Wearable portable power-assisted mechanical arm

Abstract

The invention belongs to the technical field of manipulators, and particularly relates to a wearable portable power-assisted mechanical arm. Comprising an upper arm cylinder and a front arm cylinder, and a fixing band is installed at the upper end of the upper arm cylinder and used for being fixed to the shoulder; the inner diameter of the upper arm cylinder is larger than the outer diameter of the front arm cylinder; a supporting plate is vertically and fixedly arranged at the lower end of the interior of the front arm cylinder, and the lower end of the supporting plate is fixedly connected with the opening side of the glove. The upper arm cylinder and the front arm cylinder are movably connected through a roller mechanism; by means of the device, heavy objects can be taken in a labor-saving mode, manual operation is facilitated, and meanwhile the device can be rapidly stored in a telescopic mode and is convenient to carry; when an object which is not too heavy is taken, labor-saving assistance can be achieved by taking the object with a single hand; the device can assist manual work to enable the device to be in a working state rapidly, and the use efficiency is improved; the firmness of the device can be further improved, the pressure borne by the shoulders can be shared, and the problems of local aching pain and fixing band breakage are prevented.

Description

Technical Field

[0001] The present invention belongs to the technical field of manipulators, and in particular relates to a wearable and portable power-assisted manipulator arm. Background Art

[0002] Wearable manipulators are wearable robotic devices designed to enhance the user's hand function and strength, help complete various daily tasks, and are used to enhance a person's physical ability or provide support. By integrating with the user's body, they help achieve greater strength, endurance, and flexibility. Wearable manipulators can be used in industry to improve work efficiency; in life, we also encounter situations where heavy objects need to be transported manually. Carrying heavy objects with the arms for a long time is not only time-consuming and labor-intensive, but also makes the arms sore and weak.

[0003] The Chinese patent with application number 202010060339.6 discloses a wearable robotic arm controller, including an arm motion processor for sending control instructions from operator motions to the robot; a shoulder joint motion sensor mechanism for collecting operator shoulder joint motion information; an upper arm motion sensor mechanism for collecting operator upper arm motion information; a forearm motion sensor mechanism for collecting operator forearm motion information; the shoulder joint motion sensor mechanism is movably connected to the upper arm motion sensor mechanism, and a rotation angle feedback device for detecting the relative rotation angle is provided between them: the upper arm motion sensor mechanism is movably connected to the forearm motion sensor mechanism, and a rotation angle feedback device is provided between them; the rotation angle feedback device communicates and interconnects with the control chip on the arm motion processor with motion information. The device has the characteristics of sensitive response, high accuracy, simple and convenient operation, stable control performance, and accurate imitation.

[0004] However, this wearable robotic arm is bulky and inconvenient for manual operation. It usually requires complex operations to use normally, and is not easy to store and carry, which is not conducive to diversified environments. At the same time, in the process of picking up heavy objects in some daily life scenarios, picking up the heavy objects with one hand is too burdensome, and picking up the objects with both hands is inconvenient to walk. The use of traditional robotic arms is too bulky and has poor practicality, making it difficult to have both. In the use of some robotic arms, there are even problems such as lack of firmness and lack of comfort in wearing, which puts a heavy burden on the arms. Summary of the invention

[0005] In order to solve the deficiencies in the prior art, the present invention provides a wearable portable power-assisted robotic arm, which can not only save effort in picking up heavy objects and facilitate manual operation, but also can be quickly retracted and stored for easy carrying; the present invention can save effort and assist with picking up objects that are not too heavy with one hand; the present invention can assist humans in putting the device into working state quickly, thereby improving the efficiency of use; the present invention can not only improve the firmness of the device, but also improve the wearing comfort when the device is not in use; the present invention can not only further improve the firmness of the device, but also share the pressure on the shoulders, thereby preventing local soreness and breakage of the fixing strap.

[0006] In order to achieve the above object, the present invention adopts the following technical solution:

[0007] A wearable portable power-assisting mechanical arm comprises an upper arm tube and a forearm tube, wherein a fixing belt is installed at the upper end of the upper arm tube for fixing to the shoulder; the inner diameter of the upper arm tube is larger than the outer diameter of the forearm tube; a supporting plate is vertically fixed at the inner lower end of the forearm tube, and the lower end of the supporting plate is fixedly connected to one side of the opening of the glove; the upper arm tube and the forearm tube are movably connected via a roller mechanism;

[0008] The roller mechanism includes a first roller and a second roller, a first rotating shaft being fixedly connected to a middle portion of one side of the support plate, and the first roller is rotatably connected to the first rotating shaft; a protrusion is fixedly provided at an end of the first rotating shaft and away from the support plate, for limiting the first roller; a mounting groove is opened on one side of the upper end of the upper arm tube, and the second roller is rotatably connected to the mounting groove through a rotating shaft; a fixing plate is fixedly provided at the upper end of the upper arm tube and on a side opposite to the mounting groove, and a power-assisting wire rope is fixedly connected to the lower end of the fixing plate; an annular groove is provided on the first roller and the second roller, and the power-assisting wire rope passes through the bottom of the annular groove of the first roller and the top of the annular groove of the second roller in turn and extends out of the upper arm tube; two fixing rings are fixedly provided on the inner side of the upper end of the forearm tube, and the power-assisting wire rope passes through the corresponding fixing rings; a handle is fixedly connected to the end of the power-assisting wire rope and close to the second roller, and the handle is close to the human body.

[0009] Furthermore, a limit cover is fixedly connected to the top of the installation slot, the limit cover is open on one side close to the inside of the upper arm tube, and a limit slot is vertically provided on the side close to the outside of the upper arm tube, and the power-assisting steel wire rope passes through the limit slot; a limit spring and a limit ring are sleeved on the power-assisting steel wire rope between the limit slot and the handle, and the two ends of the limit spring are respectively fixedly connected to the handle and the limit ring; the outer diameter of the limit ring is larger than the width of the limit slot; guide blocks are provided on both sides of the first roller, and the guide blocks are fixedly connected to the support plate; guide grooves are provided on the guide blocks for limiting the power-assisting steel wire rope.

[0010] Furthermore, a telescopic groove is provided at the lower outer side of the forearm tube, and a limiting cylinder is slidably connected in the telescopic groove, and one end of the limiting cylinder is fixedly connected to the bottom of the telescopic groove by a reset spring; the limiting cylinder and the end away from the reset spring are of a rounded structure; a switch through hole is provided through the lower side of one side of the upper arm tube, and when the forearm tube extends into the upper arm tube, the limiting cylinder extends into the switch through hole and is limited by the switch through hole.

[0011] Furthermore, a pop-up mechanism is provided on the assisting steel wire rope located below the fixed plate and below the second roller, and the pop-up mechanism includes a guide plate, and the guide plate is fixedly connected to the inner wall of the upper arm tube; a guide hole is penetrated through the guide plate, and the assisting steel wire rope passes through the corresponding guide hole; a second return spring and a second limit ring are provided on the assisting steel wire rope located below the fixed plate and below the second roller, and the two ends of the second return spring are fixedly connected to the corresponding guide plate and the second limit ring respectively.

[0012] Furthermore, two fixing mechanisms are symmetrically installed on two opposite sides of the side walls of the upper arm tube, and the fixing mechanism includes a accommodating block fixedly connected to the outer side wall of the upper arm tube, and a plurality of accommodating grooves are vertically opened on the accommodating block; a plurality of sliding holes are opened through the side walls of the upper arm tube adjacent to the accommodating block, and the sliding holes are connected to the accommodating grooves in a one-to-one correspondence; a fixing block is slidably connected to the sliding hole, and the bottom of the accommodating groove and the fixed block are fixedly connected by a pressure spring; when the pressure spring is in an unstressed state, one end of the fixed block extends out of the sliding hole.

[0013] Furthermore, the end of the fixed block away from the pressure spring is a truncated cone structure, and the outer side of the upper end of the forearm tube is correspondingly set as a guiding inclined surface.

[0014] Furthermore, two clamping mechanisms are symmetrically installed on the other two opposite surfaces of the side wall of the upper arm tube, and the clamping mechanism includes a clamping plate, which is a curved plate structure with a gradually increasing thickness with a small thickness at the lower end and a large thickness at the upper end; a rotation groove is symmetrically opened on the upper upper side wall of the upper arm tube, and one side of the rotation groove is connected with the interior of the upper arm tube; a rotation hole is opened at the bottom of both ends of the rotation groove, and the rotation hole is close to the interior of the upper arm tube; a rotating rod is fixed on both sides of the lower end of the clamping plate, and the rotating rod is located in the corresponding rotating hole and is rotatably connected to the rotating hole.

[0015] Furthermore, a pushing block is provided at the bottom of the rotating groove between the clamping plate and the side wall of the upper arm tube, and the two sides of the pushing block are tightly fitted with the corresponding surfaces; both ends of the pushing block are fixedly connected with a tension wire rope; a semi-closed plate is fixedly provided at the notch above the rotating groove, and through holes are opened at both ends of the semi-closed plate, and the tension wire rope is arranged outward through the corresponding through holes.

[0016] Furthermore, the fixing belt has two tension steel wire ropes located on the same side of the two rotating grooves and connected to one fixing belt; one of the fixing belts is fixedly provided with a buckle, and the other fixing belt is fixedly provided with a slot, and the buckle is buckled with the slot; the shoulder is located between the two fixing belts.

[0017] Furthermore, a plurality of load-bearing steel wire ropes are fixedly mounted on one palm side of the glove, and one end of the load-bearing steel wire rope is fixedly connected to the support plate.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] (1) The present invention can save effort in picking up heavy objects and facilitate manual operation through the cooperation of the roller mechanism and the upper arm tube and the forearm tube, and can also be quickly retracted and stored for easy carrying; specifically, when it is necessary to pick up heavy objects, the upper arm tube and the forearm tube are worn on the corresponding arms, gloves are put on the palms, and the fixing belt is fixed on the shoulders; the heavy objects are picked up with the gloves, and the handle is pulled obliquely with the other hand, and the two ends of the first roller are lifted by the assisting steel wire rope through the action of the assisting steel wire rope. At this time, the unilateral assisting steel wire rope is only It bears half the weight of the heavy object, and then cooperates with the handle to pull diagonally to further reduce the force of the handle, so that the other hand only needs to pull the handle with a force less than half of the weight, which can effectively share the weight of the hand, and distribute the weight to the shoulder and the other hand, thereby achieving the effect of saving effort and assisting, preventing the situation where one hand cannot hold it, and both hands are too cumbersome to hold it, which is not conducive to movement, and facilitates manual operation; and when not in use, by pulling the handle, the forearm tube can be quickly extended into the upper arm tube, reducing the size of the mechanical arm, making it convenient to store and carry.

[0020] (2) The structural design of the roller mechanism of the present invention makes it possible to pick up light objects with one hand without operating the handle, thereby achieving labor-saving and assisting. Specifically, when a light object is picked up with one hand using a glove, the object is received by the glove, the forearm tube will drop slightly, and the assisting wire rope will be pulled. At this time, due to the limiting of the limiting ring, the limiting spring is compressed, and the restoring force of the limiting spring can reduce the weight of the single hand. At the same time, due to the structural design of the roller mechanism, the restoring force of the limiting spring does not need to be too large to carry heavier objects, thereby achieving labor-saving and assisting.

[0021] (3) The present invention can quickly pop out the forearm tube in the upper arm tube through the cooperation of the pop-up mechanism and the limiting cylinder, thereby improving the use efficiency; specifically, when not in use, the forearm tube is located inside the upper arm tube under the limit of the limiting cylinder, and the second return spring is in a compressed state; when it is needed to be used, the limiting cylinder in the switch through hole is pressed to release the limit of the limiting cylinder. At this time, under the rebound force of the second return spring, the forearm tube can be quickly popped out from the upper arm tube, assisting manual labor to quickly put the device into working state, thereby improving the use efficiency.

[0022] (4) The present invention cooperates with the forearm tube and the fixing mechanism. When the forearm tube is extended out of the upper arm tube for use, the fixing block of the fixing mechanism extends out of the sliding hole to perform auxiliary lateral fixation on the arm, and cooperates with the fixing belt to improve the installation firmness. When the device is not in use and the forearm tube is extended into the upper arm tube, the fixing block is pushed into the sliding hole by the forearm tube, so that the fixing block releases the contact with the arm. At this time, it is only fixed to the shoulder by the fixing belt, which improves the comfort of the arm. Taken together, the present invention can not only improve the firmness of the device, but also improve the wearing comfort when the device is not in use.

[0023] (5) The present invention adopts the structural design of the clamping mechanism. When the forearm sleeve and the upper arm sleeve are worn and the two fixing straps are fixed on the shoulders, when the gloves are used to pick up heavy objects, the forearm sleeve and the upper arm sleeve will move slightly downward as a whole under the action of the heavy object. At this time, due to the fixation of the fixing straps, the pushing block will move upward relative to the upper arm sleeve. During the relative upward movement of the pushing block, the clamping plates will be pushed to rotate, so that the two clamping plates clamp the upper arm. The heavier the weight picked up, the tighter the two clamping plates clamp the upper arm. This can not only further improve the firmness of the device, but also share the pressure on the shoulders, thereby preventing local soreness and breakage of the fixing straps. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 The overall structure of a wearable portable power-assisting mechanical arm of the present invention is shown in FIG. Figure 1 ;

[0025] Figure 2 This is a schematic diagram of a dispersed structure of a wearable portable power-assisting mechanical arm of the present invention;

[0026] Figure 3 The partial structure of a wearable portable power-assisting mechanical arm of the present invention is shown in FIG. Figure 1 ;

[0027] Figure 4 The overall structure of a wearable portable power-assisting mechanical arm of the present invention is shown in FIG. Figure 2 ;

[0028] Figure 5 The partial structure of a wearable portable power-assisting mechanical arm of the present invention is shown in FIG. Figure 2;

[0029] Figure 6 This is a schematic diagram of the forearm tube structure of a wearable portable power-assisted mechanical arm of the present invention;

[0030] Figure 7 This is a schematic diagram of a partially dispersed structure of a wearable portable power-assisting mechanical arm of the present invention;

[0031] Figure 8 This is a partial structural schematic diagram of a wearable portable power-assisted robotic arm of the present invention.

[0032] The reference numerals are as follows:

[0033] Upper arm tube-100; limit cover-110; limit slot-111; switch through hole-120; rotation slot-130; rotation hole-131; fixed plate-140; installation slot-150; sliding hole-160; semi-enclosed plate-170; through hole-171; forearm tube-200; limit cylinder-210; return spring-211; support plate-220; first rotating shaft-230; guide block-240; fixed ring-250; guide inclined surface-260; telescopic slot-270; glove-300; load-bearing wire rope-310; roller mechanism-400; power-assisted wire rope-4 10; first roller-420; second roller-430; handle-440; limit spring-450; limit ring-451; fixing belt-500; slot-510; buckle-520; clamping mechanism-600; clamping plate-610; rotating rod-620; pushing block-630; tension wire rope-640; fixing mechanism-700; accommodating block-710; accommodating groove-711; fixing block-720; pressure spring-721; pop-up mechanism-800; guide plate-810; guide hole-811; second return spring-820; second limit ring-830. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the present invention clearer, the present invention is further described in detail below in conjunction with the embodiments. Of course, the specific embodiments described here are only used to explain the present invention and are not used to limit the present invention.

[0035] Although the steps in the present invention are arranged with numbers, they are not used to limit the order of the steps. Unless the order of the steps is clearly stated or the execution of a certain step requires other steps as a basis, the relative order of the steps can be adjusted. It is understood that the term "and / or" used in this article involves and covers any and all possible combinations of one or more of the associated listed items.

[0036] Example

[0037] like Figures 1 to 8As shown, a wearable portable power-assisting mechanical arm comprises an upper arm tube 100 and a forearm tube 200, wherein a fixing belt 500 is installed at the upper end of the upper arm tube 100 for fixing on the shoulder; the inner diameter of the upper arm tube 100 is larger than the outer diameter of the forearm tube 200; a supporting plate 220 is vertically fixed at the inner lower end of the forearm tube 200, and the lower end of the supporting plate 220 is fixedly connected to one side of the opening of the glove 300; the upper arm tube 100 and the forearm tube 200 are movably connected through a roller mechanism 400;

[0038] The roller mechanism 400 includes a first roller 420 and a second roller 430. A first rotating shaft 230 is fixedly connected to the middle of one side of the support plate 220, and the first roller 420 is rotatably connected to the first rotating shaft 230; a protrusion is fixedly provided at one end of the first rotating shaft 230 away from the support plate 220 for limiting the first roller 420; a mounting groove 150 is provided on one side of the upper end of the upper arm tube 100, and the second roller 430 is rotatably connected to the mounting groove 150 through the rotating shaft; a fixing plate 150 is fixedly provided on the upper end of the upper arm tube 100 and on the side opposite to the mounting groove 150 40, the lower end of the fixed plate 140 is fixedly connected with a power-assisting wire rope 410; the first roller 420 and the second roller 430 are both provided with annular grooves, and the power-assisting wire rope 410 passes over the bottom of the annular groove of the first roller 420 and the top of the annular groove of the second roller 430 in sequence and extends out of the upper arm tube 100; two fixing rings 250 are fixedly provided on the inner side of the upper end of the forearm tube 200, and the power-assisting wire rope 410 passes through the corresponding fixing rings 250; the power-assisting wire rope 410 is fixedly connected with a handle 440 at one end close to the second roller 430, and the handle 440 is close to the human body.

[0039] The present invention can save effort in picking up heavy objects and facilitate manual operation through the cooperation of the roller mechanism 400 and the upper arm tube 100 and the forearm tube 200, and can also be quickly retracted and stored for easy carrying; specifically, when it is necessary to pick up heavy objects, the upper arm tube 100 and the forearm tube 200 are worn on the corresponding arms, the palms are put on the gloves 300, and the fixing belt 500 is fixed on the shoulders; the heavy objects are picked up by the gloves 300, and the handle 400 is pulled obliquely by the other hand, and the two ends of the first roller 420 are lifted by the assisting wire rope 410 through the action of the assisting wire rope 410, and at this time, the single roller 420 is lifted by the assisting wire rope 410. The side-assisting steel wire rope 410 only bears half the weight of the heavy object, and then cooperates with the handle to pull diagonally, further reducing the force of the handle 400, so that the other hand only needs to pull the handle 400 with a force less than half of the weight, which can effectively share the weight of the hand, and share the weight to the shoulder and the other hand, thereby achieving the effect of labor-saving and assisting, preventing the situation where one hand cannot hold it, and both hands are too heavy to hold it, which is not conducive to movement, and facilitating manual operation; and, when not in use, by pulling the handle 440, the forearm tube 200 can be quickly extended into the upper arm tube 100, reducing the size of the mechanical arm, and facilitating storage and carrying.

[0040] It is worth noting that, as a use case of the present invention, the forearm tube 200 can also be worn on the upper arm, so that when not in use, the forearm tube 200 and the upper arm tube 100 can be located in the upper arm area, reducing the bulkiness of the mechanical arm, so that it is convenient for people to do other things, and the mechanical arm can be quickly deployed and used when it is needed; as for how to limit and fix, it will be described in detail later. In addition, the forearm tube 200 and the upper arm tube 100 of the present invention can both adopt a wooden structure, thereby effectively reducing the burden on people.

[0041] Furthermore, a limiting cover 110 is fixedly connected above the mounting groove 150, and the limiting cover 110 is opened on one side close to the inside of the upper arm tube 100, and a limiting groove 111 is vertically provided on the side of the limiting cover 110 close to the outside of the upper arm tube 100, and the assisting steel wire rope 410 passes through the limiting groove 111; a limiting spring 450 and a limiting ring 451 are sleeved on the assisting steel wire rope 410 between the limiting groove 111 and the handle 440, and the two ends of the limiting spring 450 are respectively fixedly connected to the handle 440 and the limiting ring 451; the outer diameter of the limiting ring 451 is larger than the width of the limiting groove 111; guide blocks 240 are provided on both sides of the first roller 420, and the guide blocks 240 are fixedly connected to the support plate 220; guide grooves are provided on the guide blocks 240 for limiting the assisting steel wire rope 410.

[0042] The present invention adopts the structural design of the roller mechanism 400, so when picking up light objects, there is no need to operate the handle 400, and one hand can be used to pick up the objects with ease and effort. Specifically, when one hand uses the glove 300 to pick up light objects, the object is received by the glove 300, and the forearm tube 200 will drop slightly, pulling the assisting wire rope 410; at this time, due to the limiting of the limiting ring 451, the limiting spring 450 is compressed, and the restoring force of the limiting spring 450 can reduce the weight of the single hand; at the same time, due to the structural design of the roller mechanism 400, the restoring force of the limiting spring 450 does not need to be too large to carry heavier objects, so one hand can pick up the objects with ease and effort.

[0043] It is worth mentioning that, through the limiting cover 110 and the guide block 240, the power-assisting wire rope 410 will not deviate during operation; at the same time, the dimensions of the upper arm tube 100 and the forearm tube 200 of the present invention are not close to the arm, so the arm will not hinder the operation of the power-assisting wire rope 410 in the upper arm tube 100 and the forearm tube 200; and, the mechanical arm is usually worn directly on the surface of the arm sleeve, which will not cause damage to the arm skin and will not be described in detail here.

[0044] Furthermore, a telescopic groove 270 is opened at the lower outer side of the forearm tube 200, and a limiting cylinder 210 is slidably connected in the telescopic groove 270, and one end of the limiting cylinder 210 is fixedly connected to the bottom of the telescopic groove 270 through a reset spring 211; the limiting cylinder 210 and the end away from the reset spring 211 are of a rounded structure; a switch through hole 120 is opened through the lower side of one side of the upper arm tube 100, and when the forearm tube 200 extends into the interior of the upper arm tube 100, the limiting cylinder 210 extends into the switch through hole 120 and is limited by the switch through hole 120.

[0045] By the limiting cooperation between the limiting cylinder 210 and the switch through hole 120, when the forearm tube 200 is extended into the upper arm tube 100, the forearm tube 200 can be limited and fixed, thereby reducing the volume of the mechanical arm and facilitating storage and carrying.

[0046] Furthermore, the assisting steel wire rope 410 located below the fixed plate 140 and below the second roller 430 is sleeved with a pop-up mechanism 800, and the pop-up mechanism 800 includes a guide plate 810, and the guide plate 810 is fixedly connected to the inner wall of the upper arm tube 100; a guide hole 811 is penetrated through the guide plate 810, and the assisting steel wire rope 410 passes through the corresponding guide hole 811; the assisting steel wire rope 410 located below the fixed plate 140 and below the second roller 430 is sleeved with a second return spring 820 and a second limit ring 830, and the two ends of the second return spring 820 are respectively fixedly connected to the corresponding guide plate 810 and the second limit ring 830.

[0047] The present invention can quickly pop out the forearm tube 200 in the upper arm tube 100 through the cooperation of the pop-up mechanism 800 and the limiting cylinder 210, thereby improving the use efficiency; specifically, when not in use, under the limitation of the limiting cylinder 210, the forearm tube 200 is located inside the upper arm tube 100, and the second return spring 820 is in a compressed state; when it is needed to be used, the limiting cylinder 210 in the switch through hole 120 is pressed to release the limiting cylinder 210. At this time, under the rebound force of the second return spring 820, the forearm tube 200 can be quickly popped out from the upper arm tube 100, assisting manual labor to quickly put the device into working state, thereby improving the use efficiency.

[0048] It is worth mentioning that the second return spring 820 of the pop-up mechanism 800 of the present invention does not need a large elastic force, and it only needs to enable the forearm tube 200 to pop out from the upper arm tube 100, so that the forearm tube 200 can be easily removed from the upper arm tube 100 for subsequent pull-down installation. A detailed description is not given here.

[0049] Furthermore, two fixing mechanisms 700 are symmetrically installed on two opposite surfaces of the side walls of the upper arm tube 100, and the fixing mechanism 700 includes a receiving block 710 fixedly connected to the outer side wall of the upper arm tube 100, and a plurality of receiving grooves 711 are vertically opened on the receiving block 710; a plurality of sliding holes 160 are opened through the side wall of the upper arm tube 100 adjacent to the receiving block 710, and the sliding holes 160 are connected with the receiving grooves 711 in a one-to-one correspondence; a fixing block 720 is slidably connected to the sliding hole 160, and the bottom of the receiving groove 711 and the fixing block 720 are fixedly connected by a pressure spring 721; when the pressure spring 721 is in an unstressed state, one end of the fixing block 720 extends out of the sliding hole 160.

[0050] The present invention cooperates with the forearm tube 200 and the fixing mechanism 700. When the forearm tube 200 is extended out of the upper arm tube 100 for use, the fixing block 720 of the fixing mechanism 700 extends out of the sliding hole 160 to perform auxiliary lateral fixation on the arm, and cooperates with the fixing belt 500 to improve the installation firmness; when the device is not in use and the forearm tube 200 is extended into the upper arm tube 100, the fixing block 720 is pushed into the sliding hole 160 by the forearm tube 200, so that the fixing block 720 releases the contact with the arm, and is now fixed to the shoulder only by the fixing belt 500, thereby improving the comfort of the arm; the present invention can improve the firmness of the device and improve the wearing comfort when the device is not in use.

[0051] It is worth noting that the drawings of the present invention are all schematic diagrams, and no further size limitation is made, and conventional adjustments can be made according to actual usage. At the same time, before the forearm tube 200 is put into the upper arm tube 100, the palm needs to be separated from the glove 300, which are all conventional operations and will not be described in detail here.

[0052] Furthermore, one end of the fixing block 720 away from the pressure spring 721 is a truncated cone structure, and the outer side of the upper end of the forearm tube 200 is correspondingly set as a guiding inclined surface 260.

[0053] The cooperation between the truncated cone structure of the fixing block 720 and the guiding inclined surface 260 at the upper end of the forearm tube 200 makes it easier for the forearm tube 200 to push the fixing block 720 into the sliding hole 160 .

[0054] Furthermore, two clamping mechanisms 600 are symmetrically installed on the other two opposite surfaces of the side wall of the upper arm tube 100, and the clamping mechanism 600 includes a clamping plate 610, and the clamping plate 610 is a curved plate structure with a gradually increasing thickness with a small thickness at the lower end and a large thickness at the upper end; a rotating groove 130 is symmetrically opened on the upper upper side wall of the upper arm tube 100, and one side of the rotating groove 130 is connected to the interior of the upper arm tube 100; a rotating hole 131 is opened at the bottom of both ends of the rotating groove 130, and the rotating hole 131 is close to the interior of the upper arm tube 100; a rotating rod 620 is fixedly provided on both sides of the lower end of the clamping plate 610, and the rotating rod 620 is located in the corresponding rotating hole 131 and is rotatably connected to the rotating hole 131.

[0055] Furthermore, a pushing block 630 is provided at the bottom of the rotating groove 130 between the clamping plate 610 and the side wall of the upper arm tube 100, and the two sides of the pushing block 630 are tightly fitted with the corresponding surface; both ends of the pushing block 630 are fixedly connected with a tension wire rope 640; a semi-enclosed plate 170 is fixedly provided at the notch above the rotating groove 130, and through holes 171 are opened at both ends of the semi-enclosed plate 170, and the tension wire rope 640 passes through the corresponding through holes 171 and is arranged outward.

[0056] Furthermore, the fixing belt 500 has two tension steel wire ropes 640 located on the same side of the two rotating grooves 130 and connected to one fixing belt 500; a buckle 520 is fixedly provided on one of the fixing belts 500, and a slot 510 is fixedly provided on the other fixing belt 500, and the buckle 520 is buckled with the slot 510; the shoulder is located between the two fixing belts 500.

[0057] According to the structural design of the clamping mechanism 600 of the present invention, after the forearm tube 200 and the upper arm tube 100 are worn and the two fixing straps 500 are fixed on the shoulders, when heavy objects are taken up through the gloves 300, under the action of the heavy objects, the forearm tube 200 and the upper arm tube 100 will move slightly downward as a whole. At this time, due to the fixation of the fixing strap 500, the pushing block 630 will move upward relative to the upper arm tube 100. During the relative upward movement of the pushing block 630, the clamping plate 610 is pushed to rotate, so that the two clamping plates 610 clamp the upper arm. The heavier the weight taken, the tighter the two clamping plates 610 clamp the upper arm. This can not only further improve the firmness of the device, but also share the pressure on the shoulder, thereby preventing local soreness and breakage of the fixing strap 500.

[0058] It is worth explaining that the clamping plate 610 of the present invention is a curved plate structure with a small thickness at the lower end and a large thickness at the upper end, and the thickness gradually increases. At the same time, the two sides of the push block 630 are tightly fitted with the corresponding surfaces. Therefore, it is only necessary to move the push block 630 up a short distance to enable the two clamping plates 610 to rotate significantly for clamping. At this time, the push block 630 is still in a limited state and will not move up too much. At the same time, through the limitation of the semi-enclosed plate 170 and the specific adjustment of the size, the push block 630 can be prevented from being out of the limited state, which is not described in detail here.

[0059] Further, a plurality of load-bearing steel wire ropes 310 are fixedly installed on the palm side of the glove 300, and one end of the load-bearing steel wire rope 310 is fixedly connected to the support plate 220. The load-bearing steel wire rope 310 plays an auxiliary load-bearing role, further reducing the burden of the heavy object on the palm.

[0060] The above is only a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and changes without departing from the creative concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A wearable portable power-assisting mechanical arm, characterized in that: The invention comprises an upper arm tube (100) and a forearm tube (200), wherein a fixing belt (500) is installed at the upper end of the upper arm tube (100) for fixing on the shoulder; the inner diameter of the upper arm tube (100) is larger than the outer diameter of the forearm tube (200); a supporting plate (220) is vertically fixed at the inner lower end of the forearm tube (200), and the lower end of the supporting plate (220) is fixedly connected to one side of the opening of the glove (300); the upper arm tube (100) and the forearm tube (200) are movably connected via a roller mechanism (400); The roller mechanism (400) comprises a first roller (420) and a second roller (430); a first rotating shaft (230) is fixedly connected to the middle of one side of the support plate (220); the first roller (420) is rotatably connected to the first rotating shaft (230); a protrusion is fixedly provided at one end of the first rotating shaft (230) away from the support plate (220) for limiting the position of the first roller (420); a mounting groove (150) is provided at one side of the upper end of the upper arm tube (100); the second roller (430) is rotatably connected to the mounting groove (150) via the rotating shaft; a fixing plate (150) is fixedly provided at the upper end of the upper arm tube (100) and at the side opposite to the mounting groove (150); 40), the lower end of the fixed plate (140) is fixedly connected with a power-assisting wire rope (410); the first roller (420) and the second roller (430) are both provided with annular grooves, the power-assisting wire rope (410) passes over the bottom of the annular groove of the first roller (420) and the top of the annular groove of the second roller (430) in sequence and extends out of the upper arm tube (100); two fixing rings (250) are fixedly provided on the inner side of the upper end of the forearm tube (200), and the power-assisting wire rope (410) passes through the corresponding fixing rings (250); the power-assisting wire rope (410) is fixedly connected with a handle (440) at one end close to the second roller (430), and the handle (440) is close to the human body.

2. A wearable portable power-assisting mechanical arm according to claim 1, characterized in that: A limit cover (110) is fixedly connected above the installation slot (150), and the limit cover (110) is opened on one side close to the interior of the upper arm tube (100). A limit slot (111) is vertically provided on the side of the limit cover (110) close to the exterior of the upper arm tube (100), and the assisting steel wire rope (410) passes through the limit slot (111); a limit spring (450) is sleeved on the assisting steel wire rope (410) between the limit slot (111) and the handle (440). ) and a limiting ring (451), the two ends of the limiting spring (450) are fixedly connected to the handle (440) and the limiting ring (451) respectively; the outer diameter of the limiting ring (451) is larger than the width of the limiting groove (111); guide blocks (240) are provided on both sides of the first roller (420), and the guide blocks (240) are fixedly connected to the support plate (220); a guide groove is provided on the guide block (240) for limiting the power-assisting wire rope (410).

3. A wearable portable power-assisting mechanical arm according to claim 1, characterized in that: A telescopic groove (270) is provided at the lower outer side of the forearm tube (200), and a limiting cylinder (210) is slidably connected in the telescopic groove (270), and one end of the limiting cylinder (210) is fixedly connected to the bottom of the telescopic groove (270) via a return spring (211); the end of the limiting cylinder (210) away from the return spring (211) is a rounded structure; a switch through hole (120) is provided through the lower side of one side of the upper arm tube (100), and when the forearm tube (200) extends into the interior of the upper arm tube (100), the limiting cylinder (210) extends into the switch through hole (120) and is limited by the switch through hole (120).

4. A wearable portable power-assisting mechanical arm according to claim 3, characterized in that: A pop-up mechanism (800) is sleeved on the assisting steel wire rope (410) located below the fixed plate (140) and below the second roller (430), and the pop-up mechanism (800) includes a guide plate (810), and the guide plate (810) is fixedly connected to the inner wall of the upper arm tube (100); a guide hole (811) is penetrated through the guide plate (810), and the assisting steel wire rope (410) passes through the corresponding guide hole (811); a second return spring (820) and a second limit ring (830) are sleeved on the assisting steel wire rope (410) located below the fixed plate (140) and below the second roller (430), and the two ends of the second return spring (820) are fixedly connected to the corresponding guide plate (810) and the second limit ring (830), respectively.

5. A wearable portable power-assisting mechanical arm according to claim 1, characterized in that: Two fixing mechanisms (700) are symmetrically installed on two opposite sides of the side wall of the upper arm tube (100), and the fixing mechanism (700) includes a receiving block (710) fixedly connected to the outer side wall of the upper arm tube (100), and a plurality of receiving grooves (711) are vertically opened on the receiving block (710); a plurality of sliding holes (160) are opened through the side wall of the upper arm tube (100) adjacent to the receiving block (710), and the sliding holes (160) are connected with the receiving grooves (711) in a one-to-one correspondence; a fixing block (720) is slidably connected to the sliding hole (160), and the bottom of the receiving groove (711) and the fixing block (720) are fixedly connected by a pressure spring (721); when the pressure spring (721) is in an unstressed state, one end of the fixing block (720) extends out of the sliding hole (160).

6. A wearable portable power-assisting mechanical arm according to claim 5, characterized in that: The end of the fixed block (720) away from the pressure spring (721) is a truncated cone structure, and the outer side of the upper end of the forearm tube (200) is correspondingly configured as a guide inclined surface (260).

7. A wearable portable power-assisting mechanical arm according to claim 5, characterized in that: Two clamping mechanisms (600) are symmetrically installed on the other two opposite surfaces of the side wall of the upper arm tube (100), and the clamping mechanism (600) includes a clamping plate (610), and the clamping plate (610) is a curved plate structure with a thickness that is thin at the lower end and thick at the upper end and gradually increases in thickness; a rotation groove (130) is symmetrically opened on the upper inner side wall of the upper arm tube (100), and one side of the rotation groove (130) is connected to the interior of the upper arm tube (100); a rotation hole (131) is opened at the bottom of both ends of the rotation groove (130), and the rotation hole (131) is close to the interior of the upper arm tube (100); a rotating rod (620) is fixedly provided on both sides of the lower end of the clamping plate (610), and the rotating rod (620) is located in the corresponding rotating hole (131) and is rotatably connected to the rotating hole (131).

8. A wearable portable power-assisting mechanical arm according to claim 7, characterized in that: A pushing block (630) is provided at the bottom of the rotating groove (130) between the clamping plate (610) and the side wall of the upper arm tube (100), and the two sides of the pushing block (630) are tightly fitted with the corresponding surface; both ends of the pushing block (630) are fixedly connected with a tension wire rope (640); a semi-enclosed plate (170) is fixedly provided at the notch above the rotating groove (130), and through holes (171) are opened at both ends of the semi-enclosed plate (170), and the tension wire rope (640) passes through the corresponding through holes (171) and is arranged outward.

9. A wearable portable power-assisting mechanical arm according to claim 8, characterized in that: There are two fixing belts (500), and the tension steel wire ropes (640) located on the same side of the two rotating grooves (130) are connected to one fixing belt (500); a buckle (520) is fixedly provided on one of the fixing belts (500), and a slot (510) is fixedly provided on the other fixing belt (500), and the buckle (520) is buckled with the slot (510); the shoulder is located between the two fixing belts (500).

10. A wearable portable power-assisting mechanical arm according to claim 1, characterized in that: A plurality of load-bearing steel wire ropes (310) are fixedly mounted on one palm side of the glove (300), and one end of the load-bearing steel wire rope (310) is fixedly connected to the support plate (220).

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