JP7625075B2 - Base, robot and medical device - Google Patents

Description

This specification relates to a base, a robot and a medical device.

As one type of medical device, Patent Document 1 discloses an ultrasound diagnostic device having an ultrasound diagnostic device main body to which a display for displaying ultrasound images is attached, and a device outer periphery that is arranged on the outer periphery of the ultrasound diagnostic device main body, supports the ultrasound diagnostic device main body so that it can move up and down and rotate relatively in the horizontal direction, and has a mobile caster attached to its underside that rolls on the floor. In this ultrasound diagnostic device, the bottom surface of the ultrasound diagnostic device main body displaces downward when moved downward relative to the device outer periphery, and abuts against the floor to restrict the rolling of the mobile caster on the floor and fix the ultrasound diagnostic device main body.

JP 2017-006476 A

In the medical device described in Patent Document 1 mentioned above, the ultrasound diagnostic device body can be easily fixed and released to the installation position with a simple configuration, but there is a demand for a device that can fix and release the device more easily.

In light of these circumstances, this specification discloses a base, robot and medical device that can be more easily fixed and released.

The present specification relates to a base body, a plurality of legs for supporting the base body on an installation surface, a plurality of moving devices for moving the base body along the installation surface, a plurality of fixed columns provided between either one of the legs or the moving devices and the base body, and supporting the one at a fixed position relative to the base body, and a plurality of fixed columns provided between the other of the legs or the moving devices and the base body, and supporting the other between an elevated position and a lowered position relative to the base body. the base body includes a plurality of lifting columns supporting a first support member and a second support member arranged coaxially with the first support member and movable relative to the first support member, a plurality of lifting mechanisms each operable between a raised state corresponding to the raised position and a lowered state corresponding to the lowered position, a transmission mechanism connecting at least two of the plurality of lifting mechanisms and operating in conjunction with the operation of the lifting mechanisms, and an actuator for operating at least one of the lifting mechanisms and the transmission mechanism, wherein the lifting columns include a first support member arranged on the base body and a second support member arranged coaxially with the first support member and movable relative to the first support member .

According to the present disclosure, it becomes possible to more easily lock and unlock the base by simply operating the actuator.

1 is an external perspective view showing an ultrasound diagnostic system 10 to which a base 70 is applied. FIG. 2 is a side view showing the robot 20 shown in FIG. 2 is an external perspective view showing the internal structure of a base 70 shown in FIG. 1 . 4 is a cross-sectional view showing a lifting column 75 having a lifting mechanism 80A shown in FIG. 3 in a lifted state. 4 is a cross-sectional view showing a lowered state of a lifting column 75 including a lifting mechanism 80A shown in FIG. 3. 2 is a perspective partial cross-sectional view showing the internal structure of a base 70 shown in FIG. 1 . 4 is a perspective cross-sectional view showing a lifting column 75 having a lifting mechanism 80B shown in FIG. 3 in a lifted state. 2 is a partial side view showing an unlocked state of the base 70 shown in FIG. 1. FIG. 2 is a partial side view showing a locked state of the base 70 shown in FIG. 1. FIG. 11 is a partial side view showing a base according to a modified example. FIG. 11 is a schematic side view showing a base according to a second embodiment. FIG. 13 is a schematic side view showing a base according to a third embodiment.

First Embodiment
(Ultrasound diagnostic system)
Hereinafter, a first embodiment of an ultrasonic diagnostic system including a robot to which a base is applied will be described with reference to the drawings. In Fig. 1 and Fig. 2, the left-right direction is the X-axis, the front-back direction is the Y-axis, and the up-down direction is the Z-axis.

The ultrasound diagnostic system 10 is a medical device that performs ultrasound diagnosis by holding an ultrasound probe, which is an end effector EF, on a robot 20 and driving the robot 20 so that the ultrasound probe is pressed against the skin of a subject. In this first embodiment, the ultrasound diagnostic system 10 is used for echo diagnosis in which ultrasound is applied to a diagnostic target part of the subject, a cross-sectional image of the diagnostic target part is obtained, and the condition of the diagnostic target part is checked from the obtained image. As shown in Figures 1 and 2, the ultrasound diagnostic system 10 includes a robot 20 and an ultrasound diagnostic device 100.

The ultrasound diagnostic device 100 includes an ultrasound probe EF and an ultrasound diagnostic device main body 102 to which the ultrasound probe EF is connected via a cable. The ultrasound diagnostic device main body 102 includes an instruction input unit 104 for inputting instructions such as starting a diagnosis, and a display unit 106 for displaying the generated ultrasound image.

(robot)
The robot 20 includes a robot arm 20a and a robot body 20b. The robot body 20b includes a base 26 (70) and an elevator device 40. The robot arm 20a includes a first arm 21, a second arm 22, a base 25, a first joint shaft 31, a second joint shaft 32, a third joint shaft 33, a first arm drive motor 35, a second arm drive motor 36, a posture holding device 37, and a three-axis rotation mechanism 50.

The base end of the first arm 21 is connected to the base 25 via a first joint shaft 31. The body of the first joint shaft 31 is fixed to the base 25, and the base end of the first arm 21 is connected to the rotating part of the first joint shaft 31. The first arm drive motor 35 is built into the body of the first joint shaft 31, and rotates the rotating part of the first joint shaft 31 around a rotation axis (extending along the Z-axis direction) to rotate (pivot) the first arm 21 along a horizontal plane (XY plane).

The first arm 21 has a vertical portion 21a extending vertically and a horizontal portion 21b extending horizontally from the upper end of the vertical portion 21a. The lower end of the vertical portion 21a is connected to the rotating portion of the first joint shaft 31. The base end of the horizontal portion 21b is connected to the upper end of the vertical portion 21a, and the tip end of the horizontal portion 21b is connected to the rotating portion of the second joint shaft 32. The first arm 21 may be formed without the vertical portion 21a.

The base end of the second arm 22 is connected to the tip end of the first arm 21 via the second joint shaft 32. The body of the second joint shaft 32 is fixed to the base end of the second arm 22, and the rotating part of the second joint shaft 32 is connected to the tip end of the first arm 21. The second arm drive motor 36 is built into the body of the second joint shaft 32, and rotates the rotating part of the second joint shaft 32 about the rotation axis (extending along the Z-axis direction) to rotate (pivot) the second arm 22 along the horizontal plane (XY plane).

The lifting device 40 is installed on the base 26 and raises and lowers the base 25 relative to the base 26. As shown in Figures 1 and 2, the lifting device 40 includes a slider 41 fixed to the base 25, a guide member 42 fixed to the base 26 and extending in the vertical direction to guide the movement of the slider 41, a ball screw shaft 43 (lifting shaft) extending in the vertical direction and screwed into a ball screw nut (not shown) fixed to the slider 41, and a lifting drive motor 44 that rotates the ball screw shaft 43. The lifting device 40 moves the base 25 fixed to the slider 41 up and down along the guide member 42 by rotating the ball screw shaft 43 with the lifting drive motor 44.

The three-axis rotating mechanism 50 is connected to the tip of the second arm 22 via the third joint shaft 33 extending in the vertical direction. The three-axis rotating mechanism 50 includes a first rotation shaft 51, a second rotation shaft 52, and a third rotation shaft (tip shaft 53) that are perpendicular to each other, a first rotation shaft drive motor 55 that rotates the first rotation shaft 51, a second rotation shaft drive motor 56 that rotates the second rotation shaft 52, and a tip shaft drive device 60 that drives the tip shaft 53. The first rotation shaft 51 is supported in an orthogonal position relative to the third joint shaft 33. The second rotation shaft 52 is supported in an orthogonal position relative to the first rotation shaft 51. The third rotation shaft (tip shaft 53) is supported in an orthogonal position relative to the second rotation shaft 52. The tip shaft 53 holds an ultrasonic probe EF as an end effector so as to be coaxial with the tip shaft 53.

In this first embodiment, the robot 20 can move the tip axis 53, i.e., the end effector EF, to any position in any attitude by combining translational motion in three directions, the X-axis direction, the Y-axis direction, and the Z-axis direction, by the first arm drive motor 35, the second arm drive motor 36, and the lifting device 40, with rotational motion in three directions, around the X-axis (pitching), around the Y-axis (rolling), and around the Z-axis (yawing), by the rotary three-axis mechanism 50.

The attitude holding device 37 holds the attitude of the three-axis rotating mechanism 50 (the orientation of the first rotating shaft 51) in a constant orientation regardless of the attitudes of the first arm 21 and the second arm 22. The attitude holding device 37 controls the rotation angle of the third joint shaft 33 based on the rotation angle of the first joint shaft 31 and the rotation angle of the second joint shaft 32 so that the axial direction of the first rotating shaft 51 is always in the left-right direction (X-axis direction). This makes it possible to control the translational motion in three directions and the rotational motion in three directions independently, making control easier.

(Foundation)
The base 26 is mainly composed of a base 70 shown in Fig. 3. The base 70 includes a base body 71, a plurality of legs 72, a plurality of moving devices (wheels) 73, a plurality of fixed columns 74, a plurality of lifting columns 75, a plurality of lifting mechanisms 80, an actuator 87, and a transmission mechanism 90.

The legs 72 are provided in multiple numbers to support the base body 71 on the installation surface S. It is preferable to provide at least three legs 72 in order to stably support the base 70. The legs 72 are formed in a disk shape and have a smaller diameter than the lifting support 75 and the fixed support 74.

The wheels 73 are moving devices for moving the base body 71 along the installation surface S, and multiple wheels (four wheels in this first embodiment) are provided. In this first embodiment, wheels are used as the moving devices, but other moving devices may be used.

A plurality of fixed supports 74 are provided between each wheel 73 and the base body 71, and support the wheels 73 at a fixed position relative to the base body 71. The fixed supports 74 do not extend or contract along the axial direction. The fixed supports 74 may be provided between the legs 72 and the base body 71. In this case, the lifting supports 75 are provided between the wheels 73 and the base body 71. The fixed supports 74 are provided between either one of the legs 72 or the wheels 73 and the base body 71, and support the one at a fixed position relative to the base body 71.

A plurality of lifting supports 75 are provided between each leg 72 and the base body 71, and support the legs 72 so that they can be raised and lowered between an elevated position (see FIG. 4) and a lowered position (see FIG. 5) relative to the base body 71. The lifting supports 75 extend and retract along the axial direction. The lifting supports 75 may be provided between the wheels 73 and the base body 71. In this case, the fixed supports 74 are provided between the legs 72 and the base body 71. The lifting supports 75 are provided between the other of the legs 72 or the wheels 73 and the base body 71, and support the other of the legs 72 or the wheels 73 so that they can be raised and lowered between an elevated position and a lowered position relative to the base body 71.

As shown in Figures 4, 5 and 7, the lifting support 75 has a first support 75a, a second support 75b, a first spring 75c, and a second spring 75d.

The first support pillar 75a is formed in a cylindrical shape, and the upper end of the first support pillar 75a is attached to the lower part of the base body 71. A first connecting pin 83 passes through and is fixed to the first support pillar 75a. The first connecting pin 83 is a pin for connecting the first lifting mechanism link 81 to the first support pillar 75a. The upper end of the first spring 75c is fixed to the first support pillar 75a via the first connecting pin 83.

The first support 75a is formed with a pair of long holes 75a1 facing each other. The long holes 75a1 are formed to be long along the axial direction. The second connecting pin 85 passes through the long hole 75a1, and the long hole 75a1 guides the up and down movement of the second connecting pin 85. The second connecting pin 85 contacts the upper and lower ends of the long hole 75a1, so that the long hole 75a1 regulates the up and down movement of the second connecting pin 85.

The second support 75b is arranged coaxially with the first support 75a and movable relative to it in the axial direction. In other words, the lift support 75 is a linear type support that expands and contracts in the axial direction. The second support 75b includes an outer member 75b1 formed in a cylindrical shape and an inner member 75b2 arranged slidably within the outer member 75b1.

The outer member 75b1 is formed in a cylindrical shape, and a leg 72 is attached to the lower end of the outer member 75b1. The outer member 75b1 is biased axially upward by the first spring 75c, and when the lifting column 75 is in the raised state in which it is located at the raised position (see FIG. 4), the upper end of the outer member 75b1 abuts against a step on the inner wall surface of the first column 75a and is positioned and fixed. In detail, the lower end of the first spring 75c is connected to the upper end of the inner member 75b2, and the inner member 75b2 is biased axially upward by the first spring 75c, and the upper end of the inner member 75b2 abuts against a step in the outer member 75b1, and as a result, the outer member 75b1 is biased upward by the first spring 75c. The spring constant of the first spring 75c is set to a level that can hold the second support column 75b from lowering when the lift support column 75 is in the raised position.

The inner member 75b2 is also biased axially upward by the second spring 75d, and when the lifting column 75 is in the raised state in which it is located at the raised position (see FIG. 4), the upper end of the inner member 75b2 abuts against a step in the outer member 75b1, and the upper end of the outer member 75b1 abuts against a step on the inner wall surface of the first column 75a and is fixed in position. A second connecting pin 85 is fixed through the inner member 75b2, i.e., the second column 75b. The second connecting pin 85 is a pin for connecting the second lifting mechanism link 82 to the second column 75b.

The outer member 75b1 is formed with a pair of long holes 75a3 facing each other. The long holes 75a3 are formed to be long along the axial direction. The axial length of the long holes 75a3 is set shorter than that of the long holes 75a1. The second connecting pin 85 passes through the long hole 75a3, and the long hole 75a3 guides the up and down movement of the second connecting pin 85. The second connecting pin 85 contacts the upper and lower ends of the long hole 75a3, so that the long hole 75a3 regulates the up and down movement of the second connecting pin 85.

When the lifting column 75 is in the lowered state in the lowered position (see FIG. 5), the weight (self-weight) of the robot 20 is applied to the inner member 75b2 via the first connecting pin 83, the first lifting mechanism link 81, the second lifting mechanism link 82, and the second connecting pin 85, so that the inner member 75b2 moves axially downward relative to the outer member 75b1. At this time, the inner member 75b2 is biased axially upward by the second spring 75d, and is located at a position where the downward force due to its own weight and the upward force due to the biasing force (the resultant force of the first spring 75c and the second spring 75d) are balanced.

The spring constant of the second spring 75d is preferably set to a value sufficient to support the weight of the robot 20 when the lifting column 75 is in the lowered state in which it is located at the lowered position. Furthermore, when a user (operator) performs an operation to release the lifting column 75 from the lowered state and return it to the raised state (unlocking operation), the spring constant is set to a degree that can assist the user's operating force by applying an axial upward force (predetermined unlocking load) to the inner member 75b2, i.e., the second column 75b.

The predetermined unlocking load is preferably set to a value that prevents the input unit 87a from being unlocked in the lowered state (locked state) by an unintended operation (accidental operation). The predetermined unlocking load is more preferably set to a value smaller than the locking operation load, and even more preferably set to a value in the range of, for example, half to one-tenth (100N to 20N). This makes it possible to prevent the lifting mechanism 80A from being released from the lowered state to the raised state by an unintended operation (accidental operation) of the input unit 87a, which has a relatively small operating load.

As shown in Figs. 3, 8, and 9, a plurality of lifting mechanisms 80 are provided according to the number of lifting columns 75, and each of them can operate between an elevated state (see Fig. 8) according to the elevated position of the lifting column 75 and a lowered state (see Fig. 9) according to the lowered position. The lifting mechanism 80 includes a first lifting mechanism link 81 and a second lifting mechanism link 82. The fixed end (one end) of the first lifting mechanism link 81 is rotatably connected to the first column 75a via a first connecting pin 83. The free end (other end) of the first lifting mechanism link 81 is rotatably connected to the free end (one end) of the second lifting mechanism link 82 via a third connecting pin 84. Furthermore, the free end (other end) of the first lifting mechanism link 81 is rotatably connected to the other end of the second link 95a (or the third link 95b) via the third connecting pin 84. In addition, the fixed end (the other end) of the second lifting mechanism link 82 is rotatably connected to the second support column 75 b via a second connecting pin 85 .

Accordingly, when the second link 95a moves forward, the free end of the first lifting mechanism link 81 and the free end of the second lifting mechanism link 82 move downward and forward. As a result, the first lifting mechanism link 81 and the second lifting mechanism link 82 move from a bent state (see FIG. 8) to an extended state (see FIG. 9), and the second connecting pin 85 moves downward along the long hole 75a1, and thus the second support column 75b moves downward. As a result, the lifting support column 75 moves the leg 72 to a lowered position (see FIG. 9) relative to the base body 71.

On the other hand, when the second link 95a moves rearward, the free end of the first lifting mechanism link 81 and the free end of the second lifting mechanism link 82 move rearward and upward. As a result, the first lifting mechanism link 81 and the second lifting mechanism link 82 change from an extended state (see FIG. 9) to a bent state (see FIG. 8), and the second connecting pin 85 moves upward along the long hole 75a1, and thus the second support column 75b moves upward. As a result, the lifting support column 75 moves the leg 72 to a raised position (see FIG. 8) relative to the base body 71.

As is clear from the above description, the lifting mechanism 80 is a type of crank mechanism. In other words, if we assume that the first lifting mechanism link 81 is a crank with the first connecting pin 83 as its center of rotation and the third connecting pin 84 is a crank pin, the first lifting mechanism link 81 rotates around the first connecting pin 83, and when the third connecting pin 84 rotates, the second connecting pin 85 moves up and down along the long hole 75a1 of the first support 75a in response to the rotation.

Furthermore, the first connecting pin 83 is a first connecting point connected to the first support 75a. The third connecting pin 84 is a force application point to which a force (power input from the input section 87a) is applied. The second connecting pin 85 is a second connecting point that moves up and down in response to the movement of the force application point 84 when the force is applied to the force application point 84 and the force application point 84 rotates around the first connecting point 83. The lifting mechanism 80 has the first connecting pin 83 (first connecting point), the third connecting pin 84 (force application point), and the second connecting pin 85 (second connecting point).

Furthermore, in the lifting mechanism 80, the first connecting pin 83 is provided at the fixed end of the first lifting mechanism link 81, the third connecting pin 84 is provided at the free end of the first lifting mechanism link 81, the free end of the first lifting mechanism link 81 is rotatably connected to one end of the second lifting mechanism link 82, and the second connecting pin 85 is provided at the other end of the second lifting mechanism link 82. According to this, when the lifting mechanism 80 is in a locked state, it is possible to maintain the locked state of the lifting mechanism 80 by using the weight of the robot 20 without providing a separate locking mechanism. The reason is as follows. When the weight of the robot 20 is applied to the second support 75b via the first lifting mechanism link 81 and the second lifting mechanism link 82, when the third connecting pin 84 is located forward of the straight line connecting the first connecting pin 83 and the second connecting pin 85, the weight acts and the first lifting mechanism link 81 and the second lifting mechanism link 82 are bent forward. In order to bend the first lifting mechanism link 81 and the second lifting mechanism link 82, which bend forward, backward, a force that moves the second link 95a backward against its own weight must be input to the input section 87a, so it is possible to maintain the lifting mechanism 80 in a locked state by utilizing the robot 20's own weight.

To detect the locked state of the lifting mechanism 80, it is preferable to provide a sensor 86 as shown in Figures 8 and 9. The sensor 86 is a sensor capable of detecting the position of a predetermined portion of the first lifting mechanism link 81, and is provided at a portion (a predetermined portion of the base body 71) facing the predetermined portion 81a of the first lifting mechanism link 81 when the lifting mechanism 80 is in the locked state. The sensor 86 is preferably configured by a mechanical switch (e.g., a microswitch) or an optical sensor.

The actuating device 87 is a device that operates at least one of the lifting mechanism 80 and the transmission mechanism 90. As shown in FIG. 3 to FIG. 5, the actuating device 87 has an input unit 87a that inputs a human operation, and is a device that directly operates at least one of the lifting mechanism 80 and the transmission mechanism 90 by the operation input to the input unit 87a. The actuating device 87 is a lever device that has the input unit 87a as a force point. Specifically, the actuating device 87 includes the input unit 87a and a first lifting mechanism link 81 connected to the input unit 87a. The input unit 87a can adopt a pedal (e.g., a foot pedal) operated by a human user, that is, a human operation (foot operation) is input. The input unit 87a is not limited to a pedal operated by a human foot, and may be any other operating member operated by a human, such as a pedal operated by a human hand.

The actuation device 87 has the input part 87a as the force point of the lever device, the first connecting pin 83 that rotatably supports the first lifting mechanism link 81 as the fulcrum of the lever device, and the third connecting pin 84 that rotatably connects to the transmission mechanism 90 as the action point of the lever device. In the actuation device 87, the user's foot-stepping force (operation force) serves as the power. The input part 87a is connected to the first lifting mechanism link 81 as shown in FIG. 4, and when the input part 87a of the lifting mechanism 80A in the raised state is pressed down by the user's operation, it rotates clockwise in FIG. 4 with the first connecting pin 83 as the fulcrum of the lever device, and the first lifting mechanism link 81 also rotates clockwise around the first connecting pin 83. As a result, the third connecting pin 84, which is the action point of the lever device, is moved forward, the first link 91 connected to the third connecting pin 84 is moved horizontally forward, and the lifting mechanism 80A is operated to be in the lowered state (see FIG. 5).

The user's foot-pressing force is set to a predetermined operating load (locking load) by adjusting the length from the first connecting pin 83 to the input part 87a, the length from the first connecting pin 83 to the third connecting pin 84, and the spring loads of the first spring 75c and the second spring 75d. For example, it is preferable to set the predetermined operating load to a value of around 200 N (Newtons).

On the other hand, when the input unit 87a, which is in the lowered state, is pushed up by the user's operation, the input unit 87a rotates counterclockwise in FIG. 5 with the first connecting pin 83 as the fulcrum, and the first lifting mechanism link 81 also rotates counterclockwise around the first connecting pin 83. As a result, the third connecting pin 84, which is the point of action, is moved backward, and the first link 91 connected to the third connecting pin 84 is moved horizontally backward, and the lifting mechanism 80A is operated to be in the raised state (see FIG. 4).

The above-mentioned operating device 87 is configured to have an input unit 87a to which an operation by a person is input, but may be configured to have an input unit 187a to which an operation by a drive device 187b is input. For example, as shown in FIG. 10, the operating device 187 includes a drive device 187b, an input unit 187a to which an operation by the drive device 187b is input, and an operation unit 187c to be operated by a person to give a drive instruction to the drive device 187b. The input unit 187a is connected to the first lifting mechanism link 81, which is the lifting mechanism 80, instead of the input unit 87a, and is connected to the output rod 187b1 of the drive device 187b. The drive device 187b reciprocates (linearly moves) the output rod 187b1 along the axial direction by a built-in drive source (e.g., an electric motor), and the output rod 187b1 moves (operates) the input unit 187a up and down. The operation unit 187c may be, for example, a switch (an up switch, a down switch) that is operated by a human user.

The operating device 287 may be provided in the transmission mechanism 90, not in the lifting mechanism 80. In this case, the operating device 287 includes a driving device 287b, an input unit 287a to which the operation by the driving device 287b is input, and an operation unit 187c (described above) to be operated by a person to give a driving instruction to the driving device 287b, as shown by the dashed line in FIG. 10. The input unit 287a is provided in the second link 95a, which is the transmission mechanism 90, and is connected to the output rod 287b1 of the driving device 287b. The driving device 287b reciprocates the output rod 287b1 along the extension direction of the second link 95a by means of a built-in driving source (e.g., an electric motor), and the output rod 287b1 reciprocates (operates) the input unit 287a in the horizontal direction. Note that the input unit 287a is not limited to the second link 95a, and may be provided in other members constituting the transmission mechanism 90.

The transmission mechanism 90 connects at least two of the multiple lifting mechanisms 80 and operates in conjunction with the operation of the lifting mechanisms 80. The transmission mechanism 90 is configured to transmit the same movement trajectory as the movement trajectory of the third connecting pin 84 (force application point) of one lifting mechanism 80A (power transmission source lifting mechanism) to which the transmission mechanism 90 is connected among the multiple lifting mechanisms 80, to each third connecting pin 84 (force application point) of the remaining lifting mechanism 80B (power transmission destination lifting mechanism) to which the transmission mechanism 90 is connected among the multiple lifting mechanisms 80.

Specifically, as shown in FIG. 3, the transmission mechanism 90 includes a first link 91, a first crank 92, a shaft 93, a second crank 94a, a third crank 94b, a second link 95a, and a third link 95b. The first link 91 is a link for inputting power from one lifting mechanism 80A provided with an actuator 87 to the transmission mechanism 90. One end of the first link 91 is rotatably connected to the third connecting pin 84 of the lifting mechanism 80A, and the other end of the first link 91 is rotatably connected to one end (free end) of the first crank 92 via a pin 92a. The length of the first link 91 is set so that the axial distance between the first connecting pin 83 and the shaft 93 is the same as the axial distance between the third connecting pin 84 and the pin 92a.

The first crank 92 is an input crank for inputting power from the lifting mechanism 80A. The base end of the first crank 92 is fixed to the shaft 93 and rotates integrally with the rotation of the shaft 93. The length of the first crank 92 is set so that the axial distance between the shaft 93 and the pin 92a is the same as the axial distance between the first connecting pin 83 and the third connecting pin 84. The first lifting mechanism link 81, the first link 91, and the first crank 92 may be said to form a four-joint link mechanism. In this case, since the shaft 93 and the first connecting pin 83 are fixed ends, a fixed ground portion, which is the fourth link, is provided between the shaft 93 and the first connecting pin 83. In the four-joint link mechanism, the driven link can only move in one way, so it is possible to make the movement of the first link 91, which is the driven link, constant.

Therefore, when the third connecting pin 84 of the lifting mechanism 80A moves along an arc-shaped movement trajectory centered on the first connecting pin 83, the pin 92a of the first crank 92 also moves along an arc-shaped movement trajectory centered on the axis 93, which is the same as the movement trajectory of the third connecting pin 84.

The shaft 93 is rotatably supported by a pair of bearings 93a fixed to the base body 71. A first crank 92 is fixed to the axial center of the shaft 93, and a second crank 94a and a third crank 94b are fixed to both axial left and right ends of the shaft 93. The shaft 93 receives power from one lifting mechanism 80A provided with an actuator 87 via the first crank 92, and outputs the power to the remaining other lifting mechanism 80B via the second crank 94a and the third crank 94b, which are multiple output cranks.

The second crank 94a is an output crank for outputting the power input from the lifting mechanism 80A to the lifting mechanism 80B to which the power is transmitted. The base end of the second crank 94a is fixed to the shaft 93 and rotates integrally with the rotation of the shaft 93. It is preferable that the mounting angle (mounting direction) of the second crank 94a is the same as the mounting angle (mounting direction) of the first crank 92. The length of the second crank 94a is the same as that of the first crank 92, and is set so that the axial distance between the shaft 93 and the pin 94a1 is the same as the axial distance between the first connecting pin 83 and the third connecting pin 84 in the lifting mechanism 80B. The first lifting mechanism link 81, the second link 95a, and the second crank 94a of the lifting mechanism 80B form a four-joint link mechanism. In this case, since the shaft 93 and the first connecting pin 83 are fixed ends, a fixed ground portion, which is the fourth link, is provided between the shaft 93 and the first connecting pin 83. This makes it possible to keep the movement of the second link 95a, which is the follower, constant.

Therefore, when the first crank 92 moves along an arc-shaped movement trajectory centered on the axis 93, the pin 94a1 of the second crank 94a also moves in conjunction with this movement along an arc-shaped movement trajectory centered on the axis 93, which is the same as the movement trajectory of the pin 92a of the first crank 92 and, by extension, the movement trajectory of the third connecting pin 84.

The third crank 94b is an output crank for outputting the power input from the lifting mechanism 80A to the lifting mechanism 80B to which the power is transmitted. The base end of the third crank 94b is fixed to the shaft 93 and rotates integrally with the rotation of the shaft 93. It is preferable that the mounting angle (mounting direction) of the third crank 94b is the same as the mounting angle (mounting direction) of the first crank 92. The length of the third crank 94b is the same as that of the first crank 92, and is set so that the axial distance between the shaft 93 and the pin 94b1 is the same as the axial distance between the first connecting pin 83 and the third connecting pin 84 in the lifting mechanism 80B. It may be said that the first lifting mechanism link 81, the third link 95b, and the third crank 94b of the lifting mechanism 80B form a four-joint link mechanism. In this case, since the shaft 93 and the first connecting pin 83 are fixed ends, a fixed ground portion, which is the fourth link, is provided between the shaft 93 and the first connecting pin 83. This makes it possible to keep the movement of the third link 95b, which is the follower, constant.

Therefore, when the first crank 92 moves along an arc-shaped movement trajectory centered on the axis 93, the pin 94b1 of the third crank 94b also moves in conjunction with this movement along an arc-shaped movement trajectory centered on the axis 93, which is the same as the movement trajectory of the pin 92a of the first crank 92 and, by extension, the movement trajectory of the third connecting pin 84.

The second link 95a is a link (output link) for outputting the power input from the lifting mechanism 80A from the transmission mechanism 90. One end of the second link 95a is rotatably connected to the third connecting pin 84 of the lifting mechanism 80B to which the power is transmitted, and the other end of the second link 95a is rotatably connected to one end (free end) of the second crank 94a via a pin 94a1. The length of the second link 95a is set so that the axial distance between the first connecting pin 83 and the shaft 93 of the lifting mechanism 80B is the same as the axial distance between the third connecting pin 84 and the pin 94a1.

The third link 95b is a link (output link) for outputting the power input from the lifting mechanism 80A from the transmission mechanism 90. One end of the third link 95b is rotatably connected to the third connecting pin 84 of the lifting mechanism 80B to which the power is transmitted, and the other end of the third link 95b is rotatably connected to one end (free end) of the third crank 94b via a pin 94b1. The length of the third link 95b is set so that the axial distance between the first connecting pin 83 and the shaft 93 of the lifting mechanism 80B is the same as the axial distance between the third connecting pin 84 and the pin 94b1.

The base 70 may be provided with a locking mechanism 89 that maintains the lifting mechanism 80 in the raised state. The locking mechanism 89 is provided on the base body 71, and the stopper 89a moves in and out of the locking mechanism 89 depending on whether the solenoid is energized or not. When the lifting mechanism 80 is in the raised state (locked state), the stopper 89a protrudes to prevent the first crank 92 from rotating, and restricts the lifting mechanism 80 from returning to the lowered state, thereby maintaining (locking) the lifting mechanism 80 in the raised state. On the other hand, when the stopper 89a is retracted, the first crank 92 is allowed to rotate, and the lifting mechanism 80 is allowed to return to the lowered state. Although the locking mechanism 89 is configured so that the stopper 89a is automatically activated as described above, the stopper may be manually activated. Furthermore, the object that the lock mechanism 89 regulates is not limited to the first crank 92, but may also be a component of the lifting mechanism 80 or a component that operates in conjunction with the lifting mechanism 80.

Furthermore, the operation of the base 70 configured as described above will be explained. When the input section 87a of the operating device 87 in the unlocked state (see Figs. 4 and 8) is pressed down and operated, the lifting mechanism 80A in the raised state starts to operate toward the lowered state. The lifting mechanism 80A is connected to the other lifting mechanism 80B via the transmission mechanism 90, and the lifting mechanism 80A and the other lifting mechanism 80B operate integrally and synchronously (because they operate in conjunction with each other), so when the lifting mechanism 80A operates toward the lowered state, the other lifting mechanism 80B also operates toward the lowered state. Finally, when the lifting mechanism 80A is in the lowered state (see Figs. 5 and 9), the other lifting mechanism 80B also similarly operates toward the lowered state (see Fig. 9). As a result, the lifting support 75, which is in the raised position, is moved to the lowered position, causing each leg 72 to come into contact with the installation surface S and the wheels 73 to move away from the installation surface S, so that the base 70 is fixed to the installation surface S in a locked state (see Figure 9).

On the other hand, when the input part 87a of the operating device 87 in the locked state (see Figs. 5 and 9) is pushed up and operated, the lifting mechanism 80A in the lowered state starts to operate toward the raised state. The lifting mechanism 80A is connected to the other lifting mechanism 80B via the transmission mechanism 90, and the lifting mechanism 80A and the other lifting mechanism 80B operate integrally and synchronously (because they operate in conjunction with each other), when the lifting mechanism 80A operates toward the raised state, the other lifting mechanism 80B also operates toward the raised state. Finally, when the lifting mechanism 80A is in the raised state (see Figs. 4 and 8), the other lifting mechanism 80B also similarly operates toward the raised state (see Fig. 8). As a result, the lifting column 75 in the lowered position is positioned in the raised position, so that each leg 72 leaves the installation surface S and the wheels 73 come into contact with the installation surface S, and the base 70 is in an unlocked state (see Fig. 8) in which it is movably placed on the installation surface S.

(Functions and Effects of the First Embodiment)
The base 70 according to the first embodiment described above includes a base body 71, a plurality of legs 72 for supporting the base body 71 on an installation surface S, a plurality of moving devices (wheels 73) for moving the base body 71 along the installation surface S, a plurality of fixed supports 74 provided between either one of the legs 72 or each wheel 73 and the base body 71 and supporting the one in a fixed position relative to the base body 71, a plurality of lifting supports 75 provided between the other of the legs 72 or each wheel 73 and the base body 71 and supporting the other so that it can be raised and lowered between an elevated position and a lowered position relative to the base body 71, a plurality of lifting mechanisms 80 that are operable between an elevated state corresponding to the elevated position and a lowered state corresponding to the lowered position, a transmission mechanism 90 that connects at least two of the plurality of lifting mechanisms 80 and operates in conjunction with the operation of the lifting mechanisms 80, and an actuator 87 that operates at least one of the lifting mechanisms 80 and the transmission mechanism 90.

According to the first embodiment, when the operating device 87 is operated, the multiple lifting mechanisms 80 are operated simultaneously via the transmission mechanism 90, and the multiple lifting columns 75 are lifted simultaneously to lift the base body 71. In detail, when the legs 72 are provided on the lifting columns 75 and the wheels 73 are provided on the fixed columns 74, the base body 71 is fixed when the lifting columns 75 are in the lowered position, and the base body 71 is released when the lifting columns 75 are in the raised position. On the other hand, when the wheels 73 are provided on the lifting columns 75 and the legs 72 are provided on the fixed columns 74, the base body 71 is released when the lifting columns 75 are in the lowered position, and the base body 71 is fixed when the lifting columns 75 are in the raised position. In this way, the base 70 is composed of the lifting columns 75, the lifting mechanisms 80, the operating device 87, and the transmission mechanism 90, and can be configured relatively simply. Furthermore, since the base body 71 can be raised and lowered simply by operating the actuator 87, the base 70 can be more easily fixed and released. As a result, it is possible to provide a base 70 that can be more easily fixed and released with a simpler configuration. In turn, it is possible to provide a robot and a medical device that include the base 70 described above.

In addition, the lifting support 75 includes a first support 75a provided on the base body 71 and a second support 75b provided coaxially with and movable relative to the first support 75a. This allows the lifting support 75 to move linearly, and after moving the base 70 to a desired position, it becomes possible to accurately position and fix the base 70 at that position.

The lifting mechanism 80 also has a first connection point (first connecting pin 83) connected to the first support 75a, a force application point (third connecting pin 84) to which force is applied, and a second connection point (second connecting pin 85) connected to the second support 75b, which moves up and down in response to the movement of the third connecting pin 84 when the force is applied to the third connecting pin 84 and the third connecting pin 84 rotates around the first connecting pin 83. This makes it possible to reliably operate the lifting mechanism 80 with a simple configuration.

The lifting mechanism 80 also includes a first lifting mechanism link 81 and a second lifting mechanism link 82, with a first connecting pin 83 provided at a fixed end of the first lifting mechanism link 81, a third connecting pin 84 provided at a free end of the first lifting mechanism link 81, the free end of the first lifting mechanism link 81 rotatably connected to one end of the second lifting mechanism link 82, and a second connecting pin 85 provided at the other end of the second lifting mechanism link 82. This makes it possible to maintain the locked state of the lifting mechanism 80 with a simple configuration.

The transmission mechanism 90 is configured to transmit the same movement trajectory as the movement trajectory of the third connecting pin 84 of one of the lifting mechanisms 80A to which the transmission mechanism 90 is connected (or to which the actuator 87 is provided) among the multiple lifting mechanisms 80 to each of the third connecting pins 84 of the remaining lifting mechanisms 80B to which the transmission mechanism 90 is connected (or to which the actuator 87 is not provided) among the multiple lifting mechanisms 80. This makes it possible to cause the one lifting mechanism 80A to which the transmission mechanism 90 is connected (or to which the actuator 87 is provided) and the remaining lifting mechanism 80B to which the transmission mechanism 90 is connected (or to which the actuator 87 is not provided) to perform the same operation at the same time.

In addition, the operating device 87 has input units 87a, 187a, 287a to which operations by a person or the driving devices 187b, 287b are input, and at least one of the lifting mechanism 80 and the transmission mechanism 90 is operated by the operations input to the input units 87a, 187a, 287a. This allows the base 70 to be easily raised and lowered by operations by a person or the driving devices 187b, 287b.

In addition, the actuator 87 is a lever device having the input portion 87a as a force point. This allows the power input to the actuator 87 to be multiplied to operate the transmission mechanism 90, thereby improving operability.

The robot 20 also includes a base 70. This makes it possible to provide the robot 20 that enjoys the effects of the base 70 described above.
Furthermore, the medical device (ultrasound diagnostic system) 10 includes a base 70. This makes it possible to provide the medical device 10 that enjoys the effects of the base 70 described above.

Second Embodiment
Furthermore, the base 70 of the second embodiment will be described with reference to Fig. 11. Fig. 11 shows only the lifting support 375, the lifting mechanism 380, and the transmission mechanism 390, and omits the base body 71 and the like. The same components as those in the above-mentioned embodiment are given the same reference numerals, and the description thereof will be omitted. In Fig. 11, the unlocked state is indicated by a solid line, and the locked state is indicated by a dashed line.

The lifting column 375 includes a first column 75a, a second column 75b, and a rotating base 75e provided on the first column 75a. A first connecting pin 383 that rotatably supports the lifting mechanism 380 is attached to the rotating base 75e.

The lifting mechanism 380 includes a first lifting mechanism link 381 and a second lifting mechanism link 382. The first lifting mechanism link 381 and the second lifting mechanism link 382 are connected to their ends to form an L-shape. A first connecting pin 383 is provided at the fixed end of the first lifting mechanism link 381, a third connecting pin 384 is provided at the free end of the second lifting mechanism link 382, the fixed end of the first lifting mechanism link 381 is connected to the fixed end of the second lifting mechanism link 382, and the second connecting pin 85 is connected to the free end of the first lifting mechanism link 381 so as to be relatively movable. In more detail, a long hole 381a is formed at the free end of the first lifting mechanism link 381, and the second connecting pin 85 is guided into the long hole 381a.

The lifting mechanism 380 also has a first connection point (first connecting pin 383) connected to the first support 75a via the rotating base 75e, a force application point (third connecting pin 384) to which a force is applied, and a second connection point (second connecting pin 85) connected to the second support 75b and which moves up and down in response to the movement of the third connecting pin 384 when the force is applied to the third connecting pin 384 and the third connecting pin 384 rotates around the first connecting pin 383.

The actuator 387 also has an input unit 387a to which an operation by a person or a drive device is input, and at least one of the lifting mechanism 380 and the transmission mechanism 390 is operated by the operation input to the input unit 387a. The actuator 387 is a lever device having the input unit 387a as a force point. The input unit 387a is formed by extending from the first lifting mechanism link 381, with the second connecting pin 85 functioning as the point of action of the lever device and the first connecting pin 383 functioning as the fulcrum of the lever device.

The transmission mechanism 390 is configured to transmit the same movement trajectory as the movement trajectory of the third connecting pin 384 of one of the lifting mechanisms 380A to which the actuator 387 is provided (or the transmission mechanism 390 is connected) among the multiple lifting mechanisms 380 to each of the third connecting pins 384 of the remaining lifting mechanisms 380B to which the actuator 387 is not provided (or the transmission mechanism 390 is connected). The transmission mechanism 390 includes a first link 391 and a shaft 393. One end of the first link 391 is rotatably connected to the free end of the second lifting mechanism link 382 of the lifting mechanism 380A via the third connecting pin 384. The other end of the first link 391 is rotatably connected to the axial center of the shaft 393. The free ends of the second lifting mechanism link 382 of the lifting mechanism 380B are rotatably connected to both left and right axial ends of the shaft 393 via the third connecting pin 384.

In the second embodiment described above, when the operating device 387 is operated, the multiple lifting mechanisms 380 are operated simultaneously via the transmission mechanism 390, causing the multiple lifting columns 375 to be raised and lowered simultaneously, thereby raising and lowering the base body 71.

Third Embodiment
Furthermore, the base 70 of the third embodiment will be described with reference to Fig. 12. Fig. 12 shows only the lifting support column 475, the lifting mechanism 480, and the transmission mechanism 490, and omits the base body 71 and the like. The same components as those in the above-mentioned embodiment are given the same reference numerals, and the description thereof will be omitted. In Fig. 12, the locked state is indicated by a solid line, and the unlocked state is indicated by a dashed line.

The lifting support 475 is formed in a column shape, and the upper end of the lifting support 475 is attached to the second connecting pin 485 rotatably provided on the base 70. The lower end of the lifting support 475 is provided with a leg 72. The lifting support 475 rotates around the second connecting pin 485. A plurality of lifting supports 475 are provided between each leg 72 and the base body 71, and support the leg 72 so that it can be raised and lowered between a raised position (shown by a dashed line in FIG. 12) and a lowered position (shown by a solid line in FIG. 12) relative to the base body 71. The lifting support 475 may be provided between the wheel 73 and the base body 71, similar to the lifting support 75 described above.

The lifting mechanism 480 includes a first lifting mechanism link 481. A second connecting pin 485 is provided at a fixed end of the first lifting mechanism link 481, and the first lifting mechanism link 481 rotates around the second connecting pin 485 together with the lifting support column 475. An end of the first link 491 is provided at the free end of the first lifting mechanism link 481 via a third connecting pin 484. It is preferable that the second connecting pin 485 is biased by a spring member (not shown) so that the lifting support column 475 is in the raised position.

In addition, the lifting mechanism 480 has a force application point (third connecting pin 484) to which a force is applied, and a second connecting pin 485 that rotates in accordance with the movement of the third connecting pin 484 when the force is applied to the third connecting pin 484 and the third connecting pin 484 rotates around the second connecting pin 485.

The actuator 487 also has an input section 487a to which an operation by a person or a drive device is input, and at least one of the lifting mechanism 480 and the transmission mechanism 490 is operated by the operation input to the input section 487a. The actuator 487 is formed in an L-shape and has an extension section 487b formed by extending from the first lifting mechanism link 481, and an input section 487a formed by bending from the tip of the extension section 487b. The actuator 487 functions as a lever device together with the first lifting mechanism link 481. The input section 487a functions as the force point of the lever device, the second connecting pin 485 functions as the fulcrum of the lever device, and the third connecting pin 484 functions as the action point of the lever device.

When the input part 487a in the raised position (shown by a dashed line in FIG. 12) is operated downward, the second connecting pin 485 is rotated (clockwise in FIG. 12), the first lifting mechanism link 481 is rotated around the second connecting pin 485, and the third connecting pin 484 is rotated (clockwise in FIG. 12). Furthermore, the lifting support column 475 is rotated around the second connecting pin 485. On the other hand, when the input part 487a in the lowered position (shown by a solid line in FIG. 12) is operated upward, the second connecting pin 485 is rotated (counterclockwise in FIG. 12), the first lifting mechanism link 481 is rotated around the second connecting pin 485, and the third connecting pin 484 is rotated (counterclockwise in FIG. 12). Furthermore, the lifting support column 475 is rotated around the second connecting pin 485.

The transmission mechanism 490 is configured to transmit the same movement trajectory as the movement trajectory of the third connecting pin 484 of one of the lifting mechanisms 480A to which the actuator 487 is provided (or the transmission mechanism 490 is connected) among the multiple lifting mechanisms 480 to each third connecting pin 484 of the remaining lifting mechanisms 480B to which the actuator 487 is not provided (or the transmission mechanism 490 is connected) among the multiple lifting mechanisms 480. The transmission mechanism 490 includes a first link 491 and a shaft 493. One end of the first link 491 is rotatably connected to the free end of the first lifting mechanism link 481 of the lifting mechanism 480A via the third connecting pin 484. The other end of the first link 491 is rotatably connected to the axial center of the shaft 493. The free ends of the first lifting mechanism link 481 of the lifting mechanism 480B are rotatably connected to the left and right axial ends of the shaft 493, respectively, via the third connecting pin 484.

Even in the third embodiment described above, when the operating device 487 is operated, the multiple lifting mechanisms 480 are operated simultaneously via the transmission mechanism 490, causing the multiple lifting columns 475 to be raised and lowered simultaneously, thereby raising and lowering the base body 71.

The base 70 according to each of the above-described embodiments is not limited to these embodiments, but can be implemented in various forms with various modifications and improvements based on the knowledge of those skilled in the art.

70...base, 71...base body, 72...leg, S...installation surface, 73...wheel (mobile device), 74...fixed support, 75...lifting support, 75a...first support, 75b...second support, 80, 80A, 80B, 380, 380A, 380B, 480, 480A, 480B...lifting mechanism, 81...first lifting mechanism link, 82...second lifting mechanism link, 83...first connecting pin (first connecting point), 84...third connecting pin (force application point), 85...second connecting pin (second connecting point), 87, 187, 287, 387, 487...actuating device, 87a...input section, 90, 390, 490...transmission mechanism.

Claims (8)

A base body,
A plurality of legs for supporting the base body on a mounting surface;
A plurality of moving devices for moving the base body along the installation surface;
A plurality of fixed columns are provided between either one of the legs or the moving devices and the base body, and support the either one of the legs or the moving devices in a fixed position relative to the base body;
a plurality of lifting columns respectively provided between the other of the legs or the moving devices and the base body, the lifting columns supporting the other of the legs or the moving devices so as to be liftable and lowerable between an elevated position and a lowered position relative to the base body;
a plurality of lifting mechanisms each operable between an elevated state corresponding to the elevated position and a lowered state corresponding to the lowered position;
a transmission mechanism that connects at least two of the plurality of lifting mechanisms and operates in conjunction with the operation of the lifting mechanisms;
an actuator that operates at least one of the lifting mechanism and the transmission mechanism;
Equipped with
The lifting support includes a first support provided on the base body, and a second support provided coaxially with the first support and movable relative to the first support . The base described in claim 1, wherein the lifting mechanism has a first connection point connected to the first support, a force application point to which a force is applied, and a second connection point connected to the second support and moves up and down in accordance with the movement of the force application point when the force is applied to the force application point and the force application point rotates around the first connection point. the lifting mechanism includes a first lifting mechanism link and a second lifting mechanism link,
the first connection point is provided at a fixed end of the first lift mechanism link;
the force application point is provided at a free end of the first lift mechanism link,
a free end of the first lifting mechanism link is rotatably connected to one end of the second lifting mechanism link;
3. The base of claim 2, wherein the second connection point is provided at the other end of the second lift mechanism link. The base according to claim 2, wherein the transmission mechanism is configured to transmit a movement trajectory identical to a movement trajectory of the force application point of one of the plurality of lifting mechanisms to which the transmission mechanism is connected, to each of the force application points of the remaining lifting mechanisms to which the transmission mechanism is connected. The base according to claim 1, wherein the actuator has an input unit to which an operation by a person or a drive unit is input, and the operation input to the input unit operates at least one of the lifting mechanism and the transmission mechanism. The base according to claim 5 , wherein the actuating device is a lever device having the input portion as a force point. A robot comprising the base according to any one of claims 1 to 6 . A medical device comprising the base according to any one of claims 1 to 6 .

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