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 waist fixing assembly comprises a chain belt assembly used for surrounding the waist of a user and a supporting plate, and the supporting plate is arranged on the inner side of the chain belt assembly in the mode that the supporting plate can move inwards and outwards relative to the chain belt assembly and is adjustable in position. The waistband has the advantages that the waistband can be attached to the waist of a user in a matched mode, and the user can wear the waistband more stably and firmly.

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 two-handed operation. Due to the weight of the weapon, holding it for extended periods of time requires considerable physical strength. Long-term shooting can easily lead to occupational illnesses, such as vascular compression from prolonged tilting of the head, and discomfort in the arms and joints from prolonged arm-raising and fixed postures.

[0003] In order to solve the above technical problems, the applicant's prior application CN201911205160.9 (application publication number: CN110788838A) of the Chinese invention patent application discloses a power-assisted lifting mechanical arm device, comprising: a waist clamp assembly for being assembled at the back position of the waist of the user; an arm assembly connected to the waist clamp assembly, the end of which 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 to 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 capable of maintaining the adjustment rod at a corresponding angle relative to the arm assembly; a bracket assembly, connected to the top of the adjustment rod, for placing 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. It is small in size and easy to carry, meeting the user's various shooting training needs without being restricted by factors such as venues.

[0004] However, the above-mentioned power-assisted lifting robotic arm device still has certain shortcomings: the waist clip assembly is only installed on a backboard worn on the user's back, that is, the center of the entire robotic arm device is basically concentrated on a central area or position on the user's back, which affects the reliability and stability of the robotic arm device. In a slightly intense use environment, it may cause tilting or overturning problems. Utility Model Content

[0005] The technical problem to be solved by the present invention is to provide a wearable power-assisted lifting mechanical arm device that can fit closely with the user's waist and make the user wear it more stable and secure, in response to the current status of the existing technology.

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

[0007] Waist fixation assembly;

[0008] A robotic arm body, which extends obliquely upward from rear to front as a whole, with the rear end of the robotic arm body connected to the waist fixing assembly, and the robotic arm body is configured so that its front end can deflect in the vertical direction relative to the rear end to adjust the pitch angle;

[0009] The waist fixing assembly includes a chain belt assembly for surrounding the waist of the user and a support plate. The support plate is arranged on the inner side of the chain belt assembly in a manner that it can move inward and outward relative to the chain belt assembly and its position is adjustable.

[0010] Generally speaking, the position adjustment of the support tray relative to the chain belt assembly can be a linear movement of the support tray as a whole relative to the chain belt assembly, or an angular deflection of the support tray as a whole relative to the chain belt assembly, or a combination of both. Preferably, the support tray is vertically extended as a whole, and its lower part is rotatably connected to the bottom of the chain belt assembly through a horizontally extending pin shaft. The upper part of the support tray is connected to an adjustment screw rod extending outward and passing through the chain belt assembly. The inner end of the adjustment screw rod is rotatably connected to the support tray, and the outer end of the adjustment screw rod is exposed outside the chain belt assembly and serves as an operating part for the user to rotate the adjustment screw rod.

[0011] In order to adapt to the angle adjustment method of the above-mentioned support plate and avoid interference problems during the angle adjustment process, the inner end of the adjusting screw is a ball head structure, and the support plate is defined with a ball socket structure for the ball head to be movable and limited therein.

[0012] As an improvement, in order to facilitate the assembly of the adjusting screw with a ball head structure and the support plate, the back of the support plate has an inward-concave spherical recessed area and an open connecting cover covering the spherical recessed area. The connecting cover has an opening for the main body of the adjusting screw to pass through. The connecting cover and the spherical recessed area on the support plate jointly define the ball socket structure.

[0013] In order to better adapt to the user's waist contour curve, ensure that the support plate fits the user's waist, and improve the user's comfort, the inner side of the support plate is a concave surface that gradually extends inward from the middle to the left and right sides.

[0014] In order to further improve the wearing reliability of the chain belt assembly, the chain belt assembly includes a left chain belt portion corresponding to the left side of the user's waist and a right chain belt portion corresponding to the right side of the user's waist. At least one support plate is provided on the inner side of the left chain belt portion and the right chain belt portion of the chain belt assembly.

[0015] In order to simplify the structure of the chain belt assembly, the chain belt assembly includes chain belt links that are connected in sequence and can rotate relatively around a vertically extending axis, and the supporting plate is arranged on the inner side of the chain belt links.

[0016] In order to facilitate wearing by the user and reduce the overall weight of the chain belt assembly, the chain belt assembly includes a non-closed chain belt portion consisting of chain belt links connected in sequence and rotation, and a restraining belt portion connected to the two ends of the chain belt portion.

[0017] The chain belt assembly includes a non-closed chain belt portion consisting of chain belt links connected in rotation in sequence and a restraining belt portion connected to two ends of the chain belt portion.

[0018] 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 a support arm assembly and a support rod assembly connected in sequence in its length direction. The first end of the support arm assembly is connected to the waist fixing assembly, which constitutes the rear end of the robotic arm main 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 support arm assembly, and an auxiliary connecting rod is provided between the second end of the support arm assembly and the upper part of the support rod assembly, which can keep the support rod assembly at a corresponding angle state relative to the support arm assembly.

[0019] 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 adjustment rod deflect at an angle relative to the support arm assembly and maintain it at a corresponding angle state, in order to further facilitate the angle adjustment of the adjustment 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 rod). Preferably, the auxiliary connecting rod is a damping rod with adjustable length.

[0020] When the auxiliary connecting member is a tension spring, its two ends are connected between the distal end of the arm assembly and the upper portion of the adjustment rod. When in use, the adjustment rod and the arm assembly form an obtuse angle. Under the action of the tension spring, the top end of the adjustment rod tends to deflect upward, enabling the bracket assembly located at the top end of the adjustment rod to provide upward support for placed items. When the auxiliary connecting rod is a damping rod, the damping rod can be a hydraulic or pneumatic damping rod. When in use, the adjustment rod and the arm assembly also form an obtuse angle. Under the action of the damping rod, the top end of the adjustment rod is supported. The damping rod can be selected based on the weight of the supported item to ensure sufficient support.

[0021] Compared with the existing technology, the advantages of the present invention are as follows: the waist fixing assembly used to fix the robotic arm device to the user's waist adopts a chain belt assembly, and a support plate is provided on the inner side of the chain belt assembly, wherein the support plate is used to support the waist of the cooperating user, and can move inward and outward relative to the chain belt assembly to adjust the position, thereby better fitting and firmly supporting the user's waist, so as to ensure the stability of the user after wearing the robotic arm device and improve the user's experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the three-dimensional structure of the wearable power-assisted lifting robot arm device according to an embodiment of the utility model (when worn by the user);

[0023] Figure 2 This is a schematic diagram of the three-dimensional structure of a wearable power-assisted lifting robotic arm device according to an embodiment of the present utility model;

[0024] Figure 3 This is a schematic diagram of the three-dimensional structure of the wearable power-assisted lifting robotic arm device according to an embodiment of the utility model from another angle;

[0025] Figure 4 This is a schematic diagram of the three-dimensional structure of the length adjustment assembly of the robotic arm device according to an embodiment of the present utility model;

[0026] Figure 5 This is a schematic three-dimensional structural diagram of the length adjustment assembly of the robotic arm device according to an embodiment of the present invention from another angle;

[0027] Figure 6 This is an exploded view of the length adjustment assembly of the robotic arm device according to an embodiment of the present invention;

[0028] Figure 7 This is a cross-sectional view of the length adjustment assembly of the robotic arm device according to an embodiment of the present invention (the operating knob is in a locked state);

[0029] Figure 8 This is a cross-sectional view of the length adjustment assembly of the robotic arm device according to an embodiment of the present invention (the operating knob is in the outward-pull unlocking state);

[0030] Figure 9 This is a schematic diagram of the three-dimensional structure of the operating knob of an embodiment of the utility model;

[0031] Figure 10 This is a schematic diagram of the three-dimensional structure of the rotation adjustment device according to an embodiment of the utility model;

[0032] Figure 11 This is an exploded view of the rotation adjustment device according to an embodiment of the present utility model;

[0033] Figure 12This is a schematic diagram of the three-dimensional structure of the inner side angle of the arm assembly of an embodiment of the present utility model;

[0034] Figure 13 This is a schematic diagram of the three-dimensional structure of the movable seat according to an embodiment of the present utility model;

[0035] Figure 14 This is a sectional perspective view of the rotation adjustment device according to an embodiment of the present invention, cut along the axial direction of the second connecting shaft;

[0036] Figure 15 A cross-sectional view of the rotation adjustment device of an embodiment of the present utility model cut vertically at the mounting groove of the movable seat;

[0037] Figure 16 This is a schematic diagram of the three-dimensional structure of the mounting base of the rotation adjustment device according to an embodiment of the present utility model;

[0038] Figure 17 This is a schematic diagram of the three-dimensional structure of the chain belt assembly of an embodiment of the present invention from an inner angle;

[0039] Figure 18 This is an exploded view of the connection structure between the chain belt assembly and the support plate according to an embodiment of the present utility model;

[0040] Figure 19 This is an exploded view of the connection structure between the chain belt assembly and the support plate according to an embodiment of the present invention from another angle;

[0041] Figure 20 This is a schematic diagram of the three-dimensional structure of the winding and releasing device according to an embodiment of the present utility model;

[0042] Figure 21 This is an exploded view of the winding and releasing device according to an embodiment of the present invention;

[0043] Figure 22 A vertical cross-sectional view of the winding and releasing device according to an embodiment of the present invention, taken along the axial direction of the first transmission shaft;

[0044] Figure 23 This is a schematic diagram of the three-dimensional structure of the bracket assembly according to an embodiment of the present utility model;

[0045] Figure 24 This is an exploded view of the bracket assembly of an embodiment of the present utility model;

[0046] Figure 25 This is a vertical cross-sectional view of the bracket assembly according to an embodiment of the present invention, cut along the axial direction of the connecting shaft. DETAILED DESCRIPTION

[0047] The present invention will be described in further detail below with reference to the accompanying drawings and embodiments.

[0048] In the specification and claims of the present invention, directional terms such as "front," "back," "up," "down," "left," "right," "side," "top," and "bottom" are used to describe various exemplary structural parts and components of the present invention. However, these terms are used herein for convenience of description only and are based on the exemplary orientations shown in the accompanying drawings. Since the embodiments disclosed in the present invention can be arranged in different orientations, these directional terms are intended for illustrative purposes only and should not be construed as limiting. For example, "up" and "down" are not necessarily limited to directions opposite to or consistent with the direction of gravity.

[0049] Figure 1-Figure 25 A preferred embodiment of the wearable power-assisted lifting device for a manipulator arm of the present invention is shown. The wearable power-assisted lifting device for a manipulator arm comprises a waist fixing assembly, a manipulator arm body 3, a drawstring 40, a drawstring 40 reeling and releasing device 4, and a rotation adjustment device 13 for adjusting the mounting angle of the manipulator arm body 3 relative to the waist fixing assembly. A support plate 14 is also provided on the inner side of the waist fixing assembly.

[0050] See also Figure 2 and Figure 3 The waist fastening assembly includes a chain belt assembly 10, which includes a chain belt portion 11 and a restraining belt portion 12. Chain belt portion 11 is a non-enclosed, flexible chain belt with an opening at the front. The restraining belt portion 12 connects the two ends of the chain belt portion 11 to form a closed, looped chain belt. The restraining belt portion 12 can be a belt with a quick-release buckle, a nylon webbing, or the like.

[0051] The chain belt assembly 10 includes chain links 110 that are connected in sequence and can rotate relative to each other about a vertically extending axis. Specifically, the chain links 110 are generally plate-shaped and may be slightly curved to adapt to the user's waist curve. The sides of two adjacent chain links 110 are rotatably connected by a vertically extending pin.

[0052] Combine Figure 2-Figure 9 In order to adapt to users of different body shapes, the length of the chain part 11 of the chain assembly 10 of this embodiment is adjustable. Specifically, the two chain links 110 corresponding to the chain part 11 located on the back side of the user's waist are connected by a length adjustment component 20, and the distance between the two chain links 110 is adjusted by the length adjustment component 20.

[0053] The two chain links 110 connected by the length adjustment assembly 20 are respectively denoted 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.

[0054] The connecting plate 21 is a strip-shaped plate extending along the length of the chain belt portion 11. One end of the connecting plate 21 is rotatably connected to the end of the first chain link 1101 via a vertically extending pin. The bottom of the connecting plate 21 has a strip-shaped tooth portion 210 arranged along its length. The sliding frame 22 is also rotatably connected to the end of the second chain link 1102 via a vertically extending pin. The sliding frame 22 has a side opening for the connecting plate 21 to slide and be limited along its length. The sliding frame 22 is located outside the connection point between the sliding frame 22 and the second chain link 1102. In this way, the portion of the connecting plate 21 that passes through the sliding frame 220 is also located outside the chain belt portion 11, eliminating interference problems. The length of the sliding frame 22 does not need to be too large, thereby maximizing the length adjustment stroke between two adjacent chain links 110.

[0055] The sliding frame 22 is also provided with a transmission gear 23 that engages 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, 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 engages 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 is located in the mounting cavity. The operating knob 25 and the transmission gear 23 are rotatably mounted on the first connecting shaft 24. The operating knob 25 is located outside the transmission gear 23 and can slide axially along the first connecting shaft 24. To limit axial movement of the transmission gear 23 and the first connecting shaft 24, a limit plate 26 is provided at the front opening of the mounting cavity of the sliding frame 22. A central opening of the limit plate 26 allows for the passage of a transmission sleeve 253 extending inwardly from the first connecting shaft 24 and the inner side of the operating knob 25. The limit plate 26 is connected to the sliding frame 22 via fasteners such as screws. During installation, the transmission gear 23 is first placed in the mounting cavity, and then the limit plate 26 is installed. The limit plate 26 restricts axial movement of the transmission gear 23.

[0056] 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, specifically a regular hexagon, so that the transmission gear 23 can be driven to rotate when it rotates.

[0057] 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 second positioning protruding teeth 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, the second positioning protrusions 252 on the operating knob 25 can be correspondingly engaged with the second positioning recesses 260 of the limit plate 26, thereby restricting 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, the second positioning protrusions 252 on the operating knob 25 can be correspondingly disengaged from the second positioning recesses 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. 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 engaged 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.

[0058] The operating knob 25 has a shaft hole 250 through which the first connecting shaft 24 passes. The inner wall of the shaft hole 250 has a stepped portion 251 that is larger on the outside and smaller on the inside. The outer end of the first connecting shaft 24 has a first stop 240 that extends radially outward. In this embodiment, the fourth elastic member 64 can be a fourth spring. This fourth spring is sleeved around the first connecting shaft 24, with its two ends respectively resting against the stepped portion 251 of the shaft hole 250 of the operating knob 25 and the first stop 240 of the first connecting shaft 24. Under the elastic force of this fourth spring, the operating knob 25 always tends 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 disengage the second positioning protrusion 252 of the operating knob 25 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. The operating knob 25 is then rotated 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. Under the elastic force of the fourth spring, the operating knob 25 moves toward the side where the limiting plate 26 is located until the second positioning protrusion 252 on the operating knob 25 is engaged with the second positioning recess 260 of the limiting plate 26. At this point, the limiting plate 26 limits the operating knob 25 in the circumferential direction, the operating knob 25 cannot be rotated, and the spacing between the first chain belt link 1101 and the second chain belt link 1102 cannot be adjusted.

[0059] See also Figure 17-Figure 19 The support plate 14 is mounted on the inner side of the chain belt portion 11 of the chain belt assembly 10, and its distance relative to the chain belt assembly 10 in the inner and outer directions 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 an angular deflection of the support plate 14 relative to the chain belt assembly 10 as a whole, or a combination of both. In a preferred embodiment, the support plate 14 is vertically extended as a whole, and its bottom has a bent arm 142 extending outward, and the bent arm 142 is rotatably connected to the bottom of the chain belt assembly 10 through a horizontally extending pin. The upper part of the support plate 14 is connected to an adjustment screw rod 15 extending outward and passing through the chain belt link 110 connected to the chain belt assembly 10. The inner end of the adjustment screw rod 15 is rotatably connected to the support plate 14, and the outer end of the adjustment screw rod 15 is exposed outside the chain belt assembly 10 and serves as an operating part 151 for the user to rotate the adjustment screw rod 15.

[0060] 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 link 110 of the chain belt assembly 10. The above-mentioned adjusting screw 15 is passed through the movable ball head 114 and is threadedly connected to the movable ball head 114. In addition, 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. 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 for the main body of the adjusting screw to pass through. 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 .

[0061] 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 provided with a sixth spring 66, which is pressed between the above-mentioned operating portion 151 and the outer wall of the chain link 110 to prevent loosening.

[0062] 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. The rear chain belt portion is provided with the aforementioned length adjustment assembly 20. Two support plates 14 are provided on the inner sides of the left and right chain belt portions 111, 112 of the chain belt assembly 10. To better adapt to the user's waist contour curve, ensure that the support plates 14 fit the user's waist, and improve user comfort, the inner side surfaces of the support plates 14 are concave surfaces that gradually extend inward from the center to the left and right sides.

[0063] The waist fixing assembly for fixing the robotic arm device to the user's waist adopts a chain belt assembly 10, and a support plate 14 is provided on the inner side of the chain belt assembly 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 assembly 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.

[0064] 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 portion 11 of the waist fixing assembly, and the front end can be deflected in the up and down directions 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 that are connected in sequence in the length direction thereof. 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 mechanism 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.

[0065] The arm assembly 31 comprises arm segments 311 that are rotatably connected in sequence along its length. Adjacent arm segments 311 are rotatably connected via a vertically extending pin. This allows the arm assembly 31 to swing in a plane perpendicular to the pin, i.e., to the left or right. The arm segment 311 at one end is connected to the link portion via a rotation adjustment device 13. The arm segment 311 at the other end is fixedly connected to the first connection base 323 of the support rod assembly 32.

[0066] The support rod assembly 32 includes a first adjustment rod 321, a second adjustment rod 322, a first connecting seat 323, and a second connecting seat 324. The first adjustment rod 321 and the second adjustment rod 322 are arranged in parallel. The lower ends of the first adjustment rod 321 and the lower ends of the second adjustment rod 322 are both hinged to the first connecting seat 323, and the upper ends of the first adjustment rod 321 and the upper ends of the second adjustment rod 322 are both hinged to the second connecting seat 324. The rotation axes between the first adjustment rod 321, the second adjustment rod 322 and the first connecting seat 323, as well as the rotation axes between the first adjustment rod 321, the second adjustment rod 322 and the second connecting seat 324 are parallel and extend horizontally. Thus, the first adjustment rod 321, the second adjustment rod 322, the first connecting seat 323, and the second connecting seat 324 constitute a four-bar linkage capable of moving 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.

[0067] An auxiliary connecting rod 325 is provided between the second end of the arm assembly 31 and the upper portion of the support rod assembly 32, and is capable of maintaining 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 As shown, the upper end of the auxiliary connecting rod 325 is rotatably connected to the upper portion of the second adjustment rod 322. The axis of rotation of the auxiliary connecting rod 325 relative to the first connecting seat 323 and the second adjustment plate is parallel to the axis of rotation of the four-bar linkage. The auxiliary connecting rod 325 is a damping rod with adjustable length. The damping rod can be a hydraulic damping rod or a pneumatic damping rod. When in use, the adjustment rod and the support arm assembly 31 also form an obtuse angle. The damping rod provides support for the top end of the adjustment rod. The damping rod can be selected based on the weight of the supported object to ensure sufficient support.

[0068] See also Figures 10-16 To provide a wider range of pitch angle adjustment for the manipulator arm 3 relative to the waist mount assembly, the entire manipulator arm 3 is rotatably connected to the waist mount assembly so that it can rotate relative to the waist mount assembly about a horizontally extending axis and its position can be adjusted. Specifically, a rotation adjustment device 13 is provided on the outer wall of the waist mount assembly, and the rear end of the arm member of the manipulator arm 3 is detachably connected to the rotation adjustment device 13.

[0069] 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.

[0070] The mounting seat 131 is fixed relative to the link 110 of the chain belt assembly 10. Specifically, it may be connected to the link 110 via fasteners such as screws, or it may be integrally designed with the link 110. The mounting seat 131 has a frontally open receiving chamber 1310. The movable seat 132 is rotatably connected to the mounting seat 131 via a second connecting shaft 135, covering the front opening of the receiving chamber 1310. The second connecting shaft 135 is perpendicular to the link 110 and extends from the inside out through the receiving chamber 1310 of the link 110 and the mounting seat 131, before being threadedly connected to the movable seat 132. The second connecting shaft 135 is not fixed to the link 110 and the mounting seat 131, but is axially movable relative to the link 110 and the mounting seat 131. This means that the movable seat 132 can move closer to or farther from the mounting seat 131 along the axial direction of the second connecting shaft 135.

[0071] The second connecting shaft 135 can be a stepped screw with threads at the end. The second elastic member 62 of this embodiment is preferably a second spring, which is sleeved on the second connecting shaft 135. One end of the second spring abuts against the radially outward protruding head at 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 tend to move toward the side where the mounting seat 131 is located.

[0072] 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 has a limit pin 1313 that passes through it horizontally, and limit slots 13120 are provided on the two opposite side walls of the guide sleeve 1312. The two ends of the limit pin 1313 are slidably limited in the two limit slots 13120. The length of the above-mentioned 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, toward the side where the movable seat 132 is located).

[0073] To mate with the axially movable top post 1311, a positioning toothed disc 134 is provided on the side of the movable seat 132 facing the mounting seat 131. The sidewall of the positioning toothed disc 134 has first positioning protrusions 1341 arranged circumferentially around the second connecting shaft 135. A first positioning recess 1340 is defined between two adjacent first positioning protrusions 1341. The end of the top post 1311 can be inserted into a corresponding first positioning recess 1340 of the positioning toothed disc 134 to restrict the movable seat 132 from rotating relative to the mounting seat 131.

[0074] The end of the top column 1311 has an outwardly convex arc structure. The outer wall surface of each first positioning protruding tooth 1341 on the positioning gear disc 134 that cooperates with the end of the top column 1311 includes a guide bevel 13411 and a stop curve 13412 arranged in sequence 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. 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 above-mentioned top column 1311 cooperates with the one-way teeth of the positioning gear disc 134 only allows the movable seat 132 to rotate upward relative to the mounting seat 131 around the second connecting shaft 135, thereby effectively supporting the supporting robot arm body 3 and facilitating the user to lift the robot arm body 3 upward to adjust the angle.

[0075] The length of the second connecting shaft 135 and the second elastic member 62 can be selected according to actual needs. When the angle of 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, causing the first positioning protrusion 1341 on the positioning gear plate 134 to disengage from the end of the top column 1311, thereby releasing the restraint, thereby allowing the movable seat 132 to rotate downward relative to the mounting seat 131 about the second connecting shaft 135. When the desired tilt angle is adjusted, the movable seat 132 is released. Under the action of the second elastic member 62, the movable seat 132 moves inward, causing the first positioning recess 1340 on the positioning gear plate 134 to re-engage with the end of the top column 1311, providing upward support for the robot arm body 3.

[0076] The movable seat 132 of this embodiment is further provided with a vertically extending mounting slot 1320 that is open at the top. A clearance notch is also provided on the outer sidewall of the movable seat 132, intersecting the mounting slot 1320 and extending to the top opening of the mounting slot 1320. A through-hole 1321 is also provided in the bottom area of ​​the sidewall of the movable seat 132, intersecting the bottom of the mounting slot 1320. The arm section 311 of the arm assembly 31 of the main arm 3 has an insert 310 on the sidewall facing the movable seat 132, which is intended to be inserted into the mounting slot 1320.

[0077] The movable seat 132 is also provided with a locking assembly for limiting the insertion block 310 from being dislodged from the mounting slot 1320. Specifically, the locking assembly includes a swing arm 133 and a third elastic member 63. The swing arm 133 is rotatably connected to the movable seat 132 via a pin at approximately the middle position, wherein the extension direction of the pin is substantially consistent with the extension direction of the second connecting shaft 135. The swing arm 133 extends generally vertically, and its length is slightly greater than the upper and lower dimensions of the mounting slot 1320. Both of its two opposite ends in the length direction have bent hooks that are bent toward the side where the mounting slot 1320 is located. The two bent hooks serve as a locking end 1331 and an actuating end 1332, respectively. The locking end 1331 extends to the location of the top opening of the mounting slot 1320, while the actuating end 1332 extends to the location of the through-hole 1321. Specifically, the swing lever 133 has an unlocked state and a locked state as its rotational 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 slot 1320, while the locking end 1331 of the swing lever 133 is away from the top opening of the mounting slot 1320. In this state, the insert block 310 on the arm assembly 31 can be conveniently inserted from top to bottom into the mounting slot 1320. After the insert block 310 is fully inserted, the actuating end 1332 of the swing lever 133 is pressed downward by the insert block 310, causing the swing lever 133 to rotate. The locking end 1331 of the swing lever 133 is deflected to the top opening of the mounting slot 1320, thereby preventing the insert block 310 from escaping out of the top opening of the mounting slot 1320. This state is the locked state of the swing lever 133.

[0078] See also Figure 15 The lock assembly also includes a third elastic member 63, which is a third spring. The third spring is against the side wall of the swing arm 133 and the movable seat 132. Under the elastic force of the third spring, the locking end 1331 of the swing arm 133 always has a tendency to deflect toward the side away from the top opening of the installation slot 1320. In other words, the locking end 1331 of the swing arm 133 can automatically move away from the top opening of the installation slot 1320, thereby facilitating the initial installation of the plug block 310 from the top opening into the installation slot 1320; when the plug block 310 is in place, it can prevent the plug block 310 from suddenly moving upward and falling out of the installation slot 1320 during violent movement. Figure 15 One end of the third spring rests on the side wall of the movable seat 132, and the second end rests on a section of the rod on the swing rod 133 located between its rotation center relative to the movable seat 132 and the locking end 1331, and positioning grooves for accommodating the end of the third spring are provided on the side wall of the movable seat 132 and the swing rod 133.

[0079] The front end of the robotic arm body 3 of this embodiment can be deflected in the up and down directions relative to the rear end to adjust the pitch angle. On this basis, the robotic 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, which improves the user experience.

[0080] See also Figure 23-Figure 25 The bracket assembly 5 is connected to the second connecting 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 connecting seat 324 and a bracket 53 detachably connected to the support frame 50.

[0081] The support frame 50 includes a first support frame 51 and a second support frame 52, wherein the first support frame 51 is arranged vertically and the second support frame 52 is arranged horizontally. 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. The bracket 53 is connected to the second support frame 52, which can facilitate the angle adjustment of items placed on the bracket assembly 5 in the vertical and left-right directions.

[0082] The second support frame 52 has a connecting post 521 extending outward (preferably extending upward), and the outer peripheral wall of the connecting post 521 has a radially inwardly concave annular groove 5210 serving as a third positioning recess. The bracket 53 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 a mounting channel 540 for the connecting post 521 to extend into, and positioning holes 541 extending from its outer peripheral wall to the mounting channel 540. The positioning holes 541 have at least two, preferably three, positioning holes 541 spaced apart along the circumference 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, the balls 542 can only partially expose the outer 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 disposed in a corresponding positioning hole 541 along the radial direction of the connecting sleeve 54. The ball 542 can move inward to engage with the third positioning recess of the connecting post 521, and can move outward to disengage from the third positioning recess. Once each ball 542 is engaged with the third positioning recess of the connecting post 521, the connecting sleeve 54 and the connecting post 521 are axially limited, achieving a locking effect.

[0083] 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. The diameter of the conical structure 553 gradually decreases from bottom to top (i.e., from the second port to the first port position). The operating sleeve 55 has a locked state and an unlocked state as its axial position changes. When the operating sleeve 55 is moved upward to the set position by an external force (overcoming the elastic force of the fifth spring), the conical structure 553 of the operating sleeve 55 and the balls 542 relative to each other 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 balls 542, and radial pressure is applied to each ball 542, so that each ball 542 is stuck into the corresponding third positioning recess on the connecting column 521 to achieve locking.

[0084] The inner circumferential wall of the operating sleeve 55 includes a second stop 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 distal thereto. A stop step 545 is formed on the outer circumferential wall of the connecting sleeve 54 at the junction of the small-diameter section 543 and the large-diameter section 544. The second stop 550 of the operating sleeve 55 abuts against the stop step 545. A fifth elastic member 65 is also provided within the operating sleeve 55. This fifth elastic member 65 is preferably a fifth spring. The first end of the fifth spring abuts against the second stop 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 consistently tends to move from its unlocked position toward its locked position. Thus, when the operating sleeve 55 is not subjected to external forces, it automatically rebounds and moves to the locked position.

[0085] 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.

[0086] The bracket 53 of the bracket assembly 5 can be a bracket structure that only plays a supporting role, or can be an elastic bracket structure that can clamp the items to be placed.

[0087] The robotic arm device of this embodiment also provides upward support for the robotic arm body 3 via a drawstring 40. Specifically, a reel-and-release device 4 for reeling in the drawstring 40 is provided on the outside of the waist fastening assembly's chain strap portion 11. The drawstring 40 is wound around the reel-and-release device 4, with its free end passing over the user's shoulders and connected to the robotic arm body 3.

[0088] In order to increase the service life and ensure the supporting strength, the pull rope 40 is preferably a steel wire rope.

[0089] The winding and releasing device 4 includes a fixing seat 41 , a winch 42 , a first transmission shaft 43 and a winding spring 44 .

[0090] The fixing seat 41 can be connected to the outer wall of the chain link 110 of the chain belt portion 11 via fasteners such as screws. Specifically, to facilitate 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 groove 113, and the side wall of the fixing seat 41 has an outwardly extending positioning protrusion 415 that can be inserted into the annular positioning groove 113. The fixing seat 41 defines a first mounting chamber 411 for accommodating the winch 42 and a second mounting chamber 412 for accommodating the coil spring 44. The first transmission shaft 43 is rotatably connected to two opposite side walls of the first mounting chamber 411, and one end thereof extends into the second mounting chamber 412 to serve as a connection end 430 for mounting the coil spring 44. The winch 42 is sleeved on the 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 reverse along with the first transmission shaft 43 , the pull rope 40 can be tightened and released.

[0091] 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 base 41. The inner end of the coil spring 44 has a first bend 441, and the outer end of the coil spring 44 has a second bend 442. The connecting end 430 of the first transmission shaft 43 defines a first slot 431 into which the first bend 441 is inserted, while the wall of the second mounting chamber 412 defines a second slot 413 into which the second bend 442 is inserted. When the pull cord 40 is released by an external force, such as a downward force applied to an object placed on the bracket assembly 5, the winch 42 rotates and transmits the force to the coil spring 44 via the first transmission shaft 43. The inner end of the coil spring 44 rotates, accumulating 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, rewinding the pull cord 40. The design of the coil spring 44 enables the pull rope 40 to be automatically wound 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.

[0092] 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 seat 41 by fasteners such as screws, and covers the above-mentioned installation opening.

Claims

1. A wearable power-assisted lifting robot arm device, comprising: Waist fixation assembly; The main body (3) of the robot arm extends obliquely from the back to the front and upwards as a whole, the rear end of the main body (3) of the robot arm is connected to the waist fixing assembly, and the front end of the main body (3) of the robot arm can be deflected in the vertical direction relative to the rear end to adjust the pitch angle; The invention is characterized in that the waist fixing assembly comprises a chain belt assembly (10) for being arranged around the waist of a user and a support plate (14), wherein 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 is adjustable.

2. The wearable power-assisted lifting robot arm device according to claim 1, characterized in that: The support plate (14) is vertically extended 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 adjustment screw rod (15) extending outward and passing through and connected to the chain belt assembly (10). The inner end of the adjustment screw rod (15) is rotatably connected to the support plate (14), and the outer end of the adjustment screw rod (15) is exposed outside the chain belt assembly (10) and serves as an operating part (151) for a user to rotate the adjustment screw rod (15).

3. The wearable power-assisted lifting robot arm device according to claim 2, characterized in that: The inner end of the adjusting screw rod is a ball head structure (152), and the support plate (14) defines a ball socket structure in which the ball head structure (152) is movable and limited.

4. The wearable power-assisted lifting robot arm device according to claim 3, characterized in that: The back side of the support plate (14) has an inwardly concave spherical concave area (140) and an open connection cover (141) covering the spherical concave area (140). The connection cover (141) has an opening for the main body of the adjusting screw rod to pass through. The connection cover (141) and the spherical concave area (140) on the support plate (14) jointly define the ball and socket structure.

5. The wearable power-assisted lifting robot arm device according to any one of claims 1 to 4, characterized in that: The inner side surface of the support plate (14) is an inwardly concave curved surface that gradually extends inwardly from the middle to the left and right sides.

6. The wearable power-assisted lifting robot arm device according to any one of claims 1 to 4, characterized in that: The chain belt assembly (10) comprises a left chain belt portion (111) corresponding to the left side of the user's waist and a right chain belt portion (112) corresponding to the right side of the user's waist. At least one supporting plate (14) is provided on the inner side of each of the left chain belt portion (111) and the right chain belt portion (112) of the chain belt assembly (10).

7. The wearable power-assisted lifting robot arm device according to any one of claims 1 to 4, characterized in that: The chain belt assembly (10) comprises chain belt links (110) that are connected in sequence and can rotate relatively around a vertically extending axis, and the supporting plate (14) is arranged on the inner side of the chain belt links (110).

8. The wearable power-assisted lifting robot arm device according to claim 7, characterized in that: The chain belt assembly (10) comprises a non-enclosed 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).

9. The wearable power-assisted lifting robot arm device according to any one of claims 1 to 4, characterized in that: The robot arm body (3) includes an arm assembly (31) and a support rod assembly (32) connected in sequence in the length direction thereof, the first end of the arm assembly (31) is connected to the chain belt assembly (10), 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 mechanism that extends tiltedly 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 state relative to the arm assembly (31).

10. The wearable power-assisted lifting robot 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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