A power-assisted lifting mechanical arm device

Abstract

The present invention relates to an assisted lifting mechanical arm device, comprising: a waist clamp assembly for being assembled on the back of a user's waist; an arm assembly connected to the waist clamp assembly, the end of which extends to the side and can be bent in the horizontal direction; a support rod assembly, comprising an adjustment rod whose bottom end is hinged to the end of the arm assembly and an auxiliary connecting member connected between the end of the arm assembly and the upper part of the adjustment rod and capable of maintaining the adjustment rod at a corresponding angle relative to the arm assembly; a bracket assembly connected to the top of the adjustment rod for placing an object to be supported. The assisted lifting mechanical arm device can be conveniently worn on the back of a user's waist. It is compact and easy to carry, meeting the user's various shooting training needs without being restricted by factors such as venues.

Description

Technical Field

[0001] The present invention relates to the technical field of auxiliary equipment, and in particular to a power-assisted lifting mechanical arm device. Background Art

[0002] Air shooting requires two hands to operate the gun. Due to the weight of the gun itself, holding the gun for a long time requires a high level of physical strength. Long-term shooting can easily lead to occupational diseases, such as long-term head tilt leading to blood vessel compression, and long-term arm lifting and fixed posture causing discomfort in the arms and joints. When police use guns, due to the harsh environment and the lack of a suitable shooting support, the stability of the gun during aiming is affected. When police or military personnel perform security tasks, the shields they use are relatively heavy and require both hands to hold, which prevents the use of the other hand. Or the use of power tools from bottom to top can easily lead to physical exhaustion of workers.

[0003] In order to solve the above technical problems, the Chinese utility model patent application number CN201621195319.5 (authorization announcement number CN206121096U) discloses "A power-assisted mechanical arm device". When using the device, the user places the shooting gun on the buttstock and adjusts the position of the fastening bolts in different threaded through holes to adjust the relative distance between the upper side plate and the lower side plate, so that the buttstock is at different horizontal heights. At the same time, the buttstock can be rotated left and right by the rotating shaft and the upper and lower angles of the buttstock can be adjusted by the support rod, thereby realizing multi-angle and all-round shooting. The storage box is convenient for storing small items and is simple and practical. When the user wants to rest, he can sit on the seat cushion for a while to relieve fatigue. The setting of the walking wheels facilitates the movement of the entire device, saving manpower and material resources. The setting of the top plate effectively prevents the buttstock from being exposed to the sun and rain during field training, which is convenient and practical.

[0004] Although the above-mentioned field shooting assisting mechanical arm device can achieve the requirements of multi-angle and all-round shooting training, it still has certain shortcomings. First, the above-mentioned auxiliary device is large in size and very inconvenient to carry. It is not suitable for users to carry with them and can only be used in training halls or specific training bases. Therefore, how to provide a wearable auxiliary arm device that is small in size and convenient for users to carry with them has become a problem that needs to be urgently solved by people in this technical field. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a wearable power-assisted lifting mechanical arm device which is compact and convenient for users to carry with them, in view of the current status of the existing technology.

[0006] The technical solution adopted by the present invention to solve the above technical problems is: a power-assisted lifting mechanical arm device, comprising:

[0007] Waist clip assembly, used for assembling at the back position of the user's waist;

[0008] An arm assembly is connected to the waist clamp assembly, with its end extending to the side and capable of bending in the horizontal direction;

[0009] A support rod assembly, comprising an adjustment rod whose bottom end is hinged to the end of the arm assembly, and an auxiliary connecting member connected between the end of the arm assembly and the upper portion of the adjustment rod and capable of maintaining the adjustment rod at a corresponding angle relative to the arm assembly;

[0010] The bracket assembly is connected to the top end of the adjusting rod and is used for placing the object to be supported.

[0011] The auxiliary connecting part can be a spring part or a rod part whose length can be telescopically adjusted. As long as the auxiliary connecting part can make the adjusting rod deflect at an angle relative to the support arm assembly and maintain it at a corresponding angle, in order to further facilitate the angle adjustment of the adjusting rod, the auxiliary connecting part is a tension spring or a damping rod (commonly known as: hydraulic support rod; gas spring; hydraulic rod; support rod; gas-supported telescopic rod; lifting gas pressure rod).

[0012] When the auxiliary connecting member is a tension spring, its two ends are connected between the end of the support arm assembly and the upper portion of the adjustment rod. When in use, the adjustment rod and the support arm assembly form an obtuse angle. Under the action of the tension spring, the top end of the adjustment rod tends to deflect upward, so that the bracket assembly located at the top end of the adjustment rod can provide upward support for the object to be placed. When the auxiliary connecting member is a damping rod, the damping rod can be a hydraulic damping rod or a pneumatic damping rod. When in use, the adjustment rod and the support arm assembly also form an obtuse angle. Under the action of the damping rod, the top end of the adjustment rod can be supported. The damping rod can be selected according to the weight of the supported object to ensure sufficient support.

[0013] When a user wears the power-assisted lifting mechanical arm device, in order to enable the support rod assembly and the bracket assembly to be flexibly and conveniently rotated to a position in front of the user, the arm assembly includes at least a first arm, a second arm, and a third arm connected in series, wherein the first end of the first arm is connected to the waist clamp assembly, the second end of the first arm is hinged to the first end of the second arm, and the second end of the second arm is hinged to the third arm; the bottom end of the adjustment rod is hinged to the third arm, and the tension spring is connected between the third arm and the upper part of the adjustment rod. Of course, it is conceivable that in order to improve the flexibility of the arm assembly, the arm assembly can adopt an arm structure connected by more joints.

[0014] In order to adapt to users of different body shapes, the second arm is a telescopic arm with adjustable length. Users can adjust the length of the second arm according to their own needs, thereby adjusting the bracket assembly to a reasonable position that suits them.

[0015] The telescopic arm of the second arm can adopt various existing technologies such as threaded connection, sleeve snap connection, etc. In order to better ensure the firmness of the second arm and the flexibility of telescopic adjustment, the second arm includes a first connecting plate and a second connecting plate that can be slidably connected to the first connecting plate. The second connecting plate is provided with a first strip slide groove, and the extension direction of the first strip slide groove is consistent with the length direction of the second connecting plate. The first connecting plate is provided with a first quick-release lock buckle, and the first quick-release lock buckle includes a pin shaft connected to the first connecting plate at a first end and an eccentric dial button hinged at the second end of the pin shaft. After the pin shaft of the first quick-release lock buckle passes through the first strip slide groove, the first connecting plate and the second connecting plate are locked by rotating the eccentric dial button.

[0016] In order to make the swing of the adjustment rod more stable and avoid left and right shaking, the adjustment rod is a four-bar linkage mechanism, which includes a first adjustment rod, a second adjustment rod and a connecting seat. The first adjustment rod and the second adjustment rod are arranged in parallel. The upper end of the first adjustment rod and the upper end of the second adjustment rod are both hinged to the connecting seat. The lower end of the first adjustment rod and the lower end of the second adjustment rod are both hinged to the third arm. The bracket assembly is connected to the connecting seat. Of course, it is conceivable that in order to save costs, the adjustment rod can adopt a single rod structure.

[0017] In order to adapt to the heights of different users and facilitate users of different heights to adjust the bracket assembly to a front position suitable for themselves, the first adjustment rod and the second adjustment rod are both telescopic rods with adjustable lengths.

[0018] As an improvement, the first adjustment rod includes a first rod body and a second rod body, the upper portion of the first rod body being provided with a plurality of first connecting holes along its length, the lower portion of the second rod body being provided with corresponding second strip-shaped slots along its length, and the second rod body and the first rod body being connected by at least two first positioning posts extending through the corresponding first connecting holes and second strip-shaped slots; the second adjustment rod includes a third rod body and a fourth rod body, the upper portion of the third rod body being provided with a plurality of second connecting holes along its length, the lower portion of the fourth rod body being provided with corresponding third strip-shaped slots along its length, and the fourth rod body and the third rod body being connected by at least two second positioning posts extending through the corresponding second connecting holes and third strip-shaped slots. Telescopic adjustment can also be achieved by threading the first and second rod bodies of the first adjustment rod and by using various existing technologies such as a sleeve-type snap-fit ​​connection or the like between the third and fourth rod bodies of the second adjustment rod.

[0019] In order to facilitate the placement of objects to be supported (such as firearms) and to enable angle adjustment in the up and down and left and right directions, the bracket assembly includes a first support frame vertically arranged on the connecting seat and a second support frame laterally connected to the first support frame. The bottom end of the first support frame is rotatably connected to the connecting seat through a first rotating sleeve, and the second support frame is rotatably connected to the top end of the first support frame through a second rotating sleeve. The axis of the first rotating sleeve is perpendicular to the axis of the second rotating sleeve.

[0020] In order to facilitate the adjustment of the height of the bracket assembly to adapt to the heights of different users, the first support frame includes a first frame body whose bottom end is connected to the connecting seat and a second frame body that can be adjusted in height relative to the first frame body, and the second support frame is connected to the second frame body.

[0021] As an improvement, the first frame is provided with a plurality of third connecting holes in the vertical direction, and the second frame is provided with a plurality of corresponding fourth connecting holes. The second frame is connected to the first frame via at least two third positioning posts extending through the corresponding third and fourth connecting holes. Of course, it is conceivable that the height adjustment between the first frame and the second bracket can also be achieved by various existing technologies such as threaded connection, sleeve snap connection, etc.

[0022] In order to enable fine adjustment between the waist clamp assembly and the first arm in the lateral direction, the waist clamp assembly includes:

[0023] A mounting seat connected to the first support arm and having a transverse sliding groove whose extending direction is consistent with the length direction of the first support arm;

[0024] A slider, slidably disposed in the transverse sliding groove of the mounting seat;

[0025] A chuck is used for being plugged into the protective vest of the user, the chuck being connected to the side wall of the slider and being able to slide laterally relative to the mounting seat along with the slider;

[0026] A locking pin is movably provided on the mounting seat, wherein a first end of the locking pin is exposed outside the outer wall of the first arm for a user to pull the locking pin, and a second end of the locking pin is capable of passing through a fourth strip-shaped sliding groove corresponding to the slider and being clamped in a clamping groove corresponding to the wall of the chuck;

[0027] A first compression spring is mounted on the mounting seat and acts on the locking pin, so that the locking pin always has a tendency to move toward the chuck.

[0028] When the relative position of the chuck and the first arm needs to be adjusted, the locking pin can be pulled outward to disengage the second end of the locking pin from the chuck, so that the chuck can move laterally relative to the mounting seat along with the slider. When it moves to the predetermined position, the locking pin is released. Under the elastic force of the first compression spring, the locking pin can automatically engage with the card slot of the chuck, fixing the chuck to the mounting seat and the first arm to prevent loosening.

[0029] To facilitate rotational adjustment of the chuck relative to the mounting seat, the chuck is connected to the slider via a positioning pin and can rotate relative to the slider around the positioning pin. The slot on the wall of the chuck has a plurality of positions for the locking pin to engage with, and the plurality of positions are arranged in sequence along an arc direction centered on the positioning pin. The slider is also provided with a limit pin, and the chuck is also provided with an arc-shaped groove centered on the positioning pin, and at least a portion of the limit pin is engaged with the arc-shaped groove. When the angle between the chuck and the first arm needs to be adjusted, the locking pin can be pulled outward to disengage the second end of the locking pin from the chuck, so that the chuck can rotate around the positioning pin for angle adjustment. When the chuck is rotated to a predetermined position, the locking pin is released. Under the elastic force of the first compression spring, the locking pin can automatically engage with the corresponding position of the chuck, thereby fixing the chuck to the mounting seat and the first arm.

[0030] As an improvement, each locking position in the slot is a serrated groove, the inner wall of which includes a thrust stop surface that can resist the lower part of the second end of the locking pin and a transition slope for the second end of the locking pin to slide upward to another locking position.

[0031] In order to facilitate the assembly between the chuck, slider and mounting seat, the mounting seat includes an upper seat body and a lower seat body, the top of the upper seat body has an extension wall extending to the side, and the extension wall is provided with a first V-shaped groove with the notch facing downward, and the lower seat body is connected to the bottom of the upper seat body through a second quick-release lock and cooperates with the upper seat body to form a second V-shaped groove with the notch facing upward, the first V-shaped groove and the second V-shaped groove are arranged opposite to each other in the vertical direction and the area between the two forms the said horizontal slide groove, and the slider is a strip plate adapted to the said horizontal slide groove. Of course, the mounting seat adopts a split structure consisting of an upper seat body and a lower seat body and is locked by a quick-release lock buckle. On the one hand, it is to facilitate the assembly between the chuck, the slider and the mounting seat. On the other hand, it also facilitates the lateral sliding adjustment of the slider and improves the firmness of the fixation between the slider and the mounting seat. That is, when the slider (chuck) needs to be adjusted for lateral sliding, the quick-release lock buckle can be loosened to make the upper seat body and the lower seat body of the mounting seat relaxed, so that the slider can slide flexibly in the lateral slide groove; when the slider moves to the predetermined position, the quick-release lock buckle is locked again to lock the upper seat body and the lower seat body and clamp the slider to improve the firmness of the waist clamp assembly.

[0032] In order to provide auxiliary support and reduce the stress on the user's waist, a shoulder rest is also included for wearing on the user's shoulder. The shoulder rest is connected to the arm assembly or the waist clamp assembly through a sling to provide auxiliary support force.

[0033] Compared with the prior art, the advantages of the present invention are as follows: the power-assisted lifting arm device of the present invention can be conveniently worn by the user at the waist and back, is compact and easy to carry, meets the various needs of the user, and is not restricted by factors such as the site. The bracket assembly of the power-assisted lifting arm device can be flipped to the front position of the user through the support arm assembly, and the adjustment rod of the support rod assembly can be rotated in the vertical direction and, under the support of the auxiliary connecting piece, provide corresponding support force for the user to place corresponding objects, and its operation is convenient and flexible. The power-assisted lifting arm device of the present invention is not only suitable for training personnel to place firearms, but it is also conceivable that different bracket assemblies can be replaced to place different objects and provide corresponding auxiliary support, such as shields for security personnel to use when performing security tasks and power tools for large machinery repair personnel, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 Schematic diagram of the three-dimensional structure of an embodiment of the present invention (the arm assembly is in an unbent and flipped state);

[0035] Figure 2 Schematic diagram of the three-dimensional structure of an embodiment of the present invention (the arm assembly is in a bent and flipped state, and the auxiliary connecting member is a damping rod);

[0036] Figure 3 2 is a schematic diagram of the three-dimensional structure of an embodiment of the present invention from another angle (the arm assembly is in a bent and flipped state);

[0037] Figure 4 is a schematic diagram of the three-dimensional structure of a bracket assembly according to an embodiment of the present invention;

[0038] Figure 5 This is a schematic diagram of the three-dimensional structure of the waist clamp assembly and the first support arm after being assembled according to an embodiment of the present invention;

[0039] Figure 6 This is a schematic diagram of the three-dimensional structure of the waist clamp assembly and the first support arm after being assembled from another angle according to an embodiment of the present invention;

[0040] Figure 7 for Figure 6 Cross-sectional view at AA;

[0041] Figure 8 for Figure 6 Cross-sectional view at BB;

[0042] Figure 9 for Figure 6Exploded view of

[0043] Figure 10 This is a schematic diagram of the three-dimensional structure of the slider assembled on the mounting base in an embodiment of the present invention;

[0044] Figure 11 for Figure 10 The schematic diagram of the three-dimensional structure after the slider is hidden in the middle;

[0045] Figure 12 Schematic diagram of the three-dimensional structure of the back side of the chuck in an embodiment of the present invention;

[0046] Figure 13 for Figure 6 A schematic diagram of the three-dimensional structure in which the chuck is omitted;

[0047] Figure 14 is a schematic diagram of the three-dimensional structure of the support arm assembly according to an embodiment of the present invention;

[0048] Figure 15 is a top view of the second arm of an embodiment of the present invention;

[0049] Figure 16 for Figure 15 Exploded view of

[0050] Figure 17 is a partial exploded view of the support rod assembly of this embodiment;

[0051] Figure 18 It is a schematic diagram of the three-dimensional structure of an embodiment of the present invention (the arm assembly is in a bent and flipped state, and the auxiliary connecting member is a tension spring). DETAILED DESCRIPTION

[0052] The present invention will be described in further detail below with reference to the accompanying drawings and embodiments.

[0053] See also Figures 1-18A power-assisted lifting mechanical arm device includes a waist clamp assembly 10, an arm assembly 20, a support rod assembly 30, and a bracket assembly 40. The waist clamp assembly 10 is used to be installed at the back position of the user's waist. The arm assembly 20 is connected to the waist clamp assembly 10. The end of the arm assembly 20 extends to the side and can bend and flip horizontally toward the front position of the human body. The support rod assembly 30 includes an adjustment rod 31 and an auxiliary connecting member. The bottom end of the adjustment rod 31 is hinged to the end of the arm assembly 20. The auxiliary connecting member is connected between the end of the arm assembly 20 and the upper part of the adjustment rod 31. Under the action of the auxiliary connecting member, the adjustment rod 31 can be maintained at a required corresponding angle relative to the arm assembly 20. The bracket assembly 40 is connected to the top of the adjustment rod 31. The bracket assembly 40 can be used to place objects to be supported, such as firearms for shooting training, shields for security tasks, and power tools for large machinery repair personnel. The power-assisted lifting arm device of this embodiment also solves the problem of stability when aiming a gun due to the lack of a suitable lifting and fixing point when the police use the gun in harsh environments; the problem of heavy shields used by police or military personnel during security missions, which requires both hands to lift and thus cannot be used with the other hand; and the problem of workers easily becoming physically exhausted when using power tools from bottom to top.

[0054] In this embodiment, the auxiliary connecting member is selected to be a tension spring 32a or a damping rod 32b. When the auxiliary connecting member is a tension spring 32a, the two ends of the tension spring 32a are respectively connected between the end of the support arm assembly 20 and the upper part of the adjustment rod 31. When in use, the adjustment rod 31 and the support arm assembly 20 form an obtuse angle. Under the action of the tension spring 32a, the top end of the adjustment rod 31 has a tendency to deflect upward, so that the bracket assembly 40 provided at the top end of the adjustment rod 31 can provide upward support force for the items to be placed. Figure 18 When the auxiliary connecting member is a damping rod 32b, the damping rod 32b can be a hydraulic damping rod or a pneumatic damping rod. When in use, the adjusting rod 31 and the arm assembly 20 also form an obtuse angle. Under the action of the damping rod 32b, the top end of the adjusting rod 31 can be supported. The damping rod 32b can be selected according to the weight of the supported object to ensure that it can provide sufficient supporting force. Figure 2 .

[0055] See also Figure 9The waist clamp assembly 10 includes a mounting seat 11, a slider 12, a chuck 13, a locking pin 18 and a first compression spring 14, wherein the mounting seat 11 is connected to the first arm 21 of the support arm assembly 20, and the mounting seat 11 has a transverse slide 110 for assembling the slider 12. The extension direction of the transverse slide 110 is consistent with the length direction of the first arm 21. Specifically, the mounting seat 11 includes an upper seat body 51 and a lower seat body 52. ​​The top of the upper seat body 51 has an extension wall 511 extending to the side, and the extension wall 511 is provided with a first V-shaped groove 512 with a notch facing downward. The lower seat body 52 is connected to the bottom of the upper seat body 51 through the second quick-release lock buckle 53, and the lower seat body 52 cooperates with the bottom of the upper seat body 51 to form a second V-shaped groove 521 with the notch facing upward. The first V-shaped groove 512 and the second V-shaped groove 521 are arranged opposite to each other in the vertical direction and the area between the two forms the above-mentioned horizontal slide groove 110, wherein the slider 12 can be slidably arranged in the horizontal slide groove 110 of the mounting seat 11. The slider 12 of this embodiment is a strip plate adapted to the horizontal slide groove 110, and the upper and lower walls of the strip plate are respectively formed with wedge-shaped portions 121 adapted to the above-mentioned two V-shaped grooves.

[0056] In order to improve the firmness of the clamping of the upper body 51 and the lower body 52 of the mounting base 11, two second quick-release lock buckles 53 are provided in this embodiment. The two second quick-release lock buckles 53 are spaced apart along the extension direction of the transverse slide groove 110. The second quick-release lock buckle 53 of this embodiment has the same structure as the first quick-release lock buckle 24, and also includes a pin and an eccentric dial. The user can press the eccentric dial to lock the lower body 52 and the upper body 51, thereby clamping the slider 12. The specific structure of the first quick-release lock buckle is described below. In addition, see Figure 7 and Figure 9 A second compression spring 55 is also provided between the upper seat body 51 and the lower seat body 52 of the mounting seat 11. There are also two second compression springs 55, which correspond to the two second quick-release lock buckles 53 respectively. Specifically, the second compression spring 55 is provided at the combined position of the upper seat body 51 and the lower seat body 52. ​​When the eccentric dial button of the second quick-release lock buckle 53 is toggled and released, the second compression spring 55 can drive the lower seat body 52 to automatically disengage from the upper seat body 51, so as to facilitate the user to move and adjust the slider 12 in the horizontal slide groove 110.

[0057] See also Figure 5-Figure 8The chuck 13 is connected to the side wall of the slider 12 and can slide laterally with the slider 12 relative to the mounting base 11. When worn by a user, the chuck 13 can be inserted into the user's protective vest, thereby providing support for the entire power-assisted lifting robot arm device. A locking pin 18 is movably mounted on the mounting base 11. The first end of the locking pin 18 is exposed outside the outer wall of the first support arm 21 and has a pull ring for the user to pull. The second end of the locking pin 18 can pass through the fourth strip-shaped sliding groove 120 corresponding to the slider 12 and engage in the corresponding locking groove 130 on the wall of the chuck 13. The first compression spring 14 is mounted on the mounting seat 11 and can act on the locking pin 18, so that the locking pin 18 always has a tendency to move toward the chuck 13. Specifically, a cavity 54 is provided in the middle of the upper seat body 51 of the mounting seat 11, and the locking pin 18 passes through the cavity 54, wherein a nut member 19 is threadedly connected to the locking pin 18, and the nut member 19 sleeved on the locking pin 18 is located in the cavity 54, which is used to limit the locking pin 18 in the axial direction. Accordingly, the first compression spring 14 is sleeved on the locking pin 18 and is located in the cavity 54, and the first end of the first compression spring 14 abuts on the nut member 19, and the other end abuts on the wall of the cavity 54 of the upper seat body 51, see for details. Figure 8 .

[0058] See also Figure 12 To facilitate rotational adjustment of the chuck 13 relative to the mounting base 11, the chuck 13 is connected to the slider 12 via a positioning pin 18 and can rotate relative to the slider 12 around the positioning pin 18. Accordingly, a slot 130 on the wall of the chuck 13 has multiple locking positions 131 for the locking pin 18 to engage. The multiple locking positions 131 are arranged in sequence along an arc centered on the positioning pin 18. The slider 12 is also provided with a limit pin 16, and the chuck 13 is also provided with an arcuate slot 17 centered on the positioning pin 18. At least a portion of the limit pin 16 engages with the arcuate slot 17, and the arc corresponding to the arc of the arc 17 is consistent with the arc corresponding to the slot 130. In this way, the arcuate slot 17 can limit the rotational range of the chuck and prevent excessive rotation.

[0059] See also Figure 8 and Figure 12In this embodiment, each locking position 131 of the locking slot 130 is a serrated groove, that is, each locking position 131 has a transition inclined surface 132 and a stop surface 133. The stop surface 133 can abut against the lower part of the second end of the locking pin 8 to limit the locking pin 8 at the bottom. The transition inclined surface 132 can allow the second end of the locking pin 8 to slide upward to another locking position 131 to realize the unidirectional rotation of the first arm 21. Specifically, when it is necessary to adjust the angle of the chuck 13 and the first support arm 21 in the clockwise direction, the chuck 13 can be directly rotated (that is, the first support arm 21 is lifted upward) to complete the adjustment. Since the end of the locking pin acts on the smooth transition surface 132, the positioning pin can retract and retract by itself during the sliding process, so there is no need to pull the locking pin 18 outward in this process; and when it is necessary to adjust the angle of the chuck 13 and the first support arm 21 in the counterclockwise direction, since the stop surface 133 of the locking position 131 restricts the end of the locking pin, it is necessary to pull the locking pin 18 outward so that the second end of the locking pin 18 is separated from the chuck 13, so that the chuck 13 can rotate freely around the positioning pin 18 for angle adjustment. When it is rotated to the predetermined position, the locking pin 18 is released. Under the elastic force of the first compression spring 14, the locking pin 18 can automatically engage with the corresponding locking position 131 of the chuck 13, fixing the chuck 13 to the mounting seat 11 and the first support arm 21.

[0060] See also Figure 14 The arm assembly 20 can adopt an arm structure connected by multiple joints, so that when the user wears the power-assisted lifting mechanical arm device, the support rod assembly 30 and the bracket assembly 40 can be flexibly and conveniently rotated to a position in front of the user. In this embodiment, the arm assembly 20 includes a first arm 21, a second arm 22 and a third arm 23 connected in series, wherein the first end of the first arm 21 is connected to the waist clamp assembly 10, the second end of the first arm 21 is hinged to the first end of the second arm 22, and the second end of the second arm 22 is hinged to the third arm 23; the bottom end of the adjustment rod 31 is hinged to the third arm 23, and the tension spring 32a (the auxiliary connecting member is explained by the tension spring as an example) is connected between the third arm 23 and the upper part of the adjustment rod 31. It can be imagined that multiple tension springs 32a can also be provided according to actual needs.

[0061] See also Figure 15 and Figure 16To accommodate users of different body shapes, the second arm 22 is a telescopic arm with adjustable length. Specifically, the second arm 22 includes a first connecting plate 221 and a second connecting plate 222 slidably connected to the first connecting plate 221. The second connecting plate 222 is provided with a first strip-shaped slot 223 extending in the same direction as the length of the second connecting plate 222. The first connecting plate 221 is provided with a first quick-release lock 24. The first quick-release lock 24 includes a pin 241 connected to the first connecting plate 221 at a first end and an eccentric button 242 hinged to the second end of the pin 241. After the pin of the first quick-release lock 24 passes through the first strip-shaped slot 223, the eccentric button 242 is rotated to lock the first connecting plate 221 and the second connecting plate 222. In this embodiment, the user can adjust the length of the second arm 22 according to their needs, thereby adjusting the bracket assembly 40 to a suitable position for them.

[0062] See also Figure 3 In this embodiment, there are two adjustment rods 31, namely a first adjustment rod 311 and a second adjustment rod 312. The first adjustment rod 311 and the second adjustment rod 312 are arranged in parallel. Specifically, the bottom end of the first adjustment rod 311 and the bottom end of the second adjustment rod 312 are both hinged to the third support arm 23, and the top end of the first adjustment rod 311 and the top end of the second adjustment rod 312 are both hinged to a connecting seat 33. The bracket assembly 40 is connected to the connecting seat 33. In other words, the third support arm 23, the first adjustment rod 311, the second adjustment rod 312, and the connecting seat 33 form a four-bar linkage. The two fulcrums at the bottom of the four-bar linkage are located on the third support arm 23, and the connecting seat 33 is connected to the movable end of the four-bar linkage. The use of a four-bar linkage can make the swing process of the adjustment rod 31 more stable and prevent left and right shaking. In addition, a damping plate is provided at the connection position between the bottom end of the first adjusting rod 311 and the bottom end of the second adjusting rod 312 and the third arm 23. Similarly, a damping plate is also provided at the connection position between the top end of the first adjusting rod 311 and the top end of the second adjusting rod 312 and the connecting seat 33.

[0063] To accommodate users of varying heights and facilitate users of varying heights in adjusting the bracket assembly 40 to a suitable forward position, the first adjustment rod 311 and the second adjustment rod 312 are both telescopic rods with adjustable lengths. Specifically, in this embodiment, the first adjustment rod 311 comprises a first rod body 311a and a second rod body 311b. The upper portion of the first rod body 311a is provided with a plurality of first connecting holes 3110 along its length, and the lower portion of the second rod body 311b is provided with corresponding second strip-shaped slots 3111 along its length. The second rod body 311b is connected to the first rod body 311a via at least two first positioning posts 34 extending through the corresponding first connecting holes 3110 and second strip-shaped slots 311b. The second adjustment rod 312 includes a third rod body 312a and a fourth rod body 312b. The upper portion of the third rod body 312a is provided with a plurality of second connecting holes 3120 along its length direction. The lower portion of the fourth rod body 312b is provided with a third strip-shaped sliding groove 3121 along its length direction. The fourth rod body 312b and the third rod body 312a are connected by at least two second positioning columns 35 that pass through the corresponding second connecting holes 3120 and the third strip-shaped sliding groove 3121. Figure 16 .

[0064] See also Figure 4 The bracket assembly 40 includes a first support frame 41 vertically mounted on the connecting seat 33 and a second support frame 42 laterally connected to the first support frame 41. The second support frame 42 is used to place firearms (or other devices to be placed). The bottom end of the first support frame 41 is rotatably connected to the connecting seat 33 via a first rotating sleeve 43, and the second support frame 42 is rotatably connected to the top end of the first support frame 41 via a second rotating sleeve 44. The axis of the first rotating sleeve 43 is perpendicular to the axis of the second rotating sleeve 44. This bracket assembly 40 allows the firearm placed on the second support frame 42 to be adjusted at multiple angles in the vertical and horizontal directions, providing greater flexibility and convenience. In this embodiment, both the first rotating sleeve 43 and the second rotating sleeve 44 use damping shafts to increase the smoothness of the rotation of the first support frame 41 and the second support frame 42 and to enable them to stay at any angle.

[0065] Continue to see Figure 4 In order to facilitate the adjustment of the height of the bracket assembly 40 to adapt to the height of different users, the first support frame 41 includes a first frame body 45 whose bottom end is connected to the connecting seat 33 and a second frame body 46 that can be adjusted in height relative to the first frame body 45. The second support frame 42 is connected to the second frame body 46. Specifically, the first frame body 45 is provided with a plurality of third connecting holes (not shown) in the vertical direction, and the second frame body 46 is correspondingly provided with a plurality of fourth connecting holes (not shown). The second frame body 46 is connected to the first frame body 45 by at least two third positioning columns 47, and the third positioning columns 47 are correspondingly penetrated into the third connecting hole and the fourth connecting hole.

[0066] In addition, in order to improve the comfort and firmness of the power-assisted lifting manipulator arm device after wearing, the power-assisted lifting manipulator arm device in this embodiment also includes a shoulder support 60 and a back plate 61, wherein the shoulder support 60 has two parts that can be worn on the shoulders of the user, and the back plate 61 can be worn on the back of the user. The shoulder support 60 and the back plate 61 can be connected to the support arm assembly 20 or the chuck 13 through a sling or a steel wire to provide auxiliary support force, so that the weight of the power-assisted manipulator arm is evenly distributed on the waist, back and shoulders of the user. For details, see Figure 1 .

[0067] The power-assisted lifting arm device in this embodiment can be conveniently worn by the user at the waist and back. It is compact and easy to carry, meeting the various needs of the user and is not restricted by factors such as the location. The bracket assembly 40 of the power-assisted lifting arm device can be flipped to the front position of the user through the support arm assembly 20. The adjustment rod 31 of the support rod assembly 30 can be rotated in the vertical direction and, under the support of the auxiliary connecting member, provides corresponding support force for the user to place the firearm. It is convenient and flexible to operate. The power-assisted lifting arm device in this embodiment is not only suitable for training personnel to place firearms. It is conceivable that different bracket assemblies can be replaced to place different objects and provide corresponding auxiliary support, such as shields used by security personnel when performing security tasks and power tools used by large machinery repair personnel, etc.

Claims

1. A power-assisted lifting robot arm device, characterized in that include: A waist clip assembly (10) is used to be mounted on the back of a user's waist; An arm assembly (20) is connected to the waist clamp assembly (10), with its end extending to the side and capable of bending in the horizontal direction; A support rod assembly (30) comprising an adjusting rod (31) whose bottom end is hinged to the end of the arm assembly (20) and an auxiliary connecting member connected between the end of the arm assembly (20) and the upper part of the adjusting rod (31) and capable of maintaining the adjusting rod (31) at a corresponding angle relative to the arm assembly (20); a bracket assembly (40), connected to the top end of the adjusting rod (31), for placing an object to be supported; The adjusting rod is a single rod structure or a four-bar linkage; The auxiliary connecting member is a tension spring (32a) or a damping rod (32b); The support arm assembly (20) comprises at least a first support arm (21), a second support arm (22) and a third support arm (23) connected in series, wherein the first end of the first support arm (21) is connected to the waist clamp assembly (10), the second end of the first support arm (21) is hinged to the first end of the second support arm (22), and the second end of the second support arm (22) is hinged to the third support arm (23); The waist clamp assembly (10) comprises: A mounting seat (11) connected to the first support arm (21) and having a transverse sliding groove (110) whose extending direction is consistent with the length direction of the first support arm (21); A slider (12) slidably disposed in a transverse sliding groove (110) of the mounting seat; A chuck (13) is used for being plugged into a protective vest of a user, the chuck (13) being connected to a side wall of the slider (12) and being able to slide laterally relative to the mounting seat (11) along with the slider (12); A locking pin (8) is movably mounted on the mounting seat (11), wherein a first end of the locking pin (8) is exposed outside the outer wall of the first arm (21) for a user to pull the pin, and a second end of the locking pin (8) can pass through a fourth strip-shaped sliding groove (120) corresponding to the slider (12) and be clamped in a clamping groove (130) corresponding to the wall of the chuck (13); A first compression spring (14) is mounted on the mounting seat (11) and acts on the locking pin (8), so that the locking pin (8) always has a tendency to move toward the chuck (13).

2. The power-assisted lifting mechanical arm device according to claim 1, characterized in that: The bottom end of the adjusting rod (31) is hinged on the third arm (23), and the auxiliary connecting member is connected between the third arm (23) and the upper part of the adjusting rod (31).

3. The power-assisted lifting mechanical arm device according to claim 2, characterized in that: The second arm (22) is a telescopic arm with adjustable length.

4. The power-assisted lifting mechanical arm device according to claim 3, characterized in that: The second support arm (22) includes a first connecting plate (221) and a second connecting plate (222) that can be slidably connected to the first connecting plate (221); a first strip-shaped sliding groove (223) is provided on the second connecting plate (222); an extension direction of the first strip-shaped sliding groove (223) is consistent with a length direction of the second connecting plate (222); a first quick-release lock buckle (24) is provided on the first connecting plate (221); the first quick-release lock buckle (24) includes a pin shaft (241) connected to the first connecting plate (221) at a first end and an eccentric dial button (242) hinged at a second end of the pin shaft (241); after the pin shaft (241) of the first quick-release lock buckle (24) passes through the first strip-shaped sliding groove (223), the first connecting plate (221) and the second connecting plate (222) are locked by rotating the eccentric dial button (242).

5. The power-assisted lifting mechanical arm device according to any one of claims 2 to 4, characterized in that: The four-bar linkage comprises a first adjusting rod (311), a second adjusting rod (312) and a connecting seat (33); the first adjusting rod (311) and the second adjusting rod (312) are arranged in parallel; the upper end of the first adjusting rod (311) and the upper end of the second adjusting rod (312) are both hinged on the connecting seat (33); the lower end of the first adjusting rod (311) and the lower end of the second adjusting rod (312) are both hinged on the third support arm (23); and the bracket assembly (40) is connected to the connecting seat (33).

6. The power-assisted lifting mechanical arm device according to claim 5, characterized in that: The first adjustment rod (311) and the second adjustment rod (312) are both telescopic rods with adjustable lengths.

7. The power-assisted lifting mechanical arm device according to claim 6, characterized in that: The first adjusting rod (311) includes a first rod body (311a) and a second rod body (311b), wherein the upper portion of the first rod body (311a) is provided with a plurality of first connecting holes (3110) along its length direction, and the lower portion of the second rod body (311b) is provided with a second strip-shaped sliding groove (3111) along its length direction, and the second rod body (311b) is connected to the first rod body (311a) by at least two first positioning columns (34) passing through the corresponding first connecting holes (3110) and the second strip-shaped sliding groove (3111); The second adjusting rod (312) includes a third rod body (312a) and a fourth rod body (312b), the upper portion of the third rod body (312a) is provided with a plurality of second connecting holes (3120) along its length direction, and the lower portion of the fourth rod body (312b) is provided with a third strip-shaped sliding groove (3121) along its length direction. The fourth rod body (312b) and the third rod body (312a) are connected by at least two second positioning columns (35) passing through the corresponding second connecting holes (3120) and the third strip-shaped sliding groove (3121).

8. The power-assisted lifting mechanical arm device according to claim 5, characterized in that: The bracket assembly (40) comprises a first support frame (41) vertically arranged on the connecting seat (33) and a second support frame (42) laterally connected to the first support frame (41), wherein the bottom end of the first support frame (41) is rotatably connected to the connecting seat (33) via a first rotating sleeve (43), and the second support frame (42) is rotatably connected to the top end of the first support frame (41) via a second rotating sleeve (44), and the axis of the first rotating sleeve (43) is perpendicular to the axis of the second rotating sleeve (44).

9. The power-assisted lifting mechanical arm device according to claim 8, characterized in that: The first support frame (41) comprises a first frame body (45) whose bottom end is connected to the connecting seat (33) and a second frame body (46) capable of being adjusted in height relative to the first frame body (45); the second support frame (42) is connected to the second frame body (46).

10. The power-assisted lifting mechanical arm device according to claim 9, characterized in that: The first frame (45) is provided with a plurality of third connection holes in the vertical direction, and the second frame (46) is correspondingly provided with a plurality of fourth connection holes. The second frame (46) and the first frame (45) are connected by at least two third positioning columns (47) passing through the corresponding third connection holes and fourth connection holes.

11. The power-assisted lifting mechanical arm device according to any one of claims 1 to 4, characterized in that: The chuck (13) is connected to the slider (12) via a positioning pin (15) and can rotate relative to the slider (12) around the positioning pin (15); The clamping groove (130) on the wall of the chuck (13) has a plurality of clamping positions (131) for the locking pin (8) to be clamped in, and the plurality of clamping positions (131) are arranged in sequence along an arc direction centered on the positioning pin (15); The slider (12) is provided with a limit pin (16), and the chuck (13) is also provided with an arc groove (17) with the positioning pin (15) as the center, and at least a part of the limit pin (16) is clamped in the arc groove (17).

12. The power-assisted lifting mechanical arm device according to claim 11, characterized in that: Each locking position (131) in the locking groove (130) is a sawtooth-shaped groove, and the inner wall surface of the sawtooth-shaped groove includes a thrust stop surface (133) capable of resisting the lower part of the second end of the locking pin and a transition inclined surface (132) for the second end of the locking pin (8) to slide upward to another locking position (131).

13. The power-assisted lifting mechanical arm device according to any one of claims 1 to 4, characterized in that: The mounting seat (11) includes an upper seat body (51) and a lower seat body (52), the top of the upper seat body (51) has an extension wall (511) extending toward the side, and the extension wall (511) is provided with a first V-shaped groove (512) with a notch facing downward, the lower seat body (52) is connected to the bottom of the upper seat body (51) through a second quick-release lock buckle (53) and cooperates with the upper seat body (51) to form a second V-shaped groove (521) with a notch facing upward, the first V-shaped groove (512) and the second V-shaped groove (521) are arranged opposite to each other in the vertical direction so that the area between the two forms the transverse sliding groove (110), and the slider (12) is a strip plate adapted to the transverse sliding groove (110).

14. The power-assisted lifting mechanical arm device according to any one of claims 1 to 4, characterized in that: The invention also comprises a shoulder support (60) for being worn on the shoulder of a user. The shoulder support (60) is connected to the arm assembly (20) or the waist clamp assembly (10) through a sling to provide auxiliary supporting force.

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