A mine-used exoskeleton robot with carrying and hanging functions and shoulder-carrying material handling

Abstract

The application provides a mine exoskeleton robot with shoulder-carrying and shoulder-carrying material carrying functions, comprising a back plate, a hip joint assembly, a left lower limb, a right lower limb, a first driving device and a second driving device. The back plate, the first driving device, the second driving device, the left and right lower limbs are transmitted to the ground to complete the function of carrying materials. The hip joint assembly comprises a left hip and a right hip; the left hip and the right hip are mounted on the back plate. The first driving device is additionally arranged between the left lower limb and the left hip, and the second driving device is additionally arranged between the right lower limb and the right hip. The first driving device, the left hip and the left lower limb, and the second driving device, the right hip and the right lower limb form a triangle. The first driving device and the second driving device provide additional power between the hip joint assembly and the lower limb by utilizing the stability of the triangle, so that the exoskeleton can provide sufficient power to support the weight of the material in the mine scene, and meet the mine demand.

Description

Technical Field

[0001] This invention generally relates to the field of exoskeleton technology, and specifically to a mining exoskeleton robot that can both carry and shoulder-load material handling. Background Technology

[0002] Exoskeleton-assisted robots have been widely used in military and medical fields, but their application in the coal industry is still limited. Currently, in the construction of underground mine tunnels, material handling, and equipment maintenance, there are still many heavy-duty tasks that require direct miner intervention. Equipping these tasks with suitable exoskeleton-assisted devices would effectively reduce workers' physical exertion, improve work efficiency, increase mine economic benefits, and reduce production accidents.

[0003] Currently, exoskeletons used in mining are mainly divided into active and passive exoskeletons. Each is further divided into three modules: upper limb, waist, and lower limb, each independent of the others, providing corresponding assistance to the user. However, mining exoskeletons currently face several challenges. For example, passive exoskeletons and single-motor exoskeletons offer relatively weak assistance in mining scenarios, failing to meet actual mining needs. Summary of the Invention

[0004] In view of the above-mentioned defects or deficiencies in the prior art, it is desirable to provide a mining exoskeleton robot that can both hold and carry materials on its shoulders.

[0005] This application provides a mining exoskeleton robot that combines gripping and shoulder-carrying material handling, comprising:

[0006] Back panel;

[0007] A hip joint assembly, the hip joint assembly including a left hip and a right hip; both the left hip and the right hip are mounted on the back plate;

[0008] The lower limb assembly includes a left lower limb and a right lower limb; the left lower limb is rotatably connected to the left hip, and the right lower limb is rotatably connected to the right hip; the rotation axes of the left and right lower limbs are both parallel to a first direction.

[0009] A first driving device, one end of which is connected to the left lower limb and the other end of which is connected to the left hip; the first driving device is used to provide power for the weight of the supporting material between the left lower limb and the left hip;

[0010] A second drive device, one end of which is connected to the right lower limb and the other end of which is connected to the right hip; the second drive device is used to provide power for the weight of the support material between the right lower limb and the right hip.

[0011] The first drive device, the left hip and the left lower limb, and the second drive device, the right hip and the right lower limb all form triangles.

[0012] According to the technical solution provided by the present invention, two limiting protrusions are fixedly installed on the edge of the back plate near the hip joint assembly;

[0013] A telescopic assembly is installed between the left and right hips; sliding grooves are respectively opened on the side of the left and right hips near the back plate along the first direction, and the two limiting protrusions are respectively arranged in the two sliding grooves and can slide relative to each other along the sliding grooves.

[0014] According to the technical solution provided by the present invention, a suspension assembly is further installed on the back plate, the suspension assembly comprising:

[0015] A support tube, one end of which is hinged to the back plate; the support tube is arc-shaped.

[0016] The suspension pipe is arc-shaped;

[0017] A rope passes sequentially through a support tube and a suspension tube; both ends of the rope are connected to the back plate.

[0018] According to the technical solution provided by the present invention, the suspension assembly further includes:

[0019] A take-up assembly is mounted on the back plate; one end of the rope is fixedly connected to the back plate, and the other end is connected to the take-up assembly; the take-up assembly is used to tighten or release the rope.

[0020] According to the technical solution provided by the present invention, the take-up assembly includes:

[0021] A winch, which is fixedly mounted on the back plate; the winch has a rotating shaft and limiting teeth;

[0022] A handle, which is fixedly connected to the rotating shaft of the winch, is used to drive the winch to rotate;

[0023] A locking pin is slidably mounted on the back plate to abut against the limiting teeth and limit the movement of the winch.

[0024] One end of the rope is fixedly connected to the bolt on the back plate. The rope passes through the support tube and the suspension tube and is wound around the rotating shaft and fixedly connected to the rotating shaft.

[0025] According to the technical solution provided by the present invention, the left lower limb includes:

[0026] A left thigh exoskeleton, comprising a first left thigh exoskeleton and a second left thigh exoskeleton; one end of the first left thigh exoskeleton is rotatably connected to the left hip, and a bidirectional bolt connects the first left thigh exoskeleton and the second left thigh exoskeleton.

[0027] A left lower leg exoskeleton, comprising a first left lower leg exoskeleton and a second left lower leg exoskeleton; one end of the first left lower leg exoskeleton is rotatably connected to the second left thigh exoskeleton, and a bidirectional bolt connects the first left lower leg exoskeleton and the second left lower leg exoskeleton.

[0028] According to the technical solution provided by the present invention, the right lower limb includes:

[0029] The right thigh exoskeleton includes a first right thigh exoskeleton and a second right thigh exoskeleton; one end of the first right thigh exoskeleton is rotatably connected to the right hip, and a bidirectional bolt connects the first right thigh exoskeleton and the second right thigh exoskeleton.

[0030] The right lower leg exoskeleton includes a first right lower leg exoskeleton and a second right lower leg exoskeleton; one end of the first right lower leg exoskeleton is rotatably connected to the second right thigh exoskeleton, and a bidirectional bolt connects the first right lower leg exoskeleton and the second right lower leg exoskeleton.

[0031] According to the technical solution provided by the present invention, a third driving device is installed at the connection between one end of the first left lower leg exoskeleton and the second left thigh exoskeleton, for assisting the relative rotation of the first left lower leg exoskeleton and the second left thigh exoskeleton.

[0032] A fifth drive device is installed at the connection between the left lower limb and the left hip to assist the relative rotation of the left lower limb and the left hip.

[0033] According to the technical solution provided by the present invention, a fourth driving device is installed at the connection between one end of the first right lower leg exoskeleton and the second right thigh exoskeleton, for assisting the relative rotation of the first right lower leg exoskeleton and the second right thigh exoskeleton.

[0034] A sixth drive device is installed at the connection between the right lower limb and the right hip to assist the relative rotation of the right lower limb and the right hip.

[0035] According to the technical solution provided by the present invention, the lower limb assembly further includes:

[0036] The foot plantar component has two parts, which are rotatably connected to the left lower limb and the right lower limb respectively; a pressure sensor is installed on the foot plantar component.

[0037] The beneficial effects of this application are as follows:

[0038] The exoskeleton transmits power to the ground via a backplate, a first drive unit, a second drive unit, and the left and right lower limbs, thus performing the function of material handling. The hip joint assembly includes a left hip and a right hip; both the left and right hips are mounted on the backplate. An additional first drive unit is added between the left lower limb and the left hip, in addition to the existing motor; a second drive unit is also added between the right lower limb and the right hip. Triangles are formed between the first drive unit, the left hip and the left lower limb, and between the second drive unit, the right hip and the right lower limb. Utilizing the stability of triangles, the first and second drive units provide additional assistance between the hip joint assembly and the lower limbs, enabling the exoskeleton to provide sufficient power to support the weight of materials in mining environments, meeting mining requirements. Attached Figure Description

[0039] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0040] Figure 1 A schematic diagram of the structure of a mining exoskeleton robot that combines gripping and shoulder-carrying material handling, as provided in this application;

[0041] Figure 2 This is a structural diagram of the lower limb assembly;

[0042] Figure 3 This is a schematic diagram showing the connection relationships of the lower limb components;

[0043] Figure 4 This is a schematic diagram of the back panel structure;

[0044] Figure 5 This is a schematic diagram of the connecting mechanism in its first state.

[0045] Figure 6 This is a schematic diagram of the connecting mechanism in its second state.

[0046] Figure 7 A simplified diagram showing the geometric relationship of the connecting mechanism;

[0047] Figure 8 This is a cross-sectional view of the locking device;

[0048] Figure 9 This is a cross-sectional view of the locking device in its assembled state.

[0049] Figure 10 This is a schematic diagram of the locking device.

[0050] Figure 11 This is a schematic diagram of the connection relationship of two-way bolts;

[0051] Figure 12 This is a schematic diagram of a two-way bolt.

[0052] Figure 13 This is a schematic diagram of the take-up assembly.

[0053] The components include: 1. Backplate; 2. Hip joint assembly; 3. Lower limb assembly; 4. Active power assist assembly; 5. Limiting protrusion; 6. Left hip; 7. Right hip; 8. Telescopic assembly; 9. Sliding groove; 10. Left lower limb; 11. Right lower limb; 12. First drive device; 13. Second drive device; 14. Suspension assembly; 15. Support tube; 16. Suspension tube; 17. Rope; 18. Cable retraction assembly; 19. Left thigh exoskeleton; 20. Left lower leg exoskeleton; 21. Right thigh exoskeleton; 22. Right lower leg exoskeleton; 23. Bidirectional bolt; 24. Third drive device; 25. Fourth drive device. 26. Foot sole component; 27. Pressure sensor; 28. Fifth drive device; 29. ​​Sixth drive device; 30. Frame; 31. Support rod; 32. Telescopic cylinder; 33. Shock absorber; 34. Telescopic rod; 35. Locking device; 36. Limit plug; 37. Limit groove; 38. Limit hole; 39. Limit piece; 40. Limit pin; 41. Through groove; 42. Elastic component; 43. Electromagnetic component; 44. Limit block; 45. Crossbeam; 46. First threaded part; 47. Second threaded part; 48. Rotating handle; 49. Winch; 50. Handle; 51. Clamping pin; 52. Wire stopper;

[0054] 191. First left thigh exoskeleton; 192. Second left thigh exoskeleton; 201. First left lower leg exoskeleton; 202. Second left lower leg exoskeleton; 211. First right thigh exoskeleton; 212. Second right thigh exoskeleton; 221. First right lower leg exoskeleton; 222. Second right lower leg exoskeleton. Detailed Implementation

[0055] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0056] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0057] This invention patent proposes a mining exoskeleton robot that can both carry and lift materials. Addressing the challenges of heavy material handling and the need for additional assistance in coal mining environments, this invention incorporates first and second drive devices, in addition to the joint-assist motor at the hip joint, to further meet the power requirements for material handling.

[0058] Meanwhile, for short, heavy, and sturdy materials (such as transport rollers, pump bodies, and lifting jacks in coal mine environments), a single-person carrying method can be used: the weight of the material is transferred to the ground through the exoskeleton's suspension rope structure, shoulder structure, back plate, and lower limbs. For short, heavy, and sturdy materials (such as toothed rails and scrapers in coal mine environments), a single-person shoulder-carrying method can be used: the weight of the material is transferred to the ground through the exoskeleton's shoulder structure, back plate, and lower limbs. For long, slender materials, a two-person collaborative carrying method can be used. The exoskeleton designed in this invention can meet the material handling needs of different materials in coal mine environments.

[0059] Please refer to Figures 1-3 The diagram below illustrates the structure of a mining exoskeleton robot that combines gripping and shoulder-carrying material handling, as provided in this application. The robot includes:

[0060] Back panel 1;

[0061] Hip joint assembly 2, the hip joint assembly 2 including a left hip 6 and a right hip 7; the left hip 6 and the right hip 7 are both mounted on the back plate 1;

[0062] The lower limb assembly 3 includes a left lower limb 10 and a right lower limb 11; the left lower limb 10 is rotatably connected to the left hip 6, and the right lower limb 11 is rotatably connected to the right hip 7; the rotation axes of the left lower limb 10 and the right lower limb 11 are both parallel to the first direction;

[0063] Active power assist component 4, which includes a first driving device 12 and a second driving device 13;

[0064] One end of the first drive device 12 is connected to the left lower limb 10, and the other end is connected to the left hip 6; the first drive device 12 is used to provide power for the weight of the supporting material between the left lower limb 10 and the left hip 6;

[0065] One end of the second drive device 13 is connected to the right lower limb 11, and the other end is connected to the right hip 7; the second drive device 13 is used to provide power for the weight of the supporting material between the right lower limb 11 and the right hip 7;

[0066] A triangle is formed between the first drive device 12, the left hip 6 and the left lower limb 10, and between the second drive device 13, the right hip 7 and the right lower limb 11.

[0067] In some embodiments, a first drive device 12 is additionally added between the left lower limb 10 and the left hip 6, and a second drive device 13 is also added between the right lower limb 11 and the right hip 7. Triangles are formed between the first drive device 12, the left hip 6 and the left lower limb 10, and between the second drive device 13, the right hip 7 and the right lower limb 11. Utilizing the stability of triangles, additional assistance is provided between the hip joint assembly 2 and the lower limb assembly 3, thereby enabling the exoskeleton to provide sufficient assistance in mining scenarios to meet mining requirements; when handling different types of materials, the mining-assisted exoskeleton provided by this invention can be worn to complete collaborative operations.

[0068] The drive unit of the active power assist component 4 connects to the lower limb and hip joint component 2, providing primary support to the backplate 1 and hip joint component 2, thereby helping the user to complete tasks involving lifting heavy materials. When the wearer is lifting heavy objects, even in a standing position, the force can be transmitted to the ground.

[0069] Specifically, the first direction is the left-right direction of the exoskeleton.

[0070] In some embodiments, the two parts of the back panel 1 are further provided with shoulder supports to provide support for placing the stretcher when multiple people are being transported.

[0071] Furthermore, two limiting protrusions 5 are fixedly installed on the edge of the back plate 1 near the hip joint assembly 2;

[0072] A telescopic component 8 is installed between the left hip 6 and the right hip 7; the left hip 6 and the right hip 7 are respectively provided with sliding grooves 9 along the first direction on the side of the back plate 1, and the two limiting protrusions 5 are respectively arranged in the two sliding grooves 9 and can slide relative to each other along the sliding grooves 9.

[0073] In some embodiments, the telescopic component 8 is a scissor-type telescopic frame, which can adjust the distance between the left hip 6 and the right hip 7 according to the wearer's body size to ensure a comfortable wearing experience. The back plate 1 is connected to the hip joint component 2 by means of a limiting protrusion 5 disposed in the sliding groove 9, which allows the back plate to move relative to the left hip 6 and the right hip 7 when the distance between the left hip 6 and the right hip 7 is adjusted.

[0074] Furthermore, a suspension assembly 14 is also installed on the back plate 1, the suspension assembly 14 comprising:

[0075] Support tube 15, one end of which is hinged to the back plate 1; support tube 15 is arc-shaped;

[0076] Suspension pipe 16, wherein the suspension pipe 16 is arc-shaped;

[0077] Rope 17 passes through support tube 15 and suspension tube 16 in sequence; one end of rope 17 is fixedly connected to back plate 1.

[0078] Furthermore, the suspension assembly 14 also includes:

[0079] A take-up assembly 18 is mounted on the back plate; one end of the rope 17 is fixedly connected to the back plate 1, and the other end is connected to the take-up assembly 18; the take-up assembly 18 is used to tighten or release the rope 17.

[0080] Furthermore, the take-up assembly 18 includes:

[0081] A winch 49 is fixedly mounted on the back plate 1; the winch 49 has a rotating shaft and limiting teeth;

[0082] A handle 50 is fixedly connected to the rotating shaft of the winch 49 and is used to drive the winch 49 to rotate.

[0083] A locking pin 51 is slidably mounted on the back plate 1 to abut against the limiting tooth and limit the winch 49.

[0084] One end of the rope 17 is fixedly connected to the bolt 52 on the back plate 1. The rope 17 passes through the support tube 15 and the suspension tube 16 and is wound around the rotating shaft and fixedly connected to the rotating shaft.

[0085] In some implementations, reference Figure 4 and Figure 13 The take-up assembly 18 includes a winch 49, a handle 50, and a locking pin 51. One end of the rope 17 is fixedly connected to a line bolt 52 on the back of the back plate 1. The rope 17 passes through the support tube 15 and the suspension tube 16 and is fixedly connected to the rotation shaft of the winch 49.

[0086] The external teeth on the winch 49 abut against the locking pin 51, thus limiting the winch 49 and preventing the rope 17 fixed to the winch 49 from extending or retracting. When the length of the rope 17 needs to be adjusted, the locking pin 51 is opened, allowing the winch 49 to rotate. To reel in the line, the handle 50 is turned; to unleash the line, the rope 17 is pulled. A reeling allowance is left between the adjacent ends of the support tube 15 and the suspension tube 16. When reeling in the line, the reeling allowance decreases; when unleashing the line, the reeling allowance increases.

[0087] The above method allows the length of the rope 17 to be adjusted, thus enabling the suspension assembly 14 to adapt to wearers of different body sizes; at the same time, heavy objects can be placed in the net bag, which is suspended on the suspension tube 16 by hooks and locks, making it convenient to carry heavy objects.

[0088] Further, refer to Figure 3 , Figure 11 and Figure 12 .

[0089] The left lower limb 10 includes:

[0090] The left thigh exoskeleton 19 includes a first left thigh exoskeleton 191 and a second left thigh exoskeleton 192; one end of the first left thigh exoskeleton 191 is rotatably connected to the left hip 6, and a bidirectional bolt 23 connects the first left thigh exoskeleton 191 and the second left thigh exoskeleton 192.

[0091] The left lower leg exoskeleton 20 includes a first left lower leg exoskeleton 201 and a second left lower leg exoskeleton 202; one end of the first left lower leg exoskeleton 201 is rotatably connected to the second left thigh exoskeleton 192, and a bidirectional bolt 23 connects the first left lower leg exoskeleton 201 and the second left lower leg exoskeleton 202.

[0092] Furthermore, the right lower limb 11 includes:

[0093] The right thigh exoskeleton 21 includes a first right thigh exoskeleton 211 and a second right thigh exoskeleton 212; one end of the first right thigh exoskeleton 211 is rotatably connected to the right hip 7, and a bidirectional bolt 23 connects the first right thigh exoskeleton 211 and the second right thigh exoskeleton 212.

[0094] The right lower leg exoskeleton 22 includes a first right lower leg exoskeleton 221 and a second right lower leg exoskeleton 222; one end of the first right lower leg exoskeleton 221 is rotatably connected to the second right thigh exoskeleton 212, and a bidirectional bolt 23 connects the first right lower leg exoskeleton 221 and the second right lower leg exoskeleton 222.

[0095] In some embodiments, the bidirectional bolt 23 includes a first threaded portion 46, a second threaded portion 47, and a rotating handle 48. The threads of the first threaded portion 46 and the second threaded portion 47 have opposite directions of rotation, and the rotating handle 48 is rotatably mounted at the connection between the first threaded portion 46 and the second threaded portion 47. The rotating handle 48 is capable of rotating about an axis perpendicular to the first threaded portion 46 and the second threaded portion 47.

[0096] When it is necessary to adjust the length of the bidirectional bolt 23 by rotating it, first adjust the rotating handle 48 so that it is perpendicular to the first threaded part 46 and the second threaded part 47; then turn the rotating handle 48 to rotate the first threaded part 46 and the second threaded part 47; after rotating to the appropriate length, adjust the rotating handle 48 again so that it is parallel to the first threaded part 46 and the second threaded part 47.

[0097] In some embodiments, bidirectional bolts 23 are installed on both sides of the thigh and calf. When it is necessary to adjust the length of the thigh or calf, the bidirectional bolts 23 are rotated to control the length of the exoskeleton on both sides of the bidirectional bolts 23, so that the exoskeleton can adapt to wearers of various body types.

[0098] Furthermore, a third driving device 24 is installed at the connection between one end of the first left lower leg exoskeleton 201 and the second left thigh exoskeleton 192, which is used to assist the relative rotation of the first left lower leg exoskeleton 201 and the second left thigh exoskeleton 192.

[0099] A fifth drive device 28 is installed at the connection between the left lower limb 10 and the left hip 6 to assist the relative rotation of the left lower limb 10 and the left hip 6.

[0100] Furthermore, a fourth driving device 25 is installed at the connection between one end of the first right lower leg exoskeleton 221 and the second right thigh exoskeleton 212, which is used to assist the relative rotation of the first right lower leg exoskeleton 221 and the second right thigh exoskeleton 212.

[0101] A sixth drive device 29 is installed at the connection between the right lower limb 11 and the right hip 7 to assist the relative rotation of the right lower limb 11 and the right hip 7.

[0102] In some embodiments, the fifth drive unit 28 and the sixth drive unit 29 are connected to the joint axis at the hip joint of the exoskeleton via a transmission structure (including a reducer, drive shaft, drive key, and bearings, etc.). Through the transmission structure, the torque at the output ends of the fifth drive unit 28 and the sixth drive unit 29 is transmitted to the hip joint axis, driving the hip joint axis to rotate.

[0103] In some implementations, an angle sensor is also installed at each drive unit. When the wearer moves, the angle sensor detects the angle changes at each joint, calculates the angular velocity based on the movement time, and then adaptively increases or decreases the assist based on the magnitude of the angular velocity.

[0104] In some implementations, drive devices are added to all joints of the exoskeleton to provide assistance when the wearer performs various movements, thereby satisfying the wearer's various movements in the mining area and facilitating the transportation of goods.

[0105] Furthermore, the lower limb assembly 3 also includes:

[0106] Foot sole component 26, two of which are rotatably connected to the left lower limb 10 and the right lower limb 11 respectively; pressure sensor 27 is installed on the foot sole component 26.

[0107] In some embodiments, a pressure sensor 27 is provided on the foot piece 26 to adaptively adjust the amount of assistance provided by the first drive device 12, the second drive device 13, the third drive device 24, the fourth drive device 25, the fifth drive device 28 and the sixth drive device 29 according to the mass of the load being carried, so that the wearer can use the same force when carrying different loads.

[0108] Specifically, when multiple people are working together to move things, one person needs to be in front and another person needs to be behind. In this embodiment, the person in front will be called the first mover and the person behind will be called the second mover.

[0109] Further, refer to Figure 6 The aforementioned multi-person collaborative exoskeleton for mining includes:

[0110] Back panel 1;

[0111] Hip joint assembly 2, which is mounted on the back plate 1;

[0112] Lower limb assembly 3, which is rotatably connected to the hip joint assembly 2;

[0113] A connecting mechanism is mounted on the back plate 1; the connecting mechanism has a first state and a second state; when in the first state, the connecting mechanism is in a retracted state and is parallel to the back plate 1; when in the second state, the connecting mechanism is in an extended state and is perpendicular to the back plate 1.

[0114] When multiple people are working together, the connecting mechanisms installed on different mining multi-person collaborative exoskeletons are interconnected to support the cargo.

[0115] In some embodiments, one end of the connecting mechanism is detachably mounted on the exoskeleton worn by the first transporter, and the other end is detachably mounted on the exoskeleton worn by the second transporter.

[0116] The connecting mechanism is a stretcher-type structure, which is convenient for disassembly and installation. When installing a longer stretcher, it can handle larger items.

[0117] In some embodiments, the connecting mechanism includes:

[0118] A frame 30 is installed at the edge of the back panel and is arranged parallel to the back panel 1;

[0119] Support rod 31, one end of which is rotatably mounted on one end of frame 30;

[0120] Telescopic cylinder 32, one end of which is rotatably mounted on the other end of the frame, the telescopic cylinder 32 has a telescopic end, and the telescopic end is rotatably connected to the other end of the support rod 31;

[0121] The connecting mechanism has a first state and a second state; when the connecting mechanism is in the first state, the telescopic cylinder 32 is in the retracted state, the telescopic cylinder 32 is collinear with the support rod 31 and parallel to the frame; when the connecting mechanism is in the second state, the telescopic cylinder 32 is in the extended state, and the frame 30, the telescopic cylinder 32 and the support rod 31 form a triangle.

[0122] In some embodiments, the telescopic cylinder 32 is specifically a servo electric cylinder.

[0123] Normally, both the support rod 31 and the telescopic cylinder 32 retract into the frame, as shown in the following example. Figure 5 As shown. When multiple people are needed to collaborate on transportation, perform the following steps:

[0124] The person wearing the equipment manually moves the support rod 31 to make it lean forward or backward (leaning backward when acting as the first mover and forward when acting as the second mover).

[0125] The telescopic cylinder 32 extends to extend its telescopic end, causing the support rod 31 to rotate until the support rod 31 is perpendicular to the back plate 1.

[0126] The first and second porters stand in a row, one in front of the other, so that the support rods 31 on the exoskeletons worn by the two are aligned.

[0127] The goods are placed on support rod 31 and then moved.

[0128] Furthermore, a shock absorber 33 is fixedly connected between the telescopic end of the telescopic cylinder 32 and the support rod 31.

[0129] In some implementations, the addition of shock absorbers 33 can reduce walking vibrations during handling and prevent goods from falling off. At the same time, shock absorbers 33 can also reduce the impact force transmitted to the human body at the moment the goods are placed.

[0130] Furthermore, a telescopic rod 34 may be slidably installed inside the support rod 31;

[0131] A locking device 35 is installed at the end of the telescopic rod 34 near the telescopic cylinder 32;

[0132] When the connecting mechanism is in the second state, the two locking devices 35 are spliced ​​together to fix the two support rods 31 connecting the two people in front and behind.

[0133] In some embodiments, the addition of the telescopic rod 34 can adjust the carrying distance between the first and second carriers, facilitating the placement of goods of various sizes. When there is a speed difference between the first and second carriers, the telescopic rod 34 can adaptively extend or retract to prevent goods from falling off.

[0134] In some embodiments, the locking device 35 can securely connect the support rods 31 on the exoskeletons worn by the first and second transporters, thereby making the goods more stable when placed on the support rods 31, eliminating the deviation in the direction of movement between the first and second transporters, and preventing the goods from falling off due to misalignment of the two support rods 31.

[0135] Further, refer to Figures 8-10 The locking device 35 includes:

[0136] The limiting plug 36 is fixedly installed at one end of the telescopic rod 34 near the telescopic cylinder 32; the limiting plug 36 has a limiting groove 37 and a limiting hole 38 sequentially formed along the extension direction of the telescopic rod 34 on one side perpendicular to the telescopic direction of the telescopic rod 34.

[0137] The limiting piece 39 is fixedly installed on one end of the telescopic rod 34 near the telescopic cylinder 32 and located on the side near the limiting groove 37; the limiting piece 39 is arranged parallel to the limiting plug 36 and has a through groove 41 along the telescopic direction of the telescopic rod 34;

[0138] A limiting pin 40 is installed in the limiting hole 38 and can extend and retract in a direction perpendicular to the extension and retraction direction of the telescopic rod 34. It is used to protrude from the limiting hole 38 and be embedded in the limiting groove 37 of another locking device 35.

[0139] An elastic element 42 is disposed within the limiting hole 38; one end of the elastic element 42 is fixedly connected to the inner sidewall of the limiting hole, and the other end is fixedly connected to the limiting pin 40; the elastic element 42 is used to drive the limiting pin 40 to move closer to the limiting piece 39.

[0140] Electromagnetic component 43 is installed on the side of the limiting plug 36 away from the limiting piece 39, and there is a space for movement between it and the limiting pin 40.

[0141] When the two locking devices 35 are spliced ​​together, the electromagnetic component 43 is disposed in the through groove 41; the electromagnetic component 43 is used to generate a magnetic field to attract the limiting pin 40, drive the limiting pin 40 to compress the elastic component 42 away from the limiting piece 39, and disengage from the limiting groove 37 of the other locking device 35.

[0142] In some embodiments, the elastic element 42 is a compression spring. In its natural state, the elastic element 42 drives the limiting pin 40 to protrude from the limiting plug 36. When the limiting pin 40 moves away from the limiting piece 39, the limiting pin 40 compresses the elastic element 42 and retracts back into the limiting hole 38.

[0143] In some embodiments, a locking space is provided between the limiting plug 36 and the limiting piece 39 on the same locking device 35, the limiting piece 39 being used to align the locking devices 35 of the two support rods 31.

[0144] During the process of the two limiting plugs 36 approaching each other and extending into each other's locking space, the limiting plugs 36 are embedded into the locking space of the locking device 35 of the other under the action of the limiting piece 39, and will not produce an offset parallel to the extension and retraction direction of the limiting pin 40; the two limiting pins 40 abut against each other and compress their respective elastic members 42.

[0145] The two locking devices 35 continue to be embedded in each other. When the limiting pin 40 is aligned with the limiting groove 37, the limiting pin 40 protrudes from the limiting plug 36 and extends into the limiting groove 37 under the action of the elastic member 42, so that the limiting pin 40 abuts against the inner side wall of the limiting groove 37, thereby splicing and locking the two locking devices 35 together and fixing the two support rods 31.

[0146] In some embodiments, the electromagnetic component 43 is an electromagnet, and the limiting pin 40 is made of iron; it is used to connect a DC power supply and generate a magnetic field to attract the iron limiting pin 40.

[0147] When it is necessary to separate the two support rods 31, the electromagnetic components 43 on both sides are energized, and the magnetic field generated by the electromagnetic components 43 drives the iron limiting pin 40 to compress the elastic component 42, so that the limiting pin 40 retracts back into the limiting hole 38; further, the two limiting plugs 36 are pulled out, so that the two support rods 31 are separated.

[0148] To avoid motion interference between the limiting plate 39 and the electromagnetic component 43, a through groove 41 is provided on the limiting plate 39. During the process of the two locking devices 35 being spliced ​​together, the electromagnetic component 43 moves into the through groove 41.

[0149] In some embodiments, multiple limiting blocks 44 are fixedly installed on the support rod 31 on both sides along the front-rear direction of the back plate 1. When the two connecting mechanisms are spliced ​​together, multiple crossbeams 45 are respectively set between every two limiting blocks 44. Both ends of the crossbeams 45 are provided with bending structures, and the two bending structures respectively overlap between the limiting blocks 44 of the support rods 31 on both sides of the same back plate. The telescopic rod 34 is also provided with grooves on both sides along the front-rear direction of the back plate 1, and other crossbeams 45 are overlapped in the grooves.

[0150] After the transport is completed, first remove all the crossbeams 45, then control the telescopic cylinder 32 to retract, so that the support rod 31 is retracted to a state parallel to the frame 30.

[0151] In some implementations, reference Figure 7 The lengths of the support rod 31 and the telescopic cylinder 32, the telescopic amount of the telescopic cylinder 32, the length of the back plate 1, and the length of the shock absorber 33 satisfy the relationship expressed by formula (I):

[0152] (one);

[0153] Where D represents the length of the support rod, L represents the length of the back plate, J represents the length of the shock absorber, S represents the length of the telescopic cylinder itself, and ΔS represents the telescopic cylinder's extension / retraction amount.

[0154] When the above values ​​satisfy the relationship of formula (1), after the telescopic cylinder 32 extends, the support rod 31 can be made perpendicular to the back plate 1; since the back plate 1 is in a vertical state when worn, the support rod 31 is in a horizontal state, which makes it convenient for the two locking devices 35 to be aligned and locked.

[0155] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A mining exoskeleton robot that combines gripping and shoulder-carrying material handling, characterized in that, include: Back panel (1); A hip joint assembly (2) comprising a left hip (6) and a right hip (7); both the left hip (6) and the right hip (7) are mounted on the back plate (1); The lower limb assembly (3) includes a left lower limb (10) and a right lower limb (11); the left lower limb (10) is rotatably connected to the left hip (6), and the right lower limb (11) is rotatably connected to the right hip (7); the rotation axes of the left lower limb (10) and the right lower limb (11) are both parallel to the first direction; A first drive device (12) is connected at one end to the left lower limb (10) and at the other end to the left hip (6); the first drive device (12) is used to provide power for supporting the weight of the material between the left lower limb (10) and the left hip (6); The second drive device (13) has one end connected to the right lower limb (11) and the other end connected to the right hip (7); the second drive device (13) is used to provide power for the weight of the support material between the right lower limb (11) and the right hip (7); A triangle is formed between the first drive device (12), the left hip (6) and the left lower limb (10), and between the second drive device (13), the right hip (7) and the right lower limb (11); A connecting mechanism is mounted on the back plate (1); the connecting mechanism has a first state and a second state; when in the first state, the connecting mechanism is in a retracted state and the connecting mechanism is parallel to the back plate (1); when in the second state, the connecting mechanism is in an extended state and the connecting mechanism is perpendicular to the back plate (1); When multiple people are working together, the connecting mechanisms installed on different mining exoskeleton robots are interconnected to support the cargo; The connecting mechanism includes: A frame (30) is mounted on the edge of the back panel and is arranged parallel to the back panel (1); A support rod (31), one end of which is rotatably mounted on one end of the frame (30); Telescopic cylinder (32), one end of which is rotatably mounted on the other end of the frame, the telescopic cylinder (32) has a telescopic end, the telescopic end is rotatably connected to the other end of the support rod (31); a shock absorber (33) is also fixedly connected between the telescopic end of the telescopic cylinder (32) and the support rod (31). A telescopic rod (34) can also be slidably installed inside the support rod (31); A locking device (35) is installed at the end of the telescopic rod (34) near the telescopic cylinder (32). When the connecting mechanism is in the second state, the two locking devices (35) are spliced ​​together to fix the two support rods (31) of the two mining exoskeleton robots. A suspension assembly (14) is also installed on the back plate (1), the suspension assembly (14) comprising: A support tube (15) is provided, one end of which is hinged to the back plate (1); the support tube (15) is arc-shaped. The suspension tube (16) is arc-shaped; Rope (17), which passes through the support tube (15) and the suspension tube (16) in sequence. A take-up assembly (18) is mounted on the back plate (1); one end of a rope (17) is fixedly connected to the back plate (1), and the other end is connected to the take-up assembly (18); the take-up assembly (18) is used to tighten or release the rope (17). The left lower limb (10) includes: The left thigh exoskeleton (19) includes a first left thigh exoskeleton (191) and a second left thigh exoskeleton (192); one end of the first left thigh exoskeleton (191) is rotatably connected to the left hip (6), and the other end of the first left thigh exoskeleton (191) is connected to the second left thigh exoskeleton (192) by a bidirectional bolt (23).

2. The mining exoskeleton robot that combines carrying and shoulder-mounting material handling according to claim 1, characterized in that, Two limiting protrusions (5) are fixedly installed on the edge of the back plate (1) near the hip joint assembly (2); A telescopic assembly (8) is installed between the left hip (6) and the right hip (7); the left hip (6) and the right hip (7) are respectively provided with sliding grooves (9) along the first direction on the side of the back plate (1) near the back plate (1), and the two limiting protrusions (5) are respectively arranged in the two sliding grooves (9) and can slide relative to each other along the sliding grooves (9).

3. A mining exoskeleton robot that combines gripping and shoulder-carrying material handling according to claim 1, characterized in that, The take-up assembly (18) includes: A winch (49) is fixedly mounted on the back plate (1); the winch (49) has a rotating shaft and limiting teeth; A handle (50) is fixedly connected to the rotating shaft of the winch (49) and is used to drive the winch (49) to rotate. A locking pin (51) is slidably mounted on the back plate (1) to abut against the limiting tooth and limit the winch (49). One end of the rope (17) is fixedly connected to the bolt (52) on the back plate (1). The rope (17) passes through the support tube (15) and the suspension tube (16) and is wound around the rotating shaft and fixedly connected to the rotating shaft.

4. A mining exoskeleton robot that combines gripping and shoulder-carrying material handling according to claim 1, characterized in that, The left lower limb (10) also includes: The left lower leg exoskeleton (20) includes a first left lower leg exoskeleton (201) and a second left lower leg exoskeleton (202); one end of the first left lower leg exoskeleton (201) is rotatably connected to the second left thigh exoskeleton (192), and the other end of the first left lower leg exoskeleton (201) is connected to the second left lower leg exoskeleton (202) by a bidirectional bolt (23).

5. A mining exoskeleton robot that combines gripping and shoulder-carrying material handling according to claim 1, characterized in that, The right lower limb (11) includes: The right thigh exoskeleton (21) includes a first right thigh exoskeleton (211) and a second right thigh exoskeleton (212); one end of the first right thigh exoskeleton (211) is rotatably connected to the right hip (7), and the other end of the first right thigh exoskeleton (211) is connected to the second right thigh exoskeleton (212) by a bidirectional bolt (23). The right lower leg exoskeleton (22) includes a first right lower leg exoskeleton (221) and a second right lower leg exoskeleton (222); one end of the first right lower leg exoskeleton (221) is rotatably connected to the second right thigh exoskeleton (212), and the other end of the first right lower leg exoskeleton (221) is connected to the second right lower leg exoskeleton (222) by a bidirectional bolt (23).

6. A mining exoskeleton robot that combines gripping and shoulder-carrying material handling according to claim 4, characterized in that, A third drive device (24) is installed at the connection between one end of the first left lower leg exoskeleton (201) and the second left thigh exoskeleton (192) to assist the relative rotation of the first left lower leg exoskeleton (201) and the second left thigh exoskeleton (192); A fifth drive device (28) is installed at the connection between the left lower limb (10) and the left hip (6) to assist the relative rotation of the left lower limb (10) and the left hip (6).

7. A mining exoskeleton robot for both carrying and shoulder-mounting material handling according to claim 5, characterized in that, A fourth drive device (25) is installed at the connection between one end of the first right lower leg exoskeleton (221) and the second right thigh exoskeleton (212) to assist the relative rotation of the first right lower leg exoskeleton (221) and the second right thigh exoskeleton (212); A sixth drive device (29) is installed at the connection between the right lower limb (11) and the right hip (7) to assist the relative rotation of the right lower limb (11) and the right hip (7).

8. A mining exoskeleton robot that combines gripping and shoulder-carrying material handling according to claim 1, characterized in that, The lower limb assembly (3) also includes: Foot sole component (26), two of which are rotatably connected to the left lower limb (10) and the right lower limb (11) respectively; a pressure sensor (27) is installed on the foot sole component (26).

Images