An upper limb exoskeleton system for carrying assistance

Abstract

The present application discloses an upper limb exoskeleton system for assisting carrying, relating to the technical field of exoskeleton design, the system comprising: a support assembly, the support assembly is carried by a human body, the support assembly comprises two parallel main support rods, the main support rods have a first connection part and a second connection part, the first connection parts of the two main support rods are provided with a cross rod; the second connection parts of the two main support rods are provided with a waist support structure, both ends of the waist support structure have a third connection part; side support rods are respectively provided between one end of the cross rod and a third connection part and between the other end of the cross rod and the other third connection part, and a support frame is formed between the side support rods, the main support rods and the waist support structure; a binding assembly, the binding assembly is provided on the support assembly, and is used to connect to the shoulders and waist of people of different body shapes; it can reduce the risk of upper limb muscle strain and shoulder joint injury, and at the same time, ensure the effective transmission of force during the carrying process.

Description

Technical Field

[0001] The present application generally relates to the field of exoskeleton design technology, and more specifically to an upper limb exoskeleton system for assisting carrying. Background Art

[0002] In industrial manufacturing, logistics, emergency rescue, and coal mining, workers often need to complete high-frequency, high-load material handling tasks. Long-term work can easily lead to occupational illnesses such as upper limb muscle strain and shoulder joint injuries. Exoskeleton technology, a major breakthrough in human-machine collaboration, effectively reduces metabolic costs through mechanical transmission and energy assistance, and has become an innovative solution for improving work efficiency.

[0003] However, with the expansion of application scenarios and the escalation of operational demands, higher requirements are being placed on the comfort and load-bearing capacity of exoskeleton structures. Traditional exoskeleton structures require high-strength, high-rigidity materials (such as steel and alloys) and more complex, robust structural designs to carry heavy loads and transmit significant forces. These materials and structures often result in significant mass. For lightweighting, traditional exoskeleton structures require lightweight materials (such as carbon fiber and polymer composites), but these materials are relatively limited in strength and load-bearing capacity, making them incapable of withstanding heavy loads. Furthermore, traditional exoskeleton designs often lack ergonomic considerations, resulting in illogical component layouts and inflexible adjustments. This further exacerbates the discomfort associated with the heavy weight, compromising the actual assistance provided and the operator's work experience. Furthermore, while lower-limb exoskeletons can alleviate lower-limb muscle fatigue, they lack the upper-limb support. Therefore, we propose an upper-limb exoskeleton system for carrying assistance to address these issues. Summary of the Invention

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

[0005] The present application provides an upper limb exoskeleton system for carrying assistance, comprising:

[0006] A support assembly, wherein the support assembly is carried by a human body, and the support assembly includes two parallel main support rods, the main support rods having a first connection portion and a second connection portion, and a cross rod is provided at the first connection portion of the two main support rods; a waist support structure is provided at the second connection portion of the two main support rods, and both ends of the waist support structure have a third connection portion; a side support rod is respectively provided between one end of the cross rod and one of the third connection portions and between the other end of the cross rod and the other of the third connection portions, and a support frame is formed between the side support rods, the main support rods and the waist support structure;

[0007] The binding assembly is arranged on the supporting assembly and is used to connect with the shoulders and waist of people of different body shapes.

[0008] According to the technical solution provided in the embodiment of the present application, the present invention further includes: a first connection structure, wherein the first connection structure includes:

[0009] A first pipe clamp and a second pipe clamp for use together, wherein the first pipe clamp is provided with a connecting hole and a first groove;

[0010] When the first pipe clamp and the second pipe clamp are connected, the cross bar passes through the connecting hole, a limiting hole is formed between the first groove and the second pipe clamp, and is clamped with the main support rod to connect the corresponding first connecting portion to the cross bar.

[0011] According to the technical solution provided in the embodiment of the present application, the waist support structure includes:

[0012] A waist main rod, both ends of which are connected to waist side rods via a second connecting structure;

[0013] One end of the waist side rod away from the waist main rod forms the third connecting portion.

[0014] According to the technical solution provided in the embodiment of the present application, a hip connection component is provided at the third connection portion for connecting with the binding component;

[0015] The hip connection assembly comprises:

[0016] a first connecting member, the first connecting member having a first end, a second end and a third end; the first end is connected to the third connecting portion, and the second end is connected to the side support rod;

[0017] A second connecting member is rotatably connected to the third end of the first connecting member; the second connecting member is used to connect to the lower limb exoskeleton system.

[0018] According to the technical solution provided in the embodiment of the present application, the main support rod includes:

[0019] A first supporting segment and a second supporting segment are connected, wherein the connection position between the first supporting segment and the second supporting segment forms the first connecting portion; and an end of the first supporting segment away from the second supporting segment forms the second connecting portion;

[0020] The first support section and the second support section form a target angle. When a human body carries the support assembly, an opening of the target angle faces the back of the human body.

[0021] According to the technical solution provided in the embodiment of the present application, it also includes a contoured support structure provided on the main support rod;

[0022] The contoured support structure comprises:

[0023] A base, the base being arranged on the two first support sections; a contoured support member being installed on a side of the base away from the main support rod, the center position of the contoured support member being a hollow area, and the hollow area being provided with a waist protection net;

[0024] When a human body carries the support assembly, the contoured support component fits closely to the waist of the human body.

[0025] According to the technical solution provided in the embodiment of the present application, the binding assembly includes:

[0026] Two hanging straps, each of which is connected to the two main support rods via a shoulder bearing assembly; a hook is provided at the free end of each hanging strap for hanging items to be carried;

[0027] Two chest straps, one end of each of which is connected to the two main support rods via a back bearing assembly;

[0028] two waist straps, the waist straps being arranged on the second connecting structure;

[0029] two shoulder straps, one end of each shoulder strap passing through the second connecting structure and connected to the waist side bar, and the other end of each shoulder strap connected to the cross bar;

[0030] When a human body carries the support assembly, the two shoulder straps are hung on the shoulders of the human body, and 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.

[0031] According to the technical solution provided in the embodiment of the present application, the shoulder bearing assembly includes:

[0032] a shoulder connector connected to the two second support segments;

[0033] Two shoulder-bearing bodies, one end of each shoulder-bearing body is connected to the shoulder connector, and the other end is connected to the end of the strap.

[0034] According to the technical solution provided in the embodiment of the present application, the back support assembly includes:

[0035] A back plate, the back plate is connected to the two second support sections through a fixing structure; two limiting holes and two mounting holes are provided on the back plate; the limiting holes are used to accommodate the corresponding shoulder straps, and the mounting holes are used to install the corresponding chest straps.

[0036] According to the technical solution provided in the embodiment of the present application, the present invention further includes: an electric control component, wherein the electric control component is arranged on a side of the main support rod away from the base;

[0037] The electronic control component includes: a box structure, the interior of the box structure is hollow to form an installation space, and the installation space is provided with a data acquisition module, a processing module, a power conversion module and a power supply module with communication connections; the data acquisition module is used to collect the inclination data of the upper limbs of the human body; the processing module is used to determine the operating status of the lower limb exoskeleton system based on the inclination data of the upper limbs of the human body; the power conversion module is used to convert the electrical energy of the power supply module into power and provide it to the processing module and the data acquisition module.

[0038] It can be seen from the above technical solution that this application has at least the following beneficial effects:

[0039] The present application provides an upper limb exoskeleton system for assisting carrying, comprising: a support assembly, the support assembly is carried by a human body, the support assembly comprises two parallel main support rods, the main support rods have a first connection portion and a second connection portion, and a cross rod is provided at the first connection portion of the two main support rods; a waist support structure is provided at the second connection portion of the two main support rods, and both ends of the waist support structure have a third connection portion; side support rods are respectively provided between one end of the cross rod and a third connection portion and between the other end of the cross rod and the other third connection portion, and a support frame is formed between the side support rods, the main support rods and the waist support structure; a binding assembly, the binding assembly is provided on the support assembly, and is used to connect to the shoulders and waists of people of different body shapes.

[0040] This application uses the main support rods to follow the direction of the force lines when the human body is standing and moving, transferring the pressure of the heavy objects above them along their own axis to the waist support structure. The crossbars connect the two main support rods horizontally, enhancing the lateral stability between the main support rods and preventing the main support rods from swaying when subjected to force. The side support rods connect the crossbars diagonally to the waist support structure, further distributing the force exerted on the crossbars to the waist support structure, forming an orderly force transmission form. This layout enables the entire support frame to efficiently withstand and transmit force, and ensures that the exoskeleton system remains stable and reliable in complex handling operations. Furthermore, when workers carry the exoskeleton system to carry materials, the support frame will decompose the vertical downward force of the heavy object. When the main support rod bears the pressure of the heavy object, it will transmit part of the force through the connection points with the crossbar and side support rods. Due to the inclined setting of the side support rod, the force it receives will be decomposed into a component along its axis and a component perpendicular to the axis. The component perpendicular to the axis is further dispersed and balanced through interaction with other rods. The pressure of the heavy object originally concentrated on the upper limbs is dispersed to the entire support frame. The component along the axial direction will be transmitted to the waist support structure and transferred to the waist and lower limbs, reducing the load borne by the upper limbs alone, thereby reducing the risk of upper limb muscle strain and shoulder joint injury. At the same time, the binding assembly can be connected to the shoulders and waist of people of different body shapes, realizing a close fit between the upper limb exoskeleton system and the human body, ensuring effective force transmission during the handling process. Ultimately, the handling efficiency is improved and the labor intensity of the upper limbs is effectively alleviated. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Other features, objects and advantages of the present application will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings.

[0042] Figure 1 Schematic diagram of the overall structure of the upper limb exoskeleton system used for carrying assistance.

[0043] Figure 2 Axonometric view of an upper limb exoskeleton system for carrying assistance.

[0044] Figure 3 Schematic diagram of the structure of the support component.

[0045] Figure 4 Schematic diagram of the lumbar support structure.

[0046] Figure 5 Schematic diagram of the hip joint assembly.

[0047] Figure 6 Schematic diagram of the contoured support structure.

[0048] Figure 7 A schematic diagram of the back-bearing components.

[0049] Figure 8 Schematic diagram of the shoulder load-bearing assembly.

[0050] Figure 9 Schematic diagram of the electronic control components.

[0051] Numbers in the figure: 1, support assembly; 2, main support rod; 3, cross bar; 4, first pipe clamp; 5, connecting hole; 6, first groove; 7, second pipe clamp; 8, side support rod; 9, battery bracket; 10, power conversion module; 11, processing module; 12, waist side rod; 13, waist main rod; 14, mounting bracket; 15, data acquisition module; 16, hip connection assembly; 17, connecting pipe clamp; 18, connecting hoop; 19, first connecting piece; 20, pin; 21, second connecting piece; 22, box body; 2 3. Box cover; 24. Concave cavity; 25. Threaded through hole; 26. Base; 27. Contoured support; 28. Backboard; 29. ​​Fixing structure; 30. Chest strap; 31. Socket; 32. Buckle; 33. Power supply module; 34. Shoulder bearing assembly; 35. Shoulder connector; 36. Shoulder bearing body; 37. Clamping through hole; 38. Protrusion; 39. Electronic control assembly; 40. Velcro; 41. Rectangular groove; 42. Hanging strap; 43. Hook; 44. Shoulder strap; 45. Waist strap; 46. Third connecting piece. DETAILED DESCRIPTION

[0052] The present application will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely for the purpose of explaining the relevant invention and are not intended to limit the invention. It should also be noted that, for ease of description, only portions relevant to the invention are shown in the accompanying drawings.

[0053] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0054] like Figure 1 and Figure 2 As shown, the present application provides an upper limb exoskeleton system for carrying assistance, comprising:

[0055] A support assembly 1 is carried on the back of a human body and includes two parallel main support rods 2, each of which has a first connection portion and a second connection portion. A cross bar 3 is provided at the first connection portion of the two main support rods 2; a lumbar support structure is provided at the second connection portion of the two main support rods 2, and both ends of the lumbar support structure have a third connection portion; side support rods 8 are respectively provided between one end of the cross bar 3 and a third connection portion, and between the other end of the cross bar 3 and another third connection portion, and a support frame is formed between the side support rods 8, the main support rods 2, and the lumbar support structure;

[0056] The binding assembly is arranged on the supporting assembly 1 and is used to connect with the shoulders and waist of people of different body shapes.

[0057] It should be noted that the support assembly 1 serves as the fundamental structure of the entire upper-limb exoskeleton system, providing support and force transmission. There are two main support rods 2, arranged in parallel. Each main support rod 2 has a first connection portion and a second connection portion. The first connection portion is used to connect to the crossbar 3, and the second connection portion is used to connect to the waist support structure. Here, the main support rods 2 are, for example, lightweight curved tubular structures.

[0058] Crossbar 3 is mounted between the first connection portions of the two main support bars 2 to enhance the lateral stability between the two main support bars 2. When the upper limb exoskeleton system is subjected to pressure from heavy objects or force generated by human movement, crossbar 3 can effectively prevent the main support bars 2 from swaying from side to side, ensuring the overall stability of support assembly 1. The lumbar support structure is connected to the second connection portions of the two main support bars 2. Both ends of the lumbar support structure have third connection portions. Side support bars 8 are respectively installed between the two third connection portions and the two ends of crossbar 3. The lumbar support structure not only provides support for the human waist and disperses pressure from heavy objects, but also serves as the connection point for the side support bars 8, used to transmit the applied force.

[0059] The side support rods 8 are connected to the two ends of the cross bar 3 and the two third connection parts of the waist support structure respectively. Figure 1 and Figure 2As shown, the side support rod 8 is tilted so that it can further disperse the force exerted on the cross bar 3 to the waist support structure. In the entire support frame, the side support rod 8 forms a stable triangular structure with the main support rod 2 and the waist support structure. The stability principle of the triangle is utilized to enhance the load-bearing capacity and stability of the support frame, so that the support frame can efficiently bear and transmit force, ensuring that the exoskeleton system remains stable and reliable in complex handling operation environments. 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 and the inner hole at the end of the cross bar 3 are plugged in. The connecting hole allows the side support rod 8 to be inserted, and a screw is passed 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.

[0060] The binding components are used to ensure that the upper limb exoskeleton system fits tightly and is fixed to the human body. They are mainly connected to the shoulders and waists of people of different body shapes to ensure that the upper limb exoskeleton system and the human body remain relatively fixed during transportation, thereby achieving effective force transmission.

[0061] This application uses the main support rod 2 to follow the human body's force line to transmit the pressure of the heavy object 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 connected obliquely to disperse the force of the cross bar 3 to the waist support structure, together forming an orderly force transmission form, making the support frame stable and reliable. During transportation, the support frame decomposes the pressure of the heavy object, the main support rod 2 transmits the force through the connection position, and the side support rod 8 decomposes the force, so that the pressure of the heavy object is dispersed to the entire support frame. The axial component of force will be transmitted to the waist support structure and transferred to the waist and lower limbs, reducing the load on the upper limbs and reducing the risk of injury. In addition, the binding assembly is adapted to different body shapes, tightly connecting the human body and the upper limb exoskeleton system, ensuring the effective transmission of force, improving transportation efficiency, and alleviating the labor intensity of the upper limbs.

[0062] Furthermore, if Figure 3 As shown, it also includes: a first connection structure, the first connection structure includes:

[0063] A first pipe clamp 4 and a second pipe clamp 7 are used in conjunction with each other. The first pipe clamp 4 is provided with a connecting hole 5 and a first groove 6;

[0064] When the first pipe clamp 4 and the second pipe clamp 7 are connected, the cross bar 3 passes through the connecting hole 5, 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 to connect the corresponding first connecting portion to the cross bar 3.

[0065] It should be noted that when connecting the crossbar 3 and the main support bar 2, the first pipe clamp 4 and the second pipe clamp 7 are assembled. At this time, the crossbar 3 passes through the connection hole 5 on the first pipe clamp 4, and then the position of the crossbar 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 engaged with the main support bar 2. After the main support bar 2 is embedded in this limiting hole, it is restricted to a specific position and cannot be moved or rotated at will. In this way, the first connection part of the crossbar 3 and the main support bar 2 is stably connected, preventing the crossbar 3 and the main support bar 2 from loosening or displacement. This ensures the structural strength of the support frame, allowing the upper limb exoskeleton system to function stably during the process of carrying heavy objects, ensuring the safety of the user and improving the carrying efficiency.

[0066] Further, if Figure 4 As shown, the lumbar support structure includes:

[0067] The waist main rod 13, both ends of the waist main rod 13 are connected to the waist side rods 12 respectively through the second connecting structure;

[0068] One end of the waist side rod 12 away from the waist main rod 13 forms a third connecting portion.

[0069] It should be noted that the two ends of the waist main rod 13 are respectively connected to the waist side rods 12. The waist main rod 13 and the waist side rods 12 work together to disperse and withstand the pressure from the upper part of the upper limb exoskeleton system, and reasonably transmit this pressure to the human waist and lower limbs. The end of the waist side rod 12 away from the waist main rod 13 forms the third connection part of the waist support structure. When the upper limb exoskeleton system is subjected to the pressure of a heavy object, the force transmitted from the main support rod 2 and the cross rod 3 will be transmitted from the waist main rod 13 to the waist side rod 12 through the third connection part. In addition, the third connection is connected to 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.

[0070] Here, the second connection structure is, for example, a connecting pipe clamp 17 and a connecting hoop 18; the waist main rod 13 is connected to the main support rod 2 through the connecting pipe clamp 17, and the waist main rod 13 is connected to the waist side rod 12 through the connecting hoop 18.

[0071] Furthermore, a hip connection component 16 is provided at the third connection portion for connection with the binding component;

[0072] like Figure 5 As shown, the hip connection assembly 16 includes:

[0073] A first connecting member 19, the first connecting member 19 having a first end, a second end and a third end; the first end is connected to the third connecting portion, and the second end is connected to the side support rod 8;

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] 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°.

[0079] Furthermore, if Figure 3 As shown, the main support rod 2 includes:

[0080] 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;

[0081] 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.

[0082] It should be noted that the main support rod 2 is composed of a first support segment and a second support segment, which are connected to form a first connection portion. The end of the first support segment, distal from the second support segment, forms a second connection portion. This second connection portion is used to connect to the lumbar support structure and is a key node for transmitting the forces exerted on the main support rod 2 to the lumbar support structure. When carrying heavy objects, the second connection portion reliably transmits the pressure of the object and the various forces generated by human movement to the lumbar support structure, achieving a reasonable distribution of force.

[0083] 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 back of the human body. From an ergonomic point of view, this design fits the physiological curve of the human back and can better adapt to the changes in the human body's posture when standing and exercising. When the exoskeleton system carries a heavy object, the existence of the target angle allows the main support rod 2 to more effectively transfer the pressure of the heavy object along the force line direction of the human back to the waist support structure, avoiding stress concentration in a certain part and reducing local pressure 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 is bending over, turning around or performing other actions, the main support rod 2 can maintain a relatively stable support state, enhance the synergy between the exoskeleton system and the human body, reduce the user's discomfort caused by wearing the exoskeleton system, and improve work efficiency and safety. Here, the target angle is, for example, 170 degrees, which can be set according to actual needs.

[0084] Furthermore, it also includes a contoured support structure provided on the main support rod 2;

[0085] like Figure 6 As shown, the contoured support structure includes:

[0086] The base 26 is provided on the two first support sections; a contoured support member 27 is installed on the side of the base 26 away from the main support rod 2, the center of the contoured support member 27 is a hollow area, and the hollow area is provided with a waist protection net;

[0087] When a person carries the support assembly 1 , the contoured support member 27 fits the waist of the person.

[0088] It's important to note that the contoured support structure on the main support bar 2 is designed to better conform to the human waist, enhancing the user experience and safety while wearing the exoskeleton. This contoured support structure directly contacts the waist, effectively alleviating pressure on the waist during heavy lifting and improving the ergonomics of the exoskeleton.

[0089] like Figure 6 As shown, base 26 is provided on the two first support sections, connecting and supporting contoured support member 27. Base 26 securely fastens contoured support member 27 to main support rod 2, preventing it from dangling or shifting during use. Base 26 also helps distribute the pressure exerted on contoured support member 27, transferring it more evenly to main support rod 2 and enhancing the stability of the entire contoured support structure.

[0090] A contoured support member 27 is installed on the side of the base 26 away from the main support rod 2. The design of the contoured support member 27 is based on the shape of the human waist. When the human body carries the support assembly 1, the contoured support member 27 can fit the human waist position. This fit not only improves the wearing comfort, but also can better disperse the pressure on the waist. The center of the contoured support member 27 is a hollow area, and the hollow area is provided with a waist protection net. This can alleviate the overall weight of the contoured support member 27, reduce the extra burden of the exoskeleton system on the human body, and also play a role in ventilation and heat dissipation, avoiding the user's waist from feeling stuffy due to prolonged contact. The waist protection net then provides additional protection for the waist to a certain extent, preventing the waist from being accidentally bumped or rubbed during transportation, and protecting the waist skin and muscles from damage.

[0091] Furthermore, if Figure 1 and Figure 2 As shown, the binding assembly includes:

[0092] Two hanging straps 42, the hanging straps 42 are connected to the two main support rods 2 through the shoulder bearing assembly 34; the free ends of the hanging straps 42 are provided with hooks 43 for hanging items to be transported;

[0093] Two chest straps 30, one end of each of the chest straps 30 is connected to the two main support rods 2 via a back bearing assembly;

[0094] Two waist straps 45, which are arranged on the second connecting structure;

[0095] Two shoulder straps 44, one end of the shoulder strap 44 passes through the second connecting structure and is connected to the waist side rod 12, and the other end is connected to the cross bar 3;

[0096] When a person carries the support assembly 1, the two shoulder straps 44 are hung on the shoulders of the person, and 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 person.

[0097] It should be noted that the sling 42 is connected to the two main support poles 2 via the shoulder-supporting assembly 34, ensuring that the sling 42 can firmly bear the weight of the mounted item and transfer it to the main support poles 2, thereby distributing it throughout the upper-limb exoskeleton system. A hook 43 is provided at the free end of the sling 42 for attaching the item to be transported. Hook 43 provides a convenient mounting point for transporting items, allowing them to be easily connected to the upper-limb exoskeleton system.

[0098] One end of the two chest straps 30 is connected to the two main support poles 2 through a back load-bearing assembly. The chest straps 30 are used to restrain and fix the human body from the chest position. When the exoskeleton system is carrying a heavy object, the chest straps 30 can effectively limit the shaking of the exoskeleton system and enhance its integrity with the human body. At the same time, the chest straps 30 also share some of the pressure from the heavy object, distributing it around the chest, reducing the burden borne solely by the upper limbs. In actual use, the free ends of the two chest straps 30 are connected, forming a stable restraint structure around the chest. Here, the free ends of the two chest straps 30 can be connected by a snap-on structure.

[0099] Two waist straps 45 are attached to the second connecting structure, which is located on the waist support structure. These straps are used to secure the upper-limb exoskeleton system to the waist, effectively transferring the weight of the upper-limb exoskeleton system and the pressure of the items it carries to the waist. The waist is a critical load-bearing part of the human body. The design of the waist straps ensures a close fit between the exoskeleton system and the waist, preventing localized pressure on the waist during transport and improving wearer comfort and stability. During use, the free ends of the two waist straps 45 are connected, encircling the waist to further enhance the secure fit. The free ends of the two waist straps 45 can be attached using Velcro 40.

[0100] One end of each shoulder strap 44 passes through the second connecting structure and connects to the waist side bar 12, while the other end connects to the crossbar 3. When a person carries the support assembly 1, the shoulder straps 44 rest on the person's shoulders. These shoulder straps 44 provide additional support points at the shoulders, enhancing the stability of the connection between the exoskeleton system and the shoulders. Furthermore, the shoulder straps 44 connect the waist support structure, the main support bar 2, and the crossbar 3, further stabilizing the entire upper limb exoskeleton system. They act as a bridge during force transmission, helping to more evenly distribute the pressure of heavy objects across the shoulders, waist, and other areas of the body.

[0101] Specifically, if Figure 8As shown, the shoulder load-bearing assembly 34 includes:

[0102] A shoulder connector 35, the shoulder connector 35 is connected to the two second support segments;

[0103] Two shoulder supporting bodies 36 , one end of the shoulder supporting body 36 is connected to the shoulder connector 35 , and the other end is connected to the end of the hanging strap 42 .

[0104] It should be noted that the shoulder connector 35 is connected to the two second support sections of the main support pole 2. When carrying heavy objects, the shoulder connector 35 bears the tension of the object transmitted by the sling 42, as well as the forces generated by human movement. The shoulder connector 35 effectively transmits these forces to the main support pole 2, and then distributes them throughout the entire support structure, ensuring the stability of the exoskeleton system. The design and connection strength of the shoulder connector 35 directly affect the reliability of the exoskeleton system during heavy lifting. If the connection is not secure, the sling may fall off or the exoskeleton system may become unbalanced, affecting the normal handling operation.

[0105] One end of each shoulder-bearing body 36 is connected to the shoulder connector 35, and the other end is connected to the end of the sling 42. The shoulder-bearing body 36 plays the role of transition and strengthening the connection. The shoulder-bearing body 36 transfers the tension of the heavy object on the sling 42 to the shoulder connector 35, and at the same time enhances the connection stability between the sling 42 and the shoulder connector 35. During the actual carrying process, the shoulder-bearing body 36 must not only withstand the vertical tension of the heavy object, but also cope with the lateral force generated by the angle change of the sling 42 caused by human body movements. Its structural design and material selection must have sufficient strength and toughness to ensure normal operation under various working conditions. The symmetrical distribution of the two shoulder-bearing bodies 36 can make the force on the sling 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 injury due to long-term carrying of heavy objects.

[0106] Here, clamping holes 37 are respectively provided on both sides of the shoulder connecting piece 35, and the two clamping holes 37 are connected to the two main support rods 2 in a one-to-one manner. In addition, one side of the edge of the clamping hole 37 is open and extends to form a protrusion 38. A rectangular groove 41 is provided on the shoulder bearing body 36. The shoulder bearing body 36 and the shoulder connecting piece 35 are connected by screws passing through the rectangular groove 41 and the through holes on the protrusion 38, and at the same time, the clamping holes 37 and the main support rods 2 are locked.

[0107] Specifically, if Figure 7 As shown, the back load-bearing assembly includes:

[0108] The back plate 28 is connected to the two second support sections 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 passing through, and the mounting holes are used to install the corresponding chest straps 30 .

[0109] It should be noted that backboard 28 is connected to the two second support sections of main support pole 2 via fixing structure 29, allowing backboard 28 to be stably fixed to main support pole 2. During heavy lifting, backboard 28 is subjected to forces transmitted by chest strap 30 and shoulder straps 44, as well as the inertial forces generated by the weight and movement of the upper limb exoskeleton system itself. The design of fixing structure 29 ensures a secure and reliable connection between backboard 28 and main support pole 2, effectively transmitting these forces and preventing backboard 28 from loosening or falling off, thereby ensuring the normal operation of the exoskeleton system.

[0110] Here, the specific structure of the fixing structure 29 is, for example, two sets of cooperated sockets 31 and buckles 32. The socket 31 is installed on the back panel 28, and the buckle 32 is a semicircular structure, which can fit with the outer wall of the main support rod 2. The socket 31 and the buckle 32 are connected by screws, thereby connecting the back panel 28 and the main support rod 2.

[0111] Two retaining holes are provided on the back panel 28. These holes are designed to accommodate the corresponding shoulder straps 44 and serve to position and restrain the shoulder straps 44, ensuring they remain in the correct position during use and preventing them from dangling or shifting. One end of the shoulder strap 44 passes through the second connecting structure and connects to the waist side bar 12, while the other end connects to the crossbar 3, serving as a connection and force transmission mechanism throughout the upper limb exoskeleton system. The retaining holes serve to position and restrain the shoulder straps 44, ensuring they remain in the correct position during use and preventing them from dangling or shifting. This allows the shoulder straps 44 to more effectively transfer force from the waist and crossbar to the back, thereby distributing it throughout the entire exoskeleton system, enhancing system stability and coordination. The retaining holes also facilitate adjusting the tightness of the shoulder straps 44 to suit the body shape and needs of different users, improving wearer comfort.

[0112] The back plate 28 is also provided with two mounting holes for installing corresponding chest straps 30. One end of the two chest straps 30 is connected to the main support rod 2 through the back load-bearing assembly, and the other ends of the two are connected to each other, surrounding the chest to fix the human body. The mounting holes provide a reliable connection point for the chest straps 30, so that the chest straps 30 can be firmly installed on the back plate 28. When carrying heavy objects, the chest straps 30 bear part of the pressure of the heavy objects and the forces generated by human movement. The mounting holes ensure that these forces can be stably transmitted to the back plate 28, and then transmitted to the main support rod 2 through the back plate 28, and finally dispersed to the entire exoskeleton system. The design of the mounting holes also facilitates the removal and replacement of the chest straps 30, improving the maintenance convenience of the exoskeleton system.

[0113] Furthermore, it also includes: an electric control component 39, which is arranged on a side of the main support rod 2 away from the base 26;

[0114] like Figure 9 As shown, the electronic control component 39 includes: a box structure, the interior of the box structure is hollow to form an installation space, and the installation space is provided with a data acquisition module 15, a processing module 11, a power conversion module 10 and a power supply module 33 with communication connections; the data acquisition module 15 is used to collect the inclination data of the upper limbs of the human body; the processing module 11 is used to determine the operating status of the lower limb exoskeleton system based on the inclination data of the upper limbs of the human body; the power conversion module 10 is used to convert the electrical energy of the power supply module 33 into power and provide it to the processing module 11 and the data acquisition module 15.

[0115] It should be noted that the electronic control component 39 is installed on the side of the main support rod 2 away from the base 26 to avoid interference with the contoured support structure, etc., while making it easier for it to obtain the required information and control the operation of the entire exoskeleton system.

[0116] The electronic control assembly 39 is a box-like structure with a hollow interior to form an installation space. This design provides a safe and stable installation environment for the data acquisition module 15, processing module 11, power conversion module 10, and power supply module 33, protecting the internal electronic components from external interference and damage, ensuring the normal operation of each module.

[0117] The data acquisition module 15 is used to collect inclination angle data of the human upper limb. During the handling process, the movement posture of the human upper limb changes continuously. By collecting this inclination angle data, it is possible to obtain real-time information about the movement status of the human upper limb. For example, when carrying a heavy object, the inclination angle of the upper limb can reflect information such as the weight distribution of the object and the direction of the human force, providing basic data for subsequent control decisions. The data acquisition module 15 can be, for example, an inertial sensor.

[0118] Processing module 11 is used to receive upper limb tilt angle data from data acquisition module 15 and determine the operating status of the lower limb exoskeleton system based on this data. For example, if data acquisition module 15 detects that the upper limb is leaning forward due to carrying a heavy object, processing module 11 can determine whether the lower limb exoskeleton system needs to provide greater support or adjust the power assist mode to maintain balance and stability. This function enables the upper and lower limb exoskeleton systems to work together, improving the power assist effectiveness and safety of the entire exoskeleton system. Processing module 11 can be, for example, a control panel.

[0119] The power supply module 33 is the energy source for the electronic control components, providing electrical energy for the entire system. The power conversion module 10 is used to convert the electrical energy provided by the power supply module 33 into a power supply suitable for the processing module 11 and the data acquisition module 15. Different electronic components require specific voltages and currents to function properly. The power conversion module 10 adapts and stabilizes the power supply, ensuring that each module can operate stably and avoiding system failures caused by power supply problems. Here, the power supply module 33 is, for example, a battery, and the power conversion module 10 is, for example, a power converter.

[0120] The box structure includes: a box body 22, a concave cavity 24 is opened on the box body 22, the data acquisition module 15 is installed in the concave cavity 24, and a mounting bracket 14 is also provided in the concave cavity 24. The mounting bracket 14 is used to install and carry the processing module 11 and the power conversion module 10, and the processing module 11 is located above the data acquisition module 15; the power supply module 33 is connected to the inner wall of the box body 22 through the battery bracket 9; the box cover 23 is connected to the box body 22, and is used to block the concave cavity 24 so that all electronic control components are inside the box body 22.

[0121] The working process of this upper limb exoskeleton system is as follows:

[0122] The user first carries the support assembly 1, attaching the two shoulder straps 44 to their shoulders, connecting the chest strap 30 around their chest, and securing the waist strap 45 to their waist, securing the system to the user. The user then hangs the object to be carried on the hooks 43 of the sling 42. The sling 42 transfers the object's weight to the main support bar 2 via the shoulder-bearing assembly 34. During transport, the main support bar 2 transfers the pressure of the heavy object to the waist support structure along the user's force line. The crossbar 3 enhances the lateral stability of the main support bar 2, and the side support bars 8 distribute the force applied by the crossbar 3 to the waist support structure, distributing pressure on the upper limbs and reducing the risk of injury. Simultaneously, the contoured support member 27 conforms to the user's waist. The waist protection net in its hollowed-out area reduces weight, provides ventilation and heat dissipation, and protects the waist. The base 26 also enhances stability. Furthermore, the data acquisition module 15 collects upper limb inclination data. The processing module 11 determines the operating status of the lower limb exoskeleton system based on this inclination data, enabling coordinated operation of the upper and lower limb exoskeleton. The power conversion module 10 provides stable power to each module.

[0123] The above description is merely a preferred embodiment of the present application and an illustration of the technical principles employed. Those skilled in the art should understand that the scope of the invention herein is not limited to the technical solutions formed by the specific combination of the above-mentioned technical features, but also encompasses other technical solutions formed by any combination of the above-mentioned technical features or their equivalents without departing from the inventive concept. For example, a technical solution formed by replacing the above-mentioned features with (but not limited to) technical features having similar functions disclosed in this application.

Claims

1. An upper limb exoskeleton system for carrying assistance, characterized in that: include: A support assembly (1), wherein the support assembly (1) is carried by a human body, and the support assembly (1) comprises two parallel main support rods (2), wherein the main support rods (2) have a first connection portion and a second connection portion, and a cross rod (3) is provided at the first connection portion of the two main support rods (2); a waist support structure is provided at the second connection portion of the two main support rods (2), and both ends of the waist support structure have a third connection portion; a side support rod (8) is provided between one end of the cross rod (3) and one of the third connection portions, and between the other end of the cross rod (3) and another of the third connection portions, respectively, and a support frame is formed between the side support rod (8), the main support rods (2) and the waist support structure; A binding assembly, the binding assembly being arranged on the supporting assembly (1) and being used for connecting to the shoulders and waist of people of different body shapes; The lumbar support structure comprises: A waist main rod (13), wherein both ends of the waist main rod (13) are respectively connected to waist side rods (12) via a second connecting structure; One end of the waist side rod (12) away from the waist main rod (13) forms the third connecting portion; The main support rod (2) comprises: A first supporting segment and a second supporting segment are connected, wherein the connection position between the first supporting segment and the second supporting segment forms the first connecting portion; and an end of the first supporting segment away from the second supporting segment forms the second connecting portion; The first support section and the second support section form a target angle, and when a human body carries the support assembly (1), an opening of the target angle faces the back of the human body; The binding assembly includes: Two hanging straps (42), the hanging straps (42) being connected to the two main support rods (2) via shoulder bearing components (34); free ends of the hanging straps (42) are provided with hooks (43) for hanging items to be transported; Two chest straps (30), one end of each of the chest straps (30) being connected to the two main support rods (2) via a back bearing assembly; two waist straps (45), wherein the waist straps (45) are arranged on the second connecting structure; two shoulder straps (44), one end of each shoulder strap (44) passing through the second connecting structure and connected to the waist side bar (12), and the other end of each shoulder strap (44) connected to the cross bar (3); When a human body carries the support assembly (1), the two shoulder straps (44) are hung on the shoulders of the human body, and 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.

2. The upper limb exoskeleton system for carrying assistance according to claim 1, characterized in that: Also includes: A first connection structure, the first connection structure comprising: A first pipe clamp (4) and a second pipe clamp (7) for use together, wherein the first pipe clamp (4) is provided with a connecting 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 connecting hole (5), 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 connecting portion is connected to the cross bar (3).

3. The upper limb exoskeleton system for carrying assistance according to claim 2, characterized in that: The third connection portion is provided with a hip connection component (16) for connecting to the binding component; The hip connection assembly (16) comprises: A first connecting member (19), the first connecting member (19) having a first end, a second end, and a third end; the first end is connected to the third connecting portion, and the second end is connected to the side support rod (8); A second connecting member (21), 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.

4. The upper limb exoskeleton system for carrying assistance according to claim 1, characterized in that: It also includes a contoured support structure provided on the main support rod (2); The contoured support structure comprises: A base (26), the base (26) being arranged on the two first support sections; a contoured support member (27) is installed on a side of the base (26) away from the main support rod (2), the center of the contoured support member (27) being a hollow area, and the hollow area being provided with a waist protection net; When a human body carries the support assembly (1), the contoured support member (27) fits closely to the waist of the human body.

5. The upper limb exoskeleton system for carrying assistance according to claim 1, characterized in that: The shoulder bearing assembly (34) comprises: a shoulder connecting member (35), the shoulder connecting member (35) being connected to the two second supporting sections; Two shoulder-bearing bodies (36), one end of each shoulder-bearing body (36) is connected to the shoulder connector (35), and the other end is connected to the end of the hanging belt (42).

6. The upper limb exoskeleton system for carrying assistance according to claim 1, characterized in that: The back bearing assembly includes: A back plate (28) is connected to the two second support sections via 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) passing therethrough, and the mounting holes are used to install the corresponding chest straps (30).

7. The upper limb exoskeleton system for carrying assistance according to claim 4, characterized in that: It also includes: an electric control component (39), the electric control component (39) being arranged on a side of the main support rod (2) away from the base (26); The electric control component (39) comprises: a box structure, wherein the interior of the box structure is hollow to form an installation space, wherein a data acquisition module (15), a processing module (11), a power conversion module (10) and a power supply module (33) connected in communication are arranged in the installation space; the data acquisition module (15) is used to collect the inclination angle data of the upper limbs of the human body; the processing module (11) is used to determine the operating state of the lower limb exoskeleton system based on the inclination angle data of the upper limbs of the human body; and the power conversion module (10) is used to convert the electric energy of the power supply module (33) into power and provide it to the processing module (11) and the data acquisition module (15).

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