CN110788838A - Power-assisted lifting mechanical arm device - Google Patents

Abstract

The invention relates to a power-assisted lifting mechanical arm device, which comprises: the waist clip assembly is used for being assembled at the back position between the waist of a user; the support arm component is connected to the waist card component, and the tail end of the support arm component extends to the side part and can be bent in the horizontal direction; the supporting rod assembly comprises an adjusting rod and an auxiliary connecting piece, wherein the bottom end of the adjusting rod is hinged to the tail end of the supporting arm assembly, the auxiliary connecting piece is connected between the tail end of the supporting arm assembly and the upper part of the adjusting rod, and the auxiliary connecting piece can enable the adjusting rod to be kept in a corresponding angle state relative to the supporting arm assembly; and the bracket component is connected to the top end of the adjusting rod and used for placing an object to be supported. This arm device is lifted to helping hand can conveniently supply the user of service to wear back position between the waist, and its small in size conveniently carries, has satisfied the demand of the various shooting training of user of service, does not receive the restriction of factors such as place.

Description

A power-assisted lifting mechanical arm device

technical field

The present invention relates to the technical field of auxiliary equipment, and in particular, to a power-assisted lifting mechanical arm device.

Background technique

When shooting in the air, you need to hold the gun with both hands to operate. Because the gun itself is heavy, holding the gun for a long time requires higher physical strength of the user. Long-term shooting can easily lead to occupational diseases, such as vascular compression caused by long-term side head, and discomfort of arms and joints caused by long-term arm lift and fixed posture. When the police use a gun, due to the harsh environment, because there is no suitable (gun) shooting support fixed point, it will lead to the stability of the gun when aiming. When the police or the army perform security tasks, the shields used are relatively heavy, and they need to be held up with both hands, so that the function of the other hand cannot be released. Or the use of power tools from the bottom up can easily lead to disadvantages such as physical exhaustion of workers.

In order to solve the above-mentioned technical problems, the Chinese utility model patent with the application number CN201621195319.5 (authorized announcement number CN206121096U) discloses a "power-assisted mechanical arm device". When the device is in use, the user places the shooting gun on the butt of the gun Up, adjusting the positions of the fastening bolts in different threaded through holes can adjust the relative distance between the upper side plate and the lower side plate, so that the gun stock is at different levels, and at the same time, the left and right rotation of the gun stock can be realized through the rotating shaft. And the adjustment of the upper and lower angles of the buttstock can be achieved through the support rod, so that multi-angle and all-round shooting can be achieved; the setting of the storage box is convenient for storing small items, which is simple and practical; when the user wants to rest, he can sit on the seat cushion Rest for a while to relieve fatigue; the setting of the walking wheel is convenient for the movement of the whole device, saving manpower and material resources; the setting of the top plate effectively avoids the sun and rain during field training, which is convenient and practical.

Although the above-mentioned field shooting assist mechanical arm device can meet the requirements of multi-angle and all-round shooting training, it still has certain shortcomings. First, the above-mentioned auxiliary device is relatively large and inconvenient to carry. It is not suitable for users to carry around. It is used in a training hall or a specific training base, so how to provide a wearable auxiliary arm device that is small in size and convenient for users to carry around has become a problem to be solved urgently by those skilled in the art.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to provide a wearable power-assisted lifting mechanical arm device that is compact in size and convenient for users to carry, aiming at the current state of the prior art.

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

The waist clip assembly is used to be assembled in the back position of the user's waist;

a support arm assembly, connected to the waist clip assembly, the end of which extends to the side and can be bent in a horizontal direction;

A support rod assembly, comprising an adjustment rod whose bottom end is hinged at the end of the support arm assembly, and an adjustment rod connected between the end of the support arm assembly and the upper part of the adjustment rod and capable of enabling the adjustment rod to be opposite to the adjustment rod Auxiliary connector for keeping the arm assembly in the corresponding angle state;

The bracket assembly is connected to the top end of the adjusting rod, and is used for placing the object to be supported.

The auxiliary connecting piece can be a spring piece or a rod whose length can be adjusted telescopically, as long as the auxiliary connecting piece can make the adjusting rod deflect the angle relative to the support arm assembly and keep it at the corresponding angle. For angle adjustment, the auxiliary connector is a tension spring or a damping rod (commonly known as: hydraulic strut; gas spring; hydraulic rod; support rod; gas support upturning telescopic rod; lift air pressure rod).

When the auxiliary connector 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, there is an obtuse angle between the adjustment rod and the support arm assembly. Under the action of the tension spring, the top end of the adjusting rod has a tendency to deflect upwards, so that the bracket assembly provided on the top end of the adjusting rod can provide upward supporting force for the object to be placed. When the auxiliary connector 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 arm assembly are also at an obtuse angle. Under the action of the damping rod, the adjustment rod can be adjusted The top of the bracket forms a support, and the damping rod can be selected according to the weight of the price with the support to ensure that it can provide sufficient support.

When the user wears the power-assisted lifting mechanical arm device, in order to realize that the support rod assembly and the bracket assembly can be flexibly and conveniently rotated to the front position of the user, the support arm assembly at least includes a first support arm, a second support arm and a second support arm connected in series in sequence. Two arms and a third arm, wherein the first end of the first arm is connected with the waist clip assembly, the second end of the first arm is hinged with the first end of the second arm, and the second arm The second end of the adjusting rod is hinged with the third support arm; the bottom end of the adjusting rod is hinged on the third support arm, and the tension spring is connected between the third support arm and the upper part of the adjusting rod. Of course, it is conceivable that, in order to improve the flexibility of the support arm assembly, the support arm assembly may adopt more joint-connected support arm structures.

In order to adapt to users of different body shapes, the second arm is a telescopic arm with adjustable length. Users can adjust the length of the second support arm according to their own needs, so as to adjust the bracket assembly to a reasonable position suitable for themselves.

The telescopic arm of the second arm can adopt various existing technologies such as screw connection, sleeved snap connection, etc. In order to better ensure the firmness of the second arm and the flexibility of telescopic adjustment, the second arm includes A first connecting plate and a second connecting plate that can be slidably connected to the first connecting plate, the second connecting plate is provided with a first bar-shaped chute, and the extension direction of the first bar-shaped chute is the same as that of the second connecting plate. The length direction is the same, the first connecting plate is provided with a first quick release lock, the first quick release lock includes a pin whose first end is connected to the first connecting plate and an eccentric hinged on the second end of the pin The first connecting plate and the second connecting plate are locked by rotating the eccentric dial after the pin shaft of the first quick release lock has passed through the first bar-shaped chute.

In order to make the swing of the adjusting rod more stable and avoid shaking left and right, the adjusting rod is a four-bar linkage mechanism, and the four-bar linkage mechanism includes a first adjusting rod, a second adjusting rod and a connecting seat, a first adjusting rod and a second adjusting rod The rods are arranged in parallel, the upper end of the first adjustment rod and the upper end of the second adjustment rod are hinged on the connecting seat, and the lower end of the first adjustment rod and the lower end of the second adjustment rod are hinged on the third support arm above, the bracket assembly is connected to the connecting seat. Of course, it is conceivable that, in order to save costs, the adjustment rod may adopt a separate rod structure.

In order to adapt to the heights of different users, and to facilitate users of different heights to adjust the bracket assembly to a front position suitable for themselves, the first adjustment rod and the second adjustment rod are telescopic rods with adjustable lengths.

As an improvement, the first adjusting rod includes a first rod body and a second rod body, the upper part of the first rod body is provided with a plurality of first connecting holes along its length direction, and the lower part of the second rod body is correspondingly provided with a second rod body along its length direction A bar-shaped chute, the second rod body and the first rod body are connected to the second bar-shaped chute by passing through at least two first positioning posts in the corresponding first connecting holes; the second adjusting rod It includes a third rod body and a fourth rod body, the upper part of the third rod body is provided with a plurality of second connecting holes along its length direction, and the lower part of the fourth rod body is correspondingly provided with a third bar-shaped chute along its length direction. The rod body and the third rod body are connected to the third bar-shaped chute through at least two second positioning columns pierced through the corresponding second connecting holes. Various existing technologies such as threaded connection, sleeved snap connection, etc. can also be used between the first rod body and the second rod body of the first adjusting rod and between the third rod body and the fourth rod body of the second adjusting rod to realize telescopic adjustment. .

In order to facilitate the placement of the object to be supported (such as a firearm) and to adjust the angle in the up-down and left-right directions, the bracket assembly includes a first support frame vertically disposed on the connecting seat and a first support frame laterally connected to the first support frame. A second support frame on the support frame, the bottom end of the first support frame is rotatably connected to the connecting seat through a first rotating sleeve, and the second support frame is rotatably connected to the first support frame through a second rotating sleeve At the top of the support frame, the axis of the first rotating sleeve is perpendicular to the axis of the second rotating sleeve.

In order to conveniently adjust the height of the bracket assembly to suit the heights of different users, the first support frame includes a first frame body whose bottom end is connected to the connecting seat, and a first frame body that can be adjusted in height relative to the first frame body. A second frame body, and the second support frame is connected to the second frame body.

As an improvement, the first frame body is provided with a plurality of third connection holes in the vertical direction, the second frame body is provided with a plurality of fourth connection holes correspondingly, and the second frame body and the first frame body are provided with a plurality of fourth connection holes. At least two third positioning posts are passed through the corresponding third connection holes and the fourth connection holes for connection. Of course, it is conceivable that various existing technologies such as threaded connection and sleeved snap connection can also be used between the first frame body and the second bracket to realize height adjustment.

In order to enable fine adjustment between the waist clip assembly and the first support arm in the lateral direction, the waist clip assembly includes:

a mounting seat, which is connected to the first support arm and has a transverse chute whose extension direction is consistent with the length direction of the first support arm;

a sliding block, which is slidably arranged in the transverse chute of the sliding seat;

a chuck, which is used to fit on the protective vest of the user, the chuck is connected to the side wall of the slider, and can slide laterally with the slider relative to the mounting seat;

a locking pin, which is movably penetrated on the mounting seat, the first end of the locking pin is exposed to the outer side wall of the first arm for the user to perform a pulling operation, and the second end of the locking pin can pass through the corresponding The second bar-shaped chute provided on the sliding block is clamped in the corresponding clamping groove provided on the wall of the chuck;

The first compression spring is mounted on the mounting seat and acts on the locking pin, so that the locking pin always has a tendency to move toward the chuck.

When it is necessary to adjust the relative position of the chuck and the first arm, the locking pin can be pulled outward to make the second end of the locking pin disengage from the chuck, so that the chuck can move laterally with the slider relative to the mounting seat. When the predetermined position is reached, the locking pin is released, and under the elastic force of the first compression spring, the locking pin can be automatically snapped into the slot of the chuck to fix the chuck with the mounting seat and the first arm to avoid loosening.

In order to facilitate the rotation adjustment of the chuck itself relative to the mounting seat, the chuck is connected to the slider through a positioning pin and can rotate relative to the slider around the positioning pin; the chuck on the wall of the chuck The slot has a plurality of locking positions for the locking pins to be inserted into, and the plurality of locking positions are arranged in sequence along the circular arc direction centered on the positioning pins; the sliding block is also provided with limit pins, and the chuck There is also an arc-shaped groove centered on the positioning pin, and at least part of the positioning pin is clamped into the arc-shaped groove. When it is necessary to adjust the angle between the chuck and the first arm, the locking pin can be pulled outward to make the second end of the locking pin disengage from the chuck, so that the chuck can rotate around the positioning pin to adjust the angle. When the locking pin is released, under the elastic force of the first compression spring, the locking pin can be automatically snapped into the corresponding position of the chuck to fix the chuck with the mounting seat and the first support arm.

As an improvement, each of the card slots is a zigzag groove, and the inner wall surface of the zigzag groove includes a thrust surface that can resist the lower part of the second end of the locking pin and a second end for the locking pin. Swipe up to the transition bevel in the other card slot.

In order to facilitate the assembly between the chuck, the slider and the mounting seat, the mounting seat includes an upper seat body and a lower seat body, the top of the upper seat body has an extension wall extending to the side, and the extension wall is provided with a notch The first V-shaped groove facing downward, the lower seat body is connected to the bottom of the upper seat body through the second quick release lock, and cooperates with the upper seat body to form a second V-shaped groove with the notch facing upward, the first A V-shaped groove and the second V-shaped groove are vertically opposite to each other, and the area between the two forms the transverse sliding groove, and the sliding block is a bar-shaped matching with the transverse sliding groove. plate. Of course, the mounting seat adopts a split structure composed of an upper seat body and a lower seat body and is locked by a quick release lock. On the one hand, it is to facilitate the assembly between the chuck, the slider and the mounting seat. It facilitates the lateral sliding adjustment of the slider and improves the firmness of the fixation between the slider and the mounting seat, that is, when the slider (chuck) needs to be adjusted laterally, the quick release lock can be released to make the mounting seat The upper seat body and the lower seat body are in a loose state, so that the slider can slide flexibly in the lateral chute; when the slider moves to the predetermined position, the lock is locked and disassembled, and the upper seat body and the lower seat body are locked and locked together. Clamp the slider to improve the firmness of the waist clip assembly.

In order to provide auxiliary support and reduce the stress on the user's waist, it also includes a shoulder support for wearing on the user's shoulder, the shoulder support is connected to the support arm assembly or the waist clip assembly through a sling to provide auxiliary support force .

Compared with the prior art, the advantages of the present invention: the power-assisted lifting mechanical arm device in the present invention can be conveniently worn by the user on the back of the waist, and its volume is small and convenient to carry, which meets the various needs of the user. , not limited by factors such as venue. The bracket assembly of the power-assisted lifting mechanical arm device can be turned over to the front position of the user through the arm assembly, and the adjustment rod of the support rod assembly can be rotated in an angle in the vertical direction, and under the support of the auxiliary connector, it provides The corresponding supporting force is used for the user to place the corresponding object, and the operation is convenient and flexible. The power-assisted lifting mechanical arm device of the present invention is not only suitable for training personnel to place firearms, but it is conceivable that different bracket assemblies can also be replaced to place different objects to provide corresponding auxiliary support, such as for security personnel to perform security tasks. shields and power tools used by large mechanical repairmen, etc.

Description of drawings

FIG. 1 is a schematic three-dimensional structure diagram of an embodiment of the present invention (the arm assembly is in an unbent overturned state);

FIG. 2 is a schematic three-dimensional structure diagram of an embodiment of the present invention (the arm assembly is in a bent and overturned state, and the auxiliary connector is a damping rod);

FIG. 3 is a schematic three-dimensional structure diagram of another angle of the embodiment of the present invention (the arm assembly is in a bent overturned state);

4 is a schematic three-dimensional structural diagram of a bracket assembly according to an embodiment of the present invention;

5 is a schematic three-dimensional structural diagram of the waist clip assembly and the first support arm assembled according to the embodiment of the present invention;

6 is a schematic three-dimensional structural diagram of another angle after the waist clip assembly and the first support arm are assembled according to the embodiment of the present invention;

Fig. 7 is the sectional view at the A-A place of Fig. 6;

Fig. 8 is the sectional view at the place B-B of Fig. 6;

Fig. 9 is the exploded view of Fig. 6;

10 is a schematic three-dimensional structural diagram of a slider assembled on a mounting seat in an embodiment of the present invention;

FIG. 11 is a schematic diagram of the three-dimensional structure of FIG. 10 after the slider is hidden;

FIG. 12 is a schematic three-dimensional structure diagram of the back of the chuck in the embodiment of the present invention;

Fig. 13 is the three-dimensional structure schematic diagram of omitting the chuck in Fig. 6;

14 is a schematic three-dimensional structural diagram of a support arm assembly according to an embodiment of the present invention;

Figure 15 is a top view of the second support arm according to the embodiment of the present invention;

Figure 16 is an exploded view of Figure 15;

Figure 17 is a partially exploded view of the support rod assembly of this embodiment;

FIG. 18 is a schematic three-dimensional structure diagram of an embodiment of the present invention (the arm assembly is in a bent and overturned state, and the auxiliary connecting member is a tension spring).

Detailed ways

The present invention will be further described in detail below with reference to the embodiments of the accompanying drawings.

Referring to FIGS. 1-18 , a power-assisted lifting robotic arm device includes a waist clip assembly 10 , a support arm assembly 20 , a support rod assembly 30 and a bracket assembly 40 , wherein the waist clip assembly 10 is used to be assembled on the waist of a user The back position between the two, the support arm assembly 20 is connected to the waist clip assembly 10, the end of the support arm assembly 20 extends to the side and can be bent and turned horizontally to the front of the human body, and the support rod assembly 30 includes an adjustment rod 31 and an auxiliary connecting piece, the bottom end of the adjusting rod 31 is hinged to the end of the support arm assembly 20, and the auxiliary connecting piece is connected between the end of the support arm assembly 20 and the upper part of the adjusting rod 31, under the action of the auxiliary connecting piece, the adjusting rod 31 can be maintained in a desired corresponding angular state relative to the arm assembly 20 . The bracket assembly 40 is connected to the top of the adjustment rod 31, and the bracket assembly 40 can be used to place objects to be supported, such as firearms for shooting training, shields for security tasks, and power tools for large mechanical repairers. That is, the power-assisted lifting mechanical arm device in this embodiment also solves the problem of stability when the gun is aimed due to the harsh environment and the lack of a suitable (gun) shooting support fixed point when the police use the gun. ; And when the police or army perform security tasks, the shields used are relatively heavy, and they need to be supported by both hands, so that the problem of using the other hand cannot be relieved. Or the use of power tools from the bottom up can easily lead to disadvantages such as physical exhaustion of workers.

The auxiliary connecting member in this embodiment is selected as a tension spring 32a or a damping rod 32b. When the auxiliary connecting member is the tension spring 32a, the two ends of the tension spring 32a are respectively connected between the end of the support arm assembly 20 and the upper part of the adjustment rod 31. In the use state, the adjustment rod 31 and the support arm assembly 20 are arranged in a vertical direction. At an obtuse angle, under the action of the tension spring 32a, the top end of the adjusting rod 31 has a tendency to deflect upward, so that the bracket assembly 40 provided on the top end of the adjusting rod 31 can provide upward supporting force for the object to be placed, see FIG. 18 . When the auxiliary connecting member is the damping rod 32b, the damping rod 32b can be selected as a hydraulic damping rod or a pneumatic damping rod. When in use, the adjustment rod 31 and the support arm assembly 20 also form an obtuse angle. Under the action of the damping rod 32b , the top end of the adjusting rod 31 can be supported, wherein, the damping rod 32b can be selected according to the weight of the supported goods to ensure sufficient supporting force, see FIG. 2 .

Referring to FIG. 9 , the waist clip assembly 10 includes a mounting seat 11 , a slider 12 , a chuck 13 , a locking pin 18 and a first compression spring 14 , wherein the mounting seat 11 is connected to the first support arm 21 of the support arm assembly 20 , The mounting seat 11 has a transverse chute 110 for assembling the slider 12 , and the extension direction of the transverse chute 110 is consistent with the length direction of the first support arm 21 . Specifically, the mounting seat 11 includes an upper seat body 51 and a lower seat body 52 , the top of the upper seat body 51 has an extension wall 511 extending to the side, the extension wall 511 is provided with a first V-shaped groove 512 with a notch facing downward, and the lower seat body 52 is connected to the upper seat through the second quick release lock 53 The bottom of the body 51, the lower body 52 is matched with the bottom of the upper body 51 to form a second V-shaped groove 521 with the notch facing upward. The area between the two forms the above-mentioned transverse chute 110 , wherein the slider 12 is slidably arranged in the transverse chute 110 of the mounting base 11 , and the slider 12 in this embodiment is adapted to the transverse chute 110 . The strip-shaped plate, the upper and lower walls of the strip-shaped plate are respectively formed with wedge-shaped portions 121 which are adapted to the above-mentioned two V-shaped grooves.

In order to improve the clamping firmness of the upper seat body 51 and the lower seat body 52 of the mounting seat 11 , there are two second quick release locks 53 in this embodiment, and the two second quick release locks 53 are along the lateral sliding groove 110 are arranged at intervals in the extension direction. The second quick release lock 53 in this embodiment has the same structure as the first quick release lock 24 , and also includes a pin shaft and an eccentric dial. The user can lock the lower base 52 and the upper base 51 by turning the eccentric dial. , and then the slider 12 is clamped. The specific structure of the first quick release lock is described below. In addition, referring to FIGS. 7 and 9 , a second compression spring 55 is also provided between the upper seat body 51 and the lower seat body 52 of the mounting seat 11 , and there are also two second compression springs 55 , which are respectively connected with the two second quick release locks. Corresponding to the buckle 53, specifically, the second compression spring 55 is provided at the combined position of the upper seat body 51 and the lower seat body 52. When the eccentric toggle button of the second quick release lock 53 is toggled and released, the second compression spring 55 The lower seat body 52 can be driven to automatically disengage from the upper seat body 51 , so as to facilitate the user to move and adjust the slider 12 in the transverse chute 110 .

5-8, the chuck 13 is connected to the side wall of the slider 12, and can slide laterally with the slider 12 relative to the mounting seat 11. When the user wears it, the chuck 13 can be inserted into the protection of the user. on the vest to provide support for the entire power lift mechanical arm device. The locking pin 18 is movably passed through the mounting seat 11 , the first end of the locking pin 18 is exposed to the outer side wall of the first arm 21 , and has a pull ring for the user to pull. The two ends can pass through the second bar-shaped chute 120 correspondingly provided on the slider 12 to be stuck in the corresponding clamping groove 130 provided on the wall of the chuck 13 . The first compression spring 14 is mounted on the mounting seat 11 and can act on the locking pin 18 , so that the locking pin 18 always has a tendency to move toward the chuck 13 . The cavity 54, the locking pin 18 penetrates the cavity 54, wherein a nut member 19 is threadedly connected to the locking pin 18, and the nut member 19 sleeved on the locking pin 18 is located in the cavity 54 and is used for the locking pin 18. The position is limited in the axial direction. Correspondingly, the first compression spring 14 is sleeved on the locking pin 18 and located in the cavity 54 . The first end of the first compression spring 14 abuts on the nut member 19 and the other end On the wall of the cavity 54 of the upper seat body 51, see FIG. 8 for details.

Referring to FIG. 12 , in order to facilitate the rotation adjustment of the chuck 13 relative to the mounting seat 11 , the chuck 13 is connected to the slider 12 through the positioning pin 18 and can rotate relative to the slider 12 around the positioning pin 18 . Correspondingly, the chuck 13 The card slot 130 on the wall of the 12 has a plurality of card positions 131 for the locking pin 18 to be locked in, and the plurality of card positions 131 are arranged in sequence along the arc direction with the positioning pin 18 as the center. The slider 12 is also provided with a limit pin 16, and the chuck 13 is also provided with an arc-shaped groove 17 with the positioning pin 18 as the center of the circle, wherein at least part of the limit pin 16 is snapped into the arc-shaped groove 17, and the arc-shaped groove is The radian corresponding to 17 is consistent with the radian corresponding to the clamping slot 130 , so that the arc-shaped groove 17 can limit the rotation range angle of the chuck to avoid excessive rotation.

Referring to FIGS. 8 and 12 , each of the card slots 131 of the card slot 130 in this embodiment is a zigzag groove, that is, each card slot 131 has a transition slope 132 and a stop surface 133 . 133 can resist the lower part of the second end of the locking pin 14 so as to limit the locking pin 14 below, and the transition slope 132 can allow the second end of the locking pin 14 to slide upward to another locking position 131 to realize the first arm 21 unidirectional rotation. Specifically, when the angle between the chuck 13 and the first support arm 21 needs to be adjusted clockwise, the adjustment can be completed by directly rotating the chuck 13 (that is, by lifting the first support arm 21 upward). The part acts on the smooth transition surface 132, so the positioning pin can be retracted and retracted by itself during the sliding process, so there is no need to pull the locking pin 18 outward in this process; and when it is necessary to adjust the angle between the chuck 13 and the first arm 21 in the counterclockwise direction When the locking pin 18 is pulled outward, the second end of the locking pin 18 is separated from the chuck 13, so that the chuck 13 can be wound around The positioning pin 18 rotates freely to adjust the angle. When it rotates to a predetermined position, the locking pin 18 is released. Under the elastic force of the first compression spring 14, the locking pin 18 can be automatically snapped into the corresponding position 131 of the chuck 13. , to fix the chuck 13 with the mounting seat 11 and the first support arm 21 .

Referring to FIG. 14 , the support arm assembly 20 can adopt a support arm structure connected with a plurality of joints, so that when the user wears the power-assisted lifting mechanical arm device, the support rod assembly 30 and the bracket assembly 40 can be rotated flexibly and conveniently to the position in front of the user. In this embodiment, the support arm assembly 20 includes a first support arm 21, a second support arm 22 and a third support arm 23 in series, wherein the first end of the first support arm 21 is connected to the waist clip assembly 10, and the first support arm 21 is connected to the waist clip assembly 10. The second end of the support arm 21 is hinged with the first end of the second support arm 22 , the second end of the second support arm 22 is hinged with the third support arm 23 ; the bottom end of the adjusting rod 31 is hinged on the third support arm 23 , the tension spring 32a (the auxiliary connector is described by taking the tension spring as an example) is connected between the third support arm 23 and the upper part of the adjustment rod 31. It is conceivable that the tension spring 32a can also be provided with multiples according to actual needs.

Referring to FIGS. 15 and 16 , in order to adapt to users of different sizes, the second support arm 22 is a telescopic arm with adjustable length. Specifically, the second support arm 22 includes a first connecting plate 221 and a 221 The second connecting plate 222 is slidably connected. The second connecting plate 222 is provided with a first bar-shaped chute 223. The extension direction of the first bar-shaped chute 223 is consistent with the length direction of the second connecting plate 222. The connecting plate 221 is provided with a first quick release lock 24 . The first quick release lock 24 includes a pin 241 whose first end is connected to the first connecting plate 221 and an eccentric hinged on the second end of the pin 241 . The toggle button 242 , the pin shaft of the first quick release lock 24 passes through the first bar-shaped chute 223 and then rotates the eccentric toggle button 242 to lock the first connecting plate 221 and the second connecting plate 222 . In this embodiment, the user can adjust the length of the second support arm 22 according to his own needs, so as to adjust the bracket assembly 40 to a reasonable position suitable for him.

Referring to FIG. 3 , there are two adjusting rods 31 in this embodiment, namely a first adjusting rod 311 and a second adjusting rod 312 , and the first adjusting rod 311 and the second adjusting rod 312 are arranged side by side. The bottom end of the rod 311 and the bottom end of the second adjusting rod 312 are both hinged on the third arm 23, the top end of the first adjusting rod 311 and the top end of the second adjusting rod 312 are both hinged on a connecting seat 33, the bracket The assembly 40 is connected to the connecting seat 33, that is, the above-mentioned third support arm 23, the first adjusting rod 311, the second adjusting rod 312 and the connecting seat 33 form a four-bar linkage mechanism, and the two fulcrums at the bottom of the four-bar linkage mechanism Located on the third support arm 23, the connecting seat 33 is connected to the movable end of the four-bar linkage mechanism. The adoption of the four-bar linkage mechanism can make the swinging process of the adjusting rod 31 more stable and avoid left and right shaking. In addition, a damping sheet for damping is also provided at the connecting position between the bottom end of the first adjusting rod 311 and the bottom end of the second adjusting rod 312 and the third support arm 23 , and similarly, the top end of the first adjusting rod 311 A damping sheet is also provided at the connecting position between the top end of the second adjusting rod 312 and the connecting seat 33 .

In order to adapt to the heights of different users and facilitate users with different heights to adjust the bracket assembly 40 to the front position suitable for themselves, the first adjustment rod 311 and the second adjustment rod 312 are both telescopic rods with adjustable lengths. Specifically, in this embodiment, the first adjusting rod 311 includes a first rod body 311a and a second rod body 311b, the upper part of the first rod body 311a is provided with a plurality of first connecting holes 3110 along its length direction, and the second rod body 311b The lower part is correspondingly provided with a second bar-shaped chute 3111 along its length direction, and between the second rod body 311b and the first rod body 311a through at least two first positioning posts 34 are passed through the corresponding first connecting holes 3110 and the second rod body 3111 The connection is made in the shaped chute 311b. The second adjusting rod 312 includes a third rod body 312a and a fourth rod body 312b. The upper portion of the third rod body 312a is provided with a plurality of second connecting holes 3120 along its length direction, and the lower portion of the fourth rod body 312b is provided with a corresponding second rod body 312b along its length direction. The three bar-shaped chute 3121, the fourth rod body 312b and the third rod body 312a are connected through at least two second positioning posts 35 through the corresponding second connecting holes 3120 and the third bar-shaped chute 3121 for details. Figure 16.

Referring to FIG. 4 , the bracket assembly 40 includes a first support frame 41 vertically arranged on the connecting base 33 and a second support frame 42 laterally connected to the first support frame 41 , and the second support frame 42 is used for placing firearms (or other devices to be placed), the bottom end of the first support frame 41 is rotatably connected to the connecting base 33 through the first rotating sleeve 43 , and the second support frame 42 is rotatably connected to the first support frame 41 through the second rotating sleeve 44 . At the top, the axis of the first rotating sleeve 43 is perpendicular to the axis of the second rotating sleeve 44 . The bracket assembly 40 can realize multi-angle adjustment in the up-down direction and the left-right direction for the firearm placed on the second support frame 42, which is more flexible and convenient. In this embodiment, the first rotating sleeve 43 and the second rotating sleeve 44 both use damping shafts, so as to increase the stability of the rotation of the first support frame 41 and the second support frame 42 and achieve staying at any angle.

Continuing to refer to FIG. 4 , in order to conveniently adjust the height of the bracket assembly 40 to suit the heights of different users, the first support frame 41 includes a first frame body 45 whose bottom end is connected to the connecting base 33 and can be opposite to the first frame The second frame body 46 for height adjustment of the body 45, the second support frame 42 is connected to the second frame body 46, and specifically, the first frame body 45 is provided with a plurality of third connection holes in the vertical direction (not shown). ), the second frame body 46 is correspondingly provided with a plurality of fourth connection holes (not shown), the second frame body 46 and the first frame body 45 are connected by at least two third positioning posts 47, the third The positioning posts 47 are correspondingly penetrated in the third connection hole and the fourth connection hole.

In addition, in order to improve the comfort and firmness of the power-assisted lifting robotic arm device after wearing, the power-assisted lifting robotic arm device in this embodiment further includes a shoulder support 60 and a back plate 61, wherein the shoulder support 60 has two wearable On the two shoulders of the user, the back plate 61 can be worn on the back of the user, and the shoulder support 60 and the back plate 61 can be connected to the arm assembly 20 or the chuck 13 by a sling or wire to provide auxiliary support force, so that the weight of the power-assisted robotic arm is evenly distributed on the waist, back and shoulders of the user, as shown in Figure 1.

The power-assisted lifting mechanical arm device in this embodiment can be conveniently worn on the waist and back by the user, is small in size, convenient to carry, meets various usage needs of the user, and is not limited by factors such as venues. The bracket assembly 40 of the power-assisted lifting mechanical arm device can be turned over to the front position of the user through the support arm assembly 20, and the adjustment rod 31 of the support rod assembly 30 can be angularly rotated in the vertical direction, and is supported by the auxiliary connecting piece. Under the action, the corresponding support force is provided for the user to place the firearm, and the operation is convenient and flexible. The power-assisted lifting mechanical arm device of this embodiment is not only suitable for training personnel to place firearms, but also can replace different bracket components to place different objects, and provide corresponding auxiliary support, such as security personnel during security tasks. shields and power tools used by large mechanical repairmen, etc.

Claims (16)

1. a power-assisted lifting mechanical arm device is characterized in that comprising: The waist clip assembly (10) is used to be assembled on the back position of the user's waist; a support arm assembly (20), connected to the waist clip assembly (10), the end of which extends to the side and can be bent in a horizontal direction; A support rod assembly (30), comprising an adjustment rod (31) whose bottom end is hinged at the end of the support arm assembly (20), and an adjustment rod (31) connected to the end of the support arm assembly (20) and the adjustment rod (31) Auxiliary connecting piece between the upper parts of the adjusting rod (31) relative to the supporting arm assembly (20) in a corresponding angle state; The bracket assembly (40) is connected to the top end of the adjusting rod (31), and is used for placing the object to be supported. 2 . The power-assisted lifting mechanical arm device according to claim 1 , wherein the auxiliary connecting member is a tension spring ( 32 a ) or a damping rod ( 32 b ). 3 . 3. The power-assisted lifting mechanical arm device according to claim 1, wherein the support arm assembly (20) at least comprises a first support arm (21), a second support arm (22) and a first support arm (21), a second support arm (22) and a Three arms (23), wherein the first end of the first arm (21) is connected to the waist clip assembly (10), and the second end of the first arm (21) is connected to the second arm (22) The first end of the second support arm (22) is hinged with the third support arm (23); The bottom end of the adjusting rod (31) is hinged on the third support arm (23), and the auxiliary connecting piece is connected between the third support arm (23) and the upper part of the adjusting rod (31). between. 4 . The power-assisted lifting mechanical arm device according to claim 3 , wherein the second support arm ( 22 ) is a telescopic arm with adjustable length. 5 . 5 . The power-assisted lifting mechanical arm device according to claim 4 , wherein the second support arm ( 22 ) comprises a first connecting plate ( 221 ) and can be slidably connected with the first connecting plate ( 221 ). 6 . the second connecting plate (222) of the The length directions of the two parts are consistent, the first connecting plate (221) is provided with a first quick release lock (24), and the first quick release lock (24) includes a first end connected to the first connecting plate (221). A pin (241) and an eccentric dial (242) hinged on the second end of the pin (241), the pin (241) of the first quick release lock (24) passes through the first bar After the chute (223), the first connecting plate (221) and the second connecting plate (222) are locked by rotating the eccentric dial (242). 6. The power-assisted lifting mechanical arm device according to any one of claims 1-5, characterized in that: the adjusting rod (31) is a four-bar linkage mechanism, and the four-bar linkage mechanism comprises a first adjusting rod ( 311), the second adjusting rod (312) and the connecting seat (33), the first adjusting rod (311) and the second adjusting rod (312) are arranged in parallel, and the upper end of the first adjusting rod (311) and the second adjusting rod ( The upper ends of 312) are both hinged on the connecting seat (313), and the lower ends of the first adjusting rod (311) and the lower end of the second adjusting rod (312) are both hinged on the third support arm (23) , the bracket assembly (40) is connected to the connection seat (33). 7 . The power-assisted lifting mechanical arm device according to claim 6 , wherein the first adjusting rod ( 311 ) and the second adjusting rod ( 312 ) are both telescopic rods with adjustable length. 8 . 8. The power-assisted lifting mechanical arm device according to claim 7, wherein the first adjusting rod (311) comprises a first rod body (311a) and a second rod body (311b), and the first rod body (311a) There are a plurality of first connecting holes (3110) along the length of the upper part of the second rod body (311b). Connecting with the first rod body (311a) through at least two first positioning posts (34) passing through the corresponding first connecting holes (3110) and the second bar-shaped chute (3111); The second adjusting rod (312) includes a third rod body (312a) and a fourth rod body (312b). The upper part of the third rod body (312a) is provided with a plurality of second connecting holes (3120) along its length direction. The lower part of the rod body (312b) is correspondingly provided with a third bar-shaped chute (3121) along the length direction, and at least two second positioning posts (35) pass between the fourth rod body (312b) and the third rod body (312a) Pass through the corresponding second connecting hole (3120) and connect with the third bar-shaped chute (3121). 9 . The power-assisted lifting mechanical arm device according to claim 6 , wherein the bracket assembly ( 40 ) comprises a first support frame ( 41 ) vertically arranged on the connecting seat ( 33 ) and a A second support frame (42) laterally connected to the first support frame (41), the bottom end of the first support frame (41) is rotatably connected to the connection seat (33) through a first rotating sleeve (43) ), the second support frame (42) is rotatably connected to the top of the first support frame (41) through a second rotating sleeve (44), and the axis of the first rotating sleeve (43) is connected to the second rotating sleeve ( 44) The axis is vertical. 10 . The power-assisted lifting mechanical arm device according to claim 9 , wherein the first support frame ( 41 ) comprises a first frame body ( 45 ) whose bottom end is connected to the connection seat ( 33 ). 11 . and a second frame body (46) whose height can be adjusted relative to the first frame body (45), and the second support frame (42) is connected to the second frame body (46). 11. The power-assisted lifting mechanical arm device according to claim 10, wherein the first frame body (45) is provided with a plurality of third connection holes in the vertical direction, and the second frame body (46) is provided with a plurality of third connection holes in the vertical direction. A plurality of fourth connection holes are correspondingly provided, and between the second frame body (46) and the first frame body (45) through at least two third positioning posts (47) are penetrated between the corresponding third connection holes and the first frame body (45). The connection is made in the fourth connection hole. 12. The power-assisted lifting mechanical arm device according to any one of claims 3-5, wherein the waist clip assembly (10) comprises: a mounting seat (11), connected to the first support arm (21), and having a transverse chute (110) whose extending direction is consistent with the length direction of the first support arm (21); a sliding block (12), which is slidably arranged in the transverse chute (110) of the sliding seat; The chuck (13) is used for mating on the protective vest of the user, the chuck (13) is connected to the side wall of the sliding block (12), and can be installed relative to the sliding block (12) The seat (11) slides laterally; A locking pin (14) is movably penetrated on the mounting seat (11), and the first end of the locking pin (14) exposes the outer side wall of the first support arm (21) for the user to perform a pulling operation , the second end of the locking pin (14) can pass through the second bar-shaped chute (120) correspondingly provided on the slider (12) to be stuck on the wall corresponding to the chuck (13) in the card slot (130); The first compression spring (14) is mounted on the mounting seat (11) and acts on the locking pin (14), so that the locking pin (14) always has a moving force toward the chuck (13). trend. 13. The power-assisted lifting mechanical arm device according to claim 12, wherein the chuck (13) is connected to the slider (12) through a positioning pin (15) and can be opposite to the slider (12) rotate around the positioning pin (15); The clamping slot (130) on the wall of the chuck (13) has a plurality of clamping positions (131) for the locking pin (14) to be clamped into, and the plurality of clamping positions (131) are along the positioning pin. (15) The arc directions of the center are arranged in sequence; The slider (12) is provided with a limit pin (16), and the chuck (13) is also provided with an arc-shaped groove (17) with the positioning pin (15) as the center of the circle. At least part of (16) is snapped into said arcuate groove (17). 14. The power-assisted lifting mechanical arm device according to claim 13, characterized in that: each card position (131) in the card groove (130) is a zigzag groove, and the inner wall surface of the zigzag groove comprises a A thrust stop surface (133) at the lower part of the second end of the locking pin and a transition slope (132) for the second end of the locking pin (14) to slide upward to another locking position (131). 15. The power-assisted lifting mechanical arm device according to claim 12, wherein the mounting seat (11) comprises an upper seat body (51) and a lower seat body (52), and the top of the upper seat body (51) There is an extension wall (511) extending to the side, the extension wall (511) is provided with a first V-shaped groove (512) with a notch facing downward, and the lower seat body (52) passes through the second quick release lock (53) is connected to the bottom of the upper seat body (51) and cooperates with the upper seat body (51) to form a second V-shaped groove (521) with the notch facing upward, the first V-shaped groove (512) and the The second V-shaped grooves (521) are arranged opposite to each other in the vertical direction, and the area between the two forms the transverse sliding groove (110), and the sliding block (12) is connected to the transverse sliding groove (110) Matching strips. 16. The power-assisted lifting mechanical arm device according to any one of claims 1-5, characterized in that: it further comprises a shoulder support (60) for being worn on the shoulder of the user, the shoulder support (60) ) is connected to the support arm assembly (20) or the waist clip assembly (10) through a hanging rope to provide auxiliary support force.

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