Wearable power-assisted lifting mechanical arm device

Abstract

The utility model relates to a wearable assisting lifting mechanical arm device which comprises a waist fixing assembly. The whole mechanical arm main body obliquely extends upwards from back to front, the rear end of the mechanical arm main body is connected with the waist fixing assembly, and the mechanical arm main body is configured to enable the front end of the mechanical arm main body to deflect in the vertical direction relative to the rear end so as to adjust the pitching angle; the bracket assembly is arranged at the front end of the mechanical arm main body; the bracket assembly comprises a supporting frame used for being connected with the front end of the mechanical arm body and a bracket detachably connected to the supporting frame. The bracket assembly has the advantages of being convenient to disassemble and high in replacement efficiency.

Description

Technical Field

[0001] The utility model relates to the technical field of auxiliary training equipment, in particular to a wearable power-assisted lifting and supporting robotic arm device. Background Art

[0002] When conducting shooting training, it is necessary to hold a firearm with both hands. Since the firearm itself is heavy, holding it for a long time requires high physical strength from the user. Long-term shooting is likely to cause occupational diseases. For example, long-term tilting of the head can compress blood vessels, and long-term raising of the arm and maintaining a fixed posture can cause discomfort in the arms, joints, etc. When a policeman uses a gun, due to the harsh environment and the lack of a suitable (gun) shooting support and fixation point, the stability during aiming will be affected. When a policeman or a soldier is performing a security task, the shield used is relatively heavy and needs to be held with both hands, thus preventing the use of the other hand.

[0003] To solve the above technical problems, the Chinese invention patent application of the applicant's prior application CN201911205160.9 (application publication number: CN110788838A) discloses a power-assisted lifting and supporting robotic arm device, comprising: a waist clip assembly for being assembled at the back position of the waist of a user; a support arm assembly connected to the waist clip assembly, with its end extending laterally and being bendable in the horizontal direction; a support rod assembly comprising an adjusting rod whose bottom end is hinged to the end of the support arm assembly and an auxiliary connecting member connected between the end of the support arm assembly and the upper part of the adjusting rod and capable of keeping the adjusting rod in a corresponding angular state relative to the support arm assembly; and a bracket assembly connected to the top end of the adjusting rod for placing an object to be supported. This power-assisted lifting and supporting robotic arm device can be conveniently worn by the user at the back position of the waist. It is small in size and convenient to carry, meeting the needs of various shooting training of the user and being not restricted by factors such as the venue.

[0004] However, the above-mentioned assistive lifting robotic arm device still has certain deficiencies: First, in the above-mentioned assistive lifting robotic arm device, the bracket assembly is generally fastened to the top of the adjusting rod by bolts. In some usage scenarios, users need to quickly replace different types of bracket assembly structures to adapt to support different items. The above-mentioned screw fixation method makes the disassembly and assembly of the bracket assembly extremely inconvenient, with low replacement efficiency, reducing the user experience. Second, the arm assembly connected between the waist clip assembly and the support rod assembly can only be adjusted left and right in the horizontal direction and cannot be adjusted up and down. In this way, the supported object can only be adjusted in the pitch angle through the support rod assembly, resulting in limited adjustment ranges for the pitch angle and the front-back distance of the supported object, and unable to effectively meet the needs of users for a larger pitch angle adjustment range. Third, the waist clip assembly is only installed on a back plate worn on the user's back, that is, the center of the entire robotic arm device is basically concentrated in a central area or point on the user's back, which affects the reliability and stability of the robotic arm device. In a slightly strenuous usage environment, problems such as tilting and tipping may occur. In addition, since the robotic arm is located on the front side of the user and the support point is on the back side of the user, during actual use, the robotic arm will tend to tilt downward. Although a steel wire rope worn on the shoulder can provide support, in different usage environments, the pitch angle of the robotic arm is different, and the required length of the steel wire rope is also different. There is no existing technology that can adapt to the steel wire rope auxiliary support structure of the above-mentioned robotic arm. Utility Model Content

[0005] The first technical problem to be solved by the present utility model is to provide a wearable assistive lifting robotic arm device with convenient disassembly and high replacement efficiency of the bracket assembly in view of the current situation of the prior art.

[0006] The second technical problem to be solved by the present utility model is to provide a wearable assistive lifting robotic arm device with more reliable wearing and higher stability in view of the current situation of the prior art.

[0007] The third technical problem to be solved by the present utility model is to provide a wearable assistive lifting robotic arm device that can effectively meet the needs of users for a larger pitch angle adjustment range in view of the current situation of the prior art.

[0008] The fourth technical problem to be solved by the present utility model is to provide a wearable assistive lifting robotic arm device that can be adapted to and closely fit the user's waist, making the user's wearing more stable and reliable in view of the current situation of the prior art.

[0009] The technical solution adopted by the present utility model to solve the first technical problem is as follows: A wearable assistive lifting robotic arm device, comprising:

[0010] A waist fixing assembly;

[0011] The robotic arm main body extends obliquely upward from back to front as a whole. The rear end of the robotic arm main body is connected to the above-mentioned waist fixing component, and the robotic arm main body is configured such that its front end can deflect relative to the rear end in the vertical direction to adjust the pitching angle;

[0012] The bracket assembly is provided at the front end of the robotic arm main body;

[0013] The bracket assembly includes a support frame for connecting to the front end of the robotic arm main body and a bracket detachably connected to the support frame.

[0014] In order to make the disassembly and assembly of the bracket assembly more convenient and fast and ensure the reliability of the bracket assembly after installation, the support frame has a connecting column extending outward, and the outer peripheral wall of the connecting column has a radially concave third positioning recess;

[0015] The bracket includes a bracket main body, a connecting sleeve connected to the bracket main body, and an operating sleeve. The connecting sleeve has an installation channel for the connecting column to extend into it and a positioning hole penetrating from its outer peripheral wall to the installation channel. There are at least two of the above positioning holes arranged at intervals along the circumferential direction of the connecting sleeve,

[0016] Ball bearings equal in number to the positioning holes on the connecting sleeve. Each ball bearing is movably arranged in the corresponding positioning hole along the radial direction of the connecting sleeve, and can move inward to be stuck into the third positioning recess of the connecting column and can move outward to be disengaged from the third positioning recess;

[0017] The operating sleeve is sleeved outside the connecting sleeve in a manner that can axially move relative to the connecting sleeve. The inner peripheral wall of the operating sleeve is conical. The operating sleeve has a locked state in which it radially presses each ball bearing to be stuck into the corresponding third positioning recess on the connecting column and an unlocked state in which it releases the radial pressure on each ball bearing to allow each ball bearing to be disengaged from the corresponding third positioning recess as its axial position changes.

[0018] In order to enable the operating sleeve to automatically rebound to move to the locked position when not subjected to external force, a fifth elastic member is further included. The fifth elastic member acts on the operating sleeve and makes the operating sleeve always have a tendency to move from the position where it is in the unlocked state to the position where it is in the locked state.

[0019] The above-mentioned fifth elastic member can adopt various existing technologies and can include various elastic elements such as compression springs, torsion springs, and spring plates. However, in order to better cooperate with the above-mentioned connecting sleeve and operating sleeve, the fifth elastic member is a fifth spring sleeved on the connecting sleeve. This fifth spring is located within the operating sleeve. The inner peripheral wall of the operating sleeve has a second limiting stop portion extending radially inward. The first end of the fifth spring abuts against the second limiting stop portion of the operating sleeve, and the second end abuts against the bracket body or the connecting sleeve.

[0020] In order to limit the operating sleeve axially and prevent it from detaching from the connecting sleeve under the action of the fifth elastic member, the connecting sleeve includes a small-diameter section adjacent to the bracket body and a large-diameter section away from the bracket body. A limiting step is correspondingly formed at the connection position between the small-diameter section and the large-diameter section on the outer peripheral wall of the connecting sleeve. Each of the positioning holes is opened on the large-diameter section of the connecting sleeve. The second limiting stop portion of the operating sleeve abuts against the limiting step.

[0021] Generally, the inner peripheral wall of the operating sleeve can be a conical structure as a whole, or only a section in the axial direction can be a conical structure. Preferably, the operating sleeve has a first port adjacent to the support plate body and a second port away from the support plate body. The inner peripheral wall of the operating sleeve is set as a conical structure near its second port.

[0022] In order to achieve axial locking between the bracket assembly and the connecting column and allow the two to rotate relative to the axis of the connecting column, improving the convenience of application, the outer peripheral wall of the connecting column has a radially concave annular groove, and each of the balls can be inserted into this annular groove, which constitutes the above-mentioned third positioning recess.

[0023] In order to facilitate the angular adjustment of the object placed on the bracket assembly in the up-and-down and left-and-right directions, the support frame includes a first support frame vertically arranged at the front end of the robotic arm body and a second support frame horizontally connected to the first support frame. The bottom end of the first support frame is rotationally connected to the front end of the robotic arm body through a first rotating sleeve. The second support frame is rotationally connected to the top end of the first support frame through a second rotating sleeve. The axis of the first rotating sleeve is perpendicular to the axis of the second rotating sleeve. The bracket is connected to the second support frame.

[0024] In order to simplify the structure of the robotic arm main body and ensure the stability of its up-and-down rotation adjustment, the robotic arm main body includes an arm component and a support rod component that are sequentially connected in its length direction. The first end of the arm component is connected to the waist fixing component, which constitutes the rear end of the robotic arm main body. The second end is connected to the support rod component. The support rod component is a four-bar linkage mechanism that extends obliquely forward and upward as a whole and has an adjustable pitching angle. The bottom end of the support rod component is connected to the second end of the arm component. An auxiliary connecting rod is also provided between the second end of the arm component and the upper part of the support rod component, and the auxiliary connecting rod can keep the support rod component in a corresponding angular state relative to the arm component.

[0025] The above-mentioned auxiliary connecting rod can be a spring member or a rod whose length can be telescopically adjusted, as long as the auxiliary connecting rod can make the adjusting rod deflect at an angle relative to the arm component and can be kept in a corresponding angular state. In order to further facilitate the angle adjustment of the adjusting rod and be able to relatively stably maintain it within a corresponding angular range, the auxiliary connecting rod is a tension spring or a damping rod (commonly known as: hydraulic strut, gas spring, hydraulic rod, support rod, gas-supported up-flipping telescopic rod or lifting pneumatic rod). Preferably, the auxiliary connecting rod is a damping rod with adjustable length telescoping.

[0026] When the auxiliary connecting member is a tension spring, the two ends of the tension spring are respectively connected between the end of the arm component and the upper part of the adjusting rod. In the use state, an obtuse angle is formed between the adjusting rod and the arm component. Under the action of the tension spring, the top end of the adjusting rod has a tendency to deflect upward, so that the bracket component provided at the top end of the adjusting rod can provide an upward supporting force for the placed item. When the auxiliary connecting rod is a damping rod, the damping rod can be selected as a hydraulic damping rod or a pneumatic damping rod. In the use state, an obtuse angle is also formed between the adjusting rod and the arm component. Under the action of the damping rod, the top end of the adjusting rod can be supported. The damping rod can be selected according to the weight of the supported item to ensure that sufficient supporting force can be provided.

[0027] In order to simplify the structure of the support rod component, the above-mentioned four-bar linkage mechanism includes a first adjusting rod, a second adjusting rod, a first connecting seat and a second connecting seat. The first adjusting rod and the second adjusting rod are arranged in parallel. The lower ends of the first adjusting rod and the second adjusting rod are both hinged to the first connecting seat, and the upper ends of the first adjusting rod and the second adjusting rod are both hinged to the second connecting seat. The bracket component is connected to the second connecting seat.

[0028] As an improvement, the lower end of the auxiliary connecting rod is rotatably connected to the first connecting seat, and the upper end is rotatably connected to the second connecting seat, the first adjusting rod or the second adjusting rod.

[0029] The technical solution adopted by the present utility model to solve the second technical problem is as follows: In order to make the user's wearing more secure and stable, the waist fixing assembly includes a chain belt assembly for surrounding the user's waist. The chain belt assembly includes an unclosed chain belt portion formed by chain belt sections that are sequentially rotatably connected to each other and restraint belt portions connected to the two ends of the chain belt portion. The rear end of the robotic arm main body is connected to the chain belt section of the chain belt portion.

[0030] In order to effectively meet the needs of the user for a larger pitching angle adjustment range, the rear end of the robotic arm main body is rotatably connected to the chain belt portion in a manner that can rotate relative to the chain belt portion around an axis extending horizontally and whose position is adjustable.

[0031] In order to realize the rotational connection between the robotic arm main body and the waist fixing assembly, a rotation adjustment device is provided on the outer side of the chain belt portion. The rotation adjustment device includes:

[0032] A mounting seat, which is fixed relative to the chain belt portion and has a placement chamber with an open front portion;

[0033] A movable seat, which is rotatably connected to the mounting seat through a first rotating shaft and covers the open front portion of the placement chamber. A positioning tooth disc is further provided on one side of the movable seat facing the mounting seat. First positioning convex teeth are arranged in a circumferential direction centered on the first rotating shaft on the side wall of the positioning tooth disc, and a first positioning concave portion is defined between two adjacent first positioning convex teeth;

[0034] A top column, which is movably arranged in the placement chamber along a direction parallel to the axis of the first rotating shaft. The end of the top column can be inserted into the corresponding positioning recess of the positioning tooth disc to limit the rotation of the movable seat relative to the mounting seat;

[0035] A first elastic member, which acts on the top column and makes the top column always have a tendency to move towards the movable seat;

[0036] The rear end of the robotic arm main body is connected to the movable seat.

[0037] The technical solution adopted by the present utility model to solve the third technical problem is as follows: It further includes a pull rope and a pull rope winding and releasing device for releasing and winding the pull rope. The pull rope winding and releasing device is arranged on the waist fixing assembly. The pull rope is wound around the pull rope winding and releasing device, and the free end bypasses above the user's shoulder and is connected to the robotic arm main body. By providing upward support to the robotic arm main body on the front side through the pull rope, the problem of the robotic arm main body tilting downward can be avoided. On this basis, the length of the above-mentioned pull rope can be flexibly adjusted through the winding and releasing device, thereby ensuring the flexibility of the angle adjustment of the robotic arm main body and improving the user experience.

[0038] Generally, the rewinding and releasing device can adopt a device for manual rewinding or releasing, and is locked by a locking device after the pulling rope is released or rewound in place. However, in some usage scenarios, the main body of the robotic arm will float slightly up and down. If the length of the pulling rope is fixed at this time, the problem of natural bending will occur, affecting the user experience. Therefore, in the preferred solution, the pulling rope rewinding and releasing device includes:

[0039] A fixed seat, connected to the waist fixing component;

[0040] A winch, rotatably connected to the above-mentioned fixed seat, around which the pulling rope is wound;

[0041] A torsion spring, acting on the winch and making the winch always have a tendency to rotate in the direction of rewinding the pulling rope.

[0042] The technical solution adopted by the present utility model to solve the fourth technical problem is that the waist fixing component includes a chain belt component for surrounding the user's waist and a support plate, and the support plate is arranged inside the chain belt component in a manner that can move in and out relative to the chain belt component and the position is adjustable. The user's waist is supported by the support plate, and it can move in and out relative to the chain belt component to adjust the position, so as to better fit and firmly support the user's waist, ensuring the stability after the user wears the robotic arm device and improving the user experience.

[0043] Generally speaking, the position adjustment of the support plate relative to the chain belt component can be a linear movement of the support plate as a whole relative to the chain belt component, or an angular deflection of the support plate as a whole relative to the chain belt component, or both. In the preferred solution, the support plate extends vertically as a whole, and its lower part is rotatably connected to the bottom of the chain belt component through a horizontally extending pin shaft. The upper part of the support plate is connected with an adjusting screw rod that extends outwards and is connected to the chain belt component. The inner end of the adjusting screw rod is rotatably connected to the support plate, and the outer end of the adjusting screw rod exposes outside the chain belt component and serves as an operation part for the user to rotate the adjusting screw rod.

[0044] In order to adapt to users of different body types, the chain belt component further includes a length adjustment component connected to two adjacent chain belt sections for adjusting the distance between the two chain belt sections. The two chain belt sections connected by the above length adjustment component are respectively denoted as the first chain belt section and the second chain belt section. The length adjustment component includes:

[0045] A connecting plate, rotatably connected to the first chain belt section around a vertically extending axis, and the connecting plate has a strip-shaped tooth part arranged along its length direction;

[0046] The sliding carriage has a slideway with a side opening for sliding and limiting the connecting plate therein along the length direction of the connecting plate. The sliding carriage is rotatably connected to the second chain link around an axis extending vertically, and a transmission gear that is in driving cooperation with the strip-shaped tooth portion of the connecting plate is further provided on the sliding carriage;

[0047] The knob assembly includes an operating knob rotatably provided on the sliding carriage. The operating knob further has a transmission shaft sleeve on which the transmission gear is sleeved to drive the transmission gear to rotate;

[0048] The locking member is provided on the sliding carriage. The locking member and the operating knob are configured to be able to approach each other relatively so that the locking member acts on the operating knob to limit the rotation of the operating knob and to be able to move away relatively so that the locking member releases the limit on the operating knob and allows the operating knob to rotate.

[0049] In order to simplify the limit cooperation structure between the locking member and the operating knob, a connecting shaft for installing the operating knob is provided on the sliding carriage. The operating knob is rotatably sleeved on the connecting shaft and can axially slide along the connecting shaft. The locking member includes a limit disk provided on the sliding carriage;

[0050] On one side of the limit disk facing the operating knob, a plurality of third positioning recesses are arranged in sequence in the circumferential direction centered on the axis of the connecting shaft. On one side of the operating knob facing the limit disk, a second positioning convex tooth protruding outward is provided. The second positioning convex tooth can be engaged with or disengaged from the corresponding second positioning recess as the operating knob axially slides along the connecting shaft; or

[0051] On one side of the limit disk facing the operating knob, a plurality of second positioning convex teeth that all protrude outward and are arranged in sequence in the circumferential direction centered on the axis of the connecting shaft are provided. On one side of the operating knob facing the limit disk, a second positioning recess recessed inward is provided. The second positioning recess can allow the corresponding second positioning convex tooth to be engaged thereinto or to be disengaged therefrom as the operating knob axially slides along the connecting shaft.

[0052] Compared with the prior art, the advantages of the present utility model are as follows: The bracket assembly includes a support frame for connecting to the front end of the robotic arm main body and a bracket connected to the support frame. Among them, the bracket is detachably connected to the support frame, and the user can quickly replace different types of bracket assembly structures according to needs to adapt to supporting different items. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 It is a three-dimensional structural schematic diagram (state after being worn by the user) of the wearable assistive lifting robotic arm device according to an embodiment of the present utility model;

[0054] Figure 2Schematic three-dimensional structure diagram of the wearable power-assisted lifting robotic arm device according to an embodiment of the present utility model;

[0055] Figure 3 Schematic three-dimensional structure diagram of the wearable power-assisted lifting robotic arm device according to an embodiment of the present utility model from another angle;

[0056] Figure 4 Schematic three-dimensional structure diagram of the length adjustment assembly of the robotic arm device according to an embodiment of the present utility model;

[0057] Figure 5 Schematic three-dimensional structure diagram of the length adjustment assembly of the robotic arm device according to an embodiment of the present utility model from another angle;

[0058] Figure 6 Exploded view of the length adjustment assembly of the robotic arm device according to an embodiment of the present utility model;

[0059] Figure 7 Cross-sectional view of the length adjustment assembly of the robotic arm device according to an embodiment of the present utility model (operation knob in locked state);

[0060] Figure 8 Cross-sectional view of the length adjustment assembly of the robotic arm device according to an embodiment of the present utility model (operation knob in externally pulled and unlocked state);

[0061] Figure 9 Schematic three-dimensional structure diagram of the operation knob according to an embodiment of the present utility model;

[0062] Figure 10 Schematic three-dimensional structure diagram of the rotation adjustment device according to an embodiment of the present utility model;

[0063] Figure 11 Exploded view of the rotation adjustment device according to an embodiment of the present utility model;

[0064] Figure 12 Schematic three-dimensional structure diagram of the inner side angle of the support arm assembly according to an embodiment of the present utility model;

[0065] Figure 13 Schematic three-dimensional structure diagram of the movable seat according to an embodiment of the present utility model;

[0066] Figure 14 Schematic cross-sectional three-dimensional view of the rotation adjustment device axially cut along the second connecting shaft according to an embodiment of the present utility model;

[0067] Figure 15 Cross-sectional view of the rotation adjustment device vertically cut at the installation groove of the movable seat according to an embodiment of the present utility model;

[0068] Figure 16Schematic three-dimensional structure diagram of the mounting base of the rotation adjustment device according to an embodiment of the present utility model;

[0069] Figure 17 Schematic three-dimensional structure diagram of the inner angle of the chain belt assembly according to an embodiment of the present utility model;

[0070] Figure 18 Exploded view of the connection structure between the chain belt assembly and the support tray according to an embodiment of the present utility model;

[0071] Figure 19 Another-angle exploded view of the connection structure between the chain belt assembly and the support tray according to an embodiment of the present utility model;

[0072] Figure 20 Schematic three-dimensional structure diagram of the winding and unwinding device according to an embodiment of the present utility model;

[0073] Figure 21 Exploded view of the winding and unwinding device according to an embodiment of the present utility model;

[0074] Figure 22 Vertical sectional view taken along the axial direction of the first transmission shaft of the winding and unwinding device according to an embodiment of the present utility model;

[0075] Figure 23 Schematic three-dimensional structure diagram of the bracket assembly according to an embodiment of the present utility model;

[0076] Figure 24 Exploded view of the bracket assembly according to an embodiment of the present utility model;

[0077] Figure 25 Vertical sectional view taken along the axial direction of the connecting shaft of the bracket assembly according to an embodiment of the present utility model. Detailed implementation manners

[0078] The present utility model will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0079] In the description and claims of the present utility model, terms indicating directions such as "front", "rear", "upper", "lower", "left", "right", "side", "top", "bottom", etc. are used to describe various exemplary structural parts and elements of the present utility model. However, these terms are used here only for the convenience of description and are determined based on the exemplary orientations shown in the drawings. Since the embodiments disclosed by the present utility model can be arranged in different directions, these terms indicating directions are only for illustration and should not be regarded as limitations. For example, "upper" and "lower" are not necessarily limited to the directions opposite to or consistent with the direction of gravity.

[0080] Figures 1 - 25Shows a preferred embodiment of the wearable assisted lifting robotic arm device of the present utility model. The wearable assisted lifting robotic arm device includes a waist fixing component, a robotic arm main body 3, a pulling rope 40, a winding and releasing device 4 of the pulling rope 40, and a rotation adjusting device 13 for adjusting the installation angle of the robotic arm main body 3 relative to the waist fixing component. A support tray 14 is further provided inside the waist fixing component.

[0081] See Figure 2 and Figure 3 , the waist fixing component includes a chain belt component 10, and the chain belt component 10 includes a chain belt part 11 and a restraint belt part 12. The chain belt part 11 is non-closed, specifically a bendable and movable chain belt with an opening at the front side. The restraint belt part 12 connects the two ends of the length of the chain belt part 11, thus forming a closed annular chain belt. The restraint belt part 12 can adopt a belt with a quick-release buckle, a nylon webbing, etc.

[0082] The chain belt component 10 includes chain belt joints 110 that are connected in sequence and can rotate relative to an axis extending vertically. Specifically, the chain belt joints 110 are generally plate-shaped and can be slightly curved to adapt to the waist curve contour of the user. The side parts of two adjacent chain belt joints 110 are rotationally connected through a vertically extending pin shaft.

[0083] Combined with Figures 2 - 9 , in order to adapt to users of different body types, the length of the chain belt part 11 of the chain belt component 10 in this embodiment is adjustable. Specifically, the two chain belt joints 110 corresponding to the rear side of the user's waist in the chain belt part 11 are connected through a length adjusting component 20, and the distance between the two chain belt joints 110 is adjusted through the length adjusting component 20.

[0084] The two chain belt joints 110 connected through the above-mentioned length adjusting component 20 are respectively denoted as a first chain belt joint 1101 and a second chain belt joint 1102. The length adjusting component 20 includes a connecting plate 21, a sliding frame 22, a transmission gear 23, a knob assembly, a fourth elastic member 64, and a locking member.

[0085] The connecting plate 21 is a strip-shaped plate extending along the length direction of the chain belt portion 11. One end of it is rotatably connected to the end of the first chain link 1101 through a vertically extending pin shaft. The bottom of the connecting plate 21 has a strip-shaped tooth portion 210 arranged along its length direction. The sliding frame 22 is also rotatably connected to the end of the second chain link 1102 through a vertically extending pin shaft. It has a slideway 220 with an opening on the side for the connecting plate 21 to slide and be limited therein along the length direction of the connecting plate 21. Among them, it is located outside the connection position between the sliding frame 22 and the second chain link 1102, so that the part of the connecting plate 21 exposed through the slideway 220 of the sliding frame 22 is also located outside the chain belt portion 11, and no interference problem will occur. Among them, the length of the sliding frame 22 does not have to be set too large, so as to increase the stroke of the length adjustment between two adjacent chain links 110 as much as possible.

[0086] A transmission gear 23 is also provided on the sliding frame 22 and is in transmission cooperation with the strip-shaped tooth portion 210 of the above-mentioned connecting plate 21. Specifically, the sliding frame 22 has an installation cavity for accommodating the transmission gear 23 corresponding to the lower part of the slideway 220. The installation cavity communicates with the upper slideway 220 and is open on the outside. The knob assembly includes an operation knob 25, which is rotatably arranged on the sliding frame 22 and corresponds to the outside open part of the above-mentioned installation cavity. More specifically, a horizontally extending first connecting shaft 24 is provided on the sliding frame 22. The first connecting shaft 24 is substantially perpendicular to the sliding frame 22 and corresponds to the above-mentioned installation cavity. The operation knob 25 and the transmission gear 23 are rotatably sleeved on the first connecting shaft 24. Among them, the operation knob 25 is located outside the transmission gear 23 and can slide along the axial direction of the first connecting shaft 24. In order to limit the axial movement of the transmission gear 23 on the first connecting shaft 24, a limiting disk 26 is also provided at the front open part of the installation cavity of the sliding frame 22. The middle of the limiting disk 26 is provided with an opening for the first connecting shaft 24 and the transmission shaft sleeve 253 extending inwardly from the inside of the operation knob 25 to pass through. The limiting disk 26 can be connected to the sliding frame 22 through fasteners such as screws. During installation, the transmission gear 23 can be first placed into the installation cavity, and then the limiting disk 26 is installed to limit the axial movement of the transmission gear 23.

[0087] The transmission shaft sleeve 253 on the inner side of the operation knob 25 can be sleeved with the transmission gear 23. The cross-section of the outer peripheral wall of the transmission shaft sleeve 253 is non-circular, and a regular hexagon can be specifically adopted, so that the transmission gear 23 can be driven to rotate when rotated.

[0088] One side of the limit disk 26 facing the operation knob 25 is provided with a plurality of second positioning recesses 260 arranged circumferentially in sequence centered on the axis of the first connecting shaft 24. And on one side of the operation knob 25 facing the limit disk 26, there are second positioning convex teeth 252 protruding outward. Specifically, the number of the second positioning convex teeth 252 on the operation knob 25 is the same as the number of the second positioning recesses 260, and they are also arranged circumferentially in sequence centered on the axis of the first connecting shaft 24. When the operation knob 25 approaches the limit disk 26 along the axial direction of the first connecting shaft 24, each of the second positioning convex teeth 252 on the operation knob 25 can be correspondingly engaged into each of the second positioning recesses 260 of the limit disk 26, so as to restrict the operation knob 25 from rotating circumferentially; when the operation knob 25 moves away from the limit disk 26 along the axial direction of the first connecting shaft 24, each of the second positioning convex teeth 252 on the operation knob 25 can be correspondingly disengaged from each of the second positioning recesses 260 of the limit disk 26, so as to release the circumferential restriction on the operation knob 25 and allow the operation knob 25 to rotate forward and backward. Among them, after the limit disk 26 releases the circumferential limit on the operation knob 25, the transmission shaft sleeve 253 of the operation knob 25 still cooperates with the transmission gear 23, and rotating the operation knob 25 can drive the transmission gear 23 to rotate, thereby driving the connecting plate 21 to move.

[0089] The operation knob 25 has a shaft hole 250 for the first connecting shaft 24 to pass through. The inner wall of the shaft hole 250 has a stepped portion 251 with a larger outer side and a smaller inner side. The outer end of the first connecting shaft 24 has a first limit stop portion 240 extending radially outward. The fourth elastic member 64 in this embodiment can be a fourth spring. The fourth spring is sleeved outside the first connecting shaft 24, and its two ends respectively abut against the stepped portion 251 of the shaft hole 250 of the operation knob 25 and the first limit stop portion 240 of the first connecting shaft 24. Under the elastic force of the fourth spring, the operation knob 25 always has a tendency to move toward the side where the limit disk 26 is located. When it is necessary to adjust the length of the chain belt portion 11, the operation knob 25 can be pulled outward, so that the second positioning convex teeth 252 on the operation knob 25 are disengaged from the second positioning recesses 260 of the limit disk 26, releasing the circumferential restriction of the limit disk 26 on the operation knob 25. Then rotate the operation knob 25 to drive the transmission gear 23 to rotate, and further drive the connecting plate 21 to move along its length direction to adjust the distance between the first chain link 1101 and the second chain link 1102. After the adjustment is in place, release the operation knob 25, and the operation knob 25 will move toward the side where the limit disk 26 is located under the elastic force of the fourth spring until the second positioning convex teeth 252 on the operation knob 25 are engaged into the second positioning recesses 260 of the limit disk 26. At this point, the limit disk 26 limits the operation knob 25 circumferentially, and the operation knob 25 cannot rotate, and the distance between the first chain link 1101 and the second chain link 1102 cannot be adjusted.

[0090] See Figures 17 - 19 The support pallet 14 is installed inside the chain belt part 11 of the chain belt assembly 10, and its distance from the chain belt assembly 10 is adjustable in the inner and outer directions. Generally speaking, the position adjustment of the support pallet 14 relative to the chain belt assembly 10 can be a linear movement of the support pallet 14 as a whole relative to the chain belt assembly 10, or an angular deflection of the support pallet 14 as a whole relative to the chain belt assembly 10, or both. In a preferred embodiment, the support pallet 14 extends vertically as a whole, and its bottom has a bent arm 142 extending outward. The bent arm 142 is rotatably connected to the bottom of the chain belt assembly 10 through a horizontally extending pin shaft. An adjusting screw rod 15 is connected to the upper part of the support pallet 14 and extends outward and passes through and is connected to the chain link 110 of the chain belt assembly 10. The inner end of the adjusting screw rod 15 is rotatably connected to the support pallet 14, and the outer end of the adjusting screw rod 15 extends out of the chain belt assembly 10 and serves as an operating part 151 for the user to rotate the adjusting screw rod 15.

[0091] Since the support pallet 14 deflects with its bottom end as the rotation center, in order to avoid interference between the support pallet 14 and the adjusting screw rod 15 during the rotation of the support pallet 14, a movable ball head 114 is provided inside the chain link 110 of the chain belt assembly 10. The above-mentioned adjusting screw rod 15 passes through the movable ball head 114 and is threadedly connected to the movable ball head 114. Moreover, the adjusting screw rod 15 is adapted to adopt a connection structure that can swing relative to the support pallet 14. Specifically, the inner end of the adjusting screw rod is a ball head structure 152, and a ball socket structure for limiting the movement of the ball head is defined on the support pallet 14. In order to facilitate the assembly of the adjusting screw rod 15 with the ball head structure 152 and the support pallet 14, the back surface of the support pallet 14 has a concave spherical recess 140 and a connection cover 141 covering the open end of the spherical recess 140. Specifically, the connection cover 141 can be connected to the back surface of the support pallet 14 through fasteners such as screws. The connection cover 141 has an opening through which the main body of the adjusting screw rod passes, and the connection cover 141 and the spherical recess 140 on the support pallet 14 jointly define a ball socket structure for placing the ball head of the adjusting screw rod 15.

[0092] The operating part 151 on the adjusting screw rod 15 protrudes outward relative to the main body of the adjusting screw rod 15. A sixth spring 66 is also sleeved on the adjusting screw rod 15. The sixth spring 66 abuts between the operating part 151 and the outer side wall of the chain link 110, playing a role in preventing loosening.

[0093] The chain belt portion 11 of the chain belt assembly 10 in this embodiment includes a left chain belt portion 111 corresponding to the left side of the user's waist, a right chain belt portion 112 corresponding to the right side of the user's waist, and a rear chain belt portion corresponding to the rear side of the user's waist. Among them, the above-mentioned length adjustment assembly 20 is provided on the rear chain belt portion. Two support pallets 14 are provided on the inner sides of the left chain belt portion 111 and the right chain belt portion 112 of the chain belt assembly 10. In order to better adapt to the waist contour curve of the user, ensure that the support pallet 14 fits the user's waist, and improve the user's wearing comfort, the inner side surface of the support pallet 14 is a concave curved surface that gradually inclines inward from the middle to the left and right sides.

[0094] The waist fixing assembly for fixing the robotic arm device to the user's waist adopts the chain belt assembly 10. The inner side of the chain belt assembly 10 is provided with a support pallet 14, where the support pallet 14 is used to support the user's waist in cooperation, and can move inward and outward relative to the chain belt assembly 10 to adjust the position, so as to better fit and firmly support the user's waist, ensuring the stability of the user when wearing the robotic arm device and improving the user's experience.

[0095] Continue to refer to Figure 2 and Figure 3 , the robotic arm main body 3 in this embodiment extends forward and upward as a whole. That is, the rear end of the robotic arm main body 3 is connected to the chain belt portion 11 of the waist fixing assembly, and the front end can deflect relative to the rear end in the up and down directions to adjust the pitching angle. Specifically, the robotic arm main body 3 includes an arm assembly 31 and a support rod assembly 32 that are sequentially connected in its length direction. The first end of the arm assembly 31 is connected to the waist fixing assembly, that is, it constitutes the rear end of the robotic arm main body 3, and the second end is connected to the support rod assembly 32. The support rod assembly 32 is a four-bar linkage that extends obliquely forward and upward as a whole and has an adjustable pitching angle. The bottom end of the support rod assembly 32 is connected to the second end of the arm assembly 31.

[0096] The arm assembly 31 includes arm segments 311 that are sequentially rotatably connected in its length direction. Adjacent two arm segments 311 are rotatably connected by a pin shaft extending vertically. Thus, the arm assembly 31 can swing in a plane perpendicular to the above-mentioned pin shaft, that is, it can swing to the left or right. The arm segment 311 at one end is connected to the link portion through a rotation adjustment device 13, and the arm segment 311 at the other end is fixedly connected to the first connection seat 323 of the support rod assembly 32.

[0097] The support rod assembly 32 includes a first adjusting rod 321, a second adjusting rod 322, a first connecting seat 323 and a second connecting seat 324. The first adjusting rod 321 and the second adjusting rod 322 are arranged in parallel. The lower ends of the first adjusting rod 321 and the second adjusting rod 322 are both hinged to the first connecting seat 323, and the upper ends of the first adjusting rod 321 and the second adjusting rod 322 are both hinged to the second connecting seat 324. The rotation axes between the first adjusting rod 321, the second adjusting rod 322 and the first connecting seat 323, and the rotation axes between the first adjusting rod 321, the second adjusting rod 322 and the second connecting seat 324 are parallel and both extend in the horizontal direction. Thus, the above-mentioned first adjusting rod 321, second adjusting rod 322, first connecting seat 323 and second connecting seat 324 form a four-bar linkage that can move in a vertical plane. Among them, in order to adapt to users of different heights, both the first adjusting rod 321 and the second adjusting rod 322 are telescopic rods with adjustable lengths.

[0098] An auxiliary connecting rod 325 is also provided between the second end of the arm assembly 31 and the upper part of the support rod assembly 32, and the adjusting rod can be kept in a corresponding angular state relative to the arm assembly 31. The lower end of the auxiliary connecting rod 325 is rotatably connected to the first connecting seat 323, and the upper end is rotatably connected to the second connecting seat 324 or the first adjusting rod 321 or the second adjusting rod 322. As Figure 2 shown, the upper end of the auxiliary connecting rod 325 is rotatably connected to the upper part of the second adjusting rod 322. The rotation axis of the auxiliary connecting rod 325 relative to the first connecting seat 323 and the second adjusting plate is parallel to the rotation axis of the four-bar linkage. The auxiliary connecting rod 325 is a damping rod with adjustable length. The damping rod can be selected as a hydraulic damping rod or a pneumatic damping rod. In the use state, the adjusting rod and the arm assembly 31 also form an obtuse angle. Under the action of the damping rod, the top of the adjusting rod can be supported. The damping rod can be selected according to the weight of the supported object to ensure that sufficient supporting force can be provided.

[0099] See Figures 10 - 16 , in order to enable the robotic arm main body 3 to have a larger pitching angle adjustment range relative to the waist fixing assembly, the whole of the robotic arm main body 3 is rotatably connected to the waist fixing assembly in a manner that can rotate around an axis extending horizontally and is position-adjustable relative to the waist fixing assembly. Specifically, a rotation adjustment device 13 is provided on the outer side wall of the waist fixing assembly, and the rear end of the arm component of the robotic arm main body 3 is detachably connected to the rotation adjustment device 13.

[0100] The rotation adjustment device 13 includes a mounting seat 131, a movable seat 132, a top column 1311, a first elastic member 61, a second elastic member 62 and a locking component.

[0101] The mounting base 131 is fixed relative to the link belt section 110 of the link belt assembly 10. Specifically, it can be connected to the link belt section 110 through fasteners such as screws, or integrally designed with the link belt section 110. The mounting base 131 has a placement chamber 1310 that is open at the front. The movable base 132 is rotatably connected to the mounting base 131 through the second connecting shaft 135 and covers the front opening of the placement chamber 1310. The above-mentioned second connecting shaft 135 is perpendicular to the above-mentioned link belt section 110 and penetrates through the link belt section 110 and the placement chamber 1310 of the mounting base 131 from the inside out and is threadedly connected to the movable base 132. The second connecting shaft 135 is not fixed to the link belt section 110 and the mounting base 131, but can axially move relative to the link belt section 110 and the mounting base 131, that is, the movable base 132 can also move closer to or away from the mounting base 131 along the axial direction of the second connecting shaft 135.

[0102] The second connecting shaft 135 can adopt a stepped screw with threads at the end. The second elastic member 62 in this embodiment preferably adopts a second spring. The second spring is sleeved on the second connecting shaft 135. One end of it abuts against the head of the inner end of the second connecting shaft 135 that protrudes radially outward, and the other end abuts against the mounting base 131. Under the elastic force of the second spring, the second connecting shaft 135 and the movable base 132 always have a tendency to move towards the side where the mounting base 131 is located.

[0103] The extending direction of the ejector pin 1311 is parallel to the axis of the second connecting shaft 135. The ejector pin 1311 is movably arranged in the mounting chamber along a direction parallel to the axis of the above-mentioned second connecting shaft 135. Specifically, a guide sleeve 1312 is provided in the mounting chamber of the mounting base 131. The ejector pin 1311 is movably arranged in the guide sleeve 1312 and can expose from the end of the guide sleeve 1312. The ejector pin 1311 has a limiting pin shaft 1313 that penetrates transversely. Limiting chute 13120 is opened on the two opposite side walls of the guide sleeve 1312. The two ends of the limiting pin shaft 1313 are slidably limited in the two limiting chutes 13120. The lengths of the above-mentioned two limiting chutes 13120 define the moving stroke of the ejector pin 1311 along the axial direction of the second connecting shaft 135. The first elastic member 61 is arranged in the guide sleeve 1312 and abuts against the inner end of the ejector pin 1311, so that the ejector pin 1311 always has a tendency to move outward (that is, move towards the side where the movable base 132 is located).

[0104] Adapted to the above-mentioned axially movable top column 1311, a positioning tooth disc 134 is further provided on one side of the movable seat 132 facing the mounting seat 131. On the side wall of the positioning tooth disc 134, first positioning convex teeth 1341 are arranged in sequence in the circumferential direction centered on the above-mentioned second connecting shaft 135. A first positioning recess 1340 is defined between two adjacent first positioning convex teeth 1341. The end of the top column 1311 can be inserted into the corresponding first positioning recess 1340 of the positioning tooth disc 134 to limit the rotation of the movable seat 132 relative to the mounting seat 131.

[0105] The end of the top column 1311 has a convex arc surface structure. The outer wall surfaces of the first positioning convex teeth 1341 on the positioning tooth disc 134 that cooperate with the end of the top column 1311 include a guiding inclined surface 13411 and a retaining curved surface 13412 arranged in sequence along the circumference. The guiding inclined surface 13411 is a convex curved surface, while the retaining curved surface 13412 is a concave curved surface, and the two meet at the top of the convex tooth, so that the first positioning convex tooth 1341 forms a one-way tooth. The above-mentioned structure in which the top column 1311 cooperates with the one-way tooth of the positioning tooth disc 134 only allows the movable seat 132 to rotate upward relative to the mounting seat 131 around the second connecting shaft 135, so as to effectively support the main body 3 of the supporting robotic arm and facilitate the user to lift the main body 3 of the robotic arm upward for angle adjustment.

[0106] The length of the above-mentioned second connecting shaft 135 and the second elastic member 62 can be selected according to actual needs. When it is necessary to adjust the angle of the main body 3 of the robotic arm downward relative to the waist fixing assembly, the user can pull the movable seat 132 outward, so that the first positioning convex tooth 1341 on the positioning tooth disc 134 is disengaged from the end of the top column 1311 to release the limit, and then the movable seat 132 is allowed to rotate downward relative to the mounting seat 131 around the second connecting shaft 135. When adjusted to the required inclination angle, the movable seat 132 is released, and the movable seat 132 will move inward under the action of the second elastic member 62, so that the first positioning recess 1340 on the positioning tooth disc 134 is re-engaged with the end of the top column 1311 for limit cooperation, forming an upward support for the main body 3 of the robotic arm.

[0107] In this embodiment, an installation groove 1320 that extends vertically and has an opening at the top is further provided on the movable seat 132. A relief notch that communicates with the installation groove 1320 and extends to the top opening of the installation groove 1320 is also formed on the outer side wall of the movable seat 132. A through hole 1321 that communicates with the bottom of the installation groove 1320 is also formed in the bottom area of the side wall of the movable seat 132. On the side wall of the arm section 311 of the arm assembly 31 of the main body 3 of the robotic arm facing the movable seat 132, there is an insertion block 310 for inserting into the installation groove 1320.

[0108] The movable seat 132 is also provided with a lock assembly for limiting the insertion block 310 from being disengaged from the mounting groove 1320. Specifically, the lock assembly includes a swing rod 133 and a third elastic member 63. The swing rod 133 is rotatably connected to the movable seat 132 at an approximately middle position through a pin shaft, wherein the extension direction of the pin shaft is substantially consistent with the extension direction of the second connecting shaft 135. The swing rod 133 extends roughly in the vertical direction, and its length is slightly larger than the upper and lower dimensions of the mounting groove 1320. Both opposite ends in the length direction have bent hooks bent toward the side where the mounting groove 1320 is located, and the two bent hooks serve as a locking end 1331 and an actuating end 1332, respectively. The locking end 1331 extends to the position where the top opening of the mounting groove 1320 is located, and the actuating end 1332 extends to the position where the through-hole 1321 is located. Specifically, the swing lever 133 has an unlocked state and a locked state as its rotation position changes. When the swing lever 133 is in the unlocked state, the actuating end 1332 of the swing lever 133 passes through the through hole 1321 and extends into the mounting groove 1320, and the locking end 1331 of the swing lever 133 is away from the top opening of the mounting groove 1320. In this state, the plug block 310 on the arm assembly 31 can be conveniently inserted from top to bottom into the mounting groove 1320. After the plug block 310 is inserted into place, the actuating end 1332 of the swing lever 133 is pressed down by the plug block 310 to rotate the swing lever 133, and the locking end 1331 of the swing lever 133 will deflect to the top opening of the mounting groove 1320 to limit the plug block 310 from escaping out of the top opening of the mounting groove 1320. This state is the locked state of the swing lever 133.

[0109] See also Figure 15 The lock assembly also includes a third elastic member 63, which is a third spring, which is against the side wall of the swing rod 133 and the movable seat 132. Under the elastic force of the third spring, the locking end 1331 of the swing rod 133 always has a tendency to deflect toward the side away from the top opening of the installation slot 1320, that is, the locking end 1331 of the swing rod 133 can automatically move away from the top opening of the installation slot 1320, so as to facilitate the initial installation of the plug block 310 from the top opening into the installation slot 1320; when the plug block 310 is installed in place, it can prevent the plug block 310 from suddenly moving up and falling out of the installation slot 1320 during violent movement. Figure 15 One end of the third spring abuts against the side wall of the movable seat 132, and the second end abuts against a section of the rod body on the swing rod 133 located between the rotation center relative to the movable seat 132 and the locking end 1331, and a positioning groove for accommodating the end of the third spring is provided on the side wall of the movable seat 132 and the swing rod 133.

[0110] The front end of the robotic arm main body 3 of this embodiment can deflect relative to the rear end in the up-and-down direction to adjust the pitching angle. On this basis, the whole of the robotic arm main body 3 can also rotate relative to the chain belt assembly 10 about an axis extending horizontally. This dual-position angle adjustment method has a larger pitching angle adjustment range, and the user can select the corresponding adjustment method according to actual needs, improving the user experience.

[0111] See Figures 23 - 25 , the bracket assembly 5 is connected to the second connection seat 324 of the support rod assembly 32 of the robotic arm main body 3. The bracket assembly 5 includes a support frame 50 for connecting to the second connection seat 324 and a bracket detachably connected to the support frame 50.

[0112] The support frame 50 includes a first support frame 51 and a second support frame 52. Among them, the first support frame 51 is vertically arranged, and the second support frame 52 is horizontally arranged. The bottom of the first support frame 51 is connected to the second connection seat 324, one end of the second support frame 52 is connected to the upper end of the first support frame 51, and the bracket assembly 5 is connected to the other end of the second support frame 52. Specifically, the bottom end of the first support frame 51 is rotatably connected to the front end of the robotic arm main body 3 through a first rotating sleeve, the second support frame 52 is rotatably connected to the top end of the first support frame 51 through a second rotating sleeve, the axis of the first rotating sleeve is perpendicular to the axis of the second rotating sleeve, and the bracket is connected to the second support frame 52, which can facilitate the angle adjustment of the items placed on the bracket assembly 5 in the up-and-down and left-and-right directions.

[0113] The second support bracket 52 is provided with a connecting column 521 extending outward (preferably upward), and a radially concave annular groove 5210 is formed on the outer peripheral wall of the connecting column 521 as the third positioning recess. The bracket includes a bracket body 53, a connecting sleeve 54 connected to the bracket body 53, a fifth elastic member 65, a ball 542, and an operating sleeve 55. The connecting sleeve 54 has an installation channel 540 for the connecting column 521 to extend into it and a positioning hole 541 penetrating from its outer peripheral wall to the installation channel 540. At least two, preferably three, positioning holes 541 are provided at intervals along the circumferential direction of the connecting sleeve 54. The number of balls 542 is the same as the number of positioning holes 541 on the connecting sleeve 54. The positioning holes 541 on the connecting sleeve 54 are tapered holes with a larger inner side and a smaller outer side. In this way, only part of the balls 542 can be exposed outside the outer side wall of the connecting sleeve 54 through the positioning holes 541 and will not completely escape from the positioning holes 541. Specifically, each ball 542 is movably arranged in the corresponding positioning hole 541 along the radial direction of the connecting sleeve 54, and can move inward to be caught in the third positioning recess of the connecting column 521 and can move outward to escape from the third positioning recess. After each ball 542 is caught in the third positioning recess of the connecting column 521, the connecting sleeve 54 and the connecting column 521 can be axially limited to achieve the locking purpose.

[0114] The operating sleeve 55 is sleeved outside the connecting sleeve 54 and can axially move relative to the connecting sleeve 54. The operating sleeve 55 has a first port 551 adjacent to the support plate body and a second port 552 away from the support plate body. The inner peripheral wall of the operating sleeve 55 is provided with a conical surface structure 553 near its second port 552, and the diameter of the conical surface structure 553 gradually decreases from bottom to top (i.e., in the direction from its second port to the first port position). The operating sleeve 55 has a locked state and an unlocked state with the change of its axial position. Among them, when the operating sleeve 55 is forced (overcoming the elastic force of the fifth spring) to move upward to a set position, the conical surface structure 553 of the operating sleeve 55 is relatively disengaged from pressing the balls 542 radially, so that each ball 542 can escape from the corresponding third positioning recess to achieve unlocking. When the operating sleeve 55 is forced (overcoming the elastic force of the fifth spring) to move downward to a set position, the inner wall of the main body part of the operating sleeve 55 (the diameter is smaller than the minimum inner diameter of the conical surface structure 553) faces the balls 542 and presses the balls 542 radially, so that each ball 542 is caught in the corresponding third positioning recess on the connecting column 521 to achieve locking.

[0115] The inner peripheral wall of the operating sleeve 55 is provided with a second limiting stop portion 550 extending radially inward. The connecting sleeve 54 includes a small-diameter section 543 adjacent to the bracket body 53 and a large-diameter section 544 away from the bracket body 53. Wherein, a limiting step 545 is correspondingly formed on the outer peripheral wall of the connecting sleeve 54 at the connection position of the small-diameter section 543 and the large-diameter section 544. The second limiting stop portion 550 of the operating sleeve 55 abuts against the limiting step 545. A fifth elastic member 65 is further provided inside the operating sleeve 55. The fifth elastic member 65 is preferably a fifth spring. The first end of the fifth spring abuts against the second limiting stop portion 550 of the operating sleeve 55, and the second end abuts against the bracket body 53. Under the elastic force of the fifth spring, the operating sleeve 55 always has a tendency to move from the position where it is in the unlocked state to the position where it is in the locked state. In this way, when the operating sleeve 55 is not subjected to an external force, it can automatically rebound and move to the locked position.

[0116] Each positioning hole 541 is formed on the large-diameter section 544 of the connecting sleeve 54. Corresponding to the above-mentioned connecting sleeve 54, the connecting column 521 is also a stepped column structure with a smaller upper part and a larger lower part.

[0117] The bracket of the bracket assembly 5 can be a bracket structure that can only play a supporting role, or a resilient bracket structure that can clamp the item to be placed.

[0118] The robotic arm device of this embodiment also provides upward support for the robotic arm main body 3 through a pull rope 40. Specifically, a winding and releasing device 4 for winding the pull rope 40 is further provided outside the chain belt portion 11 of the waist fixing assembly. The pull rope 40 is wound around the winding and releasing device 4, and the free end bypasses above the user's shoulder and is connected to the robotic arm main body 3.

[0119] In order to improve the service life and ensure the support strength, the pull rope 40 is preferably made of a steel wire rope.

[0120] The winding and releasing device 4 includes a fixed seat 41, a winch 42, a first transmission shaft 43 and a torsion spring 44.

[0121] The fixed seat 41 can be connected to the outer side wall of the chain link 110 of the chain belt part 11 through fasteners such as screws. Specifically, in order to facilitate the positioning between the fixed seat 41 and the chain link 110, an inwardly recessed annular positioning sink 113 is provided on the outer wall surface of the chain link 110 for connecting the fixed seat 41, and a positioning convex ring 415 extending outward and capable of being inserted into the annular positioning sink 113 is provided on the side wall of the fixed seat 41. A first installation chamber 411 for accommodating the winch 42 and a second installation chamber 412 for accommodating the coil spring 44 are defined on the fixed seat 41. The first transmission shaft 43 is rotatably connected to two opposite side walls of the first installation chamber 411, and one end thereof extends into the second installation chamber 412 as a connection end 430 for installing the coil spring 44. The winch 42 is sleeved on the above-mentioned first transmission shaft 43 and can rotate with the first transmission shaft 43. The pulling rope 40 is wound around the winch 42, and when the winch 42 rotates forward and backward with the first transmission shaft 43, the pulling rope 40 can be tightened and released.

[0122] One end (specifically, the inner end) of the coil spring 44 is connected to the first transmission shaft 43, and the other end (i.e., the outer end) is connected to the fixed seat 41. The inner end of the coil spring 44 has a first bending portion 441, and the outer end of the coil spring 44 has a second bending portion 442. A first slot 431 for the first bending portion 441 to be snapped into is provided on the connection end 430 of the first transmission shaft 43, and a second slot 413 for the second bending portion 442 to be snapped into is provided on the wall of the second installation chamber 412. When the pulling rope 40 is released under the action of an external force, such as applying a downward force to an item placed on the bracket assembly 5, the winch 42 rotates, and the power is transmitted to the coil spring 44 through the above-mentioned first transmission shaft 43. The inner end of the coil spring 44 rotates and accumulates potential energy. When the downward force applied to the item placed on the bracket assembly 5 is released or reduced, the coil spring 44 drives the first transmission shaft 43 and the winch 42 to rotate in the reverse direction to wind up the pulling rope 40. The design of the coil spring 44 enables the pulling rope 40 to be automatically wound up and released. Even during use, when the robotic arm main body 3 floats slightly up and down, the pulling rope 40 will not have the problem of natural bending, improving the user experience.

[0123] In order to facilitate the installation of the coil spring 44 and subsequent maintenance and replacement operations, an installation opening is formed on one side of the second installation chamber 412 away from the first installation chamber 411. A detachable cover 414 is provided at the installation opening. The cover 414 can be connected to the main body of the fixed seat 41 through fasteners such as screws and covers the above-mentioned installation opening.

Claims

1. A wearable power-assisted lifting mechanical arm device, comprising: Waist fixation assembly; The mechanical arm body (3) extends obliquely upward from the rear to the front as a whole, the rear end of the mechanical arm body (3) is connected to the waist fixing assembly, and the mechanical arm body (3) is configured so that its front end can be deflected in the up-down direction relative to the rear end to adjust the pitch angle; A bracket assembly (5) is arranged at the front end of the mechanical arm body (3); The feature of the invention is that the bracket assembly (5) comprises a support frame (50) connected to the front end of the robot arm body (3) and a bracket detachably connected to the support frame (50).

2. The wearable power-assisted lifting mechanical arm device according to claim 1, characterized in that: The support frame (50) is provided with a connecting column (521) extending outward, and the outer peripheral wall of the connecting column (521) is provided with a third positioning recessed portion which is concave radially inward; The bracket comprises a bracket body (53), a connecting sleeve (54) connected to the bracket body (53), and an operating sleeve (55); the connecting sleeve (54) has a mounting channel (540) for the connecting column (521) to extend therein, and a positioning hole (541) extending from its outer peripheral wall to the mounting channel (540); the positioning holes (541) have at least two spaced apart arrangement along the circumference of the connecting sleeve (54); The number of balls (542) is the same as the number of the positioning holes (541) on the connecting sleeve (54), and each of the balls (542) is movably arranged in a corresponding positioning hole (541) along the radial direction of the connecting sleeve (54), and can move inwards to be inserted into a third positioning recess of the connecting column (521), and can move outwards to be released from the third positioning recess; An operating sleeve (55) is sleeved outside the connecting sleeve (54) in a manner that it can move axially relative to the connecting sleeve (54); the inner circumferential wall of the operating sleeve (55) is conical; the operating sleeve (55) has a locking state in which radial pressure is applied to each of the balls (542) so as to be snapped into the corresponding third positioning recesses on the connecting column (521) as its axial position changes, and an unlocking state in which the radial pressure on each of the balls (542) is released so as to allow each of the balls (542) to escape from the corresponding third positioning recesses.

3. The wearable power-assisted lifting mechanical arm device according to claim 2, characterized in that: It also comprises a fifth elastic member, which acts on the operating sleeve (55) and enables the operating sleeve (55) to always have a tendency to move from its unlocked state position toward its locked state position.

4. The wearable power-assisted lifting mechanical arm device according to claim 3 is characterized in that: The fifth elastic member is a fifth spring sleeved on the connecting sleeve (54), the fifth spring is located in the operating sleeve (55), and the inner peripheral wall of the operating sleeve (55) is provided with a second limit stopper (550) extending radially inwardly, the first end of the fifth spring abuts against the second limit stopper (550) of the operating sleeve (55), and the second end abuts against the bracket body (53) or the connecting sleeve (54).

5. The wearable power-assisted lifting mechanical arm device according to claim 4, characterized in that: The connecting sleeve (54) comprises a small diameter section (543) adjacent to the bracket body (53) and a large diameter section (544) away from the bracket body (53); the outer peripheral wall of the connecting sleeve (54) forms a corresponding limiting step (545) at the junction of the small diameter section (543) and the large diameter section (544); each of the positioning holes (541) is provided on the large diameter section (544) of the connecting sleeve (54); and the second limiting stop portion (550) of the operating sleeve (55) abuts against the limiting step (545).

6. The wearable power-assisted lifting mechanical arm device according to claim 2, characterized in that: The operating sleeve (55) has a first port (551) adjacent to the support plate body and a second port (552) away from the support plate body, and the inner peripheral wall of the operating sleeve (55) is arranged to be a conical surface structure adjacent to the second port (552).

7. The wearable power-assisted lifting mechanical arm device according to claim 2, characterized in that: The outer peripheral wall of the connecting column (521) is provided with a radially inwardly concave annular groove (5210), and the annular groove (5210) can allow each of the balls (542) to be inserted therein, thus constituting the third positioning recess.

8. The wearable power-assisted lifting mechanical arm device according to any one of claims 1 to 7, characterized in that: The support frame (50) comprises a first support frame (51) vertically arranged at the front end of the robot arm body (3) and a second support frame (52) laterally connected to the first support frame (51), the bottom end of the first support frame (51) is rotatably connected to the front end of the robot arm body (3) via a first rotating sleeve, the second support frame (52) is rotatably connected to the top end of the first support frame (51) via a second rotating sleeve, the axis of the first rotating sleeve is perpendicular to the axis of the second rotating sleeve, and the bracket is connected to the second support frame (52).

9. The wearable power-assisted lifting mechanical arm device according to any one of claims 1 to 7, characterized in that: The mechanical arm body (3) includes an arm assembly (31) and a support rod assembly (32) which are connected in sequence in the length direction thereof. The first end of the arm assembly (31) is connected to the waist fixing assembly, i.e., constitutes the rear end of the mechanical arm body (3), and the second end is connected to the support rod assembly (32). The support rod assembly (32) is a four-bar linkage mechanism which extends forward and upward as a whole and has an adjustable pitch angle. The bottom end of the support rod assembly (32) is connected to the second end of the arm assembly (31), and an auxiliary connecting rod (325) is also provided between the second end of the arm assembly (31) and the upper part of the support rod assembly (32), which can keep the support rod assembly (32) at a corresponding angle relative to the arm assembly (31).

10. The wearable power-assisted lifting mechanical arm device according to claim 9, characterized in that: The auxiliary connecting rod (325) is a damping rod with adjustable length.

11. The wearable power-assisted lifting mechanical arm device according to claim 9, characterized in that: The above-mentioned four-bar linkage comprises a first adjusting rod (321), a second adjusting rod (322), a first connecting seat (323) and a second connecting seat (324); the first adjusting rod (321) and the second adjusting rod (322) are arranged in parallel; the lower end of the first adjusting rod (321) and the lower end of the second adjusting rod (322) are both hinged on the first connecting seat (323); the upper end of the first adjusting rod (321) and the upper end of the second adjusting rod (322) are both hinged on the second connecting seat (324); and the bracket assembly (5) is connected to the second connecting seat (324).

12. The wearable power-assisted lifting mechanical arm device according to claim 11, characterized in that: The lower end of the auxiliary connecting rod (325) is rotatably connected to the first connecting seat (323), and the upper end is rotatably connected to the second connecting seat (324) or the first adjusting rod (321) or the second adjusting rod (322).

13. The wearable power-assisted lifting mechanical arm device according to any one of claims 1 to 7, characterized in that: The waist fixing assembly comprises a chain belt assembly (10) for being arranged around the waist of a user, the chain belt assembly (10) comprising a non-closed chain belt portion (11) composed of chain belt links (110) connected in rotation in sequence, and a restraining belt portion (12) connected to two ends of the chain belt portion (11), and the rear end of the mechanical arm body (3) is connected to the chain belt links (110) of the chain belt portion (11).

14. The wearable power-assisted lifting mechanical arm device according to claim 13, characterized in that: The rear end of the mechanical arm body (3) is rotatably connected to the chain belt part (11) in a manner that it can rotate relative to the chain belt part (11) around a horizontally extending axis and that its position can be adjusted.

15. The wearable power-assisted lifting mechanical arm device according to claim 14, characterized in that: The outer side of the chain belt portion (11) is provided with a rotation adjustment device (13), and the rotation adjustment device (13) comprises: A mounting seat (131), fixed relative to the chain belt portion (11), having a placement chamber (1310) with an open front; A movable seat (132) is rotatably connected to the mounting seat (131) via a first rotating shaft and covers the front opening of the placement chamber (1310). A positioning toothed disc (134) is also provided on the side of the movable seat (132) facing the mounting seat (131). The side wall of the positioning toothed disc (134) has first positioning protruding teeth (1341) arranged in sequence in a circumferential direction with the first rotating shaft as the center, and a first positioning recess (1340) is defined between two adjacent first positioning protruding teeth (1341); A top column (1311) is movably disposed in the placement chamber in a direction parallel to the axis of the first rotating shaft, and an end of the top column (1311) can be inserted into a corresponding positioning recess of the positioning toothed disc (134) to limit the rotation of the movable seat (132) relative to the mounting seat (131); A first elastic member (61) acts on the top column (1311) and causes the top column (1311) to always have a tendency to move toward the movable seat (132); The rear end of the mechanical arm body (3) is connected to the movable seat (132).

16. The wearable power-assisted lifting mechanical arm device according to any one of claims 1 to 7, characterized in that: It also includes a drawstring (40) and a drawstring reeling and releasing device (4) for releasing and reeling the drawstring (40), wherein the drawstring reeling and releasing device (4) is disposed on the waist fixing assembly, and the drawstring (40) is wound around the drawstring reeling and releasing device (4), and the free end of the drawstring is passed over the user's shoulder and connected to the mechanical arm body (3).

17. The wearable power-assisted lifting mechanical arm device according to claim 16, characterized in that: The pull rope winding and releasing device (4) comprises: A fixing seat (41) connected to the waist fixing assembly; A winch (42) rotatably connected to the fixing seat (41) for the pull rope (40) to be wound around; The winding spring (44) acts on the winch (42), and the winch (42) always has a tendency to rotate in the direction of winding up the pull rope (40).

18. The wearable power-assisted lifting mechanical arm device according to any one of claims 1 to 7, characterized in that: The waist fixing assembly comprises a chain belt assembly (10) for surrounding the waist of a user and a support plate (14); the support plate (14) is arranged on the inner side of the chain belt assembly (10) in a manner that it can move inward and outward relative to the chain belt assembly (10) and its position can be adjusted.

19. The wearable power-assisted lifting mechanical arm device according to claim 18, characterized in that: The support plate (14) is extended vertically as a whole, and its lower part is rotatably connected to the bottom of the chain belt assembly (10) through a horizontally extended pin shaft. The upper part of the support plate (14) is connected to an adjusting screw rod (15) extending outward and passing through and connected to the chain belt assembly (10). The inner end of the adjusting screw rod (15) is rotatably connected to the support plate (14), and the outer end of the adjusting screw rod (15) is exposed outside the chain belt assembly (10) and serves as an operating part (151) for a user to rotate the adjusting screw rod (15).

20. The wearable power-assisted lifting mechanical arm device according to claim 13, characterized in that: The chain belt assembly (10) further comprises a length adjustment assembly (20) connected to two adjacent chain belt links (110) and used for adjusting the distance between the two chain belt links (110). The two chain belt links (110) connected by the length adjustment assembly (20) are respectively referred to as a first chain belt link (1101) and a second chain belt link (1102). The length adjustment assembly (20) comprises: A connecting plate (21) is rotatably connected to the first chain link (1101) around an axis extending vertically, and the connecting plate (21) has a strip-shaped tooth portion (210) arranged along its length direction; A sliding frame (22) has a slideway (220) opened at the side for the connecting plate (21) to slide and limit in the longitudinal direction of the connecting plate (21); the sliding frame (22) is rotatably connected to the second chain link (1102) around an axis extending vertically; and a transmission gear (23) is also provided on the sliding frame (22) for transmission cooperation with the bar-shaped toothed portion (210) of the connecting plate (21); A knob assembly, comprising an operating knob (25), the operating knob (25) being rotatably mounted on the sliding frame (22), the operating knob (25) also having a transmission shaft sleeve (253) on which the transmission gear (23) is sleeved to drive the transmission gear (23) to rotate; A locking member is disposed on the sliding frame (22), and the locking member and the operating knob (25) are configured to be relatively close to each other so that the locking member acts on the operating knob (25) to limit the rotation of the operating knob (25), and relatively far away from each other so that the locking member releases the limit on the operating knob (25) and allows the operating knob (25) to rotate.

21. The wearable power-assisted lifting mechanical arm device according to claim 20, characterized in that: The sliding frame (22) is provided with a connecting shaft for mounting an operating knob (25), the operating knob (25) is rotatably sleeved on the connecting shaft and can slide along the axial direction of the connecting shaft, and the locking member comprises a limiting plate (26) provided on the sliding frame (22); The side of the limiting plate (26) facing the operating knob (25) has a plurality of third positioning recesses arranged in sequence along the circumferential direction with the axis of the connecting shaft as the center, and the side of the operating knob (25) facing the limiting plate (26) is provided with a second positioning protruding tooth (252) protruding outward, and the second positioning protruding tooth (252) can be inserted into or removed from the corresponding second positioning recess (260) as the operating knob (25) slides along the axial direction of the connecting shaft; or The side of the limiting plate (26) facing the operating knob (25) is provided with a plurality of second positioning protruding teeth (252) which are all protruding outward and are arranged in sequence along the circumferential direction centered on the axis of the above-mentioned connecting shaft. The side of the operating knob (25) facing the limiting plate (26) is provided with a second positioning recess (260) which is recessed inward. The second positioning recess (260) can allow the corresponding second positioning protruding teeth (252) to be inserted into or to be released from the corresponding second positioning protruding teeth (252) as the operating knob (25) slides axially along the connecting shaft.

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