Wearable assistance mechanical equipment for underground coal mine

Abstract

The invention discloses coal mine underground wearable power-assisted mechanical equipment, and relates to the field of mechanical arms. According to the device, a rolled pull wire is arranged in a back take-up box, and the pull wire is connected with a forearm supporting piece after bypassing the shoulders of a wearer from the back; when the take-up driving motor in the small arm driving device drives the winding rotating shaft to rotate so as to wind up the pull wire, the pull wire pulls the small arm supporting piece to rotate forwards and lift up, a user is assisted in lifting up an object needing to be carried, then the action is kept, and the stress of the arms in the object carrying process is relieved.

Description

Technical Field

[0001] The present invention relates to the field of manipulators, and particularly to a wearable power-assisted mechanical device for underground coal mines. Background Art

[0002] The replacement of manual labor by wearable power-assisted exoskeleton robots is an important development direction for coal mine equipment, and many achievements have been made. Wearable power-assisted exoskeleton robots are a cutting-edge technology that combines knowledge from multiple disciplines such as mechanical engineering, electronic engineering, and computer science. Their main purpose is to enhance human strength and improve human functions by wearing mechanical devices outside the human body, thereby achieving the goal of enhancing human work ability and improving human work efficiency. In the mine environment, wearable exoskeleton robots are particularly useful because they can help miners complete heavy physical labor such as carrying and excavation, while monitoring the safety of workers' lives.

[0003] In the prior art, in many situations such as complex roadway maintenance and the excavation of small chambers, due to limited space, cumbersome preparation work, or the protection of existing facilities, large equipment is not suitable for use. Conventional wheeled or tracked robots cannot adapt to complex environments, lack flexibility, and are also difficult to apply; manual handling is still required underground. When carrying heavy objects, the arms are bent forward, and the arm muscles are in a tense contraction state. Repeating this action frequently, the muscles will produce metabolic wastes such as lactic acid due to overuse. These metabolic wastes stimulate nerve endings, resulting in arm muscle fatigue and soreness. If heavy objects are carried for a long time, the arms need to maintain a bent state, which will cause a dull pain in the arms. If heavy objects are carried continuously in a state of muscle fatigue, more serious problems such as muscle strains may occur. Summary of the Invention

[0004] The purpose of the present invention is to provide a wearable power-assisted mechanical device for underground coal mines, which can at least solve the problem of assisting the arms of operators.

[0005] The technical solution adopted by the present invention is as follows: The present invention provides a wearable assisting mechanical device for underground coal mines, which includes a wearable outer armor and an assisting robotic arm. Two assisting robotic arms extending and unfolding outward are symmetrically arranged on the back surface of the wearable outer armor; the assisting robotic arm includes a first support base, a first rotating arm, a shoulder threading tube, a shoulder rotating connecting piece, a large arm support piece, a small arm support piece, and a gripping piece; the first support base is installed on the back support plate of the wearable outer armor, and a first rotating shaft is arranged on the first support base; one end of the first rotating arm is rotatably connected to the first rotating shaft, and the other end extends obliquely upward beyond the shoulder of the wearable outer armor; a shoulder threading tube is installed at one end of the first rotating arm located at the shoulder of the wearable outer armor, and the shoulder threading tube is located above the shoulder of the wearable outer armor and extends forward beyond the shoulder of the wearable outer armor; a threading through hole is provided in the center of the shoulder threading tube; a rotatable shoulder rotating connecting piece is sleeved on the shoulder threading tube, the lower end of the shoulder rotating connecting piece is rotatably connected to the large arm support piece, the lower end of the large arm support piece is rotatably connected to the small arm support piece, and the lower end of the small arm support piece is rotatably connected to the gripping piece; a small arm driving device is provided on the back support plate, and the small arm driving device includes a wire winding driving motor, a gear transmission seat, a wire winding box, and a traction wire; the gear transmission seat is installed on the back support plate, a gear transmission mechanism and a wire winding rotating shaft are arranged in the gear transmission seat, the wire winding rotating shaft is installed on the gear transmission mechanism, the input end of the gear transmission mechanism is connected to the wire winding driving motor, and the gear transmission mechanism transmits power to drive the wire winding rotating shaft to rotate; the wire winding box is installed on the front side of the gear transmission seat, the wire winding rotating shaft passes through the wire winding box, and the part of the wire winding rotating shaft located in the wire winding box winds the traction wire; a wire outlet is provided on the side of the wire winding box, and the traction end of the traction wire extends out from the wire outlet; the traction wire passes through the threading through hole in the center of the shoulder threading tube, then passes out from the front side of the shoulder threading tube, and then is connected to the small arm support piece downward.

[0006] The beneficial effects of the present invention are as follows: The present invention provides a wearable assisting mechanical device for underground coal mines. In this device, a retractable traction wire is arranged in the wire winding box on the back, and the traction wire bypasses the wearer's shoulder from the back and then is connected to the small arm support piece; when the wire winding driving motor in the small arm driving device drives the wire winding rotating shaft to rotate, thereby winding the traction wire, the traction wire pulls the small arm support piece to rotate forward and lift, assisting the user to lift the object to be carried, and then maintaining this action, reducing the force on the arm during the process of carrying the object. Description of the Drawings

[0007] Figure 1 The figure shows the front structural display diagram of the wearable assisting mechanical device in Embodiment 1 of the present invention.

[0008] Figure 2 The figure shows the back structural display diagram of the wearable assisting mechanical device in Embodiment 1 of the present invention.

[0009] Figure 3 The figure shows the front structural display diagram of the wearable assisting mechanical device worn on a human body in Embodiment 1 of the present invention.

[0010] Figure 4 The figure shows the back structure of the wearable power-assisting mechanical device worn on the human body in Example 1 of the present invention.

[0011] Figure 5 The figure shows the installation position of a small arm driving device provided in Example 1 of the present invention.

[0012] Figure 6 Shown is a three-dimensional structural display diagram of the forearm driving device provided in Example 1 of the present invention.

[0013] Figure 7 Shown is a diagram showing the local structure of the power-assisting robotic arm in Example 1 of the present invention.

[0014] Figure 8 Shown is a structural display diagram of a shoulder threading tube provided in Example 1 of the present invention.

[0015] Figure 9 yes Figure 8 A display of the middle shoulder threading tube after adjustment.

[0016] Figure 10 yes Figure 8 Structural explosion diagram of the middle shoulder threading tube.

[0017] Figure 11 Shown is a diagram showing the installation position of the buffer mechanism provided by the present invention.

[0018] Figure 12 The figure shows the detailed structure of the buffer mechanism provided by the present invention. Figure 1 .

[0019] Figure 13 The figure shows the detailed structure of the buffer mechanism provided by the present invention. Figure 2 .

[0020] Figure 14 The structure of the variable diameter winding column of the present invention is shown as follows Figure 1 .

[0021] Figure 15 The structure of the variable diameter winding column of the present invention is shown as follows Figure 2 .

[0022] Figure 16 The structure of the variable diameter winding column of the present invention is shown as follows Figure 3 .

[0023] Figure 17 Shown is a diagram showing the installation structure of the upper arm restraint device of the present invention.

[0024] Figure 18The figure shows the structural display diagram of an improved assistive robotic arm of the present invention.

[0025] Figure 19 The figure shows a partial structure display inside the battery pack of the present invention Figure 1 。

[0026] Figure 20 The figure shows a partial structure display inside the battery pack of the present invention Figure 2 。

[0027] Figure 21 The figure shows the structural display diagram of the spray device on the right shoulder of the present invention.

[0028] Figure 22 The figure shows the schematic diagram of the internal structure of the bottom support base of the present invention.

[0029] Figure 23 The figure shows the schematic diagram after the buffer airbag is inflated of the present invention.

[0030] Figure 24 The figure shows the structural display diagram of the first leg assist device of the present invention.

[0031] Figure 25 The figure shows the position display diagram of the first leg assist device after wearing the present invention.

[0032] Figure 26 The figure shows the structural display diagram of the second leg assist device of the present invention.

[0033] Figure 27 The figure shows the display diagram of the second leg assist device after wearing the present invention.

[0034] Figure 28 The figure shows the structural display of the foot support frame of the present invention Figure 1 。

[0035] Figure 29 The figure shows the structural display of the foot support frame of the present invention Figure 2 。

[0036] Description of reference numerals: Wearable outer armor A, back support plate A1, chest plate A2, shoulder strap A3, elastic mounting strap A4, waistband A5, first buckle A6, waist armor A7, body-shaped imitation A701, hip armor connecting piece A702, second buckle A8, abdominal armor A9, abdominal plate A901, battery pack A10, elastic waterproof cloth A11, elastic connecting piece A12, storage battery A13, battery installation groove A14, battery case A15, cold air fan A16, air outlet A17, water cooling pipe A18, coolant storage tank A19, circulation pump A20, heat sink A21, radiator fan A22, mounting plate A23, shoulder cushion plate A24, shoulder armor A25; Power-assisted robotic arm B, first support base B1, first rotating shaft B101, first rotating arm B2, guide B201, guide base B201.1, guide ring B201.2, The first rotating connecting piece B202, the extension plate B202.1; the bending plate B203, the first connecting end face B203.1, the second connecting end face B203.2, the inclined panel B203.3, the first slip ring B204, the telescopic rod connecting shaft B205, the telescopic rod B206, the spherical hinge B207; the shoulder wire threading pipe B3, the main wire threading pipe B301, the limiting ring B302, the extension pipe B303, the first frustum B303.1, the first flange B303.2, the positioning turntable B304, the guiding column B304.1, the second flange B304.2, the end cover B305, the second slip ring B306, the positioning bolt B307; the shoulder rotating connecting piece B4, the big arm support piece B5, the small arm support piece B6, the holding piece B7; the second rotating shaft B8, the third rotating shaft B9, the fourth rotating shaft B10, the first connecting seat B11, the first strap B12, the holding part B13; the small arm driving device C, the wire winding driving motor C1, the gear transmission seat C2, the wire winding rotating shaft C201, the first gear C202, the first worm C203, the second gear C204, the third gear C205, the wire winding box C3, the wire outlet C301, the traction wire C4; the buffer mechanism D, the buffer seat D1, the grooved part D101, the first wire threading rack D102, the wire threading inlet D102.1, the first roller D102.2, the rotating rack D2, the upper support plate D201, the lower support plate D202, the wire winding column D203, the second wire threading rack D204, the wire threading outlet D204.1, the second roller D204.2, the rack body rotating shaft D205, the rotation angle D206, the buffer spring D3, the cylindrical block D4, the guide rail D5, the driving body D6, the adjusting threaded column D7; the movable joint E, the first joint rotating shaft E1, the second joint rotating shaft E2, the third joint rotating shaft E3, the first connecting body E4, the second connecting body E5; the spraying device F, the support pipe F1, the rotating seat F2, the bottom support seat F3, the driving gear F4, the driven gear F5, the adjusting motor F6, the spraying shell F7, the adjusting telescopic rod F8, the dust filter F9; the airbag storage shell G1, the buffer airbag G2; the thigh assisting rod H1, the thigh assisting motor H2, the thigh binding H3; the thigh support arm J1, the calf support arm J2, the foot support frame J3, the support shoe J301, the traction ear J301.1; the foot joint piece J302, the first foot joint connecting body J302.1, the second foot joint connecting body J302.2, the first foot joint connecting shaft J302.3, the second foot joint connecting shaft J302.4, the third foot joint connecting shaft J302.5, the reset tension spring J303, the reset frame J304. Detailed implementation manners

[0037] Embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention and should not be construed as limiting the present invention.

[0038] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

[0039] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "plurality" is two or more.

[0040] In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, the terms "mounted", "connected" and "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a direct connection or an indirect connection through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations. Embodiment 1

[0041] See Figure 1 Shown is a front structure display diagram of the wearable assistive mechanical device in Embodiment 1 of the present invention. Figure 2 Shown is a back structure display diagram of the wearable assistive mechanical device in Embodiment 1 of the present invention. Figure 3 Shown is a front structure display diagram of the wearable assistive mechanical device worn on a human body in Embodiment 1 of the present invention. Figure 4 Shown is a back structure display diagram of the wearable assistive mechanical device worn on a human body in Embodiment 1 of the present invention.

[0042] See Figures 1 to 4As shown, a wearable assistive mechanical device provided in Embodiment 1 of the present application mainly includes a wearable outer armor A and an assistive robotic arm B. The wearable outer armor A can be worn on the upper body of the user, and two assistive robotic arms B extending outward and symmetrically are arranged on the back surface of the wearable outer armor A; the two assistive robotic arms B are used to support the user's arms; when carrying an object, the assistive robotic arms B are used to drive the user's arms to bend forward and maintain the bent position, reducing the force on the arms when carrying the object.

[0043] As Figures 1 to 4 shown, in this embodiment, a back support plate A1 is provided on the back surface of the wearable outer armor A. In this embodiment, the back support plate A1 is an inverted trapezoidal plate, and the back support plate A1 is located above the user's waist. Figure 4 The middle part of the back support plate A1 covers the user's scapula; the inner surface of the back support plate A1 close to the user can be covered with a soft, breathable and elastic sponge layer; two assistive robotic arms B are symmetrically installed on the outer surface of the back support plate A1.

[0044] Refer to Figure 1 and Figure 2 shown, the two assistive robotic arms B have the same structure, including a first support base B1, a first rotating arm B2, a shoulder wire tube B3, a shoulder rotating connector B4, a large arm support B5, a small arm support B6, and a gripping member B7. The first support base B1 is installed on the back support plate A1, and a first rotating shaft B101 ( Figure 7 marked in the figure) is provided on the first support base B1; one end of the first rotating arm B2 is rotatably connected to the first rotating shaft B101, and the other end of the first rotating arm B2 extends obliquely upward beyond the shoulder of the wearable outer armor A. A shoulder wire tube B3 is installed at one end of the first rotating arm B2 located at the shoulder of the wearable outer armor A, and the shoulder wire tube B3 is located above the shoulder of the wearable outer armor A; the shoulder wire tube B3 extends forward beyond the shoulder of the wearable outer armor A; a wire passing through hole is provided in the center of the shoulder wire tube B3; a shoulder rotating connector B4 is sleeved on the shoulder wire tube B3, and the shoulder rotating connector B4 can rotate around the shoulder wire tube B3. A second rotating shaft B8 is provided at the lower end of the shoulder rotating connector B4, and the second rotating shaft B8 is located outside the shoulder of the wearable outer armor A; the lower end of the shoulder rotating connector B4 is rotatably connected to the large arm support B5 through the second rotating shaft B8; a third rotating shaft B9 is provided at the lower end of the large arm support B5, and the third rotating shaft B9 is located at the elbow joint. The lower end of the large arm support B5 is rotatably connected to the small arm support B6 through the third rotating shaft B9; a fourth rotating shaft B10 is provided at the lower end of the small arm support B6, and the fourth rotating shaft B10 is located at the wrist joint. The lower end of the small arm support B6 is rotatably connected to the gripping member B7 through the fourth rotating shaft B10; the gripping member B7 is used to accommodate the user's hand; As Figure 1As shown in the figure, the second rotating shaft B8, the third rotating shaft B9, and the fourth rotating shaft B10 are perpendicular to the shoulder wire conduit B3. The above-mentioned assisting robotic arm B of the present invention has five rotating joints, making the arm movement more flexible.

[0045] A forearm driving device C is also provided on the back support plate A1. The forearm driving device C is used to pull the forearm support member B6 to lift forward and maintain the forward-lifted posture, making it more labor-saving for the wearer when lifting and transferring an object.

[0046] As Figure 5 shown is a diagram showing the installation position of a forearm driving device C provided in Embodiment 1 of the present invention. Figure 6 shown is a three-dimensional structure diagram of the forearm driving device provided in Embodiment 1 of the present invention. The forearm driving device C mainly includes a wire-receiving driving motor C1, a gear transmission seat C2, a wire-receiving box C3, and a traction wire C4; the forearm driving device C is installed on the back support plate A1, and the forearm driving device C is located below the first support seat B1. As Figure 6 shown, the gear transmission seat C2 is installed on the back support plate A1. A gear transmission mechanism and a wire-winding rotating shaft C201 are provided inside the gear transmission seat C2. The input end of the gear transmission mechanism is connected to the wire-receiving driving motor C1, and the gear transmission mechanism transmits power to drive the wire-winding rotating shaft C201 to rotate.

[0047] As Figure 6 shown in the figure, in this embodiment, the gear transmission mechanism includes a first gear C202 provided inside the gear transmission seat C2. The wire-winding rotating shaft C201 is installed in the middle of the first gear C202, and the wire-winding rotating shaft C201 rotates synchronously with the first gear C202; a first worm C203 is provided inside the gear transmission seat C2 and beside the first gear C202. The upper end of the first worm C203 meshes with the first gear C202, and the bottom end of the first worm C203 is rotatably installed on the inner wall of the gear transmission seat C2; a second gear C204 is provided on the first worm C203; a wire-receiving driving motor C1 is provided below the gear transmission seat C2. The driving shaft of the wire-receiving driving motor C1 extends into the gear transmission seat C2, and a third gear C205 is provided on the driving shaft of the wire-receiving driving motor C1. The third gear C205 meshes with the second gear C204 on the first worm C203.

[0048] As Figure 6 shown in the figure, a circular wire-receiving box C3 is installed on the front side of the gear transmission seat C2. The wire-winding rotating shaft C201 passes through the axis of the wire-receiving box C3, and the part of the wire-winding rotating shaft C201 located inside the wire-receiving box C3 winds the traction wire C4; a rectangular wire outlet C301 is provided on the side of the wire-receiving box C3. The upper and lower edges of the wire outlet C301 are cylindrical; the traction end of the traction wire C4 extends out from the wire outlet C301. As Figure 5As shown in the figure, a plurality of guiding members B201 are provided on the first rotating arm B2. The guiding member B201 is composed of a cylindrical guiding seat B201.1 and an annular guiding ring B201.2. As Figure 2 shown in the figure, in this embodiment, two guiding members B201 are provided. Among them, the first guiding member is located beside the first support seat B1, and the second guiding member is located on the line connecting the axis of the shoulder threading pipe B3 and the first guiding member. The traction wire C4 sequentially passes through the first guiding member, the second guiding member, and the threading through hole in the center of the shoulder threading pipe B3. As Figure 1 shown in the figure, the traction wire C4 exits from the front side of the shoulder threading pipe B3 and then is connected downward to the forearm support member B6.

[0049] In the present invention, when the wire winding drive motor C1 drives the wire winding rotating shaft C201 to rotate, thereby winding up the traction wire C4, the traction wire C4 pulls the forearm support member B6 to rotate forward and lift, assisting the user to lift the object to be carried, and then maintaining this action to reduce the force on the arm during the process of carrying the object. When the wire winding drive motor C1 rotates in reverse, the traction wire C4 is released. The rotation of the wire winding drive motor C1 is controlled by a controller, and the controller is controlled by a control button or by voice control. This application does not limit this.

[0050] Furthermore, as Figure 7 shown is a partial structure display diagram of the assisting robotic arm B in Embodiment 1 of the present invention. In this embodiment, the first support seat B1 is in the shape of a cuboid, and the first support seat B1 is installed on the outer surface of the back support plate A1; a first rotating shaft B101 is provided on the first support seat B1, and the first rotating shaft B101 is arranged parallel to the back support plate A1 and extends obliquely downward; Figure 7 the first rotating shaft B101 on the left first support seat B1 in the figure extends obliquely downward to the left, pointing in the direction of the user's left arm; Figure 7 the first rotating shaft B101 on the right first support seat B1 in the figure extends obliquely downward to the right, pointing in the direction of the user's right arm; as Figure 7 shown in the figure, one end of the first rotating arm B2 is rotatably installed on the first rotating shaft B101, and the other end of the first rotating arm B2 extends to the user's shoulder.

[0051] As Figure 7As shown in the figure, in a specific embodiment of the present application, the first rotating arm B2 is assembled by a first rotating connector B202 and a bending plate B203; wherein, the first rotating connector B202 is composed of a cylindrical main body part and an extension plate B202.1 in the tangential direction; the bending plate B203 is formed by bending a long strip straight plate twice, and two parallel connecting end faces are formed at both ends of the bending plate B203, and the two connecting end faces are connected by an inclined panel B203.3; one of the connecting end faces of the bending plate B203 is stacked with the extension plate B202.1 of the first rotating connector B202, and they are fixedly connected together with bolts; for the convenience of subsequent description, the connecting end face connected to the first rotating connector B202 is named the first connecting end face B203.1, and the other connecting end face is named the second connecting end face B203.2; a shoulder wire tube B3 is installed on the front side of the second connecting end face B203.2, and a wire passing through hole is opened on the axis of the shoulder wire tube B3; a communication hole communicating with the wire passing through hole is provided on the second connecting end face B203.2; the edge of the communication hole is a first sliding ring B204 with a circular cross section.

[0052] As Figure 7 shown in the figure, the traction wire C4 extends out from the wire outlet C301 on the side of the wire reel C3, and then passes through the first guide member, the second guide member, the first sliding ring B204 on the second connecting end face B203.2, and the wire passing through hole in the center of the shoulder wire tube B3 in sequence, and the traction wire C4 passes out from the front side of the shoulder wire tube B3.

[0053] As Figure 8 shown is a structural display diagram of a shoulder wire tube B3 provided in Embodiment 1 of the present invention. Figure 9 is Figure 8 an adjusted display diagram of the shoulder wire tube B3 in the figure. Figure 10 is Figure 8 an exploded view of the structure of the shoulder wire tube B3 in the figure.

[0054] In a specific embodiment of the present application, the shoulder wire tube B3 includes a wire passing main tube B301, a limiting ring B302, an extension tube B303, a positioning turntable B304, and an end cover B305. One end of the wire passing main tube B301 is connected to the second connecting end face B203.2, and the wire passing main tube B301 extends forward, on which a shoulder rotating connector B4 is sleeved, and the shoulder rotating connector B4 can rotate around the wire passing main tube B301; the front end face of the shoulder rotating connector B4 is limited by an annular limiting ring B302, the center of the limiting ring B302 is a threaded hole, and an external thread is provided on the outer wall of the wire passing main tube B301, and the limiting ring B302 is in threaded fit with the wire passing main tube B301. The extension tube B303 is installed on the front side of the limiting ring B302 by threading, and the total length of the shoulder wire tube B3 can be adjusted by rotating the extension tube B303. A rotatable positioning turntable B304 is provided on the front end face of the extension tube B303. Specifically, asFigure 10 As shown, at the center of the front end face of the extension tube B303, a first frustum B303.1 protruding forward is formed. At the center of the first frustum B303.1 is a wire threading hole, and an annular second slip ring B306 is installed in the wire threading hole. The cross-section of the second slip ring B306 is circular. An annular positioning turntable B304 is sleeved on the first frustum B303.1, and the positioning turntable B304 can rotate around the first frustum B303.1; at the edge of the front end face of the extension tube B303, a first flange B303.2 protruding forward is provided, and a threaded hole is provided on the first flange B303.2. A positioning bolt B307 is installed in the threaded hole, and the positioning bolt B307 is used to press against the outer wall of the positioning turntable B304 to position it.

[0055] As Figure 9 shown, on the front end face of the positioning turntable B304, two parallel guide posts B304.1 are provided, and the traction wire C4 passes through between the two guide posts B304.1. At the edge of the front end face of the positioning turntable B304, an annular second flange B304.2 is further provided, and a notch is formed on the second flange B304.2. The two guide posts B304.1 are located at the notch; the end cover B305 is buckled on the second flange B304.2. As Figure 8 、 9 shown, the traction wire C4 sequentially passes through the wire threading main tube B301, the extension tube B303, and the second slip ring B306, and finally passes through between the two guide posts B304.1. In this embodiment, the total length of the shoulder wire threading tube B3 can be adjusted through the extension tube B303, and the direction in which the traction wire C4 extends out from the side can be adjusted through the positioning turntable B304. The shoulder wire threading tube B3 in this embodiment has an adjustment function and can adjust the position of the traction wire C4 on the outer side in front of the user's arm, avoiding interference caused by the contact between the traction wire C4 and the user's body.

[0056] In the present invention, the traction wire C4 is preferably made of a metal wire with good mechanical properties and resistance to pulling, such as stainless steel wire, nickel-titanium alloy wire, etc. Further, in order to avoid the sudden breakage of the traction wire C4 due to force, a buffer mechanism D can also be provided in this application to protect the traction wire C4. As Figure 11 shown is a diagram showing the installation position of the buffer mechanism D provided by the present invention. Figure 12 Shown is the detailed structure display of the buffer mechanism D provided by the present invention Figure 1 . Figure 13 Shown is the detailed structure display of the buffer mechanism D provided by the present invention Figure 2 .

[0057] As Figure 11 shown, in the present invention, the buffer mechanism D is provided on the first rotating arm B2 and is located between the two guide members B201. As Figure 12 、 Figure 13As shown, the buffer mechanism D includes a buffer seat D1, a rotating frame D2, and a buffer spring D3. The buffer seat D1 is composed of a channel-shaped part D101 and a first wire threading frame D102. The channel-shaped part D101 is fixed on the first rotating arm B2. The channel-shaped part D101 is perpendicularly connected to the first wire threading frame D102. The first wire threading frame D102 is located on one side of the first guiding member. A wire threading inlet D102.1 is provided at a position on the first wire threading frame D102 far from the channel-shaped part D101. A rotatable first roller D102.2 is provided on the upper edge of the wire threading inlet D102.1. A rotatable rotating frame D2 is arranged inside the buffer seat D1. The rotating frame D2 is composed of an upper support plate D201, a lower support plate D202, and a wire winding column D203. A cylindrical wire winding column D203 and a second wire threading frame D204 are installed between the upper support plate D201 and the lower support plate D202. A wire threading outlet D204.1 is provided on the second wire threading frame D204. The second wire threading frame D204 is opposite to the first wire threading frame D102. The wire threading outlet D204.1 is opposite to the wire threading inlet D102.1. The position of the wire threading outlet D204.1 is higher than that of the wire threading inlet D102.1. Rotatable second rollers D204.2 are provided on the upper and lower edges of the wire threading outlet D204.1. The entire rotating frame D2 is rotationally connected to the channel-shaped part D101 through a frame body rotating shaft D205. As Figure 12 , Figure 13 shown, a protruding rotating angle D206 is formed above each of the upper support plate D201 and the lower support plate D202. The two rotating angles D206 are inserted into the channel-shaped part D101 and are connected through two frame body rotating shafts D205. As Figure 13 shown, each of the rotating angles D206 of the upper support plate D201 and the lower support plate D202 is connected to the first wire threading frame D102 through a buffer spring D3.

[0058] As Figure 12 shown, the traction wire C4 is wound around the buffer mechanism D. The specific wire winding method is as follows: After passing through the first guiding member, the traction wire C4 first passes through the wire threading inlet D102.1 on the first wire threading frame D102, then spirally winds around the wire winding column D203 for one circle, and then passes out through the wire threading outlet D204.1 of the second wire threading frame D204. The traction wire C4 does not cross on the wire winding column D203. When the user's arm moves quickly, the traction wire C4 will drive the rotating frame D2 to rotate and stretch the buffer spring D3, avoiding the concentrated force on the traction wire C4 at the first guiding member and preventing it from breaking.

[0059] Furthermore, the wire winding column D203 can be further improved to a variable diameter structure for adjusting the length of the traction wire C4 wound around the wire winding column D203. As Figure 14 shown is the structural display of the variable diameter wire winding column D203 of the present invention Figure 1 . Figure 15 shown is the structural display of the variable diameter wire winding column D203 of the present inventionFigure 2 。 Figure 16 The structure of the variable-diameter winding post D203 of the present invention is shown as follows Figure 3 。

[0060] As Figure 16 shown in, a cylindrical tube with a frustum-shaped through hole at the center is equally divided into three cylindrical blocks D4, and sliding grooves are provided on the upper and lower sides of each cylindrical block D4, and the sliding grooves are slidably installed on the guide rails D5; as Figure 15 shown in, three annularly-arrayed guide rails D5 are installed on each of the upper support plate D201 and the lower support plate D202, and the three cylindrical blocks D4 can expand outward or contract inward along the six guide rails D5. As Figure 16 shown in, a frustum-shaped driving body D6 is installed in the frustum-shaped through hole in the middle of the three cylindrical blocks D4, and an adjusting threaded column D7 is installed at the center of the upper surface of the driving body D6; as Figure 15 shown in, threaded through holes are provided on the upper support plate D201, and the adjusting threaded column D7 passes through the threaded through holes provided on the upper support plate D201; as Figure 16 shown in, by rotating the adjusting threaded column D7, the driving body D6 is driven to move downward, so that the three cylindrical blocks D4 expand outward, and the length of the traction wire C4 wound outside the three cylindrical blocks D4 becomes longer.

[0061] As Figure 8 shown in, in a specific embodiment of the present application, a rotating shaft connection hole is provided at the upper end of the shoulder rotating connector B4, and the upper end of the shoulder rotating connector B4 is sleeved on the threading main pipe B301; the lower end of the shoulder rotating connector B4 is connected to the large arm support member B5 through the second rotating shaft B8.

[0062] Furthermore, in a preferred embodiment, the shoulder rotating connector B4 can also be further supported by providing a telescopic rod B206. As Figure 7 shown in, a telescopic rod connecting shaft B205 is provided on the first rotating connector B202, and the telescopic rod connecting shaft B205 is parallel to the first rotating shaft B101; one end of the telescopic rod B206 is rotatably connected to the telescopic rod connecting shaft B205, and the piston rod end of the telescopic rod B206 is connected to the shoulder rotating connector B4 through a spherical hinge B207. Specifically, as Figure 8 shown in, a ball seat is provided at the piston rod end of the telescopic rod B206, and a short rod is provided on the shoulder rotating connector B4, and the end of the short rod is connected to the ball head in the ball seat.

[0063] Furthermore, in a specific embodiment of the present application, a large arm restraint device is provided inside the large arm support member B5, and the large arm restraint device is used to restrain the user's large arm. The large arm support member B5 is a long strip-shaped profile, as Figure 17The figure shows the installation structure diagram of the big arm binding device of the present invention. The front and rear surfaces of the big arm support B5 are provided with chutes along the length direction. The big arm binding device includes a first connecting seat B11 and a first strap B12. A rectangular channel is provided in the middle of the first connecting seat B11. The first connecting seat B11 is sleeved on the big arm support B5. The first connecting seat B11 is provided with sliders corresponding to the chutes of the big arm support B5, and the sliders of the first connecting seat B11 are slidably installed in the chutes; the first connecting seat B11 can adjust its position along the length direction of the big arm support B5. A positioning bolt is provided on the outer side surface of the first connecting seat B11, and the positioning bolt passes through the threaded hole on the outer side surface of the first connecting seat B11 and abuts against the big arm support B5; the position of the first connecting seat B11 on the big arm support B5 is fixed by the positioning bolt.

[0064] The first connecting seat B11 is provided with a first strap B12, and the first strap B12 is composed of two straps that can be adhered together. The big arm support B5 is bound to the user's big arm through the big arm binding device; the effect is as shown in 3. The forearm support B6 is a long strip-shaped profile. The upper end of the forearm support B6 is connected to the lower end of the big arm support B5 through a third rotating shaft B9; the bottom end of the forearm support B6 is connected to the holding member B7 through a fourth rotating shaft B10.

[0065] As Figure 1 shown in, in a specific embodiment of the present application, the holding member B7 is triangular, and a holding portion B13 is provided inside the holding member B7. The holding portion B13 can be made of a flexible material, such as an elastic band; the holding portion B13 can also be a rigid rod. Refer to Figure 3 shown in, when wearing, the user's hand passes through the holding portion B13. Refer to Figure 3 、 Figure 4 shown in, when the wearable outer armor A is worn on the user's upper body, the two assistive robotic arms B are located on the outer sides of the user's two arms, and the traction line C4 is tractioned from the front upper side of the arm.

[0066] The above assistive robotic arm B of the present invention can only rotate in one direction at the wrist joint and elbow joint. In a preferred embodiment, it can be improved to a more multi-directional rotational connection method, making the wrist joint and elbow joint more flexible.

[0067] As Figure 18The figure shows a structural diagram of an improved assisting robotic arm B of the present invention. As shown in the figure, between the upper arm support B5 and the forearm support B6, and between the forearm support B6 and the gripping member B7, they are connected by a movable joint E. The movable joint E is provided with three mutually perpendicular rotating shafts and two connecting bodies, which are respectively named the first joint rotating shaft E1, the second joint rotating shaft E2, the third joint rotating shaft E3, and the first connecting body E4 and the second connecting body E5 for the convenience of description. The first connecting body E4 and the second connecting body E5 are in the shape of a cuboid. On two adjacent surfaces of the first connecting body E4, the rotatable first joint rotating shaft E1 and the second joint rotating shaft E2 are respectively installed. The second joint rotating shaft E2 is vertically connected to the third joint rotating shaft E3. As Figure 18 shown in the figure, the second joint rotating shaft E2 is vertically connected to the middle position of the third joint rotating shaft E3; the second connecting body E5 is rotatably connected to the third joint rotating shaft E3. The first connecting body E4 and the second connecting body E5 are respectively connected to two different components.

[0068] As Figure 18 shown in the figure, between the upper arm support B5 and the forearm support B6, they are connected by a movable joint E. Specifically, the first joint rotating shaft E1 on the first connecting body E4 is rotatably connected to the bottom end of the upper arm support B5, and the second connecting body E5 is fixedly connected to the forearm support B6.

[0069] As Figure 18 shown in the figure, between the forearm support B6 and the gripping member B7, they are connected by a movable joint E. Specifically, the first joint rotating shaft E1 on the first connecting body E4 is rotatably connected to the bottom end of the forearm support B6, and the second connecting body E5 is fixedly connected to the outer surface of the gripping member B7.

[0070] In order to play a protective role, in a specific embodiment of the present application, the wearable outer armor A can be designed in the following form. Refer to Figure 1 、 Figure 2 shown in the figure, the front of the wearable outer armor A is provided with a chest guard A2. The chest guard A2 shown in the figure is an inverted trapezoidal plate, and the side of the chest guard A2 facing the human body is covered with a soft and breathable elastic sponge layer; after the chest guard A2 is worn, it is located at the chest position of the user. The upper edge of the chest guard A2 and the back support plate A1 are connected together by two shoulder straps A3. Each shoulder strap A3 shown in the figure is composed of two relatively wide elastic connecting bands, and the two shoulder straps A3 have elasticity and stretchability.

[0071] As Figure 1As shown in the figure, two wide strip-shaped elastic mounting straps A4 are symmetrically arranged below the breastplate A2. The bottom ends of the two elastic mounting straps A4 are each detachably connected to the waist belt A5 through a first buckle A6. The two ends of the waist belt A5 are connected to the waist armor A7, and the middle of the waist belt A5 is detachably connected through a second buckle A8. The two first buckles A6 are located on both sides of the second buckle A8. An abdominal armor A9 is installed between the two elastic mounting straps A4. The abdominal armor A9 is made of an elastic material, such as elastic rubber. The abdominal armor A9 shown in the figure is assembled by three abdominal plates A901. The abdominal plates A901 protrude forward and are composed of three non-coplanar surfaces. The two ends of the abdominal plates A901 are fixedly connected to the elastic mounting straps A4 on both sides. The side of the abdominal plates A901 facing the human body is a cavity and does not fit against the human abdomen. This design can avoid the impact force directly hitting the abdomen and play a role in protecting the abdomen. The adjacent abdominal plates A901 are rotatably connected through a pin shaft, so that the whole abdominal plates A901 can be bent. When the human body bends down, the abdominal plates A901 are bent and deformed so that this action can be smoothly completed. The abdominal armor A9 shown in the figure can be assembled by more abdominal plates A901. The more abdominal plates A901 there are, the stronger the bending and deformation ability of the abdominal plates A901. The three abdominal plates A901 shown in the figure are only examples and do not limit the number of abdominal plates A901.

[0072] As Figure 2 shown in the figure, the waist armor A7 is composed of two symmetrically arranged imitation bodies A701; the imitation bodies A701 are arc-shaped curved surfaces. As Figure 3 , Figure 4 shown in the figure, the imitation bodies A701 extend from the midline position of the waist on the back of the human body to the hip joint of the human body; as Figure 4 shown in the figure, the two imitation bodies A701 are located above the buttocks of the human body and respectively wrap around both sides of the human thighs. The two imitation bodies A701 are connected through a bendable elastic hip armor connecting piece A702. The hip armor connecting piece A702 can be made of elastic rubber. The hip armor connecting piece A702 shown in the figure is strip-shaped.

[0073] As Figure 2 shown in the figure, a cuboid-shaped battery pack A10 is arranged in the middle of the back of the wearable outer armor A. Electronic devices such as a storage battery A13 and a control circuit board are installed inside the battery pack A10. The storage battery A13 supplies power to the device. The surface of the battery pack A10 facing the human body is covered with a soft and breathable elastic sponge layer. The battery pack A10 is connected to the upper back support plate A1 through an elastic waterproof cloth A11, and the lower surface of the battery pack A10 is connected to the two imitation bodies A701 through two bendable elastic connecting pieces A12.

[0074] As Figure 19 shown is a partial structure display inside the battery pack A10 of the present invention Figure 1 . Figure 20The figure shows a partial structure display inside the battery pack A10 of the present invention. Figure 2 . In the illustrated embodiment, an installation base plate is provided inside the battery pack A10. A battery installation groove A14 is provided on the installation base plate. The battery installation groove A14 shown in the figure is a circular groove, and a total of four battery installation grooves A14 are provided. One circular storage battery A13 is installed in each battery installation groove A14. A battery case A15 is installed on the battery installation groove A14, and the battery case A15 covers the storage battery A13.

[0075] Since the storage battery A13 generates heat during charging and long-term power supply, in a specific embodiment, a cooling device is designed inside the battery pack A10. As Figure 20 shown in the figure, there is a gap between the battery case A15 and the storage battery A13 inside it. A cold air fan A16 is installed in the center of the battery case A15, and multiple air outlets A17 are provided on the side edge of the battery case A15; Temperature sensors are installed on the two circular surfaces of the storage battery A13. When the temperature of the circular surface outside the storage battery A13 is higher than the preset value, air is blown into the battery case A15 through the cold air fan A16, and the air is discharged from the air outlets A17 on the side of the battery case A15. In addition, a water cooling pipe A18 is embedded in the battery installation groove A14. The water cooling pipe A18 is preferably made of a copper pipe or a copper alloy pipe; The water cooling pipe A18 is spirally wound, and the water inlet port and the water return port of the water cooling pipe A18 are connected to different positions of the coolant storage tank A19, and a circulation pump A20 is installed on the water cooling pipe A18. Figure 20 In the figure, the water cooling pipes A18 of the upper two storage batteries A13 are connected in parallel, and the right circulation pump A20 is used for circulating cooling; The water cooling pipes A18 of the lower two storage batteries A13 are connected in parallel, and the left circulation pump A20 is used for circulating cooling.

[0076] Figure 20 In the figure, the coolant storage tank A19 is cylindrical, and the coolant storage tank A19 is embedded in the center of the installation base plate and is located in the middle of the four storage batteries A13. The coolant storage tank A19 is provided with an upward opening, and a plug that can be rotated and opened is provided on the opening. Coolant is added to the coolant storage tank A19 through the opening. When the temperature of the circular surface inside the storage battery A13 is higher than the preset value, cooling is carried out through circulating cooling.

[0077] In addition, in order to keep the coolant in the coolant storage tank A19 at a relatively low heat exchange temperature, a semiconductor refrigeration sheet is installed on the surface of the coolant storage tank A19. The cold end of the semiconductor refrigeration sheet is attached to the coolant storage tank A19. The coolant storage tank A19 is preferably made of copper or a copper alloy; The hot end of the semiconductor refrigeration sheet faces outward, and a heat sink A21 is installed, and a heat dissipation fan A22 is installed outside the heat sink A21 to accelerate the heat dissipation of the hot end of the semiconductor refrigeration sheet.

[0078] Furthermore, due to the restraint of the assisting robotic arm B, the user's arm cannot move flexibly and quickly to the face; when dust and smoke are generated underground, it is easy for the dust and smoke to block the line of sight; without shielding and protection for the eyes, sand getting into the eyes will affect the movement. Therefore, in a specific embodiment of the present invention, blowing devices F are provided on the two shoulders of the wearable outer armor A for blowing in front of the user's face to disperse the dust and smoke floating towards the face.

[0079] Specifically, as Figure 21 shown is the structural display diagram of the blowing device F on the right shoulder of the present invention. As Figure 21 shown in [reference], the right shoulder strap A3 clamps a cuboid-shaped mounting plate A23 at the shoulder position; in order to ensure that the mounting plate A23 remains horizontal, a wedge-shaped shoulder cushion A24 is installed below the mounting plate A23. The shoulder cushion A24 is preferably made of shape memory sponge and fits well with the shoulder. Figure 21 In the embodiment shown in [reference], a shoulder armor A25 is also rotatably connected to the outside of the shoulder cushion A24. The shoulder armor A25 is a curved surface shell that can cover the user's shoulder to prevent the assisting robotic arm B from rubbing the user's shoulder when its movement amplitude is too large.

[0080] The blowing device F mainly includes a support tube F1 that can be bent and deformed. The bottom end of the support tube F1 is installed on a rotating seat F2; the rotating seat F2 is rotatably installed on a bottom support seat F3. As Figure 22 shown is the internal structural schematic diagram of the bottom support seat F3 of the present invention. A driving gear F4 and a driven gear F5 that mesh together are arranged inside the bottom support seat F3. The driven gear F5 is connected to the bottom end of the rotating seat F2, and the driving gear F4 is connected to the driving shaft of an adjustment motor F6. As Figure 21 shown in [reference], a blowing shell F7 is installed at the top end of the support tube F1. The blowing shell F7 shown in the figure is a cylindrical tube with an open top end. The bottom of the blowing shell F7 is connected to the rotating seat F2 through an adjustment telescopic rod F8; the adjustment telescopic rod F8 adopts an electric telescopic rod B206 and is hinged to the blowing shell F7 and the rotating seat F2 at both ends respectively. An electric fan is installed inside and at the bottom of the blowing shell F7, and an air inlet hole is provided on the side of the blowing shell F7, and a dust filter F9 is installed on the air inlet hole.

[0081] In the blowing device F, the electric fan generates wind to blow in front of the user's face to prevent the dust and smoke from approaching the eyes and can also reduce the dust and smoke from entering the human body through the mouth and nose. In this device, the rotation of the support tube F1 is controlled by the adjustment motor F6 to adjust the blowing direction; the support tube F1 can also be controlled by the adjustment motor F6 to swing back and forth to expand the blowing range. In this device, the pitching angle of the blowing shell F7 is controlled by controlling the extension or shortening of the adjustment telescopic rod F8 to expand the blowing range.

[0082] Furthermore, in a specific embodiment of the present application, an inflatable buffer device may also be provided on the back of the wearable outer armor A. The main purpose of this device is that when the person wearing this equipment accidentally falls backward, the inflatable buffer device is used to form an inflatable cushion, and the inflatable cushion contacts the ground to prevent the back structure of this equipment from directly hitting the ground, causing personal injury and equipment damage.

[0083] Specifically, as shown in 2, two airbag storage cases G1 are symmetrically arranged on both sides of the battery pack A10. A rectangular airbag outlet is provided on the airbag storage case G1, and a buffer airbag G2 that rapidly expands after inflation is installed in the airbag outlet; an inflation device is arranged in the airbag storage case G1, and the inflation device is used to rapidly inflate the buffer airbag G2, so that the buffer airbag G2 rapidly expands and protrudes from the human back, as Figure 23 shown is a schematic diagram of the buffer airbag G2 after inflation in the present invention. The buffer airbag G2 is in a cuboid shape after inflation, and the included angle between the two buffer airbags G2 is less than 90 degrees, preferably 30 degrees - 80 degrees; as shown in the figure, the included angle between the two buffer airbags G2 is an acute angle, which can prevent the two buffer airbags G2 from shifting outward under pressure, resulting in support failure. In addition, the contact surface of the buffer airbag G2 after inflation is an inclined surface, Figure 2 in, the contact surface of the buffer airbag G2 after inflation is a wavy curved surface, and the length of the upper edge is longer than that of the lower edge, so that the contact surface is an inclined surface; the purpose of this design is to make the upper body of the human body form a certain angle with the ground after touching the ground, which is convenient for getting up.

[0084] In the present invention, the inflation device can be in various forms. For example, the present application does not limit the specific form of the inflation device. Scheme 1, the inflation device is a compressed gas tank (CO 2 gas tank). The compressed gas tank is arranged in the airbag storage case G1. The compressed gas tank is connected to the inflation port of the buffer airbag G2 through an air delivery pipe. An electromagnetic valve is arranged at the air outlet of the compressed gas tank or the inflation port of the buffer airbag G2, and inflation is carried out after the electromagnetic valve is opened. Scheme 2, the inflation device is an electric air pump. The electric air pump is connected to the inflation port of the buffer airbag G2 through an air delivery pipe; the electric air pump is installed in the airbag storage case G1. Embodiment 2

[0085] Furthermore, the wearable power-assisted mechanical equipment of the present invention can also be increased with a leg power-assisted device, such as Figure 24 shown is a structural display diagram of the first leg power-assisted device of the present invention. Figure 25This is a position display diagram of the first leg assist device after wearing the present invention. The first leg assist device includes a thigh assist rod H1, a thigh assist motor H2, and a thigh strap H3. The two thigh assist rods H1 are rotatably installed at both ends of the waist armor A7, on both sides of the human thigh; a thigh assist motor H2 is installed on the outer side of each thigh assist rod H1, and the thigh assist rod H1 is driven to rotate by the thigh assist motor H2 to assist the thigh lifting action. A thigh strap H3 is installed on the inner side of the thigh assist rod H1, and the thigh strap H3 is used to tie the user's thigh.

[0086] As Figure 26 This is a structural display diagram of the second leg assist device of the present invention. Figure 27 This is a display diagram of the second leg assist device after wearing the present invention. The second leg assist device mainly includes a thigh support arm J1, a calf support arm J2, and a foot support frame J3. The two thigh support arms J1 are rotatably connected to both ends of the waist armor A7, and a calf support arm J2 is rotatably connected to the bottom end of each thigh support arm J1. A foot support frame J3 is installed at the bottom end of the calf support arm J2. As Figure 27 shown, the rotation connection point between the thigh support arm J1 and the calf support arm J2 is located at the human knee joint, and the rotation connection point between the calf support arm J2 and the foot support frame J3 is located at the human ankle joint. Straps are respectively arranged on the inner sides of the thigh support arm J1 and the calf support arm J2 to bind the user's thigh and calf; the foot support frame J3 is used to accommodate the user's foot.

[0087] In order to meet the walking needs on uneven ground, the present invention provides a foot support frame J3 with multiple degrees of freedom. As Figure 28 shown is the structural display of the foot support frame J3 of the present invention Figure 1 . Figure 29 shown is the structural display of the foot support frame J3 of the present invention Figure 2As shown in the figure, the foot support J3 mainly includes a support shoe J301. The heel position on the side of the support shoe J301 is connected to the bottom of the calf support arm J2 through a foot joint J302. The foot joint J302 is assembled by a first foot joint connecting body J302.1, a second foot joint connecting body J302.2, a first foot joint connecting shaft J302.3, a second foot joint connecting shaft J302.4, and a third foot joint connecting shaft J302.5. The first foot joint connecting body J302.1 and the second foot joint connecting body J302.2 are cuboid-shaped. On the adjacent surfaces of the first foot joint connecting body J302.1, there are a first foot joint connecting shaft J302.3 and a second foot joint connecting shaft J302.4 that are perpendicular to each other. Among them, the first foot joint connecting shaft J302.3 is rotatably connected to the bottom of the calf support arm J2; the second foot joint connecting shaft J302.4 is rotatably connected to the second foot joint connecting body J302.2; the inner side surface of the second foot joint connecting body J302.2 is rotatably connected to the side of the support shoe J301 through the third foot joint connecting shaft J302.5; the third foot joint connecting shaft J302.5 is perpendicular to the second foot joint connecting shaft J302.4. The connection through three shafts makes the foot movement more flexible and can meet the walking requirements on uneven ground.

[0088] In addition, a reset structure can be provided on the foot support J3 to assist the foot movement in resetting. Specifically, as Figure 28 , Figure 29 shown, on the outer side surface and the heel position of the support shoe J301, there is a traction ear J301.1 extending upward. The traction ear J301.1 is connected to the bottom of the calf support arm J2 through a reset spring J303. A reset frame J304 made of an elastic material is led out from the rear side of the second foot joint connecting body J302.2. The reset frame J304 winds around from the rear of the heel of the support shoe J301 to another side of the support shoe J301. The reset frame J304 extends multiple connecting rods, and the connecting rods are connected to the sole of the support shoe J301 together. When walking on an uneven road surface, such as an inclined plane with a certain inclination, the support shoe J301 can rotate and step on the inclined plane. At this time, the reset spring J303 and the reset frame J304 are deformed and store energy. After the support shoe J301 leaves the inclined plane, the reset spring J303 and the reset frame J304 recover their deformation and drive the support shoe J301 to return to the horizontal state.

[0089] It will be understood that the present invention is described by way of some embodiments, and those skilled in the art will know that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of the present invention. Additionally, under the teaching of the present invention, these features and embodiments can be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application belong to the scope protected by the present invention.

Claims

1. A wearable power-assisting mechanical device for underground coal mines, characterized in that: The invention comprises a wearable outer armor (A) and an assistive mechanical arm (B), wherein two assistive mechanical arms (B) are symmetrically arranged on the back of the wearable outer armor (A) and extend outward; the assistive mechanical arm (B) comprises a first support seat (B1), a first rotating arm (B2), a shoulder threading tube (B3), a shoulder rotating connecting piece (B4), an upper arm supporting piece (B5), a lower arm supporting piece (B6), and a gripping piece (B7); the first support seat (B1) is installed on a back support plate (A1) of the wearable outer armor (A), and a first rotating shaft (B101) is arranged on the first support seat (B1); one end of the first rotating arm (B2) is rotated to connect The first rotating arm (B2) is connected to the first rotating shaft (B101), and the other end extends obliquely upward beyond the shoulder of the wearable outer armor (A); the first rotating arm (B2) is located at one end of the shoulder of the wearable outer armor (A), and a shoulder threading tube (B3) is installed, the shoulder threading tube (B3) is located above the shoulder of the wearable outer armor (A), and extends forward beyond the shoulder of the wearable outer armor (A); a threading through hole is provided in the center of the shoulder threading tube (B3); a rotatable shoulder rotating connector (B4) is sleeved on the shoulder threading tube (B3), the lower end of the shoulder rotating connector (B4) is rotatably connected to the upper arm support (B5), and the lower end of the upper arm support (B5) is rotatable. The forearm support member (B6) is connected, and the lower end of the forearm support member (B6) is rotatably connected to the gripping member (B7); a forearm driving device (C) is provided on the back support plate (A1), and the forearm driving device (C) includes a wire-receiving driving motor (C1), a gear transmission seat (C2), a wire-receiving box (C3), and a traction line (C4); the gear transmission seat (C2) is installed on the back support plate (A1), and a gear transmission mechanism and a wire-reeling shaft (C201) are provided in the gear transmission seat (C2), and the wire-reeling shaft (C201) is installed on the gear transmission mechanism, and the input end of the gear transmission mechanism is connected to the wire-receiving driving motor (C1), and the gear transmission seat (C2) is provided with a gear transmission mechanism and a wire-reeling shaft (C201). The transmission mechanism transmits power to drive the winding shaft (C201) to rotate; a wire take-up box (C3) is installed on the front side of the gear transmission seat (C2), the wire take-up box (C3) is passed through the wire take-up box (C3), and the part of the wire take-up shaft (C201) located in the wire take-up box (C3) is wound around the traction wire (C4); a wire outlet (C301) is provided on the side of the wire take-up box (C3), and the traction end of the traction wire (C4) extends out from the wire outlet (C301); the traction wire (C4) passes through the wire threading through hole in the center of the shoulder wire threading tube (B3), then passes through the front side of the shoulder wire threading tube (B3), and then is connected downward to the forearm support member (B6).

2. The wearable power-assisting mechanical device for underground coal mines according to claim 1 is characterized in that: The lower end of the shoulder rotating connection member (B4) is rotationally connected to the upper arm support member (B5) via a second rotating shaft (B8), and the second rotating shaft (B8) is located on the outer side of the shoulder of the wearable exosuit (A); the lower end of the upper arm support member (B5) is rotationally connected to the lower arm support member (B6) via a third rotating shaft (B9), and the third rotating shaft (B9) is located at the elbow joint; the lower end of the lower arm support member (B6) is rotationally connected to the grip member (B7) via a fourth rotating shaft (B10), and the fourth rotating shaft (B10) is located at the wrist joint; the grip member (B7) is used to accommodate the user's hand; the second rotating shaft (B8), the third rotating shaft (B9), and the fourth rotating shaft (B10) are perpendicular to the shoulder threading tube (B3).

3. The wearable power-assisting mechanical device for coal mines according to claim 1 is characterized in that: The upper arm support member (B5) and the lower arm support member (B6), as well as the lower arm support member (B6) and the gripping member (B7) are connected via a movable joint (E); the movable joint (E) is provided with three mutually perpendicular rotation axes and two connectors, namely a first joint rotation axis (E1), a second joint rotation axis (E2), a third joint rotation axis (E3), a first connector (E4) and a second connector (E5); the first connector (E4) and the second connector (E5) are rectangular parallelepiped-shaped; two adjacent surfaces of the first connector (E4) are respectively provided with a rotatable first joint rotation axis (E1) and a second joint rotation axis (E2); the second joint rotation axis (E2) is vertically connected to the third joint rotation axis (E3); the second connector (E5) is vertically connected to the third joint rotation axis (E3); the first connector (E4) and the second connector (E5) are respectively connected to two different components.

4. The wearable power-assisting mechanical device for coal mines according to claim 1, characterized in that: The gear transmission mechanism comprises a first gear (C202) arranged inside the gear transmission seat (C2), a winding shaft (C201) is installed in the middle of the first gear (C202), and the winding shaft (C201) rotates synchronously with the first gear (C202); a first worm (C203) is arranged inside the gear transmission seat (C2) and next to the first gear (C202), the upper end of the first worm (C203) is meshed with the first gear (C202), and the first worm (C203) is meshed with the first gear (C202). The bottom end is rotatably mounted on the inner wall of the gear transmission seat (C2); a second gear (C204) is provided on the first worm (C203); a line-receiving drive motor (C1) is provided below the gear transmission seat (C2); a drive shaft of the line-receiving drive motor (C1) extends into the gear transmission seat (C2); a third gear (C205) is provided on the drive shaft of the line-receiving drive motor (C1); and the third gear (C205) is meshed with the second gear (C204) on the first worm (C203).

5. The wearable power-assisting mechanical device for underground coal mines according to claim 1, characterized in that: The first rotating arm (B2) is provided with a guide member (B201), which is composed of a cylindrical guide seat (B201.1) and an annular guide ring (B201.2); the traction line (C4) passes through the guide member (B201) and then through the shoulder threading tube (B3).

6. The wearable power-assisting mechanical device for underground coal mines according to claim 1, characterized in that: The shoulder threading tube (B3) comprises a threading main tube (B301), a limiting ring (B302), an extension tube (B303), a positioning turntable (B304), and an end cover (B305); one end of the threading main tube (B301) is connected to the first rotating arm (B2); the threading main tube (B301) extends forward and is sleeved with a shoulder rotating connector (B4); the front end surface of the shoulder rotating connector (B4) is limited by an annular limiting ring (B302); the extension tube (B303) is threadedly mounted on the front side of the limiting ring (B302); the front end surface of the extension tube (B303) is provided with a rotatable positioning turntable (B304); the edge of the front end surface of the extension tube (B303) is provided with a first flange ( B303.2), a threaded hole is provided on the first flange (B303.2), a positioning bolt (B307) is installed in the threaded hole, and the positioning bolt (B307) is used to press the outer wall of the positioning turntable (B304) to position it; the front end surface of the positioning turntable (B304) is provided with two parallel guide columns (B304.1), and the traction line (C4) passes through between the two guide columns (B304.1); the front end surface edge of the positioning turntable (B304) is also provided with an annular second flange (B304.2), a notch is formed on the second flange (B304.2), and the two guide columns (B304.1) are located at the notch; the end cover (B305) is buckled on the second flange (B304.2).

7. The wearable power-assisting mechanical device for underground coal mines according to claim 1, characterized in that: The first rotating arm (B2) is assembled from a first rotating connection member (B202) and a bent plate (B203); a telescopic rod connecting shaft (B205) is provided on the first rotating connection member (B202), and the telescopic rod connecting shaft (B205) is parallel to the first rotating shaft (B101); one end of the telescopic rod (B206) is rotatably connected to the telescopic rod connecting shaft (B205), and the piston rod end of the telescopic rod (B206) is connected to the shoulder rotating connection member (B4) via a spherical hinge (B207).

8. The wearable power-assisting mechanical device for underground coal mines according to claim 1, characterized in that: The wearable outer armor (A) is provided with a chest plate (A2) in front, and the chest plate (A2) is connected to the upper edge of the back support plate (A1) through two shoulder straps (A3); two elastic mounting belts (A4) are symmetrically provided below the chest plate (A2), and the bottom ends of the two elastic mounting belts (A4) are detachably connected to the waist belt (A5) through a first buckle (A6); the two ends of the waist belt (A5) are connected to the waist armor (A7), and the middle of the waist belt (A5) is detachably connected through a second buckle (A8); the two first buckles (A6) are located on both sides of the second buckle (A8); an abdominal armor (A9) is installed between the two elastic mounting belts (A4), and the abdominal armor (A9) is assembled from a plurality of abdominal plates (A901), the abdominal plate (A901) protrudes forward and is composed of three non-coplanar plates, and the two ends of the abdominal plate (A901) are fixedly connected to the elastic mounting belts (A4) on both sides; the abdominal plate (A901) faces the human body. The surface is hollow and does not fit the abdomen of the human body; the adjacent abdominal plates (A901) are rotatably connected by a pin shaft; the waist armor (A7) is composed of two symmetrically arranged imitation bodies (A701); the imitation bodies (A701) are arc-shaped surfaces; the imitation bodies (A701) extend from the waist midline position of the back of the human body to the hip joint of the human body; the two imitation bodies (A701) are located above the buttocks of the human body and respectively go around the two sides of the thighs of the human body; the two imitation bodies (A701) are connected by A bendable elastic hip armor connector (A702) is connected, a rectangular battery pack (A10) is arranged in the middle of the back of the wearable outer armor (A), and a storage battery (A13) and a control circuit board are installed inside the battery pack (A10); the battery pack (A10) is connected to the upper back support plate (A1) through an elastic waterproof cloth (A11), and the lower surface of the battery pack (A10) is connected to the two contoured bodies (A701) through two bendable elastic connectors (A12).

9. The wearable power-assisting mechanical device for underground coal mines according to claim 1, characterized in that: The two shoulders of the wearable outer armor (A) are provided with a blowing device (F) for blowing air in front of the user's face; the blowing device (F) comprises a bendable and deformable support tube (F1), and the bottom end of the support tube (F1) is mounted on a rotating seat (F2); The rotating seat (F2) is rotatably mounted on the bottom support seat (F3), a driving gear (F4) and a driven gear (F5) meshed together are arranged in the bottom support seat (F3), the driven gear (F5) is connected to the bottom end of the rotating seat (F2), and the driving gear (F4) is connected to the driving shaft of the adjusting motor (F6); a spray shell (F7) is installed at the top end of the support tube (F1), the spray shell (F7) is a cylindrical tube with an opening at the top, and the bottom of the spray shell (F7) is connected to the rotating seat (F2) through an adjustable telescopic rod (F8); an electric fan is installed inside and at the bottom of the spray shell (F7), an air inlet is arranged on the side of the spray shell (F7), and a dust filter (F9) is installed on the air inlet.

10. The wearable power-assisting mechanical device for underground coal mines according to claim 8, characterized in that: Leg assist devices are installed on both sides of the waist armor (A7).

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