Mechanical limit mechanism

Abstract

The present application relates to the technical field of mechanical equipment, and in particular to a mechanical limiting mechanism, which includes a rotating seat, a spring arm, a load-bearing part and a reinforcing arm, and the spring arm, the rotating seat, the reinforcing arm and the load-bearing part form a four-bar linkage mechanism, the load-bearing part moves up and down by the rotation of the spring arm, and the limit is achieved by the contact between the spring arm and the reinforcing arm. When the spring arm and the reinforcing arm drive the load-bearing part to move downward, after the spring arm abuts against the reinforcing arm, the four-bar linkage mechanism will no longer be able to rotate, thereby achieving mechanical limiting, which can prevent the load-bearing part from falling; and there is no need to add additional parts, and different limiting heights can be achieved by adjusting the size of the spring arm and / or the size of the reinforcing arm, which is easy to use and has a simple structure.

Description

Technical Field

[0001] The present application relates to the technical field of mechanical equipment, and in particular to a mechanical limiting mechanism. Background Art

[0002] The balance arm system is a device that relies on springs (mechanical springs or gas springs) to balance the end weight load, allowing the load to be freely suspended within a certain spatial range without the help of other external forces. At present, this device is widely used in hospitals, in equipment systems such as shadowless lamps and monitoring displays. As a suspension system, in the application environment of hospital equipment, the functional spring components in the balance arm system have high reliability within the allowable design load weight. However, due to the testing standards for medical equipment, there must be a mechanical limit method to deal with the risk of load falling caused by spring failure (mechanical spring fatigue, spring breakage, gas spring failure, etc.). Summary of the invention

[0003] The present application provides a mechanical limiting mechanism that can prevent a load from falling.

[0004] The present application provides a mechanical limiting mechanism, which includes:

[0005] Swivel seat;

[0006] A spring arm, a first end of which is connected to the rotating seat;

[0007] A load-carrying portion, the load-carrying portion is used for carrying objects, and the second end of the spring arm is connected to the load-carrying portion;

[0008] A reinforcing arm, wherein a first end of the reinforcing arm is connected to the rotating seat, and a second end of the reinforcing arm is connected to the object-carrying part, so that the spring arm, the rotating seat, the reinforcing arm and the object-carrying part form a four-bar linkage;

[0009] The spring arm and the reinforcing arm are limited by contact between the spring arm and the reinforcing arm, and the change of the limiting height is achieved by adjusting the size of the spring arm and / or the size of the reinforcing arm.

[0010] Further, the first end of the spring arm is connected to the rotating seat through a first rotating shaft, and the second end of the spring arm is connected to the object-carrying part through a second rotating shaft;

[0011] The first end of the reinforcing arm is connected to the rotating seat through a third rotating shaft, and the second end of the reinforcing arm is connected to the object-carrying part through a fourth rotating shaft.

[0012] Further, the relationship between the distance L3 between the portion of the reinforcing arm that is used to contact the spring arm and the axis of the fourth rotating shaft and the radius R of the spring arm is:

[0013]

[0014] Among them, L1 is the axial center distance between the first rotating axis and the third rotating axis, L4 is the axial center distance between the third rotating axis and the fourth rotating axis, h is the gap formed between the part where the reinforcing arm is used to contact the spring arm and the outer wall of the spring arm, and H is the distance that the loading part descends.

[0015] Furthermore, the spring arm is configured as a cylindrical structure, the reinforcing arm is configured as a groove-shaped structure, and the opening of the groove-shaped structure faces the spring arm; a support member is provided inside the groove-shaped structure, the support member extends along the height direction of the groove-shaped structure, and the top of the support member is used to abut against the spring arm.

[0016] Further, along the arm length direction of the reinforcing arm, the groove-shaped structure of the reinforcing arm includes end plates arranged at both ends of the groove-shaped structure, and the end plates are connected to the side walls of the groove-shaped structure;

[0017] A side of the end plate facing the spring arm is formed into a curved surface, and the curved surface matches the cross-sectional shape of the spring arm.

[0018] Furthermore, the spring arm is configured as a cylindrical structure, the surface of the reinforcing arm close to the spring arm is an arc surface, the arc surface is at least partially adapted to the cylindrical surface, the arc surface is used to abut against the spring arm, and the reinforcing arm is configured as a hollow structure or a solid structure.

[0019] Furthermore, the spring arm is configured as a cylindrical structure, and a surface of the reinforcing arm close to the spring arm is a plane, and the plane is used to abut against the spring arm.

[0020] Further, the spring arm contacts the reinforcing arm through its first limiting portion, and the reinforcing arm is used to contact the spring arm through its second limiting portion, and the first limiting portion abuts against the second limiting portion to limit the spring arm.

[0021] Furthermore, the spring arm comprises a rod body, a spring is arranged in the rod body, one end of the spring is connected to the rod body, and the other end is connected to the rotating seat, so that the spring is always in a stretched state.

[0022] Further, one end of the first connecting rod is fixedly connected to the spring arm, and the other end is hinged to the rotating seat;

[0023] One end of the second connecting rod is fixedly connected to the spring arm, and the other end is hinged to the object carrying part.

[0024] The technical solution provided by this application can achieve the following beneficial effects:

[0025] The mechanical limiting mechanism provided by the present application includes a rotating seat, a spring arm, a loading part and a reinforcing arm, wherein the spring arm, the rotating seat, the reinforcing arm and the loading part form a four-bar linkage mechanism, and the loading part moves up and down by rotating the spring arm. When the elastic part of the spring arm fails, the spring arm and the reinforcing arm are contacted to limit the loading part. When the spring arm and the reinforcing arm drive the loading part to move downward, after the spring arm and the reinforcing arm are in contact, the four-bar linkage mechanism will not be able to rotate further, thereby realizing mechanical limiting, and being able to prevent the loading part from falling; and there is no need to add additional parts, and different limiting heights can be achieved by adjusting the size of the spring arm and / or the size of the reinforcing arm, which is easy to use and has a simple structure.

[0026] It should be understood that the foregoing general description and the following detailed description are exemplary only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 A schematic diagram of the structure of a mechanical limit mechanism provided in an embodiment of the present application;

[0029] Figure 2 A front view of the mechanical limit mechanism provided in an embodiment of the present application;

[0030] Figure 3 An embodiment of this application is based on Figure 2 Sectional view of AA in the middle;

[0031] Figure 4 Another embodiment of the present application is based on Figure 2 Sectional view of AA in the middle;

[0032] Figure 5 Another embodiment of the present application is based on Figure 2 Sectional view of AA in the middle;

[0033] Figure 6 Another embodiment of the present application is based on Figure 2 Sectional view of AA in the middle;

[0034] Figure 7 A partial cross-sectional view of the mechanical limiting mechanism provided in an embodiment of the present application.

[0035] Reference numerals:

[0036] 1- horizontal arm;

[0037] 2-Swivel seat;

[0038] 3- Spring arm;

[0039] 31- first rotating shaft;

[0040] 32- second rotating shaft;

[0041] 33- first limiting portion;

[0042] 34- first connecting rod;

[0043] 35-second connecting rod;

[0044] 36-rod body;

[0045] 37-spring;

[0046] 4-Carrying part;

[0047] 5- Strengthening arm;

[0048] 51- third rotating shaft;

[0049] 52- fourth rotating shaft;

[0050] 53- second limiting portion;

[0051] 54-Support member. DETAILED DESCRIPTION

[0052] In order to better understand the technical solution of the present application, the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0053] It should be clear that the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0054] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0055] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0056] It should be noted that the directional words such as "upper", "lower", "left", and "right" described in the embodiments of the present application are described at the angles shown in the accompanying drawings and should not be understood as limiting the embodiments of the present application. In addition, in the context, it is also necessary to understand that when it is mentioned that an element is connected to another element "upper" or "lower", it can not only be directly connected to another element "upper" or "lower", but also indirectly connected to another element "upper" or "lower" through an intermediate element.

[0057] In a specific embodiment, the present application is further described in detail below through a specific embodiment and in conjunction with the accompanying drawings.

[0058] like Figure 1-Figure 3 and Figure 7 As shown, the embodiment of the present application provides a mechanical limit mechanism, including a rotating seat 2, a spring arm 3, a load-bearing part 4 and a reinforcing arm 5, wherein the spring arm 3, the rotating seat 2, the reinforcing arm 5 and the load-bearing part 4 form a four-bar linkage, and the connection of each component in the four-bar linkage is a rotatable connection, the load-bearing part 4 moves up and down by the rotation of the spring arm 3, and when the elastic member of the spring arm 3 fails, the limit is performed by the contact between the spring arm 3 and the reinforcing arm 5. When the spring arm 3 and the reinforcing arm 5 drive the load-bearing part 4 to move downward, after the spring arm 3 abuts against the reinforcing arm 5, the four-bar linkage cannot rotate further, thereby realizing mechanical limit, which can prevent the load-bearing part from falling; and there is no need to add additional parts, and different limit heights can be achieved by adjusting the size of the spring arm 3 and / or the size of the reinforcing arm 5, which is convenient to use and simple in structure. In addition, the mechanical limit mechanism also includes a horizontal arm 1, which is connected to the mechanical equipment, and the rotating seat 2 is installed on the horizontal arm 1, and the horizontal arm 1 can drive the rotating seat 2 to move and support the rotating seat 2.

[0059] The size of the spring arm 3 and / or the size of the reinforcing arm 5 specifically refers to the shape and the size of the shape, and varies due to the different structures of the spring arm 3 and / or the reinforcing arm 5. Specifically, when the cross section of the spring arm 3 perpendicular to the arm length is a rectangle, the size of the spring arm 3 may be the length, width or diagonal of the cross section of the spring arm 3, and for another example, when the cross section of the spring arm 3 perpendicular to the arm length is an ellipse, the size of the spring arm 3 may be the major axis or minor axis of the cross section of the spring arm 3; or when the reinforcing arm 5 is a groove-shaped structure, the size of the reinforcing arm 5 may be the diameter of the groove or the depth of the groove.

[0060] Specifically, the first end of the spring arm 3 is connected to the rotating seat 2 through the first rotating shaft 31, and the second end of the spring arm 3 is connected to the loading part 4 through the second rotating shaft 32, so that the two ends of the spring arm 3 are respectively hinged to the rotating seat 2 and the loading part 4; the first end of the reinforcing arm 5 is connected to the rotating seat 2 through the third rotating shaft 51, and the second end of the reinforcing arm 5 is connected to the loading part 4 through the fourth rotating shaft 52, so that the two ends of the reinforcing arm 5 are respectively hinged to the rotating seat 2 and the loading part 4; thereby, the spring arm 3, the rotating seat 2, the reinforcing arm 5 and the loading part 4 form a four-bar linkage, and the connection of each component in the four-bar linkage is a rotatable connection, which is convenient for the spring arm 3 and the reinforcing arm 5 to rotate, thereby driving the loading part 4 to move up and down.

[0061] Among them, in the preferred embodiment of the present application, the spring arm 3 is a cylindrical structure, and different limit heights are achieved by adjusting the radius of the spring arm 3 or the height of the reinforcing arm 5. In other embodiments of the present application, the spring arm 3 is a cylindrical structure, and different limit heights are achieved by adjusting the outer diameter of the spring arm 3 or the height of the reinforcing arm 5. Achieving different limit heights by adjusting the size of the spring arm 3 and / or the size of the reinforcing arm 5 has the advantages of simple structure and easy use.

[0062] It should be noted that, when the length of the spring arm 3 remains unchanged, as the spring arm 3 swings downward, the distance between the spring arm 3 and the reinforcing arm 5 can be gradually reduced until the spring arm 3 contacts the reinforcing arm 5. After the spring arm 3 contacts the reinforcing arm 5, the four-bar linkage cannot rotate further, so the interaction between the spring arm 3 and the reinforcing arm 5 can stop the spring arm 3 and the reinforcing arm 5 from rotating, and the object-carrying part 4 also stops moving, thereby playing a role of limiting.

[0063] In a specific embodiment, Figure 3 As shown, the relationship between the distance L3 between the portion of the reinforcing arm 5 that contacts the spring arm 3 and the axis of the fourth rotating shaft 52 and the radius R of the spring arm 3 is:

[0064]

[0065] Among them, L1 is the axial center distance between the first rotating shaft 31 and the third rotating shaft 51, L4 is the axial center distance between the third rotating shaft 51 and the fourth rotating shaft 52, h is the gap formed between the part where the reinforcing arm 5 contacts the spring arm 3 and the outer wall of the spring arm 3, and H is the distance that the loading part 4 descends.

[0066] Therefore, it is not difficult to find from the formula that different limit height requirements can be achieved by only adjusting the gap formed between the part where the reinforcing arm 5 contacts the spring arm 3 and the outer wall of the spring arm 3. And regarding h, in different embodiments, the part where the reinforcing arm 5 contacts the spring arm 3 is variable. Therefore, according to the actual situation, the specific structures of the two are different, and h will also be different. In the embodiments of the present application, h is an exemplary description. The h in the present application can refer to the minimum distance between the outer surface of the spring arm 3 and the upper surface of the reinforcing arm 5, or the distance between the outer surface of the spring arm 3 and the upper surface of the reinforcing arm 5 along the radial direction of the cross section of the spring arm 3 (when it is a cylinder), or the distance between the outer surface of the spring arm 3 and the top of the side wall of the reinforcing arm 5, or the distance between other contact parts between the two, etc., as long as the limit can be adjusted by adjusting h.

[0067] It should be noted that when it is necessary to set the maximum distance for the object-carrying part 4 to descend, the object-carrying part 4 can be first descended to the set position (i.e., the object-carrying part 4 can be first descended to the lowest position), and then the axial center distance L4 between the third rotating shaft 51 and the fourth rotating shaft 52 and the descending distance H of the object-carrying part 4 can be measured. The angle a can be calculated by the formula sin(a)=H / L4. Since the axial center distance between the first rotating shaft 31 and the third rotating shaft 51 can also be measured, the length L2 can be calculated by the formula L2=L1*cos(a), and L2 is the axial center distance between the reinforcing arm 5 and the spring arm 3. Since the gap h formed between the part of the reinforcing arm 5 used to contact the spring arm 3 and the outer wall of the spring arm 3 can also be measured, the relationship between the distance L3 between the part of the reinforcing arm 5 used to contact the spring arm 3 and the axis of the fourth rotating shaft 52 and the radius R of the spring arm 3 can be obtained by the formula h=L2-L3-R. By adjusting L3 and / or R, different limit height requirements can be achieved.

[0068] In a specific embodiment, Figure 3 As shown, the part of the spring arm 3 that is used to contact the reinforcing arm 5 is the first limiting part 33, and the part of the reinforcing arm 5 that is used to contact the spring arm 3 is the second limiting part 53. Through the abutment between the first limiting part 33 and the second limiting part 53, when the elastic part of the spring arm 3 fails, the spring arm 3 abuts against the reinforcing arm 5, and the four-bar linkage cannot rotate further. Therefore, through the interaction between the spring arm 3 and the reinforcing arm 5, the spring arm 3 and the reinforcing arm 5 can stop rotating, and the loading part 4 also stops moving, thereby preventing the loading part 4 from falling.

[0069] In a specific embodiment, Figure 3As shown, the spring arm 3 is set as a cylindrical structure, and the reinforcing arm 5 is set as a groove structure, and the opening of the groove structure faces the spring arm 3; a support member 54 is set inside the groove structure, and the support member 54 protrudes from the bottom of the groove structure along the height direction H of the groove structure, and extends along the length direction of the reinforcing arm 5, and the top of the support member 54 is used to abut against the spring arm 3. The support member 54 and the groove structure are combined into an inverted "E" structure. The setting of the support member 54 can help the side wall share the vertical pressure of the elastic arm 3 on the reinforcing arm 5, reduce the positive pressure on the two side walls, thereby protecting the reinforcing arm structure, improving the upper limit of the force of the reinforcing arm, and thus enhancing the limit reliability. At the same time, the top of the support member 54 can be used as the second limit portion 53. When the first limit portion 33 abuts against the second limit portion 53, the interaction between the first limit portion 33 and the second limit portion 53 can stop the spring arm 3 and the reinforcing arm 5 from rotating, and can limit the spring arm 3 from continuing to swing downward.

[0070] Among them, along the length direction of the groove-like structure, the two side walls of the groove-like structure form arc-shaped matching parts for abutting against the spring arm, and the tops of the two side walls can be inclined surfaces or arc surfaces, etc., for matching with the outer wall of the spring arm 3. Along the width direction of the groove-like structure, the matching parts of the side walls at the two ends of the groove-like structure can be radially fitted with the spring arm 3, and the height is lower than the height of the two side walls along the length direction of the groove-like structure.

[0071] Preferably, in order to improve the load-bearing capacity of the reinforcing arm 5, the groove-like structure may further include two end plates disposed at both ends of the reinforcing arm 5 along the length direction of the reinforcing arm 5, and the two end plates are connected to the two side walls of the groove-like structure, so that the groove-like structure is more solid. More preferably, the two end plates are formed into a curved surface on the side facing the spring arm 3, and the curved surface can match the cross-sectional shape of the spring arm 3, thereby further limiting the relative movement of the spring arm 3 and the reinforcing arm 5 after contact, and improving the limiting reliability. It is worth mentioning that in other embodiments of the present application, a plurality of support members (not shown) may also be provided in the groove-like structure to enhance the reliability of the reinforcing arm 5.

[0072] In another specific embodiment, Figure 4 and Figure 5As shown, the spring arm 3 is set to a cylindrical structure, and the surface of the reinforcing arm 5 close to the spring arm 3 is an arc surface, which is at least partially matched with the cylindrical surface, and the arc surface is used to abut against the spring arm 3. The arc surface can be used as the second limiting portion 53, and the cylindrical surface matched with the arc surface can be used as the first limiting portion 33. The first limiting portion 33 and the second limiting portion 53 can disperse the force on the two side walls through surface contact, reduce the positive pressure on the two side walls, and thus protect the reinforcing arm structure; and because the spring arm 3 and the reinforcing arm 5 can stop rotating through the interaction between the first limiting portion 33 and the second limiting portion 53 after the two contact, the spring arm 3 and the reinforcing arm 5 can be restricted from continuing to swing downward.

[0073] Among them, Figure 5 As shown, the reinforcing arm 5 can be set as a hollow structure (that is, the reinforcing arm 5 can be a hollow cylindrical shape rather than a trough body), and a complete arc-shaped abutment plate is formed on the side of the reinforcing arm 5 close to the elastic arm 3, and the curvature of the arc-shaped abutment plate can cooperate with the elastic arm 3.

[0074] Or, if Figure 4 As shown, the reinforcing arm 5 can also be set as a solid structure, and a side of the reinforcing arm 5 close to the spring arm 3 is formed into an arc-shaped recessed portion, and the surface of the recessed portion can abut against the spring arm 3.

[0075] In another embodiment of the present application, Figure 6 As shown, the spring arm 3 is configured as a cylindrical structure, the portion of the reinforcing arm 5 used to contact the spring arm 3 is a plane, and the plane is used to abut against the spring arm 3 when limiting. In this embodiment, the plane serves as the second limiting portion 53, and when the first limiting portion 33 abuts against the second limiting portion 53, the spring arm 3 and the reinforcing arm 5 can stop rotating through the interaction between the first limiting portion 33 and the second limiting portion 53, and the spring arm 3 can be restricted from continuing to rotate downward.

[0076] In this embodiment, Figure 2 and Figure 7 As shown, the first end of the spring arm 3 is connected to the rotating seat 2 through the first connecting rod 34, and the second end of the spring arm 3 is connected to the loading portion 4 through the second connecting rod 35. During the installation of the spring arm 3, only the first connecting rod 34 and the second connecting rod 35 are needed to install the spring arm 3, which is very convenient.

[0077] Specifically, Figure 2 As shown, one end of the first connecting rod 34 is fixedly connected to the spring arm 3, and the other end is hinged to the rotating seat 2, so that the spring arm 3 can rotate around the rotating seat 2; one end of the second connecting rod 35 is fixedly connected to the spring arm 3, and the other end is hinged to the object-carrying part 4, so that the spring arm 3 and the object-carrying part 4 can be rotatably connected. When the spring arm 3 rotates, the object-carrying part 4 can ensure up and down movement. Figure 7As shown, the spring arm 3 includes a rod body 36, in which a spring 37 is arranged, one end of the spring 37 is connected to the rod body 36, and the other end is connected to the rotating seat 2, so that the spring 37 is always in a stretched state, and thus the spring 37 always has a contraction force. The contraction force can be divided into two components, namely, the vertical direction and the horizontal direction; when the load-bearing part 4 does not hang a heavy object, the vertical direction component of the contraction force of the spring 37 will cause the spring arm 3 to rotate upward around the hinged position of the first connecting rod 34 and the rotating seat 2 or have a tendency to rotate upward; when the load-bearing part 4 hangs a heavy object, when the gravity of the heavy object is greater than the vertical direction component of the spring arm 3, the spring arm 3 rotates downward around the hinged position, and as the spring arm 3 gradually rotates downward, the contraction force of the spring arm 3 will gradually increase, and at the same time, the angle between the spring arm 3 and the vertical direction will gradually increase, and then the vertical direction component of the contraction force of the spring 37 will also gradually increase, until the vertical direction component is the same as the gravity of the heavy object, the spring arm 3 will no longer rotate, and the mechanism will be in a balanced state.

[0078] In actual work, the vertical force of the spring arm 3 is to balance the gravity of the load-carrying part 4 hanging the weight, and a very small force from the outside can drive the load-carrying part 4 to move. The position of the load-carrying part 4 is controlled by the force applied from the outside. In the working state, the load-carrying part 4 moves within the working range under the action of the driving force. In the working process, if the spring 37 fails, the spring arm 3 will continue to move downward until the first limit part 33 of the spring arm 3 abuts against the second limit part 53 of the reinforcing arm 5. The mutual restriction between the first limit part 33 and the second limit part 53 can stop the spring arm 3 and the reinforcing arm 5 from rotating, and can limit the spring arm 3 from continuing to rotate downward. Therefore, when the spring 37 fails, the mechanical limit mechanism can limit the load-carrying part 4 through the interaction between the spring arm 3 and the reinforcing arm 5, so as to prevent the load-carrying part 4 and the weight from falling.

[0079] Among them, one end of the spring 37 is connected to the rotating seat 2 through the first connecting piece, and the other end of the spring 37 is connected to the inner wall of the rod body 36 through the second connecting piece; and one end of the first connecting piece is fixedly connected to the spring 37, and the other end of the first connecting piece is hinged to the rotating seat 2, so that the spring 37 can rotate around the rotating seat 2; one end of the second connecting piece is fixedly connected to the spring 37, and the other end of the second connecting piece is fixedly connected to the inner wall of the rod body 36, which can ensure that one end of the spring 37 is fixed. When the spring arm 3 rotates, the spring 37 can rotate with the spring arm 3, and the spring 37 can be stretched at this time.

[0080] Alternatively, one end of the spring 37 is connected to the rotating seat 2 through a first connecting piece, and the other end of the spring 37 is connected to the loading part 4 through a second connecting piece; and one end of the first connecting piece is fixedly connected to the spring 37, and the other end of the first connecting piece is hinged to the rotating seat 2, so that the spring 37 can rotate around the rotating seat 2; one end of the second connecting piece is fixedly connected to the spring 37, and the other end of the second connecting piece is hinged to the loading part 4, so that the spring 37 can rotate around the loading part 4, and when the spring arm 3 rotates, the spring 37 can rotate with the spring arm 3, and at this time the spring 37 can be stretched.

[0081] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A mechanical limit mechanism, characterized in that: include: Rotating seat (2); A spring arm (3), wherein a first end of the spring arm (3) is connected to the rotating seat (2) via a first rotating shaft (31), and the spring arm (3) is configured as a cylindrical structure; An object carrying portion (4), the object carrying portion (4) being used for carrying objects, and the second end of the spring arm (3) being connected to the object carrying portion (4) via a second rotating shaft (32); a reinforcing arm (5), wherein a first end of the reinforcing arm (5) is connected to the rotating seat (2) via a third rotating shaft (51), and a second end of the reinforcing arm (5) is connected to the object-carrying portion (4) via a fourth rotating shaft (52), so that the spring arm (3), the rotating seat (2), the reinforcing arm (5) and the object-carrying portion (4) form a four-bar linkage; The reinforcing arm (5) is configured as a groove-shaped structure, the opening of the groove-shaped structure faces the spring arm (3), a support member (54) is provided inside the groove-shaped structure, the support member (54) protrudes from the bottom of the groove-shaped structure along the height direction of the groove-shaped structure and extends along the length direction of the reinforcing arm (5), and the top of the support member (54) is used to abut against the spring arm (3) to achieve the limiting of the spring arm (3) and the reinforcing arm (5); Alternatively, the surface of the reinforcing arm (5) close to the spring arm (3) is a curved surface, the curved surface is adapted to at least part of the surface of the cylindrical structure, and the curved surface is used to abut against the spring arm (3) to achieve position limiting of the spring arm (3) and the reinforcing arm (5); Alternatively, the surface of the reinforcing arm (5) close to the spring arm (3) is a plane, and the plane is used to abut against the spring arm (3) to achieve position limiting of the spring arm (3) and the reinforcing arm (5); Wherein, the change in the limiting height of the spring arm (3) and the reinforcing arm (5) is achieved by adjusting the size of the spring arm (3) and / or the size of the reinforcing arm (5); The relationship between the distance L3 between the portion of the reinforcing arm (5) that is used to contact the spring arm (3) and the axis of the fourth rotating shaft (52) and the radius R of the spring arm (3) is: ; Wherein, L1 is the axial center distance between the first rotating shaft (31) and the third rotating shaft (51), L4 is the axial center distance between the third rotating shaft (51) and the fourth rotating shaft (52), h is the gap formed between the portion of the reinforcing arm (5) that contacts the spring arm (3) and the outer wall of the spring arm (3), and H is the distance that the load-carrying part (4) descends.

2. The mechanical limiting mechanism according to claim 1, characterized in that: When the reinforcing arm (5) is configured as a groove-shaped structure, along the arm length direction of the reinforcing arm (5), the groove-shaped structure of the reinforcing arm (5) comprises end plates arranged at both ends of the groove-shaped structure, and the end plates are both connected to the side walls of the groove-shaped structure; A side of the end plate facing the spring arm (3) is formed into a curved surface, and the curved surface matches the cross-sectional shape of the spring arm (3).

3. The mechanical limiting mechanism according to claim 1, characterized in that: When the surface of the reinforcing arm (5) close to the spring arm (3) is a curved surface, the reinforcing arm (5) is configured as a hollow structure or a solid structure.

4. The mechanical limiting mechanism according to any one of claims 1 to 3, characterized in that: The spring arm (3) contacts the reinforcing arm (5) via its first limiting portion (33), and the reinforcing arm (5) contacts the spring arm (3) via its second limiting portion (53). The first limiting portion (33) abuts against the second limiting portion (53) to limit the spring arm (3).

5. The mechanical limiting mechanism according to claim 1, characterized in that: The spring arm (3) comprises a rod body (36), a spring (37) being arranged in the rod body (36), one end of the spring (37) being connected to the rod body (36), and the other end of the spring (37) being connected to the rotating seat (2), so that the spring (37) is always in a stretched state.

6. The mechanical limiting mechanism according to claim 1, characterized in that: The mechanical limiting mechanism further comprises a first connecting rod (34) and a second connecting rod (35); one end of the first connecting rod (34) is fixedly connected to the spring arm (3), and the other end is hinged to the rotating seat (2); One end of the second connecting rod (35) is fixedly connected to the spring arm (3), and the other end is hinged to the object carrying portion (4).

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