Multifunctional actuator for quickly building forest fire isolation belt and auxiliary exoskeleton

Abstract

The invention discloses a multifunctional actuator and auxiliary exoskeleton for quickly building a forest fire isolation belt, which comprises a shoveling, sawing and chopping composite working surface, a rotating arm group and an actuator power main body, and is characterized in that the shoveling, sawing and chopping composite working surface comprises a working surface unit of which one side is provided with sawteeth and the other side is provided with a semi-arc axe blade; the working face units are controlled to rotate through the rotating arm set, the working face units are controlled to be opened and closed through the actuator power body, and the two working face units form the working mode of shoveling, sawing or axing. And soil, shrubs, trunks and other multi-element obstacles can be treated, and the adaptability to forest fire scenes is improved. The types and the number of carried tools are reduced, the possibility of single-person operation is provided, and the adjustment space and the error-tolerant rate of task execution are improved.

Description

Technical Field

[0001] This invention relates to forest fire prevention and control, and more particularly to a multifunctional actuator and auxiliary exoskeleton for rapidly constructing forest fire isolation belts. Background Technology

[0002] When a forest fire occurs, it is essential to disrupt the combustible material condition, one of the three elements of combustion. Firebreaks are created by clearing or isolating vegetation (such as trees, shrubs, and grass) along the fire's path, forming areas free of flammable materials. This cuts off the "fuel chain" of fire spread, thus suppressing its expansion. Firebreak strategy: Width: 50 meters or more; all trees within the firebreak must be felled, and fallen logs and branches cleared; fire-blocking trenches with a depth greater than 1 meter must be dug to cut off the underground combustion chain and expose unburned soil or rock layers.

[0003] The current method for artificially constructing forest firebreaks involves firefighters using tools such as lawnmowers, chainsaws, and rakes to clear weeds, shrubs, and trees within the firebreak area; and using tools such as hoes and shovels to till the top 20-30 centimeters of soil, exposing a layer of soil free of combustibles, and compacting it to form a physical barrier.

[0004] Existing firebreak creation equipment lacks flexibility and variety. Large equipment, such as helicopters for spraying fire retardants or water, is expensive, and excavators and bulldozers are difficult to deploy quickly and respond rapidly in complex terrain. Smaller, less efficient equipment such as chainsaws, shovels, and rakes require multiple people to work together, which cannot maximize the working area and the length of the fire line.

[0005] Exoskeletons primarily focus on load-bearing capacity, assisting users in performing specific actions and reducing work-related stress. However, existing exoskeletons are generally inconvenient to put on and take off, have poor fit to the user's body, and lack high flexibility and freedom of movement in the thoracic spine and scapula.

[0006] Current exoskeleton equipment typically relies on manual gripping to use other tools and equipment, placing a significant strain on the hands. Furthermore, it offers only basic assistance and movement modes, failing to provide effective assistance for actions requiring explosive force, such as throwing and slashing. Summary of the Invention

[0007] Purpose of the invention: In view of the above-mentioned problems, the purpose of this invention is to provide a highly flexible multifunctional actuator and auxiliary exoskeleton for rapidly constructing forest fire isolation belts.

[0008] Technical Solution: To solve the above problems, the present invention provides a multi-functional actuator for rapidly constructing forest fire isolation belts, comprising a sawing-cutting composite working face, a rotating arm assembly, and an actuator power unit. The sawing-cutting composite working face includes two symmetrically arranged working face units. One side of each working face unit has a serrated edge, and the other side has a semi-circular axe blade. One end of each working face unit has an end handle that passes through the rotating arm assembly. The rotating arm assembly includes two rotating arm units, which drive the end handle to rotate around its own extension direction. The actuator power unit includes... The device includes a main body shell and an opening / closing actuator. The opening / closing actuator includes a push-pull rod and a scissor structure that are rotatably connected to the main body shell. One end of the push-pull rod extends out of the main body shell as the operating end, and the other end of the push-pull rod is connected to the two input ends of the scissor structure. The two output ends of the scissor structure are rotatably connected to two rotating arm units. Pushing and pulling the operating end of the push-pull rod drives the two rotating arm units to open and close through the scissor structure. The two rotating arm units drive the working surface unit to open and close through the end handles. The rotating arm assembly and the actuator power unit control the two working surface units to form a shovel, saw, or axe working surface.

[0009] Furthermore, the actuator power unit also includes a reciprocating execution part, which includes a reciprocating drive motor, a gear set, an output crankshaft, and a connecting rod disposed inside the main body housing. The output crankshaft is connected to the output end of the reciprocating drive motor through the gear set. One end of the connecting rod is rotatably connected to the output crankshaft, and the other end of the connecting rod is rotatably connected to a special coupling. The special coupling is rotatably sleeved on the end of the end handle. The reciprocating drive motor drives the output crankshaft to rotate through the gear set. The rotation of the output crankshaft drives the special coupling to reciprocate in and out of the opening of the main body housing through the connecting rod, thereby driving the end handle to reciprocate. When the saw is used to cut the composite working surface to form the saw working surface, the reciprocating drive motor is started.

[0010] Furthermore, the rotating arm unit includes an X-axis rotating arm assembly, which includes a sliding arm connected to the output end of the scissor lift structure, an X-axis rotating arm rotatably connected to the sliding arm via a rotation drive device, and a magnetic coupler. The magnetic coupler includes a semi-circular guide rail fixed inside the X-axis rotating arm and surrounding the end handle, an arc-shaped slider moving along the semi-circular guide rail, an electromagnet, and an arc-shaped drive device. The arc-shaped slider is provided with active coupling iron teeth, and the end handle is provided with passive coupling iron teeth on its outer periphery. When the active coupling iron teeth and the passive coupling iron teeth are facing each other, the electromagnet is energized so that the active coupling iron teeth and the passive coupling iron teeth are magnetically attracted and fixed. The arc-shaped drive device drives the arc-shaped slider to move along the semi-circular guide rail, thereby driving the end handle to rotate.

[0011] Furthermore, the rotating arm unit also includes a Z-axis rotating arm assembly disposed between the main body housing and the X-axis rotating arm assembly. The Z-axis rotating arm assembly includes a Z-axis rotating arm and a linear drive device. One side of the Z-axis rotating arm is rotatably connected to the output end of the scissor mechanism, and the other side of the Z-axis rotating arm is provided with a linear guide rail. The linear drive device drives the sliding arm to move along the linear guide rail to adjust the wheelbase between the two end handles.

[0012] The present invention discloses an auxiliary exoskeleton for rapidly constructing forest fire isolation belts, comprising a wearable exoskeleton and the aforementioned multifunctional actuator. The wearable exoskeleton includes a back vest assembly, a bionic scapula assembly that adapts to human shoulder and back movements and is fixed to the back vest assembly, an upper arm exoskeleton assembly connected to the bionic scapula assembly, and a forearm exoskeleton assembly connected to the upper arm exoskeleton assembly. The multifunctional actuator is connected to the forearm exoskeleton assembly via a locking coupler.

[0013] Furthermore, the bionic scapula assembly includes a bionic scapula connecting rod, two electric push rods rotatably connected to both ends of the bionic scapula connecting rod via pins, and a spring sleeve. One end of the bionic scapula connecting rod is hinged to the back vest assembly, and the other end is connected to the back vest assembly via the spring sleeve. The output ends of the two electric push rods are hinged and connected to the upper arm exoskeleton assembly.

[0014] Furthermore, it also includes an assist device, which comprises a third servo motor, a third worm gear fixed to the output shaft of the third servo motor, a third worm wheel cooperating with the third worm gear, a third winch coaxially arranged with the third worm wheel, a second wire wound on the third winch, and a universal connector. The third servo motor and the universal connector are respectively fixed to the upper arm exoskeleton assembly or the forearm exoskeleton assembly. One end of the second wire is wound on the third winch and the other end is fixed to the universal connector. The third servo motor drives the third winch to rotate through the third worm gear and the third worm wheel, thereby causing the second wire to contract or extend, thus assisting in lifting the forearm exoskeleton assembly.

[0015] Furthermore, it also includes a power storage device, which comprises a first power storage unit, a second power storage unit, and a tension spring power storage device. The first power storage unit is disposed on the upper arm exoskeleton assembly, and the second power storage unit is disposed on the forearm exoskeleton assembly. The tension spring power storage device includes a housing, two limiting sliders symmetrically disposed on both sides of the housing, a return spring, a tension spring, a first slider, and a second slider. The outer side of the limiting slider is connected to the housing through the return spring, and the inner side of the limiting slider includes a limiting part, a sliding part, and a squeezing part. The first slider and the second slider are connected by a tension spring. The first slider is limited outside the two limiting sliders by the limiting part, and the tension spring and the second slider are located in the sliding part between the two limiting sliders. The first power storage unit is used to pull the second slider to store the tension spring. When the second slider moves to squeeze the squeezing part of the limiting slider, the second slider squeezes the two limiting sliders away from each other. The limiting part of the limiting slider moves away and releases the limiting of the first slider. Under the action of the tension spring, the first slider quickly approaches the second slider, causing the forearm exoskeleton assembly to fall rapidly. The second power storage unit is used to pull the first slider to reset the first slider.

[0016] Furthermore, it also includes a limiting and shock-absorbing structure, which includes a limiting and shock-absorbing rod and a limiting rod. The upper arm exoskeleton assembly is provided with a limiting and shock-absorbing rod near the elbow end, and the multi-functional actuator is provided with a limiting rod. The limiting and shock-absorbing rod includes a compression spring fixed to the upper arm exoskeleton assembly and a rubber contact head provided at the end of the compression spring. The end of the limiting rod is provided with a rubber head. After the tension of the spring of the energy storage device is released, the rubber contact head of the limiting and shock-absorbing rod contacts the rubber head of the limiting rod, resulting in a non-perfectly elastic collision.

[0017] Furthermore, both the upper arm exoskeleton assembly and the lower arm exoskeleton assembly include an inner exoskeleton shell and an outer exoskeleton shell. The outer exoskeleton shell is fitted over the inner exoskeleton shell. The outer exoskeleton shell is provided with several guide rods, and the inner exoskeleton shell is provided with several elastic straps. The guide rods are provided with guide holes, and the elastic straps pass through the guide holes of the guide rods.

[0018] Beneficial effects: Compared with the prior art, the significant advantages of this invention are:

[0019] (1) The rotating arm assembly and the actuator power unit complete the work surface unit with serrated and semi-circular axe blades, realizing the rapid switching of the actuator's three different working modes: chopping, sawing, and shoveling. It can handle various obstacles such as soil, shrubs, and tree trunks, improving the adaptability of forest fire sites. It reduces the types and number of tools carried, provides the possibility of single-person operation, and improves the adjustment space and fault tolerance of the task.

[0020] (2) By using the assist mode and power storage mode of the wearable exoskeleton, it adapts to and assists the user's movement in different modes of the actuator, reducing the physical exertion of the fire brigade during work. The electric push rod and elastic straps adaptively adjust the size to be compatible with operators of different body types. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the multifunctional actuator of the present invention (in the open saw mode).

[0022] Figure 2 This is a partial cross-sectional schematic diagram of the multi-functional actuator (in the unopened saw mode state) in this invention.

[0023] Figure 3 This is a schematic diagram of the reciprocating execution part in this invention.

[0024] Figure 4 This is a schematic diagram of the opening and closing execution part in this invention.

[0025] Figure 5 This is a cross-sectional view of the Z-axis rotating arm in this invention.

[0026] Figure 6 This is a cross-sectional schematic diagram of the joystick and joystick protective cover in this invention.

[0027] Figure 7 This is a cross-sectional schematic diagram of the Z-axis rotating arm and sliding arm in this invention.

[0028] Figure 8 This is a cross-sectional view of the X-axis rotating arm and a schematic diagram of the magnetic coupler in this invention.

[0029] Figure 9 This is a schematic diagram of the combined working surface of the saw and shovel in this invention.

[0030] Figure 10 This is an overall schematic diagram of the multifunctional actuator and auxiliary exoskeleton of the present invention.

[0031] Figure 11 This is an overall schematic diagram of the wearable exoskeleton of the present invention.

[0032] Figure 12 This is a partial back view of the shoulder hinge assembly of the present invention.

[0033] Figure 13 This is a partial inner side schematic diagram of the upper arm exoskeleton assembly and the lower arm exoskeleton assembly of the present invention.

[0034] Figure 14 This is a partial lateral view of the upper arm exoskeleton assembly and the lower arm exoskeleton assembly of the present invention.

[0035] Figure 15This is a cross-sectional view of the internal structure of the tension spring accumulator (before accumulating power) in this invention.

[0036] Figure 16 This is a partial cross-sectional view of the locking coupler (uncoupled) in this invention.

[0037] Figure 17 This is a partial cross-sectional schematic diagram of the locking coupler connection in this invention.

[0038] Figure 18 This is a schematic diagram of the limiting and damping structure in this invention.

[0039] Figure 19 This is a structural schematic diagram of the shovel mode state in this invention.

[0040] Figure 20 This is a schematic diagram of the cutting mode state in this invention. Detailed Implementation

[0041] Example 1

[0042] As attached Figure 1 As shown in the figure, this embodiment describes a multi-functional actuator for rapidly constructing firebreaks in forest fires. It is used to quickly create firebreaks and firefighting barriers during forest fires. The multi-functional actuator includes: an actuator power unit 210, a Z-axis rotating arm assembly 230, an X-axis rotating arm assembly 240, and a saw blade working face 250.

[0043] Among them, such as Figure 1 and Figure 2 As shown, the actuator power unit 210 includes a main body housing 211 for fixing various parts, a control lever 212 disposed outside the main body housing 211, a limit lever 213 fixed to the bottom of the housing, a reciprocating actuation part, and an opening and closing actuation part; as shown Figure 3 As shown, the reciprocating actuator includes a high-power reciprocating drive motor 214 housed inside the main casing 211, batteries 215 mounted on both sides of the reciprocating drive motor 214, a bevel gear reduction assembly 216 connected to the motor output shaft, a ball torque clutch 218 fixedly connected to a large bevel gear shaft 217, a large and small gear set 219 connected to the other end of the clutch, a crankshaft 221, and a connecting rod 225 rotatably connected to the crankshaft 221. The crankshaft 221 and the output crankshaft of the large and small gear set 219 are symmetrically arranged. The connecting rod 225 is rotatably connected to the crankshaft 221 and the output crankshaft of the large and small gear set 219. The connecting rod 225 is rotatably connected to a special coupling 252. The rotation of the gears in the large and small gear set 219 drives the special coupling 252 to reciprocate through the connecting rod 225. Figure 4As shown, the opening and closing execution part includes a push-pull rod 222 rotatably connected to the main body shell 211, a quadrilateral connecting rod 223 that is engaged with the push-pull rod 222 through a slot and a pin, and a straight connecting rod 226 rotatably connected to the quadrilateral connecting rod 223. The main body shell 211 is provided with a slot, and the straight connecting rod 226 passes through the main body shell 211 and connects to the Z-axis rotating arm assembly 230. The quadrilateral connecting rod 223 and the two straight connecting rods 226 are rotatably connected to form a scissor structure. Pushing and pulling the push-pull rod 222 drives the quadrilateral connecting rod 223 to move back and forth, which drives the straight connecting rod 226 to open and close, thereby driving the two Z-axis rotating arm assemblies 230 connected to the end handles 251 to open and close, realizing the opening and closing of the saw-cutting composite working surface (250).

[0044] The ball bearing torque clutch 218 is existing technology used for torque overload protection in industrial applications. In this embodiment, to prevent the saw teeth from getting stuck on foreign objects and causing a stall that could burn out the motor or injure the user during sawing mode, this technology is applied to the bevel gear shaft 217. The principle will not be elaborated further.

[0045] Furthermore, such as Figure 5 As shown, the front side of the main body shell 211 is provided with an arc-shaped guide rail 224 for the Z-axis rotating arm assembly 230 to rotate, and multiple square holes are provided at the front end of the main body shell 211, so that the connecting rod 225 rotatably connected to the crankshaft 221 and the straight connecting rod 226 rotatably connected to the quadrilateral connecting rod 223 and the Z-axis rotating arm assembly 230 respectively pass through the square holes through the main body shell 211 and connect to other parts.

[0046] Furthermore, such as Figure 6 As shown, a joystick protective cover 212-1 and a joystick 212 are provided on the rear side of the main body shell 211. The shape of the joystick 212 conforms to the mechanical characteristics of human grip, allowing the user to firmly grip the joystick 212 during operation and enhancing the control of the actuator. Three different buttons 212-2 are provided on the top of the joystick 212, each controlling one of three different working modes. When the pressed button corresponds to the current working mode, that mode remains unchanged or the high-power motor 214 is started or stopped. When the pressed button corresponds to a different working mode, it controls each motor to switch the multi-functional actuator 200 to the new button mode.

[0047] like Figure 7 As shown, the Z-axis rotary arm assembly 230 consists of a Z-axis rotary arm 231, linear guide rails 232, and a rack 234. The Z-axis rotary arm 231 is provided with linear guide rails 232 for the X-axis rotary arm assembly 240 to slide and translate on it, and arc-shaped guide rails 224 for rotational connection with the actuator power body 210. The rack 234 is embedded in the Z-axis rotary arm 231 and parallel to the two linear guide rails 232.

[0048] Furthermore, the Z-axis rotary arm 230 is provided with an open slot, allowing the special coupling 252 and the sawing / chopping composite working surface 250 to pass through the Z-axis rotary arm assembly 230. Below the slot, there is a square groove and a connecting shaft 235, through which the straight connecting rod 226 connects the Z-axis rotary arm 231 and the quadrilateral connecting rod 223.

[0049] like Figure 4 As shown, the push-pull rod 222 has a rubber handle 222-1 on its upper part. The strip plates on both sides are rotatably connected to the main body shell 211 via pins. Each strip plate has a slot 222-2 at its end, and the quadrilateral connecting rod 223 engages with these slots via pins on both sides. When the push-pull rod 222 is pulled backward, the quadrilateral connecting rod 223 moves forward under the constraint of the slots. The two straight connecting rods 226, rotatably connected to the front end of the quadrilateral connecting rod 223, expand outward, pushing the Z-axis rotating arm assembly 230 to open outward. When the push-pull rod 222 is pushed forward, the working principle is the same as described above, but in the opposite direction, causing the Z-axis rotating arm 231 to close inward.

[0050] like Figure 7 As shown, the X-axis rotating arm assembly 240 includes: a sliding arm 241, an X-axis rotating arm 242 rotatably connected to the sliding arm 241, and a magnetic coupler 243. A one-way latch is provided on the outer surface of the X-axis rotating arm (its internal structure is only shown in the diagram). A small servo motor 244 with a drive gear and rack is provided between the sliding arm 241 and the Z-axis rotating arm assembly 230. When the motor rotates, the sliding arm 241 slides horizontally on the inclined surface of the Z-axis rotating arm assembly 230, changing the axial distance of the handles of the two saw blade composite working surfaces 250. The small servo motor 244 is provided between the sliding arm 241 and the X-axis rotating arm 242. A small gear 247 is fixedly connected to the output shaft of the servo motor 244, and a large gear 248 is fixedly connected to the X-axis rotating arm 242. The end handle 251 passes through the center of the large gear 248. When the small servo motor 244 rotates, the small gear drives the large gear to rotate, causing the X-axis rotating arm 242 to rotate along its axis.

[0051] The X-axis rotating arm 242 is essentially a rectangular shell with a hole in the center for the handle of the chopping saw blade to pass through on the working surface 250. The axis of this hole is offset from the center of the rectangle, and in this embodiment, the distances between this hole and its plane are 19mm, 60mm, 66mm, and 80mm, respectively. These distances will be used in the following description to represent different planes of the X-axis rotating arm 242.

[0052] Furthermore, such as Figure 8As shown, the magnetic coupler 243 is fixedly connected to the X-axis rotating arm 242 and includes: a semi-circular guide rail 243-1, an arc-shaped slider 243-2, an electromagnet 243-3, a small servo motor 243-4, and an angle positioning gear 243-5. The arc-shaped slider 243-2 rotates on the semi-circular guide rail 243-1, and the small servo motor 243-4 and the electromagnet 243-3 are fixedly connected to the arc-shaped slider 243-2. ​​Three sets of active coupling teeth 243-6 are provided on the arc-shaped slider 243-2. ​​When the electromagnet 243-3 is energized, the coupling teeth on the arc-shaped slider 243-2 and the passive coupling teeth 253 on the end handle 251 attract each other, with the latter being much longer.

[0053] It should be noted that the Z-axis rotary arm assembly 230, the X-axis rotary arm assembly 240, and the combined sawing and chopping working surface 250 all have two of them arranged symmetrically along the central plane, and their internal structures are the same or mirror-symmetrical.

[0054] It should be noted that when the high-power reciprocating drive motor 214 rotates, it drives the two initially symmetrical crankshafts 221 to rotate through the bevel gear set 216 and the large and small gear set 219. These crankshafts, together with the connecting rod 225 and the special coupling 252, form an offset crank-slider mechanism with the handle of the saw blade composite working surface 250, causing the saw blade composite working surface 250 to perform periodic reciprocating motion in a straight line. However, because the gears fixed to the two symmetrical crankshafts 221 rotate in the same direction, and the included angle between the two crankshafts 221 (approximately 120 degrees), the initial motion direction of the composite working surface 250 is different when it begins to rotate, differing by approximately 1 / 3 of a cycle.

[0055] like Figure 9 As shown, the saw-cutting composite working surface 250 includes two symmetrically arranged working surface units. One side of the working surface unit is provided with staggered saw teeth, and the other side is provided with a semi-circular axe blade. The end handle 251 passes through the x-axis rotating arm assembly 240 and the z-axis rotating arm assembly 230, and is rotatably connected to the connecting rod 225 of the actuator power body 210 through a special coupling 252.

[0056] The axis of the end handle 251 is offset upwards by a certain distance from the plane of the saw-cutting composite working surface 250 in the Z-axis direction, and three coupling teeth 253 are provided on the end handle 251. An inverted frustum-shaped connector 254 is provided at the end of the end handle 251. The special coupling 252 has a recess of the same shape inside. The special coupling 252 is fitted onto the inverted frustum-shaped connector 254 for axial positioning and circumferential rotation. In use, the special coupling 252 and the saw-cutting composite working surface 250 are allowed to rotate in the x-axis direction, while limiting linear relative displacement in the x-axis direction.

[0057] Example 2

[0058] like Figure 10 As shown, the auxiliary exoskeleton for rapidly constructing forest fire isolation belts in this embodiment can be divided into two main parts, including a wearable exoskeleton 100 and a multifunctional actuator 200 as described in Embodiment 1.

[0059] Depend on Figure 11 The wearable exoskeleton 100 shown above includes: a back vest assembly 110, a bionic scapula assembly 120, a shoulder hinge assembly 130, an upper arm exoskeleton assembly 140, and a forearm exoskeleton assembly 150. The bionic scapula assembly 120 is disposed on the scapula of the back vest assembly 110. The upper arm exoskeleton assembly 140 is connected to the bionic scapula assembly 120 through the shoulder hinge assembly 130, and the upper arm exoskeleton assembly 140 is connected to the forearm exoskeleton assembly 150.

[0060] The back vest assembly 110 includes a back vest 111 made of elastic nylon material, a thoracic vertebral plate 112 disposed on the back of the back vest 111, and a thoracic vertebral hinge 113 connected to the thoracic vertebral plate 112 by a hinge. Furthermore, a power supply, communication module, and GPS positioning system are disposed inside the thoracic vertebral plate 112 to provide power to the exoskeleton's assist motor and to provide location information and mission progress to the command center during mission execution.

[0061] like Figure 11 As shown, the bionic scapula assembly 120 includes a bionic scapula link 121 and two electrically operated push rods 123 rotatably connected to both ends of the bionic scapula link 121 via pins. By adjusting the length of the two electrically operated push rods after the user wears the device, the distance and angle between the shoulder hinge assembly 132 fixedly connected to the lower second electrically operated push rod and the thoracic hinge 113 can be adjusted to accommodate different body proportions of the wearer, while also providing some assistance during movement.

[0062] One end of the bionic scapula link 121 is connected to the hinge on the thoracic vertebra hinge 113 via a spring sleeve 122 to form a lever mechanism. When the arm is raised, the angle between the bionic scapula link and the thoracic vertebra hinge decreases, the spring sleeve 122 is compressed, and the energy is converted into elastic potential energy for storage, which assists the actuator when falling.

[0063] like Figure 12As shown, the shoulder hinge assembly 130 consists of an arc-shaped support plate 131 and a hinge 132. A shoulder rotation ring 133 is provided on the arc-shaped support plate. The shoulder rotation ring is divided into a main plate 133-1, a cover plate 133-2, and a rotating shaft 133-3. The arc-shaped support plate 131 is provided with a sliding groove. The rotating shaft 133-3 can be adjusted and moved within the sliding groove on the arc-shaped support plate. It is clamped and limited by the main plate 133-1 and the cover plate 133-2. The upper arm exoskeleton assembly 140 is fixedly connected to the main plate 133-1 and rotates on the shoulder rotation ring 133 via the rotating shaft 133-3.

[0064] In this embodiment, the upper arm exoskeleton assembly 140 and the lower arm exoskeleton assembly 150 have certain similarities, and the two parts will be described together below.

[0065] like Figure 13 As shown, the upper arm exoskeleton assembly 140 includes an outer upper arm exoskeleton shell 141 and an inner upper arm exoskeleton shell 142. Similarly, the lower arm exoskeleton assembly 150 also includes an outer lower arm exoskeleton shell 151 and an inner lower arm exoskeleton shell 152, with the outer exoskeleton shell fitted over the inner exoskeleton shell.

[0066] The aforementioned upper and lower arm exoskeleton assemblies each have eight parallel guide rods 141-1, arranged in pairs, for a total of eight sets. The upper arm exoskeleton inner shell 142 and the lower arm exoskeleton inner shell 152 are designed with openwork. Four nylon elastic straps 142-1 are respectively fixed to the upper arm exoskeleton outer shell 141 and the lower arm exoskeleton outer shell 151, passing through them and then through the upper arm exoskeleton inner shell 142 and the lower arm exoskeleton inner shell 152. This allows the inner and outer shells to slide along the direction of the eight parallel guide rods 141-1 when the elastic straps 142-1 are adjusted, ensuring the exoskeleton fits the user's body snugly and preventing interference with the user's movement.

[0067] Furthermore, the upper arm exoskeleton assembly 140 and the lower arm exoskeleton assembly 150 are rotatably connected by hinges at both ends, and the upper arm exoskeleton assembly 140 and the shoulder hinge assembly 130 are rotatably connected by the shoulder rotation ring 133.

[0068] It should be noted that, in the above description, the main board 133-1 of the shoulder rotation ring 133 used to connect the upper arm exoskeleton assembly 140 and the shoulder hinge assembly 130 is part of the upper arm exoskeleton shell (outer) 141.

[0069] like Figure 14As shown, the upper arm exoskeleton shell (outer) 141 and the lower arm exoskeleton shell (outer) 151 are equipped with a total of 3 servo motors 143 and worm gear reducers as assist devices and power storage devices. The assist device includes a third servo motor 143-3, a third worm gear 144-3 fixed to the output shaft of the third servo motor 143-3, a third worm wheel 145-3 cooperating with the third worm gear 144-3, a third winch 145-6 coaxially arranged with the third worm wheel 145-3, a second wire 148-2 wound on the third winch 145-6, and a universal connector 155. The third servo motor 143-3 and the universal connector 155 are respectively fixed to the upper arm exoskeleton assembly 140 or the forearm exoskeleton assembly 150. One end of the second wire 148-2 is wound on the third winch 145-6 and the other end is fixed to the universal connector. The third servo motor 143-3 drives the third winch to rotate through the third worm gear and the third worm wheel, thereby causing the second wire to retract, thus assisting in lifting the forearm exoskeleton assembly 150.

[0070] The power storage device includes a first power storage unit, a second power storage unit, and a tension spring power storage device 146. The second power storage unit is located in the forearm exoskeleton assembly 150, and the first power storage unit is located in the upper arm exoskeleton assembly 140. The first power storage unit is used to pull the second slider to store the tension spring 146-5. When the second slider moves to the squeezing part of the compression limit slider, the second slider squeezes the two limit sliders away from each other. The limiting part of the limit slider moves away from the first slider and releases the limit. Under the action of the tension spring 146-5, the first slider quickly approaches the second slider, causing the forearm exoskeleton assembly 150 to fall quickly. The second power storage unit is used to pull the first slider to reset the first slider. The first power storage unit includes a first servo motor 143-1, a first worm gear 144-1 fixed to the output shaft of the first servo motor 143-1, a first worm wheel 145-1 cooperating with the first worm gear 144-1, and a first winch 145-4 coaxially arranged with the first worm wheel 145-1; the second power storage unit includes a second servo motor 143-2, a second worm gear 144-2 fixed to the output shaft of the second servo motor 143-2, a second worm wheel 145-2 cooperating with the second worm gear 144-2, and a second winch 145-5 coaxially arranged with the second worm wheel 145-2. A first wire 148-1 wound on the first winch 145-4 is used to pull the second slider 146-7, and a first wire 148-1 wound on the second winch 145-5 is used to pull the first slider 146-6.

[0071] like Figure 15As shown, the tension spring accumulator 146 is located on the outer side of the upper arm exoskeleton shell (outer) 141. Its internal structure consists of: shell 146-1, cover plate 146-2, limiting slider 146-3, return spring 146-4, tension spring 146-5, first slider 146-6, and second slider 146-7. The two ends of tension spring 146-5 are fixedly connected to the first slider 146-6 and the second slider 146-7 respectively, and slide along a slide rail in the X-axis direction inside shell 146-1. The two limiting sliders 146-3 slide along a slide rail in the Y-axis direction inside shell 146-1. The two ends of return spring 146-4 are fixedly connected to the limiting slider 146-3 and shell 146-1 respectively. The inner side of the limiting slider 146-3 includes a limiting part, a sliding part, and a pressing part. The first slider 146-6 and the second slider 146-7 are connected by tension spring 146-5. The first slider 146-6 is limited to the two limiting sliders 146-3 by the limiting part. The tension spring 146-5 and the second slider 146-7 are located in the sliding part between the two limiting sliders 146-3. The wire pulls the second slider to store the tension spring 146-5. When the second slider moves to the squeezing part of the limiting slider, the second slider squeezes the two limiting sliders away from each other. The limiting part of the limiting slider moves away and releases the limiting of the first slider. Under the action of the tension spring 146-5, the first slider quickly approaches the second slider, causing the forearm exoskeleton assembly 150 to fall quickly.

[0072] Furthermore, high-strength, low-elasticity wires 148 (148-1, 148-2) are tightly wound around each winch 145 (145-4, 145-5, 145-6), passing over the limiting pulleys 149 set on their respective sub-shells, and connecting the wires 148-1 of the first and second winches (145-4, 145-5) on the upper arm exoskeleton sub-shell in series via the tension spring accumulator 146. The third winch 145-6 of the forearm exoskeleton sub-shell is connected to the universal joint terminal 155 of the forearm exoskeleton sub-shell (outer) 151.

[0073] Assisted working mode (front powertrain):

[0074] During operation: The servo motor (3) 143-3 fixed on the upper side of the upper arm exoskeleton assembly 140 drives the winch (3) 145-6 to rotate, causing the wire 148-2 fixed at the other end of the universal connector 155 to retract, thereby driving the upper arm exoskeleton assembly 140 and the forearm exoskeleton assembly 150 to rotate along the middle hinge, assisting the user in raising their forearm.

[0075] Energy storage working mode (rear power chain):

[0076] During operation: The above-mentioned assistive working mode must be executed first. When the upper arm exoskeleton group 140 and the lower arm exoskeleton group 150 move to the minimum angle, they maintain a stable state. At this time, the servo motor (1) 143-1 fixed on the lower side of the upper arm exoskeleton group 140 drives the winch (1) 145-4 to rotate, so that the wire 148-1 pulls the movable slider (2) 146-7, thereby lengthening the tension spring 146-5 to store force. When the slider (2) 146-7 moves to the corresponding position and contacts the two limit sliders 146-3 on both sides, the two limit sliders 146-3 are pushed open and slide to both sides. At this time, the slider (1) 146-6 is freed from the constraint of the limit slider and suddenly moves towards the slider (2) under the pulling force of the tension spring 146-5. This causes the thread 148-1, which is wrapped around the winch (2) 145-5 at the other end, to contract rapidly, which in turn causes the upper arm exoskeleton assembly 140 and the lower arm exoskeleton assembly 150 to extend rapidly. This causes the potential energy stored in the tension spring accumulator 146 to be instantly converted into the kinetic energy of the user's lower arm swinging down, and the thread 148-2 of the front power chain to be loosened in advance to avoid interference during release.

[0077] During reset: The servo motor (2) 143-2 fixed to the lower side of the forearm exoskeleton assembly 150 drives the winch (2) 145-5 to rotate, causing the wire 148-1 to drive the slider (1) 146-6 and the slider (2) to move in the opposite direction to the above-mentioned power storage mode. Before the slider (1) 146-6 moves to the initial position, it pushes open the two side limit sliders 146-3, and at the same time, the slider (2) 146-7 and the power storage spring 146-5 also return to the power storage spring accumulator 146, completing one reset.

[0078] like Figure 16 and Figure 17 As shown, the forearm exoskeleton shell (outer) 151 has a locking coupler 153 near the wrist end, comprising: a rotating base 153-1, a rotating baffle 153-2, and a locking core 153-3. The rotating baffle 153-2 is rotatably connected inside the rotating base 153-1. The locking core 153-3 passes through a hole in the rotating base 153-1 and contacts a protrusion in the rotating baffle 153-2, thus fixing the locking core 153-3 within the rotating base 153-2. One end of the locking joint of the locking core 153-3 is a horizontal plane, and the outer end is an inclined surface composed of a smooth curve.

[0079] like Figure 18 As shown, a limiting shock absorber 147 is provided near the elbow end of the upper arm exoskeleton shell (outer) 141. The end of the limiting shock absorber 147 includes a compression spring 147-1 and a rubber contact head 147-2. A limiting ring 154 is fixedly connected to the lower side of the forearm exoskeleton shell (outer) 151. The multifunctional actuator 200 passes through the limiting ring 154 via a limiting rod 213 and is connected to the forearm exoskeleton assembly 150 via a locking coupler 153.

[0080] When the charging mode is in operation, after the tension is released, the rubber head on the limiting rod 213 comes into contact with the rubber contact head 147-2 on the limiting and shock-absorbing rod 147, resulting in a non-perfectly elastic collision. This limits the joint range of motion between the upper and lower arms to within the normal physiological range, protecting the user's joints and reducing the impact of collisions between the upper and lower arm exoskeletons on the user.

[0081] The following section, with reference to the accompanying drawings, details the operational process of the aforementioned multifunctional composite exoskeleton, using the example of rapidly constructing forest firebreaks during a forest fire. The operational modes of the components in the wearable exoskeleton section 100 and the multifunctional actuator section 200, as described above, will be briefly described below.

[0082] After a wildfire occurs, firefighters or other relevant personnel wear the wearable part 100 of the exoskeleton on the user's body using the vest assembly 110. They then adjust the guide rod 141-1 and the nylon elastic strap 142-1 between the upper arm exoskeleton assembly 140 and the forearm exoskeleton assembly 150 to make the entire exoskeleton fit the user's body.

[0083] The multi-functional actuator 200 is connected to the wearable exoskeleton part 200 via a locking coupler 153 located on the forearm exoskeleton assembly 150.

[0084] Shovel mode state, such as Figure 19 The sliding arm 241 of the z-axis rotating arm assembly 230 is driven by a small servo motor 244 to slide and unfold to the middle position via a gear rack 234. The x-axis rotating arm 240 and the end face with the farthest center axis distance (80mm) are simultaneously rotated to face downwards by a small servo motor 244, driven by large and small gears 247 and 248. The two end faces with a center axis distance of (60mm) face inwards and are fastened together by a one-way locking device located on the x-axis rotating arm 242. The magnetic coupler 243 is energized and drives the angle positioning gear 243-5 to rotate via a small servo motor 243-4, controlling the two saw-cutting composite working surfaces 250 to open to a certain angle (approximately 145 degrees), with the beginning and end faces flush and the staggered saw teeth sides coupled to each other.

[0085] In shovel mode, the wearable exoskeleton 100 activates the assisted working mode. The servo motor 143 on the front assist chain drives the winch to rotate, causing the cable 148 to retract or release. This assists the user in shoveling soil, removing weeds, tree stumps, and other tasks.

[0086] In saw mode, also known as shear-saw mode, the sliding arm 241 on the Z-axis rotating arm assembly 230 is driven by a small servo motor 244 to slide and extend the rack and pinion 234 to its maximum position. The X-axis rotating arm 242 is driven by a small servo motor 244 to rotate simultaneously with the end face (80mm) furthest from the center axis to face outwards and opposite each other. The two end faces (19mm) closest to the center axis are simultaneously rotated to face downwards. The magnetic coupler 243 is energized and drives the angle positioning gear 243-5 to rotate through the small servo motor 243-4, controlling the two saw-cutting composite working surfaces 250 to be in the same plane, and the initial end faces are flush.

[0087] In sawing mode, the wearable exoskeleton 100 activates the assisted working mode. The front-side assist chain servo motor 143 drives the winch to rotate, causing the wire 148 to contract or release. The high-power motor 214 rotates, driving two cranks 221 to rotate, thereby causing the two saw-cutting composite working surfaces 250 to reciprocate (the slider movement direction is a variable offset crank-slider mechanism). Under the constraint of the magnetic coupler 243, the angle of the saw-cutting composite working surface 250 does not change, and the shorter coupling iron teeth slide relative to the longer coupling iron teeth. The user's non-dominant hand controls the opening and closing of the z-axis rotating arm assembly 230 and the front X-axis rotating arm assembly 220 by pulling the push-pull rod 222 set on the actuator power body 100, thereby causing the saw-cutting composite working surface 240 to perform a shearing and opening motion, realizing simultaneous shearing and sawing of tree branches.

[0088] Cut mode state, such as Figure 20 The sliding arm 241 of the z-axis rotating arm assembly 230 is driven by a small servo motor 244 to slide and extend the rack and pinion 234 to its minimum position. The x-axis rotating arm 242 and the end face closest to the center axis (19mm) are simultaneously rotated to face each other with the small servo motor 244, and the two end faces with a center axis distance of (80mm) are simultaneously rotated to face downwards. They are then fastened together by a one-way locking device located on the x-axis rotating arm 242. The magnetic coupler 243 is energized and drives the angle positioning gear 243-5 to rotate through the small servo motor 243-4, controlling the inner sides of the two saw-cutting composite working surfaces 250 to be attached and fastened together, with the beginning and end faces flush.

[0089] In chopping mode, the wearable exoskeleton 100 simultaneously activates both the assisted working mode and the power-charging working mode. The front assisted chain servo motor 143 drives the winch to rotate, causing the wire 148 to retract. Simultaneously, the rear assisted chain servo motor 143 drives the winch to rotate, causing the tension spring in the tension spring accumulator 146 mounted on the upper arm exoskeleton assembly 140 to retract. While the lower power chain is charging, the angle between the upper arm exoskeleton assembly 140 and the forearm exoskeleton assembly 150 remains constant, and the wire 148 of the front power chain is pre-released to avoid interference during release. After the tension spring accumulator 146 releases, the lower wire 148 is instantly tightened, releasing elastic potential energy and causing the upper and forearms to move downwards, driving the multi-functional actuator 200 to chop. Through automatic reset, multiple consecutive operations can be performed to complete tasks such as cutting tree branches and crushing remaining tree stumps.

Claims

1. A multi-functional actuator for rapidly constructing forest fire firebreaks, characterized in that, The device includes a saw-cutting composite working surface (250), a rotating arm assembly, and an actuator power body (210). The saw-cutting composite working surface (250) includes two symmetrically arranged working surface units. One side of each working surface unit has a serrated edge, and the other side has a semi-circular axe blade. One end of each working surface unit has an end handle (251) that passes through the rotating arm assembly. The rotating arm assembly includes two rotating arm units that drive the end handle (251) to rotate around its own extension direction. The actuator power body (210) includes a main body shell (211) and an opening / closing actuator. The assembly includes a push-pull rod (222) rotatably connected to the main body shell (211) and a scissor structure. One end of the push-pull rod (222) extends out of the main body shell (211) as the operating end. The other end of the push-pull rod (222) is connected to the two input ends of the scissor structure on both sides. The two output ends of the scissor structure are rotatably connected to two rotating arm units respectively. Pushing and pulling the operating end of the push-pull rod (222) drives the two rotating arm units to open and close through the scissor structure. The two rotating arm units drive the working surface unit to open and close through the end handle (251). The rotating arm assembly and the actuator power body control the two working surface units to form a shovel, saw or axe working surface.

2. The multifunctional actuator according to claim 1, characterized in that, The actuator power unit (210) also includes a reciprocating execution part, which includes a reciprocating drive motor (214), a gear set, an output crankshaft and a connecting rod (225) disposed inside the main body shell (211). The output crankshaft is connected to the output end of the reciprocating drive motor (214) through the gear set. One end of the connecting rod (225) is rotatably connected to the output crankshaft, and the other end of the connecting rod (225) is rotatably connected to a special coupling (252). The special coupling (252) is rotatably sleeved on the end of the end handle (251). The reciprocating drive motor (214) drives the output crankshaft to rotate through the gear set. The rotation of the output crankshaft drives the special coupling (252) to reciprocate in the opening of the main body shell (211) through the connecting rod (225), thereby driving the end handle (251) to reciprocate. When the saw is used to cut the composite working surface (250) to form the saw working surface, the reciprocating drive motor (214) is started.

3. The multifunctional actuator according to claim 1, characterized in that, The rotating arm unit includes an X-axis rotating arm assembly (240), which includes a sliding arm (241) connected to the output end of the scissor lift structure, an X-axis rotating arm (242) rotatably connected to the sliding arm (241) via a rotation drive device, and a magnetic coupler (243). The magnetic coupler (243) includes a semi-circular guide rail (243-1) fixed inside the X-axis rotating arm (242) and surrounding the end handle (251), an arc-shaped slider (243-2) moving along the semi-circular guide rail (243-1), and an electromagnet (243-3). The arc-shaped drive device has an active coupling iron tooth (243-6) on the arc-shaped slider (243-2) and a passive coupling iron tooth (253) on the outer periphery of the end handle (251). When the active coupling iron tooth (243-6) and the passive coupling iron tooth (253) are facing each other, the electromagnet (243-3) is energized so that the active coupling iron tooth (243-6) and the passive coupling iron tooth (253) are magnetically attracted and fixed. The arc-shaped drive device drives the arc-shaped slider (243-2) to move along the semi-circular guide rail (243-1), thereby driving the end handle (251) to rotate.

4. The multifunctional actuator according to claim 3, characterized in that, The rotating arm unit also includes a Z-axis rotating arm assembly (230) disposed between the main body housing (211) and the X-axis rotating arm assembly (240). The Z-axis rotating arm assembly (230) includes a Z-axis rotating arm (231) and a linear drive device. One side of the Z-axis rotating arm (231) is rotatably connected to the output end of the scissor structure, and the other side of the Z-axis rotating arm (231) is provided with a linear guide rail (232). The linear drive device drives the sliding arm (241) to move along the linear guide rail (232) to adjust the wheelbase between the two end handles (251).

5. An auxiliary exoskeleton for rapidly constructing forest firebreaks using the multifunctional actuator described in any one of claims 1 to 4, characterized in that, The device includes a wearable exoskeleton (100) and a multi-functional actuator (200). The wearable exoskeleton (100) includes a back vest assembly (110), a bionic scapula assembly (120) fixed to the back vest assembly (110) for adaptive human shoulder and back movement, an upper arm exoskeleton assembly (140) connected to the bionic scapula assembly (120), and a lower arm exoskeleton assembly (150) connected to the upper arm exoskeleton assembly (140). The multi-functional actuator (200) is connected to the lower arm exoskeleton assembly (150) via a locking coupler (153).

6. The auxiliary exoskeleton according to claim 5, characterized in that, The bionic scapula assembly (120) includes a bionic scapula link (121), two electric push rods (123) rotatably connected to both ends of the bionic scapula link (121) by pins, and a spring sleeve (122). One end of the bionic scapula link (121) is hinged to the back vest assembly (110), and the other end is connected to the back vest assembly (110) by the spring sleeve (122). The output ends of the two electric push rods (123) are hinged and connected to the upper arm exoskeleton assembly (140).

7. The auxiliary exoskeleton according to claim 5, characterized in that, It also includes an assist device, which includes a third servo motor (143-3), a third worm gear (144-3) fixed to the output shaft of the third servo motor (143-3), a third worm wheel (145-3) cooperating with the third worm gear, a third winch (145-6) coaxially arranged with the third worm wheel, a second wire (148-2) wound on the third winch, and a universal connector (155). The third servo motor and the universal connector (155) are respectively fixed on the upper arm exoskeleton assembly (140) or the lower arm exoskeleton assembly (150). One end of the second wire (148-2) is wound on the third winch (145-6), and the other end is fixed to the universal connector. The third servo motor drives the third winch to rotate through the third worm gear and the third worm wheel, thereby causing the second wire (148-2) to retract, thereby assisting in lifting the lower arm exoskeleton assembly (150).

8. The auxiliary exoskeleton according to claim 5, characterized in that, It also includes a power storage device, which includes a first power storage unit, a second power storage unit, and a tension spring power accumulator (146). The first power storage unit is disposed on the upper arm exoskeleton assembly (140), and the second power storage unit is disposed on the forearm exoskeleton assembly (150). The tension spring power accumulator (146) includes a housing (146-1), two limiting sliders (146-3) symmetrically disposed on both sides of the housing (146-1), a return spring (146-4), a tension spring (146-5), a first slider (146-6), and a second slider (146-7). The outer side of the limiting slider (146-3) is connected to the housing (146-1) through the return spring (146-4). The inner side of the limiting slider (146-3) includes a limiting part, a sliding part, and a squeezing part. The first slider (146-6) is connected to the housing (146-1) through the return spring (146-4). The first slider (146-6) and the second slider (146-7) are connected by a tension spring (146-5). The first slider (146-6) is limited outside the two limiting sliders (146-3) by a limiting part. The tension spring (146-5) and the second slider (146-7) are located in the sliding part between the two limiting sliders (146-3). The first power storage unit is used to pull the second slider to store power in the tension spring (146-5). When the second slider moves to the squeezing part of the limiting slider, the second slider squeezes the two limiting sliders away from each other. The limiting part of the limiting slider moves away to release the limitation on the first slider. Under the action of the tension spring (146-5), the first slider quickly approaches the second slider, causing the forearm exoskeleton assembly (150) to fall quickly. The second power storage unit is used to pull the first slider to reset the first slider.

9. The auxiliary exoskeleton according to claim 8, characterized in that, It also includes a limiting and shock-absorbing structure, which includes a limiting and shock-absorbing rod (147) and a limiting rod (213). The upper arm exoskeleton assembly (140) is provided with a limiting and shock-absorbing rod (147) near the elbow end. The multi-functional actuator (200) is provided with a limiting rod (213). The limiting and shock-absorbing rod (147) includes a compression spring (147-1) fixed on the upper arm exoskeleton assembly (140) and a rubber contact head (147-2) provided at the end of the compression spring (147-1). The end of the limiting rod (213) is provided with a rubber head. After the tension of the spring of the energy storage device is released, the rubber contact head (147-2) of the limiting and shock-absorbing rod (147) contacts the rubber head of the limiting rod (213) and produces a non-perfectly elastic collision.

10. The auxiliary exoskeleton according to claim 5, characterized in that, Both the upper arm exoskeleton assembly (140) and the lower arm exoskeleton assembly (150) include an inner exoskeleton shell and an outer exoskeleton shell. The outer exoskeleton shell is fitted over the inner exoskeleton shell. The outer exoskeleton shell is provided with several guide rods (141-1), and the inner exoskeleton shell is provided with several elastic straps (142-1). The guide rods (141-1) are provided with guide holes, and the elastic straps (142-1) pass through the guide holes of the guide rods (141-1).

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