A picking assisting exoskeleton device and a picking assisting method thereof

Abstract

The present invention discloses a picking assisting exoskeleton device and a picking assisting method thereof. In the present invention, the upper end of the waist connecting rod is fixed to the lower end of the control frame, and the lower end is connected to the waist fixed iron plate through a waist universal joint; the active slider and the passive slider both form a sliding pair with the control frame, and the lower end of the active slider is connected to the lower end of the control frame through a tension spring, and the upper end of the passive slider is connected to the upper end of the control frame through a compression spring 1; the limit block is fixed on the control frame and is located above the passive connecting block; one end of the steel wire rope is fixed to the upper end of the active slider, and the other end is fixed to one end of the shoulder triangle block; the middle part of the shoulder triangle block is hinged to the upper end of the shoulder connecting rod, and the other end is fixed to the hand binding ring through the hand connecting rod, and the lower end of the shoulder triangle block is fixed to the upper end of the control frame. When in use, the present invention provides an upward supporting force for the upper arm through the compression spring 1, thereby supporting the upper arm, reducing the workload, and improving work efficiency.

Description

Technical Field

[0001] The present invention belongs to the technical field of picking assisting machinery, and in particular relates to a picking assisting exoskeleton device and a picking assisting method thereof. Background Art

[0002] In recent years, the developed forest and fruit vibration picking handheld machines are long, which easily puts a heavy load on the operator's arms when in use, and causes the operator to be unable to use the picking handheld machine for a long time, which in turn leads to low work efficiency. Especially for agricultural workers with weaker strength such as the elderly and women, excessive arm load can easily cause injuries. Therefore, there is an urgent need for an agricultural assistance equipment that is easy to operate, simple in structure and low in cost, which can improve work efficiency, reduce work burden, and assist weaker workers such as the elderly and women, and reduce injuries caused by excessive arm load. Summary of the Invention

[0003] The purpose of the present invention is to overcome the deficiencies of the prior art and to provide a picking assistance exoskeleton device and a picking assistance method thereof.

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] The present invention discloses a picking auxiliary exoskeleton device, which comprises a waist fixing iron plate, a waist universal joint, a waist connecting rod, a control mechanism, a shoulder connecting rod, a shoulder triangular block, a hand connecting rod and a hand binding ring.

[0006] The control mechanism includes a control frame, a tension spring, an active slider, a passive slider, a passive connecting block, a compression spring 1, a compression spring 2, a limit block and a steel wire rope. The active slider and the passive slider are spaced apart in the control frame and both form a vertical sliding pair with the control frame, and the lower end of the active slider is connected to the lower end of the control frame via a tension spring, while the upper end of the passive slider is connected to the upper end of the control frame via a compression spring 1. An integrally formed protrusion is provided on the side of the active slider close to the passive slider, and a hole is provided on the side of the passive slider close to the active slider. The passive connecting block is embedded in the hole, forming a horizontal sliding pair with the hole and connected to the hole via a compression spring 2. A limit block is fixed on the control frame above the passive connecting block, and the two facing surfaces of the limit block and the passive connecting block are both inclined surfaces. A vertical groove is provided on the vertical surface of the limit block away from the passive connecting block. One end of the steel wire rope is fixed to the upper end of the active slider, and the other end passes through the channel provided at the upper end of the control frame.

[0007] The upper end of the vertically arranged waist connecting rod is fixed to the lower end of the control frame, and the lower end is connected to the waist fixing iron plate through a waist universal joint; the lower end of the vertically arranged shoulder connecting rod is fixed to the upper end of the control frame, and the upper end is hinged to the middle part of the shoulder triangle block; the end of the shoulder triangle block close to the passive slider is fixed to the hand binding ring through the hand connecting rod, and the end close to the active slider is fixed to the end of the wire rope passing through the hole.

[0008] Among them, the elastic coefficient of compression spring 1 is greater than the elastic coefficient of tension spring, and the elastic coefficient of tension spring is greater than the elastic coefficient of compression spring 2; in the initial state, the active slider and the passive slider are both located below the limit block, and the protrusion on the active slider is located below the passive connecting block, and the angle between the hand connecting rod and the shoulder connecting rod is an obtuse angle.

[0009] Preferably, the waist connecting rod and the shoulder connecting rod are both telescopic rods.

[0010] More preferably, the waist connecting rod includes a sliding sleeve, a sliding rod and a fixed pin, and the sliding sleeve and the sliding rod are both provided with a plurality of groups of matching holes evenly distributed along the axial direction, and the inner wall of the sliding sleeve is provided with a groove along the axial direction at the non-matching hole position, and the outer wall of the sliding rod is provided with an integrally formed convex strip along the axial direction at the non-matching hole position, one end of the sliding rod is embedded in the inner cavity of the sliding sleeve, and the convex strip is embedded in the groove to form a sliding pair with the groove, the fixing pin is inserted into a group of matching holes on the sliding sleeve and a group of matching holes on the sliding rod, the other end of the sliding rod is fixed to the control frame, and the end of the sliding sleeve away from the sliding rod is connected to the waist fixed iron plate through a waist universal joint; the structure of the shoulder connecting rod is consistent with that of the waist connecting rod, and the end of the sliding rod in the shoulder connecting rod away from the sliding sleeve is fixed to the control frame, and the end of the sliding sleeve away from the sliding rod is hinged to the shoulder triangle block.

[0011] More preferably, the waist connecting rod includes a connecting sleeve and a screw, the threaded sections at both ends of the screw are threadedly connected to one end of the two connecting sleeves, and the thread directions of the threaded sections at both ends of the screw are opposite, the other end of one connecting sleeve is fixed to the control frame, and the other end of the other connecting sleeve is connected to the waist fixed iron plate through a waist universal joint; the structure of the shoulder connecting rod is consistent with that of the waist connecting rod, and the other end of one of the connecting sleeves of the shoulder connecting rod is fixed to the control frame, and the other end of the other connecting sleeve is hinged to the shoulder triangle block.

[0012] More preferably, a connecting shaft is provided on the shoulder triangular block, and the connecting shaft and the shoulder triangular block form a rotating pair and are driven by a drive motor. The end of the wire rope away from the active slider is wound around the connecting shaft and fixed to the connecting shaft.

[0013] Preferably, the passive connection block is provided with an integrally formed cylindrical rod.

[0014] The present invention provides a method for assisting picking with a picking assist exoskeleton device, as follows:

[0015] Install the waist fixing iron plate on the belt, tie the belt around the staff's waist, and tie the hand rings around the upper arms.

[0016] When the picking handheld device is held, the upper arm rotates downward but remains raised. This downward rotation of the upper arm drives the shoulder triangle block's end near the passive slider downward via the hand tie ring and hand connecting rod, which in turn drives the shoulder triangle block's end near the active slider upward. This, in turn, drives the active slider upward via the wire rope. The tension spring stretches, causing the protrusion on the active slider to contact the passive connecting block, which in turn drives the passive slider upward via the passive connecting block, compressing compression spring 1. At this point, the active slider does not pass the limit block, and the restoring force of compression spring 1, through the passive slider and passive connecting block, exerts a downward thrust on the active slider. This in turn causes the wire rope to exert a downward pulling force on the shoulder triangle block's end near the active slider, which in turn exerts an upward supporting force on the upper arm via the hand connecting rod and hand tie ring. After completing the task, the upper arm is raised and rotated upward, and the active and passive sliders return to their initial positions under the restoring forces of the tension spring and compression spring 1.

[0017] Preferably, when there is no hand-held picking handheld machine, the upper arm rotates downward to a drooping state. During the process of the upper arm rotating downward to the drooping state, the active slider is driven to move upward by the hand binding ring, the hand connecting rod, the shoulder triangle block and the wire rope, and the protrusion on the active slider drives the passive connecting block and the passive slider to move upward, and then the inclined surface of the passive connecting block contacts the inclined surface of the limit block, and the limit block prevents the passive connecting block and the passive slider from continuing to move upward, and then the upward moving active slider pushes the passive connecting block along the hole to move away from the active slider through the protrusion, compressing compression spring 2 until the protrusion is out of contact with the passive connecting block, and the passive slider is compressed by compression spring 1. The upper arm is in a drooping state and is only affected by the restoring force of the tension spring. After completing the working task, the upper arm is lifted and rotated upward. At the same time, the active slider moves downward under the restoring force of the tension spring. The protrusion on the active slider contacts the inclined surface of the passive connecting block and pushes the passive connecting block to move away from the active slider. The compression spring 2 is compressed until the active slider returns to its initial position, the passive connecting block is disengaged from the protrusion, and returns to its initial state under the restoring force of the compression spring 2.

[0018] The present invention has the following beneficial effects:

[0019] 1. When using the hand-held picking device of the present invention, the compression spring 1 provides an upward supporting force for the upper arm, thereby reducing the load force on the upper arm, thereby achieving the purpose of assisting the staff to pick fruits with the hand-held picking device; further, when in use, the upper arm rotates downward, so that the upper arm drives the wire rope and the active slider to move upward through the hand binding ring, the hand connecting rod and the shoulder triangle block, and the protrusion on the active slider drives the passive slider to move upward through the passive connecting block, so that the compression spring 1 is compressed, and the restoring force of the compression spring 1 generates an upward supporting force on the hand connecting rod and the hand binding ring through the passive slider, the passive connecting block, the active slider and the wire rope, thereby supporting the upper arm, reducing the load force on the upper arm, reducing the workload, improving work efficiency, and reducing the damage caused to weak workers such as the elderly and women due to the heavy workload.

[0020] 2. When the handheld picking machine is not needed temporarily, the upper arm is rotated downward to a drooping state, so that the active slider passes the limit block and is free from the restrictions of the compression spring 1, the passive slider and the passive connecting block. Then, the upper arm is only subjected to the restoring force of the tension spring, with almost no load force, which is convenient for free movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 This is a schematic structural diagram of the control mechanism, shoulder connecting rod, shoulder triangle block, hand connecting rod and hand binding ring in the present invention;

[0023] Figure 3 This is a schematic diagram of the overall structure of the control mechanism, shoulder connecting rod, shoulder triangle block, hand connecting rod and hand binding ring when the limit block and the passive connecting block are in contact in the present invention;

[0024] Figure 4 This is a structural schematic diagram of the control mechanism, shoulder connecting rod, shoulder triangle block, hand connecting rod and hand binding ring when the active slider crosses the limit block in the present invention. DETAILED DESCRIPTION

[0025] The present invention will be further described below with reference to the accompanying drawings.

[0026] like Figure 1 and Figure 2 As shown, the present invention provides a picking assisting exoskeleton device, comprising a waist fixing iron plate 1, a waist universal joint 2, a waist connecting rod 3, a control mechanism 4, a shoulder connecting rod 5, a shoulder triangular block 6, a hand connecting rod 7 and a hand binding ring 8.

[0027] The control mechanism 4 includes a control frame 41, a tension spring 42, an active slider 43, a passive slider 44, a passive connecting block 45, a compression spring 1 46, a compression spring 2, a limit block 47, and a wire rope 48. The active slider 43 and the passive slider 44 are spaced apart within the control frame 41 and form a vertical sliding pair with the control frame 41. The lower end of the active slider 43 is connected to the lower end of the control frame 41 via the tension spring 42, and the upper end of the passive slider 44 is connected to the upper end of the control frame 41 via the compression spring 1 46. An integrally formed protrusion is provided on the side of the active slider 43 close to the passive slider 44. A hole is provided on the side of the passive slider 44 close to the active slider 43. The passive connecting block 45 is provided with a hole. It is embedded in the hole, forming a sliding pair in the horizontal direction with the hole, and is connected to the hole through compression spring 2; a limit block 47 is fixed on the control frame 41 above the passive connecting block 45, and the two facing surfaces of the limit block 47 and the passive connecting block 45 are both inclined surfaces, and a vertical slide groove is provided on the vertical surface of the limit block 47 away from the passive connecting block 45, and the vertical slide groove is used for the protrusion to pass through; one end of the wire rope 48 is fixed to the upper end of the active slider 43, and the other end passes through the channel opened on the control frame 41.

[0028] The upper end of the vertically arranged waist connecting rod 3 is fixed to the lower end of the control frame 41, and the lower end is connected to the waist fixing iron plate 1 through the waist universal joint 2; the lower end of the vertically arranged shoulder connecting rod 5 is fixed to the upper end of the control frame 41, and the upper end is hinged to the middle part of the shoulder triangle block 6; the end of the shoulder triangle block 6 close to the passive slider 44 is fixed to the hand binding ring 8 through the hand connecting rod 7, and the end close to the active slider 43 is fixed to the end of the wire rope 48 that passes through the hole.

[0029] Among them, the elastic coefficient of compression spring 1 46 is greater than the elastic coefficient of tension spring 42, and the elastic coefficient of tension spring 42 is greater than the elastic coefficient of compression spring 2; in the initial state, the protrusion on the active slider 43 is located below the passive connecting block 45, and the angle between the hand connecting rod 7 and the shoulder connecting rod 5 is an obtuse angle.

[0030] As a preferred embodiment, the waist connecting rod 3 and the shoulder connecting rod 5 are both telescopic rods for adjusting the overall height of the waist connecting rod 3, the control mechanism 4 and the shoulder connecting rod 5, which is suitable for workers with different body proportions.

[0031] More preferably, the waist connecting rod 3 includes a sliding sleeve, a sliding rod and a fixed pin. The sliding sleeve and the sliding rod are both provided with multiple groups of matching holes evenly distributed along the axial direction, and the inner wall of the sliding sleeve is provided with a groove along the axial direction at the non-matching hole position, and the outer wall of the sliding rod is provided with an integrally formed convex strip along the axial direction at the non-matching hole position. One end of the sliding rod is embedded in the inner cavity of the sliding sleeve, and the convex strip is embedded in the groove to form a sliding pair with the groove. The fixing pin is inserted into a group of matching holes on the sliding sleeve and a group of matching holes on the sliding rod. The other end of the sliding rod is fixed to the control frame 41, and the end of the sliding sleeve away from the sliding rod is connected to the waist fixed iron plate 1 through the waist universal joint 2; the structure of the shoulder connecting rod 5 is consistent with the structure of the waist connecting rod 3, and the end of the sliding rod in the shoulder connecting rod 5 away from the sliding sleeve is fixed to the control frame 41, and the end of the sliding sleeve away from the sliding rod is hinged to the shoulder triangle block 6.

[0032] More preferably, the waist connecting rod 3 includes a connecting sleeve and a screw, the threaded sections at both ends of the screw are threadedly connected to one end of the two connecting sleeves, and the thread directions of the threaded sections at both ends of the screw are opposite, the other end of one connecting sleeve is fixed to the control frame 41, and the other end of the other connecting sleeve is connected to the waist fixed iron plate 1 through the waist universal joint 2; the structure of the shoulder connecting rod 5 is consistent with the structure of the waist connecting rod 3, and the other end of one of the connecting sleeves of the shoulder connecting rod 5 is fixed to the control frame 41, and the other end of the other connecting sleeve is hinged to the shoulder triangle block 6.

[0033] More preferably, a connecting shaft is provided on the shoulder triangular block 6, and the connecting shaft and the shoulder triangular block 6 form a rotating pair and are driven by a driving motor. The end of the wire rope 48 away from the active slider 43 is wound around the connecting shaft and fixed to the connecting shaft, so as to facilitate adjusting the overall height of the waist connecting rod 3, the control mechanism 4 and the shoulder connecting rod 5 while adjusting the required length of the wire rope 48.

[0034] As a preferred embodiment, the passive connection block 45 is provided with an integrally formed cylindrical rod, which is used to reduce the contact area between the passive connection block 45 and the protrusion, so that the protrusion can push the passive connection block 45 more easily.

[0035] The present invention provides a method for assisting picking with a picking assist exoskeleton device, as follows:

[0036] The waist fixing iron plate 1 is installed on the waist belt, and the waist belt is tied around the waist of the staff, and the hand binding ring 8 is tied around the upper arm.

[0037] When the picking handheld device is held in hand and the upper arm needs to be supported, the upper arm rotates downward but is still in the raised state. At this time, the upper arm that rotates downward drives the end of the shoulder triangle block 6 close to the passive slider 44 to rotate downward through the hand binding ring 8 and the hand connecting rod 7, and then drives the end of the shoulder triangle block 6 close to the active slider 43 to rotate upward, and drives the active slider 43 to move upward through the wire rope 48. The tension spring 42 is stretched, and the convex block on the active slider 43 contacts the passive connecting block 45, and then drives the passive slider 44 to move upward through the passive connecting block 45, compressing the compression spring 46. At this time, the active slider 43 has not passed the limit block 47, and the restoring force of the compression spring 1 46 generates a downward thrust on the active slider 43 through the passive slider 44 and the passive connecting block 45, which in turn causes the wire rope 48 to generate a downward pulling force on the end of the shoulder triangle block 6 near the active slider 43, thereby causing the end of the shoulder triangle block 6 near the passive slider 44 to generate an upward supporting force on the upper arm through the hand connecting rod 7 and the hand binding ring 8, thereby supporting the upper arm and reducing the load on the upper arm, thereby assisting the staff in picking with the handheld picking machine. After completing the work task, the upper arm is raised and rotated upward, and the active slider 43 and the passive slider 44 move to their initial state under the action of the restoring force of the tension spring 42 and the compression spring 1 46.

[0038] Among them, when there is no handheld picking handheld machine and the upper arm needs to be able to move freely, the upper arm rotates downward to a drooping state. During the process of the upper arm rotating downward to the drooping state, the active slider 43 is driven to move upward by the hand binding ring 8, the hand connecting rod 7, the shoulder triangle block 6 and the wire rope 48, and the protrusion on the active slider 43 drives the passive connecting block 45 and the passive slider 44 to move upward, and then the inclined surface of the passive connecting block 45 contacts the inclined surface of the limit block 47, as shown in FIG. Figure 3 As shown, the limit block 47 blocks the passive connection block 45 and the passive slider 44 from continuing to move upward, and then the active slider 43 moving upward pushes the passive connection block 45 along the hole in the direction away from the active slider 43 through the protrusion, compressing the compression spring 2 until the protrusion is out of contact with the passive connection block 45, and the passive slider 44 moves downward to its original position under the restoring force of the compression spring 1 46, and at the same time, the passive connection block 45 moves to its original position in the direction close to the active slider 43 under the restoring force of the compression spring 2, as shown in FIG. Figure 4As shown, at this time, the upper arms are in a drooping state and are only affected by the restoring force of the tension spring 42. They are almost load-free and can move freely. After completing the work task, the upper arms are raised and rotated upward. At the same time, the active slider 43 moves downward under the restoring force of the tension spring 42. The protrusion on the active slider 43 contacts the inclined surface of the passive connecting block 45, pushing the passive connecting block 45 away from the active slider 43. The compression spring 2 is compressed until the active slider 43 returns to its initial position. The passive connecting block 45 disengages from the protrusion and returns to its initial state under the restoring force of the compression spring 2.

[0039] When the picking assisting exoskeleton device of the present invention is used, one can be equipped on each hand, thereby better reducing the load force on the upper arm and achieving the purpose of assisting workers to pick fruits by holding a picking handheld device.

Claims

1. A picking assist exoskeleton device, comprising a waist fixing iron plate, a waist connecting rod, a hand connecting rod, and a hand binding ring, characterized in that: The yoke also includes a waist universal joint, a control mechanism and a shoulder triangle block; the control mechanism includes a control frame, a tension spring, an active slider, a passive slider, a passive connecting block, a compression spring 1, a compression spring 2, a limit block and a steel wire rope; the active slider and the passive slider are arranged in a space within the control frame and form a vertical sliding pair with the control frame, and the lower end of the active slider is connected to the lower end of the control frame through a tension spring, and the upper end of the passive slider is connected to the upper end of the control frame through a compression spring 1; the active slider is close to the passive slider One side is provided with an integrally formed protrusion, and a hole is opened on the side of the passive slider close to the active slider; the passive connecting block is embedded in the hole, forming a sliding pair in the horizontal direction with the hole, and is connected to the hole through a second compression spring; a limit block is fixed on the control frame above the passive connecting block, and the two facing surfaces of the limit block and the passive connecting block are both inclined surfaces, and a vertical slide groove is opened on the vertical surface of the limit block away from the passive connecting block; one end of the steel wire rope is fixed to the upper end of the active slider, and the other end passes through the channel opened at the upper end of the control frame; The upper end of the vertically arranged waist connecting rod is fixed to the lower end of the control frame, and the lower end is connected to the waist fixing iron plate through a waist universal joint; the lower end of the vertically arranged shoulder connecting rod is fixed to the upper end of the control frame, and the upper end is hinged to the middle part of the shoulder triangular block; the end of the shoulder triangular block close to the passive slider is fixed to the hand binding ring through the hand connecting rod, and the end close to the active slider is fixed to the end of the wire rope passing through the hole; Among them, the elastic coefficient of compression spring 1 is greater than the elastic coefficient of tension spring, and the elastic coefficient of tension spring is greater than the elastic coefficient of compression spring 2; in the initial state, the active slider and the passive slider are both located below the limit block, and the protrusion on the active slider is located below the passive connecting block, and the angle between the hand connecting rod and the shoulder connecting rod is an obtuse angle.

2. The picking assist exoskeleton device according to claim 1, characterized in that: The waist connecting rod and the shoulder connecting rod are both telescopic rods.

3. The picking assist exoskeleton device according to claim 2, characterized in that: The cam is secured to the chassis and has a plurality of holes disposed on the chassis to allow the chassis to move forward and backward, and the cam is secured to the chassis with a plurality of holes disposed on the chassis to move forward and backward.

4. The picking assist exoskeleton device according to claim 2, characterized in that: The waist connecting rod includes a connecting sleeve and a screw, the threaded sections at both ends of the screw are threadedly connected to one end of the two connecting sleeves, and the thread directions of the threaded sections at both ends of the screw are opposite, the other end of one connecting sleeve is fixed to the control frame, and the other end of the other connecting sleeve is connected to the waist fixed iron plate through a waist universal joint; the structure of the shoulder connecting rod is consistent with that of the waist connecting rod, and the other end of one of the connecting sleeves of the shoulder connecting rod is fixed to the control frame, and the other end of the other connecting sleeve is hinged to the shoulder triangle block.

5. The picking assist exoskeleton device according to claim 2, characterized in that: The shoulder triangle block is provided with a connecting shaft, and the connecting shaft and the shoulder triangle block form a rotating pair and are driven by a driving motor. The end of the wire rope away from the active slider is wound around the connecting shaft and fixed to the connecting shaft.

6. The picking assist exoskeleton device according to claim 1, characterized in that: The passive connection block is provided with an integrally formed cylindrical rod.

7. A method for assisting harvesting with a harvesting assist exoskeleton according to any one of claims 1 to 6, characterized in that: The details are as follows: Install the waist fixing iron plate on the belt, tie the belt around the staff's waist, and tie the hand rings around the upper arms; When the hand-held picking machine is held in the hand, the upper arm rotates downward but is still in a raised state. At this time, the downwardly rotating upper arm drives the end of the shoulder triangular block close to the passive slider to rotate downward through the hand binding ring and the hand connecting rod, thereby driving the end of the shoulder triangular block close to the active slider to rotate upward, and driving the active slider to move upward through the wire rope, the tension spring is stretched, and the convex block on the active slider contacts the passive connecting block, thereby driving the passive slider to move upward through the passive connecting block, compressing the compression spring 1. At this time, the active slider does not cross the limit block, and the restoring force of the compression spring 1 passes through the passive slider and the passive connecting block to generate a downward thrust on the active slider, thereby causing the wire rope to generate a downward pulling force on the end of the shoulder triangular block close to the active slider, so that the end of the shoulder triangular block close to the passive slider generates an upward supporting force on the upper arm through the hand connecting rod and the hand binding ring; After completing the work task, the upper arm is lifted and rotated upward, and the active slider and the passive slider move to the initial state under the restoring force of the tension spring and the compression spring.

8. The picking assistance method using a picking assistance exoskeleton device according to claim 7, characterized in that: When the picking handheld device is not held, the upper arm rotates downward to a drooping state. In the process of the upper arm rotating downward to the drooping state, the active slider is driven upward by the hand binding ring, the hand connecting rod, the shoulder triangle block and the wire rope, and the convex block on the active slider drives the passive connecting block and the passive slider to move upward, and then the inclined surface of the passive connecting block contacts the inclined surface of the limit block, and the limit block prevents the passive connecting block and the passive slider from continuing to move upward, and then the upward moving active slider pushes the passive connecting block along the hole in the direction away from the active slider through the convex block, compressing the compression spring 2 until the convex block is out of contact with the passive connecting block, and the passive slider moves downward to its original position under the action of the restoring force of the compression spring 1, and at the same time, the passive connecting block moves to its original position in the direction close to the active slider under the action of the restoring force of the compression spring 2. At this time, the upper arms are in a drooping state and are only subjected to the restoring force of the tension spring; After completing the work task, lift the upper arm and rotate it upward. At the same time, the active slider moves downward under the restoring force of the tension spring. The protrusion on the active slider contacts the inclined surface of the passive connecting block and pushes the passive connecting block to move away from the active slider. The compression spring 2 is compressed until the active slider returns to its initial position. The passive connecting block disengages from the protrusion and returns to its initial state under the restoring force of the compression spring 2.

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