one embodiment, the lifting floating assembly further includes an angle detecting device and a driving lock device. The angle detecting device has two detection ends, which are respectively installed at the hinged positions of the lifting link and the fixed block and the moving block. In order to detect the inclination angle of the lifting link relative to the fixed block and the moving block, the driving lock device has two driving ends, and the two driving ends are respectively connected to the fixed block and the lifting link for driving the fixed block to rotate relative to the lifting link. And used to drive the lifting link to rotate relative to the fixed block; the tilt angle value detected by the angle detection device is fed back to the drive locking device.

In one embodiment, the lifting floating assembly includes a fixed block, a moving block, a first lifting link, a second lifting link, a third lifting link, and a sliding sleeve; the fixed block is connected to the fourth link, and the moving block is connected to The fixed block is connected to the base, the moving block is connected to the first link; the two ends of the first lifting link and the second lifting link are hinged to the fixed block and the moving block respectively, and the sliding sleeve is slidably sleeved On the second lifting link, there is a certain friction between the sliding sleeve and the second lifting link, and both ends of the third link are hinged with the sliding sleeve and the fixed block, respectively.

Further, the sliding sleeve includes a slider and a friction sleeve, the slider is provided with a through hole, the second lifting link is penetrated in the through hole of the slider, the friction sleeve is on the second lifting link and fixed to the slider Inside.

Further, a spring is provided on the second lifting link, and a blocking piece is disposed on an end of the second lifting link near the moving block, and the spring is located between the blocking piece and the sliding sleeve.

According to the ultrasonic device of the above embodiment, since a planar link assembly including at least four links is used, two of the links are movably connected to the main body and the moving part, respectively, and the other two links are connected in parallel to the main body and the moving part. The two connecting rods are connected, so that the four connecting rods are connected in series to form a three-arm structure, so that the moving part has a larger moving range and can be moved to any position, and the middle is formed by two parallel connecting rods. The stability of movement also improves the flexibility of movement.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic structural diagram of an ultrasound device in an embodiment; FIG.

FIG. 2 is a schematic partial structural diagram of an ultrasonic device in an embodiment; FIG.

3 is a schematic diagram of a local explosion structure of an ultrasonic device in an embodiment;

FIG. 4 is a schematic structural side view of a part of an ultrasound device according to an embodiment; FIG.

5 is a schematic structural diagram of a limit structure in an embodiment;

6 is a schematic structural diagram of a limit structure in an embodiment;

7a is a schematic plan telescopic movement of a planar link assembly according to an embodiment;

FIG. 7b is a schematic plan view of a planar rotary movement of a planar link assembly according to an embodiment; FIG.

FIG. 8 is a schematic structural diagram of an ultrasonic device having two planar link assemblies in an embodiment; FIG.

FIG. 9 is a schematic structural diagram of an ultrasonic device having five links in an embodiment; FIG.

FIG. 10 is a schematic structural diagram of an ultrasonic device in an embodiment; FIG.

11 is a side cross-sectional view of an ultrasonic device having a lifting function in an embodiment;

FIG. 12 is a side view of an ultrasonic device in an embodiment; FIG.

FIG. 13 is a schematic structural diagram of an ultrasonic device in an embodiment; FIG.

14 is a schematic structural diagram of an ultrasonic device in an embodiment;

15 is a schematic structural diagram of an ultrasound device in an embodiment;

16a to 16c are schematic structural diagrams of a floating component in an embodiment;

17a to 17c are schematic structural diagrams of a floating component in an embodiment;

18a and 18b are schematic structural diagrams of a floating component in an embodiment;

19a and 19b are schematic structural diagrams of a floating component in an embodiment.

detailed description

This embodiment provides an ultrasonic device. The ultrasonic device includes a main body and a moving part, and the moving part is mounted on the main body in a floating manner through a planar link assembly.

In order to make the plane floating range of the moving part wide and move to any position within the plane floating range in all directions, a planar link assembly including at least four links is used in this embodiment, where two links are respectively connected to the main body and The moving parts are movably connected, and the other two links are connected in parallel between the two links that are movably connected to the main body and the moving parts, so that the moving parts have a larger range of movement and can be moved to any position. Parallel links are formed so that four links are connected in series into a parallel four-link structure. It improves the stability of movement and also improves the flexibility of movement.

In one embodiment, the ultrasound device includes a moving part, a main body, and a planar link assembly. The planar link assembly includes a first link, a second link, a third link, and a fourth link. The first link and the main body Rotatable connection. The two ends of the second link are rotatably connected to the first and fourth links, respectively. The two ends of the third link are rotatably connected to the first and fourth links. The second link is parallel to the third link, and the fourth link is rotatably connected to the moving part. The moving part is movably connected to the main body through the planar link assembly. The moving part may include a display device or a control panel. A display device is movably connected to the main body for displaying an ultrasound image or diagnostic information and the like. The control panel is an operation panel used by the user to control the ultrasound device, and a touch screen or a sub-display can be set on the control panel. The input devices on the control panel may include buttons, knobs, trackballs, keyboards, or touch screens. There are no restrictions here.

The ultrasound apparatus of this embodiment is described by taking an ultrasound diagnostic apparatus as an example.

In one embodiment, as shown in FIG. 1, the ultrasonic diagnostic apparatus of this embodiment mainly includes a body 1, a control panel 2, a display 3, and a planar link assembly 4. The control panel 2 is installed on the body 1 and the display 3 is installed. On the control panel 2, a planar link assembly 4 is installed between the display 3 and the control panel 2. In this embodiment, the control panel 2 is used as the main body, and the display 3 is used as the moving part. It can be understood that the control panel 2 can also be used as the moving part, and the body 1 can also be used as the main body; As the main body, it is not limited here. The display 3 is mounted on the control panel 2 in a floating manner through a planar link assembly 4.

As shown in Figures 1 and 2, in order to install the flat link assembly 4 between the control panel 2 and the display 3, the two ends of the flat link assembly 4 are respectively installed with a base 5 and a connector 6, and the base 5 is installed on the control panel. 2, the connecting member 6 is installed on the display 3, the first end of the planar link assembly 4 is movably connected to the base 5, and the second end of the planar link assembly 4 is fixed or movably connected to the connecting member 6.

As shown in FIG. 3, the planar link assembly 4 of this embodiment includes a first link 41, a second link 42, a third link 43, and a fourth link 44, where the first link 41 and the fourth link The rod 44 may be designed as two shorter links relative to the second link 42 and the third link 43, which are respectively located at two ends of the planar link assembly 4, and the second link 42 and the third link 43 may be Designed as two longer links, located between two ends of the planar link assembly 4.

Specifically, the upper end of the base 5 is installed with a vertical base rotating shaft 51. One end of the first link 41 is provided with a large hole and the other end is provided with two spaced-apart small holes. The base rotating shaft 51 is inserted in the first In a large hole of a connecting rod 41, the first connecting rod 41 is rotatably connected to the base 5 through the base rotating shaft 51. The two ends of the second link 42 and the third link 43 are respectively provided with a small hole, the second link 42 and the third link 43 are arranged in parallel, and the same ends of the second link 42 and the third link 43 are respectively It is rotatably connected to two small holes in the first link 41 through a link rotation shaft 45. The fourth link 44 is also provided with a large hole at one end and two spaced-apart two small holes at the other end. The second end of the second link 42 and the third link 43 which are away from the first link 41 respectively pass through one The connecting rod rotation shaft 45 is rotatably connected to two small holes of the fourth connecting rod 44. A vertical connecting member rotating shaft 61 is installed at the lower end of the connecting member 6. The connecting member rotating shaft 61 is inserted in the large connecting rod 44. Inside the hole, thereby realizing the movable connection between the fourth link 44 and the connecting member 6.

As shown in FIG. 3 and FIG. 4, in this embodiment, a horizontal display rotating shaft 31 is installed at the lower end of the display 3, and a through hole is provided on the connecting member 6 to connect with the display rotating shaft 31. Therefore, the display 3 can be moved in a plane relative to the base 5 and can be turned upside down.

In one embodiment, one or more of the base shaft 51, the connecting rod shaft 45, the connecting member shaft 61, and the display shaft 31 are damping shafts. The damping shafts are provided with damping aids on the shafts. Damping tension spring, spring, torsion spring or internal friction structure. The setting of the damping rotating shaft enables the display 3 to be stopped arbitrarily during the plane floating and flipping operation. The display 3 will be in a stable state without being driven by a certain external force to facilitate the use of the doctor.

In one embodiment, in order to limit the plane floating range of the display 3 to prevent the display 3 from colliding with the device or device that moves to the rear during a misoperation, it is limited to move within a certain required range, which is more convenient and effective to use.

The limiting structure is arranged at one or more of the base shaft 51, the connecting rod shaft 45, the connecting member shaft 61 and the display shaft 31, as shown in FIG. 5. Taking the setting of the base shaft 51 as an example, the base shaft 51 The upper end is provided with an arc-shaped groove 511 and a limit pin 512 corresponding to the arc-shaped groove 511. One end of the limit pin 512 is fixed in the large hole of the first link 41, and the other end of the limit pin 512 may be The sliding latch is connected in the arc-shaped groove 511, so that the radian of the arc-shaped groove 511 determines the range of the rotation angle of the first link 41. The limit pin 512 and the arc-shaped groove 511 cooperate to define the first link 41 relative to the base. 5 rotations.

In other embodiments, the arc-shaped groove 511 may also be set in the large hole of the first link 41, and the limit pin 512 is fixed on the base shaft 51, which can also achieve the limit effect.

In other embodiments, as shown in FIG. 6, the arc-shaped groove 511 is provided on the surface of the first link 41 facing the base 5, and the limit pin 512 is installed on the base 5, which can also achieve the limit effect. Similarly, the arc-shaped groove 511 may be provided on the surface of the base 5 facing the first link 41, and the limit pin 512 is installed on the surface of the first link 41.

In other embodiments, if the base shaft 51 is rotatably connected to the base 5 and the base shaft 51 is fixedly connected to the first link 41, the arc-shaped groove 511 and the limit pin 512 may be respectively provided on the base shaft 51 and the base 5 The rotation range of the first link 41 with respect to the base 5 may also be limited.

In the ultrasonic diagnostic apparatus of this embodiment, the display 3 is mounted on the control panel 2 through the planar link assembly 4, and the display 3 realizes stable and large-scale planar movement. The horizontal movement of the display 3 includes horizontal linear movement and left-right swing. As shown in FIG. 7a, the display 3 can move linearly in the front-rear direction. The worker applies a forward moving force on the display 3, and the display 3 transmits the force through the display rotating shaft 31 Give the connecting piece 6, the connecting piece 6 moves forward. After the connecting piece 6 moves forward, the plane link assembly 4 will be pulled, and the four links on the plane link assembly 4 will be rotated by a certain angle, so that the plane link assembly 4 The whole is rotated relative to the connecting member 6 and the base 5. In this process, the distance between the display 3 and the base 5 in the left-right direction is not changed, so that the forward movement of the display 3 is achieved, and the backward movement of the display 3 is opposite to the forward movement. The lever assembly 4 as a whole swings backward. As shown in FIG. 7b, the display 3 can be swung left and right in place. The display 3 can be swiveled left and right by the connection member 6 relative to the fourth link 44 of the planar link assembly 4. The display 3 can also be turned by the link. The rotation of the first link 41 of the module 4 and the base 5 realizes a wide range of space swing.

During the actual operation, the display 3 will move irregularly. The display 3's irregular movement can be achieved by a combination of horizontal and linear movement and swing, so that the display 3 can move in different positions and face different directions, and can be conveniently located at different angles. View on doctor and patient use. The setting of the damping rotation axis of the planar link assembly 4 also enables the display 3 to realize an arbitrary stop function, which facilitates the mobile operation and use of the display 3.

In one embodiment, an ultrasonic diagnostic apparatus is provided, which is different from the above embodiment in that the installation position of the planar link assembly 4 is different.

In this embodiment, the control panel 2 is a moving part, and the main body 1 is a main body. The control panel 2 is mounted on the main body 1 through a planar link assembly 4, so that the control panel 2 can float and move relative to the main body 1 in a plane.

In other embodiments, the planar link assembly 4 can also be installed between the display 3 and the body 1. The display 3 is directly mounted on the fuselage 1 through the planar link assembly 4. The display 3 can float and move relative to the plane of the fuselage 1. .

The planar link assembly 4 of this embodiment may be disposed between any two of the body 1, the control panel 2, and the display 3. Alternatively, the planar link assembly 4 has two, and is arranged between the body 1 and the control panel 2, and between the control panel 2 and the display 3.

In one embodiment, an ultrasonic diagnostic apparatus is provided, and the difference between the ultrasonic diagnostic apparatus of the present embodiment and the foregoing embodiment lies in the difference of the planar link assembly.

As shown in FIG. 8, the planar link assembly of this embodiment has two, and the two planar link assemblies are the first planar link assembly 4 a and the second planar link assembly 4 b, respectively. The first link is movably connected to the base 5, the fourth link of the first planar link assembly 4a is connected to the first link of the second planar link assembly 4b, and the fourth link of the second planar link assembly 4b is connected to The connecting member 6 is connected, and the connection manner with the base 5 and the connecting member 6 is the same as that of the above embodiment.

In one embodiment, the fourth link of the first planar link assembly 4a and the first link of the second planar link assembly 4b may be an integrated structure.

The planar link assembly of this embodiment includes a series of ones, which further improves the degree of freedom and range of movement of the planar link assembly, thereby further improving the degree of freedom and range of movement of the moving part relative to the main body, which can meet the use of more scenes. .

In another embodiment, as shown in FIG. 9, the planar link assembly 4 further includes a fifth link 46, and both ends of the fifth link 46 are hinged between the fourth link 44 and the connecting member 6, or The two ends of the fifth link 46 are hinged between the first link 41 and the base 5. The planar link assembly of the fifth link 46 is added, and the degree of freedom and moving range of the movable part relative to the main body are further improved.

In one embodiment, an ultrasonic diagnostic apparatus is provided. The difference between the ultrasonic diagnostic apparatus of the present embodiment and the above-mentioned embodiment is that the lifting floating component is added to increase the lifting floating function, realize space floating, and can meet more uses. demand.

As shown in FIG. 10, in this embodiment, a lifting floating assembly 7 is installed between the planar link assembly 4 and the connecting member 6. The lifting floating assembly 7 may also be installed between the planar link assembly 4 and the base 5.

As shown in FIG. 11, the lifting floating assembly 7 includes a lifting bracket 71, a spring 72, and a lifting sliding block 73. The lifting sliding block 73 is slidably mounted on the lifting bracket 71. One end of the spring 72 is mounted on the lifting bracket 71 and the other end. Mounted on the upper lifting slide block 73, the lifting bracket 71 is vertically mounted on the fourth link 44 of the planar link assembly 4, and the lifting slide block 73 is connected to the connecting member 6. Specifically, the spring 72 is a constant force coil spring. The center of the spring 72 is fixed on the lifting sliding block 73. The outer end of the spring 72 extends downward to be fixedly connected to the bottom of the lifting bracket 71. The spring 72 plays a damping role. The lifting slide block 73 can be stopped at any height of the lifting bracket 71.

In order to be more beautiful and protect the lifting floating assembly, the lifting floating assembly 7 further includes a lifting casing 74, which is vertically mounted on the fourth link 44 of the planar link assembly 4, a lifting bracket 71, a spring 72, and a lifting slide block. 73 are all installed in the lifting casing 74, and the opening of the lifting casing 74 facing the connecting member 6 is also provided with an opening, and the lifting sliding block 73 is connected to the connecting member 6 through the opening of the lifting casing 74.

The lifting principle action of the display 3 is: the external force drives the display 3 to move upward, the display 3 will drive the connecting member 6 upward, and the connecting member 6 will move up and down along the slide rail on the lifting bracket 71, and the lifting slide block During the upward movement of 73, the spring 72 is moved upward, and one end of the spring 72 is fixedly connected to the bottom of the lifting bracket 71. The spring 72 is stretched, and the spring 72 plays a role of energy storage damping, so that the display 3 is under the action of the spring 72 The display 3 can be stopped at an upward position; the downward movement of the display 3 is the opposite, and the display 3 can be stopped at an arbitrary height position within the lifting range.

In other embodiments, in addition to the constant force coil spring lifting scheme, there are many forms to realize the lifting movement function, such as a rail sliding form, a pulley slide form, a pulley groove track form, a linear guide sleeve form, a lead screw form, The sprocket chain drive form, synchronous belt wheel drive form, pulley rope drive form, rack and pinion drive form, and linkage drive form are realized. In order to stabilize the display 3 at any position during lifting, the connecting rod with lifting function can be designed as a lifting link with damping force balance, and there are many forms, such as gas spring, tension spring (including compression spring), Torsion spring form, internal friction damping structure, etc.

In one embodiment, an ultrasonic diagnostic apparatus is provided. The difference between the ultrasonic diagnostic apparatus of the present embodiment and the foregoing embodiment lies in the structure of the lifting floating assembly.

As shown in FIG. 12, the lifting floating assembly 8 of this embodiment is installed between the planar link assembly 4 and the base 5. In other embodiments, the lifting floating assembly 8 may also be installed between the planar link assembly 4 and the connecting member 6. between,

In this embodiment, the lifting floating assembly 8 includes an outer pillar 81, an inner pillar 82, and a lifting damper. The outer pillar 81 is a sleeve structure. The outer pillar 81 is installed on the base 5 or directly on the control panel 2. The inner pillar 82 may Rotating and lifting can be inserted into the outer column 81, and a lifting damper 83 is installed between the outer column 81 and the inner column 82. The upper end of the inner column 82 is connected to the first link 41 of the planar link assembly 4. A lifting damper is installed between the outer pillar 81 and the inner pillar 82. The lifting damper may be a tension spring, a spring, a torsion spring, or an internal friction structure, so that the lifting floating assembly 8 has the functions of lifting, rotating and arbitrary stopping.

The lifting floating component 8 realizes the lifting of the display 3 by moving the inner column 82 up and down relative to the outer column 81, and realizes that the display 3 stays at any position during the lifting process by the lifting damper between the outer column 81 and the inner column 82.

In other embodiments, in addition to the scheme of the inner and outer columns, there are many forms to realize the lifting movement function, such as the sliding form of the guide rail, the form of the pulley, the form of the groove of the pulley, the form of the linear guide sleeve, the form of the lead screw, and the sprocket. The chain transmission form, synchronous belt wheel transmission form, pulley rope transmission form, rack and pinion transmission form, and linkage transmission form are realized. In order to stabilize the display 3 at any position during lifting, the connecting rod with lifting function can be designed as a lifting link with damping force balance, and there are many forms, such as gas spring, tension spring (including compression spring), Constant force spring form (such as coil spring form, etc.), torsion spring form, internal friction damping structure, etc.

As shown in FIG. 13, in this embodiment, the lifting floating assembly 9 is installed between the planar link assembly 4 and the connecting member 6.

The lifting floating assembly 9 includes a lifting link 91, a fixed block 92, and a moving block 93. Both ends of the lifting link 91 are swingably connected to the fixed block 92 and the moving block 93 through a damping shaft, and the fixed block 92 and the flat link The fourth link 44 of the assembly 4 is connected, and the moving block 93 is connected to the connecting member 6. The lifting floating assembly 9 realizes the lifting function by the up-and-down swing of the lifting link 91 relative to the fixed block 92 and the moving block 93, and realizes an arbitrary stop function by damping the rotating shaft. The fixed block 92 and the moving block 93 can be rotatably connected with the planar link assembly 4 and the connecting member 6, respectively, to realize the rotation function.

In other embodiments, in order to achieve a stable stop of the display 3 at any position during lifting, the tilt lifting module 91 can also be designed as a lifting link with damping force balance, and there are many forms, such as a gas spring form, a tension spring form (including pressure Spring form), constant force spring form (such as coil spring form, etc.), torsion spring form, internal friction damping structure, etc.

In other embodiments, as shown in FIG. 14, the lifting floating assembly 9 is installed between the planar link assembly 4 and the base 5, the fixed block 92 is installed on the base 5, and the moving block 93 and the first of the planar link assembly 4 The connecting rod 41 is connected, and the two ends of the lifting link 91 are hinged to the fixed block 92 and the moving block 93 respectively, which is equivalent to the two ends of the lifting link 91 being hinged to the first link 41 and the base 5 of the planar link assembly 4, so that The display 3 connected to the flat link assembly 4 can be lifted and lowered relative to the base 5 through a lifting link 91. The oblique lifting link 91 is designed to balance the damping force, so that the display 3 can be stably positioned at any position during the lifting process.

In other embodiments, as shown in FIG. 15, the planar link assembly has two, and the two planar link assemblies are a first planar link assembly 4a and a second planar link assembly 4b, and two planar link assemblies, respectively. The internal links are hinged to each other, and the two planar link components can swing to each other, which increases the plane moving range of the display 3. The lifting floating assembly 9 is installed between the first planar link assembly 4a and the base 5. The first planar link assembly 4a can swing relative to the base 5 through the lifting floating assembly 9 and is connected to the display connected to the first planar link assembly 4a. 3. The connecting member 6 and the second plane link assembly 4b can be lifted and lowered relative to the base 6 together with the first plane link assembly 4a.

In other embodiments, the planar link components of different structures and the lifting floating components of different structures can be arbitrarily combined to form a space floating device.

In one embodiment, as shown in FIGS. 16a to 16c, the lifting floating assembly 9 includes a lifting link 91, a fixed block 92, a moving block 93, a transmission wheel 94, and a transmission belt 95. The lifting link 91 is a straight rod. One end of the fixed block 92 and the moving block 93 is provided with a connection hole for rotary connection, and the other end is provided with two spaced-apart mounting plates. A rotating shaft is installed between the two mounting plates. The rotating shafts on the fixed block 92 and the moving block 93 are fixedly connected.

In this embodiment, the transmission wheel 94 is a gear, and the transmission belt 95 is a chain. In other embodiments, the transmission wheel 94 may also be a timing wheel, a pulley, etc. The transmission belt 95 may also be a timing belt or a belt corresponding to the transmission wheel 94. Wait.

In this embodiment, there are two transmission wheels 94, which are respectively mounted on the rotating shafts on the fixed block 92 and the moving block 93. The transmission belt 95 is connected between the two transmission wheels 94. When both ends of the inclined lifting link 91 rotate relative to the fixed block 92 and the moving block 93, the transmission belt 95 will be rotated by the transmission wheel 94, and the transmission wheel 94 and the transmission belt 95 will be lifted. To the role of stable lifting.

A driving wheel 94 and a driving belt 95 are added to the lifting floating component 9. The driving wheel 94 or the driving belt 95 can be connected with a driving device. The driving device drives the driving link 91 to drive the lifting link 91 relative to the fixed block 92 and the moving block by driving the driving wheel 94 and the driving belt 95. 93 rotates to achieve lifting movement, and can ensure that the moving block 93 is in a horizontal state during the lifting process.

In one embodiment, as shown in FIG. 17a to FIG. 17c, the lifting and floating assembly 9 includes a lifting link 91, a fixed block 92, a moving block 93, and a rope 96. The structure of the fixed block 92 and the moving block 93 is the same as that of the foregoing embodiment. Similarly, one end of the fixed block 92 and the moving block 93 has a connection hole for rotary connection, and the other end is provided with two spaced-apart mounting plates, and a rotating shaft is installed between the two mounting plates. The lifting link 91 is a straight rod, and has a convex portion 91a in the middle. The top of the convex portion 91a is provided with a sliding groove 91b. Both ends of the rope 96 are fixed to the fixed block 92 and the moving block 93, respectively. The connecting points of the connecting rod 91 are staggered, the middle part of the rope 96 is slidably tightened in the chute 91b of the lifting link 91, and the protrusion 91a of the lifting link 91 pushes up the rope 96 to form a pre-tightening effect, and The rope 96 can slide relative to the raised portion 91a of the lifting link 91, so that when the two ends of the lifting link 91 rotate with respect to the fixed block 92 and the moving block 93, the rope 96 will slide relative to the lifting link 91, and stabilize the lifting effect.

A rope 96 is added to the lifting and floating component 9. The rope 96 can be connected to a driving device. The driving device drives the lifting link 91 to rotate relative to the fixed block 92 and the moving block 93 through the rope 96, thereby realizing the lifting movement and ensuring the moving block. 93 is horizontal during the lifting process.

In one embodiment, as shown in FIG. 18a and FIG. 18b, the lifting floating assembly 9 includes a lifting link 91, a fixed block 92, a moving block 93, an angle detection device, and a drive lock device, wherein the lifting link 91 and the fixed block 92 Consistent with the moving block 93 and the above structure, the two ends of the lifting link 91 are hinged to the fixed block 92 and the moving block 93 through a rotation shaft, respectively, and the hinge points of the lifting link 91 and the fixed block 92 and the moving block 93 are O1 and O2. The angle detection device has two detection ends. The two detection ends of the angle detection device are respectively installed at the hinges at both ends of the lifting link, and are used to detect the angle values θ1 and θ2 at the hinge points O1 and O2 at the ends of the lifting link 91, respectively. And the angle detection device transmits the detected angle signal to the drive lock device, the drive lock device has two outputs, and the two output ends are respectively connected to the rotating shafts at both ends of the lifting link 91, and the two output shafts of the drive lock device can be They are output asynchronously and have a lock function when they are not working. During the upgrade process, the drive lock device will drive the rotating shafts at both ends of the lifting link 91 to rotate at a specific angle, and the angle detection device will detect the swing angle of the ends of the lifting link 91 in real time, and the detection signal of the angle detection device will be fed back to the drive lock. The device, the drive lock device, and then adjust the drive swing angle. The drive lock device can be set according to the program to ensure that during any upgrade process, the moving block 93 is always parallel to the fixed block 92, which ensures the stability of the display 3 during the lifting process.

In other embodiments, the driving locking device only includes a driving effect. Locking devices are respectively installed at the rotating shafts at both ends of the lifting link 91, and the locking devices are used to lock the rotation of the two ends of the lifting link 91, thereby locking the lifting activity. , Stop the display 3 at the desired level.

In one embodiment, as shown in FIGS. 19a and 19b, the lifting floating assembly 100 includes a fixed block 101, a moving block 102, a first lifting link 103, a second lifting link 104, a third lifting link 105, and a sliding block. Set of 106. The lifting and floating assembly 100 is installed between the planar link assembly 4 and the connecting member 6, and may also be installed between the base 5 and the planar link assembly 4. Specifically, the fixed block 101 is connected to the fourth link 44 and the moving block 102 It is connected with the connecting member 6, or the fixed block 101 is connected with the base 5, and the moving block 102 is connected with the first link 41.

Both ends of the first lifting link 103 and the second lifting link 104 are hinged on the fixed block 101 and the moving block 102, respectively, and the first lifting link 103 and the second lifting link 104 are arranged in parallel. The sliding sleeve 106 includes a slider 106a and a friction sleeve 106b. The slider 106a is surrounded by four plates, and the middle is a hollow structure. There are through holes on the four faces of the slider 106a. The friction sleeve 106b is made of rubber, etc. The friction force material is made of a friction sleeve 106b fixed between two opposite through holes of the slider 106a through a collar, and the slider 106a and the friction sleeve 106b are movably sleeved on the second lifting link 104, It is arranged near the fixed block 101, and a certain frictional force will be generated between the friction sleeve 106b and the second lifting link 104, and the frictional force acts as a damping function. The third lifting link 105 has two, and two ends of the two third lifting links 105 are hinged to the fixed block 101 and the slider 106a, respectively. The two third lifting links 105 are located on both sides of the slider 106a. The lifting link 105 and the first lifting link 103 can be hinged on the fixing block 101 through the same rotating shaft.

The lifting damping principle of this embodiment is that when the moving block 102 moves up, both ends of the first lifting link 103 and the second lifting link 104 are driven to rotate relative to the fixed block 101 and the moving block 102, respectively. The movement of the rod 103 and the second lifting link 104 connected to the moving block 102 swings upward. After the second lifting link 104 swings upward, the sliding sleeve 106 is pulled by the third lifting link 105, so the sliding sleeve 106 is relatively The lifting link 104 will slide and generate friction; the moving block 102 loses traction after staying at a certain height. The moving block 102 and the components connected to it will generate a downward gravity. The gravity will drive the first lifting link 103 and the first The two lifting links 104 swing downward. At this time, the sliding sleeve 106 will generate an upward frictional force relative to the second lifting link 104. When the frictional force is greater than the gravity generated by the moving block 102 and the components connected to it, it will start. To the damping limit. The friction sleeve 106b capable of achieving sufficient friction can be selected to achieve an arbitrary stop function. The length and material of the friction sleeve 106b in this embodiment are optimized and designed according to experiments, so that the lifting floating assembly 100 can be stably positioned at any height.

In this embodiment, a spring 107 is also provided on the second lifting link 104. In order to limit the spring 107, the second lifting link 104 is provided with a stopper 108 at an end near the moving block 102, and the spring 107 is clamped between Between the baffle 108 and the slider 106a, the spring 107 plays a role of buffering energy storage. During the movement of the mobile display 3, the energy stored in the spring 107 can overcome the gap between the sliding sleeve 106 and the second lifting link 104. The friction force can drive the lifting by a small external force, which is convenient for the user's operation. The blocking piece 108 is also provided as a nut. The second lifting link 104 is provided with a corresponding external thread. The blocking piece 108 can be moved along the second lifting link 104. The movable blocking piece 108 can adjust the amount of compression of the spring 107. Therefore, the tightness of the spring 107 can be adjusted according to the implementation needs, so as to achieve the optimal lifting movement.

The above uses specific examples to illustrate the present invention, but is only used to help understand the present invention, and is not intended to limit the present invention. For those of ordinary skill in the art, according to the idea of the present invention, changes can be made to the above specific implementations.

Claims

An ultrasonic device is characterized by comprising a moving part, a main body, and a planar link assembly. The planar link assembly includes a first link, a second link, a third link, and a fourth link. A link is rotatably connected to the main body, and two ends of the second link are rotatably connected to the first and fourth links, respectively, and two ends of the third link are respectively connected to the The first link and the fourth link are rotatably connected, the second link is parallel to the third link, and the fourth link is rotatably connected to the moving member.
The ultrasound device according to claim 1, further comprising a base and a connecting member, wherein the base is mounted on the main body, the first link is connected to the base in a horizontally rotatable manner, and the connecting member is mounted On the moving part, the fourth link is connected to the connecting member in a horizontally rotatable manner.
The ultrasound apparatus according to claim 2, wherein the connecting member is connected to the moving member so that it can be turned upside down.
The ultrasonic device according to claim 3, wherein the connecting member is connected to the moving member through a damping shaft.
The ultrasound device according to claim 2, wherein the first link is connected to the base, the second link, and the third link through a rotation shaft or a damping rotation shaft, respectively, and the fourth link is connected to the base through a rotation shaft or a damping shaft, respectively. The damping shaft is connected with the connecting member, the second link and the third link.
The ultrasonic device according to claim 5, wherein a limit pin and an arc-shaped groove are respectively provided on any one of the first link, the base, and a rotating shaft or a damping shaft connected thereto, and the limit The pin is clamped in the arc-shaped groove.
The ultrasonic device according to claim 5, characterized in that a limit pin and an arc-shaped groove are respectively provided on any of the fourth link, the connecting member, and a rotating shaft or a damping rotating shaft connected thereto, and the limit The position pin is clamped in the arc-shaped groove.
The ultrasonic device according to claim 2, wherein there are two planar link assemblies, and the two planar link assemblies are a first planar link assembly and a second planar link assembly, and the first A first link of a planar link assembly is rotatably connected to the base, a fourth link of the first planar link assembly is rotatably connected to a first link of the second planar link assembly, and the second plane The fourth link of the link assembly is rotatably connected to the connecting member.
The ultrasonic device according to claim 2, wherein the planar link assembly further comprises a fifth link, and the fifth link is rotatably installed between the fourth link and the connecting member, Alternatively, the fifth link is rotatably installed between the first link and the base.
The ultrasonic device according to any one of claims 2 to 9, further comprising a lifting and floating component installed between the base and a planar link component, or installed on the plane Between the link assembly and the connector.
The ultrasonic device according to claim 10, wherein the lifting floating component comprises a lifting bracket, a spring, and a lifting sliding block, and the lifting sliding block is slidably mounted on the lifting support, and one end of the spring The lifting bracket is mounted on the lifting bracket, and the other end is mounted on the lifting sliding block. The lifting bracket is vertically mounted on the fourth link, and the lifting sliding block is connected to the connecting member.
The ultrasonic device according to claim 11, wherein the lifting floating assembly further comprises a lifting casing, the lifting casing is mounted on the fourth link, and the lifting bracket, spring and lifting slide block are mounted on In the lifting casing, a vertical opening is provided on a side of the lifting casing, and the lifting sliding block is connected to the connecting member through the opening.
The ultrasonic device according to claim 10, wherein the lifting and floating component comprises an outer column, an inner column, and a lifting damper, the outer column is a sleeve structure, and the inner column is installed on the base. A rotatable and liftable insert is installed in the outer pillar, the lifting damper is installed between the outer pillar and the inner pillar, and the upper end of the inner pillar is connected to the first link.
The ultrasonic device according to claim 10, wherein the lifting and floating component comprises a lifting link, a fixed block, and a moving block, and both ends of the lifting link can swing up and down through a rotating shaft and the fixed block and the moving block, respectively. The fixed block is connected to the fourth link, the moving block is connected to the connector, or the fixed block is connected to the base, and the moving block is connected to the first link connection.
The ultrasonic device according to claim 14, wherein a rotating shaft connected to the fixed link and the moving block of the lifting link is a damping rotating shaft, and a damping auxiliary member is provided on the damping rotating shaft. It is a tension spring, spring, torsion spring or internal friction structure.
The ultrasonic device according to claim 14, wherein the lifting and floating component further comprises a driving wheel and a driving belt, the driving wheel having two driving wheels respectively mounted on the rotating shafts at both ends of the lifting link, and the driving belt Connected between two said sprockets.
The ultrasonic device according to claim 16, wherein the transmission wheel is a sprocket, a timing belt, or a pulley, and the transmission belt corresponds to a chain, a timing belt, or a belt corresponding to the transmission wheel.
The ultrasonic device according to claim 14, wherein the lifting floating assembly further comprises a rope, both ends of the rope are fixed to the fixed block and the moving block, and a middle portion of the lifting link has a protrusion The end of the raised portion is provided with a chute, and the middle portion of the rope is slidably tightened in the chute of the lifting link.
The ultrasonic device according to claim 14, wherein the lifting and floating assembly further comprises an angle detection device and a driving lock device, the angle detection device has two detection ends, which are respectively installed on the lifting link and fixed The hinged position of the block and the moving block. The two detection ends are respectively used to detect the tilt angle of the lifting link relative to the fixed block and the moving block. The drive locking device has two drive ends, and the two drive ends are respectively It is connected with the fixed block and the lifting link for driving the fixed block to rotate relative to the lifting link and for driving the lifting link to rotate relative to the fixed block; the tilt angle value detected by the angle detection device is fed back to the drive locking device.
The ultrasonic device according to claim 10, wherein the lifting floating component comprises a fixed block, a moving block, a first lifting link, a second lifting link, a third lifting link, and a sliding sleeve; the fixing A block is connected to the fourth link, the moving block is connected to the connecting member, or the fixed block is connected to the base, and the moving block is connected to the first link; the first Both ends of the lifting link and the second lifting link are hinged to the fixed block and the moving block, respectively, and the sliding sleeve is slidably set on the second lifting link, and the sliding sleeve and the second There is a certain friction force between the lifting links, and two ends of the third link are hinged to the sliding sleeve and the fixing block, respectively.
The ultrasonic device according to claim 20, wherein the sliding sleeve comprises a slider and a friction sleeve, the slider is provided with a through hole, and the second lifting link is passed through the slider. In the through hole, the friction sleeve is sleeved on the second lifting link and fixed in the slider.
The ultrasonic device according to claim 20, wherein a spring is provided on the second lifting link, and a baffle is provided on an end of the second lifting link near the moving block, and the spring Located between the baffle and the sliding sleeve.