Portable data acquisition exoskeleton device of humanoid robot

Abstract

The invention relates to the technical field of humanoid robots, in particular to a portable data acquisition exoskeleton device of a humanoid robot, comprising: a support assembly including a back plate, shoulder straps arranged on the outer wall of the back plate, a support frame arranged on the outer wall of the back plate, and a big arm assembly arranged on the outer wall of the support frame; the small arm assembly is arranged at the other end, away from the supporting frame, of the large arm assembly; the hand joint is arranged at the other end of the small arm assembly; the clamping assembly is arranged at the other end of the hand joint; the placing assembly is slidably arranged on the outer wall of the supporting assembly. The device has the beneficial effects that a mechanism design conforming to ergonomics is adopted, and on the premise that the data acquisition function is met, it is guaranteed that the design has wearable performance.

Description

Technical Field

[0001] The invention relates to the technical field of humanoid robots, in particular to a portable data acquisition exoskeleton device of a humanoid robot. Background Art

[0002] In recent years, the progress of automation and intelligent technology has profoundly changed all walks of life, especially in the field of remote operation and precision operation. The growing demand has promoted the rapid progress of related technology industries. Data acquisition exoskeleton technology has gradually become an important direction in the field of robotics. Data acquisition robots are designed to automatically collect, process and transmit data in various environments to improve the efficiency and accuracy of data acquisition. They are often used in scientific research, industrial monitoring, agricultural management and other fields. Through efficient sensors and algorithms, they can realize real-time monitoring and analysis of the environment, thereby providing reliable data support for decision-making.

[0003] However, the data acquisition device system still faces challenges such as insufficient operating accuracy, poor adaptability to the acquisition environment, and high difficulty in acquisition. The data acquisition robot needs to have an efficient structural design to support its accurate data acquisition in complex environments. The stability, flexibility, and load capacity of the machine should be considered during design to ensure smooth operation in a variety of work scenarios. In addition, the selection of suitable sensors and actuators is also key to achieve efficient data collection and processing and improve overall operating efficiency. The structural design must also take into account the ease of maintenance to extend the service life of the machine and reduce maintenance costs. By optimizing the machine structure, the efficiency of its data acquisition can be improved. Summary of the invention

[0004] Some simplifications or omissions may be made in this section and the abstract and title of the present application to avoid obscuring the purpose of this section, the abstract and the title of the invention, and such simplifications or omissions shall not be used to limit the scope of the present invention.

[0005] In view of the above-mentioned prior art problems, the present invention is proposed.

[0006] The present invention aims to provide a portable data acquisition exoskeleton device for a humanoid robot, which aims to solve the problem of how to improve stability and operating comfort.

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions: A portable data acquisition exoskeleton device for a humanoid robot, comprising a support assembly, including a back plate, a shoulder strap arranged on the outer wall of the back plate, a support frame arranged on the outer wall of the back plate, and a large arm assembly arranged on the outer wall of the support frame;

[0008] A small arm assembly provided at the other end of the large arm assembly away from the support frame;

[0009] A hand joint provided at the other end of the forearm assembly;

[0010] A clamping assembly provided at the other end of the hand joint;

[0011] A placement component is slidably arranged on the outer wall of the support component.

[0012] As a preferred solution of the portable data acquisition exoskeleton device of the humanoid robot of the present invention, wherein: the side wall of the back plate is provided with a first slide rail for placing the components to slide;

[0013] The outer wall of the support frame is rotatably provided with a flip plate for connecting the large arm assembly.

[0014] As a preferred solution of the portable data acquisition exoskeleton device of the humanoid robot of the present invention, the upper arm assembly includes a double-layer hollow upper arm joint, and a first rotary joint and a second rotary joint are respectively provided at both ends of the double-layer hollow upper arm joint, and the axes of the two rotary joints remain parallel.

[0015] As a preferred solution of the portable data acquisition exoskeleton device of the humanoid robot of the present invention, the forearm assembly includes a bending-resistant forearm joint connected to a No. 2 rotary joint at one end of a double-layer hollow upper arm joint, a No. 3 rotary joint is provided at the other end of the bending-resistant forearm joint, and the rotary joint axes at both ends of the bending-resistant forearm joint are perpendicular.

[0016] As a preferred solution of the portable data acquisition exoskeleton device of the humanoid robot of the present invention, wherein: the hand joint comprises a fourth rotary joint and a fifth rotary joint, the fourth rotary joint is rotatably connected to the third rotary joint, and the axes of the two rotary joints are perpendicular;

[0017] One end of the fifth rotary joint away from the fourth rotary joint is connected to the sixth rotary joint, and the clamping assembly is arranged on the outer wall of the sixth rotary joint.

[0018] As a preferred solution of the portable data acquisition exoskeleton device of the humanoid robot of the present invention, wherein: the sixth rotary joint is externally connected to a gear, and the clamping assembly includes a first clamping jaw and a second clamping jaw slidably arranged on both sides of the gear.

[0019] As a preferred solution of the portable data acquisition exoskeleton device of the humanoid robot of the present invention, the outer walls of the first clamping jaw and the second clamping jaw are both provided with racks that can be meshed and connected with the gear.

[0020] As a preferred solution of the portable data acquisition exoskeleton device of the humanoid robot of the present invention, wherein: the clamping assembly further comprises a hand-held rod, and the hand-held rod is fixedly arranged on the outer wall of the sixth rotating joint;

[0021] The outer wall of the hand-held rod is provided with a slide plate for the first clamping jaw and the second clamping jaw.

[0022] As a preferred solution of the portable data acquisition exoskeleton device of the humanoid robot of the present invention, the placement component includes a support rod that can slide along the first slide rail, the support rod is provided with a threaded hole, a first slider on the outer wall of the first slide rail, a slide rod is provided on the outer wall of the first slider, an arc rod is slidably provided on the outer wall of the slide rod, and a placement table is fixedly installed on the outer wall of the arc rod.

[0023] As a preferred solution of the portable data acquisition exoskeleton device of the humanoid robot of the present invention, wherein: the end surface of the placement table is slidably provided with a placement table, and the placement table is penetrated by a through hole for placing the handheld rod.

[0024] The beneficial effects of the portable data acquisition exoskeleton device for a humanoid robot of the present invention are as follows: the present invention adopts an ergonomic mechanism design, and ensures that the design is wearable while satisfying the data acquisition function. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:

[0026] Figure 1 A three-dimensional diagram of the portable data acquisition exoskeleton device of the humanoid robot in the present invention.

[0027] Figure 2 It is a side view of the portable data acquisition exoskeleton device of the humanoid robot in the present invention.

[0028] Figure 3 It is a schematic diagram of the support assembly structure in the present invention.

[0029] Figure 4 It is a schematic diagram of the structure of the upper arm assembly and the lower arm assembly in the present invention.

[0030] Figure 5 It is a schematic diagram of the hand joint structure in the present invention.

[0031] Figure 6 This is a rotation diagram of the first clamping jaw and the second clamping jaw in the present invention.

[0032] Figure 7 For the present invention Figure 2 Schematic diagram of the enlarged structure of the "B" area in the middle. DETAILED DESCRIPTION

[0033] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0034] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0035] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor is it a separate or selective embodiment that is mutually exclusive with other embodiments.

[0036] Example 1

[0037] Reference Figure 1 , which is the first embodiment of the present invention, and provides a portable data acquisition exoskeleton device for a humanoid robot, comprising a support assembly 100, including a back plate 101, a shoulder strap arranged on the outer wall of the back plate 101, a support frame 102 arranged on the outer wall of the back plate 101, and a large arm assembly 200 arranged on the outer wall of the support frame 102;

[0038] A small arm assembly 300 is provided at the other end of the large arm assembly 200 away from the support frame 102;

[0039] A hand joint 400 provided at the other end of the forearm assembly 300;

[0040] A clamping assembly 500 disposed at the other end of the hand joint 400;

[0041] The placement component 600 is slidably disposed on the outer wall of the support component 100 .

[0042] Among them, the back plate 101 is a rectangular long plate, and retractable shoulder straps are provided on both sides of the back plate 101. The retractable shoulder straps are existing technologies, such as shoulder straps of school bags; a support frame 102 is fixedly installed on the back of the back plate 101, and the support frame 102 is connected to the upper arm assembly 200 by a ball head to achieve multi-dimensional rotation connection and simulate arm rotation. Similarly, the lower arm assembly 300 is connected to the ball head at the other end of the upper arm assembly 200, and the lower arm assembly 300 and the hand joint 400 are also connected by a ball head. The advantage of this design is that it simulates three sections of the arm, including the palm, the lower arm and the upper arm, wherein the ball head connection simulates the elbow and arm between the three parts, wherein the upper arm and the back plate 101 simulate the rotation at the shoulder, and the advantage of the ball head connection is that it can simulate multi-angle rotation, so that the installation structure 1001 moves more smoothly. The clamping assembly 500 adopts the common scissors clamping on the market, and the clamping assembly 500 is fixedly connected to the hand joint 400. At the same time, the support component 100 is slidably connected to the placement component 600, and the height of the placement component 600 can be adjusted to meet the needs of different heights for operating the portable data acquisition exoskeleton device of the humanoid robot, that is, placing the hand joint 400 on the surface of the placement component 600.

[0043] The advantage of this design is that while solving the problem of different heights of people, the upper arm assembly 200 is rotated according to the height of the person's palm. By adjusting the angle of the upper arm assembly 200, it can adapt to the comfort of use of the palm height of people of different heights.

[0044] In summary, the user picks up the clamping assembly 500 and then moves the position of the clamping assembly 500. During the movement, the clamping assembly 500 will drive the hand joint 400 to rotate or move, thereby promoting the movement and rotation of the forearm assembly 300 and the upper arm assembly 200, so as to adjust the position of the clamping assembly 500 and achieve that different objects can be clamped by the clamping assembly 500 when they are in different positions.

[0045] Example 2

[0046] Reference Figures 1 to 6 , which is a second embodiment of the present invention, includes a first slide rail 101a on the side wall of the back plate 101 for the component 600 to slide;

[0047] The outer wall of the support frame 102 is rotatably provided with a flip plate 103 for connecting the large arm assembly 200.

[0048] Among them, the placement component 600 is slidably connected to the back plate 101, and the height of the placement component 600 can be adjusted to meet the height requirements of people of different heights for operating the clamping component 500, thereby improving comfort; at the same time, the ball head connection of the previous embodiment is changed to a flip, and the connection between the upper arm component 200 and the back plate 101 is achieved by relying on the flip plate 103. The advantage of such a design is that it can improve the connection strength of the overall equipment while being able to adapt to the position of arms of different lengths. If the arm is long, in order to operate more comfortably, the upper arm component 200 can be pulled forward. In this way, it only needs to rotate the angle of the flip plate 103, and there is no need to lengthen or shorten the simulated arm as a whole, thereby improving the adjustability and stability of the overall equipment.

[0049] The upper arm assembly 200 includes a double-layer hollow upper arm joint 201. A first rotary joint A1 and a second rotary joint A2 are respectively provided at both ends of the double-layer hollow upper arm joint 201, and the axes of the two rotary joints remain parallel.

[0050] The double-layer hollow upper arm joint 201 adopts a hollow design to reduce the material of the simulated arm and reduce the strength required for operation. At the same time, a shoulder horizontal plane rotation joint is fixed on one side of the flip plate 103 close to the double-layer hollow upper arm joint 201. This shoulder horizontal plane rotation joint can rotate by itself, and its main function is to realize the rotation connection between the double-layer hollow upper arm joint 201 and the flip plate 103. At the same time, the shoulder horizontal plane rotation joint and the double-layer hollow upper arm joint 201 are equipped with a first rotation joint A1, so that the double-layer hollow upper arm joint 201 can rotate around the axis. Through the cooperation of the first rotation joint A1 and the shoulder horizontal plane rotation joint, the multi-angle rotation problem between the upper arm assembly 200 and the support assembly 100 is realized, simulating the multi-angle movement of the human shoulder.

[0051] The forearm assembly 300 includes a bending-resistant forearm joint 301 connected to the second rotary joint A2 at one end of the double-layer hollow upper arm joint 201, and a third rotary joint A3 is provided at the other end of the bending-resistant forearm joint 301, and the rotary joint axes at both ends of the bending-resistant forearm joint 301 are perpendicular. The hand joint 400 includes a fourth rotary joint A4 and a fifth rotary joint A5, and the fourth rotary joint A4 is rotatably connected to the third rotary joint A3, and the two rotary joint axes are perpendicular;

[0052] One end of the fifth rotary joint A5 away from the fourth rotary joint A4 is connected to the sixth rotary joint A6 , and the clamping assembly 500 is disposed on the outer wall of the sixth rotary joint A6 .

[0053] The anti-bending forearm joint 301 and the double-layer hollow upper arm joint 201 are connected by the rotation of the second rotating joint A, and the horizontal plane of the double-layer hollow upper arm joint 201 always maintains a plane, so as to simulate the human elbow joint, realize the time movement logic of the upper arm and the lower arm, and ensure that the upper arm and the lower arm will not flip over in two horizontal planes, and the simulated action is more realistic; and the anti-bending forearm joint 301 is made of T-shaped reinforcement ribs, which increases the strength while reducing the material, and prevents insufficient load, resulting in breakage or deformation, which affects subsequent use. At the same time, the anti-bending forearm joint 301 and the hand joint 400 are connected with the third rotating joint A3, and the axis between the fourth rotating joint A4 and the third rotating joint A3 is crossed and perpendicular, and the fourth rotating joint A4 rotates around the axis of the third rotating joint A3 to realize the rotation of the wrist, and then the fifth rotating joint A5 and the fourth rotating joint A4 rotate around the axis of the fourth rotating joint A4 to simulate the movement of the human hand swinging back and forth. At the same time, a clamping assembly 500 is set at the sixth rotating joint A6. When the clamping assembly 500 is held, the various rotating keys cooperate to achieve the problem of multi-angle adjustment of the hand-held clamping assembly 500. It should be noted that in order to better collect this action, each rotating joint is equipped with a sensor to transmit the data of the rotation of the rotating joint to the computer terminal, thereby collecting simulation.

[0054] The sixth rotary joint A6 is externally connected to a gear A6 - 1 , and the clamping assembly 500 includes a first clamping jaw 501 and a second clamping jaw 502 slidably disposed on both sides of the gear A6 - 1 .

[0055] The outer walls of the first clamping jaw 501 and the second clamping jaw 502 are both provided with a rack 501a that can be meshed and connected with the gear A6-1.

[0056] In order to simulate the clamping action, a rotatable gear A6-1 is made at the sixth rotary joint A6. When the gear A6-1 rotates, it is the clamping process. The rotation simulates the process of the two clamping rods rotating around the axis in the scissors clamping action. At the same time, the first clamping jaw 501 and the second clamping jaw 502 are used to simulate the clamping rod. When the rack 501a on the outer wall of the first clamping jaw 501 and the second clamping jaw 502 drives the gear A6-1 to rotate, it is open, and the reverse rotation is closed. The opening of the clamping process and the closing after the clamped object is clamped are simulated, and the clamping process is detected by monitoring the rotation angle of the gear A6-1.

[0057] The clamping assembly 500 further includes a hand-held rod 503, which is fixed to the outer wall of the sixth rotary joint A6;

[0058] The outer wall of the handle bar 503 is provided with a slide plate 503 a for the first clamping jaw 501 and the second clamping jaw 502 .

[0059] Among them, a hand-held rod 503 is fixedly installed on the lower surface of the sixth rotating clamping joint A6. At the same time, a slide plate 503a for the first clamp 501 and the second clamp 502 to slide is fixed on the outer wall of the hand-held rod 503. The advantage of this design is that when in use, a person can hold the hand-held rod 503 by hand to ensure a certain balance. At the same time, it can also make the overall arm and the equipment more fit, and then use two fingers to control the first clamp 501 and the second clamp 502 respectively, and control the first clamp 501 and the second clamp 502 to move away from or close to each other, thereby driving the gear A6-1 to rotate.

[0060] Example 3

[0061] Reference Figures 1 to 6 , which is the third embodiment of the present invention, and this embodiment further provides a componentized intelligent control terminal supporting orderly power consumption. It includes a placement component 600 including a support rod 601 that can slide along the first slide rail 101a, the support rod 601 is provided with a threaded hole 101a-1, a first slider 602 on the outer wall of the first slide rail 101a, a slider 603 is provided on the outer wall of the first slider 602, an arc rod 604 is slidably provided on the outer wall of the slider 603, and a placement table 605 is fixedly installed on the outer wall of the arc rod 604.

[0062] Among them, the outer walls on both sides of the back plate 101 are provided with a first slide rail 101a, and the support rod 601 can slide along the surface of the first slide rail 101a. This slide rail can be a simple convex slide rail, that is, a convex slide groove is concave on the surface of a rectangular parallelepiped, and a convex slider is provided at one end of the support rod 601, which slides along the inside of the convex slide groove to realize the sliding of the placement component 600 along the outer surface of the back plate 101. At the same time, a threaded hole 101a-1 is passed through the support rod 601, and a bolt can be used to increase the pressure between the support rod 601 and the surface of the first slide rail 101a, thereby increasing the friction force, thereby controlling the up and down movement of the placement component 600. At the same time, the same first slide rail 101a is set on the outer surface of the support rod 601 to provide a track for the first slider 602 to slide on the surface of the support rod 601. The first slider 602 is sleeved on the surface of the slide rod 603. At the same time, an arc rod 604 is slidably disposed at the other end of the slide rod 603. The position of the sliding placement table 605 can be adjusted according to the usage to provide a comfortable operating platform for the user.

[0063] A placement platform 606 is slidably provided on the end surface of the placement platform 605, and a through hole 606a is penetrated through the placement platform 606 for the hand-held rod 503 to be placed.

[0064] At the same time, the placement table 605 is slidably connected to the placement table 605, and can rely on friction to achieve stillness after sliding. At the same time, the placement table 605 is penetrated by two through holes 606a. When not in use, the hand-held rod 601 can be directly inserted into the through hole 606a.

[0065] When the manual is needed, the device requires that the sensor power supply equipment, terminal, inertial measurement unit IMU and other equipment be placed at the bottom of the back of the back plate 101 to lower the center of gravity, so that the device fits the back better and is more convenient to use.

[0066] In summary, when needed, the operator can directly use the shoulder strap to carry the backboard on his back, which can solve the problem that the existing simulation equipment cannot be used flexibly outdoors. Then adjust the placement component 600 according to personal operating comfort, pick up the hand-held rod 601, and the operator wears the active end robot through the straps and belt on the light alloy backboard, and adjusts the range of the waist surround according to his own posture, holds the handle with both hands and clamps the clamp, and completes the pre-collection operation according to the data sent back by different rotating joints. The collected data is then transmitted to the terminal, and the robot is transmitted data, so that the robot can simulate human actions and complete the work.

[0067] Specifically, the device adopts an ergonomic mechanism design, which ensures that the design is wearable while meeting the data collection function. The wearer carries a lightweight alloy backplate with a data collection mechanical arm fixed in the upper area and a waist operating platform fixed in the lower area. An inertial measurement unit (IMU) is fixed on the alloy backplate to remotely operate an execution robot equipped with a movable chassis for position following to complete data collection. The expert operation data set collected by the portable data collection exoskeleton device can be combined with the imitation learning algorithm applied by the system for deep training, so as to efficiently perform complex remote operation tasks and repetitive operations.

[0068] Importantly, it should be noted that the construction and arrangement of the present application shown in a plurality of different exemplary embodiments are only exemplary. Although only a few embodiments are described in detail in this disclosure, it should be readily understood by those who refer to this disclosure that many modifications are possible (e.g., the size, scale, structure, shape and proportion of various elements, as well as parameter values ​​(e.g., temperature, pressure, etc.), mounting arrangements, use of materials, color, directional changes, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in the application. For example, the element shown as integrally formed can be composed of multiple parts or elements, the position of the element can be inverted or otherwise changed, and the nature or number or position of the discrete element can be changed or changed. Therefore, all such modifications are intended to be included in the scope of the present invention. The order or sequence of any process or method steps can be changed or reordered according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure described herein that performs the function, and is not only structurally equivalent but also equivalent structure. Without departing from the scope of the present invention, other replacements, modifications, changes and omissions can be made in the design, operating conditions and arrangement of the exemplary embodiments. Therefore, the invention is not limited to a specific embodiment, but extends to numerous modifications still falling within the scope of the appended claims.

[0069] Additionally, in order to provide a concise description of exemplary embodiments, all features of an actual embodiment (ie, those features that are not relevant to the best mode presently contemplated for carrying out the invention or those that are not relevant to implementing the invention) may not be described.

[0070] It will be appreciated that in the development of any actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort may be complex and time-consuming, but will be a routine task of design, fabrication, and production for those of ordinary skill having the benefit of this disclosure without undue experimentation.

[0071] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A portable data acquisition exoskeleton device for a humanoid robot, characterized in that: include, A support assembly (100) comprises a back plate (101), a shoulder strap arranged on the outer wall of the back plate (101), a support frame (102) arranged on the outer wall of the back plate (101), and a large arm assembly (200) arranged on the outer wall of the support frame (102); A small arm assembly (300) provided at the other end of the large arm assembly (200) away from the support frame (102); A hand joint (400) provided at the other end of the forearm assembly (300); A clamping assembly (500) disposed at the other end of the hand joint (400); A placement component (600) is slidably arranged on the outer wall of the support component (100).

2. The portable data acquisition exoskeleton device for a humanoid robot as claimed in claim 1, characterized in that: The side wall of the back plate (101) is provided with a first slide rail (101a) for the placement component (600) to slide; The outer wall of the support frame (102) is rotatably provided with a flip plate (103) for connecting to the large arm assembly (200).

3. The portable data acquisition exoskeleton device for a humanoid robot as claimed in claim 2, characterized in that: The upper arm assembly (200) comprises a double-layer hollow upper arm joint (201), wherein two ends of the double-layer hollow upper arm joint (201) are respectively provided with a first rotary joint (A1) and a second rotary joint (A2), and the axes of the two rotary joints are kept parallel.

4. The portable data acquisition exoskeleton device for a humanoid robot as claimed in claim 3, characterized in that: The forearm assembly (300) comprises a bending-resistant forearm joint (301) connected to a No. 2 rotary joint (A2) at one end of a double-layer hollow upper arm joint (201); a No. 3 rotary joint (A3) is provided at the other end of the bending-resistant forearm joint (301); and the rotary joint axes at both ends of the bending-resistant forearm joint (301) are perpendicular.

5. The portable data acquisition exoskeleton device for a humanoid robot as claimed in claim 4, characterized in that: The hand joint (400) comprises a fourth rotary joint (A4) and a fifth rotary joint (A5), wherein the fourth rotary joint (A4) is rotatably connected to the third rotary joint (A3), and the axes of the two rotary joints are perpendicular; One end of the fifth rotary joint (A5) away from the fourth rotary joint (A4) is connected to the sixth rotary joint (A6), and the clamping assembly (500) is arranged on the outer wall of the sixth rotary joint (A6).

6. The portable data acquisition exoskeleton device for a humanoid robot as claimed in claim 5, characterized in that: The sixth rotary joint (A6) is externally connected to a gear (A6-1), and the clamping assembly (500) comprises a first clamping jaw (501) and a second clamping jaw (502) slidably disposed on both sides of the gear (A6-1).

7. The portable data acquisition exoskeleton device for a humanoid robot as claimed in claim 6, characterized in that: The outer walls of the first clamping jaw (501) and the second clamping jaw (502) are both provided with a rack (501a) that can be meshed and connected with the gear (A6-1).

8. The portable data acquisition exoskeleton device for a humanoid robot as claimed in claim 7, characterized in that: The clamping assembly (500) further comprises a hand-held rod (503), wherein the hand-held rod (503) is fixedly arranged on the outer wall of the sixth rotary joint (A6); The outer wall of the hand-held rod (503) is provided with a slide plate (503a) for the first clamping jaw (501) and the second clamping jaw (502).

9. The portable data acquisition exoskeleton device for a humanoid robot as claimed in claim 8, characterized in that: The placement component (600) comprises a support rod (601) that can slide along the first slide rail (101a), the support rod (601) is provided with a threaded hole (101a-1), a first sliding block (602) on the outer wall of the first slide rail (101a), a sliding rod (603) is provided on the outer wall of the first sliding block (602), an arc rod (604) is slidably provided on the outer wall of the sliding rod (603), and a placement platform (605) is fixedly installed on the outer wall of the arc rod (604).

10. The portable data acquisition exoskeleton device for a humanoid robot as claimed in claim 9, characterized in that: The end surface of the placement platform (605) is slidably provided with a placement platform (606), and the placement platform (606) is penetrated by a through hole (606a) for the hand-held rod (503) to be placed.

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