Double-joint four-connecting-rod balance arm and medical equipment

Abstract

The utility model is applicable to the technical field of supporting equipment, and provides a double-joint four-connecting-rod balance arm and medical equipment, which comprises a connecting rod bracket, and a lower supporting arm component and an upper supporting arm component which are respectively and rotatably connected with two ends of the connecting rod bracket, the lower support arm assembly comprises a left connecting rod and a right connecting rod which are respectively and rotationally connected with the connecting rod bracket and are parallel to each other, a lower support arm connecting frame rod which is respectively and rotationally connected with the left connecting rod and the right connecting rod, and a lower support arm left gas spring and a lower support arm right gas spring which are connected among the left connecting rod, the right connecting rod and the lower support arm connecting frame rod; the lower support arm left gas spring and the lower support arm right gas spring are arranged in a crossed manner; the upper connecting rod and the lower connecting rod are rotationally connected with the connecting rod support and are parallel to each other, the upper supporting arm connecting frame rod is rotationally connected with the upper connecting rod and the lower connecting rod, and the upper supporting arm air spring is rotationally connected with the upper connecting rod and the connecting rod support. The balance arm solves the problem that an existing balance arm cannot achieve large-angle rotation within the vertical angle range.

Description

TECHNICAL FIELD

[0001] The utility model relates to support equipment technical field, especially a double joint four connecting rod balance arm and medical equipment. BACKGROUND

[0002] Four connecting rod balance arm mechanism is a common mechanical structure, which is widely used in industrial, automobile suspension system, mechanical arm and other fields. The main function of this kind of mechanism is to realize the balance of movement and the transmission of force through the mutual movement between connecting rods, to ensure the stability of the system within a certain angle range. This structure can realize angle adjustment within a certain range, and can maintain the stability of the adjusted position, reducing the burden of the user when adjusting the height and angle.

[0003] However, the existing four connecting rod balance arm design is mostly focused on smaller angle rotation, and its structural complexity and stress condition limit its balance maintaining ability when rotating at a large angle. Especially when the balance arm rotates at a large angle in the vertical direction, the existing design often cannot overcome the displacement trend caused by the gravity of the equipment itself, resulting in adjustment failure or insufficient balance force, which makes the mechanism lose stability, and further affects its overall performance. In addition, the damping control and rotation process of the traditional balance arm are not smooth enough, which affects the overall performance of the equipment.

[0004] Therefore, how to break through the limitations of the existing four connecting rod balance arm mechanism and design a balance arm that can maintain balance within a vertical angle range and has a large angle rotation function has become a technical problem in the field. SUMMARY

[0005] Therefore, the utility model aims at providing a double joint four connecting rod balance arm and medical equipment to fundamentally solve the problem that the existing balance arm cannot rotate at a large angle within a vertical angle range.

[0006] According to the double joint four connecting rod balance arm provided by the utility model, the lower arm assembly includes left and right connecting rods which are rotatably connected with the connecting rod support and are parallel to each other, a lower arm connecting rod which is rotatably connected with the left and right connecting rods, and left and right gas springs which are connected between the left and right connecting rods and the lower arm connecting rod and are arranged in a cross shape.

[0007] The lower arm assembly includes left and right connecting rods which are rotatably connected with the connecting rod support and are parallel to each other, a lower arm connecting rod which is rotatably connected with the left and right connecting rods, and left and right gas springs which are connected between the left and right connecting rods and the lower arm connecting rod and are arranged in a cross shape.

[0008] The upper arm assembly comprises an upper link and a lower link which are respectively rotatably connected with the link support and parallel to each other, an upper arm link which is rotatably connected with the upper link and the lower link, and an upper arm gas spring which is rotatably connected with the upper link and the link support;

[0009] The left link, the right link, the lower arm link and the link support form a four-link structure, and the left link and the right link always remain parallel when the lower arm assembly rotates clockwise or counterclockwise.

[0010] The upper link, the lower link, the upper arm link and the link support form a four-link structure, and the upper link and the lower link always remain parallel when the upper arm assembly rotates up and down.

[0011] In addition, the double-joint four-link balance arm according to the above-mentioned embodiments of the utility model can further have the following additional technical features:

[0012] Further, the left link comprises a first main plate, two first side plates arranged on both sides of the first main plate, and a first connecting piece, a second connecting piece and a third connecting piece connecting the two first side plates, the first connecting piece is connected with the link support, the second connecting piece is connected with the lower arm link and the lower arm right gas spring respectively, and the third connecting piece is connected with the lower arm left gas spring and located close to the first connecting piece.

[0013] The right link comprises a second main plate, two second side plates arranged on both sides of the second main plate, and a fourth connecting piece, a fifth connecting piece and a sixth connecting piece connecting the two second side plates, the fourth connecting piece is connected with the link support, the fifth connecting piece is connected with the lower arm link and the lower arm left gas spring respectively, and the sixth connecting piece is connected with the lower arm right gas spring and located close to the fourth connecting piece.

[0014] Further, the lower arm link comprises a base, and a first connecting seat and a second connecting seat arranged on the base and rotatably connected with the left link and the right link respectively, and the first connecting seat is clamped between the two first side plates, and the second connecting seat is clamped between the two second side plates.

[0015] Further, the first connecting seat is provided with a first through hole penetrating through and accommodating the second connecting piece, and a first accommodating groove accommodating the lower arm right gas spring, the lower arm right gas spring is sleeved on the second connecting piece and accommodated in the first accommodating groove.

[0016] The second connecting seat is provided with a second through hole penetrating through and accommodating the fifth connecting piece, and a second accommodating groove accommodating the lower left arm gas spring, the lower left arm gas spring is sleeved on the fifth connecting piece and accommodated in the second accommodating groove.

[0017] Further, the first main plate is provided with a first avoiding gap avoiding the lower left arm gas spring, a second avoiding gap avoiding the lower right arm gas spring, and a third avoiding gap avoiding the first connecting seat.

[0018] The second main plate is provided with a fourth avoiding gap avoiding the lower right arm gas spring, a fifth avoiding gap avoiding the lower left arm gas spring, and a sixth avoiding gap avoiding the second connecting seat.

[0019] Further, the height of the second connecting seat is higher than the height of the first connecting seat, and the height of the second through hole on the second connecting seat is higher than the height of the first through hole on the first connecting seat.

[0020] Further, the upper connecting rod comprises a first main part, and a seventh connecting piece, an eighth connecting piece and a ninth connecting piece connecting the first main part, the seventh connecting piece is connected with the connecting rod support, the eighth connecting piece is connected with the upper arm connecting rod, and the ninth connecting piece is connected with the upper arm gas spring and located close to the eighth connecting piece.

[0021] The lower connecting rod comprises a second main part, and a tenth connecting piece and an eleventh connecting piece connecting the second main part, the tenth connecting piece is connected with the connecting rod support, and the eleventh connecting piece is connected with the upper arm connecting rod.

[0022] Further, the connecting rod support is provided with a twelfth connecting piece connected with the upper arm gas spring, and the twelfth connecting piece is located below the tenth connecting piece.

[0023] Another embodiment of the utility model also aims at providing a medical equipment comprising the double-joint four-connecting-rod balance arm.

[0024] The double-joint four-connecting-rod balance arm provided by the embodiment of the utility model realizes stable support through the cross arrangement of the lower supporting arm left gas spring and the lower supporting arm right gas spring of the lower supporting arm assembly, wherein the cross arrangement makes one of the gas springs be in a suitable supporting position in the clockwise or counterclockwise rotating state of the lower supporting arm assembly, at this time, the lower supporting arm left gas spring and the lower supporting arm right gas spring keep balance and stability in the whole movement process through the pull-push mode, the elastic force of the lower supporting arm left gas spring and the lower supporting arm right gas spring is balanced with the gravity and inertial force of the double-joint four-connecting-rod balance arm and the external display in any position of rotation, the lower supporting arm assembly can keep the hovering state in any position in the movement process, the double-joint four-connecting-rod balance arm can keep stable in a larger rotating range, especially, enough supporting force is provided in the large range rotation close to the vertical angle, and the problem that the existing balance arm cannot realize large angle rotation in the vertical angle range is solved. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 It is a plane structure schematic view of the double-joint four-connecting-rod balance arm in the embodiment of the utility model;

[0026] Figure 2 It is a three-dimensional structure schematic view of the double-joint four-connecting-rod balance arm in the embodiment of the utility model under the first visual angle;

[0027] Figure 3 It is a three-dimensional structure schematic view of the double-joint four-connecting-rod balance arm in the embodiment of the utility model under the second visual angle;

[0028] Figure 4 It is a plane structure schematic view of the lower supporting arm assembly in the double-joint four-connecting-rod balance arm in the embodiment of the utility model when rotating clockwise;

[0029] Figure 5 It is a three-dimensional structure schematic view of the lower supporting arm assembly in the double-joint four-connecting-rod balance arm in the embodiment of the utility model when rotating clockwise;

[0030] Figure 6 It is a plane structure schematic view of the lower supporting arm assembly in the double-joint four-connecting-rod balance arm in the embodiment of the utility model when rotating counterclockwise;

[0031] Figure 7 It is a three-dimensional structure schematic view of the lower supporting arm assembly in the double-joint four-connecting-rod balance arm in the embodiment of the utility model when rotating counterclockwise;

[0032] Figure 8 It is a plane structure schematic view of the upper supporting arm assembly in the double-joint four-connecting-rod balance arm in the embodiment of the utility model when rotating upward;

[0033] Figure 9It is the stereogram structure schematic view when the upper branch arm assembly of the double-joint four-connecting-rod balance arm in an embodiment of the utility model is turned upward.

[0034] Figure 10 It is the plane structure schematic view when the upper branch arm assembly of the double-joint four-connecting-rod balance arm in an embodiment of the utility model is turned downward.

[0035] Figure 11 It is the stereogram structure schematic view when the upper branch arm assembly of the double-joint four-connecting-rod balance arm in an embodiment of the utility model is turned downward.

[0036] The following detailed embodiments will further illustrate the utility model in combination with the above-mentioned drawings. DETAILED DESCRIPTION

[0037] In order to facilitate the understanding of the utility model, the utility model will be described more fully below with reference to the relevant drawings. The drawings show several embodiments of the utility model. However, the utility model can be realized in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the utility model more thorough and comprehensive.

[0038] It should be noted that when an element is referred to as being "fixedly attached" to another element, it can be directly on the other element or there can be intervening elements. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements can be present. The terms "vertical", "horizontal", "left", "right", and the like as used herein are for purposes of illustration and description only.

[0039] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the utility model belongs. The terminology used in the description of the utility model herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0040] Embodiment one

[0041] Please refer to Figures 1-11 , the double-joint four-connecting-rod balance arm in the first embodiment of the utility model is shown, in order to facilitate the description, only the part related to the embodiment of the utility model is shown, the double-joint four-connecting-rod balance arm provided by the embodiment of the utility model includes: connecting rod support 10 and lower branch arm assembly 20 and upper branch arm assembly 30 respectively connected with both ends of connecting rod support 10.

[0042] The lower arm assembly 20 comprises left and right connecting rods 21 and 22 respectively rotatably connected with the connecting rod support 10 and parallel to each other, a lower arm connecting rod 23 rotatably connected with the left and right connecting rods 21 and 22 respectively, and left and right lower arm gas springs 24 and 25 connected between the left and right connecting rods 21 and 22 and the lower arm connecting rod 23, and the left and right lower arm gas springs 24 and 25 are arranged in a cross manner;

[0043] The upper arm assembly 30 comprises upper and lower connecting rods 31 and 32 respectively rotatably connected with the connecting rod support 10 and parallel to each other, an upper arm connecting rod 33 rotatably connected with the upper and lower connecting rods 31 and 32 respectively, and an upper arm gas spring 34 rotatably connected with the upper connecting rod 31 and the connecting rod support 10 respectively;

[0044] The left and right connecting rods 21 and 22, the lower arm connecting rod 23 and the connecting rod support 10 form a four-bar linkage structure, and the left and right connecting rods 21 and 22 always remain parallel when the lower arm assembly 20 rotates clockwise or counterclockwise;

[0045] The upper and lower connecting rods 31 and 32, the upper arm connecting rod 33 and the connecting rod support 10 form a four-bar linkage structure, and the upper and lower connecting rods 31 and 32 always remain parallel when the upper arm assembly 30 rotates up and down.

[0046] In an embodiment of the present application, the double-joint four-bar linkage balance arm is applied to a medical device, and can be applied to a medical device such as an ultrasonic diagnostic device. The medical device comprises the double-joint four-bar linkage balance arm and other components such as a main machine, a probe and a display. It can be understood that the components in the double-joint four-bar linkage balance arm can be increased or decreased according to actual use requirements, and are not limited herein.

[0047] Furthermore, a double-jointed four-bar linkage balance arm is a robotic arm used for supporting and adjusting equipment or structures, featuring both a double-jointed structure and a four-bar linkage. The four-bar linkage is a mechanical structure composed of four hinged links, which can convert rotational or oscillating motion into complex planar motion through the interconnection of the links. The four-bar linkage typically includes two fixed-length rigid links (commonly called arms or connecting rods) and two movable links (called links), with each link typically connected by hinges. A double-joint refers to a robotic arm having two independent, freely rotatable hinge points or joints, where the two joints allow relative rotation between the links, enabling the entire robotic arm to rotate or oscillate in different directions. Specifically, in this embodiment of the invention, the double joint consists of an upper joint composed of an upper arm assembly 30 and a connecting rod support 10, and a lower joint composed of a lower arm assembly 20 and a connecting rod support 10. The upper joint allows the upper arm assembly 30 to rotate up and down or tilt, while the lower joint allows the entire balance arm formed by the upper arm assembly 30 and the lower arm assembly 20 to rotate clockwise or counterclockwise or tilt.

[0048] Specifically, in one embodiment of the present invention, the two ends of the linkage bracket 10 are rotatably connected to the lower support arm assembly 20 and the upper support arm assembly 30, respectively. The linkage bracket 10 serves as an intermediate common structure in the four-bar linkage structure formed by the lower support arm assembly 20 and the upper support arm assembly 30, as shown in the reference... Figures 1-11 As shown, at both ends of the linkage bracket 10, one end faces downward and the other end faces left, so that the lower end of the linkage bracket 10 is connected to the lower support arm assembly 20 to form a vertical arrangement in the conventional form, while the left end of the linkage bracket 10 is connected to the upper support arm assembly 30 to form a horizontal arrangement in the conventional form, so that the lower support arm assembly 20 and the upper support arm assembly 30 are arranged perpendicular to each other in the conventional form.

[0049] Further, in one embodiment of the present application, the left connecting rod 21 comprises a first main plate 211, two first side plates 212 arranged on both sides of the first main plate 211, and a first connecting member 213, a second connecting member 214 and a third connecting member 215 connecting the two first side plates 212, the first connecting member 213 is connected with the connecting rod support 10, the second connecting member 214 is connected with the lower arm connecting rod 23 and the lower arm right gas spring 25 respectively, and the third connecting member 215 is connected with the lower arm left gas spring 24 and located close to the first connecting member 213; the right connecting rod 22 comprises a second main plate 221, two second side plates 222 arranged on both sides of the second main plate 221, and a fourth connecting member 223, a fifth connecting member 224 and a sixth connecting member 225 connecting the two second side plates 222, the fourth connecting member 223 is connected with the connecting rod support 10, the fifth connecting member 224 is connected with the lower arm connecting rod 23 and the lower arm left gas spring 24 respectively, and the sixth connecting member 225 is connected with the lower arm right gas spring 25 and located close to the fourth connecting member 223.

[0050] Specifically, referring to Figure 2 and Figure 3As shown, the left connecting rod 21 is composed of a first main plate 211, two first side plates 212 arranged on both sides of the first main plate 211, and a first connecting piece 213, a second connecting piece 214 and a third connecting piece 215 connected to the first side plates 212. The combination of the first main plate 211 and the first side plates 212 forms a solid frame. At this time, the first main plate 211 provides the overall load-bearing capacity, and the two first side plates 212 are further supported by multiple connecting pieces to enhance the strength and anti-twist performance of the left connecting rod 21. At this time, the frame structure can withstand greater external force, especially when the lower arm assembly 20 rotates, to avoid bending or twisting of the left connecting rod 21. The first connecting piece 213 is connected to the connecting rod support 10 to fix the left connecting rod 21 on the connecting rod support 10 and ensure that it can rotate freely along the connecting rod support 10 when rotating. The first connecting piece 213 is usually located near the upper end of the left connecting rod 21, which can provide sufficient support point for the left connecting rod 21 to reduce stress concentration of the entire left connecting rod 21 structure. The second connecting piece 214 is connected to the lower arm connecting rod 23 and the lower end of the lower arm right gas spring 25, which is a key connection point of the left connecting rod 21. It is responsible for connecting the lower arm connecting rod 23 to ensure that the left connecting rod 21 moves synchronously with the right connecting rod 22, and provides a stable connection point for the lower arm right gas spring 25 by connecting with the lower arm right gas spring 25, thereby providing support force for the lower arm right gas spring 25 to maintain balance when the lower arm assembly 20 moves. The third connecting piece 215 is connected to the upper end of the lower arm left gas spring 24 and is located near the first connecting piece 213. It helps to guide the force of the lower arm left gas spring 24 to the appropriate direction and evenly distribute the force of the lower arm left gas spring 24 on the left connecting rod 21, ensuring that the entire double-joint four-bar linkage balance arm can always maintain balance during rotation at different angles. At the same time, the position of the third connecting piece 215 near the upper part of the left connecting rod 21 ensures that it does not interfere with other components during the movement of the left connecting rod 21. The first connecting piece 213, the second connecting piece 214 and the third connecting piece 215 respectively adopt a rotating shaft (or a pin) and a clasp spring and other fasteners, so that the left connecting rod 21 can be rotationally connected with other components. Specifically, the left connecting rod 21 is connected with the connecting rod support 10 through the first connecting piece 213, so that the left connecting rod 21 can rotate relative to the connecting rod support 10. The left connecting rod 21 is connected with the lower arm connecting rod 23 and the lower end of the lower arm right gas spring 25 through the second connecting piece 214, so that the left connecting rod 21 can rotate relative to the lower arm connecting rod 23 and the lower arm right gas spring 25. The left connecting rod 21 is connected with the upper end of the lower arm left gas spring 24 through the third connecting piece 215, so that the left connecting rod 21 can rotate relative to the lower arm left gas spring 24. In addition, the third connecting piece 215 is located near the first connecting piece 213, which can also meet the requirement of cross arrangement between the lower arm left gas spring 24 and the lower arm right gas spring 25.It is worth noting that the right connecting rod 22 is similar to the left connecting rod 21, and thus the specific description can be referred to the foregoing description, which is not repeated here. Therefore, the left connecting rod 21 and the right connecting rod 22 adopt the structure of the main plate plus the side plate, so as to provide sufficient rigidity and stability, so that the whole connecting rod system can effectively transmit force when the double-joint four-link balance arm works, and is suitable for occasions where the double-joint four-link balance arm needs to bear large load during frequent movement. At the same time, the combination design of the main plate and the side plate can form a "box" type structure, which has superior bending resistance and reduces errors caused by twisting or bending. In addition, the design of the side plate allows the arrangement of the connecting pieces and the gas springs to be more flexible, so that they can be more compactly arranged in limited space without interfering with other components, avoiding the collision or friction of the gas springs with other components during movement. At the same time, by connecting the lower arm left gas spring 24 and the lower arm right gas spring 25 with different positions of the left connecting rod 21 and the right connecting rod 22 respectively, accurate balancing force can be provided to ensure that the double-joint four-link balance arm can stably operate at various different movement angles.

[0051] In an embodiment of the utility model, the lower arm connecting rod 23 includes a base 231, and a first connecting seat 232 and a second connecting seat 233 provided on the base 231 and rotatably connected with the left connecting rod 21 and the right connecting rod 22 respectively, and the first connecting seat 232 is clamped between two first side plates 212, and the second connecting seat 233 is clamped between two second side plates 222. Further, the first connecting seat 232 is provided with a first through hole (not shown in the figure) penetrating through and accommodating the second connecting piece 214, and a first accommodating groove 2321 accommodating the lower arm right gas spring 25, and the lower arm right gas spring 25 is sleeved on the second connecting piece 214 and accommodated in the first accommodating groove 2321; the second connecting seat 233 is provided with a second through hole (not shown in the figure) penetrating through and accommodating the fifth connecting piece 224, and a second accommodating groove 2331 accommodating the lower arm left gas spring 24, and the lower arm left gas spring 24 is sleeved on the fifth connecting piece 224 and accommodated in the second accommodating groove 2331.

[0052] The base 231 is the base part of the lower arm connecting rod 23, which provides stable mounting positions for the first connecting seat 232 and the second connecting seat 233, so that the entire lower arm connecting rod 23 is connected with the left connecting rod 21 and the right connecting rod 22 as a whole, while ensuring the stability of the overall structure. In an embodiment of the present application, the base 231 can be fixedly connected with the base rotary joint by screws, bolts and other fasteners, wherein the base rotary joint can make horizontal rotary motion, and at this time the base rotary joint can be fixedly connected with components such as the main machine in the medical equipment described above, so that the base rotary joint can drive the horizontal rotation of the entire double-joint four-link balance arm. Of course, in other embodiments of the present application, the base 231 can also be directly fixedly connected with components such as the main machine in the medical equipment described above, which is set according to actual use needs, and is not specifically limited here.

[0053] Further, the base 231 is provided with two connecting seats, which are the first connecting seat 232 and the second connecting seat 233, and the first connecting seat 232 and the second connecting seat 233 are respectively connected with the left connecting rod 21 and the right connecting rod 22 to realize rotary connection. At this time, the first connecting seat 232 is clamped between the two first side plates 212 of the left connecting rod 21, so that it can be stably fixed on the left connecting rod 21. The first connecting seat 232 is provided with a first through hole and a first accommodating groove 2321, wherein the first through hole is used to accommodate the second connecting piece 214 and is connected with the lower arm right gas spring 25, so that the second connecting piece 214 realizes the connection between the left connecting rod 21 and the lower arm right gas spring 25 and the lower arm connecting rod 23 through the first through hole. The first accommodating groove 2321 is used to accommodate the lower arm right gas spring 25, so as to provide sufficient working space for the lower arm right gas spring 25. Correspondingly, the second connecting seat 233 is similar to the first connecting seat 232, and therefore specific reference can be made to the foregoing description, which will not be repeated here.

[0054] Further, in an embodiment of the utility model, first main body board 211 is equipped with first avoiding gap 2111 of avoiding left gas spring 24 of lower support arm, second avoiding gap 2112 of avoiding right gas spring 25 of lower support arm and third avoiding gap 2113 of avoiding first connecting seat 232, second main body board 221 is equipped with fourth avoiding gap 2211 of avoiding right gas spring 25 of lower support arm, fifth avoiding gap 2212 of avoiding left gas spring 24 of lower support arm and sixth avoiding gap 2213 of avoiding second connecting seat 233. Specifically, because left gas spring 24 of lower support arm, right gas spring 25 of lower support arm and first connecting seat 232, second connecting seat 233 are kept close connection with first main body board 211, second main body board 221, the expansion and rotation of left gas spring 24 of lower support arm and right gas spring 25 of lower support arm can interfere with first main body board 211 and second main body board 221. Therefore, in order to guarantee that these components do not occur physical collision or spatial interference in the operation process, the avoiding gap is designed on first main body board 211, second main body board 221 respectively. Wherein first avoiding gap 2111 is used for avoiding left gas spring 24 of lower support arm, when left gas spring 24 of lower support arm works (for example when left gas spring 24 of lower support arm expands), it can approach or contact first main body board 211, therefore through first avoiding gap 2111, the movement of left gas spring 24 of lower support arm can not be limited, guarantee its free movement when working. Correspondingly other avoiding gap can refer to the foregoing description, and here will not be repeated.

[0055] Further, in an embodiment of the utility model, the height of second connecting seat 233 is higher than the height of first connecting seat 232, and the height of second through hole on second connecting seat 233 is higher than the height of first through hole on first connecting seat 232. At this time, in the normal vertical state of lower arm assembly 20, the height of left connecting rod 21 is lower than the height of right connecting rod 22, the movement range and structure space of lower arm assembly 20 can be optimized, it is ensured that the left connecting rod 21 and right connecting rod 22 do not interfere with each other when rotating, and enough operation space can be provided for other movement components, the movement freedom of other components is ensured, and interference in structure when counterclockwise and clockwise rotating is avoided. At this time, due to the height difference between first connecting seat 232 and second connecting seat 233, the left lower arm gas spring 24 and right lower arm gas spring 25 and left connecting rod 21 and right connecting rod 22 are less likely to conflict when moving, so that the rotation angle of lower arm assembly 20 when rotating can be increased. At this time, due to the embodiment of the utility model, the height of second through hole on second connecting seat 233 is higher than the height of first through hole on first connecting seat 232, so the maximum angle of lower arm assembly 20 when counterclockwise rotating is greater than the maximum angle when clockwise rotating, and the maximum angle of lower arm assembly 20 when counterclockwise rotating can be 60 degrees, and the maximum angle when clockwise rotating can be 45 degrees, which can be specifically referred to as shown in the drawings. Figures 4-7 Further, seventh avoiding gap 2214 for avoiding connecting rod support 10 is arranged on second main plate 221, which can be specifically referred to as shown in the drawings. Due to the maximum angle of lower arm assembly 20 when counterclockwise rotating being greater than the maximum angle when clockwise rotating, the movement of connecting rod support 10 will physically conflict with second main plate 221 when lower arm assembly 20 rotates a large angle counterclockwise, which can be specifically referred to as shown in the drawings. Figure 6 Figure 7 At this time, in order to avoid the conflict, seventh avoiding gap 2214 for avoiding connecting rod support 10 is arranged on second main plate 221, which ensures that connecting rod support 10 does not interfere with second main plate 221 when moving at different angles, and even at an extreme movement angle, connecting rod support 10 can rotate freely and will not be stuck or limited due to insufficient space. At the same time, the arrangement of seventh avoiding gap 2214 provides greater movement freedom for the entire double-joint four-link balanced arm, not only avoids interference between components, but also improves the flexibility and operation efficiency of the double-joint four-link balanced arm to a certain extent.

[0056] ​Further, the lower arm left gas spring 24 and the lower arm right gas spring 25 are respectively connected between the left connecting rod 21, the right connecting rod 22 and the lower arm connecting rod 23 in a cross arrangement, wherein the gas spring is a mechanical element that provides elastic force through gas pressure, and is widely used to provide support, cushioning, adjust angle and control movement. The gas spring is generally composed of a sealed metal cylinder, a piston and gas (usually nitrogen). During use, the piston of the gas spring expands and contracts under the pressure of the gas, thereby generating force. Specifically, when the gas spring is in a compressed state, the piston rod moves towards the inside of the cylinder, the gas is further compressed, the internal gas pressure of the gas spring increases, at this time the counterforce, i.e. the thrust force, generated by the gas spring will prevent the piston rod from continuing to compress, and the thrust force is usually used to support the weight of an object or provide assistance. When the gas spring is in a stretched state, the piston rod extends outward, the gas expands, the internal gas pressure decreases, but still exerts a certain extension force (also known as tension), which pushes the piston rod to continue to move outward, and the tension can be used to help the device open or rise smoothly. The gas spring can provide support force, provide damping and adjust the force, specifically, when an object needs to be suspended or fixed at a certain position, the gas spring can provide a balance force to ensure that the object remains stationary at a certain angle. At the same time, during the movement of the gas spring, due to the compression and expansion of the gas, a certain buffering effect can be provided, so that the gas spring can provide a damping force when the object moves, reduce the vibration or impact during rotation, and ensure smooth and stable movement. In addition, by adjusting the gas pressure in the gas spring, the support force and damping force of the gas spring can be adjusted to meet different application requirements.

[0057] Therefore, in the embodiment of the present application, the gas spring mainly plays the role of support and damping. By arranging two cross-arranged lower arm left gas springs 24 and lower arm right gas springs 25, balance and stability can be provided at different rotation angles, so that the double-joint four-bar linkage balance arm can still maintain the hovering state in a large angle range (especially when close to the vertical direction). Specifically, the support force of the gas spring helps the double-joint four-bar linkage balance arm to maintain balance in different angle ranges. For example, referring to Figure 4 and Figure 5As shown, when the lower arm assembly 20 rotates clockwise from the normal vertical state to an angle less than 90 degrees with the horizontal plane, the left gas spring 24 of the lower arm is in compression and provides a pushing force (supporting force) to overcome the weight of the upper arm assembly 30 of the connecting rod bracket 10 and the display suspended on the upper arm assembly 30, while the right gas spring 25 of the lower arm is in tension and provides a pulling force (damping force) to help offset the tendency of the lower arm assembly 20 to rotate clockwise, prevent the lower arm assembly 20 from continuing to rotate clockwise, and provide support to prevent it from falling uncontrollably. Therefore, when the lower arm assembly 20 rotates clockwise, the left gas spring 24 of the lower arm provides a pushing force, and the right gas spring 25 of the lower arm provides a pulling force, which together limit and control the rotation of the lower arm assembly 20 to prevent excessive rotation or loss of balance, allowing the lower arm assembly 20 to move smoothly and hover. Correspondingly, as shown in Figure 6 and Figure 7 As shown, when the lower arm assembly 20 rotates counterclockwise from the normal vertical state to an angle greater than 90 degrees with the horizontal plane, the left gas spring 24 of the lower arm is in tension and provides a pulling force, while the right gas spring 25 of the lower arm is in compression and provides a pushing force, thereby also allowing the lower arm assembly 20 to move smoothly and hover. The realization of the hovering function relies on the elastic force and damping effect of the two gas springs, which provide a balancing force throughout the movement to ensure that the lower arm assembly 20 can be stably parked at any angle.

[0058] Therefore, due to the cross distribution of the left gas spring 24 of the lower arm and the right gas spring 25 of the lower arm, when the lower arm assembly 20 rotates clockwise or counterclockwise, the left gas spring 24 of the lower arm and the right gas spring 25 of the lower arm maintain balance and stability throughout the movement by pulling and pushing, so that at any position of rotation, the elastic force of the left gas spring 24 of the lower arm and the right gas spring 25 of the lower arm balances the gravitational force and inertial force of the double-joint four-bar linkage balance arm and the external display, allowing the lower arm assembly 20 to hover at any position during movement, ensuring more accurate control of the movement of the lower arm assembly 20 and avoiding free falling or out-of-control rotation.

[0059] Further, in an embodiment of the utility model, the upper connecting rod 31 includes a first main body 311, and a seventh connecting piece 312, an eighth connecting piece 313 and a ninth connecting piece 314 connecting the first main body 311, the seventh connecting piece 312 is connected with the connecting rod support 10, the eighth connecting piece 313 is connected with the upper support arm connecting bracket rod 33, the ninth connecting piece 314 is connected with the upper support arm gas spring 34 and is located at the position close to the eighth connecting piece 313, the lower connecting rod 32 includes a second main body 321, and a tenth connecting piece 322 and an eleventh connecting piece 323 connecting the second main body 321, the tenth connecting piece 322 is connected with the connecting rod support 10, and the eleventh connecting piece 323 is connected with the upper support arm connecting bracket rod 33. The connecting rod support 10 is provided with a twelfth connecting piece 11 connected with the upper support arm gas spring 34, and the twelfth connecting piece 11 is located at the position below the tenth connecting piece 322.

[0060] In an embodiment of the present application, the upper support arm connecting bracket rod 33 can be fixedly connected with the display adapter support through screws, bolts and other fasteners, the display adapter support is provided with a ball and a shaft sleeve, so that the horizontal rotation of the display adapter support can be realized, and the display adapter support can be fixedly connected with the display, so that the display adapter support can drive the horizontal rotation of the display. Of course, in other embodiments of the present application, the upper support arm connecting bracket rod 33 can also be directly fixedly connected with the display, which is set according to actual use requirements, and is not limited here.

[0061] The upper connecting rod 31 comprises a first main body 311 and three connecting members (a seventh connecting member 312, an eighth connecting member 313 and a ninth connecting member 314) connecting the first main body 311. The connecting members are respectively connected to different components to realize the effective cooperation of the upper arm connecting rod 33 and the upper arm gas spring 34. The seventh connecting member 312 is a connecting component of the upper connecting rod 31 and the connecting rod support 10, which firmly connects the upper connecting rod 31 to the connecting rod support 10 and allows the upper connecting rod 31 to rotate. In actual implementation, the seventh connecting member 312 is connected to the connecting rod support 10 by using a rotating shaft (or a pin) and a snap spring, which ensures that the seventh connecting member 312 can rotate freely under the support of the connecting rod support 10 without falling off. The eighth connecting member 313 is a connecting position of the upper connecting rod 31 and the upper arm connecting rod 33, which ensures the transmission of movement between the upper connecting rod 31, the connecting rod support 10 and the upper arm connecting rod 33. Through the rotating connection, the eighth connecting member 313 allows the upper connecting rod 31 to rotate within a certain range between the upper arm connecting rod 33 and the connecting rod support 10, thereby realizing the up-down swing of the upper arm assembly 30. The ninth connecting member 314 connects the upper connecting rod 31 and the upper arm gas spring 34. Since the upper arm gas spring 34 is mainly used for balancing and supporting the movement of the upper arm assembly 30 to ensure the smoothness and stability of the movement during use, the position of the ninth connecting member 314 is very critical. In the embodiment of the present application, the ninth connecting member 314 is close to the eighth connecting member 313, which ensures that the installation angle and force path of the upper arm gas spring 34 are more reasonable, which does not affect the freedom of movement of the upper connecting rod 31 and the lower connecting rod 32, and can better play the role of buffering and supporting. The eighth connecting member 313 and the ninth connecting member 314 are respectively connected to the upper arm connecting rod 33 and the upper arm gas spring 34 by using a rotating shaft (or a pin) and a snap spring.

[0062] The lower connecting rod 32 comprises a second main body 321 and two connecting members (a tenth connecting member 322 and an eleventh connecting member 323). The lower connecting rod 32 is used to connect the connecting rod support 10 and the upper support arm connecting rod 33, thereby forming a complete four-bar linkage structure. The tenth connecting member 322 is used to connect the lower connecting rod 32 and the connecting rod support 10, and is mainly responsible for fixing the lower connecting rod 32 to the connecting rod support 10. Through this connection, the lower connecting rod 32 can rotate around the connecting rod support 10, ensuring that it can stably transmit force during structural movement. The tenth connecting member 322 is usually connected to the lower connecting rod 32 and the connecting rod support 10 by means of a rotating shaft (or a pin) and a circlip, etc., ensuring that it can rotate and will not fall off during movement. The eleventh connecting member 323 connects the lower connecting rod 32 and the upper support arm connecting rod 33 together, so that the lower connecting rod 32 can participate in the movement of the upper support arm assembly 30. Through the movement of the lower connecting rod 32, the angle and position of the upper support arm connecting rod 33 can be controlled. The eleventh connecting member 323 is also connected to the lower connecting rod 32 and the upper support arm connecting rod 33 by means of a rotating shaft (or a pin) and a circlip, etc., so that the lower connecting rod 32 can rotate within a certain range relative to the upper support arm connecting rod 33, ensuring that the entire four-bar linkage structure can work normally.

[0063] The connecting rod support 10 is provided with a twelfth connecting member 11 connected to the upper support arm gas spring 34, and the twelfth connecting member 11 is located below the tenth connecting member 322. The twelfth connecting member 11 is used to fix the upper support arm gas spring 34 to the connecting rod support 10. The twelfth connecting member 11 can be connected to the lower end of the connecting rod support 10 and the upper support arm gas spring 34 by means of a rotating shaft (or a pin) and a circlip, etc. By arranging the twelfth connecting member 11 below the tenth connecting member 322, the upper support arm gas spring 34 can provide more direct upward or downward force, which helps to reduce stress concentration of the structure and balance the overall moment of force. Compared with arranging the twelfth connecting member 11 at a higher position, the lower position can better play the supporting role of the upper support arm gas spring 34 and better disperse the supporting force, especially in the case of large amplitude upward and downward movement of the upper support arm assembly 30, making the movement of the upper support arm assembly 30 more stable and smooth.

[0064] Specifically, referring to Figure 8 and Figure 9As shown in the figure, when the upper arm assembly 30 rotates upward in the normal horizontal state, the upper arm gas spring 34 is in a stretched state and provides a pulling force, which counteracts the tendency of the upper arm assembly 30 to continue to rotate upward, making the rotation of the upper arm assembly 30 more stable, and maintaining the stability of the upper arm within a certain angle range, preventing it from rising excessively without support. And refer to Figure 10 And Figure 11 As shown in the figure, when the upper arm assembly 30 rotates downward in the normal horizontal state, the upper arm gas spring 34 is in a compressed state and provides a pushing force, which counteracts the effect of gravity when the upper arm assembly 30 rotates downward, preventing the upper arm from falling too fast due to its own weight, helping to support the upper arm assembly 30 so that it can rotate downward smoothly and under control, and not fall quickly due to gravity. Within a certain angle range, the mechanical balance of the pushing force of the upper arm gas spring 34 and the gravity of the upper arm assembly 30 allows the arm to hover at any position without automatic rotation or falling, thereby achieving the ability of the upper arm assembly 30 to maintain hovering during rotation at different angles. In the embodiment of the present application, the maximum angle of rotation of the upper arm assembly 30 is 30 degrees.

[0065] It is to be noted that the upper arm assembly 30 is provided with an upper arm gas spring 34, while the lower arm assembly 20 is provided with a lower arm left gas spring 24 and a lower arm right gas spring 25 arranged in cross. The main reason is that the main function of the upper arm assembly 30 is to connect the display and other auxiliary devices and provide a certain adjustment angle. This part of the structure usually bears a relatively small weight, the load is relatively uniform, and the rotation range of the upper arm assembly 30 is relatively small (± 30 degrees), so only one upper arm gas spring 34 is needed to provide support. During movement, the elastic force of the upper arm gas spring 34 is balanced with the gravity of the upper arm assembly 30 and its load, so that the upper arm assembly 30 can be flexibly adjusted within a certain angle range, and can be suspended when needed. The lower arm assembly 20 needs to bear the weight of the upper arm assembly 30 and the device, so the load is large. At the same time, the rotation angle range of the lower arm assembly 20 is larger than that of the upper arm assembly 30, and the gravity center of the load changes more significantly. In order to be able to smoothly support the load and keep balance within the entire movement range, the lower arm left gas spring 24 and the lower arm right gas spring 25 are arranged in cross, and the mutual compensating force can be used to cope with the support requirements during clockwise and counterclockwise rotation, so as to jointly support the lower arm assembly 20 and the structure above it in different rotating directions. Specifically, the lower arm left gas spring 24 and the lower arm right gas spring 25 share and compensate the support force at different angles to ensure that the double-joint four-bar linkage balance arm remains balanced during rotation, avoiding the failure of a single gas spring due to excessive stress or the inability to maintain system balance.

[0066] Therefore, in the embodiment of the present application, two lower arm left gas springs and lower arm right gas springs arranged in cross provide support and damping in different angle ranges, respectively, to ensure that the double-joint four-bar linkage balance arm can still move smoothly and stably during large-angle rotation, especially in the vertical angle range, and can maintain a hovering state at any position. Compared with the prior art, the double-joint four-bar linkage balance arm in the embodiment of the present application has a larger rotation range, which can cover a wide range of angles including vertical angles, and uses a gas spring as a damper to overcome the instability of the prior art during large-angle rotation, making the entire rotation process more stable and smooth, and improving the operation flexibility and performance of the double-joint four-bar linkage balance arm.

[0067] In summary, the double-joint four-bar linkage balance arm in the above-mentioned embodiments of the present application realizes stable support through the cross-arranged lower support arm left gas spring and lower support arm right gas spring of the lower support arm assembly, wherein the cross arrangement ensures that one of the gas springs is in a suitable support position regardless of the clockwise or counterclockwise rotation of the lower support arm assembly, and at this time, the lower support arm left gas spring and the lower support arm right gas spring maintain balance and stability through a pull-push mode during the entire movement process, so that the elastic force of the lower support arm left gas spring and the lower support arm right gas spring is balanced with the gravity and inertial force of the double-joint four-bar linkage balance arm and the external display at any position of the rotation, enabling the lower support arm assembly to maintain a hovering state at any position during the movement process, so that the double-joint four-bar linkage balance arm can maintain stability within a larger rotation range, especially providing sufficient support force when rotating within a large range close to a vertical angle, solving the problem that the existing balance arm cannot realize rotation within a large angle range at a vertical angle. At the same time, through the design of the four-bar linkage structure between the left connecting rod, the right connecting rod, and the lower support arm connecting rod and the connecting rod support, the connecting rods of the left connecting rod and the right support arm always remain parallel during the entire rotation process. This structure ensures the mechanical stability of the double-joint four-bar linkage balance arm during movement, not only enhancing the smoothness of rotation, but also reducing the possible deviation or instability phenomenon during large-angle movement. At the same time, the upper support arm assembly is supported by an independent upper support arm gas spring, enabling flexible adjustment of the upper and lower support arm assemblies and providing smooth damping force during upward and downward rotation, so that the upper support arm assembly maintains hovering within its movement range, further expanding the overall movement range of the double-joint four-bar linkage balance arm and providing greater freedom.

[0068] The utility model embodiment further provides a medical device, which comprises the double-joint four-bar linkage balance arm in the above-mentioned embodiments.

[0069] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above-mentioned terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0070] The above-described embodiments only express several implementation manners of the utility model, the description is more specific and detailed, but can not therefore be understood as the limitation of the utility model patent range. It should be pointed out that for ordinary skilled person in the art, without departing from the utility model concept, several deformations and improvements can be made, which belong to the protection range of the utility model. Therefore, the protection range of the utility model patent should be subject to the appended claims.

Claims

1. A two-joint four-bar linkage counterbalance arm, characterized by, The application relates to a linkage support and a lower and upper support arm assembly rotatably connected to the two ends of the linkage support. The lower support arm assembly comprises left and right connecting rods rotatably connected to the linkage support and parallel to each other, a lower support arm connecting rod rotatably connected to the left and right connecting rods, and a lower support arm left and right gas spring connected between the left connecting rod, the right connecting rod and the lower support arm connecting rod, and the lower support arm left and right gas spring is arranged in a cross shape. The upper support arm assembly comprises upper and lower connecting rods rotatably connected to the linkage support and parallel to each other, an upper support arm connecting rod rotatably connected to the upper and lower connecting rods, and an upper support arm gas spring rotatably connected to the upper connecting rod and the linkage support. The left and right connecting rods, the lower support arm connecting rod and the linkage support form a four-connecting-rod structure, and the left and right connecting rods always remain parallel when the lower support arm assembly rotates clockwise or counterclockwise. The upper and lower connecting rods, the upper support arm connecting rod and the linkage support form a four-connecting-rod structure, and the upper and lower connecting rods always remain parallel when the upper support arm assembly rotates up and down. The left connecting rod comprises a first main plate, two first side plates arranged on the two sides of the first main plate, and a first connecting piece, a second connecting piece and a third connecting piece connecting the two first side plates, the first connecting piece is connected to the linkage support, the second connecting piece is connected to the lower support arm connecting rod and the lower support arm right gas spring, and the third connecting piece is connected to the lower support arm left gas spring and located close to the first connecting piece.

2. The dual-articulation four-bar linkage counterbalance arm of claim 1, wherein, The right connecting rod comprises a second main plate, two second side plates arranged on the two sides of the second main plate, and a fourth connecting piece, a fifth connecting piece and a sixth connecting piece connecting the two second side plates, the fourth connecting piece is connected to the linkage support, the fifth connecting piece is connected to the lower support arm connecting rod and the lower support arm left gas spring, and the sixth connecting piece is connected to the lower support arm right gas spring and located close to the fourth connecting piece. The lower support arm connecting rod comprises a base and a first connecting seat and a second connecting seat arranged on the base and rotatably connected to the left and right connecting rods, and the first connecting seat is clamped between the two first side plates, and the second connecting seat is clamped between the two second side plates.

3. The dual-articulation four-bar linkage counterbalance arm of claim 2, wherein, The first connecting seat is provided with a first through hole penetrating through and accommodating the second connecting piece, and a first accommodating groove accommodating the lower support arm right gas spring, and the lower support arm right gas spring is sleeved on the second connecting piece and accommodated in the first accommodating groove.

4. The dual-articulation four-bar linkage counterbalance arm of claim 3, wherein, The second connecting seat is provided with a second through hole penetrating through and accommodating the fifth connecting piece, and a second accommodating groove accommodating the lower support arm left gas spring, and the lower support arm left gas spring is sleeved on the fifth connecting piece and accommodated in the second accommodating groove. ​ 5. The dual-articulation four-bar linkage counterbalance arm of claim 4, wherein, The first main body plate is provided with a first avoiding gap for avoiding the left gas spring of the lower supporting arm, a second avoiding gap for avoiding the right gas spring of the lower supporting arm, and a third avoiding gap for avoiding the first connecting seat; The second main body plate is provided with a fourth avoiding gap for avoiding the right gas spring of the lower supporting arm, a fifth avoiding gap for avoiding the left gas spring of the lower supporting arm, and a sixth avoiding gap for avoiding the second connecting seat.

6. The dual-articulation four-bar linkage counterbalance arm of claim 4, wherein, The height of the second connecting seat is higher than that of the first connecting seat, and the height of the second through hole on the second connecting seat is higher than that of the first through hole on the first connecting seat.

7. The dual-articulation four-bar linkage counterbalance arm of claim 6, wherein, The second main body plate is further provided with a seventh avoiding gap for avoiding the connecting rod support.

8. The dual-articulation four-bar linkage counterbalance arm of claim 1, wherein, The upper connecting rod comprises a first main body part, and a seventh connecting part, an eighth connecting part and a ninth connecting part connecting the first main body part, the seventh connecting part is connected with the connecting rod support, the eighth connecting part is connected with the upper supporting arm connecting rod, and the ninth connecting part is connected with the upper supporting arm gas spring and located close to the eighth connecting part; The lower connecting rod comprises a second main body part, and a tenth connecting part and an eleventh connecting part connecting the second main body part, the tenth connecting part is connected with the connecting rod support, and the eleventh connecting part is connected with the upper supporting arm connecting rod.

9. The dual-articulation four-bar linkage counterbalance arm of claim 8, wherein, The connecting rod support is provided with a twelfth connecting part connected with the upper supporting arm gas spring, and the twelfth connecting part is located below the tenth connecting part.

10. A medical device, characterized by A double-joint four-connecting-rod balance arm comprising the double-joint four-connecting-rod balance arm according to any one of claims 1-9.

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