Limb exoskeleton joint driving and protecting device for marine drilling platform working

Abstract

The invention discloses a limb exoskeleton joint driving and protecting device for marine drilling platform working, and belongs to the technical field of exoskeletons.The limb exoskeleton joint driving and protecting device comprises an air box, a shoulder ring is fixedly connected to one end of the top of the air box, first universal shafts are fixedly connected to the top ends of the outer walls of the two sides of the air box correspondingly, and first rotating plates are rotationally connected to the movable ends of the first universal shafts correspondingly; the bottom ends of the first rotating plates are fixedly connected with first sleeve shells, the bottom ends of the inner walls of the first sleeve shells are slidably connected with first sliding blocks, and the bottoms of the first sliding blocks are fixedly connected with first n-shaped supporting plates. The arm joint can be protected by arranging the protective shell, the protective shell can be fixed to the hollow block by arranging a connecting structure among a lantern ring, an inserting ring and a bolt, and by arranging a simple connecting mode among the lantern ring, the inserting ring and the bolt, the disassembly and assembly steps of the protective shell are more convenient and faster; the safety in the whole working process is improved, and meanwhile the arms of a wearer are well protected.

Description

Technical Field

[0001] This invention relates to the field of exoskeleton technology, and in particular to a joint drive and protection device for an exoskeleton used on offshore drilling platforms. Background Technology

[0002] Offshore drilling platforms, as core equipment for offshore oil and gas resource development, operate in environments characterized by high humidity, high salt spray, strong vibration, and confined spaces. Workers face multiple challenges, including strenuous physical labor, complex operational tasks, and potential safety risks. Exoskeleton technology, as a wearable intelligent device, can effectively enhance human strength, reduce physical exertion, improve work efficiency, and lower the risk of occupational injuries through the synergy between mechanical structure and human movement. Rigid exoskeleton robots have a large body mass. The driving torque at each joint not only bears the external load but also needs to provide additional power to drive the body, resulting in poor endurance. In addition, most joints of upper limb exoskeleton robots use rotary joints instead of human ball-and-socket joints. During movement, the rotation centers of the joint degrees of freedom do not coincide, resulting in poor human-robot compatibility. Based on these problems, Chinese patent CN114393570A discloses a pneumatic single-arm upper limb exoskeleton robot and its control system, as well as a joint torque measuring device for measuring the first artificial pneumatic muscle and the... The compressed air spring provides a driving force to the elbow joint exoskeleton robotic arm; the joint torque measuring device includes an electronic force gauge, a connecting ring, a steel wire rope, a tension spring, and a fixed pulley; the electronic force gauge and the fixed pulley are fixedly mounted on the outside of the upper arm link, and the electronic force gauge is connected to one end of the connecting ring; the other end of the connecting ring is fixedly connected to one end of the tension spring through the steel wire rope, and the other end of the tension spring is fixedly connected to the outside of the forearm link; the steel wire rope is mounted on the fixed pulley, and the fixed pulley is used to constrain the movement direction of the tension spring.

[0003] This upper limb exoskeleton device can only be attached to the wearer's arm surface through a fixed structure, but it cannot provide sufficient protection for the key joints of the wearer's arm. During operation, due to the strong rigidity of the exoskeleton itself, the movement of the wearer's arm joints is restricted, and the flexibility is significantly reduced. This stiffness makes it difficult for the user to adjust the arm joints in time according to changes in the environment when performing actions, which makes it very easy to have accidental collisions with surrounding objects or equipment, increasing the safety risks during operation. Summary of the Invention

[0004] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0005] To solve the above problems, the present invention adopts the following technical solution.

[0006] A joint drive and protection device for an exoskeleton used on a marine drilling platform includes an air box. A shoulder ring is fixedly connected to one top end of the air box. First universal joints are fixedly connected to the top ends of both outer walls of the air box. First rotating plates are rotatably connected to the movable ends of the first universal joints. First housings are fixedly connected to the bottom ends of the first rotating plates. First sliders are slidably connected to the bottom ends of the inner walls of the first housings. First n-shaped support plates are fixedly connected to the bottom of the first sliders. Second rotating plates are rotatably connected to the inner walls of the first n-shaped support plates. First boom fixing straps are fixedly connected to one outer wall of the second rotating plates, and second boom fixing straps are fixedly connected to the other outer wall of the second rotating plates. A first boom fixing strap is installed below the second rotating plates. It has a protective mechanism, with a third universal joint installed below the protective mechanism. The movable end of the third universal joint is rotatably connected to a second n-shaped support plate. The inner wall of the second n-shaped support plate is rotatably connected to a third rotating plate. The bottom of the third rotating plate is fixedly connected to a second housing. The bottom of the inner wall of the second housing is slidably connected to a second slider. The outer wall of one side of the base plate is fixedly connected to a first forearm fixing strap. The outer wall of the other side of the base plate is fixedly connected to a second forearm fixing strap. The outer wall of one side of the base plate is also fixedly connected to a second crossbar. The bottom of the base plate is fixedly connected to a vertical pole. The bottom of the vertical pole is fixedly connected to a control handle. A clamping mechanism is installed below the vertical pole. The bottom of the air box is equipped with a lower limb support mechanism.

[0007] As a further description of the above technical solution: A signal receiving module is fixedly connected to the other end of the top of the gas box, a protective pad is fitted to one end of the outer wall of the gas box, and multiple sets of fluorescent strips are fixedly connected to the rear end face of the gas box.

[0008] As a further description of the above technical solution: The protective mechanism includes a hollow block, the bottom of the second rotating plate is fixedly connected to the top of the hollow block, the front end of the hollow block is fixedly connected to a first crossbar, and one side of the outer wall of the first crossbar is fixedly connected to a second universal joint.

[0009] As a further description of the above technical solution: Each hollow block has a circular hole that penetrates both outer walls. A collar is fixedly connected to one end of the inner wall of each circular hole. A plug ring is fitted onto the inner wall of each collar. A bolt is threaded onto the inner wall of each plug ring. A protective shell is fixedly connected to one end face of each plug ring. The bottom of each hollow block is fixedly connected to the top of the third universal joint.

[0010] As a further description of the above technical solution: The front end of each control handle is fixedly connected to a wireless transmission module. The clamping mechanism includes an L-shaped bracket. An L-shaped bracket is installed below each of the second crossbars. A first cylinder passes through the bottom end of each L-shaped bracket. A clamping plate is fixedly connected to the movable end of each of the first cylinders. Grooves are provided on the opposite surfaces of the two sets of clamping plates.

[0011] As a further description of the above technical solution: A circuit board is fixedly connected to one end of the inner wall of each groove, and a wire is fixedly connected to the top of each circuit board. A warning light is fixedly connected to the top of each clamping plate, and the bottom of each warning light is fixedly connected to the top of the wire. A sliding plate is slidably connected to the other end of the inner wall of each groove. Anti-slip pads are fixedly connected to the opposite surfaces of the two sets of sliding plates. Pressure sensors are fixedly connected to the corners of the opposite surfaces of the circuit board and the sliding plates. An n-type limit frame is fixedly connected to the bottom of each clamping plate. An L-type baffle is fixedly connected to the opposite surfaces of the two sets of n-type limit frames. A second cylinder passes through one end of each L-type baffle. A load-bearing plate is fixedly connected to the movable end of each second cylinder. The outer walls of the load-bearing plate are slidably connected to the inner walls of the n-type limit frames.

[0012] As a further description of the above technical solution: The lower limb support mechanism includes an n-shaped bracket. One bottom end of the air box is fixedly connected to the top of the n-shaped bracket. Rotating holes are formed on both outer walls of the n-shaped bracket, and shafts are rotatably connected to the inner walls of each rotating hole. Pads are fixedly connected to the opposing surfaces of the two sets of shafts. Third cylinders are fixedly connected to both bottom ends of the pads. Bases are fixedly connected to the movable ends of the third cylinders. A triangular block is fixedly connected to the other bottom end of the air box. Thigh fixation straps are fixedly connected to both front ends of the triangular block, and thigh fixation straps are fixed to both rear ends of the triangular block. A first rotating assembly is connected, and the movable end of the first rotating assembly is rotatably connected to a fourth cylinder. The movable end of the fourth cylinder is fixedly connected to a second rotating assembly. The movable end of the second rotating assembly is fixedly connected to both sides of the front end face of the pad. A first air outlet cover penetrates the bottom of the outer walls on both sides of the air box. Multiple sets of air outlets are opened on the outer wall of the first air outlet cover, and a first air guide pipe is fixedly connected to each air outlet. The end of the first air guide pipe is fixedly connected to the air inlet of the outer wall of the first cylinder, the second cylinder, the third cylinder, and the fourth cylinder.

[0013] As a further description of the above technical solution: The top of the outer walls on both sides of the air box is also provided with a second air outlet cover. A universal joint is fixedly connected to the opposite side of the two sets of second air outlet covers. A fifth cylinder is fixedly connected to the movable end of the outer wall of one side of the universal joint cover. A sixth cylinder is fixedly connected to the movable end of the outer wall of the other side of the universal joint cover. Multiple air outlets are opened on the outer wall of the second air outlet cover. A second air guide pipe is fixedly connected to each air outlet. The end of the second air guide pipe is fixedly connected to the air inlet of the outer wall of the fifth cylinder and the sixth cylinder. A fourth universal joint is fixedly connected to one end of the outer wall of the second crossbar. The movable end of the fifth cylinder is fixedly connected to the movable end of the second universal joint. The movable end of the sixth cylinder is fixedly connected to the movable end of the fourth universal joint.

[0014] As a further description of the above technical solution: Hollow plates are fixedly connected to one end of the inner wall of both the first and second shells. Both ends of the hollow plates are provided with through holes, and spring rods are slidably connected to the inner walls of the holes. A return spring is sleeved on the top of the outer wall of each spring rod, and the bottom end of each spring rod is fixedly connected to the top ends of the first and second sliders.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: (1) By setting up a protective shell, the arm joints can be protected. By setting up a connection structure between the collar, the insert ring and the bolt, the protective shell can be fixed on the hollow block. By setting up a simple connection method between the collar, the insert ring and the bolt, the disassembly and assembly steps of the protective shell are more convenient and quick. This not only improves the safety of the entire working process, but also provides good protection for the wearer's arm.

[0016] (2) Based on the body dimensions of Chinese adults (upper arm length 300 mm, forearm length 250 mm), the motion characteristics and force laws of the three degrees of freedom of the shoulder joint (adduction / abduction, flexion / extension, internal / external rotation) and the one to two degrees of freedom of the elbow joint (flexion and extension are the main functions) were analyzed. A static torque balance model and an assist efficiency formula were established (efficiency is 55% when the light load is 5 kg and 33% when the heavy load is 20 kg). The parameters of the pneumatic balance device of the upper arm and forearm were optimized using a nonlinear programming genetic algorithm to reduce the peak value of the cylinder driving force by 22% and control the pressure fluctuation amplitude within 8%. A three-stage progressive air source purification device (centrifugal separation, condensation drying, fine filtration adsorption) and a corrosion-resistant air pressure system were designed inside the air box. 316L stainless steel ceramic coating, carbon fiber composite cylinder body, etc. were used to meet the requirements of the sea To meet the requirements of long-term stable operation in high-humidity and salt spray environments, a closed-loop control system is formed using a PID algorithm. This system integrates Hall effect angle sensors (accuracy ±0.5°) and piezoresistive pressure sensors (accuracy ±0.25%FS) to achieve precise control of joint angles (tracking error ≤1.5°) and adaptive adjustment of assist torque (response delay ≤20 milliseconds). The mechanical structure adopts a lightweight design (total system weight ≤5 kg), and a spring loading mechanism improves human-machine collaboration compliance to meet the needs of pushing, pulling, lifting, and fine-tuning operations during drilling. This research provides theoretical support and engineering reference for the development of human-machine collaborative equipment for offshore drilling platforms, significantly enhancing operational safety and improving work efficiency, while also preventing musculoskeletal injuries caused by high upper limb loads.

[0017] (3) When the two sets of first cylinders are opened at the same time, the opposite surfaces of the two sets of clamping plates can slowly approach each other. Then the two sets of clamping plates will clamp and fix the goods. By setting pressure sensors, the clamping force of the two sets of clamping plates can be detected in real time. If the clamping force of the clamping plates is too large, it will cause damage to the surface of the goods. At this time, the warning light will light up red. If the clamping force of the clamping plates is too small, it will cause the goods to fall accidentally. At this time, the warning light will light up yellow. If the clamping force of the clamping plates is within the safe range, it will not cause the goods to fall or be pinched. At this time, the warning light will light up green. By setting anti-slip pads, the stability of the clamped goods can be improved. When the two sets of second cylinders are opened, the opposite surfaces of the two sets of load-bearing plates can slowly approach each other. At this time, the outer wall of the load-bearing plate will insert into the bottom of the goods, and then it will be convenient for the staff to lift the entire goods directly.

[0018] (4) When the two sets of third cylinders are turned on, the two sets of bases can be placed on the ground at the same time. As the third cylinder continues to extend, it can help the wearer stand up quickly. By setting the fourth cylinder, the pad can be rotated, thereby quickly adjusting the angle of the base and providing auxiliary support for the wearer standing on different slopes. Attached Figure Description

[0019] Figure 1 This is one of the structural schematic diagrams of the present invention; Figure 2 This is the second structural schematic diagram of the present invention; Figure 3 This is a front view of the present invention; Figure 4 This is a rear view of the present invention; Figure 5 This is the left view of the present invention; Figure 6 This is a side view of the protective mechanism in this invention; Figure 7 This is a side sectional view of the protective mechanism in this invention; Figure 8 This is a front sectional view of the first telescopic mechanism and the second telescopic mechanism in this invention; Figure 9 This is a front sectional view of the clamping mechanism in this invention; Figure 10 This is a side view of the lower limb support mechanism in this invention.

[0020] The correspondence between the labels and component names in the attached figures is as follows: 1. Air box; 2. Shoulder ring; 3. Signal receiving module; 4. Protective pad; 5. Fluorescent strip; 6. First universal joint; 7. First rotating plate; 8. First housing; 9. First slider; 10. First n-shaped support plate; 11. Second rotating plate; 12. First boom fixing strap; 13. Second boom fixing strap; 14. Protective mechanism; 141. Hollow block; 142. First crossbar; 143. Second universal joint; 144. Round hole; 145. Collar ; 146. Insert ring; 147. Bolt; 148. Protective shell; 15. Third universal joint; 16. Second n-shaped support plate; 17. Third rotating plate; 18. Second housing; 19. Second slider; 20. Base plate; 21. First forearm fixing strap; 22. Second forearm fixing strap; 23. Second crossbar; 24. Upright pole; 25. Control handle; 26. Wireless transmission module; 27. Clamping mechanism; 271. L-shaped bracket; 272. The 273. Cylinder 1; 274. Clamping plate; 275. Groove; 276. Circuit board; 277. Wire; 278. Warning light; 279. Slide plate; 270. Anti-slip mat; 2710. Pressure sensor; 2711. N-type limit bracket; 2712. L-type baffle; 2713. Second cylinder; 2714. Load-bearing plate; 28. Lower limb support mechanism; 281. N-type bracket; 282. Shaft; 283. Pad; 284. Third cylinder 285. Base; 286. Triangular block; 287. Thigh fixing strap; 288. First rotating assembly; 289. Fourth cylinder; 2810. Second rotating assembly; 29. ​​First air outlet cover; 30. First air guide pipe; 31. Second air outlet cover; 32. Universal joint seat; 33. Fifth cylinder; 34. Sixth cylinder; 35. Second air guide pipe; 36. Fourth universal joint; 37. Hollow plate; 38. Spring rod; 39. Return spring. Detailed Implementation

[0021] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0022] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0023] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places throughout this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that mutually excludes other embodiments. The present invention provides the following embodiments.

[0024] Reference Figure 1-10 This invention provides an embodiment of an exoskeleton joint drive and protection device for working limbs on an offshore drilling platform, comprising an air tank 1 for storing gas. A shoulder ring 2 is fixedly connected to one top end of the air tank 1, the concave surface of which can be hung on the wearer's shoulder. A signal receiving module 3 is fixedly connected to the other top end of the air tank 1 to receive control signals, facilitating precise delivery and recovery of the gas inside the air tank 1. A protective pad 4 is fitted onto one end of the outer wall of the air tank 1 to protect the wearer's back. The simple connection between the protective pad 4 and the air tank 1 makes the installation and removal of the protective pad 4 more convenient and quick. Multiple fluorescent strips 5 are fixedly connected to the rear end of the air tank 1 to improve the wearer's safety during nighttime work.

[0025] The top of the outer walls on both sides of the air box 1 are fixedly connected to the first universal joint 6. The movable end of the first universal joint 6 is rotatably connected to the first rotating plate 7. By setting the connection structure between the first universal joint 6 and the first rotating plate 7, the freedom of the wearer's shoulder joint can be improved. The bottom of the first rotating plate 7 is fixedly connected to the first housing 8. The bottom of the inner wall of the first housing 8 is slidably connected to the first slider 9. By setting the connection structure between the first housing 8 and the first slider 9, the extension and retraction of the shoulder joint can be realized. The bottom of the first slider 9 is fixedly connected to... There is a first n-shaped support plate 10, and the inner wall of the first n-shaped support plate 10 is rotatably connected to a second rotating plate 11. The outer wall of one side of the second rotating plate 11 is fixedly connected to a first upper arm fixing strap 12, and the outer wall of the other side of the second rotating plate 11 is fixedly connected to a second upper arm fixing strap 13. By setting the first upper arm fixing strap 12 and the second upper arm fixing strap 13, the second rotating plate 11 can be fixed to the wearer's upper arm. Through the connection structure between the first n-shaped support plate 10 and the second rotating plate 11, the upper arm fixing structure can be made more flexible.

[0026] Hollow blocks 141 are fixedly connected to the bottom of the second rotating plate 11. A first crossbar 142 is fixedly connected to the front end of each hollow block 141. A second universal joint 143 is fixedly connected to one outer wall of each first crossbar 142. Circular holes 144 penetrating the outer walls of both sides are opened inside each hollow block 141. A collar 145 is fixedly connected to one end of the inner wall of each circular hole 144. Insert rings 146 are fitted onto the inner wall of each collar 145. Bolts 147 are threaded onto the inner wall of each insert ring 146. A protective shell 148 is fixedly connected to one end face of each insert ring 146. By setting the protective shell 148, the arm joint can be protected. By setting the collar 145… The connection structure between the insert ring 146 and the bolt 147 can fix the protective shell 148 onto the hollow block 141. By setting a simple connection between the collar 145, the insert ring 146 and the bolt 147, the disassembly and assembly of the protective shell 148 is more convenient and quick. By setting the hollow block 141, the first crossbar 142, the second universal joint 143, the round hole 144, the collar 145, the insert ring 146, the bolt 147 and the protective shell 148, a protective mechanism 14 can be formed. The bottom of the hollow block 141 is fixedly connected to the third universal joint 15. By setting the third universal joint 15, the wearer's elbow joint can freely rotate at an angle.

[0027] The movable end of the third universal joint 15 is rotatably connected to a second n-shaped support plate 16. The inner wall of the second n-shaped support plate 16 is rotatably connected to a third rotating plate 17. By setting the connection structure between the second n-shaped support plate 16 and the third rotating plate 17, the wearer's elbow joint can bend freely. The bottom of the third rotating plate 17 is fixedly connected to a second housing 18. The bottom end of the inner wall of the second housing 18 is slidably connected to a second slider 19. By setting the connection structure between the second housing 18 and the second slider 19, the extension and retraction of the elbow joint can be realized. The outer wall of one side of the base plate 20 is fixedly connected to a first forearm. The base plate 20 is fixedly connected to the other side of the outer wall of the base plate 20 by the fixing strap 21 and the second forearm fixing strap 22. By setting the first forearm fixing strap 21 and the second forearm fixing strap 22, the base plate 20 can be fixed to the wearer's forearm. The outer side of the base plate 20 is also fixedly connected to the second crossbar 23. The bottom of the base plate 20 is fixedly connected to the upright 24. The bottom of the upright 24 is fixedly connected to the control handle 25. The front end of the control handle 25 is fixedly connected to the wireless transmission module 26. The wearer can hold the control handle 25 with both hands. By setting the wireless transmission module 26, control signals can be transmitted.

[0028] Below each of the second crossbars 23, an L-shaped bracket 271 is installed. A first cylinder 272 passes through the bottom of each L-shaped bracket 271. The movable ends of the two sets of first cylinders 272 are positioned opposite each other. A clamping plate 273 is fixedly connected to the movable end of each first cylinder 272. When both sets of first cylinders 272 are opened simultaneously, the opposing surfaces of the two sets of clamping plates 273 can slowly approach each other, subsequently clamping and securing the goods. Grooves 274 are formed on the opposing surfaces of both sets of clamping plates 273. A circuit board 275 is fixedly connected to one end of the inner wall of each groove 274. A wire 276 is fixedly connected to the top of each circuit board 275. An alarm is fixedly connected to the top of each clamping plate 273. The bottom of both indicator lights 277 and warning lights 277 are fixedly connected to the top of wires 276. Slide plates 278 are slidably connected to the other end of the inner wall of the groove 274. Anti-slip pads 279 are fixedly connected to the opposite surfaces of the two sets of slide plates 278. Pressure sensors 2710 are fixedly connected to the corners of the opposite surfaces of the circuit board 275 and the slide plates 278. By setting pressure sensors 2710, the clamping force of the two sets of clamping plates 273 can be detected in real time. If the clamping force of the clamping plates 273 is too large, it will cause damage to the surface of the goods, at which point the warning light 277 will light up red. If the clamping force of the clamping plates 273 is too small, it will cause the goods to fall accidentally, at which point the warning light 277 will light up. A yellow light illuminates when the clamping force of the clamping plate 273 is within a safe range, preventing goods from falling or being pinched. At this time, the warning light 277 will illuminate green. The stability of the clamped goods can be improved by setting anti-slip pads 279. An n-type limit frame 2711 is fixedly connected to the bottom of each clamping plate 273. An L-type baffle 2712 is fixedly connected to the opposite sides of each of the two sets of n-type limit frames 2711. A second cylinder 2713 passes through one end of each L-type baffle 2712. The movable ends of the two sets of second cylinders 2713 are arranged opposite each other. A load-bearing plate 2714 is fixedly connected to the movable end of each second cylinder 2713. The opposite surfaces of the two sets of load-bearing plates 2714 are set at an angle. When the two sets of second cylinders... After cylinder 2713 is opened, the opposite surfaces of the two sets of load-bearing plates 2714 can slowly approach each other. At this time, the outer wall of the load-bearing plate 2714 will insert into the bottom of the goods, making it convenient for the staff to lift the entire goods directly. The two outer walls of the load-bearing plate 2714 are slidably connected to the two inner walls of the n-type limit frame 2711. Simultaneously changing the settings of the L-type bracket 271, the first cylinder 272, the clamping plate 273, the groove 274, the circuit board 275, the wire 276, the warning light 277, the sliding plate 278, the anti-slip mat 279, the pressure sensor 2710, the n-type limit frame 2711, the L-type baffle 2712, the second cylinder 2713, and the load-bearing plate 2714 can form a clamping mechanism 27.

[0029] An n-shaped bracket 281 is fixedly connected to one bottom end of the air box 1. Rotating holes are provided on both outer walls of the n-shaped bracket 281, and shafts 282 are rotatably connected to the inner walls of each rotating hole. Pads 283 are fixedly connected to the opposite faces of the two sets of shafts 282. Third cylinders 284 are fixedly connected to both ends of the bottom of the pads 283. Bases 285 are fixedly connected to the movable ends of the third cylinders 284. A triangular block 286 is fixedly connected to the other bottom end of the air box 1. Thigh-fixing straps 287 are fixedly connected to both front ends of the triangular block 286, allowing it to be fixed to the wearer's thighs. First rotating components 288 are fixedly connected to both rear ends of the triangular block 286. Fourth cylinders 289 are rotatably connected to the movable ends of the first rotating components 288. Second rotating components 289 are fixedly connected to the movable ends of the fourth cylinders 289. 810, the movable ends of the second rotating component 2810 are fixedly connected to both sides of the front end face of the pad 283, and the movable ends of the third cylinder 284 are all set vertically downward. When the two sets of third cylinders 284 are turned on, the two sets of bases 285 can be placed on the ground at the same time. As the third cylinder 284 continues to extend, it can help the wearer stand up quickly. By setting the fourth cylinder 289, the pad 283 can be rotated, thereby quickly adjusting the angle of the base 285, which can provide auxiliary support for the wearer standing on different slopes. By setting the n-shaped bracket 281, shaft 282, pad 283, third cylinder 284, base 285, triangular block 286, thigh fixing strap 287, first rotating component 288, fourth cylinder 289 and second rotating component 2810, a lower limb support mechanism 28 can be formed.

[0030] The bottom ends of the outer walls on both sides of the air box 1 are provided with first air outlet covers 29. Multiple air outlets are formed on the outer walls of the first air outlet covers 29, and each air outlet is fixedly connected to a first air guide pipe 30. The ends of the first air guide pipes 30 are fixedly connected to the air inlets on the outer walls of the first cylinder 272, the second cylinder 2713, the third cylinder 284, and the fourth cylinder 289. By setting the first air outlet covers 29 and the first air guide pipes 30, the gas in the air box 1 can be accurately delivered to the interiors of the first cylinder 272, the second cylinder 2713, the third cylinder 284, and the fourth cylinder 289. Second air outlet covers also penetrate the top ends of the outer walls on both sides of the air box 1. 31. Universal joints 32 are fixedly connected to the opposite sides of both sets of second air outlet covers 31. A fifth cylinder 33 is fixedly connected to the movable end of one side of the outer wall of each universal joint 32, and a sixth cylinder 34 is fixedly connected to the movable end of the other side of the outer wall of each universal joint 32. Multiple air outlets are opened on the outer wall of the second air outlet cover 31, and a second air guide pipe 35 is fixedly connected to each air outlet. The ends of the second air guide pipes 35 are fixedly connected to the air inlets on the outer walls of the fifth cylinder 33 and the sixth cylinder 34. A fourth universal joint 36 is fixedly connected to one end of the outer wall of the second crossbar 23. The movable end of the fifth cylinder 33 is connected to the second universal joint 143. The movable ends of the fifth cylinder 33 and the second universal joint 143 are fixedly connected, and the movable ends of the sixth cylinder 34 are also fixedly connected to the movable ends of the fourth universal joint 36. By setting the connection structure between the fifth cylinder 33 and the second universal joint 143, and between the sixth cylinder 34 and the fourth universal joint 36, the wearer's shoulder and elbow joints can be assisted in bending. By setting the second air outlet cover 31 and the second air guide pipe 35, the gas in the air box 1 can be accurately delivered to the interior of the fifth cylinder 33 and the sixth cylinder 34. Hollow plates 37 are fixedly connected to one end of the inner wall of the first shell 8 and the second shell 18. Both ends of the hollow plates 37 have through-hole openings. The sliding holes are all slidably connected to the inner walls of the sliding holes, and the top of the outer walls of the spring rods 38 are all fitted with return springs 39. The bottom ends of the spring rods 38 are all fixedly connected to the top ends of the first slider 9 and the second slider 19. By setting the first housing 8, the first slider 9, the hollow plate 37, the spring rods 38 and the return springs 39, a first telescopic mechanism can be formed. By setting the second housing 18, the second slider 19, the hollow plate 37, the spring rods 38 and the return springs 39, a second telescopic mechanism can be formed. By setting the first telescopic mechanism and the second telescopic mechanism, it is helpful for the wearer to extend the shoulder and elbow joints at will.

[0031] Based on the anthropometric dimensions of Chinese adults (upper arm length 300 mm, forearm length 250 mm), this study analyzes the motion characteristics and force patterns of three degrees of freedom (adduction / abduction, flexion / extension, internal / external rotation) of the shoulder joint and one to two degrees of freedom (primarily flexion and extension) of the elbow joint. A static torque balance model and assist efficiency formula are established (efficiency is 55% with a light load of 5 kg and 33% with a heavy load of 20 kg). A nonlinear programming genetic algorithm is used to optimize the parameters of the pneumatic balancing devices for the upper and lower arms, reducing the peak cylinder driving force by 22% and controlling pressure fluctuations within 8%. A three-stage progressive air purification device (centrifugal separation, condensation drying, and fine filtration adsorption) and a corrosion-resistant air pressure system are designed inside the air chamber 1. 316L stainless steel with ceramic coating and a carbon fiber composite cylinder body are used to meet marine requirements. To meet the requirements of long-term stable operation in high humidity and salt spray environments, a closed-loop control system is formed using a PID algorithm. This system integrates Hall effect angle sensors (accuracy ±0.5°) and piezoresistive pressure sensors (accuracy ±0.25%FS) to achieve precise control of joint angles (tracking error ≤1.5°) and adaptive adjustment of assist torque (response delay ≤20 milliseconds). The mechanical structure adopts a lightweight design (total system weight ≤5 kg), and a spring loading mechanism improves human-machine collaboration compliance to meet the needs of pushing, pulling, lifting, and fine-tuning operations during drilling. This research provides theoretical support and engineering reference for the development of human-machine collaborative equipment for offshore drilling platforms, significantly enhancing operational safety and improving work efficiency, while also preventing musculoskeletal injuries caused by high upper limb loads.

[0032] The above description, in conjunction with specific embodiments, provides a further detailed explanation of the present invention. It should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, several simple deductions or substitutions can be made without departing from the concept of the present invention, and all such deductions or substitutions should be considered to fall within the scope of protection defined by the claims submitted herein.

Claims

1. A joint drive and protection device for an exoskeleton used on a marine drilling platform, comprising an air box (1), characterized in that: A shoulder ring (2) is fixedly connected to one end of the top of the air box (1). A first universal joint (6) is fixedly connected to the top of the outer walls on both sides of the air box (1). A first rotating plate (7) is rotatably connected to the movable end of the first universal joint (6). A first housing (8) is fixedly connected to the bottom of the first rotating plate (7). A first slider (9) is slidably connected to the bottom of the inner wall of the first housing (8). A first n-shaped support plate (10) is fixedly connected to the bottom of the first slider (9). A second rotating plate (11) is rotatably connected to the inner wall of the first n-shaped support plate (10). A first upper arm fixing strap (12) is fixedly connected to one side of the outer wall of the second rotating plate (11). A second upper arm fixing strap (13) is fixedly connected to the other side of the outer wall of the second rotating plate (11). A protective mechanism (14) is installed below the second rotating plate (11). A third universal joint (15) is installed below the protective mechanism (14). The movable end of the third universal joint (15) is rotatably connected to the second n-type support plate (16). The inner wall of the second n-type support plate (16) is rotatably connected to the third rotating plate (17). The bottom of the third rotating plate (17) is fixedly connected to the second shell (18). The bottom of the inner wall of the second shell (18) is slidably connected to the second slider (19). The outer wall of one side of the base plate (20) is fixedly connected to the first forearm fixing strap (21). The outer wall of the other side of the base plate (20) is fixedly connected to the second forearm fixing strap (22). The outer wall of one side of the base plate (20) is also fixedly connected to the second crossbar (23). The bottom of the base plate (20) is fixedly connected to the upright (24). The bottom of the upright (24) is fixedly connected to the control handle (25). The bottom of the upright (24) is fixedly connected to the clamping mechanism (27). The bottom of the air box (1) is installed with the lower limb support mechanism (28).

2. The exoskeleton joint driving and protection device for working limbs of an offshore drilling platform according to claim 1, characterized in that: A signal receiving module (3) is fixedly connected to the other end of the top of the air box (1), a protective pad (4) is sleeved on one end of the outer wall of the air box (1), and multiple sets of fluorescent strips (5) are fixedly connected to the rear end face of the air box (1).

3. The exoskeleton joint drive and protection device for working limbs of an offshore drilling platform according to claim 1, characterized in that: The protective mechanism (14) includes a hollow block (141), the bottom of the second rotating plate (11) is fixedly connected to the top of the hollow block (141), the front end of the hollow block (141) is fixedly connected to a first crossbar (142), and a second universal joint (143) is fixedly connected to one side of the outer wall of the first crossbar (142).

4. The exoskeleton joint drive and protection device for working limbs of an offshore drilling platform according to claim 3, characterized in that: The hollow block (141) has a circular hole (144) that penetrates the outer walls on both sides. A collar (145) is fixedly connected to one end of the inner wall of the circular hole (144). A plug ring (146) is sleeved on the inner wall of the collar (145). A bolt (147) is threadedly connected to the inner wall of the plug ring (146). A protective shell (148) is fixedly connected to one end face of the plug ring (146). The bottom of the hollow block (141) is fixedly connected to the top of the third universal joint (15).

5. The exoskeleton joint drive and protection device for working limbs of an offshore drilling platform according to claim 1, characterized in that: The front end of each control handle (25) is fixedly connected to a wireless transmission module (26). The clamping mechanism (27) includes an L-shaped bracket (271). An L-shaped bracket (271) is installed below each of the second crossbars (23). A first cylinder (272) passes through the bottom end of each L-shaped bracket (271). A clamping plate (273) is fixedly connected to the movable end of each of the first cylinders (272). Grooves (274) are provided on the opposite surfaces of the two sets of clamping plates (273).

6. The exoskeleton joint drive and protection device for working limbs of an offshore drilling platform according to claim 5, characterized in that: A circuit board (275) is fixedly connected to one end of the inner wall of the groove (274). A wire (276) is fixedly connected to the top of the circuit board (275). A warning light (277) is fixedly connected to the top of the clamping plate (273). The bottom of the warning light (277) is fixedly connected to the top of the wire (276). A sliding plate (278) is slidably connected to the other end of the inner wall of the groove (274). Anti-slip pads (279) are fixedly connected to the opposite surfaces of the two sets of sliding plates (278). The circuit board (275) and the sliding plate (278) Pressure sensors (2710) are fixedly connected to the corners of the opposite sides. An n-type limit frame (2711) is fixedly connected to the bottom of the clamping plate (273). An L-type baffle (2712) is fixedly connected to the opposite sides of the two sets of n-type limit frames (2711). A second cylinder (2713) passes through one end of the L-type baffle (2712). A load-bearing plate (2714) is fixedly connected to the movable end of the second cylinder (2713). The outer walls of the load-bearing plate (2714) are slidably connected to the inner walls of the n-type limit frame (2711).

7. The exoskeleton joint driving and protection device for working limbs of an offshore drilling platform according to claim 6, characterized in that: The lower limb support mechanism (28) includes an n-shaped bracket (281). One bottom end of the air box (1) is fixedly connected to the top of the n-shaped bracket (281). Rotating holes are provided on both outer walls of the n-shaped bracket (281), and shafts (282) are rotatably connected to the inner walls of the rotating holes. Pads (283) are fixedly connected to the opposite surfaces of the two sets of shafts (282). Third cylinders (284) are fixedly connected to both bottom ends of the pads (283). Bases (285) are fixedly connected to the movable ends of the third cylinders (284). A triangular block (286) is fixedly connected to the other bottom end of the air box (1). Thigh fixing straps (287) are fixedly connected to both front ends of the triangular block (286). Thigh fixing straps (287) are fixedly connected to both rear ends of the triangular block (286). A first rotating assembly (288) is fixedly connected. The movable end of the first rotating assembly (288) is rotatably connected to a fourth cylinder (289). The movable end of the fourth cylinder (289) is fixedly connected to a second rotating assembly (2810). The movable end of the second rotating assembly (2810) is fixedly connected to both sides of the front end face of the pad (283). The bottom of the outer walls on both sides of the air box (1) is penetrated by a first air outlet cover (29). The outer wall of the first air outlet cover (29) has multiple sets of air outlets, and the air outlets are fixedly connected to a first air guide pipe (30). The end of the first air guide pipe (30) is fixedly connected to the air inlet of the outer wall of the first cylinder (272), the second cylinder (2713), the third cylinder (284), and the fourth cylinder (289).

8. The exoskeleton joint drive and protection device for working limbs of an offshore drilling platform according to claim 3, characterized in that: The top of the outer walls on both sides of the air box (1) is also connected to a second air outlet cover (31). The opposite sides of the two sets of second air outlet covers (31) are fixedly connected to universal joint seats (32). The movable end of the outer wall of one side of the universal joint seat (32) is fixedly connected to a fifth cylinder (33). The movable end of the outer wall of the other side of the universal joint seat (32) is fixedly connected to a sixth cylinder (34). The outer wall of the second air outlet cover (31) has multiple sets of air outlets, and the air outlets are fixedly connected to a second air guide pipe (35). The end of the second air guide pipe (35) is fixedly connected to the air inlet of the outer wall of the fifth cylinder (33) and the sixth cylinder (34). One end of the outer wall of the second crossbar (23) is fixedly connected to a fourth universal joint (36). The movable end of the fifth cylinder (33) is fixedly connected to the movable end of the second universal joint (143). The movable end of the sixth cylinder (34) is fixedly connected to the movable end of the fourth universal joint (36).

9. The exoskeleton joint driving and protection device for working limbs of an offshore drilling platform according to claim 1, characterized in that: Hollow plates (37) are fixedly connected to one end of the inner wall of the first shell (8) and the second shell (18). Both ends of the hollow plates (37) are provided with sliding holes that pass through from top to bottom, and spring rods (38) are slidably connected to the inner walls of the sliding holes. Reset springs (39) are sleeved on the top of the outer wall of the spring rods (38), and the bottom ends of the spring rods (38) are fixedly connected to the top ends of the first slider (9) and the second slider (19).

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