Compact mining full-body assistive exoskeleton robot with explosion-proof shell and attitude monitoring.

Abstract

This application discloses a compact mining-grade full-body assistive exoskeleton robot with an explosion-proof shell and posture monitoring, relating to the field of work robot technology. It includes a torso wearable assembly, two driven upper limb assemblies, two driven lower limb assemblies, a flexible connecting frame, and a posture detection component. The two driven upper limb assemblies are connected to the torso wearable assembly, and each has a shoulder support structure installed near the torso wearable assembly. The flexible connecting frame is flexible and deformable. The two driven lower limb assemblies are connected to the torso wearable assembly via the flexible connecting frame. The driven upper limb assemblies and driven lower limb assemblies can be quickly engaged. The driven upper limb assemblies can also be quickly engaged with external execution tools. The posture detection component is used to detect the movement posture of the driven upper limb assemblies and driven lower limb assemblies. The exoskeleton robot designed above improves the comfort of bending operations and can achieve various work assistance functions, making it more adaptable.

Description

Technical Field

[0001] This application relates to the field of operational robot technology, and in particular to a compact mining full-body assistive exoskeleton robot with an explosion-proof shell and attitude monitoring. Background Technology

[0002] Mining is a high-risk industry, facing long-term challenges such as heavy physical labor, harsh working environments, and high safety risks. In recent years, with technological advancements, exoskeleton robots, as a new type of intelligent equipment, are gradually being applied to underground mining operations, providing assistance to miners, reducing labor intensity, and improving work efficiency and safety. Mining exoskeleton robots are a cutting-edge technology combining mechanical engineering, electronic engineering, computer science, and other disciplines. By wearing mechanical devices on the outside of the human body, they enhance human strength and improve human function, thereby increasing work capacity and efficiency.

[0003] However, research has revealed some technical shortcomings in existing mining exoskeleton robots: 1. The torso wearable part and the lower limb drive part are mostly rigidly connected, which restricts the operator's ability to bend over; 2. Due to structural design limitations, most mining exoskeleton robots can only perform relatively simple handling work in the mine, and have poor adaptability.

[0004] Therefore, there is an urgent need to provide a new solution to address the aforementioned technical shortcomings. Summary of the Invention

[0005] In view of this, the purpose of this application is to provide a compact mining full-body assistive exoskeleton robot with an explosion-proof shell and posture monitoring, which improves the comfort of bending over and can achieve a variety of work assistance, making it more adaptable.

[0006] To achieve the above technical objectives, this application provides a compact mining full-body assistive exoskeleton robot with an explosion-proof shell and posture monitoring, including a torso wearable component, two driven upper limb components, two driven lower limb components, a flexible connecting frame, and a posture detection component.

[0007] The two drive limb components are connected to the torso wearable component, and each is equipped with a shoulder movement support structure near the torso wearable component;

[0008] The flexible connecting frame is capable of bending and deformation.

[0009] The two drive limb components are connected to the torso wear component via the flexible connector;

[0010] The end of the drive upper limb assembly away from the torso wear assembly is provided with a first quick-connect structure;

[0011] The driving lower limb assembly is provided with a second quick-connect structure that can be detachably connected to the first quick-connect structure of the driving upper limb assembly located on the same side;

[0012] The first quick-connect structure can also interface with a third quick-connect structure on an external execution tool;

[0013] The posture detection component is used to detect the motion posture of the driven upper limb component and the driven lower limb component;

[0014] The outer shell structure of the torso wearable component, the outer shell structure of the driven upper limb component, the outer shell structure of the driven lower limb component, and the flexible connecting frame are all made of explosion-proof materials.

[0015] Furthermore, the torso wearable assembly includes a front wearable body and a rear wearable body;

[0016] The top two ends of the front wearable body are respectively connected to the top two ends of the rear wearable body via shoulder connection components;

[0017] The shoulder connection assembly is able to contact the human shoulder.

[0018] The bottom ends of the front wearable are detachably connected to the bottom ends of the rear wearable via locking components.

[0019] Furthermore, the part of the shoulder connection assembly that contacts the shoulder of the human body is an airbag structure, or the shoulder connection assembly is provided with an airbag structure that contacts the shoulder of the human body.

[0020] The airbag structure is connected to a pressure sensor for detecting internal pressure.

[0021] It also includes an alarm component that is electrically connected to the barometric pressure sensor.

[0022] Furthermore, the locking assembly includes a first latch and a second latch;

[0023] The first buckle is connected to the front wear body via a first connecting strap;

[0024] The second buckle is connected to the back wear body via a second connecting strap and can be fastened to the first buckle;

[0025] The length of the first connecting strap between the first buckle and the front wear body is adjustable, or the length of the second connecting strap between the second buckle and the rear wear body is adjustable.

[0026] Furthermore, the drive upper limb assembly includes a shoulder drive joint, an elbow drive joint, a first upper limb arm, and a second upper limb arm;

[0027] The first drive end of the shoulder drive joint is detachably connected to the trunk wearable assembly, and the second drive end is detachably connected to the first end of the first upper limb arm.

[0028] The first driving end of the elbow drive joint is detachably connected to the second end of the first upper limb arm, and the second driving end is detachably connected to the first end of the second upper limb arm.

[0029] The second end of the second upper limb arm is provided with the first quick-connect structure;

[0030] Both the first and second upper limb arms are equipped with upper tension fasteners.

[0031] Furthermore, the driven lower limb assembly includes a hip drive joint, a knee drive joint, a foot plate, a first lower limb arm, a second lower limb arm, and a hip connector;

[0032] The hip connector is connected to a flexible connector frame, and is provided with the second quick-connect structure thereon;

[0033] The first driving end of the hip drive joint is detachably connected to the hip connector, and the second driving end is detachably connected to the first end of the first lower limb arm.

[0034] The first driving end of the knee drive joint is detachably connected to the second end of the first lower limb arm, and the second driving end is detachably connected to the first end of the second lower limb arm.

[0035] The second end of the second lower limb arm is connected to the foot plate;

[0036] The first lower limb arm, the second lower limb arm, and the foot plate are provided with lower binding fasteners.

[0037] Furthermore, the first upper limb arm, the second upper limb arm, the first lower limb arm, and the second lower limb arm are all telescopic arm structures.

[0038] Furthermore, the telescopic arm structure includes a first arm and a second arm;

[0039] The first boom is movably inserted into the second boom;

[0040] The first arm has a first rack fixed inside it, which is arranged along its own axial direction.

[0041] The second arm has a second rack rotatably mounted inside it, and it can switch between a locked position and an unlocked position;

[0042] A torsion spring is provided at the rotatable connection of the second rack to provide elastic torque for the second arm to rotate toward the locked position;

[0043] When the second rack is in the locked position, it can engage with the first rack to lock the relative position between the first arm and the second arm;

[0044] The second rack is provided with a lever extending from the second arm, which is used to drive the second rack to rotate to the unlock position to disengage the second rack from the first rack.

[0045] Furthermore, the posture detection component includes an inertial measurement sensor, a joint angle sensor, a pressure sensor, and an electromyography sensor;

[0046] The inertial measurement sensor is installed on at least one arm of the upper limb drive assembly, at least one arm of the lower limb drive assembly, and the trunk wear assembly.

[0047] The joint motors of both the upper limb drive assembly and the lower limb drive assembly are connected to the joint angle sensor.

[0048] The pressure sensor is installed at the end of the lower limb drive assembly that is away from the torso wear assembly.

[0049] Electromyography (EMG) sensors are mounted on the surfaces of the torso wearable assembly, the driven upper limb assembly, and the driven lower limb assembly.

[0050] Furthermore, at least one of the drive upper limb components has a detection component connected to one end of it that is away from the torso wear component;

[0051] The detection components include a searchlight, a ranging sensor, and a toxic gas sensor.

[0052] As can be seen from the above technical solutions, the compact mining full-body assistive exoskeleton robot with explosion-proof shell and attitude monitoring designed in this application has the following beneficial effects:

[0053] 1. A flexible connecting frame that can be bent and deformed is designed to connect the torso wearable component and the drive lower limb component. Compared with the traditional rigid connection design, it can provide operators with the convenience of bending over to operate.

[0054] 2. The drive upper limb assembly and the drive lower limb assembly can be fixedly connected through the cooperation of the first quick-connect structure and the second quick-connect structure. This allows the torso wear assembly to be rigidly connected to the drive upper limb assembly and the drive lower limb assembly, thereby enabling flexible switching between rigid and flexible connections between the torso wear assembly and the drive lower limb assembly. When performing operations involving frequent bending, a flexible connection can be switched, while when performing heavy object handling operations, a rigid connection can be switched, better transferring the force to the ground through the drive lower limb assembly, improving work efficiency and usage flexibility.

[0055] 3. The designed first quick-connect structure can work with the third quick-connect structure to enable quick connection of external execution tools (such as drilling tools), further reducing the labor intensity of operators and improving work efficiency.

[0056] 4. It can provide various work assistance, such as assisting with shoulder / hand carrying and assisting with tool use, and has good applicability.

[0057] 5. The preparation of explosion-proof materials, combined with the design of attitude detection components, achieves good explosion-proof and attitude feedback effects, improving safety and flexibility of use.

[0058] 6. The upper limb drive assembly and the lower limb drive assembly can be quickly connected. When storing, they can be folded and connected, making the storage structure more compact. Attached Figure Description

[0059] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0060] Figure 1 This is a structural schematic diagram of the compact mining full-body assistive exoskeleton robot with an explosion-proof shell and attitude monitoring provided in this application;

[0061] Figure 2 This is a layout cross-sectional view of the telescopic arm structure of the compact mining full-body assistive exoskeleton robot with explosion-proof shell and attitude monitoring provided in this application;

[0062] In the diagram: 1. Torso wearing assembly; 11. Front wearable body; 12. Rear wearable body; 13. Shoulder connection assembly; 14. Locking assembly; 2. Drive upper limb assembly; 21. Shoulder drive joint; 22. Elbow drive joint; 23. First upper limb arm; 24. Second upper limb arm; 25. Upper fastener; 26. Shoulder movement support structure; 27. Detection assembly; 3. Flexible connecting frame; 4. Drive lower limb assembly; 41. Hip connector; 42. Hip drive joint; 43. Knee drive joint; 44. First lower limb arm; 45. Second lower limb arm; 46. Foot plate; 47. Lower fastener; 51. First quick-connect structure; 52. Second quick-connect structure; 61. First arm; 62. Second arm; 63. First rack; 64. Second rack; 65. Hand lever; 66. Torsion spring. Detailed Implementation

[0063] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the embodiments of this application.

[0064] In the description of the embodiments of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0065] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a replaceable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0066] This application discloses a compact mining full-body assisted exoskeleton robot with an explosion-proof shell and attitude monitoring.

[0067] Please see Figure 1 One embodiment of the compact mining full-body assistive exoskeleton robot with an explosion-proof shell and attitude monitoring provided in this application includes:

[0068] The system includes a torso wearable component 1, two driven upper limb components 2, two driven lower limb components 4, a flexible connecting frame 3, and a posture detection component.

[0069] Two drive upper limb components 2 are connected to the torso wear component 1, and each is equipped with a shoulder support structure 26 (which can be a plate structure, used to support and carry objects, and to achieve better shoulder operation) near the torso wear component 1.

[0070] The flexible connecting frame 3 is capable of bending and deformation; the two driving lower limb components 4 are connected to the torso wearable component 1 through the flexible connecting frame 3. The flexible connecting frame 3 can be made of explosion-proof materials such as high-performance fiber materials, such as aramid fibers, which have the characteristics of high strength and high modulus. Through its own high-strength fracture and the accompanying large-area deformation, it can effectively resist high-speed fragments generated by an explosion.

[0071] The upper limb drive assembly 2 has a first quick-connect structure 51 at the end furthest from the torso wear assembly 1; the lower limb drive assembly 4 has a second quick-connect structure 52 that can be detachably connected to the first quick-connect structure 51 of the upper limb drive assembly 2 located on the same side; the first quick-connect structure 51 can also dock with a third quick-connect structure on an external actuator. The quick-connect structure can be a plug-in quick-connect, a threaded locking quick-connect, or a snap-fit ​​quick-connect, etc., and there are no specific limitations, as long as it meets the requirements of stable and quick connection.

[0072] The posture detection component is used to detect the movement posture of the drive upper limb component 2 and the drive lower limb component 4; the shell structure of the torso wear component 1, the shell structure of the drive upper limb component 2, the shell structure of the drive lower limb component 4, and the flexible connecting frame 3 are all made of explosion-proof materials.

[0073] Regarding the explosion-proof materials for the outer shell structure, carbon fiber composite materials with added flame retardants can be used. This material is lightweight, high-strength, corrosion-resistant, and possesses excellent explosion-proof performance. Furthermore, the surface of the outer shell structure can undergo special treatments, such as using nano-coating technology, to enhance its antistatic and dust-repellent capabilities, thereby improving its reliability in harsh downhole environments.

[0074] Furthermore, efficient heat dissipation channels can be designed inside the outer casing, utilizing heat pipe technology to rapidly conduct heat generated by key heat-generating components to the surface of the casing. Adjustable heat dissipation fins can be installed on the surface of the casing, automatically adjusting the fin angle according to the operating temperature to increase the heat dissipation area and airflow efficiency.

[0075] The compact, fully-assisted exoskeleton robot for mining, featuring an explosion-proof shell and attitude monitoring, designed in this application, has the following beneficial effects:

[0076] 1. A flexible connecting frame 3 that can be bent and deformed is designed to connect the torso wearable component 1 and the drive lower limb component 4. Compared with the traditional rigid connection design, it can provide operators with the convenience of bending over to operate.

[0077] 2. The upper limb drive assembly 2 and the lower limb drive assembly 4 can be fixedly connected through the cooperation of the first quick-connect structure 51 and the second quick-connect structure 52. This allows the torso wear assembly 1 to be rigidly connected to the upper limb drive assembly 2 and the lower limb drive assembly 4, thereby enabling flexible switching between rigid and flexible connections between the torso wear assembly 1 and the lower limb drive assembly 4. When performing tasks involving bending over frequently, a flexible connection can be switched, while when performing heavy lifting operations, a rigid connection can be switched, better transferring the force to the ground through the lower limb drive assembly 4, improving work efficiency and flexibility of use.

[0078] 3. The designed first quick-connect structure 51 can work with the third quick-connect structure to enable quick connection of external execution tools (such as drilling tools), further reducing the labor intensity of operators and improving work efficiency.

[0079] 4. It can provide various work assistance, such as assisting with shoulder / hand carrying and assisting with tool use, and has good applicability.

[0080] 5. The preparation of explosion-proof materials, combined with the design of attitude detection components, achieves good explosion-proof and attitude feedback effects, improving safety and flexibility of use.

[0081] 6. The upper limb drive assembly 2 and the lower limb drive assembly 4 can be quickly connected. When storing, they can be folded and connected, making the storage structure more compact.

[0082] The above is Embodiment 1 of the compact mining full-body assisted exoskeleton robot with explosion-proof shell and attitude monitoring provided in this application. The following is Embodiment 2 of the compact mining full-body assisted exoskeleton robot with explosion-proof shell and attitude monitoring provided in this application. Please refer to the following for details. Figures 1 to 2 .

[0083] Based on the solution of Embodiment 1 above:

[0084] Furthermore, the torso wearing assembly 1 includes a front wearing body 11 and a rear wearing body 12; the top two ends of the front wearing body 11 are respectively connected to the top two ends of the rear wearing body 12 through a shoulder connecting assembly 13; the shoulder connecting assembly 13 can contact the shoulders of the human body; the bottom two ends of the front wearing body 11 are respectively detachably connected to the bottom two ends of the rear wearing body 12 through a locking assembly 14.

[0085] The shoulder connection component 13 can be designed as an adjustable-length shoulder strap structure to accommodate the needs of operators of different body types, ensuring stability and comfort during wear. The shoulder strap structure can be made of high-strength, wear-resistant, and explosion-proof materials to improve its service life. Additionally, adjustment buckles can be provided on the shoulder strap structure, allowing operators to adjust the length according to their own needs for a personalized wearing experience.

[0086] The front wearable body 11 and the rear wearable body 12 can be in the form of an X-shaped structure, with an internal mounting cavity that can provide for the installation of control modules and power modules, etc. The specific shape can be designed and varied according to actual needs.

[0087] The drive upper limb component 2 and the drive lower limb component 4 can both be connected to the rear wear body 12, or they can be connected to different wear bodies respectively. The specific design can be changed according to actual needs, and there are no restrictions.

[0088] Furthermore, the part of the shoulder connection assembly 13 that contacts the shoulder of the human body is an airbag structure or the shoulder connection assembly 13 is provided with an airbag structure that contacts the shoulder of the human body; the airbag structure is connected to a pressure sensor for detecting internal pressure; and also includes an alarm component that is electrically connected to the pressure sensor.

[0089] The airbag structure is designed to provide comfortable shoulder support when worn and adapts to the operator's shoulder shape, improving stability and comfort. A pressure sensor monitors the internal pressure of the airbag in real time. When the pressure exceeds a preset safety range, an alarm component will issue a warning signal to alert the operator and prevent excessive strain on the body. The alarm component can be an audible alarm, a visual alarm, or a vibration alarm; the specific form is not limited, as long as it meets the requirement of timely alerting the operator.

[0090] Furthermore, the locking assembly 14 includes a first buckle and a second buckle; the first buckle is connected to the front wear body 11 via a first connecting strap; the second buckle is connected to the rear wear body 12 via a second connecting strap and can be engaged with the first buckle; the length of the first connecting strap between the first buckle and the front wear body 11 is adjustable, or the length of the second connecting strap between the second buckle and the rear wear body 12 is adjustable.

[0091] The locking component 14 is designed to allow operators to adjust the fit according to their waist size, ensuring a tight and stable wearing experience. The first and second connecting straps can be made of high-strength, wear-resistant, and explosion-proof materials to extend their service life. The adjustable strap length can be achieved through adjustment buckles, making operation simple and meeting individual wearing needs. Furthermore, the first and second buckles can be designed with quick-locking and unlocking mechanisms for easy donning and undressing.

[0092] Furthermore, the design of the drive upper limb assembly 2 includes a shoulder drive joint 21, an elbow drive joint 22, a first upper limb arm 23, and a second upper limb arm 24.

[0093] The first drive end of the shoulder drive joint 21 is detachably connected to the torso wearable component 1, and the second drive end is detachably connected to the first end of the first upper limb arm 23; the first drive end of the elbow drive joint 22 is detachably connected to the second end of the first upper limb arm 23, and the second drive end is detachably connected to the first end of the second upper limb arm 24; the second end of the second upper limb arm 24 is provided with a first quick-connect structure 51; both the first upper limb arm 23 and the second upper limb arm 24 are provided with upper fasteners 25.

[0094] The design of the shoulder-driven joint 21 and elbow-driven joint 22 allows the upper limb assembly to flexibly perform multi-degree-of-freedom movements, simulating various actions of the human upper limb and providing an assistive effect. The detachable connection between the first upper limb arm 23 and the second upper limb arm 24, as well as their respective detachable connections to the driven joints, makes maintenance and replacement of the upper limb assembly more convenient. The design of the upper fastener 25 ensures the stability and safety of the upper limb assembly during wear, preventing it from falling off or loosening during exercise. Simultaneously, the upper fastener 25 can be made of soft and elastic materials, such as elastic bands, to improve wearing comfort.

[0095] Furthermore, the lower limb drive assembly 4 includes a hip drive joint 42, a knee drive joint 43, a foot plate 46, a first lower limb arm 44, a second lower limb arm 45, and a hip connector 41; the hip connector 41 is connected to a flexible connecting frame 3 and is provided with a second quick-connect structure 52; the first drive end of the hip drive joint 42 is detachably connected to the hip connector 41, and the second drive end is detachably connected to the first end of the first lower limb arm 44; the first drive end of the knee drive joint 43 is detachably connected to the second end of the first lower limb arm 44, and the second drive end is detachably connected to the first end of the second lower limb arm 45; the second end of the second lower limb arm 45 is connected to the foot plate 46; the first lower limb arm 44, the second lower limb arm 45, and the foot plate 46 are provided with lower binding fasteners 47.

[0096] The design of the hip-driven joint 42 and knee-driven joint 43 enables the lower limb assembly to simulate various movements of the human lower limb, providing powerful assistance to the operator. The detachable connection between the first lower limb arm 44 and the second lower limb arm 45, as well as their respective detachable connections to the driven joints, not only facilitates the maintenance and replacement of the lower limb assembly but also allows for flexible configuration according to different operational needs. The design of the lower limb fastener 47 ensures the stability and safety of the lower limb assembly during wear, preventing it from falling off or loosening during movement. Simultaneously, the lower limb fastener 47 can also be made of soft and elastic materials, such as elastic bands, to improve wearing comfort.

[0097] Furthermore, the first upper limb arm 23, the second upper limb arm 24, the first lower limb arm 44, and the second lower limb arm 45 are all telescopic arm structures.

[0098] This telescopic arm design allows the upper and lower limb components to be flexibly adjusted according to the operator's body shape and work requirements, providing a more fitting and comfortable wearing experience.

[0099] Furthermore, such as Figure 2 As shown, the telescopic boom structure includes a first boom 61 and a second boom 62; the first boom 61 is movably inserted into the second boom 62; a first rack 63 is fixed inside the first boom 61 along its own axial direction; a second rack 64 is rotatably mounted inside the second boom 62 and can switch between a locked position and an unlocked position; a torsion spring 66 is provided at the rotatable connection of the second rack 64 to provide elastic torque for the second boom 62 to rotate toward the locked position; when the second rack 64 is in the locked position, it can engage with the first rack 63 to lock the relative position between the first boom 61 and the second boom 62; the second rack 64 is provided with a lever 65 extending out of the second boom 62 to drive the second rack 64 to rotate toward the unlocked position to release the engagement between the second rack 64 and the first rack 63.

[0100] The above design can achieve the following effects:

[0101] 1. Compact and efficient structure: It adopts a rack and pinion locking method, which, compared with traditional bolt and pin locking structures, does not require additional perforation or complex adjustment parts. Reliable locking can be achieved in the limited internal space of the boom, which is conducive to the miniaturization design of the overall structure.

[0102] 2. Flexible stroke adjustment range: The first rack 63 is set along the axial direction of the first boom 61, and its length can be designed according to the actual telescopic requirements. The meshing position of the second rack 64 and the first rack 63 can vary within the entire length of the first rack 63 (limited by the length of the second boom 62), so that the length adjustment range of the telescopic boom can be flexibly customized to meet the requirements of different working radii or space adaptation.

[0103] 3. Convenient and Quick Operation: Unlocking is achieved by simply turning the second rack 64 using the lever 65. The operation is intuitive and simple, allowing users to quickly adjust the length of the telescopic arm, improving operational efficiency, especially suitable for work scenarios requiring frequent length adjustments. During the unlocking and adjustment process, since only the torque of the torsion spring 66 needs to be overcome to turn the second rack 64, the required force is small, achieving effortless adjustment. Once the lever 65 is released, the restoring force of the torsion spring 66 quickly pushes the second rack 64 back to the locked position and engages with the first rack 63, achieving instant self-locking. The entire process requires no additional locking action, further simplifying the operation procedure.

[0104] 4. Reliable and Stable Locking: The torsion spring 66 continuously provides elastic torque to the second rack 64 to rotate towards the locked position, ensuring that the second rack 64 remains stably engaged with the first rack 63 when the lever 65 is not manually operated. This effectively prevents the telescopic boom from accidentally slipping due to vibration or external forces during operation, ensuring safety and stability during use. The rack and pinion engagement features multiple meshing teeth simultaneously bearing force, which, compared to a single-point locking structure, can more evenly transmit and bear the load, thereby improving the load-bearing capacity and fatigue resistance of the telescopic boom structure. It can adapt to load requirements under different working conditions and extend its service life.

[0105] Furthermore, the posture detection component includes an inertial measurement sensor, a joint angle sensor, a pressure sensor, and an electromyography (EMG) sensor; at least one arm of the upper limb drive assembly 2, at least one arm of the lower limb drive assembly 4, and the torso wear assembly 1 are all equipped with inertial measurement sensors (specifically, the front wear body 11, the rear wear body 12, the first upper limb arm 23, the second upper limb arm 24, the first lower limb arm 44, and the second lower limb arm 45 can all be equipped with inertial measurement sensors); the joint motors of the upper limb drive assembly 2 and the lower limb drive assembly 4 are all connected to joint angle sensors (specifically, the joint motors of the shoulder drive joint 21, the elbow drive joint 22, the hip drive joint 42, and the knee drive joint 43 are all connected to joint angle sensors); a pressure sensor is installed at the end of the lower limb drive assembly 4 away from the torso wear assembly 1 (specifically, a pressure sensor is installed at the bottom of the foot plate 46); EMG sensors are installed on the surfaces of the torso wear assembly 1, the upper limb drive assembly 2, and the lower limb drive assembly 4 (specifically, EMG sensors can be installed at the surface position that fits the human body).

[0106] Inertial measurement sensors can measure motion parameters such as acceleration and angular velocity of various parts of the human body, enabling a holistic perception of the body's spatial position and posture, including tilt angles, direction of movement, and speed. Joint angle sensors can accurately acquire the rotation angles of various joints, such as the degree of flexion in the shoulder, elbow, hip, and knee joints. Pressure sensors can detect the pressure exerted on the body in contact with external stimuli, such as the pressure distribution on the sole of the foot, reflecting the body's weight-bearing status and the point of force applied during walking. These three types of sensors provide information from different perspectives, complementing each other to allow the system to comprehensively and accurately understand the body's motion state.

[0107] Combining multiple sensors can improve the accuracy of motion recognition. Different movements generate specific signal combinations on various sensors, and the system can accurately identify the movement by analyzing these signals. For example, when a person raises their arm, an inertial measurement sensor detects the arm's trajectory, a joint angle sensor records the angle changes of the shoulder and elbow joints, and a pressure sensor may sense changes in plantar pressure caused by the shift in the body's center of gravity due to the change in arm position. Based on this comprehensive information, the system can accurately determine that it is a raising arm movement and provide corresponding assistance control according to preset rules.

[0108] Furthermore, data from different sensors can be cross-verified and calibrated, improving system reliability. When a sensor malfunctions or displays abnormal data, data from other sensors can serve as a reference, helping the system determine if a problem exists and make appropriate adjustments. For example, if the data from the inertial measurement sensor suddenly fluctuates significantly, while the data from the joint angle sensor and pressure sensor are normal, the system can initially determine that the inertial measurement sensor may be malfunctioning, and thus take appropriate measures, such as ignoring the abnormal data from that sensor or triggering a fault alarm.

[0109] Furthermore, at least one drive upper limb component 2 has a detection component 27 connected to one end of its wearable component 1 away from the torso; the detection component 27 includes a spotlight, a range sensor, and a gas sensor.

[0110] The searchlight provides illumination for operators, especially in low-light or dark environments, improving visibility in the work area and ensuring operational safety. The distance sensor measures the distance between the operator and the target object in real time, providing distance reference and feedback for handheld tool operation, enabling more precise control. The toxic gas sensor detects the concentration of toxic gases in the work environment; when the concentration exceeds the safe level, it issues an alarm to remind operators to take appropriate protective measures and avoid poisoning accidents. The design of the detection component 27 enhances the robot's adaptability and safety in complex working environments, providing more comprehensive protection for operators.

[0111] Furthermore, miniature servo motors and deformable skeletons (such as those using shape memory alloys or multi-segment hinge structures) can be built into the front wear body 11 and the rear wear body 12. The posture detection component captures human body posture features such as spinal curvature and chest expansion in real time. Based on this data, the control module drives the deformable skeleton to automatically adjust the curvature and opening angle of the front and rear wear bodies 12, so as to achieve dynamic fit between the exoskeleton and the human torso under different body types and postures (such as bending over and straightening the chest), thereby further improving comfort and responsiveness.

[0112] Furthermore, the torso wearable component 1 integrates a miniature Peltier effect temperature control unit and an energy recovery device within its mounting cavity. The temperature control unit actively regulates the internal temperature of the wearable device based on ambient temperature and human skin temperature (detectable via the temperature sensing function attached to the electromyography sensor or an additional temperature sensor) through contact heat conduction or a small fan. The energy recovery device utilizes the reverse rotational or vibrational energy of drive joints (such as the knee drive joint 43 during walking), converting it into electrical energy via a miniature generator and storing it in a backup battery or supercapacitor to extend battery life.

[0113] The above provides a detailed description of the compact mining full-body assisted exoskeleton robot with explosion-proof shell and attitude monitoring provided in this application. For those skilled in the art, based on the ideas of the embodiments of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A compact mine-use full-body assist exoskeleton robot having an explosion-proof housing and a posture monitor, characterized by, The application relates to a wearable robot, which comprises a trunk wearing assembly (1), two driving upper limb assemblies (2), two driving lower limb assemblies (4), a flexible connecting frame (3) and a posture detecting assembly. The two driving upper limb assemblies (2) are connected to the trunk wearing assembly (1), and each is provided with a shoulder driving support structure (26) near the position of the trunk wearing assembly (1). The flexible connecting frame (3) can be bent and deformed. The two driving lower limb assemblies (4) are connected to the trunk wearing assembly (1) through the flexible connecting frame (3). The driving upper limb assembly (2) is provided with a first quick connecting structure (51) at the end away from the trunk wearing assembly (1). The driving lower limb assembly (4) is provided with a second quick connecting structure (52) which can be detachably connected to the first quick connecting structure (51) of the driving upper limb assembly (2) on the same side, so as to realize flexible switching between rigid connection and flexible connection between the trunk wearing assembly and the driving lower limb assembly. The first quick connecting structure (51) can also be connected to a third quick connecting structure on an external execution tool. The posture detecting assembly is used for detecting the movement posture of the driving upper limb assembly (2) and the driving lower limb assembly (4). The shell structure of the trunk wearing assembly (1), the shell structure of the driving upper limb assembly (2), the shell structure of the driving lower limb assembly (4) and the flexible connecting frame (3) are all made of explosion-proof materials.

2. The compact mine-use full-body assist exoskeleton robot with explosion-proof housing and posture monitoring according to claim 1, characterized in that, The trunk wearing assembly (1) comprises a front wearing body (11) and a rear wearing body (12). The top ends of the front wearing body (11) are connected to the top ends of the rear wearing body (12) through shoulder connecting assemblies (13) respectively. The shoulder connecting assemblies (13) can contact the shoulders of a human body. The bottom ends of the front wearing body (11) are detachably connected to the bottom ends of the rear wearing body (12) through locking assemblies (14) respectively.

3. The compact mine-use full-body assist exoskeleton robot with anti-explosion housing and posture monitoring according to claim 2, characterized in that, The part of the shoulder connecting assemblies (13) contacting the shoulders of a human body is a gasbag structure or the shoulder connecting assemblies (13) are provided with a gasbag structure contacting the shoulders of a human body. The gasbag structure is connected to a gas pressure sensor for detecting the internal pressure. An alarm assembly is further provided and electrically connected to the gas pressure sensor.

4. The compact mine-use full-body assist exoskeleton robot with anti-explosion housing and posture monitoring according to claim 2, characterized in that, The locking assembly (14) comprises a first buckle and a second buckle. The first buckle is connected to the front wearing body (11) through a first connecting belt. The second buckle is connected to the rear wearing body (12) through a second connecting belt and can be buckled with the first buckle. The length of the first connecting belt between the first buckle and the front wearing body (11) is adjustable, or the length of the second connecting belt between the second buckle and the rear wearing body (12) is adjustable.

5. The compact mine-duty full-body assist exoskeleton robot with blast- resistant enclosure and posture monitoring of claim 1, wherein, The driving upper limb assembly (2) comprises a shoulder driving joint (21), an elbow driving joint (22), a first upper limb arm (23) and a second upper limb arm (24). The first driving end of the shoulder driving joint (21) is detachably connected to the trunk wearing assembly (1), and the second driving end is detachably connected to the first end of the first upper limb arm (23). The first driving end of the elbow driving joint (22) is detachably connected with the second end of the first upper limb arm (23), and the second driving end is detachably connected with the first end of the second upper limb arm (24); The second end of the second upper limb arm (24) is provided with the first quick connection structure (51); The first upper limb arm (23) and the second upper limb arm (24) are both provided with an upper binding part (25).

6. The compact mine-use full-body assist exoskeleton robot with anti-explosion housing and posture monitoring according to claim 5, characterized in that, The driving lower limb assembly (4) comprises a hip driving joint (42), a knee driving joint (43), a foot plate (46), a first lower limb arm (44), a second lower limb arm (45) and a hip connecting part (41); The hip connecting part (41) is connected with the flexible connecting frame (3), and the hip connecting part (41) is provided with the second quick connection structure (52); The first driving end of the hip driving joint (42) is detachably connected with the hip connecting part (41), and the second driving end is detachably connected with the first end of the first lower limb arm (44); The first driving end of the knee driving joint (43) is detachably connected with the second end of the first lower limb arm (44), and the second driving end is detachably connected with the first end of the second lower limb arm (45); The second end of the second lower limb arm (45) is connected with the foot plate (46); The first lower limb arm (44), the second lower limb arm (45) and the foot plate (46) are provided with a lower binding part (47).

7. The compact mine-duty full-body assist exoskeleton robot with blast- resistant enclosure and posture monitoring of claim 6, wherein, The first upper limb arm (23), the second upper limb arm (24), the first lower limb arm (44) and the second lower limb arm (45) are all telescopic arm structures.

8. The compact mine-duty full-body assist exoskeleton robot with blast- resistant enclosure and posture monitoring of claim 7, wherein, The telescopic arm structure comprises a first arm rod (61) and a second arm rod (62); The first arm rod (61) is movably inserted into the second arm rod (62); The first arm rod (61) is fixedly provided with a first rack (63) arranged along the axial direction of the first arm rod (61); The second arm rod (62) is rotatably provided with a second rack (64), and the second rack (64) can be switched between a locked position and an unlocked position; The rotating connection part of the second rack (64) is provided with a torsional spring (66) for providing elastic torsional force of the second arm rod (62) to the locked position; When the second rack (64) is in the locked position, the second rack (64) can be engaged with the first rack (63) to lock the relative position between the first arm rod (61) and the second arm rod (62); The second rack (64) is provided with a handle part (65) extending out of the second arm rod (62), which is used to drive the second rack (64) to rotate to the unlocked position, so as to release the engagement between the second rack (64) and the first rack (63).

9. The compact mine-duty full-body assist exoskeleton robot with blast- resistant enclosure and posture monitoring of claim 1, wherein, The posture detection assembly comprises an inertial measurement sensor, a joint angle sensor, a pressure sensor and an electromyography sensor; The inertial measurement sensor is mounted on at least one limb arm of the driving upper limb assembly (2), at least one limb arm of the driving lower limb assembly (4) and the torso wearing assembly (1); The joint angle sensor is connected with the joint motors of the driving upper limb assembly (2) and the driving lower limb assembly (4). The pressure sensor is installed at one end of the driving lower limb assembly (4) away from the torso wearing assembly (1); The surface of the torso wearing assembly (1), the driving upper limb assembly (2) and the driving lower limb assembly (4) is all installed with an electromyographic sensor.

10. The compact mine-duty full-body assist exoskeleton robot with blast- resistant enclosure and posture monitoring of claim 1, wherein, At least one driving upper limb assembly (2) is connected with a detection assembly (27) at one end away from the torso wearing assembly (1); The detection assembly (27) comprises a searchlight, a distance measuring sensor and a toxic gas sensor.

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