Tool nested type upper limb exoskeleton for electric power operation

Abstract

The invention provides a tool nested type electric power operation upper limb exoskeleton, the upper limb exoskeleton can be nested in a tool, and the upper limb exoskeleton comprises a back support mechanism, the lower side of which is fixed through a lower limb waistband; the motor driving module is arranged in the back supporting mechanism in an embedded mode; the shoulder connecting assembly is movably connected with the back supporting mechanism through an angle adjusting mechanism and is in driving connection with the motor driving module; the arm assisting mechanism is connected to the side, away from the back supporting mechanism, of the shoulder connecting assembly; two groups of back supporting mechanisms, two groups of shoulder connecting assemblies and two groups of arm assisting mechanisms are symmetrically arranged; during use, the motor driving module transmits driving force to the shoulder connecting assembly, so that the shoulder connecting assembly freely swings along with the natural movement path of a human body, and shoulder joints are assisted in bending and stretching; and safe nesting with an insulation tool, lightweight dynamic assistance and man-machine work efficiency optimization are realized.

Description

Technical Field

[0001] This invention relates to the field of power transmission and transformation construction / operation and maintenance technology, specifically to a tool-nested upper limb exoskeleton for power operations. Background Technology

[0002] In power system operation and maintenance, equipment installation and high-altitude operations, workers often need to lift heavy objects (such as insulator strings, hardware, equipment parts, etc.) for long periods of time or maintain specific upper limb working postures, which leads to the accumulation of shoulder and arm muscle fatigue and a significant increase in the risk of joint strain.

[0003] While traditional industrial exoskeletons can provide assistance and support, they suffer from the following key bottlenecks:

[0004] (1) Poor human-machine compatibility: The general exoskeleton structure is rigid and fixed, making it difficult to adapt to the insulating protective clothing required for power operations (such as heavy multi-layer insulating clothing and anti-arc clothing). Wearing it can easily lead to limited movement, local pressure, or even damage to the insulation integrity.

[0005] (2) Insufficient scene adaptation: The power field environment is complex (such as narrow space of iron towers and live working areas). Existing exoskeletons are bulky and have low joint freedom, which cannot meet the dynamic posture requirements such as climbing and head-tilting operation.

[0006] (3) Lack of functional integration: There is a lack of quick nesting interface with power-specific tooling (such as tool mounting belts and insulation protection accessories). During operation, the exoskeleton needs to be repeatedly removed and removed when frequently picking up and putting down tools, which greatly reduces efficiency.

[0007] Current solutions such as pneumatic power arms and simple shoulder supports only provide passive load-bearing, failing to resolve the synergistic contradictions between protective compatibility, dynamic flexibility, and tool integration. Therefore, there is an urgent need for an upper limb exoskeleton system that is deeply adapted to the needs of special power operations, achieving safe nesting with insulated tooling, lightweight dynamic assistance, and optimized ergonomics through innovative structural design. Summary of the Invention

[0008] To address the issues of traditional exoskeletons being cumbersome to wear and only providing passive load-bearing in actual power operations, this invention proposes a tooling-nested upper limb exoskeleton for power operations. The upper limb exoskeleton can be nested within the tooling, and includes:

[0009] The back support mechanism is secured at the lower side by a lower limb waist belt;

[0010] The motor drive module is embedded inside the back support mechanism;

[0011] The shoulder connection assembly is movably connected to the back support mechanism via an angle adjustment mechanism and is also driven by the motor drive module.

[0012] An arm assist mechanism is connected to the shoulder connection assembly on the side away from the back support mechanism;

[0013] The back support mechanism, shoulder connection assembly, and arm assist mechanism are symmetrically arranged in two sets;

[0014] When in use, the motor drive module transmits driving force to the shoulder connection component, causing the shoulder connection component to swing freely along the natural movement path of the human body, assisting in the flexion and extension of the shoulder joint.

[0015] Preferably, the back support mechanism includes: a housing with a trapezoidal inner cavity, and the motor drive module is nested in the trapezoidal inner cavity;

[0016] The upper side of the housing is movably connected to the shoulder connection assembly via an angle adjustment mechanism, and the lower side of the housing is fixedly connected to the lower limb waist belt.

[0017] Preferably, the motor drive module includes:

[0018] The motor is fixed to one side of the housing by a motor bracket;

[0019] A spur gear is disposed in the trapezoidal inner cavity and connected to the motor;

[0020] A synchronous belt pulley meshes with the spur gear.

[0021] A timing belt, one end of which is tensioned and connected to the timing pulley, and the other end of which is connected to the shoulder connection assembly;

[0022] The battery is fixed in the trapezoidal inner cavity by a battery bracket and connected to the motor.

[0023] Preferably, a universal joint is provided between the back support mechanism and the lower limb waist belt.

[0024] Preferably, the ball joint is made of GCr15 bearing steel that has been quenched, and the inner wall of the ball socket is laser-clad with a copper-based self-lubricating alloy layer.

[0025] Preferably, the shoulder connection assembly includes: a nested shoulder joint and a transmission link;

[0026] One end of the transmission link is rotatably connected to the shoulder joint via a movable connecting shaft, and the other end is hinged to the back support mechanism via a synchronous belt.

[0027] Preferably, the arm-assist mechanism includes:

[0028] One end of the telescopic arm connecting rod is fixedly connected to the shoulder connecting assembly;

[0029] An arm strap is attached to the other end of the arm telescopic connecting rod.

[0030] Preferably, the telescopic arm connecting rod includes:

[0031] The upper limb connecting rod is fixedly connected at one end to the shoulder connecting assembly;

[0032] An upper limb telescopic connecting rod is adjustablely located at the other end of the upper limb connecting rod;

[0033] A connecting shaft is inserted through the end of the upper limb telescopic connecting rod away from the upper limb connecting rod and is fixed to the arm strap by a washer.

[0034] Preferably, the arm strap includes: an upper arm strap and a lower arm strap, one end of which is hinged to the other end of the arm strap via an arm connecting shaft and snapped together;

[0035] The lower arm strap is fixedly connected to the arm telescopic connecting rod.

[0036] Preferably, the arm strap is made of three layers of functional fabric: an inner layer with an antibacterial silver ion knitted lining, a middle layer with composite shape memory alloy wire, and an outer layer covered with 500D high-strength nylon tear-resistant fabric.

[0037] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0038] This invention provides a tooling-nested upper limb exoskeleton for power operations. The upper limb exoskeleton can be nested inside the tooling and includes: a back support mechanism, fixed at the lower side by a lower limb belt; a motor drive module, embedded inside the back support mechanism; a shoulder connection assembly, movably connected to the back support mechanism via an angle adjustment mechanism and driven by the motor drive module; and an arm assist mechanism connected to the side of the shoulder connection assembly away from the back support mechanism. The back support mechanism, shoulder connection assembly, and arm assist mechanism are symmetrically arranged in two sets. When in use, the motor drive module transmits driving force to the shoulder connection assembly, allowing the shoulder connection assembly to swing freely along the natural movement path of the human body, assisting in shoulder joint flexion and extension. The upper side of the back support mechanism is connected to the shoulder connection component via an angle adjustment mechanism, allowing control of the shoulder's range of motion. The lower side of the back support mechanism is connected to the lower limb waist belt support mechanism, enabling the transmission of force throughout the body. The arm assist mechanism is adjustable in length and can rotate to adapt to the length of a human arm and the elbow flexion angle. Through the shoulder and elbow bionic joints designed in the shoulder connection component and arm assist mechanism, it supports non-planar movements such as climbing iron towers and installing equipment with the head tilted back, achieving stable support of the entire body posture and reducing load on key joints during operation. It is particularly suitable for high-frequency, high-amplitude power manual labor output scenarios, effectively extending working hours and reducing fatigue and the risk of work-related injuries. After the personnel wear the nested upper limb exoskeleton for power operations, the motor drive module integrated in the back support mechanism drives the power transmission to the shoulder connection component and the arm assist mechanism fixed to the human body, allowing the shoulder joint to swing freely with the natural movement path of the human body. When the personnel raise their arms or lift heavy objects, the system outputs torque in real time to assist the shoulder joint flexion and extension, significantly reducing the load on the upper limbs. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the overall (without tooling) three-dimensional structure of the upper limb exoskeleton of the present invention;

[0040] Figure 2 This is a schematic diagram of the overall (with tooling) three-dimensional structure of the upper limb exoskeleton of the present invention;

[0041] Figure 3 This is a schematic diagram of the disassembled structure of the back support mechanism of the present invention;

[0042] Figure 4 This is a schematic diagram of the disassembled structure of the shoulder connection component of the present invention;

[0043] Figure 5 This is a schematic diagram showing the disassembled arm telescopic connecting rod of the present invention;

[0044] Figure 6 This is an enlarged, disassembled schematic diagram of the arm strap of the present invention;

[0045] The components are: 1-back support mechanism, 2-shoulder connecting assembly, 3-arm telescopic connecting rod, 4-arm strap, 5-lower limb waist belt, 101-universal joint, 102-battery bracket, 103-battery, 104-spur gear, 105-synchronous belt pulley, 106-housing, 107-synchronous belt, 108-motor bracket, 109-motor, 201-transmission link, 202-shoulder joint, 203-movable connecting shaft, 301-connecting shaft, 302-upper limb telescopic movable connecting rod, 303-waist pad, 304-upper limb connecting rod, 401-lower arm strap, 402-arm connecting shaft, 403-upper arm strap. Detailed Implementation

[0046] Example 1:

[0047] like Figure 1 As shown, a tooling-nested upper limb exoskeleton for power operations is disclosed. The upper limb exoskeleton can be nested inside the tooling. The upper limb exoskeleton includes:

[0048] The back support mechanism 1 is fixed at the lower side by a lower limb waist belt 5;

[0049] The motor drive module is embedded inside the back support mechanism 1;

[0050] The shoulder connection component 2 is movably connected to the back support mechanism 1 via an angle adjustment mechanism and is also driven by the motor drive module.

[0051] An arm assist mechanism is connected to the shoulder connection assembly 2 on the side away from the back support mechanism 1;

[0052] The back support mechanism 1, shoulder connection component 2, and arm assist mechanism are symmetrically arranged in two sets;

[0053] When in use, the motor drive module transmits driving force to the shoulder connection component 2, causing the shoulder connection component 2 to swing freely along the natural movement path of the human body, assisting in the flexion and extension of the shoulder joint.

[0054] The upper part of the back support mechanism 1 is connected to the shoulder connection component 2. The angle of the shoulder connection component 2 can be controlled by the angle adjustment mechanism. The shoulder connection component 2 can fix the arm assist mechanism. The arm assist mechanism is used to fix on the arm and the tightness and position of the fixation can be adjusted.

[0055] like Figure 2 As shown, the upper limb exoskeleton of the present invention is a nested design that can be nested in workwear to achieve effective integration of multi-layer insulating clothing, arc-proof clothing, etc. with the exoskeleton, achieving interference-free compatibility;

[0056] Meanwhile, the nested design allows for integration with ordinary work tools, enabling the direct wearing of small electrical tools such as voltage detectors, wrenches, and safety belts, achieving interference-free compatibility with work tools.

[0057] The nested design also allows for integration with ordinary work tools, enabling the direct wearing of small electrical tools such as voltage detectors, wrenches, and safety belts, achieving interference-free compatibility with work tools.

[0058] The upper side of the back support mechanism 1 is connected to the shoulder connection component 2 through an angle adjustment mechanism, which can control the shoulder movement angle.

[0059] The lower side of the back support mechanism 1 integrates a universal joint 101 for connecting the lower limb waist belt 5. The lower limb waist belt 5 serves as the basis for supporting the upper limb exoskeleton and realizes the transmission of force throughout the body.

[0060] The back support mechanism 1 is internally embedded with a motor drive module, which transmits power to the connected shoulder connection component 2. It mimics the movement of the human shoulder, allowing the shoulder joint to swing freely along the natural movement path of the human body. When the person raises their arm or lifts a heavy object, the system outputs torque in real time to assist the shoulder joint flexion and extension, significantly reducing the load on the upper limb. The bionic shoulder and elbow joints can support non-planar movements such as climbing iron towers and tilting the head to install equipment, achieving full-body posture stability support and load reduction of key joints during the operation. It is particularly suitable for high-frequency, large-amplitude power manual physical output scenarios, effectively extending working hours and reducing fatigue and work injury risks.

[0061] By adopting a nested tooling structure design, the exoskeleton system can be seamlessly integrated with wearable equipment commonly used by power workers, such as safety belts, fall arrestors, tool bags, and protective suits. This effectively improves wearing efficiency and work continuity, avoiding the problems of cumbersome wearing and mutual interference of traditional exoskeletons in actual power operations. It is especially suitable for high-altitude work scenarios such as tower climbing and tower support.

[0062] like Figure 3 As shown, the back support mechanism 1 includes: a housing 106 with a trapezoidal inner cavity inside, and the motor drive module is nested in the trapezoidal inner cavity;

[0063] The upper side of the housing 106 is movably connected to the shoulder connection assembly 2 via an angle adjustment mechanism, and the lower side of the housing 106 is fixedly connected to the lower limb waist belt 5.

[0064] The housing 106 of the back support mechanism 1 is made of carbon fiber reinforced composite material in one piece. It has a trapezoidal inner cavity for nesting the motor drive module. Silicone shock-absorbing pads are fixedly connected to the four corners of the inner cavity. The meshing surface of the synchronous pulley and the spur gear 104 is treated with carburizing hardening.

[0065] Key load-bearing components, such as the back support mechanism 1, are made of carbon fiber reinforced composite material. The overall structure of the exoskeleton system adopts a modular and lightweight design, which effectively reduces the weight of the whole machine and the energy burden on the wearer while ensuring mechanical strength and stability. This is significantly better than the shortcomings of existing industrial exoskeletons, which are generally large in size, heavy in weight, and have limited mobility.

[0066] Preferably, the motor drive module includes:

[0067] The motor 109 is fixed to one side of the housing 106 by the motor bracket 108;

[0068] A spur gear 104 is disposed in the trapezoidal inner cavity and connected to the motor 109;

[0069] The synchronous belt pulley 105 is meshed with the spur gear 104;

[0070] The timing belt 107 is tensioned and connected at one end to the timing pulley 105, and at the other end to the shoulder connection assembly 2;

[0071] The battery 103 is fixed in the trapezoidal inner cavity by the battery bracket 102 and connected to the motor 109.

[0072] The battery bracket 102 is an aluminum alloy substrate that has undergone hard anodizing, and the battery 103 is fixed by pressing with a shock-absorbing silicone pad.

[0073] The battery bracket 102 is fixed in the trapezoidal inner cavity inside the housing 106 near the lower side, and the battery 103 is installed on the battery bracket 102 to power the entire motor drive module.

[0074] The motor 109 is connected to the housing 106 by three sets of aerospace-grade aluminum alloy fastening bolts. The bolt surfaces are coated with Dacromet anti-rust coating. The rotor shaft of the motor 109 and the spur gear 104 are tightly fitted with a D-shaped plane with an axial deviation of ≤0.05mm. The tooth surface of the synchronous belt 107 is reinforced by polyurethane impregnation.

[0075] The motor bracket 108 is fixed to the outside of the housing 106 near the upper side to support the motor 109; the motor 109 passes through the housing 106 and is connected to the spur gear 104. When the motor 109 is working, it drives the spur gear 104 to engage with the synchronous belt 107 connected to the synchronous belt pulley 105, and transmits power to the shoulder connection assembly 2 at the shoulder through the synchronous belt 107. The transmission design of the synchronous belt 107 has the characteristics of high responsiveness and low noise.

[0076] The motor drive mechanism, combined with the whole-body multi-joint dynamic auxiliary unit and adaptive assist control algorithm, can automatically identify the working state according to the wearer's movement characteristics such as support and lifting and different work scenarios, and dynamically adjust the assist output strategy. This overcomes the problem that existing exoskeletons cannot intelligently adjust according to actual working conditions, and significantly improves operating comfort and work efficiency.

[0077] Preferably, a universal joint 101 is provided between the back support mechanism 1 and the lower limb waist belt 5.

[0078] The universal joint 101 is connected to the lower side of the housing 106 of the back support mechanism 1, and the universal joint 101 connects the housing 106 of the back support mechanism 1 to the lower limb waist belt 5.

[0079] Preferably, the ball joint 101 is made of GCr15 bearing steel that has been quenched, and the inner wall of the ball socket is laser-clad with a copper-based self-lubricating alloy layer.

[0080] The universal joint 101 on the back is rigidly connected to the lower limb mechanism to buffer the impact of whole-body movement and ensure the stability of upper limb movements.

[0081] like Figure 4 As shown, the shoulder connection assembly 2 includes: a nested shoulder joint 202 and a transmission link 201;

[0082] One end of the transmission link 201 is rotatably connected to the shoulder joint 202 via a movable connecting shaft 203, and the other end is hinged to the back support mechanism 1 via a synchronous belt 107.

[0083] The shoulder connection assembly 2 is nested together by a transmission link 201, a shoulder joint 202, and a movable connecting shaft 203. One end of the transmission link 201 is hinged to the housing 106 of the back support mechanism 1, and the other end is rotatably connected to the shoulder joint 202 through the movable connecting shaft 203. The movable connecting shaft 203 allows the transmission link 201 to rotate around the shoulder joint, realizing the freedom of movement of the shoulder joint and ensuring the smooth transmission of force when the arm moves.

[0084] The shoulder connection assembly 2 is locked to the housing 106 via a titanium alloy hinge shaft. The surface of the movable connection shaft 203 is laser-engraved with oil storage micro-textures. The shoulder joint 202 is a stainless steel concave ball joint structure. Its inner wall is coated with a molybdenum disulfide lubricating layer and fits the transmission connecting rod 201. A through hole is drilled on the rear surface of the joint and aligned with the threaded blind hole of the housing 106.

[0085] like Figure 5 As shown, the arm-assist mechanism includes:

[0086] One end of the telescopic arm connecting rod 3 is fixedly connected to the shoulder connecting assembly 2;

[0087] The arm strap 4 is connected to the other end of the arm telescopic connecting rod 3.

[0088] The splined mating surfaces of the arm telescopic connecting rod 3 and the shoulder connecting assembly 2 are machined by shaving.

[0089] Preferably, the telescopic arm connecting rod 3 includes:

[0090] The upper limb connecting rod 304 is fixedly connected at one end to the shoulder connecting assembly 2;

[0091] The upper limb telescopic connecting rod 302 is adjustablely disposed at the other end of the upper limb connecting rod 304;

[0092] A connecting shaft 301 is disposed through one end of the upper limb telescopic connecting rod 302 away from the upper limb connecting rod 304, and is fixed to the arm strap 4 by a gasket 303.

[0093] One end of the upper limb connecting rod 304 is fixed to the shoulder joint 202, and the other end is hinged to the upper limb telescopic connecting rod 302; the connecting shaft 301 passes through the upper limb telescopic connecting rod 302 and the pad 303, so that the upper limb telescopic connecting rod 302 can rotate around the pad; the upper limb telescopic connecting rod 302 can be adjusted in length along the axial direction to adapt to different arm length requirements.

[0094] The pad 303 is fixed to the outer surface of the strap and serves as a pivot point for rotation. The connecting shaft 301 causes the upper limb telescopic connecting rod 302 to rotate around the pad 303. The pad 303 is located on the outer surface of the arm strap 4. One section of the upper limb connecting rod 304 is connected to the shoulder connecting assembly 2, and causes the upper limb telescopic connecting rod 302 to telescopically move in a specified direction, thereby achieving precise position adjustment of the arm strap 4.

[0095] The surface of the connecting shaft 301 is plated with hard chrome with a thickness of 20μm. The gasket 303 is made of stainless steel substrate and is electrolytically polished. The contact surface of the upper limb telescopic connecting rod 302 is inlaid with a polytetrafluoroethylene wear-resistant layer. The telescopic guide surface of the upper limb telescopic connecting rod 302 is subjected to hard anodizing treatment.

[0096] like Figure 6 As shown, the arm strap 4 includes: an upper arm strap 403 and a lower arm strap 401, one of which is hinged to the other end via an arm connecting shaft 402 and snapped together;

[0097] The lower arm strap 401 is fixedly connected to the arm telescopic connecting rod 3.

[0098] The upper arm strap 403 and the lower arm strap 401 are hinged together by the arm connecting shaft 402 to achieve adaptive strap angle; the arm strap 4 is also provided with a multi-level buckle structure, which can quickly adjust the tightness to adapt to different arm circumferences, allowing the strap opening and closing angle to be adjusted, quickly adapting to different arm circumferences and improving wearing comfort.

[0099] The hinge joint between the upper arm strap 403 and the lower arm strap 401 is laser-cut with holes.

[0100] Preferably, the arm strap 4 is made of three layers of functional fabric: an inner layer with an antibacterial silver ion knitted lining, a middle layer with composite shape memory alloy wire, and an outer layer covered with 500D high-strength nylon tear-resistant fabric.

[0101] The composite shape memory alloy wire in the middle layer is preferably made of nickel-titanium alloy.

[0102] Example 2:

[0103] An embodiment of the upper limb exoskeleton of the present invention is as follows:

[0104] After the personnel wear the nested power operation full-body exoskeleton, the upper limb assist system is driven by the motor 109 integrated in the back support mechanism 1.

[0105] The motor 109 is fixed to the housing 106 by the motor bracket 108. Its output shaft drives the spur gear 104 to rotate, and the synchronous belt 107 is tensioned by the meshing synchronous pulley 105, which transmits the power to the shoulder connection assembly 2.

[0106] The power is transmitted through the movable connecting shaft 203 of the shoulder joint 202 to drive the transmission link 201, so that the shoulder joint 202 swings freely along the natural movement path of the human body.

[0107] When a person raises their arm or lifts a heavy object, the system outputs torque in real time to assist in shoulder joint flexion and extension, significantly reducing the load on the upper limbs.

[0108] The power is further transmitted to the upper limb telescopic connecting rod 302 through the upper limb connecting rod 304. The telescopic rod rotates around the pad 303 fixed to the arm strap 4 through the connecting shaft 301, adapting to the elbow flexion angle. At the same time, the upper arm strap 403 and the lower arm strap 401 of the strap system are linked through the arm connecting shaft 402, automatically adjusting the tightness and angle when the elbow is flexed and extended, eliminating movement resistance.

[0109] Example 3:

[0110] The upper limb exoskeleton provided by this invention is also equipped with an auxiliary system. Through the synergistic effect of multi-dimensional perception and feedback mechanisms, it can achieve stable support of the whole body posture and reduce the load on key joints during the operation process. It is particularly suitable for high-frequency and large-amplitude power manual labor output scenarios, effectively extending working hours and reducing fatigue and work injury risks.

[0111] The electronic central control system dynamically adjusts the motor output torque according to the action mode, such as equipment lifting and high-altitude climbing, while the back universal joint 101 is rigidly connected to the lower limb mechanism to buffer the impact of whole-body movement and ensure the stability of upper limb movements.

[0112] By combining a full-body multi-joint dynamic assist unit with an adaptive assist control algorithm, the system can automatically identify the working state based on the wearer's motion characteristics and different work scenarios such as support and lifting, and dynamically adjust the assist output strategy. This overcomes the problem that existing exoskeletons cannot intelligently adjust according to actual working conditions, significantly improving operational comfort and work efficiency.

[0113] The synchronous belt 107 transmission design combines high responsiveness and low noise. Combined with the manual / electric length adjustment function of the telescopic rod 302, it can adapt to different arm length operation scenarios such as close-range wiring and long-distance climbing, ultimately achieving efficient and precise upper limb assistance, and comprehensively improving the operational safety and work efficiency in scenarios such as power maintenance and high-altitude operations.

[0114] The above are merely embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention are included within the scope of the claims of the present invention pending approval.

Claims

1. A tool-nested upper limb exoskeleton for power operations, characterized in that, The upper limb exoskeleton can be nested inside the tooling, and the upper limb exoskeleton includes: The back support mechanism (1) is fixed on the lower side by a lower limb waist belt (5); The motor drive module is embedded inside the back support mechanism (1); The shoulder connection assembly (2) is movably connected to the back support mechanism (1) via an angle adjustment mechanism and is also driven by the motor drive module. An arm assist mechanism is connected to the shoulder connection assembly (2) on the side away from the back support mechanism (1); The back support mechanism (1), shoulder connection assembly (2) and arm assist mechanism are symmetrically arranged in two sets; When in use, the motor drive module transmits driving force to the shoulder connection component (2), causing the shoulder connection component (2) to swing freely along the natural movement path of the human body, assisting in the flexion and extension of the shoulder joint.

2. The tool-nested upper limb exoskeleton for power operations as described in claim 1, characterized in that, The back support mechanism (1) includes: a housing (106) with a trapezoidal inner cavity inside, and the motor drive module is nested in the trapezoidal inner cavity; The upper side of the housing (106) is movably connected to the shoulder connection assembly (2) via an angle adjustment mechanism, and the lower side of the housing (106) is fixedly connected to the lower limb waist belt (5).

3. The tool-nested upper limb exoskeleton for power operations as described in claim 2, characterized in that, The motor drive module includes: The motor (109) is fixed to one side outside the housing (106) by a motor bracket (108); A spur gear (104) is disposed in the trapezoidal inner cavity and connected to the motor (109); The synchronous pulley (105) meshes with the spur gear (104); A timing belt (107) is tensioned at one end to the timing pulley (105) and at the other end to the shoulder connection assembly (2); The battery (103) is fixed in the trapezoidal cavity by the battery bracket (102) and connected to the motor (109).

4. The tool-nested upper limb exoskeleton for power operations as described in claim 1, characterized in that, A universal joint (101) is provided between the back support mechanism (1) and the lower limb waist belt (5).

5. The tool-nested upper limb exoskeleton for power operations as described in claim 2, characterized in that, The ball joint (101) is made of GCr15 bearing steel quenched and the inner wall of the ball socket is laser-clad with a copper-based self-lubricating alloy layer.

6. The tool-nested upper limb exoskeleton for power operations as described in claim 2, characterized in that, The shoulder connection assembly (2) includes: a nested shoulder joint (202) and a transmission link (201); One end of the transmission link (201) is rotatably connected to the shoulder joint (202) via a movable connecting shaft (203), and the other end is hinged to the back support mechanism (1) via a synchronous belt (107).

7. The tool-nested upper limb exoskeleton for power operations as described in claim 1, characterized in that, The arm-assist mechanism includes: An arm telescopic connecting rod (3) is fixedly connected at one end to the shoulder connecting assembly (2); An arm strap (4) is attached to the other end of the arm telescopic connecting rod (3).

8. The tool-nested upper limb exoskeleton for power operations as described in claim 7, characterized in that, The telescopic arm connecting rod (3) includes: The upper limb connecting rod (304) is fixedly connected at one end to the shoulder connecting assembly (2); The upper limb telescopic connecting rod (302) is adjustablely disposed at the other end of the upper limb connecting rod (304); A connecting shaft (301) is disposed through one end of the upper limb telescopic connecting rod (302) away from the upper limb connecting rod (304) and is fixed to the arm strap (4) by a gasket (303).

9. The tool-nested upper limb exoskeleton for power operations as described in claim 7, characterized in that, The arm strap (4) includes: an upper arm strap (403) and a lower arm strap (401) whose one connecting end is hinged to the other connecting end via an arm connecting shaft (402); The lower arm strap (401) is fixedly connected to the arm telescopic connecting rod (3).

10. The tool-nested upper limb exoskeleton for power operations as described in claim 7, characterized in that, The arm strap (4) is made of three layers of functional fabric: an inner layer with an antibacterial silver ion knitted lining, a middle layer with composite shape memory alloy wire, and an outer layer covered with 500D high-strength nylon tear-resistant fabric.

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