Compact mining whole-body power-assisted exoskeleton robot with anti-explosion shell and posture monitoring function

Abstract

The invention discloses a compact mining whole-body power-assisted exoskeleton robot with an anti-explosion shell and a posture monitoring function, and relates to the technical field of operation robots, the compact mining whole-body power-assisted exoskeleton robot comprises a trunk wearing assembly, two driving upper limb assemblies, two driving lower limb assemblies, a flexible connecting frame and a posture detection assembly; the two upper limb driving assemblies are connected with the trunk wearing assembly, and shoulder supporting structures are installed at the positions, close to the trunk wearing assembly, of the two upper limb driving assemblies. The flexible connecting frame can be bent and deformed; the two driving lower limb assemblies are connected with the trunk wearing assembly through a flexible connecting frame; the upper limb driving assembly and the lower limb driving assembly can be quickly connected and matched; the driving upper limb assembly can also be quickly connected and matched with an external execution tool; the posture detection assembly is used for detecting motion postures of the upper limb driving assembly and the lower limb driving assembly. According to the exoskeleton robot, the stooping operation comfort can be improved, various kinds of work assistance can be achieved, and the adaptability is better.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of work robots, in particular to a compact mine-used full-body power-assisted exoskeleton robot with an explosion-proof shell and posture monitoring. BACKGROUND

[0002] Mining is one of the high-risk industries, and long-term challenges include heavy physical labor, harsh working environment, and high safety risks. In recent years, with the development of science and technology, exoskeleton robots as a new type of intelligent equipment are gradually applied to underground mining operations to provide power support for miners, reduce labor intensity, and improve work efficiency and safety. Mine-used exoskeleton robots are a frontier technology combining mechanical engineering, electronic engineering, computer science, and other multidisciplinary knowledge. By wearing mechanical devices on the outside of the human body, the strength of the human body is enhanced, and the function of the human body is improved, so as to enhance the working capacity of the human body and improve the working efficiency of the human body.

[0003] However, through research, it is found that the existing mine-used exoskeleton robots still have some technical deficiencies: 1. The trunk wearing part and the lower limb driving part are mostly rigidly connected, which limits the bending operation of the operator; 2. Due to the structural design, most mine-used exoskeleton robots can only realize relatively single in-mine carrying work, and have poor adaptability.

[0004] Therefore, it is urgent to provide a new solution to solve the above technical deficiencies. SUMMARY

[0005] Therefore, the purpose of the present application is to provide a compact mine-used full-body power-assisted exoskeleton robot with an explosion-proof shell and posture monitoring, to improve the bending operation comfort and to realize various work assistance and better adaptability.

[0006] To achieve the above technical purpose, the present application provides a compact mine-used full-body power-assisted exoskeleton robot with an explosion-proof shell and posture monitoring, which comprises a trunk wearing assembly, two driving upper limb assemblies, two driving lower limb assemblies, a flexible connecting frame, and a posture detection assembly. The two driving upper limb assemblies are connected to the trunk wearing assembly, and each is provided with a shoulder operation support structure near the trunk wearing assembly; The flexible connecting frame can be bent and deformed; The two driving lower limb assemblies are connected to the trunk wearing assembly through the flexible connecting frame; The driving upper limb assembly is provided with a first quick connection structure at one end away from the trunk wearing assembly; The driving lower limb assembly is provided with a second quick connection structure which can be detachably connected with the first quick connection structure of the driving upper limb assembly on the same side; The first quick-connect structure can also be docked with a third quick-connect structure on an external execution tool; The posture detection component is used to detect the movement posture of the driving upper limb component and the driving lower limb component; The shell structure of the torso wearable component, the shell structure of the driving upper limb component, the shell structure of the driving lower limb component and the flexible connecting frame are all made of explosion-proof materials.

[0007] Furthermore, the torso wearable component includes a front wearable body and a rear wearable body; The top ends of the front wearable body are respectively connected to the top ends of the rear wearable body through shoulder connection components; The shoulder connection component is capable of contacting the shoulder of a human body; The two ends of the bottom of the front wearable body are detachably connected to the two ends of the bottom of the rear wearable body through locking components.

[0008] Furthermore, the portion of the shoulder connection component that contacts the shoulder of the human body is an airbag structure or the shoulder connection component is provided with an airbag structure that contacts the shoulder of the human body; The airbag structure is connected to an air pressure sensor for detecting internal pressure; It also includes an alarm component, which is electrically connected to the air pressure sensor.

[0009] Furthermore, the locking assembly includes a first buckle and a second buckle; The first buckle is connected to the front wearable body via a first connecting belt; The second buckle is connected to the rear wearable body via a second connecting belt and can be buckled and matched with the first buckle; The length of the first connecting belt between the first buckle and the front wearable body is adjustable, or the length of the second connecting belt between the second buckle and the rear wearable body is adjustable.

[0010] Furthermore, the upper limb drive assembly includes a shoulder drive joint, an elbow drive joint, a first upper limb arm, and a second upper limb arm; The first driving end of the shoulder driving joint is detachably connected to the torso wearable component, and the second driving end is detachably connected to the first end of the first upper limb arm; The first driving end of the elbow driving joint is detachably connected to the second end of the first upper limb arm, and the second driving end is detachably connected to the first end of the second upper limb arm; The second end of the second upper limb is provided with the first quick-connect structure; The first upper limb arm and the second upper limb arm are both provided with an upper fastening piece.

[0011] Further, the driving lower limb assembly comprises a hip driving joint, a knee driving joint, a foot plate, a first lower limb arm, a second lower limb arm and a hip connecting piece; The hip connecting piece is connected with a flexible connecting frame, and the second quick connection structure is arranged on the hip connecting piece; The first driving end of the hip driving joint is detachably connected with the hip connecting piece, and the second driving end is detachably connected with the first end of the first lower limb arm; The first driving end of the knee driving joint is detachably connected with the second end of the first lower limb arm, and the second driving end is detachably connected with the first end of the second lower limb arm; The second end of the second lower limb arm is connected with the foot plate; The first lower limb arm, the second lower limb arm and the foot plate are provided with a lower fixing piece.

[0012] Further, the first upper limb arm, the second upper limb arm, the first lower limb arm and the second lower limb arm are all telescopic arm structures.

[0013] Further, the telescopic arm structure comprises a first arm rod and a second arm rod; The first arm rod is movably inserted into the second arm rod; The first arm rod is internally fixed with a first rack arranged along the axial direction of the first arm rod; The second arm rod is internally rotatably provided with a second rack, and can be switched between a locked position and an unlocked position; The rotating connection of the second rack is provided with a torsional spring, for providing elastic torsional force of the second arm rod to the locked position; When the second rack is in the locked position, the second rack can be engaged with the first rack to lock the relative position between the first arm rod and the second arm rod; The second rack is provided with a knob part protruding from the second arm rod, for driving the second rack to rotate to the unlocked position, so as to release the engagement between the second rack and the first rack.

[0014] Further, the posture detection assembly comprises an inertial measurement sensor, a joint angle sensor, a pressure sensor and an electromyography sensor; The inertial measurement sensor is mounted on at least one limb arm of the driving upper limb assembly, at least one limb arm of the driving lower limb assembly and the torso wearing assembly; The joint angle sensor is connected with the joint motor of the driving upper limb assembly and the joint motor of the driving lower limb assembly; The pressure sensor is mounted on the end of the driving lower limb assembly away from the torso wearing assembly; Myoelectric sensors are installed on the surfaces of the torso wearable component, the driven upper limb component and the driven lower limb component.

[0015] Furthermore, at least one of the driving upper limb components has a detection component connected to one end thereof away from the torso wear component; The detection component includes a searchlight, a distance sensor and a poison gas sensor.

[0016] From the above technical solutions, it can be seen that the compact mining-use full-body assisted exoskeleton robot with explosion-proof housing and posture monitoring designed in this application has the following beneficial effects: 1. A flexible connecting frame that can bend and deform is designed to connect the torso wearable component and the driving lower limb component. Compared with the traditional rigid connection design, it can provide operators with convenience in bending over to operate.

[0017] 2. The driving upper limb assembly and the driving lower limb assembly can be fixedly connected through the cooperation of the first quick-connect structure and the second quick-connect structure, thereby enabling the torso wear assembly to be rigidly connected to the driving upper limb assembly and the driving lower limb assembly, thereby enabling flexible switching between rigid connection and flexible connection between the torso wear assembly and the driving lower limb assembly; when performing operations with more bending operation scenarios, the flexible connection can be switched, and when performing operations of carrying larger heavy objects, the rigid connection can be switched, so as to better transfer the force to the ground through the driving lower limb assembly, thereby improving work efficiency and flexibility of use.

[0018] 3. The designed first quick-connect structure can cooperate with the third quick-connect structure to achieve rapid connection of external execution tools (such as drilling tools, etc.), further reducing the labor intensity of operators and improving work efficiency.

[0019] 4. It can realize a variety of work assistance, such as assisting shoulder / hand carrying work and the use of auxiliary tools, with good applicability.

[0020] 5. The preparation of explosion-proof materials is combined with the design of posture detection components to achieve good explosion-proof and posture feedback effects, thereby improving safety and flexibility of use.

[0021] 6. The driving upper limb assembly and the driving lower limb assembly can be quickly connected. When stored, they can be folded and connected, making the storage structure more compact. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0023] Figure 1 This is a schematic diagram of the structure of a compact mining-use full-body assisted exoskeleton robot with an explosion-proof housing and posture monitoring provided in this application; Figure 2 A cross-sectional view of the layout of the telescopic arm structure of the compact mining-use full-body assisted exoskeleton robot with explosion-proof housing and posture monitoring provided in this application; In the figure: 1. torso wearable component; 11. front wearable body; 12. rear wearable body; 13. shoulder connection component; 14. locking component; 2. upper limb drive component; 21. shoulder drive joint; 22. elbow drive joint; 23. first upper limb arm; 24. second upper limb arm; 25. upper harness; 26. shoulder support structure; 27. detection component; 3. flexible connecting frame; 4. lower limb drive component; 41. hip connection; 42. hip drive joint; 43. knee drive joint; 44. first lower limb arm; 45. second lower limb arm; 46. plantar plate; 47. lower harness; 51. first quick-connect structure; 52. second quick-connect structure; 61. first arm; 62. second arm; 63. first rack; 64. second rack; 65. dial hand; 66. torsion spring. DETAILED DESCRIPTION

[0024] The following will clearly and completely describe the technical solutions of the embodiments of the present application in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of the present application, not all of them. Based on the embodiments of the present application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the embodiments of the present application.

[0025] In the description of the embodiments of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, they should not be understood as limiting the embodiments of the present application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance.

[0026] In the description of the embodiments of the present application, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, replaceable connections, or integral connections. They can also refer to mechanical connections or electrical connections. They can also refer to direct connections or indirect connections through an intermediate medium. They can also refer to internal connections between two components. For those skilled in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific circumstances.

[0027] The embodiments of the present application disclose a compact mining-use full-body assisted exoskeleton robot with an explosion-proof housing and posture monitoring.

[0028] See also Figure 1 An embodiment of a compact mining-use full-body assisted exoskeleton robot with an explosion-proof housing and posture monitoring provided in the embodiments of the present application includes: A torso wearable component 1, two driven upper limb components 2, two driven lower limb components 4, a flexible connecting frame 3 and a posture detection component.

[0029] The two driven upper limb components 2 are connected to the trunk wear component 1, and a shoulder support structure 26 (which can be a plate structure for carrying and transporting objects to achieve better shoulder transport operations) is installed near the trunk wear component 1.

[0030] The flexible connecting frame 3 is capable of bending and deforming; the two driven lower limb assemblies 4 are connected to the torso wearable assembly 1 via the flexible connecting frame 3. The flexible connecting frame 3 can be made of high-performance fiber materials or other explosion-proof materials, such as aramid fiber, which has high strength and high modulus. Through its high-strength fracture and accompanying large-area deformation, it can effectively resist high-speed fragments generated by explosions.

[0031] The end of the driven upper limb assembly 2, away from the torso wearable assembly 1, is equipped with a first quick-connect structure 51. The driven lower limb assembly 4 is equipped with a second quick-connect structure 52 that can be removably connected to the first quick-connect structure 51 of the driven upper limb assembly 2 on the same side. The first quick-connect structure 51 can also mate with a third quick-connect structure on an external actuator. The quick-connect structure can be a plug-in quick connector, a threaded locking quick connector, or a snap-on quick connector, with no specific restrictions, as long as it meets the requirements for stable and fast connection.

[0032] The posture detection component is used to detect the movement posture of the driving upper limb component 2 and the driving lower limb component 4; the shell structure of the torso wearable component 1, the shell structure of the driving upper limb component 2, the shell structure of the driving lower limb component 4 and the flexible connecting frame 3 are all made of explosion-proof materials.

[0033] As for the explosion-proof material of the shell structure, carbon fiber composite materials with flame retardants can be used. This material is lightweight, strong, corrosion-resistant, and has excellent explosion-proof properties. Furthermore, the shell structure's surface can be specially treated, such as using nano-coating technology, to enhance its anti-static and dust absorption capabilities, improving its reliability in the harsh underground environment.

[0034] Furthermore, efficient heat dissipation channels can be designed within the housing structure, utilizing heat pipe technology to quickly transfer heat generated by key heat-generating components to the housing surface. Adjustable heat dissipation fins can be installed on the housing surface, automatically adjusting the fin angle based on operating temperature to increase the heat dissipation area and air circulation efficiency.

[0035] The compact mining-use full-body assisted exoskeleton robot designed in this application, which has an explosion-proof housing and posture monitoring, has the following beneficial effects: 1. A flexible connecting frame 3 capable of bending and deforming is designed to connect the torso wearable component 1 and the driving lower limb component 4. Compared with the traditional rigid connection design, it can provide operators with convenience in bending over to operate.

[0036] 2. The driving upper limb component 2 and the driving lower limb component 4 can be fixedly connected through the cooperation of the first quick-connect structure 51 and the second quick-connect structure 52, thereby enabling the torso wear component 1 to be rigidly connected to the driving lower limb component 4 through the driving upper limb component 2, thereby enabling the torso wear component 1 and the driving lower limb component 4 to flexibly switch between a rigid connection and a flexible connection; when performing operations with more bending operation scenarios, the flexible connection can be switched, and when performing operations of carrying larger heavy objects, the rigid connection can be switched, so as to better transfer the force to the ground through the driving lower limb component 4, thereby improving the working efficiency and flexibility of use.

[0037] 3. The designed first quick-connect structure 51 can cooperate with the third quick-connect structure to achieve rapid connection of external execution tools (such as drilling tools, etc.), further reducing the labor intensity of operators and improving work efficiency.

[0038] 4. It can realize a variety of work assistance, such as assisting shoulder / hand carrying work and the use of auxiliary tools, with good applicability.

[0039] 5. The preparation of explosion-proof materials is combined with the design of posture detection components to achieve good explosion-proof and posture feedback effects, thereby improving safety and flexibility of use.

[0040] 6. The driving upper limb assembly 2 and the driving lower limb assembly 4 can be quickly connected. When stored, they can be folded and connected, making the storage structure more compact.

[0041] The above is the first embodiment of the compact mining full-body power-assisted exoskeleton robot with explosion-proof housing and posture monitoring provided by the embodiment of the present application. The following is the second embodiment of the compact mining full-body power-assisted exoskeleton robot with explosion-proof housing and posture monitoring provided by the embodiment of the present application. Please refer to the embodiment of the present application for details. Figures 1 to 2 .

[0042] Based on the solution of the above embodiment 1: Furthermore, the torso wearable assembly 1 includes a front wearable body 11 and a rear wearable body 12; the top ends of the front wearable body 11 are respectively connected to the top ends of the rear wearable body 12 via shoulder connection components 13; the shoulder connection components 13 can contact the shoulders of the human body; the bottom ends of the front wearable body 11 are respectively detachably connected to the bottom ends of the rear wearable body 12 via locking components 14.

[0043] The shoulder connection assembly 13 can be designed as an adjustable shoulder strap structure to accommodate operators of varying body types, ensuring wearer stability and comfort. The shoulder strap structure can be constructed from high-strength, wear-resistant, and explosion-proof materials to extend its service life. Furthermore, the shoulder strap structure can be equipped with an adjustment buckle, allowing operators to adjust the length to their needs, achieving a personalized wearing experience.

[0044] The front wearable body 11 and the rear wearable body 12 can be an X-shaped structure with an installation cavity inside, which can provide installation arrangements for the control module and the power module. The specific shape can be changed and designed according to actual needs.

[0045] The driving upper limb component 2 and the driving lower limb component 4 can be both connected to the rear wearable body 12, or respectively connected to different wearable bodies. The specific design can be changed according to actual needs without limitation.

[0046] Furthermore, the part of the shoulder connection component 13 that contacts the shoulder of the human body is an airbag structure or the shoulder connection component 13 is provided with an airbag structure that contacts the shoulder of the human body; the airbag structure is connected to an air pressure sensor for detecting internal pressure; and also includes an alarm component, which is electrically connected to the air pressure sensor.

[0047] The airbag structure is designed to provide comfortable shoulder support while worn and adapts to the operator's shoulder shape, improving wearer stability and comfort. An air pressure sensor monitors the pressure inside the airbag structure in real time. When the pressure exceeds a preset safety range, an alarm component issues an alert to alert the operator and prevent excessive stress on the body. The alarm component can be an audible, light, or vibration alarm, with no specific restrictions, as long as it provides timely alerts to the operator.

[0048] Further, the locking assembly 14 comprises a first buckle and a second buckle; the first buckle is connected to the front wearing body 11 through a first connecting belt; the second buckle is connected to the rear wearing body 12 through a second connecting belt, and can be buckled with the first buckle; the length of the first connecting belt between the first buckle and the front wearing body 11 is adjustable, or the length of the second connecting belt between the second buckle and the rear wearing body 12 is adjustable.

[0049] The design of the locking assembly 14 enables the operator to adjust according to the size of the waist, ensuring the tightness and stability of the wearing. The first connecting belt and the second connecting belt can be made of high-strength, wear-resistant and explosion-proof materials to improve the service life. At the same time, the adjustable length of the belt can be achieved by setting the adjusting buckle, which is easy to operate and meets the individual wearing needs. In addition, the first buckle and the second buckle can be designed as a quick locking and unlocking structure, which is convenient for the operator to wear and remove.

[0050] Further, for the design of the upper limb driving assembly 2, it comprises a shoulder driving joint 21, an elbow driving joint 22, a first upper limb arm 23 and a second upper limb arm 24.

[0051] The first driving end of the shoulder driving joint 21 is detachably connected to the trunk wearing assembly 1, and the second driving end is detachably connected to the first end of the first upper limb arm 23; the first driving end of the elbow driving joint 22 is detachably connected to the second end of the first upper limb arm 23, and the second driving end is detachably connected to the first end of the second upper limb arm 24; the second end of the second upper limb arm 24 is provided with a first quick connection structure 51; the first upper limb arm 23 and the second upper limb arm 24 are both provided with an upper fixing member 25.

[0052] The design of the shoulder driving joint 21 and the elbow driving joint 22 enables the upper limb assembly to flexibly move in multiple degrees of freedom, simulates various movements of the human upper limb, and provides power assistance. The detachable connection between the first upper limb arm 23 and the second upper limb arm 24, and the detachable connection of each with the driving joint, makes the maintenance and replacement of the upper limb assembly more convenient. The design of the upper fixing member 25 can ensure the stability and safety of the upper limb assembly during wearing, and avoid falling off or loosening during movement. At the same time, the upper fixing member 25 can be made of soft and elastic materials, such as elastic belts, to improve the comfort of wearing.

[0053] Furthermore, the driven lower limb assembly 4 includes a hip drive joint 42, a knee drive joint 43, a plantar plate 46, a first lower limb arm 44, a second lower limb arm 45 and a hip connector 41; the hip connector 41 is connected to the flexible connecting frame 3, and is provided with a second quick-connect structure 52; the first drive end of the hip drive joint 42 is detachably connected to the hip connector 41, and the second drive end is detachably connected to the first end of the first lower limb arm 44; the first drive end of the knee drive joint 43 is detachably connected to the second end of the first lower limb arm 44, and the second drive end is detachably connected to the first end of the second lower limb arm 45; the second end of the second lower limb arm 45 is connected to the plantar plate 46; the first lower limb arm 44, the second lower limb arm 45 and the plantar plate 46 are provided with a lower fastener 47.

[0054] The design of the hip drive joint 42 and knee drive joint 43 enables the lower limb assembly to simulate various human lower limb movements, providing a powerful assist effect for the operator. The detachable connection between the first lower limb arm 44 and the second lower limb arm 45, as well as their respective detachable connections to the drive joints, not only facilitates maintenance and replacement of the lower limb assembly but also allows for flexible configuration based on different operational requirements. The design of the lower restraint 47 ensures the stability and safety of the lower limb assembly during wear, preventing it from falling off or loosening during exercise. Furthermore, the lower restraint 47 can also be made of a soft and elastic material, such as an elastic band, to enhance wearing comfort.

[0055] Furthermore, the first upper limb arm 23, the second upper limb arm 24, the first lower limb arm 44 and the second lower limb arm 45 are all telescopic arm structures.

[0056] The design of this telescopic arm structure allows the upper and lower limb components to be flexibly adjusted according to the operator's body shape and work requirements, providing a more fitting and comfortable wearing experience.

[0057] Furthermore, if Figure 2 As shown, the telescopic arm structure includes a first arm 61 and a second arm 62; the first arm 61 is movably inserted into the second arm 62; a first rack 63 arranged along its own axial direction is fixed in the first arm 61; a second rack 64 is rotatably installed in the second arm 62 and can switch between a locked position and an unlocked position; a torsion spring 66 is provided at the rotating connection of the second rack 64, which is used to provide an elastic torsion force for rotating the second arm 62 to rotate toward the locked position; when the second rack 64 is in the locked position, it can engage with the first rack 63 to lock the relative position between the first arm 61 and the second arm 62; the second rack 64 is provided with a dial portion 65 extending from the second arm 62, which is used to drive the second rack 64 to rotate toward the unlocked position to release the engagement between the second rack 64 and the first rack 63.

[0058] The above design can achieve the following effects: 1. Compact and efficient structure: The rack engagement locking method is adopted. Compared with traditional locking structures such as bolts and pins, it does not require additional perforations or complex adjustment parts. It can achieve reliable locking in the limited internal space of the arm, which is conducive to the miniaturization design of the overall structure.

[0059] 2. Flexible stroke adjustment range: The first rack 63 is arranged axially along the first arm 61, and its length can be designed according to actual telescopic requirements. The meshing position of the second rack 64 and the first rack 63 can be changed within the full length of the first rack 63 (limited by the length of the second arm 62), so that the length adjustment range of the telescopic arm can be flexibly customized to meet the requirements of different operating radius or space adaptation.

[0060] 3. Convenient and fast operation: The second rack 64 can be rotated to unlock the arm by turning the handle 65. The operation is intuitive and simple, allowing users to quickly adjust the length of the telescopic arm, improving operational efficiency. It is particularly suitable for work scenarios where frequent length adjustments are required. During the unlocking and adjustment process, since only the torque of the torsion spring 66 needs to be overcome to rotate the second rack 64, the operation requires less force, achieving effortless adjustment. Once the handle 65 is released, the reset force of the torsion spring 66 quickly pushes the second rack 64 back to the locked position and engages with the first rack 63, achieving instant self-locking. The entire process does not require additional locking action, further simplifying the operation process.

[0061] 4. Reliable and Stable Locking: The torsion spring 66 continuously provides elastic torque to the second rack 64, which rotates it toward the locked position. This ensures that the second rack 64 maintains stable engagement with the first rack 63 even when the handle 65 is not being operated manually. This effectively prevents the telescopic arm from accidentally sliding due to vibration or external forces during operation, ensuring safety and stability during use. Rack engagement, with multiple meshing teeth acting simultaneously, can more evenly transmit and withstand loads compared to single-point locking mechanisms, thereby improving the telescopic arm's load-bearing capacity and fatigue resistance, adapting to the load requirements of different operating conditions and extending its service life.

[0062] Furthermore, the posture detection component includes an inertial measurement sensor, a joint angle sensor, a pressure sensor and an electromyographic sensor; at least one limb of the driving upper limb component 2, at least one limb of the driving lower limb component 4 and the torso wearable component 1 are all installed with an inertial measurement sensor (specifically, the front wearable body 11, the rear wearable body 12, the first upper limb arm 23, the second upper limb arm 24, the first lower limb arm 44 and the second lower limb arm 45 can all be installed with inertial measurement sensors); the joint motors of the driving upper limb component 2 and the joint motors of the driving lower limb component 4 are all connected to joint angle sensors (specifically, the joint motors in the shoulder driving joint 21, the elbow driving joint 22, the hip driving joint 42 and the knee driving joint 43 are all connected to joint angle sensors); a pressure sensor is installed at the end of the driving lower limb component 4 away from the torso wearable component 1 (specifically, a pressure sensor is installed at the bottom of the plantar plate 46); the surfaces of the torso wearable component 1, the driving upper limb component 2 and the driving lower limb component 4 are all installed with electromyographic sensors (specifically, the electromyographic sensors can be installed at a surface position that fits the human body).

[0063] Inertial measurement sensors can measure motion parameters such as acceleration and angular velocity at various parts of the human body, providing a holistic understanding of the body's spatial position and motion posture, such as its tilt angle, direction of movement, and speed. Joint angle sensors can accurately measure the rotation angles of individual joints, such as the degree of bending at the shoulder, elbow, hip, and knee. Pressure sensors can detect the pressure between the human body and the outside world, such as the pressure distribution at the bottom of the plantar plate 46, reflecting the body's weight-bearing status and the point of force applied during walking. These three sensors provide information from different perspectives and complement each other, enabling the system to comprehensively and accurately understand the body's motion status.

[0064] The combination of multiple sensors can improve the accuracy of motion recognition. Different actions will generate specific signal combinations on various sensors, and the system can accurately identify the action by analyzing these signals. For example, when a person raises their hand, the inertial measurement sensor will detect the movement trajectory of the arm, the joint angle sensor will record the angle changes of the shoulder and elbow joints, and the pressure sensor may sense the change in plantar pressure caused by the shift of the body's center of gravity due to the change in arm position. Based on this comprehensive information, the system can accurately determine that this is a hand-raising action and perform corresponding power assistance control according to preset rules.

[0065] In addition, the data of different sensors can be verified and calibrated with each other, improving the reliability of the system. When a certain sensor fails or has abnormal data, the data of other sensors can be used as a reference to help the system determine whether there is a problem and make appropriate adjustments. For example, if the data of the inertial measurement sensor suddenly fluctuates greatly, while the data of the joint angle sensor and the pressure sensor is normal, the system can preliminarily judge that the inertial measurement sensor may have failed, and accordingly take appropriate measures, such as ignoring the abnormal data of the sensor or issuing a fault alarm.

[0066] Further, at least one upper limb driving assembly 2 is connected with a detection assembly 27 at the end away from the trunk wearing assembly 1; the detection assembly 27 includes a searchlight, a distance measuring sensor, and a toxic gas sensor.

[0067] The searchlight can provide lighting function for the operator, especially when working in insufficient light or dark environment, improve the visibility of the working area, and ensure the safety of operation. The distance measuring sensor can measure the distance between the operator and the target object in real time, provide distance reference for the operator, and provide distance feedback for the operation of the handheld operating tool, so as to realize more accurate operation. The toxic gas sensor is used to detect the concentration of toxic gas in the working environment, and when the concentration of toxic gas is detected to be excessive, an alarm can be issued in time to remind the operator to take appropriate protective measures to avoid poisoning accidents. The design of the detection assembly 27 enhances the adaptability and safety of the robot in complex working environment, and provides more comprehensive protection for the operator.

[0068] Further, micro servo motors and deformable skeletons (such as using memory alloy or multi-section hinge structure) can be built-in in the front wearing body 11 and the rear wearing body 12. The posture detection assembly captures the body posture features such as human spine bending and thoracic expansion in real time, and the control module drives the deformable skeleton to automatically adjust the bending radius and opening angle of the front and rear wearing bodies 12 according to these data, so as to realize the dynamic fitting of the exoskeleton with human trunk in different body types and different postures (such as bending and straightening), and further improve the comfort and followability.

[0069] Further, a micro Peltier effect temperature control unit and an energy recovery device are integrated in the mounting cavity of the trunk wearing assembly 1. The temperature control unit actively adjusts the internal temperature of the wearing through contact heat conduction or small fans according to the environmental temperature and the human skin temperature (which can be detected by the temperature sensing function of the electromyographic sensor or additional temperature sensor). The energy recovery device can utilize the reverse rotation or vibration energy of the driving joint (such as the knee driving joint 43 in walking swing) to convert it into electrical energy through a micro generator and store it in a backup battery or super capacitor, prolonging the endurance time.

[0070] The above is a detailed introduction to the compact mining full-body assisted exoskeleton robot with explosion-proof housing and posture monitoring provided by this application. For general technicians in this field, based on the ideas of the embodiments of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on this application.

Claims

1. A compact mining-use full-body power-assisted exoskeleton robot with an explosion-proof housing and posture monitoring, characterized in that: It comprises a torso wearable component (1), two driven upper limb components (2), two driven lower limb components (4), a flexible connecting frame (3) and a posture detection component; The two driven upper limb components (2) are connected to the trunk wear component (1), and a shoulder support structure (26) is installed at a position close to the trunk wear component (1); The flexible connecting frame (3) is capable of bending and deformation; The two driven lower limb assemblies (4) are connected to the trunk wearable assembly (1) via the flexible connecting frame (3); A first quick-connect structure (51) is provided at one end of the driving upper limb component (2) away from the torso wear component (1); The driving lower limb assembly (4) is provided with a second quick-connect structure (52) capable of being detachably connected to the first quick-connect structure (51) of the driving upper limb assembly (2) located on the same side; The first quick-connect structure (51) can also be docked with a third quick-connect structure on an external execution tool; The posture detection component is used to detect the movement postures of the driving upper limb component (2) and the driving lower limb component (4); The shell structure of the torso wearable component (1), the shell structure of the driving upper limb component (2), the shell structure of the driving lower limb component (4), and the flexible connecting frame (3) are all made of explosion-proof materials.

2. The compact mining-use full-body power-assisted exoskeleton robot with explosion-proof housing and posture monitoring according to claim 1 is characterized in that: The torso wearable component (1) comprises a front wearable body (11) and a rear wearable body (12); The top ends of the front wearable body (11) are respectively connected to the top ends of the rear wearable body (12) via shoulder connection components (13); The shoulder connection component (13) is capable of contacting the shoulder of a human body; The two ends of the bottom of the front wearable body (11) are detachably connected to the two ends of the bottom of the rear wearable body (12) via locking components (14).

3. The compact mining-use full-body power-assisted exoskeleton robot with explosion-proof housing and posture monitoring according to claim 2 is characterized in that: The portion of the shoulder connection component (13) that contacts the shoulder of the human body is an airbag structure, or the shoulder connection component (13) is provided with an airbag structure that contacts the shoulder of the human body; The airbag structure is connected to an air pressure sensor for detecting internal pressure; It also includes an alarm component, which is electrically connected to the air pressure sensor.

4. The compact mining-use full-body power-assisted exoskeleton robot with explosion-proof housing and posture monitoring according to claim 2 is characterized in that: The locking assembly (14) comprises a first buckle and a second buckle; The first buckle is connected to the front wearable body (11) via a first connecting belt; The second buckle is connected to the rear wearable body (12) via a second connecting belt and can be buckled and matched with the first buckle; The length of the first connecting belt between the first buckle and the front wearable body (11) is adjustable, or the length of the second connecting belt between the second buckle and the rear wearable body (12) is adjustable.

5. The compact mining-use full-body power-assisted exoskeleton robot with explosion-proof housing and posture monitoring according to claim 1 is characterized in that: The driving upper limb assembly (2) comprises a shoulder driving joint (21), an elbow driving joint (22), a first upper limb arm (23) and a second upper limb arm (24); The first driving end of the shoulder driving joint (21) is detachably connected to the trunk wearable component (1), and the second driving end is detachably connected to the first end of the first upper limb arm (23); The first driving end of the elbow driving joint (22) is detachably connected to the second end of the first upper limb arm (23), and the second driving end is detachably connected to the first end of the second upper limb arm (24); The second end of the second upper limb arm (24) is provided with the first quick-connect structure (51); The first upper limb arm (23) and the second upper limb arm (24) are both provided with an upper fastening member (25).

6. The compact mining-use full-body power-assisted exoskeleton robot with explosion-proof housing and posture monitoring according to claim 5, characterized in that: The driven lower limb assembly (4) includes a hip drive joint (42), a knee drive joint (43), a foot sole plate (46), a first lower limb arm (44), a second lower limb arm (45), and a hip connector (41); The hip connector (41) is connected to the flexible connecting frame (3), and is provided with the second quick-connect structure (52); The first driving end of the hip driving joint (42) is detachably connected to the hip connecting member (41), and the second driving end is detachably connected to the first end of the first lower limb arm (44); The first driving end of the knee driving joint (43) is detachably connected to the second end of the first lower limb arm (44), and the second driving end is detachably connected to the first end of the second lower limb arm (45); The second end of the second lower limb arm (45) is connected to the sole plate (46); A lower fastening member (47) is provided on the first lower limb arm (44), the second lower limb arm (45) and the sole plate (46).

7. The compact mining-use full-body power-assisted exoskeleton robot with explosion-proof housing and posture monitoring according to claim 6 is characterized in that: The first upper limb arm (23), the second upper limb arm (24), the first lower limb arm (44) and the second lower limb arm (45) are all telescopic arm structures.

8. The compact mining-use full-body power-assisted exoskeleton robot with explosion-proof housing and posture monitoring according to claim 7, characterized in that: The telescopic arm structure comprises a first arm (61) and a second arm (62); The first arm (61) is movably inserted into the second arm (62); A first rack (63) arranged along the axial direction of the first arm (61) is fixed in the first arm (61); A second rack (64) is rotatably mounted in the second arm (62) and is capable of switching between a locked position and an unlocked position; A torsion spring (66) is provided at the rotation connection of the second rack (64) for providing an elastic torsion force for rotating the second arm (62) toward the locking position; When the second rack (64) is in the locking position, it can engage with the first rack (63) to lock the relative position between the first arm (61) and the second arm (62); The second rack (64) is provided with a lever portion (65) extending from the second arm (62) for driving the second rack (64) to rotate toward an unlocking position to release the engagement between the second rack (64) and the first rack (63).

9. The compact mining-use full-body power-assisted exoskeleton robot with explosion-proof housing and posture monitoring according to claim 1, characterized in that: The posture detection component includes an inertial measurement sensor, a joint angle sensor, a pressure sensor and an electromyographic sensor; The inertial measurement sensor is installed on at least one limb of the driving upper limb component (2), at least one limb of the driving lower limb component (4), and the torso wearable component (1); The joint motor driving the upper limb assembly (2) and the joint motor driving the lower limb assembly (4) are both connected to the joint angle sensor; The pressure sensor is installed at one end of the driving lower limb component (4) away from the torso wearable component (1); Myoelectric sensors are installed on the surfaces of the trunk wearable component (1), the driven upper limb component (2), and the driven lower limb component (4).

10. The compact mining-use full-body power-assisted exoskeleton robot with explosion-proof housing and posture monitoring according to claim 1, characterized in that: At least one of the driving upper limb components (2) has a detection component (27) connected to one end thereof away from the torso wear component (1); The detection component (27) includes a searchlight, a distance sensor and a poison gas sensor.

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