Self-adaptive load-bearing exoskeleton robot system suitable for complex terrain of coal mine tunnel

Abstract

The invention discloses a self-adaptive load-bearing exoskeleton robot system suitable for a complex terrain of a coal mine tunnel. The self-adaptive load-bearing exoskeleton robot system comprises an exoskeleton main body, a load-bearing assembly and a gravity center adjusting assembly, the exoskeleton main body comprises a lower limb connecting area and a waist and back connecting area which are connected with each other; the load-bearing assembly comprises a box body, a weighing sensor and a load-bearing plate; a storage cavity capable of being opened and closed is formed in the box body; the bearing plate is arranged in the storage cavity and is arranged on the weighing sensor; the weighing sensor is used for measuring the load value of the bearing plate; a low-friction piece is arranged on the periphery of the bearing plate. In the scheme, the low-friction piece can reduce the friction force between the periphery of the bearing plate and the inner wall of the storage cavity, so that the influence of the friction force on the weighing precision of the weighing sensor is reduced. Due to the fact that the weighing precision of the weighing sensor can directly affect the gravity center adjusting precision of the gravity center adjusting assembly, the gravity center adjusting precision of the exoskeleton after load bearing can be improved by arranging the low-friction piece.

Description

Technical Field

[0001] The present application relates to the field of exoskeleton technology, and in particular to an adaptive load-bearing exoskeleton robot system suitable for complex terrain in coal mine tunnels. Background Art

[0002] An exoskeleton is a wearable mechanical device that works in conjunction with human joints through sensors and a power system. It can be used to enhance human strength and reduce workload.

[0003] For workers working underground, exoskeletons can save energy and improve safety. For example, in coal mining, workers carry tools like drills, safety testing tools like gas detectors, and auxiliary tools like wrenches and flashlights. Patrol workers also carry safety testing tools like gas detectors, communication tools, and emergency response tools. In reality, coal mines have a complex underground tunnel network, with the distance from the mine entrance to the working surface often exceeding 100 meters. As mining progresses, workers need to travel between different areas, often covering several kilometers per day. Consequently, both workers and patrol workers are required to carry heavy loads while walking long distances. The high physical exertion inherent in the work, combined with the heavy loads involved, can quickly drain workers' energy, increasing their risk of occupational injuries like lumbar muscle strain.

[0004] Wearing exoskeletons for workers can reduce the burden of carrying weight when walking and reduce the incidence of chronic injuries. In addition, with the development of technology, existing exoskeletons already have relatively mature load-bearing transmission technology and center of gravity adjustment technology; load-bearing transmission technology refers to transferring the weight on the exoskeleton (such as the waist and back) to the lower limbs; center of gravity adjustment technology refers to automatically adjusting the center of gravity of the exoskeleton and the wearer according to the weight of the load when the wearer performs different movements (such as squatting, bending over), so that the wearer's overall movement is more coordinated and less burdensome. For example, on August 28, 2024, the article "Analysis of the Load-Bearing Performance of the Heavy Material Center Adaptive Adjustment Exoskeleton" published by the Journal of Vibration Engineering studied the technical solution of transferring the weight on the waist to the lower limbs and automatically adjusting the center of gravity according to human body movements.

[0005] However, the inventors have found that the existing exoskeleton has low center of gravity adjustment accuracy after loading, and the center of gravity adjustment accuracy will affect the load-reducing effect of the exoskeleton, resulting in poor load-reducing effect of the existing exoskeleton and a high risk of imbalance for the wearer. Summary of the Invention

[0006] In view of this, the purpose of this application is to provide an adaptive load-bearing exoskeleton robot system suitable for the complex terrain of coal mine tunnels, which is used to solve the problems of poor load-reducing effect and high risk of imbalance of existing exoskeletons.

[0007] To achieve the above technical objectives, the present application provides an adaptive load-bearing exoskeleton robot system suitable for complex terrain in coal mine tunnels, comprising: an exoskeleton main body, a load-bearing component, and a center of gravity adjustment component;

[0008] The exoskeleton body includes a lower limb connection area and a waist and back connection area that are connected to each other;

[0009] The lower limb connection area can be worn on the feet of the staff and guide the weight of the waist and back connection area to the ground;

[0010] A weighing assembly is provided on the lower limb connection area, and the weighing assembly is used to measure the weight of the wearer;

[0011] The load-bearing assembly includes: a box, a weighing sensor and a load-bearing plate;

[0012] The box body is arranged on the center of gravity adjustment assembly, and an openable and closable storage cavity is arranged in the box body;

[0013] The weighing sensor includes a plurality of weighing sensors, and is arranged at the bottom of the storage cavity;

[0014] The load-bearing plate is arranged in the storage cavity and on the weighing sensor;

[0015] The weighing sensor is used to measure the load value of the bearing plate;

[0016] The outer periphery of the load-bearing plate is provided with a low-friction member;

[0017] The outer periphery of the load-bearing plate abuts against the cavity wall of the storage cavity through the low-friction member;

[0018] The top surface of the load-bearing plate is an inclined surface inclined from rear to front;

[0019] The center of gravity adjustment component is electrically connected to the weighing sensor and the weighing component;

[0020] The center of gravity adjustment component is arranged at the waist and back connection area, and is used to automatically adjust the center of gravity of the exoskeleton body according to the weight of the wearer and the load arranged at the waist and back connection area.

[0021] Furthermore, the top surface of the load-bearing plate is provided with a separation protrusion;

[0022] The partition protrusions divide the load-bearing plate into storage areas arranged in front and back.

[0023] Furthermore, the load-bearing assembly further comprises: a back plate and a hydraulic rod;

[0024] The back plate is arranged on the center of gravity adjustment component;

[0025] The hydraulic rods include a plurality of hydraulic rods, and are arranged on the rear side of the back plate;

[0026] The box is arranged on the hydraulic rod;

[0027] The hydraulic rod can drive the box to switch between the first state and the second state;

[0028] In the second state, the distance between the box and the back plate along the front-to-back direction is a;

[0029] In the second state, the distance between the box and the back plate in the front-to-back direction is b;

[0030] The a is greater than the b.

[0031] Further, the center of gravity adjustment assembly is electrically connected to the hydraulic rod;

[0032] The center of gravity adjustment component is used to control the hydraulic rod to extend and retract until the box is in the second state when the load value is greater than a preset value;

[0033] The center of gravity adjustment component is used to control the hydraulic rod to extend and retract until the box is in the first state when the load value is less than or equal to a preset value.

[0034] Furthermore, a lower support plate is provided on the back plate;

[0035] The box body is slidably arranged on the lower support plate along the front-back direction.

[0036] Furthermore, a plurality of the hydraulic rods are arranged in the upper and lower halves of the back plate;

[0037] The number of the hydraulic rods located in the lower half is greater than the number of the hydraulic rods located in the upper half.

[0038] Furthermore, the plurality of weighing sensors are distributed in a rectangular array.

[0039] Furthermore, the top surface of the load-bearing plate is provided with an anti-slip member.

[0040] Furthermore, the angle between the top surface of the load-bearing plate and the horizontal direction is 5-10°.

[0041] Furthermore, the low-friction member is a sphere;

[0042] The low friction member is capable of rotating in multiple directions.

[0043] It can be seen from the above technical solutions that the present application provides an adaptive load-bearing exoskeleton robot system suitable for complex terrain in coal mine tunnels, comprising: an exoskeleton main body, a load-bearing component and a gravity center adjustment component; the exoskeleton main body comprises a lower limb connection area and a waist and back connection area that are interconnected; the lower limb connection area can be worn on the feet of the worker and guide the load of the waist and back connection area to the ground; a weighing component is provided on the lower limb connection area, and the weighing component is used to measure the weight of the wearer; the load-bearing component comprises: a box, a weighing sensor and a load-bearing plate; the box is provided in the gravity center adjustment component, and a storage cavity that can be opened and closed is provided in the box; The weighing sensors include a plurality of them, and are arranged at the bottom of the storage cavity; the load-bearing plate is arranged in the storage cavity and on the weighing sensor; the weighing sensor is used to measure the load value of the load-bearing plate; the outer periphery of the load-bearing plate is provided with a low-friction part; the outer periphery of the load-bearing plate abuts against the cavity wall of the storage cavity through the low-friction part; the top surface of the load-bearing plate is an inclined surface inclined from the rear to the front; the center of gravity adjustment component is electrically connected to the weighing sensor; the center of gravity adjustment component is arranged in the waist and back connection area, and is used to automatically adjust the center of gravity of the exoskeleton body according to the weight of the wearer and the load set in the waist and back connection area.

[0044] In this solution, the low-friction components reduce the friction between the outer periphery of the load-bearing plate and the inner wall of the storage cavity, thereby minimizing the impact of friction on the weighing accuracy of the load cell. Since the weighing accuracy of the load cell directly affects the center of gravity adjustment accuracy of the center of gravity adjustment assembly, the low-friction components can improve the accuracy of the exoskeleton's center of gravity adjustment after loading, ensuring that the exoskeleton reduces the burden on the worker and reduces the risk of imbalance. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 A schematic diagram of the structure of an adaptive load-bearing exoskeleton robot system suitable for complex terrain in coal mine tunnels provided in an embodiment of the present application;

[0046] Figure 2 A schematic diagram of the load-bearing components of an adaptive load-bearing exoskeleton robot system suitable for use in complex terrain in coal mine tunnels, provided in an embodiment of the present application;

[0047] Figure 3 This is a cutaway view of the interior of a box of an adaptive load-bearing exoskeleton robot system suitable for use in complex terrain in coal mine tunnels, provided in an embodiment of the present application;

[0048] Figure 4 The interior view of an adaptive load-bearing exoskeleton robot system suitable for complex terrain in coal mine tunnels provided by an embodiment of the present application after the box is cut open and the storage plate is removed

[0049] Figure 5 A side view of a storage panel of an adaptive load-bearing exoskeleton robot system suitable for use in complex terrain in coal mine tunnels, provided in an embodiment of the present application;

[0050] Figure 6 Another schematic diagram of the load-bearing components of an adaptive load-bearing exoskeleton robot system suitable for complex terrain in coal mine tunnels provided in an embodiment of the present application. DETAILED DESCRIPTION

[0051] The following will clearly and completely describe the technical solutions of the embodiments of this application in conjunction with the accompanying drawings. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection requested by this application.

[0052] See also Figures 1 to 6 In the embodiment of the present application, an adaptive load-bearing exoskeleton robot system suitable for complex terrain in coal mine tunnels is provided, comprising: an exoskeleton body 100, a load-bearing assembly 200 and a center of gravity adjustment assembly 300; the exoskeleton body 100 comprises a lower limb connection area 110 and a waist and back connection area 120 that are interconnected; the lower limb connection area 110 can be worn on the feet of the worker and guide the load of the waist and back connection area 120 to the ground; a weighing assembly is provided on the lower limb connection area 110, which is used to measure the weight of the wearer; the load-bearing assembly 200 comprises: a box 210, a weighing sensor 220 and a load-bearing plate 230; the box 210 is provided in the center of gravity adjustment assembly 300, and a storage cavity 211 that can be opened and closed is provided in the box 210 ; The weighing sensor 220 includes multiple ones and is arranged at the bottom of the storage cavity 211; the load-bearing plate 230 is arranged in the storage cavity 211 and on the weighing sensor 220; the weighing sensor 220 is used to measure the load value of the load-bearing plate 230; the outer periphery of the load-bearing plate 230 is provided with a low-friction member 231; the outer periphery of the load-bearing plate 230 abuts against the cavity wall of the storage cavity 211 through the low-friction member 231; the top surface of the load-bearing plate 230 is an inclined surface inclined from the rear to the front; the center of gravity adjustment component 300 electrically connects the weighing sensor 220 and the weighing component; the center of gravity adjustment component 300 is arranged in the waist and back connection area 120, and is used to automatically adjust the center of gravity of the exoskeleton body 100 according to the weight of the wearer and the load set in the waist and back connection area 120.

[0053] In this embodiment, the lower limb connection area 110 can be worn by the worker's legs. When worn, the bottom of the lower limb connection area 110 is connected to the ground, and the top of the lower limb connection area 110 is connected to the waist and back connection area 120. The lower limb connection area 110 and the waist and back connection area 120 can be rigidly connected, specifically, so that the weight and load of the waist and back connection area 120 can be transferred to the lower limb connection area 110.

[0054] In this embodiment, the bottom portion of the lower limb connection region 110 can be worn on the sole of a worker's foot, for example, at the worker's heel. The weighing assembly can measure the wearer's weight by, for example, using a force sensor disposed at the bottom of the lower limb connection region 110 to measure the reaction force of the ground when the wearer is not wearing any weight. After the wearer is loaded, the weighing assembly can measure the total weight of the wearer and the weight.

[0055] The center of gravity adjustment component 300 can use existing technology to adjust the center of gravity according to the weight of the wearer and the weight of the load. For example, it can measure the wearer's torso inclination angle and angular velocity through an inertial measurement unit to determine the center of gravity position trend in real time, and monitor the real-time angles of the hip, knee, and ankle joints through joint angle sensors to assist in determining the limb movement state, and drive the load-bearing component 200 to move through mechanical adjustment to achieve the overall center of gravity of the wearer and the exoskeleton after adjusting the load, thereby reducing the burden on the wearer.

[0056] In actual use, when the box 210 is loaded, it significantly affects the wearer's center of gravity because it cannot conform to the wearer's body like the exoskeleton body 100. The center of gravity adjusted by the center of gravity adjustment assembly 300 is a composite of the wearer's center of gravity, the exoskeleton structure's center of gravity, and the load's center of gravity. Therefore, the accuracy of measuring the load on the box 210 directly affects the accuracy of the center of gravity adjustment assembly 300. If the measured load on the box 210 is less than the actual value, the center of gravity adjustment assembly 300 will calculate this weight onto the exoskeleton body 100, shifting the adjusted center of gravity forward. Similarly, if the measured load on the box 210 is greater than the actual value, the center of gravity adjusted by the center of gravity adjustment assembly 300 will shift backward.

[0057] After a tool is placed in the box 210, its weight is applied to the load plate 230, which then transfers the weight to the load cell 220. This allows the load cell 220 to measure the tool's weight, and thus the load. To ensure that the load plate 230 exerts downward pressure on the load cell 220 after being loaded, it must be able to move downward. Therefore, the load plate 230 is articulated with the inner wall of the storage cavity 221.

[0058] In actual application, the inventors found that there was friction between the load-bearing plate 230 in the box 210 and the box 210. Specifically, due to the friction, the downward-moving load-bearing plate 230 directly transferred part of its weight to the box 210, causing the load value measured by the load cell 220 to be slightly smaller.

[0059] In this embodiment, low-friction members 231 are provided on the outer periphery of the load-bearing plate 230 to reduce friction between the load-bearing plate 230 and the housing 210, thereby reducing the impact of friction on weighing accuracy. This, in turn, improves the weighing accuracy of the load cell 220 and the center of gravity adjustment accuracy of the center of gravity adjustment assembly 300. With this improved center of gravity adjustment accuracy, the exoskeleton can provide more precise and effective load reduction for the wearer and reduce the risk of imbalance.

[0060] In addition to the influence of the above-mentioned friction, the inventors have discovered that the movable load-bearing plate 230 will also have offsets in multiple directions. Specifically, after loading, when the wearer is doing actions such as walking, the tool is prone to shaking, causing the load-bearing plate 230 to be offset in multiple directions such as the horizontal direction. To address this, the inventors configured the top surface of the load-bearing plate 230 as an inclined surface, which can cause the tools on the load-bearing plate 230 to have a forward-leaning movement trend. Under the action of this movement trend, the offset of the load-bearing plate 230 in other directions can be reduced, especially the offset in the horizontal direction, thereby further improving the weighing accuracy of the weighing sensor 220 and improving the center of gravity adjustment accuracy of the center of gravity adjustment assembly 300.

[0061] As an embodiment, the top surface of the bearing plate 230 is provided with an anti-slip member, which can reduce the deviation of the tool relative to the bearing plate 230.

[0062] As an embodiment, the angle between the top surface of the load-bearing plate 230 and the horizontal direction is 5-10°.

[0063] The inventors have found that setting the angle between the top surface of the load-bearing plate 230 and the horizontal direction to 5-10° can achieve the effect of reducing displacement and reducing the horizontal offset while maintaining the tool's forward tilting tendency.

[0064] As an embodiment, the box body 210 may be provided with a box cover (not shown) that can be slid open. The box cover covers the top and part of the rear side of the box body 210. The sliding opening method makes it easy for the staff to take out the tools.

[0065] It should be noted that in actual application, a worker may be assisted by other workers in removing tools from the box 210. For example, during operations and patrols in coal mine tunnels, multiple workers may be required to work together, and a worker may rely on other workers to help him remove tools from the box 210 on his back.

[0066] As an embodiment, the low-friction member 221 may be a sphere that can rotate in multiple directions to reduce the friction between the bearing plate 230 and the box body 210 .

[0067] Correspondingly, a slot for the low friction member 221 to be rotatably placed can be provided on the bearing plate 230. An elliptical guide groove can be provided on the inner wall of the storage cavity 211 for the low friction member 221 to move in the vertical direction.

[0068] In one embodiment, a partition protrusion 232 is provided on the top surface of the load-bearing plate 230 ; the partition protrusion 232 divides the load-bearing plate 230 into front and back storage areas.

[0069] The load-bearing plate 230 can be divided into front and back sections by separating the protrusions 232, thereby reducing the risk of the tool tipping forward or backward while the wearer is moving, and helping to improve the stability of the operation after wearing the tool.

[0070] In one embodiment, the load-bearing assembly 200 also includes: a backplate 240 and a hydraulic rod 250; the backplate 240 is arranged on the center of gravity adjustment assembly 300; the hydraulic rod 250 includes multiple rods and is arranged on the rear side of the backplate 240; the box 210 is arranged on the hydraulic rod 250; the hydraulic rod 250 can drive the box 210 to switch between the first state and the second state; in the second state, the distance between the box 210 and the backplate 240 along the front-to-back direction is a; in the second state, the distance between the box 210 and the backplate 240 along the front-to-back direction is b; a is greater than b.

[0071] That is, in the first state, the distance of the hydraulic rod 250 is longer; and in the second state, the distance of the hydraulic rod 250 is shorter.

[0072] Furthermore, the center of gravity adjustment component 300 is electrically connected to the hydraulic rod 250; the center of gravity adjustment component 300 is used to control the hydraulic rod 250 to extend and retract until the box body 210 is in the second state when the load value is greater than the preset value; the center of gravity adjustment component 300 is used to control the hydraulic rod 250 to extend and retract until the box body 210 is in the first state when the load value is less than or equal to the preset value.

[0073] Specifically, when the load on box 210 is less than or equal to a preset value, center of gravity adjustment assembly 300 controls hydraulic cylinder 250 to extend, minimizing interference from box 210 when the wearer performs actions such as bending, leaning over, and reaching for objects. When the load on box 210 exceeds the preset value, center of gravity adjustment assembly 300 controls hydraulic cylinder 250 to shorten, bringing box 210 closer to exoskeleton body 100. This brings the center of gravity of the human body, the center of gravity of the exoskeleton structure, and the center of gravity of the load closer together, reducing the impact of calculation errors on the actual weight-reducing effect, thereby helping to improve the exoskeleton's weight-reducing effect.

[0074] In one embodiment, a lower support plate 241 is provided on the back plate 240 ; the box body 210 is slidably provided on the lower support plate 241 along the front-back direction.

[0075] In practical applications, the lower support plate 241 may be provided with a slide rail for the sliding of the box body 210. The box body 210 is provided on the slide rail, and the slide rail provides a guide and support function for the sliding of the box body 210.

[0076] Furthermore, a plurality of hydraulic rods 250 are arranged in the upper and lower halves of the back plate 240 ; the number of the hydraulic rods 250 in the lower half is greater than the number of the hydraulic rods 250 in the upper half.

[0077] Specifically, the hydraulic cylinder 250 located in the lower half can better ensure that it can effectively mobilize the box 210 to move forward and backward, and cooperate with the hydraulic cylinder 250 in the upper half to achieve stable adjustment of the position of the box 210.

[0078] In one embodiment, the plurality of weighing sensors 220 are distributed in a rectangular array to improve weighing accuracy.

[0079] The above are only preferred embodiments of the present application and are not intended to limit the present invention. Although the present application has been described in detail with reference to examples, those skilled in the art can still modify the technical solutions described in the aforementioned examples or make equivalent replacements for some of the technical features therein. However, any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. An adaptive load-bearing exoskeleton robot system suitable for complex terrain in coal mine tunnels, characterized by: include: An exoskeleton main body (100), a weight-bearing component (200) and a center of gravity adjustment component (300); The exoskeleton body (100) comprises a lower limb connection area (110) and a waist and back connection area (120) that are connected to each other; The lower limb connection area (110) can be worn on the feet of a worker and guide the weight of the waist and back connection area (120) to the ground; A weighing component is provided on the lower limb connection area (110), and the weighing component is used to measure the weight of the wearer; The load-bearing assembly (200) comprises: a box (210), a weighing sensor (220) and a load-bearing plate (230); The box (210) is arranged on the center of gravity adjustment component (300), and an openable and closable storage cavity (211) is provided in the box (210); The weighing sensors (220) include a plurality of weighing sensors and are arranged at the bottom of the storage cavity (211); The load-bearing plate (230) is arranged in the storage cavity (211) and is arranged on the weighing sensor (220); The weighing sensor (220) is used to measure the load value of the bearing plate (230); A low-friction member (231) is provided on the outer periphery of the load-bearing plate (230); The outer periphery of the load-bearing plate (230) abuts against the cavity wall of the storage cavity (211) through the low-friction member (231); The top surface of the load-bearing plate (230) is an inclined surface inclined from the rear to the front; The center of gravity adjustment component (300) is electrically connected to the weighing sensor (220) and the weighing component; The center of gravity adjustment component (300) is arranged at the waist and back connection area (120) and is used to automatically adjust the center of gravity of the exoskeleton body (100) according to the weight of the wearer and the load arranged at the waist and back connection area (120).

2. The adaptive load-bearing exoskeleton robot system suitable for complex terrain in coal mine tunnels according to claim 1 is characterized in that: The top surface of the load-bearing plate (230) is provided with a separation protrusion (232); The partition protrusion (232) divides the load-bearing plate (230) into storage areas arranged in front and back.

3. The adaptive load-bearing exoskeleton robot system suitable for complex terrain in coal mine tunnels according to claim 1 is characterized in that: The load-bearing assembly (200) further includes: a back plate (240) and a hydraulic rod (250); The back plate (240) is arranged on the center of gravity adjustment component (300); The hydraulic rods (250) include a plurality of hydraulic rods and are arranged on the rear side of the back plate (240); The box (210) is arranged on the hydraulic rod (250); The hydraulic rod (250) is capable of driving the box (210) to switch between a first state and a second state; In the second state, the distance between the box body (210) and the back plate (240) along the front-to-back direction is a; In the second state, the distance between the box body (210) and the back plate (240) in the front-to-back direction is b; The a is greater than the b.

4. The adaptive load-bearing exoskeleton robot system suitable for complex terrain in coal mine tunnels according to claim 3 is characterized in that: The center of gravity adjustment assembly (300) is electrically connected to the hydraulic rod (250); The center of gravity adjustment component (300) is used to control the hydraulic rod (250) to extend and retract until the box (210) is in a second state when the load value is greater than a preset value; The center of gravity adjustment component (300) is used to control the hydraulic rod (250) to extend and retract until the box (210) is in a first state when the load value is less than or equal to a preset value.

5. The adaptive load-bearing exoskeleton robot system suitable for complex terrain in coal mine tunnels according to claim 3 or 4, characterized in that: A lower support plate (241) is provided on the back plate (240); The box body (210) is slidably arranged on the lower support plate (241) along the front-back direction.

6. The adaptive load-bearing exoskeleton robot system suitable for complex terrain in coal mine tunnels according to claim 4 is characterized in that: A plurality of hydraulic rods (250) are arranged in the upper and lower halves of the back plate (240); The number of the hydraulic rods (250) located in the lower half is greater than the number of the hydraulic rods (250) located in the upper half.

7. The adaptive load-bearing exoskeleton robot system suitable for complex terrain in coal mine tunnels according to claim 1 is characterized in that: The plurality of weighing sensors (220) are distributed in a rectangular array.

8. The adaptive load-bearing exoskeleton robot system suitable for complex terrain in coal mine tunnels according to claim 1 is characterized in that: The top surface of the load-bearing plate (230) is provided with an anti-slip member.

9. The adaptive load-bearing exoskeleton robot system suitable for complex terrain in coal mine tunnels according to claim 8 is characterized in that: The angle between the top surface of the load-bearing plate (230) and the horizontal direction is 5-10°.

10. The adaptive load-bearing exoskeleton robot system suitable for complex terrain in coal mine tunnels according to claim 1 is characterized in that: The low friction member (231) is a sphere; The low friction member (231) can rotate in multiple directions.

Images