Wearable power-assisted lifting mechanical arm device

Abstract

The utility model relates to a wearable power-assisted lifting mechanical arm device which comprises a waist fixing assembly and a supporting 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 mechanical arm further comprises a pull rope and a winding and releasing device used for releasing and winding the pull rope, the winding and releasing device is arranged on the waist fixing assembly, the pull rope is wound around the winding and releasing device, and the free end of the pull rope is wound around the upper portion of the shoulder of a user to be connected with the mechanical arm body. The supporting device has the advantages that effective supporting can be provided for the front side of the mechanical arm, and the supporting device can adapt to pitching angles of different mechanical arms.

Description

Technical Field

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

[0002] Shooting training requires the user to hold the gun with both hands. Since the gun itself is heavy, holding the gun for a long time requires a high level of physical strength. Long-term shooting can easily lead to occupational diseases, such as long-term tilting of the head causing blood vessel compression, and long-term arm raising and fixed posture causing discomfort in the arms and joints.

[0003] In order 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 mechanical arm device, including: a waist clamp assembly, which is used to be assembled at the back position of the waist of the user; an arm assembly, which is connected to the waist clamp assembly, and its end extends to the side and can be bent in the horizontal direction; a support rod assembly, including an adjustment rod whose bottom end is hinged at the end of the arm assembly and an auxiliary connecting member connected between the end of the arm assembly and the upper part of the adjustment rod and can keep the adjustment rod at a corresponding angle relative to the arm assembly; a bracket assembly, which is connected to the top of the adjustment rod and is used to place the object to be supported. The power-assisted lifting mechanical arm device can be conveniently worn by the user at the back position of the waist, and its size is small and easy to carry, which meets the needs of various shooting training of the user and is not limited by factors such as venues.

[0004] However, the above-mentioned assisted lifting mechanical arm device still has certain shortcomings: since the mechanical arm is located in front of the user and the support point is located on the side of the user's back, the mechanical arm will tend to tilt downward during actual use. Although support can be provided by a steel wire rope worn on the shoulder, the pitch angle of the mechanical arm is different in different usage environments, and the length requirements of the steel wire rope are also different. There is no steel wire rope auxiliary support structure that can adapt to the above-mentioned mechanical arm in the prior art. Utility Model Content

[0005] The technical problem to be solved by the utility model is to provide a wearable power-assisted lifting robot arm device which can provide effective support to the robot arm at the front side and can adapt to different pitch angles of the robot arm in response to the current status of the prior art.

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

[0007] Waist fixation assembly;

[0008] The main body of the mechanical arm extends obliquely upward from the rear to the front as a whole, the rear end of the main body of the mechanical arm is connected to the waist fixing assembly, and the main body of the mechanical arm is configured so that the front end can be deflected in the up-down direction relative to the rear end to adjust the pitch angle;

[0009] It also includes a drawstring and a winding release device for releasing and winding the drawstring, wherein the winding release device is arranged on the waist fixing assembly, the drawstring is wound around the winding release device, and the free end is passed over the user's shoulder and connected to the mechanical arm body.

[0010] Generally, the winding and releasing device can be a manual winding or releasing device, and locked by a locking device after the pull rope is released or wound into place. However, in some usage scenarios, the main body of the robot arm will float up and down slightly. If the length of the pull rope is fixed at this time, a natural bending problem will occur, affecting the user's experience. Therefore, preferably, the winding and releasing device includes:

[0011] A fixing seat connected to the waist fixing assembly;

[0012] A winch, rotatably connected to the fixing seat, for the pull rope to be wound around it;

[0013] The winding spring acts on the winch, and the winch always has a tendency to rotate in the direction of winding the pull rope.

[0014] The above structural design enables the pull rope to be automatically reeled and released. Even if the main body of the robotic arm floats up and down slightly during use, the pull rope will not bend naturally.

[0015] In order to achieve the cooperation between the capstan and the coil spring, the capstan is rotatably connected to the fixing seat via the first transmission shaft, one end of the coil spring is connected to the first transmission shaft, and the other end is connected to the fixing seat.

[0016] As an improvement, the fixed seat defines a first installation chamber for accommodating the winch and a second installation chamber for accommodating the coil spring. The first transmission shaft is rotatably connected to two opposite side walls of the first installation chamber, and one end thereof extends into the second installation chamber as a connecting end for installing the coil spring.

[0017] In order to simplify the installation structure of the coil spring, the inner end of the coil spring has a first bending portion, the outer end of the coil spring has a second bending portion, the connecting end is provided with a first slot for the first bending portion to be inserted into, and the wall of the second installation chamber is provided with a second slot for the second bending portion to be inserted into.

[0018] In order to facilitate the installation of the coil spring and subsequent maintenance and replacement operations, the second installation chamber is formed with an installation opening on a side away from the first installation chamber, and the fixing seat is also provided with a cover covering the installation opening.

[0019] In order to ensure the reliability and stability of the robotic arm after being worn, the waist fixing assembly includes a chain belt assembly for being arranged around the waist of the user, the chain belt assembly includes chain belt links that are connected in sequence and can rotate relatively around a vertically extending axis, and the fixing seat is fixed on the wall surface facing outward of the chain belt link.

[0020] In order to facilitate positioning and to achieve secure fixation between the winding and releasing device and the chain belt assembly through fasteners, the outer wall surface of the chain belt segment used to connect the fixed seat is provided with an inwardly recessed annular positioning groove, and the side wall of the fixed seat is provided with a positioning protruding ring extending outward and capable of being inserted into the annular positioning groove.

[0021] In order to simplify the structure of the robotic arm body and ensure the stability of its up and down rotation adjustment, the robotic arm body includes an arm assembly and a support rod assembly which are connected in sequence in the length direction. The first end of the arm assembly is connected to the waist fixing assembly, which constitutes the rear end of the robotic arm body, and the second end is connected to the support rod assembly. The support rod assembly is a four-bar linkage mechanism that extends forward and upward as a whole and has an adjustable pitch angle. The bottom end of the support rod assembly is connected to the second end of the arm assembly, and an auxiliary connecting rod is provided between the second end of the arm assembly and the upper part of the support rod assembly, which can keep the support rod assembly at a corresponding angle relative to the arm assembly.

[0022] The above-mentioned auxiliary connecting rod can be a spring member or a rod member 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 support arm assembly and maintain it at a corresponding angle, in order to further facilitate the angle adjustment of the adjusting rod and to be able to maintain it relatively stably within the corresponding angle range, the auxiliary connecting rod is a tension spring or a damping rod (commonly known as: hydraulic support rod, gas spring, hydraulic rod, support rod, gas-supported telescopic rod or lifting gas pressure rod). Preferably, the auxiliary connecting rod is a damping rod with adjustable length.

[0023] When the auxiliary connecting member is a tension spring, the two ends of the tension spring are respectively connected between the end of the support arm assembly and the upper part of the adjustment rod. When in use, the adjustment rod and the support arm assembly form an obtuse angle. Under the action of the tension spring, the top of the adjustment rod has a tendency to deflect upward, so that the bracket assembly provided at the top of the adjustment rod can provide upward support for the placed items. 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. When in use, the adjustment rod and the support arm assembly also form an obtuse angle. Under the action of the damping rod, the top of the adjustment rod can be supported. The damping rod can be selected according to the weight of the supported items to ensure that it can provide sufficient support force.

[0024] Compared with the prior art, the advantages of the utility model are as follows: the robotic arm body of the present application provides upward support to the front side of the robotic arm body through a pull rope, which can avoid the problem of the robotic arm body tilting downward. On this basis, the length of the above-mentioned pull rope can be flexibly adjusted through a winding and releasing device, thereby ensuring the flexibility of the angle adjustment of the robotic arm body and improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of the three-dimensional structure of the wearable power-assisted lifting mechanical arm device according to an embodiment of the utility model (when worn by a user);

[0026] Figure 2 This is a schematic diagram of the three-dimensional structure of a wearable power-assisted lifting mechanical arm device according to an embodiment of the utility model;

[0027] Figure 3 This is a schematic diagram of the three-dimensional structure of the wearable power-assisted lifting mechanical arm device according to an embodiment of the utility model from another angle;

[0028] Figure 4 It is a three-dimensional structural schematic diagram of a length adjustment assembly of a mechanical arm device according to an embodiment of the utility model;

[0029] Figure 5 A three-dimensional structural schematic diagram of the length adjustment assembly of the mechanical arm device according to an embodiment of the utility model from another angle;

[0030] Figure 6 An exploded view of a length adjustment assembly of a mechanical arm device according to an embodiment of the present utility model;

[0031] Figure 7 It is a cross-sectional view of the length adjustment assembly of the mechanical arm device of the embodiment of the utility model (the operating knob is in a locked state);

[0032] Figure 8 It is a cross-sectional view of the length adjustment assembly of the mechanical arm device of the embodiment of the utility model (the operating knob is in the outward-pull unlocking state);

[0033] Fig. 9 This is a schematic diagram of the three-dimensional structure of the operating knob of an embodiment of the utility model;

[0034] Fig.10 It is a schematic diagram of the three-dimensional structure of the rotation adjustment device of an embodiment of the utility model;

[0035] Fig.11 This is an exploded view of the rotation adjustment device of an embodiment of the utility model;

[0036] Fig.12 It is a schematic diagram of the three-dimensional structure of the inner side angle of the support arm assembly of the embodiment of the utility model;

[0037] Fig.13 It is a three-dimensional structural schematic diagram of the movable seat of an embodiment of the utility model;

[0038] Fig.14 It is a sectional stereoscopic view of the rotation adjustment device of the embodiment of the utility model cut along the axial direction of the second connecting shaft;

[0039] Fig.15 It is a cross-sectional view of a rotation adjustment device of an embodiment of the utility model cut vertically at the mounting groove of the movable seat;

[0040] Fig.16 It is a three-dimensional structural schematic diagram of a mounting base of a rotation adjustment device according to an embodiment of the utility model;

[0041] Fig.17 It is a schematic diagram of the three-dimensional structure of the inner side angle of the chain belt assembly of the embodiment of the utility model;

[0042] Fig.18 This is an exploded view of the connection structure between the chain belt assembly and the support plate of an embodiment of the utility model;

[0043] Fig.19 It is an exploded view of the connection structure between the chain belt assembly and the support plate of the embodiment of the utility model from another angle;

[0044] Fig. 20 It is a schematic diagram of the three-dimensional structure of the winding and releasing device of an embodiment of the utility model;

[0045] Fig.21 This is an exploded view of the winding and releasing device of an embodiment of the utility model;

[0046] Fig. 22 A vertical cross-sectional view of the winding and releasing device of an embodiment of the utility model cut along the axial direction of the first transmission shaft;

[0047] Fig.23 It is a three-dimensional structural schematic diagram of a bracket assembly according to an embodiment of the utility model;

[0048] Fig.24 An exploded view of a bracket assembly according to an embodiment of the present utility model;

[0049] Fig.25 It is a vertical cross-sectional view of the bracket assembly according to an embodiment of the utility model cut along the axial direction of the connecting shaft. DETAILED DESCRIPTION

[0050] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0051] In the specification and claims of the present invention, terms indicating directions, such as "front", "rear", "up", "down", "left", "right", "side", "top", "bottom", etc., are used to describe various exemplary structural parts and elements of the present invention, but these terms are used here only for the purpose of convenience of description and are determined based on the exemplary orientations shown in the accompanying drawings. Since the embodiments disclosed in the present invention can be arranged in different directions, these terms indicating directions are only used as explanations and should not be regarded as limitations. For example, "up" and "down" are not necessarily limited to directions opposite to or consistent with the direction of gravity.

[0052] Figure 1-Figure 25 A preferred embodiment of the wearable power-assisted lifting mechanical arm device of the utility model is shown. The wearable power-assisted lifting mechanical arm device comprises a waist fixing assembly, a mechanical arm body 3, a drawstring 40, a winding and releasing device 4 of the drawstring 40, and a rotation adjustment device 13 for adjusting the installation angle of the mechanical arm body 3 relative to the waist fixing assembly, and a support plate 14 is also provided on the inner side of the waist fixing assembly.

[0053] See also Figure 2 and Figure 3 The waist fixing assembly includes a chain belt assembly 10, which includes a chain belt portion 11 and a restraining belt portion 12. The chain belt portion 11 is a non-closed, specifically a bendable and movable chain belt with an opening at the front side. The restraining belt portion 12 connects the two ends of the length of the chain belt portion 11, thereby forming a closed ring chain belt. The restraining belt portion 12 can be a belt with a quick-insert buckle, a nylon webbing, etc.

[0054] The chain belt assembly 10 includes chain belt links 110 that are connected in sequence and can rotate relatively around a vertically extending axis. Specifically, the chain belt link 110 is plate-shaped as a whole and can be slightly curved to fit the waist curve contour of the user. The sides of two adjacent chain belt links 110 are rotatably connected by a vertically extending pin shaft.

[0055] Combination Figure 2-Figure 9In order to adapt to users of different body shapes, the length of the chain portion 11 of the chain assembly 10 of this embodiment is adjustable. Specifically, the two chain links 110 corresponding to the chain portion 11 located on the back side of the user's waist are connected by a length adjustment assembly 20, and the distance between the two chain links 110 is adjusted by the length adjustment assembly 20.

[0056] The two chain links 110 connected by the length adjustment assembly 20 are respectively referred to as the first chain link 1101 and the second chain link 1102. The length adjustment assembly 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.

[0057] The connecting plate 21 is a strip-shaped plate extending along the length direction of the chain belt portion 11, one end of which is rotatably connected to the end of the first chain belt segment 1101 through a vertically extending pin shaft, and 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 belt segment 1102 through a vertically extending pin shaft, and has a slideway 220 opened at the side for the connecting plate 21 to slide and limit along the length direction of the connecting plate 21, wherein the slideway 220 is located outside the connection position between the sliding frame 22 and the second chain belt segment 1102, so that the part of the connecting plate 21 that passes through the slideway 220 of the sliding frame 22 and is exposed is also located outside the chain belt portion 11, and there will be no interference problem, wherein the length of the sliding frame 22 does not need to be set too large, so that the length adjustment stroke between two adjacent chain belt segments 110 can be increased as much as possible.

[0058] The sliding frame 22 is also provided with a transmission gear 23 that is in transmission cooperation with the bar-shaped toothed portion 210 of the connecting plate 21. Specifically, the sliding frame 22 has a mounting cavity for accommodating the transmission gear 23, which is located below the slideway 220. The mounting cavity is connected to the slideway 220 above and is open on the outside. The knob assembly includes an operating knob 25, which is rotatably mounted on the sliding frame 22 and correspondingly cooperates with the outer opening of the mounting cavity. More specifically, the sliding frame 22 is provided with a horizontally extending first connecting shaft 24, which is substantially perpendicular to the sliding frame 22 and correspondingly located at the mounting cavity. The operating knob 25 and the transmission gear 23 are rotatably sleeved on the first connecting shaft 24, wherein the operating 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 to the first connecting shaft 24, a limiting plate 26 is further provided at the front opening of the installation cavity of the sliding frame 22. The limiting plate 26 has a hole in the middle, through which the transmission sleeve 253 extending inward from the inner side of the first connecting shaft 24 and the operating knob 25 can pass. The limiting plate 26 can be connected to the sliding frame 22 by fasteners such as screws. During installation, the transmission gear 23 can be placed in the installation cavity first, and then the limiting plate 26 can be installed to limit the axial movement of the transmission gear 23.

[0059] The transmission shaft sleeve 253 on the inner side of the operating knob 25 can be sleeved by the transmission gear 23 . The cross section of the outer peripheral wall of the transmission shaft sleeve 253 is non-circular, and can be a regular hexagon, so that the transmission gear 23 can be driven to rotate when rotating.

[0060] The side of the limit plate 26 facing the operating knob 25 has a plurality of second positioning recesses 260 arranged in sequence along the circumferential direction centered on the axis of the above-mentioned first connecting shaft 24, and the side of the operating knob 25 facing the limit plate 26 is provided with a second positioning protruding tooth 252 protruding outward. Specifically, the number of the second positioning protruding teeth 252 on the operating knob 25 is the same as the number of the above-mentioned second positioning recesses 260, and is also arranged in sequence along the circumferential direction centered on the axis of the above-mentioned first connecting shaft 24. When the operating knob 25 approaches the limit plate 26 axially along the first connecting shaft 24, each second positioning protrusion 252 on the operating knob 25 can be correspondingly engaged with each second positioning recess 260 of the limit plate 26, thereby limiting the circumferential rotation of the operating knob 25; when the operating knob 25 moves away from the limit plate 26 axially along the first connecting shaft 24, each second positioning protrusion 252 on the operating knob 25 can be correspondingly disengaged from each second positioning recess 260 of the limit plate 26, thereby releasing the circumferential restriction on the operating knob 25 and allowing the operating knob 25 to rotate in both directions, wherein, after the limit plate 26 releases the circumferential limit plate 26 on the operating knob 25, the transmission sleeve 253 of the operating knob 25 is still matched with the transmission gear 23, and rotating the operating knob 25 can drive the transmission gear 23 to rotate, thereby driving the connecting plate 21 to move.

[0061] The operating knob 25 has an axial hole 250 for the first connecting shaft 24 to pass through, and the inner wall of the axial hole 250 has a step portion 251 that is larger on the outside and smaller on the inside, and the outer end of the first connecting shaft 24 has a first limit stop portion 240 that extends radially outward. The fourth elastic member 64 of this embodiment can be a fourth spring, which is sleeved outside the first connecting shaft 24, and its two ends respectively abut against the step portion 251 of the axial hole 250 of the operating knob 25 and the first limit stop portion 240 of the first connecting shaft 24. Under the elastic force of the fourth spring, the operating knob 25 always has a tendency to move toward the side where the limit plate 26 is located. When the length of the chain belt portion 11 needs to be adjusted, the operating knob 25 can be pulled outward to make the second positioning protruding tooth 252 of the operating knob 25 disengage from the second positioning recess 260 of the limiting plate 26, thereby releasing the circumferential restriction of the limiting plate 26 on the operating knob 25, and then rotating the operating knob 25 to drive the transmission gear 23 to rotate, thereby driving the connecting plate 21 to move along its length direction to adjust the spacing between the first chain belt link 1101 and the second chain belt link 1102. After the adjustment is in place, the operating knob 25 is released, and the operating knob 25 moves toward the side where the limiting plate 26 is located under the elastic force of the fourth spring until the second positioning protruding tooth 252 on the operating knob 25 is engaged with the second positioning recess 260 of the limiting plate 26, so that the limiting plate 26 limits the operating knob 25 in the circumferential direction, the operating knob 25 cannot rotate, and the spacing between the first chain belt link 1101 and the second chain belt link 1102 cannot be adjusted.

[0062] See also Figure 17-Figure 19 The support plate 14 is installed on the inner side of the chain belt part 11 of the chain belt assembly 10, and its distance in the inner and outer directions relative to the chain belt assembly 10 is adjustable. Generally speaking, the position adjustment of the support plate 14 relative to the chain belt assembly 10 can be a linear movement relative to the chain belt assembly 10 as a whole, or the support plate 14 can be an angular deflection relative to the chain belt assembly 10 as a whole, or both. In a preferred embodiment, the support plate 14 is vertically extended as a whole, and its bottom has a bending arm 142 extending outward, and the bending arm 142 is rotatably connected to the bottom of the chain belt assembly 10 through a horizontally extending pin shaft. The upper part of the support plate 14 is connected to an adjusting screw rod 15 extending outward and passing through the chain belt section 110 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 the user to rotate the adjusting screw rod 15.

[0063] Since the support plate 14 is deflected with its bottom end as the rotation center, in order to avoid interference with the adjusting screw 15 during the rotation of the support plate 14, a movable ball head 114 is provided in the chain belt section 110 of the chain belt assembly 10, and the above-mentioned adjusting screw 15 is inserted into the movable ball head 114 and is threadedly connected with the movable ball head 114, and the adjusting screw 15 is suitable for adopting a connection structure that can swing relative to the support plate 14, specifically, the inner end of the adjusting screw is a ball head structure 152, and the support plate 14 defines a ball socket structure for the ball head to be movable and limited therein. In order to facilitate the assembly of the adjusting screw 15 with the ball head structure 152 and the support plate 14, the back of the support plate 14 has a concave spherical concave area 140 and an open connection cover 141 covering the spherical concave area 140, and specifically, the connection cover 141 can be connected to the back of the support plate 14 by fasteners such as screws. The connecting cover 141 has an opening through which the main body of the adjusting screw is inserted. The connecting cover 141 and the spherical concave area 140 on the supporting plate 14 together define a ball socket structure for accommodating the ball head of the adjusting screw 15 .

[0064] The operating portion 151 on the adjusting screw rod 15 protrudes outward relative to the main body of the adjusting screw rod 15. The adjusting screw rod 15 is also sleeved with a sixth spring 66, which is pressed between the operating portion 151 and the outer wall of the chain link 110 to prevent loosening.

[0065] The chain belt portion 11 of the chain belt assembly 10 of 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, wherein the rear chain belt portion is provided with the above-mentioned length adjustment component 20. Two support plates 14 are provided on the inner side 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 plate 14 fits the waist of the user, and improve the user's comfort, the inner side surface of the support plate 14 is an inner concave curved surface that gradually extends inward from the middle to the left and right sides.

[0066] The waist fixing component for fixing the robotic arm device to the user's waist adopts a chain belt component 10, and a support plate 14 is provided on the inner side of the chain belt component 10, wherein the support plate 14 is used to support the waist of the user, and can move inward and outward relative to the chain belt component 10 to adjust the position, thereby better fitting and firmly supporting the user's waist to ensure the stability of the user after wearing the robotic arm device and improve the user's experience.

[0067] Continue to see Figure 2 and Figure 3 , the robot arm body 3 of this embodiment extends forward and upward as a whole, that is, the rear end of the robot arm body 3 is connected to the chain belt part 11 of the waist fixing assembly, and the front end can be deflected in the up and down direction relative to the rear end to adjust the pitch angle. Specifically, the robot arm body 3 includes a support arm assembly 31 and a support rod assembly 32 connected in sequence in its length direction. The first end of the support arm assembly 31 is connected to the waist fixing assembly, that is, it constitutes the rear end of the robot 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 that extends obliquely 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 support arm assembly 31.

[0068] The arm assembly 31 includes arm sections 311 that are rotatably connected in sequence along the length direction thereof. Two adjacent arm sections 311 are rotatably connected via a vertically extending pin shaft, so that the arm assembly 31 can swing in a plane perpendicular to the pin shaft, that is, can swing leftward or rightward. The arm section 311 at one end is connected to the link portion via a rotation adjustment device 13, and the arm section 311 at the other end is fixedly connected to the first connection seat 323 of the support rod assembly 32.

[0069] The support rod assembly 32 includes a first adjustment rod 321, a second adjustment rod 322, a first connection seat 323, and a second connection seat 324. The first adjustment rod 321 and the second adjustment rod 322 are arranged in parallel. The lower end of the first adjustment rod 321 and the lower end of the second adjustment rod 322 are both hinged on the first connection seat 323. The upper end of the first adjustment rod 321 and the upper end of the second adjustment rod 322 are both hinged on the second connection seat 324. The rotation axis between the first adjustment rod 321, the second adjustment rod 322 and the first connection seat 323 and the rotation axis between the first adjustment rod 321, the second adjustment rod 322 and the second connection seat 324 are parallel and extend in the horizontal direction. Therefore, the first adjustment rod 321, the second adjustment rod 322, the first connection seat 323 and the second connection seat 324 constitute a four-bar linkage mechanism that can move in a vertical plane. In order to adapt to users of different heights, the first adjustment rod 321 and the second adjustment rod 322 are telescopic rods with adjustable lengths.

[0070] 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 can keep the adjustment rod at a corresponding angle 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 adjustment rod 321 or the second adjustment rod 322. Figure 2 It is shown that the upper end of the auxiliary connecting rod 325 is rotatably connected to the upper part of the second adjusting rod 322, and 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. When in use, 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 it can provide sufficient support force.

[0071] See also Figure 10-Figure 16 In order to allow the robot body 3 to have a larger pitch angle adjustment range relative to the waist fixing assembly, the robot body 3 is rotatably connected to the waist fixing assembly in a manner that it can rotate relative to the waist fixing assembly around a horizontally extending axis and that its position can be adjusted. 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 member of the robot body 3 is detachably connected to the rotation adjustment device 13.

[0072] 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 assembly.

[0073] The mounting seat 131 is fixed relative to the belt link 110 of the belt assembly 10, and can be connected to the belt link 110 by fasteners such as screws, or can be designed integrally with the belt link 110. The mounting seat 131 has a placement chamber 1310 that is open at the front. The movable seat 132 is rotatably connected to the mounting seat 131 through the second connecting shaft 135, and covers the front opening of the placement chamber 1310. The second connecting shaft 135 is perpendicular to the belt link 110, and penetrates the placement chamber 1310 of the belt link 110 and the mounting seat 131 from the inside to the outside, and is then threadedly connected to the movable seat 132. The second connecting shaft 135 is not fixed to the belt link 110 and the mounting seat 131, but can move axially relative to the belt link 110 and the mounting seat 131, that is, the movable seat 132 can also move closer to or farther away from the mounting seat 131 along the axial direction of the second connecting shaft 135.

[0074] The second connecting shaft 135 can be a stepped screw with a thread at the end. The second elastic member 62 of this embodiment preferably adopts a second spring, which is sleeved on the second connecting shaft 135, one end of which abuts against the head protruding radially outward from the inner end of the second connecting shaft 135, and the other end abuts against the mounting seat 131. Under the elastic force of the second spring, the second connecting shaft 135 and the movable seat 132 always have a tendency to move toward the side where the mounting seat 131 is located.

[0075] The extension direction of the top column 1311 is parallel to the axis of the second connecting shaft 135. The top column 1311 is movably arranged in the installation chamber along a direction parallel to the axis of the second connecting shaft 135. Specifically, a guide sleeve 1312 is provided in the installation chamber of the mounting seat 131, and the top column 1311 is movably arranged in the guide sleeve 1312 and can be exposed from the end of the guide sleeve 1312. The top column 1311 is provided with a horizontally penetrating limit pin 1313, and the two opposite side walls of the guide sleeve 1312 are provided with limit slots 13120, and the two ends of the limit pin 1313 are slidably limited in the two limit slots 13120. The length of the two limit slots 13120 limits the axial movement stroke of the top column 1311 along the second connecting shaft 135. The first elastic member 61 is disposed in the guide sleeve 1312 and abuts against the inner end of the top column 1311 , so that the top column 1311 always has a tendency to move outward (ie, move toward the side where the movable seat 132 is located).

[0076] Matching the axially movable top column 1311, a positioning toothed disc 134 is further provided on the movable seat 132 on one side 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 second connecting shaft 135 as the center, and a first positioning recess 1340 is defined between two adjacent first positioning protruding teeth 1341. The end of the top column 1311 can be inserted into the corresponding first positioning recess 1340 of the positioning toothed disc 134 to limit the movable seat 132 from rotating relative to the mounting seat 131.

[0077] The end of the top column 1311 has an outwardly convex arc surface structure. The outer wall surface on each first positioning protruding tooth 1341 on the positioning toothed disc 134 that cooperates with the end of the top column 1311 includes a guide bevel 13411 and a stop curve 13412 that are sequentially arranged along the circumferential direction. The guide bevel 13411 is an outwardly convex curved surface, while the stop curve 13412 is an inwardly concave curved surface, and the two are connected at the top of the protruding tooth, so that the first positioning protruding tooth 1341 forms a one-way tooth. The structure in which the top column 1311 cooperates with the one-way teeth of the positioning toothed disc 134 only allows the movable seat 132 to rotate upward relative to the mounting seat 131 around the second connecting shaft 135, thereby being able to effectively support the supporting robot arm body 3 and facilitate the user to lift the robot arm body 3 upward for angle adjustment.

[0078] The length of the second connecting shaft 135 and the second elastic member 62 can be selected according to actual needs, so that when the robot arm body 3 needs to be adjusted downward relative to the waist fixing assembly, the user can pull the movable seat 132 outward, so that the first positioning protruding teeth 1341 on the positioning toothed disc 134 can be disengaged from the end of the top column 1311 to release the limit, thereby allowing the movable seat 132 to rotate downward relative to the mounting seat 131 around the second connecting shaft 135. When the required tilt angle is adjusted, the movable seat 132 is released, and the movable seat 132 moves inward under the action of the second elastic member 62, so that the first positioning recessed portion 1340 on the positioning toothed disc 134 is again limited and matched with the end of the top column 1311, thereby forming an upward support for the robot arm body 3.

[0079] The movable seat 132 of this embodiment is also provided with a mounting groove 1320 extending vertically and opening at the top, and the outer wall of the movable seat 132 is also provided with a clearance notch that is connected with the mounting groove 1320 and extends to the top opening of the mounting groove 1320. The bottom area of ​​the side wall of the movable seat 132 is also provided with a through hole 1321 that is connected with the bottom of the mounting groove 1320. The side wall of the arm section 311 of the arm assembly 31 of the robot body 3 facing the movable seat 132 is provided with an insert block 310 for inserting into the mounting groove 1320.

[0080] 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.

[0081] See also Fig.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. Fig.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.

[0082] The front end of the robot arm body 3 of the present embodiment can be deflected in the up and down directions relative to the rear end to adjust the pitch angle. On this basis, the robot arm body 3 as a whole can also rotate around the horizontally extending axis relative to the chain belt assembly 10. This dual-position angle adjustment method has a larger pitch angle adjustment range. Users can choose the corresponding adjustment method according to actual needs, thereby improving the user experience.

[0083] See also Figure 23-Figure 25 The bracket assembly 5 is connected to the second connection seat 324 of the support rod assembly 32 of the robot arm body 3. The bracket assembly 5 includes a support frame 50 connected to the second connection seat 324 and a bracket 53 detachably connected to the support frame 50.

[0084] The support frame 50 includes a first support frame 51 and a second support frame 52, wherein 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 connecting 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 robot arm body 3 through a first rotating sleeve, and 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 53 is connected to the second support frame 52, so that the objects placed on the bracket assembly 5 can be conveniently adjusted in angle in the up and down and left and right directions.

[0085] The second support frame 52 has a connecting column 521 extending outward (preferably extending upward), and the outer peripheral wall of the connecting column 521 has a radially concave annular groove 5210 as a third positioning recess. The bracket 53 includes a bracket 53 body, a connecting sleeve 54 connected to the bracket 53 body, a fifth elastic member 65, a ball 542 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 that passes through its outer peripheral wall to the mounting channel 540. The above-mentioned positioning holes 541 have at least two, preferably three positioning holes 541, arranged at intervals along the circumference of the connecting sleeve 54. The number of the ball 542 is consistent with the number of the positioning holes 541 on the connecting sleeve 54. The positioning holes 541 on the connecting sleeve 54 are tapered holes with a large inner side and a small outer side, so that the ball 542 can only partially expose the outer wall of the connecting sleeve 54 through the above-mentioned positioning holes 541 and will not completely fall out of the positioning holes 541. Specifically, each ball 542 is movably disposed in the corresponding positioning hole 541 along the radial direction of the connecting sleeve 54, and can move inward to be inserted into the third positioning recess of the connecting column 521, and can move outward to be released from the third positioning recess. After each ball 542 is inserted into the third positioning recess of the connecting column 521, the connecting sleeve 54 and the connecting column 521 can be limited in the axial direction to achieve the locking purpose.

[0086] The operating sleeve 55 is sleeved outside the connecting sleeve 54 and can move axially 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 circumferential wall of the operating sleeve 55 is provided with a conical structure 553 adjacent to its second port 552, and the caliber of the conical structure 553 gradually decreases from bottom to top (i.e., from the second port to the first port position direction). The operating sleeve 55 has a locked state and an unlocked state as its axial position changes, wherein, when the operating sleeve 55 is subjected to an external force (overcoming the elastic force of the fifth spring) and moves upward to a set position, the conical structure 553 of the operating sleeve 55 and the ball 542 relatively release the radial pressure on each ball 542, so that each ball 542 can escape from the corresponding third positioning recess to achieve unlocking. When the operating sleeve 55 is moved downward to the set position by external force (overcoming the elastic force of the fifth spring), the inner wall of the main part of the operating sleeve 55 (the diameter is smaller than the minimum inner diameter of the conical structure 553) is opposite to the ball 542, and radial pressure is applied to each ball 542, so that each ball 542 is inserted into the corresponding third positioning recess on the connecting column 521 to achieve locking.

[0087] The inner peripheral wall of the operating sleeve 55 is provided with a second limit stopper 550 extending radially inward. The connecting sleeve 54 includes a small diameter section 543 adjacent to the main body of the bracket 53 and a large diameter section 544 away from the main body of the bracket 53, wherein the outer peripheral wall of the connecting sleeve 54 forms a limit step 545 corresponding to the position where the small diameter section 543 and the large diameter section 544 meet. The second limit stopper 550 of the operating sleeve 55 abuts against the limit step 545. A fifth elastic member 65 is also provided inside the operating sleeve 55, and the fifth elastic member 65 is preferably a fifth spring, 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 main body of the bracket 53. Under the elastic force of the fifth spring, the operating sleeve 55 always has a tendency to move from its unlocked state position toward its locked state position, so that when the operating sleeve 55 is not subjected to external force, it can automatically rebound and move to the locked position.

[0088] 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 small upper portion and a large lower portion.

[0089] The bracket 53 of the bracket assembly 5 may be a bracket structure that can only play a supporting role, or may be an elastic bracket structure that can clamp the objects to be placed.

[0090] The mechanical arm device of this embodiment also provides upward support to the mechanical arm body 3 through the drawstring 40. Specifically, a winding release device 4 for winding the drawstring 40 is also provided on the outer side of the chain belt portion 11 of the waist fixing assembly. The drawstring 40 is wound around the winding release device 4, and the free end of the drawstring 40 is passed over the upper part of the user's shoulder and connected to the mechanical arm body 3.

[0091] In order to increase the service life and ensure the supporting strength, the pull rope 40 is preferably a steel wire rope.

[0092] The winding and releasing device 4 includes a fixing seat 41 , a capstan 42 , a first transmission shaft 43 and a winding spring 44 .

[0093] The fixing seat 41 can be connected to the outer side wall of the chain link 110 of the chain belt portion 11 by fasteners such as screws. Specifically, in order to facilitate the positioning between the fixing seat 41 and the chain link 110, the outer wall surface of the chain link 110 used to connect the fixing seat 41 has an inwardly recessed annular positioning recess 113, and the side wall of the fixing seat 41 has a positioning protruding ring 415 extending outward and capable of being inserted into the annular positioning recess 113. The fixing seat 41 defines a first installation chamber 411 for accommodating the winch 42 and a second installation chamber 412 for accommodating the coil spring 44. The first transmission shaft 43 is rotatably connected to the 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 pull rope 40 is wound around the winch 42 , and when the winch 42 rotates forward and reversely along with the first transmission shaft 43 , the pull rope 40 can be tightened and released.

[0094] 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 is provided on the connecting end 430 of the first transmission shaft 43 for the first bending portion 441 to be inserted therein, and a second slot 413 is provided on the wall of the second installation chamber 412 for the second bending portion 442 to be inserted therein. When the pull rope 40 is released by an external force, such as applying a downward force to an object placed on the bracket assembly 5, the winch 42 rotates and transmits the power to the coil spring 44 through the first transmission shaft 43, and the inner end of the coil spring 44 rotates to accumulate potential energy. When the downward force applied to the object 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 opposite direction, and the pull rope 40 is wound up. The design of the coil spring 44 enables the pull rope 40 to be automatically reeled and released. Even if the robot arm body 3 floats up and down slightly during use, the pull rope 40 will not bend naturally, thereby improving the user experience.

[0095] In order to facilitate the installation of the coil spring 44 and subsequent maintenance and replacement operations, the second installation chamber 412 is formed with an installation opening on the side away from the first installation chamber 411, and a removable cover 414 is provided at the installation opening. The cover 414 can be connected to the main body of the fixing base 41 by fasteners such as screws and cover 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; The invention is characterized in that it also includes a drawstring (40) and a reeling and releasing device (4) for releasing and reeling the drawstring (40), wherein the reeling and releasing device (4) is arranged on the waist fixing assembly, the drawstring (40) is wound around the reeling and releasing device (4), and the free end is passed over the user's shoulder and connected to the mechanical arm body (3).

2. The wearable power-assisted lifting mechanical arm device according to claim 1, characterized in that: The 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).

3. The wearable power-assisted lifting mechanical arm device according to claim 2, characterized in that: The capstan (42) is rotatably connected to the fixed seat (41) via a first transmission shaft (43); one end of the coil spring (44) is connected to the first transmission shaft (43), and the other end is connected to the fixed seat (41).

4. The wearable power-assisted lifting mechanical arm device according to claim 3 is characterized in that: The fixing seat (41) defines a first installation chamber (411) for accommodating the winch (42) and a second installation chamber (412) for accommodating the coil spring (44); 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).

5. The wearable power-assisted lifting mechanical arm device according to claim 4, characterized in that: The inner end of the coil spring (44) has a first bent portion (441), the outer end of the coil spring (44) has a second bent portion (442), the connecting end (430) is provided with a first slot (431) for the first bent portion (441) to be inserted therein, and the wall of the second installation chamber (412) is provided with a second slot (413) for the second bent portion (442) to be inserted therein.

6. The wearable power-assisted lifting mechanical arm device according to claim 4, characterized in that: The second installation chamber (412) is formed with an installation opening on a side away from the first installation chamber (411), and the fixing seat (41) is also provided with a sealing cover (414) covering the installation opening.

7. The wearable power-assisted lifting mechanical arm device according to any one of claims 2 to 6, 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) comprises chain belt links (110) which are connected in sequence and can rotate relatively around a vertically extending axis, and the fixing seat (41) is fixed on the wall surface of the chain belt link (110) facing outward.

8. The wearable power-assisted lifting mechanical arm device according to claim 7, characterized in that: An outer wall surface of a chain link (110) for connecting the fixing seat (41) is provided with an inwardly recessed annular positioning recess (113), and a side wall of the fixing seat (41) is provided with a positioning protruding ring (415) extending outwardly and capable of being inserted into the annular positioning recess (113).

9. The wearable power-assisted lifting mechanical arm device according to any one of claims 1 to 6, characterized in that: The mechanical arm body (3) comprises 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 provided between the second end of the arm assembly (31) and the upper part of the support rod assembly (32) and 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.

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