Upper limb exoskeleton system for carrying assistance

Abstract

The invention discloses an upper limb exoskeleton system for carrying assistance, and relates to the technical field of exoskeleton design, the system comprises a supporting assembly, the supporting assembly is carried by a human body, the supporting assembly comprises two parallel main supporting rods, and each main supporting rod is provided with a first connecting part and a second connecting part; a cross rod is arranged at the first connecting part of the two main supporting rods; a waist supporting structure is arranged at the second connecting part of the two main supporting rods, and third connecting parts are arranged at the two ends of the waist supporting structure; side supporting rods are arranged between one end of the transverse rod and one third connecting part and between the other end of the transverse rod and the other third connecting part respectively, and a supporting frame is formed among the side supporting rods, the main supporting rod and the waist supporting structure; the binding assembly is arranged on the supporting assembly and used for being connected with the shoulders and the waists of the human bodies of different body types; risks of upper limb muscle strain and shoulder joint injury can be reduced, and meanwhile effective transmission of force in the carrying process is ensured.

Description

Technical Field

[0001] This application generally relates to the technical field of exoskeleton design, and specifically relates to an upper limb exoskeleton system for handling assistance. Background Art

[0002] In scenarios such as industrial manufacturing, logistics transportation, emergency rescue, and coal mining, operators often need to complete high-frequency and heavy-load material handling tasks. Long-term operation is likely to cause occupational diseases such as upper limb muscle strain and shoulder joint injury. As an important breakthrough in the field of human-machine collaboration, exoskeleton technology effectively reduces human metabolic consumption through mechanical transmission and energy assistance, and has become an innovative solution to improve operation efficiency.

[0003] However, with the expansion of application scenarios and the upgrading of operation requirements, higher demands are placed on the comfort and load capacity of the exoskeleton structure. If traditional exoskeleton structures are to achieve heavy-load functions, high-strength and high-rigidity materials (such as steel, alloys, etc.) and more complex and stable structural designs are required to carry heavy objects and transmit large forces. These materials and structures are often relatively heavy. If lightweight is required, traditional exoskeleton structures need to select lightweight materials (such as carbon fiber, polymer composites, etc.), but the strength and load-bearing capacity of such materials are relatively limited and it is difficult to meet heavy-load requirements. At the same time, when traditional exoskeleton structures are designed, human ergonomics is rarely fully considered, resulting in unreasonable component layout and inflexible wearing adjustment, further exacerbating the discomfort caused by the large mass during wearing, thereby affecting the actual assistance effect and the working experience of operators. In addition, although lower limb exoskeletons can relieve lower limb muscle fatigue, they cannot act on the upper limbs. Therefore, we propose an upper limb exoskeleton system for handling assistance to solve the above problems. Summary of the Invention

[0004] In view of the above-mentioned defects or deficiencies in the prior art, it is desirable to provide an upper limb exoskeleton system for handling assistance that improves handling efficiency and comfort and effectively reduces the labor intensity of the upper limbs.

[0005] This application provides an upper limb exoskeleton system for handling assistance, including: A support component, which is carried by the human body. The support component includes two main support rods arranged in parallel. The main support rods have a first connection part and a second connection part. A cross bar is provided at the first connection part of the two main support rods; a waist support structure is provided at the second connection part of the two main support rods, and both ends of the waist support structure have a third connection part; side support rods are respectively provided between one end of the cross bar and one of the third connection parts and between the other end of the cross bar and the other third connection part, and a support frame is formed among the side support rods, the main support rods, and the waist support structure; A binding component, which is arranged on the support component and is used for connecting with the shoulders and waists of human bodies with different body types.

[0006] According to the technical solution provided by the embodiment of the present application, it further includes: a first connection structure, and the first connection structure includes: A first pipe clamp and a second pipe clamp used in cooperation, wherein the first pipe clamp is provided with a connection hole and a first groove; When the first pipe clamp and the second pipe clamp are connected, the cross bar passes through the connection hole, and a limiting hole is formed between the first groove and the second pipe clamp, and is clamped with the main support rod, so that the corresponding first connection part is connected with the cross bar.

[0007] According to the technical solution provided by the embodiment of the present application, the waist support structure includes: A waist main rod, and both ends of the waist main rod are respectively connected with waist side rods through second connection structures; One end of the waist side rod far from the waist main rod forms the third connection part.

[0008] According to the technical solution provided by the embodiment of the present application, a hip connection component is arranged at the third connection part and is used for connecting with the binding component; The hip connection component includes: A first connecting piece, which has a first end, a second end and a third end; the first end is connected with the third connection part, and the second end is connected with the side support rod; A second connecting piece, which is rotatably connected with the third end of the first connecting piece; the second connecting piece is used for connecting with the lower limb exoskeleton system.

[0009] According to the technical solution provided by the embodiment of the present application, the main support rod includes: A first support section and a second support section which are connected, and the connection position of the first support section and the second support section forms the first connection part; one end of the first support section far from the second support section forms the second connection part; The first support section and the second support section form a target included angle, and when a human body carries the support component, the opening of the target included angle faces the human back.

[0010] According to the technical solution provided by the embodiment of the present application, it further includes a profiling support structure arranged on the main support rod; The profiling support structure includes: A base, which is arranged on the two first support sections; a profiling support piece is installed on one side of the base far from the main support rod, the central position of the profiling support piece is a hollowed-out area, and a waist protection net is arranged in the hollowed-out area; When a human body bears the support assembly, the profiling support member fits with the position of the human waist.

[0011] According to the technical solution provided by the embodiment of the present application, the binding assembly includes: Two hanging straps, the hanging straps are connected to the two main support rods through the shoulder bearing assembly; hooks are provided at the free ends of the hanging straps for hanging items to be carried. Two chest straps, one end of the chest straps is connected to the two main support rods through the back bearing assembly; Two waist straps, the waist straps are arranged on the second connection structure; Two shoulder straps, one end of the shoulder straps passes through the second connection structure and is connected to the side rod of the waist, and the other end is connected to the cross bar; When a human body bears the support assembly, the two shoulder straps are hung at the shoulder positions of the human body. At the same time, the free ends of the two chest straps are connected, and the free ends of the two waist straps are connected, so that the upper limb exoskeleton system is fixedly connected to the human body.

[0012] According to the technical solution provided by the embodiment of the present application, the shoulder bearing assembly includes: A shoulder connecting member, the shoulder connecting member is connected to the two second support segments; Two shoulder bearing bodies, one end of the shoulder bearing body is connected to the shoulder connecting member, and the other end is connected to the end of the hanging strap.

[0013] According to the technical solution provided by the embodiment of the present application, the back bearing assembly includes: A back plate, the back plate is connected to the two second support segments through a fixing structure; two limiting holes and two mounting holes are formed on the back plate; the limiting holes are used to accommodate the corresponding shoulder straps passing through, and the mounting holes are used to mount the corresponding chest straps.

[0014] According to the technical solution provided by the embodiment of the present application, it further includes: an electric control assembly, the electric control assembly is arranged on the side of the main support rod away from the base; The electric control assembly includes: a box structure, the interior of the box structure is hollow to form an installation space, and a data acquisition module, a processing module, a power conversion module and a power supply module which are communicatively connected are arranged in the installation space; the data acquisition module is used to acquire the inclination data of the human upper limb; the processing module is used to determine the operating state of the lower limb exoskeleton system according to the inclination data of the human upper limb; the power conversion module is used to convert the electric energy of the power supply module into power and provide it to the processing module and the data acquisition module.

[0015] As can be seen from the above technical solutions, the present application has at least the following beneficial effects: The present application provides an upper limb exoskeleton system for handling assistance, including: a support component carried by a human body. The support component includes two main support rods arranged in parallel. The main support rods have a first connection part and a second connection part. A cross bar is provided at the first connection part of the two main support rods; a waist support structure is provided at the second connection part of the two main support rods, and both ends of the waist support structure have a third connection part; side support rods are respectively provided between one end of the cross bar and one third connection part and between the other end of the cross bar and the other third connection part, and a support frame is formed among the side support rods, the main support rods and the waist support structure; a binding component is arranged on the support component and used for connecting with the shoulders and waists of human bodies with different body types.

[0016] In the present application, the main support rods conform to the force line direction when a human body stands and moves, and transfer the heavy object pressure borne above along its own axis to the waist support structure. The cross bar transversely connects the two main support rods, enhancing the lateral stability between the main support rods and preventing the main support rods from swaying left and right when stressed. The side support rods obliquely connect the cross bar and the waist support structure, further dispersing the force borne by the cross bar to the waist support structure, forming an orderly force transmission form. This layout enables the entire support frame to efficiently bear and transfer force, and ensures that the exoskeleton system remains stable and reliable in a complex handling operation environment. Further, when an operator carries the exoskeleton system for material handling, the support frame decomposes the vertically downward force of the heavy object. When the main support rods bear the heavy object pressure, part of the force will be transmitted through the connection points with the cross bar and the side support rods. Due to the inclined setting of the side support rods, the force borne by them will be decomposed into a component force along its axis and a component force perpendicular to the axis. The component force perpendicular to the axis will be further dispersed and balanced through the interaction with other rods. The heavy object pressure originally concentrated on the upper limbs is dispersed to the entire support frame. The component force along the axis will be transmitted to the waist support structure and transferred to parts such as the waist and lower limbs, reducing the load borne by the upper limbs alone, and thus reducing the risk of upper limb muscle strain and shoulder joint injury. At the same time, the binding component can be connected with the shoulders and waists of human bodies with different body types, realizing the close adaptation of the upper limb exoskeleton system to the human body and ensuring the effective transmission of force during handling. Finally, the handling efficiency is improved, and the upper limb labor intensity is effectively alleviated. Description of the Drawings

[0017] By reading the detailed description of the non-restrictive embodiments with reference to the following drawings, other features, purposes and advantages of the present application will become more obvious.

[0018] Figure 1 It is a schematic diagram of the overall structure of the upper limb exoskeleton system for handling assistance.

[0019] Figure 2 Axonometric view of the upper limb exoskeleton system for handling assistance.

[0020] Figure 3 Structural schematic diagram of the support component.

[0021] Figure 4 Schematic diagram of the lumbar support structure.

[0022] Figure 5 Schematic diagram of the hip joint connection component.

[0023] Figure 6 Schematic diagram of the profiling support structure.

[0024] Figure 7 Schematic diagram of the back bearing component.

[0025] Figure 8 Schematic diagram of the shoulder bearing component.

[0026] Figure 9 Schematic diagram of the electronic control component.

[0027] Reference numerals in the figure: 1, support component; 2, main support rod; 3, cross bar; 4, first pipe clamp; 5, connection hole; 6, first groove; 7, second pipe clamp; 8, side support rod; 9, battery bracket; 10, power conversion module; 11, processing module; 12, lumbar side rod; 13, lumbar main rod; 14, mounting bracket; 15, data acquisition module; 16, hip joint connection component; 17, connecting pipe clamp; 18, connecting hoop; 19, first connecting piece; 20, pin shaft; 21, second connecting piece; 22, box body main body; 23, box cover; 24, concave cavity; 25, threaded through hole; 26, base; 27, profiling support piece; 28, back plate; 29, fixing structure; 30, chest strap; 31, card seat; 32, buckle; 33, power supply module; 34, shoulder bearing component; 35, shoulder connecting piece; 36, shoulder bearing main body; 37, clamping through hole; 38, protrusion; 39, electronic control component; 40, magic tape; 41, rectangular groove; 42, hanging strap; 43, hook; 44, shoulder strap; 45, lumbar strap; 46, third connecting piece. Detailed implementation manners

[0028] The present application will be further described in detail below with reference to the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the related invention, rather than limiting the invention. Additionally, it should be noted that for the sake of description, only the parts related to the invention are shown in the drawings.

[0029] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0030] As Figure 1 and Figure 2 shown, the present application provides an upper limb exoskeleton system for handling assistance, including: A support component 1, which is carried by the human body. The support component 1 includes two main support rods 2 arranged in parallel. The main support rod 2 has a first connection part and a second connection part. A cross bar 3 is provided at the first connection part of the two main support rods 2; a waist support structure is provided at the second connection part of the two main support rods 2, and both ends of the waist support structure have a third connection part; a side support rod 8 is respectively provided between one end of the cross bar 3 and one third connection part and between the other end of the cross bar 3 and the other third connection part, and a support frame is formed among the side support rod 8, the main support rod 2 and the waist support structure; A binding component, which is arranged on the support component 1 and is used to connect with the shoulders and waists of human bodies with different body types.

[0031] It should be noted that the support component 1, as the basic framework of the entire upper limb exoskeleton system, plays a role in support and force transmission. The number of the main support rods 2 is two and they are arranged in parallel. Each main support rod 2 has a first connection part and a second connection part. The first connection part is used to connect the cross bar 3, and the second connection part is used to connect the waist support structure. Here, the main support rod 2 is, for example, a lightweight bent pipe structure.

[0032] The cross bar 3 is erected between the first connection parts of the two main support rods 2 and is used to enhance the lateral stability between the two main support rods 2. When the upper limb exoskeleton system bears the pressure from heavy objects or the force generated by human movement, the cross bar 3 can effectively prevent the main support rods 2 from swaying left and right, ensuring the overall stability of the support component 1. The waist support structure is connected to the second connection parts of the two main support rods 2. Both ends of the waist support structure have a third connection part. Side support rods 8 are respectively installed between the two third connection parts and the two ends of the cross bar 3. The waist support structure not only provides support for the human waist and disperses the pressure from heavy objects, but also is the connection point of the side support rods 8 for transmitting the acting force.

[0033] The side support rods 8 are respectively connected to the two ends of the cross bar 3 and the two third connection parts of the waist support structure, as Figure 1 and Figure 2As shown, the side support rod 8 is inclined, enabling it to further disperse the force received by the cross bar 3 to the waist support structure. In the entire support frame, the side support rod 8, the main support rod 2, and the waist support structure form a stable triangular structure. Utilizing the stability principle of a triangle, the load-bearing capacity and stability of the support frame are enhanced, allowing the support frame to efficiently bear and transmit forces, ensuring that the exoskeleton system remains stable and reliable in a complex handling operation environment. Here, the end of the side support rod 8 can be connected to the cross bar 3 through the third connecting member 46. Specifically, the third connecting member 46 has a connecting rod and a connecting hole. The connecting rod is inserted into the inner hole at the end of the cross bar 3, and the connecting hole allows the side support rod 8 to be inserted. A screw passes through the connecting hole to fix the side support rod 8 and the connecting hole, thereby realizing the connection between the side support rod 8 and the cross bar 3.

[0034] The binding assembly is used to achieve a close fit and fixation between the upper limb exoskeleton system and the human body, mainly connecting to the shoulders and waist of human bodies with different body types, ensuring that the upper limb exoskeleton system and the human body remain relatively fixed during handling, and realizing the effective transmission of forces.

[0035] In this application, the main support rod 2 conforms to the body force line of the human body to transmit the heavy object pressure to the waist support structure; the cross bar 3 enhances the lateral stability of the main support rod 2; the side support rod 8 is obliquely connected to disperse the force received by the cross bar 3 to the waist support structure, jointly forming an orderly force transmission form, making the support frame stable and reliable. During handling, the support frame decomposes the heavy object pressure. The main support rod 2 transmits the force through the connection position, and the side support rod 8 decomposes the force, so that the heavy object pressure is dispersed to the entire support frame. The component force along the axial direction will be transmitted to the waist support structure and transferred to the waist and lower limbs, reducing the load on the upper limbs and the risk of injury. In addition, the binding assembly adapts to different body types, tightly connecting the human body and the upper limb exoskeleton system, ensuring the effective transmission of forces, improving the handling efficiency, and alleviating the labor intensity of the upper limbs.

[0036] Further, as Figure 3 shown, it further includes: a first connection structure, and the first connection structure includes: a first pipe clamp 4 and a second pipe clamp 7 used in cooperation. The first pipe clamp 4 is provided with a connection hole 5 and a first groove 6; When the first pipe clamp 4 and the second pipe clamp 7 are connected, the cross bar 3 passes through the connection hole 5, and a limiting hole is formed between the first groove 6 and the second pipe clamp 7, and is clamped with the main support rod 2, so that the corresponding first connection portion is connected to the cross bar 3.

[0037] It should be noted that when connecting the cross bar 3 and the main support rod 2, the first pipe clamp 4 and the second pipe clamp 7 are assembled. At this time, the cross bar 3 passes through the connection hole 5 on the first pipe clamp 4, and then the position of the cross bar 3 on the first pipe clamp 4 is preliminarily positioned, so that its position in the horizontal direction is determined. Then, during the connection process of the first pipe clamp 4 and the second pipe clamp 7, the first groove 6 and the second pipe clamp 7 cooperate with each other to form a limiting hole, which is clamped with the main support rod 2. After the main support rod 2 is inserted into this limiting hole, it is restricted to a specific position and cannot move or rotate randomly. In this way, the first connection part of the cross bar 3 and the main support rod 2 is stably connected, preventing loosening, displacement and other situations between the cross bar 3 and the main support rod 2. Furthermore, the structural strength of the support frame is ensured, so that the upper limb exoskeleton system can stably play a role during the process of carrying heavy objects, ensuring the safety of the user and improving the handling efficiency. Further, as Figure 4 shown, the waist support structure includes: a waist main rod 13, and two ends of the waist main rod 13 are respectively connected with waist side rods 12 through second connection structures; One end of the waist side rod 12 far from the waist main rod 13 forms a third connection part.

[0038] It should be noted that the waist main rod 13 is connected with the waist side rods 12 at both ends. The waist main rod 13 and the waist side rods 12 cooperate together to disperse and bear the pressure from the upper part of the upper limb exoskeleton system, and reasonably transfer these pressures to the human waist and lower limbs. One end of the waist side rod 12 far from the waist main rod 13 forms the third connection part of the waist support structure. When the upper limb exoskeleton system bears the pressure of heavy objects, the force transmitted from the main support rod 2 and the cross bar 3 will be transmitted from the waist main rod 13 to the waist side rod 12 through the third connection part. And, the third connection is connected with the side support rod 8, which can enhance the stability of the waist support structure, and at the same time disperse the force transmitted from the side support rod 8 into the waist support structure.

[0039] Here, the second connection structure is, for example, a connection pipe clamp 17 and a connection hoop 18; the waist main rod 13 is connected with the main support rod 2 through the connection pipe clamp 17, and the waist main rod 13 is connected with the waist side rod 12 through the connection hoop 18.

[0040] Further, a hip connection assembly 16 is provided at the third connection part for connecting with the binding assembly; As Figure 5 shown, the hip connection assembly 16 includes: a first connecting piece 19, the first connecting piece 19 has a first end, a second end and a third end; the first end is connected with the third connection part, and the second end is connected with the side support rod 8; The second connecting member 21 is rotatably connected to the third end of the first connecting member 19; the second connecting member 21 is used to connect to the lower limb exoskeleton system.

[0041] It should be noted that the hip connection component 16 is used to connect with the binding component, which can better transmit the power generated by the upper limb exoskeleton system to the human body, enhance the coordination between the exoskeleton system and the human body, and also ensure the stability of the entire system during transportation.

[0042] The first connecting member 19 has three ends, such as Figure 5 As shown, end a, end b and end c, wherein end b is connected to the end of the waist side rod 12 away from the waist main rod 13, and end a is connected to the side support rod 8; through the connection of these two ends, the first connecting member 19 integrates forces from different directions to ensure the integrity and reliability of the system when subjected to force.

[0043] The second connector 21 is pivotally connected to the end c of the first connector 19. This pivoting connection provides a certain degree of flexibility to the exoskeleton system, allowing the upper exoskeleton to better adapt to human movements during exercise. Here, the second connector 21 is used to connect to the lower exoskeleton system, connecting the upper and lower exoskeletons. When carrying heavy objects, part of the weight borne by the upper exoskeleton can be transferred to the lower exoskeleton via the hip connection assembly 16. This, in turn, leverages the lower extremities' greater load-bearing capacity to disperse pressure, reduce the burden on the upper extremities, improve handling efficiency, reduce the risk of upper extremity injury, and enhance the overall exoskeleton system's power-assistance.

[0044] In addition, the first connecting member 19 and the second connecting member 21 can be connected by a pin 20, and an arc-shaped limiting groove is formed at the end c of the first connecting member 19, and a threaded through hole 25 is formed on the second connecting member 21. The arc-shaped limiting groove and the threaded through hole 25 are connected by the pin 20. When the second connecting member 21 rotates relative to the first connecting member 19, the pin 20 can slide along the arc-shaped limiting groove. Here, the curvature of the arc-shaped limiting groove is the movable range of the pin 20, that is, the rotatable angle range of the second connecting member 21 relative to the first connecting member 19. Here, the rotatable angle range is, for example, -35° to 35°.

[0045] Furthermore, if Figure 3 As shown, the main support rod 2 includes: The first supporting segment and the second supporting segment are connected, and the connection position of the first supporting segment and the second supporting segment forms a first connecting portion; an end of the first supporting segment away from the second supporting segment forms a second connecting portion; The first support section and the second support section form a target angle. When a person carries the support assembly 1 on his back, the opening of the target angle faces the back of the person.

[0046] It should be noted that the main support rod 2 is composed of a first support section and a second support section which are connected, and the connection position between the two forms a first connection part. One end of the first support section away from the second support section forms a second connection part, which is used to connect with the waist support structure and is an important node for transmitting the force borne by the main support rod 2 to the waist support structure. When carrying heavy objects, the second connection part should reliably transmit the pressure of the heavy object and various forces generated by human movement to the waist support structure to achieve reasonable force dispersion.

[0047] The first support section and the second support section form a target angle, and when the human body carries the support assembly 1, the opening of the target angle faces the human back. From the perspective of ergonomics, this design fits the physiological curve of the human back and can better adapt to the posture changes of the human body when standing and moving. When the exoskeleton system bears heavy objects, the existence of the target angle enables the main support rod 2 to more effectively transmit the heavy object pressure along the force line direction of the human back to the waist support structure, avoiding stress concentration in a certain part and reducing local compression on the human body. At the same time, this design also helps to improve the stability of the exoskeleton system. During the process of the human body carrying heavy objects, whether the human body bends down, turns around or performs other actions, the main support rod 2 can maintain a relatively stable support state, enhancing the coordination between the exoskeleton system and the human body, reducing the discomfort of the user caused by wearing the exoskeleton system, and improving work efficiency and safety. Here, the target angle is, for example, 170 degrees, and it can be set according to actual needs.

[0048] Furthermore, it also includes a profiling support structure arranged on the main support rod 2; As Figure 6 shown, the profiling support structure includes: a base 26, and the base 26 is arranged on two first support sections; on the side of the base 26 away from the main support rod 2, a profiling support member 27 is installed, and the central position of the profiling support member 27 is a hollowed-out area, and a waist protection net is provided in the hollowed-out area; When the human body carries the support assembly 1, the profiling support member 27 fits with the waist position of the human body.

[0049] It should be noted that the purpose of arranging the profiling support structure on the main support rod 2 is to better fit the human waist and improve the experience and safety of the user when wearing the exoskeleton system. The profiling support structure is in direct contact with the human waist and can effectively relieve the waist pressure during the process of carrying heavy objects, improving the ergonomic performance of the exoskeleton system.

[0050] As Figure 6As shown, the base 26 is arranged on two first support segments, serving to connect and support the profiling support member 27. The base 26 firmly fixes the profiling support member 27 to the main support rod 2, ensuring that the profiling support member 27 will not shake or shift randomly during use. At the same time, the base 26 also helps to disperse the pressure borne by the profiling support member 27, enabling it to be more evenly transmitted to the main support rod 2 and enhancing the stability of the entire profiling support structure.

[0051] On the side of the base 26 away from the main support rod 2, a profiling support member 27 is installed. The profiling support member 27 is designed according to the shape of the human waist. When a person carries the support assembly 1, the profiling support member 27 can fit with the position of the human waist. This fit not only improves the wearing comfort but also better disperses the pressure borne by the waist. The central position of the profiling support member 27 is a hollowed-out area, and a waist protection net is provided in the hollowed-out area, which can reduce the overall weight of the profiling support member 27, reduce the additional burden on the human body by the exoskeleton system, and at the same time can play a role in ventilation and heat dissipation, avoiding the feeling of stuffiness on the user's waist due to long-term contact. The waist protection net provides additional protection for the waist to a certain extent, preventing the waist from being accidentally collided or rubbed during the handling process and protecting the waist skin and muscles from damage.

[0052] Furthermore, as Figure 1 and Figure 2 shown, the binding assembly includes: Two hanging straps 42. The hanging straps 42 are connected to the two main support rods 2 through the shoulder load-bearing assembly 34; hooks 43 are provided at the free ends of the hanging straps 42 for hanging the items to be carried; Two chest straps 30. One end of the chest straps 30 is connected to the two main support rods 2 through the back load-bearing assembly; Two waist straps 45. The waist straps 45 are arranged on the second connection structure; Two shoulder straps 44. One end of the shoulder straps 44 passes through the second connection structure and is connected to the waist side rod 12, and the other end is connected to the cross bar 3; When a person carries the support assembly 1, the two shoulder straps 44 are hung on the shoulder positions of the human body. At the same time, the free ends of the two chest straps 30 are connected, and the free ends of the two waist straps 45 are connected, so that the upper limb exoskeleton system is fixedly connected to the human body.

[0053] It should be noted that the hanging straps 42 are connected to the two main support rods 2 through the shoulder load-bearing assembly 34, ensuring that the hanging straps 42 can firmly bear the weight of the hung items and transmit it to the main support rod 2, and then disperse it to the entire upper limb exoskeleton system. The hooks 43 provided at the free ends of the hanging straps 42 are used for hanging the items to be carried. The hooks 43 provide a convenient hanging point for the handling operation, enabling the items to be conveniently connected to the upper limb exoskeleton system.

[0054] One end of each of the two chest straps 30 is connected to the two main support rods 2 through the back bearing assembly. The chest straps 30 are used to restrain and fix the human body from the chest position. When the exoskeleton system bears heavy objects, the chest straps 30 can effectively limit the sway of the exoskeleton system and enhance its integrity with the human body. At the same time, the chest straps 30 also share part of the pressure from the heavy object and disperse it around the chest, reducing the burden borne by the upper limbs alone. In actual use, the free ends of the two chest straps 30 are connected to form a stable restraint structure around the chest. Here, the free ends of the two chest straps 30 can be connected through a snap structure.

[0055] Two waist straps 45 are arranged on the second connection structure, and the second connection structure is located at the waist support structure. The waist straps 45 are used to fix the upper limb exoskeleton system to the human waist and can effectively transfer the weight of the upper limb exoskeleton system and the pressure of the carried items to the human waist. The waist is an important load-bearing part of the human body. The design of the waist straps makes the exoskeleton system fit closely with the human waist. During the handling process, local compression of the waist by the exoskeleton system can be avoided, improving the comfort and stability of wearing. When in use, the free ends of the two waist straps 45 are connected and surround the waist to further enhance the fixing effect. Here, the free ends of the two waist straps 45 can be adhesively connected through the magic tape 40.

[0056] One end of each of the two shoulder straps 44 passes through the second connection structure and is connected to the waist side rod 12, and the other end is connected to the cross bar 3. When the human body carries the support assembly 1, the shoulder straps 44 are hung at the shoulder positions of the human body. The shoulder straps 44 provide additional support points at the shoulders, enhancing the connection stability between the exoskeleton system and the human shoulders; moreover, the shoulder straps 44 connect the waist support structure, the main support rods 2 and the cross bar 3, making the structure of the entire upper limb exoskeleton system more stable. As a bridge during the force transmission process, it helps to disperse the heavy object pressure more evenly to parts such as the shoulders and waist of the human body.

[0057] Specifically, as Figure 8 shown, the shoulder bearing assembly 34 includes: A shoulder connecting piece 35, and the shoulder connecting piece 35 is connected to the two second support segments; Two shoulder bearing bodies 36, one end of the shoulder bearing body 36 is connected to the shoulder connecting piece 35, and the other end is connected to the end of the hanging strap 42.

[0058] It should be noted that the shoulder connecting member 35 is connected to the two second support segments of the main support rod 2. When carrying heavy objects, the shoulder connecting member 35 bears the pulling force of the heavy object transmitted by the hanging strap 42 and the acting force generated by human movement. The shoulder connecting member 35 effectively transmits these forces to the main support rod 2, and then distributes them to the entire support structure to ensure the stability of the exoskeleton system. The design and connection strength of the shoulder connecting member 35 directly affect the reliability of the exoskeleton system when carrying heavy objects. If its connection is not firm, it may cause the hanging strap to fall off or the exoskeleton system to become unbalanced, affecting the normal progress of the carrying work.

[0059] One end of each shoulder load-bearing body 36 is connected to the shoulder connecting member 35, and the other end is connected to the end of the hanging strap 42. The shoulder load-bearing body 36 plays a role in transition and strengthening the connection. The shoulder load-bearing body 36 transmits the pulling force of the heavy object received by the hanging strap 42 to the shoulder connecting member 35, and at the same time enhances the connection stability between the hanging strap 42 and the shoulder connecting member 35. During the actual carrying process, the shoulder load-bearing body 36 not only has to bear the vertical pulling force of the heavy object, but also has to cope with the lateral force generated by the angle change of the hanging strap 42 caused by human movements. Its structural design and material selection need to have sufficient strength and toughness to ensure normal operation under various working conditions. The two shoulder load-bearing bodies 36 are symmetrically distributed, which can make the force on the hanging strap 42 more uniform, further improve the stability and comfort of the upper limb exoskeleton system, reduce the pressure on the user's shoulders, and reduce the risk of shoulder injuries caused by carrying heavy objects for a long time.

[0060] Here, clamping through holes 37 are respectively provided on both sides of the shoulder connecting member 35. The two clamping through holes 37 are connected to the two main support rods 2 in a one-to-one correspondence. Moreover, one side of the edge of the clamping through hole 37 is open and extends to form a protrusion 38. A rectangular groove 41 is provided on the shoulder load-bearing body 36. The shoulder load-bearing body 36 and the shoulder connecting member 35 are connected by a screw passing through the rectangular groove 41 and the through hole on the protrusion 38, and at the same time, the clamping through hole 37 and the main support rod 2 are locked.

[0061] Specifically, as Figure 7 shown, the back load-bearing assembly includes: a back plate 28, and the back plate 28 is connected to the two second support segments through a fixing structure 29; two limiting holes and two mounting holes are provided on the back plate 28; the limiting holes are used to accommodate the corresponding shoulder straps 44 to pass through, and the mounting holes are used to mount the corresponding chest straps 30.

[0062] It should be noted that the back plate 28 is connected to the two second support segments of the main support rod 2 through a fixing structure 29, enabling the back plate 28 to be stably fixed on the main support rod 2. During the process of carrying heavy objects, the back plate 28 bears the forces transmitted from the chest strap 30 and the shoulder strap 44, as well as the weight of the upper limb exoskeleton system itself and the inertial forces generated by movement. The design of the fixing structure 29 ensures a firm and reliable connection between the back plate 28 and the main support rod 2, capable of effectively transmitting these forces, preventing the back plate 28 from loosening or falling off, and ensuring the normal operation of the exoskeleton system.

[0063] Here, the specific structure of the fixing structure 29 is, for example, two sets of cooperating card seats 31 and buckles 32. The card seats 31 are installed on the back plate 28, and the buckle 32 is of a semi-circular structure, which can fit against the outer wall of the main support rod 2. The card seats 31 and the buckle 32 are connected by screws, thereby connecting the back plate 28 and the main support rod 2.

[0064] Two limiting holes are provided on the back plate 28. The limiting holes are used to accommodate the corresponding shoulder straps 44 passing through, and play a role in positioning and restricting the shoulder straps 44, ensuring that the shoulder straps 44 maintain the correct position during use and preventing them from shaking or shifting randomly. One end of the shoulder strap 44 passes through the second connection structure and is connected to the waist side rod 12, and the other end is connected to the cross bar 3, playing a role in connection and force transmission in the entire upper limb exoskeleton system. The existence of the limiting holes plays a role in positioning and restricting the shoulder straps 44, ensuring that the shoulder straps 44 maintain the correct position during use and preventing them from shaking or shifting randomly. In this way, the shoulder straps 44 can more effectively transmit the forces from the waist and the cross bar to the back, and then disperse them to the entire exoskeleton system, enhancing the stability and coordination of the system. At the same time, the limiting holes also help to adjust the tightness of the shoulder straps 44 to adapt to the body shapes and needs of different users, improving the wearing comfort.

[0065] Two mounting holes are also provided on the back plate 28 for mounting the corresponding chest straps 30. One end of the two chest straps 30 is respectively connected to the main support rod 2 through the back bearing assembly, and the other ends of the two are connected to fix the human body around the chest. The mounting holes provide reliable connection points for the chest straps 30, enabling the chest straps 30 to be firmly mounted on the back plate 28. When carrying heavy objects, the chest straps 30 bear part of the pressure of the heavy objects and the acting forces generated by human movement. The mounting holes ensure that these forces can be stably transmitted to the back plate 28, and then through the back plate 28 to the main support rod 2, and finally dispersed to the entire exoskeleton system. The design of the mounting holes also facilitates the disassembly and replacement of the chest straps 30, improving the maintenance convenience of the exoskeleton system.

[0066] Furthermore, it further includes: an electric control component 39, and the electric control component 39 is arranged on the side of the main support rod 2 away from the base 26; Such as Figure 9As shown in the figure, the electric control component 39 includes: a box structure, the interior of which is hollow to form an installation space, and inside the installation space are arranged a data acquisition module 15, a processing module 11, a power conversion module 10 and a power supply module 33 that are communicatively connected; the data acquisition module 15 is used to acquire the inclination data of the human upper limb; the processing module 11 is used to determine the operating state of the lower limb exoskeleton system according to the inclination data of the human upper limb; the power conversion module 10 is used to convert the electric energy of the power supply module 33 into a power source and provide it to the processing module 11 and the data acquisition module 15.

[0067] It should be noted that the electric control component 39 is installed on the side of the main support rod 2 away from the base 26, which can avoid interfering with the profiling support structure, etc., and is convenient for it to obtain the required information and control the operation of the entire exoskeleton system.

[0068] The electric control component 39 adopts a box-type structure, and its interior is hollow to form an installation space. This design provides a safe and stable installation environment for the data acquisition module 15, the processing module 11, the power conversion module 10 and the power supply module 33, protects the internal electronic components from external interference and damage, and ensures the normal operation of each module.

[0069] The data acquisition module 15 is used to acquire the inclination data of the human upper limb. During the handling process, the movement posture of the human upper limb is constantly changing. By acquiring these inclination data, the movement state information of the human upper limb can be obtained in real time. For example, when carrying heavy objects, the inclination angle of the upper limb can reflect information such as the weight distribution of the heavy object and the force direction of the human body, providing basic data for subsequent control decisions. The data acquisition module 15 is, for example, an inertial sensor.

[0070] The processing module 11 is used to receive the inclination data of the human upper limb transmitted by the data acquisition module 15 and determine the operating state of the lower limb exoskeleton system according to these data. For example, when the data acquisition module 15 detects that the upper limb tilts forward due to carrying heavy objects, the processing module 11 can judge that at this time, the lower limb exoskeleton system needs to provide greater support force or adjust the assistance mode to maintain the balance and stability of the human body. This function realizes the coordinated work of the upper limb exoskeleton system and the lower limb exoskeleton system, improving the assistance effect and safety of the entire exoskeleton system. The processing module 11 is, for example, a control panel.

[0071] The power supply module 33 is the energy source of the electric control component, providing electric energy for the entire system. The power conversion module 10 is used to convert the electric energy provided by the power supply module 33 into a power source form suitable for use by the processing module 11 and the data acquisition module 15. Different electronic components require specific voltages and currents to work properly. The power conversion module 10 plays a role in adapting and stabilizing the power source, ensuring that each module can operate stably and avoiding system failures caused by power problems. Here, the power supply module 33 is, for example, a battery, and the power conversion module 10 is, for example, a power converter.

[0072] The box body structure includes: a box body main body 22, a concave cavity 24 is formed on the box body main body 22, a data acquisition module 15 is installed in the concave cavity 24, and an installation bracket 14 is further provided in the concave cavity 24. The installation bracket 14 is used to install and carry a processing module 11 and a power conversion module 10, and the processing module 11 is located above the data acquisition module 15; a power supply module 33 is connected to the inner wall of the box body main body 22 through a battery bracket 9; a box cover 23 is connected to the box body main body 22 to block the concave cavity 24 so that all the electronic control devices are inside the box body main body 22.

[0073] The working process of this upper limb exoskeleton system is specifically as follows: The user first wears the support assembly 1, hangs the two shoulder straps 44 on the shoulders, connects the chest strap 30 to surround the chest, and connects the waist strap 45 to fix it on the waist, so that the system is tightly fixed to the human body; then hangs the item to be carried on the hook 43 of the hanging strap 42, and the hanging strap 42 transfers the weight of the item to the main support rod 2 through the shoulder load-bearing assembly 34. During handling, the main support rod 2 transfers the heavy object pressure to the waist support structure according to the human body force line. The cross bar 3 enhances the lateral stability of the main support rod 2, and the side support rods 8 disperse the force of the cross bar 3 to the waist support structure, dispersing the pressure on the upper limbs and reducing the risk of injury. At the same time, the profiling support 27 fits the human waist, and the waist protection net in its hollow area reduces the weight, ventilates and dissipates heat, and protects the waist. The base 26 can enhance the stability. In addition, the data acquisition module 15 collects the inclination data of the human upper limb, and the processing module 11 determines the operating state of the lower limb exoskeleton system according to the inclination data, realizing the coordinated work of the upper and lower limb exoskeletons, and the power conversion module 10 supplies stable power to each module.

[0074] The above description is only the preferred embodiment of this application and the explanation of the applied technical principles. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to the technical solution formed by the specific combination of the above technical features, and should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the technical solutions formed by mutually replacing the above features with the (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. An upper limb exoskeleton system for handling assistance, characterized in that, Comprising: A support assembly (1) carried on the human body. The support assembly (1) includes two main support rods (2) arranged in parallel. The main support rods (2) have a first connection portion and a second connection portion. A cross bar (3) is provided at the first connection portions of the two main support rods (2); a waist support structure is provided at the second connection portions of the two main support rods (2). Both ends of the waist support structure have a third connection portion; a side support rod (8) is respectively provided between one end of the cross bar (3) and one of the third connection portions and between the other end of the cross bar (3) and the other third connection portion. And a support frame is formed among the side support rod (8), the main support rod (2) and the waist support structure; A binding assembly provided on the support assembly (1) for connecting to the shoulders and waist of human bodies of different body types.

2. The upper limb exoskeleton system for handling assistance according to claim 1, wherein, Further comprising: A first connection structure, which includes: A first pipe clamp (4) and a second pipe clamp (7) used in cooperation. The first pipe clamp (4) is provided with a connection hole (5) and a first groove (6); When the first pipe clamp (4) and the second pipe clamp (7) are connected, the cross bar (3) penetrates through the connection hole (5), and a limit hole is formed between the first groove (6) and the second pipe clamp (7) and is clamped with the main support rod (2), so that the corresponding first connection portion is connected to the cross bar (3).

3. The upper limb exoskeleton system for handling assistance according to claim 1, characterized in that, The waist support structure includes: A waist main rod (13), and two waist side rods (12) are respectively connected to both ends of the waist main rod (13) through a second connection structure; One end of the waist side rod (12) away from the waist main rod (13) forms the third connection portion.

4. The upper limb exoskeleton system for handling assistance according to claim 2, characterized in that, A hip connection assembly (16) is provided at the third connection portion for connecting to the binding assembly; The hip connection assembly (16) includes: A first connecting member (19) having a first end, a second end and a third end; the first end is connected to the third connection portion, and the second end is connected to the side support rod (8); A second connecting member (21) rotatably connected to the third end of the first connecting member (19); the second connecting member (21) is used for connecting to the lower limb exoskeleton system.

5. The upper limb exoskeleton system for handling assistance according to claim 3, characterized in that, The main support rod (2) includes: A first support section and a second support section connected. The connection position of the first support section and the second support section forms the first connection portion; one end of the first support section away from the second support section forms the second connection portion; The first support section and the second support section form a target angle. When the human body carries the support assembly (1), the opening of the target angle faces the human back.

6. The upper limb exoskeleton system for handling assistance according to claim 5, characterized in that, Also included is a profiling support structure provided on the main support rod (2); The profiling support structure includes: Base (26), the base (26) is arranged on the two first support segments; on the side of the base (26) away from the main support rod (2), a profiling support member (27) is installed, the central position of the profiling support member (27) is a hollow area, and a waist protection net is arranged in the hollow area; When a human body carries the support assembly (1), the profiling support member (27) fits with the waist position of the human body.

7. The up - limb exoskeleton system for handling assistance according to claim 5, characterized in that, The binding assembly includes: Two hanging straps (42), the hanging straps (42) are connected to the two main support rods (2) through shoulder bearing assemblies (34); hooks (43) are arranged at the free ends of the hanging straps (42) for hanging items to be carried; Two chest straps (30), one end of the chest straps (30) is connected to the two main support rods (2) through a back bearing assembly; Two waist straps (45), the waist straps (45) are arranged on the second connection structure; Two shoulder straps (44), one end of the shoulder straps (44) passes through the second connection structure and is connected to the waist side rod (12), and the other end is connected to the cross bar (3); When a human body carries the support assembly (1), the two shoulder straps (44) are hung on the shoulder positions of the human body, and at the same time, the free ends of the two chest straps (30) are connected, and the free ends of the two waist straps (45) are connected, so that the upper limb exoskeleton system is fixedly connected to the human body.

8. The upper limb exoskeleton system for handling assistance according to claim 7, characterized in that, The shoulder bearing assembly (34) includes: Shoulder connectors (35), the shoulder connectors (35) are connected to the two second support segments; Two shoulder bearing bodies (36), one end of the shoulder bearing bodies (36) is connected to the shoulder connectors (35), and the other end is connected to the ends of the hanging straps (42).

9. An upper limb exoskeleton system for handling assistance according to claim 7, characterized in that, The back bearing assembly includes: Back plate (28), the back plate (28) is connected to the two second support segments through a fixing structure (29); two limiting holes and two mounting holes are formed on the back plate (28); the limiting holes are used for accommodating the corresponding shoulder straps (44) to pass through, and the mounting holes are used for mounting the corresponding chest straps (30).

10. The upper limb exoskeleton system for handling assistance according to claim 6, characterized in that, It further includes: an electric control assembly (39), the electric control assembly (39) is arranged on the side of the main support rod (2) away from the base (26); The electric control assembly (39) includes: a box structure, the interior of the box structure is hollow to form an installation space, and a data acquisition module (15), a processing module (11), a power conversion module (10) and a power supply module (33) which are communicatively connected are arranged in the installation space; the data acquisition module (15) is used for acquiring the inclination angle data of the human upper limb; the processing module (11) is used for determining the running state of the lower limb exoskeleton system according to the inclination angle data of the human upper limb; the power conversion module (10) is used for converting the electric energy of the power supply module (33) into a power supply and providing it to the processing module (11) and the data acquisition module (15).

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