An assisted exoskeleton device for picking forest fruits

Abstract

The present application relates to a kind of agricultural picking auxiliary machinery, specifically a kind of forest fruit picking auxiliary exoskeleton device.The purpose is to provide a picking auxiliary exoskeleton device, which should have the function of auxiliary holding, to reduce the arm load of operator, and have the characteristics of simple structure and convenient to use.The technical scheme is a kind of forest fruit picking auxiliary exoskeleton device, characterized by: including fixed platform, shoulder rotating structure connected above the fixed platform, force increasing structure installed on the fixed platform and power supply;The fixed platform includes fixed bottom plate, waist fixing piece installed below the fixed bottom plate through the clamping plate connector;The shoulder rotating structure includes motor connected with the fixed platform through the vertically arranged shoulder connecting rod, shoulder rotating part coaxially connected with motor shaft through the horizontally arranged shoulder abduction shaft, arm support connected with shoulder rotating part through shoulder support rod.

Description

Technical Field

[0001] This invention relates to an agricultural harvesting assistance machine, specifically an exoskeleton device for fruit harvesting assistance. Background Technology

[0002] In existing technology, the vibrating fruit harvester is a portable device that harvests fruit through mechanical vibration. It primarily uses a handle to control the vibrating components, which act on the fruit branches, causing mature fruit to detach from the branches. It is suitable for harvesting easily detached fruits such as cherries, dates, walnuts, and olives. Its handheld design combines flexibility and portability, allowing operation in complex terrains such as hills and terraced fields, thus improving the efficiency of fruit harvesting to a certain extent. Therefore, it has been widely used in small and medium-sized orchards.

[0003] In recent years, with the widespread use of vibrating fruit harvesters, their limitations in actual operation have gradually become apparent. Due to structural design limitations, existing equipment is generally too long, leading to a significant increase in arm load for operators during prolonged use, making it difficult to maintain continuous operation and consequently reducing harvesting efficiency. This is particularly problematic for agricultural workers with weaker physical strength, such as the elderly and women, as excessive arm load not only exacerbates physical exertion but may also lead to health risks such as joint injuries and muscle strain due to muscle fatigue or improper posture.

[0004] Therefore, developing a simple, easy-to-operate, and cost-effective agricultural assistance device has become an urgent need in the industry. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings in the above-mentioned background technology and provide a harvesting auxiliary exoskeleton device. This device should have an auxiliary gripping function to reduce the load on the operator's arms, and should be simple in structure and easy to use.

[0006] The technical solution of this invention is:

[0007] An exoskeleton device for assisting in fruit harvesting, characterized in that it includes a fixed platform, a shoulder rotation structure connected above the fixed platform, a force-enhancing structure installed on the fixed platform, and a power supply.

[0008] The fixed platform includes a fixed base plate and a waist fixing component installed below the fixed base plate via a clamping connector;

[0009] The shoulder rotation structure includes a motor connected to the fixed platform via a vertically arranged shoulder connecting rod, a shoulder rotating component coaxially connected to the motor shaft via a horizontally arranged shoulder outward shaft, and an arm support connected to the shoulder rotating component via a shoulder support rod.

[0010] The force-enhancing structure includes a first slide rail that is vertically arranged and equipped with a first slider, a steel wire rope that is connected to the first slider at one end and extends upward to connect to the shoulder rotating member at the other end, a first linear spring that is vertically installed below the first slide rail and connected to the first slider at its top end, and an adjustment assembly.

[0011] The adjustment assembly includes a fixed baffle plate installed on the left side of the fixed base plate and equipped with an adjustable stop block, a second slide rail arranged parallel to the left side of the first slide rail and equipped with a second slider, a second linear spring installed vertically and whose bottom end applies force to the top of the second slider, and a rotating bracket rotatably mounted on the second slider.

[0012] The fixed baffle has a forward-folded edge on the side away from the fixed base plate. The upper and lower ends of the L-shaped mounting groove between the edge and the fixed base plate are respectively equipped with baffles. The edge has a number of adjustment holes arranged at equal intervals in the middle.

[0013] The adjustable stop is located between the upper and lower baffles of the L-shaped mounting groove, and has a plug on the left side that can be inserted into the adjustment hole, and a second contact surface with an inclined upper end on the right side. The length of the adjustable stop is less than the length of the L-shaped mounting groove.

[0014] The left side of the first slider is the first contact surface that protrudes to the left from the middle part; the upper end of the first slider is connected to the shoulder rotating part by a steel wire rope.

[0015] The rotating bracket is hinged to the second slider at its center via a bearing; the cylindrical roller bearings installed at the left and right ends of the rotating bracket respectively contact and engage with the second contact surface and the first contact surface.

[0016] The top of the shoulder connecting rod is fitted with a circular hole connector with a rotating hole; the shoulder outward shaft is rotatably installed in the rotating hole of the circular hole connector; the axis of the rotating hole is perpendicular to the shoulder connecting rod.

[0017] The waist fastener includes a first clamp and a second clamp connected by screws.

[0018] The armrest has a U-shaped groove structure and several rope holes, into which a mounting strap can be inserted to secure it to the user's arm.

[0019] The power source connects the motor to the equipped handheld switch.

[0020] The beneficial effects of this invention are:

[0021] 1. This invention relates to an upper limb exoskeleton device with both active and passive assistance modes. In active mode, a motor drives the exoskeleton to assist the user in lifting movements, improving the user's grip strength. In passive mode, a force-enhancing structure provides stable support to assist the user in holding heavy objects or tools for extended periods. Compared to traditional passively assisted exoskeletons, this device is more intelligent in terms of movement assistance, retaining its passive assistance characteristics even when disconnected from power, making it suitable for lifting operations in agricultural work.

[0022] 2. The present invention is designed with an adjustment component, which can change the force supply threshold of the internal force-enhancing structure according to the needs of different work scenarios. It can flexibly adapt to various working environments or individual user differences. Whether it is a long-term weightlifting operation or a short-term repetitive labor scenario, a customized assistance experience can be obtained.

[0023] 3. The force-enhancing structure of the present invention simulates the supporting effect of human muscles when performing labor loads during movement, which can effectively reduce the user's muscle burden and improve work comfort and efficiency.

[0024] 4. The shoulder rotating component of the present invention has rotational freedom, which better conforms to the movement curve of the human shoulder during use, thereby improving user comfort and extending the service life of the device. Attached Figure Description

[0025] Figure 1 This is a three-dimensional structural schematic diagram of an embodiment of the present invention.

[0026] Figure 2 This is a schematic diagram of the main structure of an embodiment of the present invention.

[0027] Figure 3 This is a schematic diagram of the left-side structure according to an embodiment of the present invention.

[0028] Figure 4 This is a schematic diagram of the force-enhancing structure (with a fixed base plate) according to an embodiment of the present invention.

[0029] Figure 5 This is a cross-sectional view of the shoulder rotating member according to an embodiment of the present invention.

[0030] Figure 6 This is one of the schematic diagrams illustrating the working principle of an embodiment of the present invention.

[0031] Figure 7 This is the second schematic diagram illustrating the working principle of an embodiment of the present invention.

[0032] Figure 8 This is the third schematic diagram illustrating the working principle of an embodiment of the present invention.

[0033] Figure 9This is the fourth schematic diagram illustrating the working principle of an embodiment of the present invention.

[0034] Figure 10 This is the fifth schematic diagram illustrating the working principle of an embodiment of the present invention.

[0035] Figure 11 This is a schematic diagram of the installation structure according to an embodiment of the present invention.

[0036] Figure label:

[0037] Arm support 1, fixed baffle 2, second linear spring 3, adjustable stop 4, rotating bracket 5, cylindrical roller bearing 5.1, second slider 6, second slide rail 7, shoulder rotating component 8, shoulder outward abduction shaft 9, spring support seat 10, fixed base plate 11, first slide rail 12, first slider 13, first linear spring 14, spring fixing screw 14.1, waist fixing component 15, first clamping plate 15.1, second clamping plate 15.2, clamping plate connector 15.3, motor 16, shoulder support rod 17, shoulder connecting rod 18, motor bracket 19, round hole connector 21, wire rope 22, baffle 23, folded edge 24. Detailed Implementation

[0038] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0039] like Figure 2 As shown, the definition Figure 2 The up, down, front, back, left, and right directions are the up, down, front, back, left, and right directions in this embodiment of the invention.

[0040] like Figure 1 The illustrated fruit-harvesting assistive exoskeleton device includes a fixed platform, a shoulder rotation structure, a force-amplifying structure, a power supply, and a handheld switch. The shoulder rotation structure is mounted on the upper end of the fixed platform and is used to stabilize the user's arms and perform lifting and other movements. The force-amplifying structure is mounted on the fixed platform to provide assistance to the user during work.

[0041] The fixed platform includes a fixed base plate 11, a waist fixing component 15, and an adjustment assembly.

[0042] like Figure 1 As shown, the waist fixation device includes a first clamping plate 15.1, a second clamping plate 15.2, and a clamping plate connector 15.3. Both the first and second clamping plates are arc-shaped structures that conform to the human waist and are provided with several screw holes. The concave surface of the first clamping plate is provided with a boss with screw holes. The lower end of the clamping plate connector is provided with threads to be screwed into the screw holes of the aforementioned boss. The upper end of the clamping plate connector is fixed to the lower end of the fixed base plate by screws. After a waist belt is inserted between the first and second clamping plates, screws are screwed in to fix it. The user fixes the entire device to the body by putting on the waist belt.

[0043] like Figure 3 and Figure 4 As shown, the adjustment assembly includes a fixed baffle 2 and an adjustable stop 4.

[0044] One side of the fixed baffle is arranged parallel to the fixed base plate and is fixedly connected to the fixed base plate with screws. The other side of the fixed baffle has a forward-folded edge 24, thus forming an L-shaped mounting groove between the edge and the fixed base plate. The L-shaped mounting groove is provided with baffles 23 at both the top and bottom, and the edge has a number of adjustment holes arranged at equal intervals in the middle.

[0045] The length of the adjustable stop is less than the length of the L-shaped mounting groove, and it is positioned between the upper and lower baffles of the L-shaped mounting groove. The left side of the adjustable stop is provided with a plug that can be inserted into the adjustment hole, and the right side is provided with a second contact surface with an inclined upper end. By connecting the plug with different adjustment holes, the position and height of the adjustable stop in the L-shaped mounting groove can be changed.

[0046] like Figure 2 and Figure 5 As shown, the shoulder rotation structure includes a shoulder connecting rod 18, a motor bracket 19, a motor 16, a shoulder abduction shaft 9, a shoulder rotating component 8, an arm support 1, and a round hole connecting component 21.

[0047] The motor bracket is connected to the upper end of the fixed base plate via a vertically arranged shoulder connecting rod 18. The lower end of the shoulder connecting rod is fixed to the fixed base plate with screws.

[0048] The motor (preferably a brushless motor) is mounted on a motor bracket and connected to the motor. The shoulder outward abduction shaft is coaxially connected to the horizontally extending rotating shaft of the motor. The shoulder rotating component is fixed to the shoulder outward abduction shaft and rotatably hinged to the motor bracket.

[0049] like Figure 5 As shown, the upper end of the shoulder connecting rod is provided with a circular hole connector. The circular hole at the upper end of the circular hole connector mates with the shoulder outward abduction shaft, allowing the shoulder rotating component to rotate within a certain range around the central axis of the aforementioned circular hole. When the motor is powered on, it can drive the shoulder outward abduction shaft, providing a certain assistance.

[0050] The armrest is connected to the shoulder rotator via the shoulder support rod. The armrest has a U-shaped groove structure to adapt to the shape of the user's arm. Corresponding rope holes are provided on both sides of the armrest, through which straps are threaded to secure the user's arm within the armrest.

[0051] When the user raises the arm with the arm brace attached, the shoulder rotator rotates accordingly.

[0052] like Figure 2 as well as Figure 3As shown, the force-enhancing structure includes a first slide rail 12, a first slider 13, a spring fixing screw 14.1, a second slide rail 7, a second slider 6, a spring support seat 10, a first linear spring 14, a second linear spring 3, and a rotating bracket 5.

[0053] The first slide rail is installed on the right side of the fixed base plate and extends vertically on the fixed base plate.

[0054] The first slider is mounted on the first slide rail and can be vertically slidably positioned on the first slide rail. The upper end of the first slider is connected to the shoulder rotating component via a steel wire rope 22 and slides up and down with the swing of the shoulder rotating component. The lower end of the first slider is provided with the first linear spring, and the upper and lower ends of the first linear spring are respectively connected to the lower end of the first slider and the spring fixing screw installed on the lower end of the fixed base plate. The left side of the first slider is a first contact surface with a curved surface formed by the middle part protruding to the left.

[0055] The second slide rail is installed on the left side of the fixed base plate, and the second slide rail is parallel to the first slide rail.

[0056] The second slider is mounted on the second slide rail and can be vertically slidably positioned on the second slide rail; the upper end of the second slider is connected to the second linear spring, and the upper and lower ends of the second linear spring are respectively connected to the spring support seat mounted on the fixed base plate and the second slider.

[0057] The central part of the rotating bracket is rotatably positioned on the second slider via a horizontally arranged pivot, which is mounted on the second slider via bearings. The second slider is provided with a limiting structure (the limiting structure includes several horizontally protruding pins along the rotation trajectory of the rotating bracket) to limit the rotation angle of the rotating bracket. Figure 4 It can be seen that cylindrical roller bearings 5.1 are installed at the ends of the two arms extending from the rotating bracket. The cylindrical roller bearing on the right side is in contact with the first contact surface, and the cylindrical roller bearing on the left side is in contact with the second contact surface of the adjustable stop.

[0058] The power source connects to the motor, and the handheld switch controls the power source.

[0059] like Figure 10 As shown, when wearing this exoskeleton device, a fault check is first performed. After the check is completed, the exoskeleton device is worn on the waist and secured with the waist belt. Next, the exoskeleton armrests are secured to the middle of the upper arm using straps, ensuring there are no excessive gaps. Finally, ensure the handheld switch is fully charged and place it near the user for easy access. The exoskeleton system is preferably powered by a DC regulated power supply, which should also be placed near the user.

[0060] Based on the aforementioned structure, this invention incorporates a motor as an active assist unit. This enables the exoskeleton device to have both an active mode of motor-driven motion and a passive mode of force-amplifying structure-driven motion.

[0061] In active mode, the motor and the force-enhancing structure work together, providing precise compensation control based on the activation of the force-enhancing structure, making the assistance process smoother and more natural. This motor features fast response, small size, and low noise, making it suitable for assistive or rehabilitation scenarios where high continuity of movement and comfort are required. The motor drive can also achieve intelligent response through an external control system or sensor signals, further expanding the active control functions of the exoskeleton.

[0062] In summary, the retrieval-assisted exoskeleton device provided by this invention, through the coordinated linkage of the aforementioned series of mechanical structures, achieves intelligent recognition of the user's upper limb movement state, triggering and releasing of elastic assistance, flexible adjustment of the assistance angle, and rapid reset of the assistance function without relying on complex electrical systems. Furthermore, the device is compact, easy to operate, and has a natural response, exhibiting good adaptability and scalability, making it suitable for various human-machine collaboration, physical assistance, and rehabilitation training scenarios.

[0063] The working principle of this invention:

[0064] 1. Figure 6 The image shows the non-working state.

[0065] When in passive mode, such as Figure 7 As shown, when the user's upper arm performs a downward rotational movement, the armrest drives the shoulder rotation component to rotate. This rotational motion pulls the first slider upward along the first slide rail via a wire rope system. Simultaneously, the first slider moves the second slider vertically upward along the second slide rail, compressing the second linear spring. The second linear spring deforms and stores elastic energy. The restoring force generated during this elastic deformation is directed vertically downward, transmitted to the armrest via a force-amplifying structure, and ultimately acts on the user's upper arm, providing an upward lifting force to achieve the purpose of assistance. In active mode, the motor is energized to drive the shoulder abduction shaft to rotate, causing the shoulder rotation component to lift, assisting the user in completing the arm-lifting movement and further reducing muscle load.

[0066] 2. For example Figure 8 and Figure 9As shown, when the exoskeleton's assistance is not needed, the user's arm moves down to drive the passive slider to continue moving upward. The cylindrical roller bearing on the left side of the rotating bracket gradually moves to the inclined plane of the adjustable stop. Finally, the cylindrical roller bearing on the left side of the rotating bracket enters the gap above the inclined plane and is blocked by the upper stop. The rotating bracket rotates counterclockwise, and the cylindrical roller bearing on the right side disengages from the first slider. At this time, the second linear spring quickly returns to its original length, and the rotating bracket rotates clockwise to its original position, thus releasing the elastic energy stored in the second linear spring, and the exoskeleton's assistance function is actively cut off.

[0067] 3. For example Figure 10 As shown, the device is in standby mode after the assist function is cut off. When the user needs to use the exoskeleton for assistance again, they only need to raise their upper limb to the predetermined angle. At this time, the first linear spring returns to its original length, and the active slider returns to the bottom of the rotating bracket along the first slide rail, re-entering the standby mode ready to assist.

[0068] 4. By adjusting the relative position between the adjustable stop and the fixed stop, the position where the rotating bracket disengages from the active slider when the passive slider moves upward can be changed, thereby controlling the triggering of the assist function.

[0069] The equipment needs to effectively reduce the load on the operator's arms and improve operational comfort and safety by optimizing the mechanical structure or adding auxiliary support design without affecting the original harvesting function. In particular, it should provide a more user-friendly experience for people with weaker strength, and help achieve efficient and easy fruit harvesting operations.

[0070] The accompanying drawings illustrate preferred embodiments of the invention. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the invention.

Claims

1. An exoskeleton device for assisting in fruit harvesting, characterized in that: It includes a fixed platform, a shoulder rotation structure connected above the fixed platform, a force-enhancing structure mounted on the fixed platform, and a power supply; The fixed platform includes a fixed base plate (11) and a waist fixing member (15) installed below the fixed base plate via a clamping connector (15.3). The shoulder rotation structure includes a motor (16) connected to the fixed platform via a vertically arranged shoulder connecting rod (18), a shoulder rotating component (8) coaxially connected to the motor shaft via a horizontally arranged shoulder outward shaft (9), and an arm support (1) connected to the shoulder rotating component via a shoulder support rod (17). The force-enhancing structure includes a first slide rail (12) that is vertically arranged and equipped with a first slider (13), a steel wire rope (22) that is connected to the first slider at one end and extends upward to connect to the shoulder rotating member at the other end, a first linear spring (14) that is vertically installed below the first slide rail and connected to the first slider at the top end, and an adjustment assembly; The adjustment assembly includes a fixed baffle (2) installed on the left side of the fixed base plate and equipped with an adjustable stop (4), a second slide rail (7) arranged parallel to the left side of the first slide rail and equipped with a second slider (6), a second linear spring (3) installed vertically and whose bottom end applies force to the top of the second slider, and a rotating bracket (5) rotatably installed on the second slider. The fixed baffle has a folded edge (24) that folds forward on the side away from the fixed base plate. The upper and lower ends of the L-shaped mounting groove between the folded edge and the fixed base plate are respectively equipped with baffles (23). The folded edge has several adjustment holes arranged at equal intervals in the middle. The adjustable stop is located between the upper and lower baffles of the L-shaped mounting groove, and a plug that can be inserted and matched with the adjustment hole is provided on the left side, and a second contact surface with an inclined upper end is provided on the right side. The left side of the first slider is the first contact surface that protrudes to the left from the middle part; the upper end of the first slider is connected to the shoulder rotating part by a steel wire rope (22); The rotating bracket is hinged to the second slider via a bearing in the middle; the cylindrical roller bearings (5.1) installed at the left and right ends of the rotating bracket are in contact with the second contact surface and the first contact surface, respectively.

2. The fruit harvesting auxiliary exoskeleton device according to claim 1, characterized in that: The top of the shoulder connecting rod is fitted with a circular hole connector (21) with a rotating hole; the shoulder outward shaft is rotatably installed in the rotating hole of the circular hole connector; the axis of the rotating hole is perpendicular to the shoulder connecting rod.

3. The fruit harvesting auxiliary exoskeleton device according to claim 2, characterized in that: The lumbar fixation device includes a first clamp (15.1) and a second clamp (15.2) connected by screws.

4. The fruit harvesting auxiliary exoskeleton device according to claim 3, characterized in that: The armrest has a U-shaped groove structure and several rope holes, into which a mounting strap can be inserted to secure it to the user's arm.

5. The fruit harvesting auxiliary exoskeleton device according to claim 4, characterized in that: The power source connects the motor and the equipped handheld switch.

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