Upper extremity exoskeleton assistive work device for heavy load hand tools

Abstract

The application discloses an upper limb exoskeleton auxiliary working device for heavy-load handheld tools, which comprises a bearing base, a mechanical arm assembly, a driving module, a multi-source sensing acquisition module, a battery power supply module and a controller. The bearing base is a whole machine bearing base body, which is worn on the waist and shoulders of a human body to bear and disperse working loads. The mechanical arm assembly is fixedly installed on the outer side of the bearing base and is arranged corresponding to the movement range of the upper limbs of the human body. The mechanical arm assembly comprises a shoulder section, an upper arm section and a lower arm section. A tool connecting mechanism for connecting the heavy-load handheld tools is arranged at the tail end of the lower arm section. The driving module is assembled at each movement joint of the mechanical arm assembly to output a power assisting torque to drive the movement of the mechanical arm. The multi-source sensing acquisition module comprises a force sensor and a posture sensor. The force sensor is integrated in the tool connecting mechanism to acquire the self-weight load and working impact load of the heavy-load handheld tools in real time.

Description

Technical Field

[0001] This application relates to the field of exoskeleton assistive device technology, and in particular to an upper limb exoskeleton assistive working device for heavy-duty hand tools. Background Technology

[0002] In construction, municipal renovation, and mine emergency repair operations, workers are required to use heavy-duty hand tools such as electric hammers and impact drills for extended periods to perform drilling, chiseling, and breaking operations. These heavy-duty tools are quite heavy, and during operation, they continuously generate high-frequency pulse impact loads. Workers' hands, forearms, and shoulders must endure the weight of the tools and reciprocating impact vibrations for extended periods, which can easily lead to occupational injuries such as muscle strain, joint pain, and limb numbness. Long-term use can also cause chronic occupational diseases such as frozen shoulder and carpal tunnel syndrome, seriously endangering the health of workers.

[0003] Most solutions transfer the tool's weight to the user's waist, shoulders, and torso through joint drive modules, reducing the load on the user to some extent. However, existing solutions mostly use rigid connections between the tool and the exoskeleton arm. During operation, the high-frequency impact loads generated by electric hammers and picks are transmitted directly to the joints of the exoskeleton arm with almost no attenuation. These impact loads impact the joint drive modules, causing overload and vibration of the drive components, reducing their lifespan. Simultaneously, the impact is also transmitted back to the wearer's body through the exoskeleton, resulting in poor vibration damping. Some solutions simply add a fixed-parameter spring damping buffer structure, where the damping and stiffness parameters are not adjustable. This makes it impossible to adapt to the different impact force characteristics under different working postures such as vertical, horizontal, and oblique. The buffering performance cannot be matched synchronously after the posture changes, and the buffering effect deteriorates under oblique and horizontal working conditions.

[0004] The above content is only used to help understand the technical solution of this application and does not represent an admission that the above content is the closest prior art to this application. Summary of the Invention

[0005] Based on this, this application provides an upper limb exoskeleton assistive working device for heavy-duty hand tools, which solves at least one of the above-mentioned technical problems.

[0006] The technical solution adopted by this application to solve its technical problem is: an upper limb exoskeleton auxiliary operation device for heavy-duty handheld tools, including a support base, a robotic arm assembly, a drive module, a multi-source sensor acquisition module, a battery power supply module, and a controller; The bearing base is the bearing base of the whole machine. It is worn close to the waist and shoulders of the human body and is used to bear and distribute the working load. The robotic arm assembly is fixedly installed on the outside of the support base and is arranged corresponding to the range of motion of the human upper limb. The robotic arm assembly includes a shoulder section, an upper arm section and a forearm section. The end of the forearm section is connected to a tool connection mechanism through a variable damping floating unit. The tool connection mechanism is used to dock heavy-duty handheld tools; The drive module is assembled at each joint of the robotic arm assembly and is used to output assist torque to drive the movement of the robotic arm. The multi-source sensing acquisition module includes a force sensor and an attitude sensor. The force sensor is integrated inside the tool connection mechanism and is used to collect the self-weight load and operational impact load of the heavy-duty handheld tool in real time. The attitude sensors are deployed on the shoulder section, upper arm section and forearm section of the robotic arm assembly to collect the robotic arm's attitude, motion angular velocity and acceleration data in real time. The variable damping floating unit is used to adapt to the impact buffering of heavy-duty handheld tools under different working postures. The controller adjusts the damping parameters of the variable damping floating unit in conjunction with the posture signal output by the posture sensor.

[0007] In some embodiments, the battery power supply module and the controller are both fixedly installed on the support base. The battery power supply module provides power to the entire device. The controller is electrically connected to the drive module, force sensor, and attitude sensor respectively. The controller forms a closed-loop control based on the load data and attitude data collected by the sensors in real time, dynamically adjusts the assist output of the drive module, and directly diverts and transmits the self-weight of the heavy-duty handheld tool and the impact load of the operation to the support base through the robotic arm assembly, isolating the load from being transmitted to the human hand and forearm, thereby realizing dynamic adaptive assist control. The battery power supply module uses a lightweight energy storage battery, which is detachably installed in the back counterweight area of ​​the support base to achieve balanced weight distribution of the whole machine without affecting upper limb operation.

[0008] In some embodiments, the tool connection mechanism is a rigid quick-connect joint structure, and the force sensor is embedded in the rigid quick-connect joint and keeps in contact with the heavy-duty handheld tool fixed in the tool connection mechanism, so as to realize the accurate acquisition of tool load and ensure that the load is completely transmitted to the robotic arm assembly.

[0009] In some embodiments, the shoulder segment includes a shoulder frame rotatably mounted on a support base, and an extension connecting frame is fixed on the shoulder frame; The posture sensor of the shoulder segment is fixed to the shoulder frame; The boom section includes a boom frame, one end of which is rotatably provided with a first connecting frame, which is rotatably connected to an extension connecting frame, and the other end of which is rotatably provided with a second connecting frame. The boom is equipped with an extension plate; The attitude sensor of the boom segment is fixed inside the boom frame.

[0010] In some embodiments, the boom segment includes a boom frame, on which a rotating block is fixed, and the rotating block is rotatably mounted on a second connecting frame; The attitude sensor of the forearm segment is fixed inside the forearm frame.

[0011] In some embodiments, the drive module is an electric push rod, which is fitted to the shoulder joint and elbow joint of the robotic arm to accurately respond to the assist adjustment command of the controller, and is respectively the first electric push rod and the second electric push rod; The first electric push rod has a first extension block on its fixed end and a second extension block on its output end. The first extension block is rotatably mounted on the bearing base, and the second extension block is rotatably connected to the shoulder frame. The fixed end of the second electric push rod is provided with a third extension block, and the output end is provided with a fourth extension block. The third extension block is rotatably mounted on the extension plate, and the second extension block is rotatably connected to the second connecting frame.

[0012] In some embodiments, the variable damping floating unit includes a positioning frame, a mounting plate, and a self-locking assembly, wherein the positioning frame and the mounting plate are connected by a damper; The mounting plate is fixed to the end of the boom; A damping spring is fitted on the damper. One end of the damping spring is fixed to the sliding pair of the damper, and the other end is fixed to an adjusting frame. One end of the adjusting frame is fixed to a driven plate, and a through hole is opened on the driven plate. An adjustable electric push rod is fixed on the positioning frame, and one end of the output end of the adjustable electric push rod passes through the through hole and is fixed with a drive plate.

[0013] In some embodiments, the self-locking component is an airbag-type friction locking mechanism, including a miniature air pump, a solenoid valve, and a locking airbag; The miniature air pump and electromagnetic air valve are controlled by the controller; The locking airbag is mounted on the adjustment frame; The electromagnetic valve controls the inflation and deflation of the locking airbag. Inflating the airbag allows for frictional clamping and locking of the adjustment frame's degrees of freedom, while depressurizing the airbag releases the adjustment frame's degrees of freedom.

[0014] In some embodiments, the tool connection mechanism includes a rotating shaft rotatably mounted on a positioning frame; A positioning ring is fixed on the rotating shaft, and a positioning groove is provided on the positioning ring. The force sensor is fixed in the positioning groove. The rotating shaft has a threaded hole and a limiting groove that communicate with the positioning ring, and a screw is threaded into the threaded hole.

[0015] In some embodiments, the bearing base adopts an integrated fit structure that conforms to the physiological curve of the human waist and shoulders, which can evenly distribute the concentrated load transmitted by the robotic arm to the human waist, shoulders and torso, improving load distribution stability and wearing comfort.

[0016] The beneficial effects of this application are as follows: This device is equipped with independent IMU inertial attitude sensors in the shoulder section, upper arm section and forearm section of the robotic arm. It can independently collect the spatial attitude, motion angular velocity and acceleration parameters of each arm section, realize the all-round accurate perception of the multi-segment motion state of the upper limb, and solve the problems of single posture detection, large error and weak impact interference resistance of traditional exoskeleton. It provides accurate data support for dynamic assistance adjustment. The force sensor is integrated inside the tool connection mechanism, which can accurately collect the self-weight load and operation impact load of the heavy-duty handheld tool in real time. Combined with the multi-segment posture sensing data, a complete multi-source sensing closed-loop control system is formed. The controller can dynamically adjust the assistance output of the drive module according to the real-time operation conditions, avoid the poor adaptability problem caused by fixed parameter assistance, and accurately match the assistance needs of different operation intensities and different motion postures. Equipped with a variable damping floating unit and an airbag-type self-locking component, the damper, in conjunction with the damping spring, can flexibly buffer and unload instantaneous impact loads during operation, effectively offsetting the vibrations and impacts generated by heavy-duty tool operation. This prevents impact loads from affecting operational accuracy and human comfort. At the same time, the damping parameters can be dynamically adjusted by adjusting the electric push rod to adapt to different impact intensities. With the addition of a micro air pump and a locking airbag controlled by an electromagnetic valve, the adjustable frame's degrees of freedom can be quickly locked and released. In a stable working posture, it can be rigidly locked to ensure operational accuracy, while during posture adjustment, it can be flexibly released to ensure flexible movement. This balances operational stability and posture adjustability, perfectly adapting to high and low impact operation conditions such as heavy-duty tool chiseling, grinding, and drilling. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a first-person perspective illustration of this application.

[0019] Figure 2 This is a second-view diagram of this application.

[0020] Figure 3This is a third-person perspective diagram of this application.

[0021] Figure 4 This is a schematic diagram of the boom connection in this application.

[0022] Figure 5 This is a schematic diagram of the boom explosion of the present application.

[0023] Figure 6 This is a schematic diagram of the tool connection mechanism of this application.

[0024] Figure 7 This is a schematic cross-sectional view of the shaft of this application.

[0025] Figure 8 This is a schematic diagram of the variable damping floating unit of this application.

[0026] Figure 9 This is a cross-sectional schematic diagram of the positioning frame of this application.

[0027] Reference numerals: 1. Support base; 2. Robotic arm assembly; 21. Shoulder section; 2101. Shoulder frame; 2102. Extension connecting frame; 22. Boom section; 2201. Boom frame; 2202. First connecting frame; 2203. Second connecting frame; 23. Forearm section; 2301. Forearm frame; 2302. Rotating block; 3. Battery power supply module; 4. Force sensor; 5. Attitude sensor; 6. Tool connection mechanism; 61. Rotary shaft; 62. Positioning ring; 6 3. Screw; 64. Operating block; 65. Positioning plate; 66. V-shaped clamp; 67. Limiting rod; 7. First electric push rod; 8. Second electric push rod; 9. Variable damping floating unit; 91. Positioning frame; 92. Mounting plate; 93. Self-locking assembly; 9301. Miniature air pump; 9302. Electromagnetic valve; 9303. Locking airbag; 94. Damper; 95. Damping spring; 96. Adjusting frame; 97. Adjusting electric push rod; 9701. Drive plate. Detailed Implementation

[0028] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application. In addition, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those of ordinary skill in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection of this application.

[0029] This embodiment revolves around the same development, providing a first aspect of an upper limb exoskeleton assistive working device for heavy-duty handheld tools, a second aspect of a third ...

[0030] like Figure 1-9 As shown, the upper limb exoskeleton assistive working device for heavy-duty handheld tools includes a support base 1, a robotic arm assembly 2, a drive module, a multi-source sensor acquisition module, a battery power supply module 3, and a controller. The bearing base 1 is the bearing base of the whole machine. It is worn close to the waist and shoulders of the human body and is used to bear and distribute the working load. The robotic arm assembly 2 is fixedly installed on the outside of the bearing base 1 and is arranged corresponding to the range of motion of the human upper limb. The robotic arm assembly 2 includes a shoulder section 21, an upper arm section 22 and a forearm section 23. The end of the forearm section 23 is connected to a tool connection mechanism 6 through a variable damping floating unit 9. The tool connection mechanism 6 is used to connect heavy-duty handheld tools; The drive module is assembled at each joint of the robotic arm assembly 2 and is used to output assist torque to drive the movement of the robotic arm. The multi-source sensing acquisition module includes a force sensor 4 and an attitude sensor 5. The force sensor 4 is integrated inside the tool connection mechanism 6 and is used to collect the self-weight load and operational impact load of the heavy-duty handheld tool in real time. The attitude sensor 5 is installed on the shoulder section 21, upper arm section 22 and lower arm section 23 of the robotic arm assembly 2, and is used to collect the attitude, angular velocity and acceleration data of the robotic arm in real time. The attitude sensor 5 is an IMU inertial attitude sensor 5. At least one set of IMU inertial attitude sensors 5 is deployed on each of the shoulder segment 21, upper arm segment 22, and forearm segment 23 to independently collect the spatial attitude and motion parameters of the corresponding arm segment. The variable damping floating unit 9 is used to adapt to the impact buffering of heavy-duty handheld tools under different working postures. The controller adjusts the damping parameters of the variable damping floating unit 9 in conjunction with the posture signal output by the posture sensor 5.

[0031] Furthermore, the battery power supply module 3 and the controller are both fixedly installed on the support base 1. The battery power supply module 3 provides power to the entire device. The controller is electrically connected to the drive module, force sensor 4, and attitude sensor 5 respectively. The controller forms a closed-loop control based on the load data and attitude data collected by the sensors in real time, and dynamically adjusts the assist output of the drive module. The self-weight of the heavy handheld tool and the impact load of the operation are directly diverted and transmitted to the support base 1 through the robotic arm assembly 2, and the load is isolated from being transmitted to the human hand and forearm, so as to realize dynamic adaptive assist control. The battery power supply module 3 uses a lightweight energy storage battery, which is detachably installed in the back counterweight area of ​​the support base 1 to achieve balanced weight distribution of the whole machine without affecting upper limb operation.

[0032] Furthermore, the shoulder segment 21 includes a shoulder frame 2101 rotatably mounted on the support base 11. An extension connecting frame 2102 is fixedly mounted on the shoulder frame 2101. The IMU inertial attitude sensor 5 of the shoulder segment 21 is fixedly mounted on the shoulder frame 2101 for independently collecting shoulder movement attitude and motion parameters. Both the upper arm segment 22 and the forearm segment 23 are equipped with straps for wearing on the arm.

[0033] The boom segment 22 includes a boom frame 2201. One end of the boom frame 2201 is rotatably connected to the extension connection frame 2102 of the shoulder segment 21 via a first connecting frame 2202. The other end of the boom frame 2201 is equipped with a second connecting frame 2203. An extension plate is fixedly installed on the side wall of the boom frame 2201. The IMU inertial attitude sensor 5 of the boom segment 22 is built into and fixed inside the boom frame 2201, and independently collects the spatial attitude, angular velocity and acceleration data of the boom segment 22. The boom frame 2201 swings relative to the extension connection frame 2102 through the setting of the first connecting frame 2202. Forearm segment 23 includes a forearm frame 230101, with a rotating block 230202 fixedly mounted on it. The rotating block 230202 is rotatably mounted on the second connecting frame 2203 of the upper arm segment 22, enabling flexible rotation of the forearm. The IMU inertial attitude sensor 5 of the forearm segment 23 is built-in and fixed inside the forearm frame 230101, independently collecting motion parameters of the forearm segment 23. The three-segment independent sensing layout enables accurate monitoring of the entire upper limb posture. The forearm frame 230101 can be driven to swing through the second connecting frame 2203, and can also perform a flipping motion relative to the upper arm segment 22 under the setting of the rotating block 230202.

[0034] The drive module adopts an electric actuator structure, specifically divided into a first electric actuator 7 and a second electric actuator 8, which are respectively mounted at the shoulder and elbow joints of the robotic arm to accurately respond to controller commands and output assist torque. The first electric actuator 7 has a first extension block at its fixed end, which is rotatably mounted on the support base 11. The output end of the first electric actuator 7 has a second extension block, which is rotatably connected to the shoulder frame 2101 to drive the shoulder section 21 to rotate. The second electric actuator 8 has a third extension block at its fixed end, which is fixedly mounted on the extension plate of the boom frame 2201. The output end of the second electric actuator 8 has a fourth extension block, which is rotatably connected to the second connecting frame 2203 to drive the coordinated movement of the upper and lower arms, achieving elbow joint assist output.

[0035] The multi-source sensing acquisition module includes a force sensor 4 and three sets of IMU inertial attitude sensors 5. The force sensor 4 is responsible for acquiring the tool's working load, and the three sets of IMU inertial attitude sensors 5 respectively acquire the motion attitude data of the shoulder segment 21, upper arm segment 22, and forearm segment 23. All sensors are electrically connected to the controller, which is also electrically connected to the first electric push rod 7 and the second electric push rod 8, forming a complete closed-loop control system.

[0036] Furthermore, the tool connection mechanism 6 is a rigid quick-connect joint structure. The force sensor 4 is embedded in the rigid quick-connect joint and keeps in contact with the heavy-duty handheld tool fixed in the tool connection mechanism 6, so as to realize the accurate acquisition of tool load and ensure that the load is completely transmitted to the robotic arm assembly 2. The detection section of force sensor 4 is arc-shaped, making it fit more closely to the outer wall of heavy-duty handheld tools.

[0037] Furthermore, the variable damping floating unit 9 includes a positioning frame 91, a mounting plate 92, and a self-locking assembly 93, wherein the positioning frame 91 and the mounting plate 92 are connected by a damper 94. The mounting plate 92 is fixed to the end of the boom 2301; A damping spring 95 is fitted on the damper 94. One end of the damping spring 95 is fixed to the sliding pair of the damper 94, and the other end is fixed to an adjusting bracket 96. One end of the adjusting bracket 96 is fixed to a driven plate, and a through hole is provided on the driven plate. An adjusting electric push rod 97 is fixed on the positioning frame 91. One end of the output end of the adjusting electric push rod 97 passes through the through hole and is fixed with a drive plate 9701. The self-locking component 93 is an airbag-type friction locking mechanism, including a micro air pump 9301, an electromagnetic air valve 9302, and a locking airbag 9303. The miniature air pump 9301 and the solenoid valve 9302 are controlled by the controller. The solenoid valve 9302 has three connection ends, namely the inlet end, the outlet end and the exhaust end. The inlet pipe is connected to the output pipe of the solenoid valve, and its outlet end is connected to the air tube of the locking airbag 9303 through a connecting pipe. Under normal conditions, the inlet end and the outlet end are open and connected, and the exhaust end is closed, so air can be supplied to the locking airbag 9303. The exhaust outlet end and the exhaust end of the locking airbag 9303 are open and connected, and the inlet end is closed. The locking airbag 9303 is mounted on the adjustment frame 96; The electromagnetic valve 9302 controls the inflation and deflation of the locking airbag 9303. The inflation and expansion of the airbag realizes the degree of freedom of friction-gripping locking adjustment frame 96, and the depressurization of the airbag realizes the release of the degree of freedom of adjustment frame 96. The tool connection mechanism 6 is a rigid quick-connect joint structure. It has an internal rotatable shaft 61, which is rotatably mounted on a positioning frame 91. A positioning ring 62 is fixedly mounted on the shaft 61. A positioning groove is formed inside the positioning ring 62, and a force sensor 4 is fixedly embedded inside the positioning groove, maintaining close contact with the assembled heavy-duty handheld tool. This allows for real-time and accurate acquisition of the tool's self-weight load and operational impact load. The shaft 61 has a through-hole threaded hole and a limiting groove. A screw 63 is threaded into the threaded hole, and an operating block 64 is fixed to the outer end of the screw 63. A positioning plate 65 is rotatably mounted on the inner end of the screw 63. A V-shaped clamping block 6 is fixed to the inner side of the positioning plate 65, which can accommodate and clamp heavy-duty handheld tools of different specifications. Simultaneously, a limiting rod 67 is fixedly mounted on the positioning plate 65. The limiting rod 67 can slide within the limiting groove, achieving limiting and guiding of the positioning plate 65, preventing deflection during clamping, and ensuring tool clamping stability and load acquisition accuracy.

[0038] Furthermore, the bearing base 11 adopts an integrated, fitted structure that conforms to the physiological curves of the human waist and shoulders, allowing the concentrated load transmitted by the robotic arm to be evenly distributed to the human waist, shoulders, and torso, thus improving load distribution stability and wearing comfort. The bearing base 11 consists of an integrally molded shoulder area and an integrally molded waist area, which are rotatably connected together.

[0039] During actual operation, the operator wears a support base 11 to secure the entire machine, and uses the V-shaped clamps 6 of the tool connecting mechanism 6 to clamp and secure heavy-duty handheld tools such as electric hammers and impact drills. During operation, the IMU inertial attitude sensors 5 of each segment collect real-time attitude and motion data of the robotic arm, while the tool end force sensor 4 collects real-time data on the tool's weight and the impact load. All sensor signals are transmitted to the controller in real-time. The controller uses a built-in control algorithm to fuse and calculate the multi-source data, dynamically adjusting the extension stroke and output torque of the two sets of electric actuators based on the real-time working posture and load magnitude, providing precise and adaptive assistance.

[0040] The tool's own weight and high-frequency impact load generated during operation are not transmitted through the human hand and forearm, but are directly transmitted to the waist and shoulder bearing base 11 through the tool connection mechanism 6 and the robotic arm assembly 2. The waist and shoulder torso, which has stronger load-bearing capacity, bears the dispersed load, completely isolating the upper limbs from impact and load. At the same time, relying on multi-source sensor closed-loop control, dynamic adaptive assistance is achieved in all working conditions, taking into account the flexibility of operation, the accuracy of assistance, and the protection of the operation. When the operator needs to adjust the working angle, switch the working position, or change the upper limb posture, the controller receives the posture change signal from the posture sensor 5 and immediately controls the solenoid valve 9302 to open the pressure relief passage, locking the airbag 9303 to quickly depressurize and contract, releasing the friction locking constraint on the adjustment frame 96, and the degree of freedom of the adjustment frame 96 is fully released. The variable damping floating unit 9 returns to the flexible floating state. At this time, with the feedback of posture change, the damping structure can adapt to the slight displacement during the posture fine adjustment process (driven by the adjustment electric push rod 97 to drive the drive plate 9701, which in turn drives the driven plate to adjust, so as to realize the damping adjustment). There is no jamming or rigid limit, which greatly improves the flexibility of operation, makes it convenient for operators to quickly switch working points and adjust working posture, and adapts to large-scale, multi-angle heavy-duty working scenarios.

[0041] Through the coordinated linkage of the variable damping floating unit 9 and the airbag-type self-locking component 93, combined with multi-source sensing closed-loop control, an integrated operation effect of "flexible buffering and self-adaptation, rigid locking with high precision, and adjustable posture with high flexibility" is achieved. It can perfectly adapt to complex working conditions with high and low impacts and multiple postures, such as heavy-duty handheld tool chiseling, grinding, drilling, cutting, and fastening. At the same time, the overall structure is perfectly compatible with the robotic arm assembly 2 and the load-bearing base 1. While realizing the functions of assisting buffering and posture locking, it does not affect the overall load distribution effect and upper limb range of motion. It takes into account the safety, comfort, precision and efficiency of heavy-duty operation, and effectively solves the technical problems of traditional exoskeletons such as rigid assistance, lack of impact buffering, inability to lock posture, and poor adaptability to working conditions.

[0042] The various embodiments of this application have now been described in detail. To avoid obscuring the concept of this application, some details known in the art have not been described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein based on the above description.

[0043] Finally, it should be noted that the above description is only a preferred embodiment of this application. The foregoing embodiments are only used to illustrate the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. An upper limb exoskeleton assistive working device for heavy-duty handheld tools, characterized in that, Includes a support base, robotic arm assembly, drive module, multi-source sensor acquisition module, battery power supply module and controller; The bearing base is the bearing base of the whole machine. It is worn close to the waist and shoulders of the human body and is used to bear and distribute the working load. The robotic arm assembly is fixedly installed on the outside of the support base and is arranged corresponding to the range of motion of the human upper limb. The robotic arm assembly includes a shoulder section, an upper arm section and a forearm section. The end of the forearm section is connected to a tool connection mechanism through a variable damping floating unit. The tool connection mechanism is used to dock heavy-duty handheld tools; The drive module is assembled at each joint of the robotic arm assembly and is used to output assist torque to drive the movement of the robotic arm. The multi-source sensing acquisition module includes a force sensor and an attitude sensor. The force sensor is integrated inside the tool connection mechanism and is used to collect the self-weight load and operational impact load of the heavy-duty handheld tool in real time. The attitude sensors are deployed on the shoulder section, upper arm section and forearm section of the robotic arm assembly to collect the robotic arm's attitude, motion angular velocity and acceleration data in real time. The variable damping floating unit is used to adapt to the impact buffering of heavy-duty handheld tools under different working postures. The controller adjusts the damping parameters of the variable damping floating unit in conjunction with the posture signal output by the posture sensor.

2. The upper limb exoskeleton assistive working device for heavy-duty handheld tools according to claim 1, characterized in that, The battery power supply module and controller are both fixedly installed on the support base. The battery power supply module provides power to the entire device. The controller is electrically connected to the drive module, force sensor, and attitude sensor respectively. The controller forms a closed-loop control based on the load data and attitude data collected by the sensors in real time, and dynamically adjusts the assist output of the drive module. The self-weight of the heavy handheld tool and the impact load of the operation are directly diverted and transmitted to the support base through the robotic arm assembly, and the load is isolated from being transmitted to the human hand and forearm, so as to realize dynamic adaptive assist control. The battery power supply module uses a lightweight energy storage battery, which is detachably installed in the back counterweight area of ​​the support base to achieve balanced weight distribution of the whole machine without affecting upper limb operation.

3. The upper limb exoskeleton assistive working device for heavy-duty handheld tools according to claim 1, characterized in that, The tool connection mechanism is a rigid quick-connect joint structure. The force sensor is embedded in the rigid quick-connect joint and keeps in contact with the heavy-duty handheld tool fixed in the tool connection mechanism, so as to realize the accurate acquisition of tool load and ensure that the load is completely transmitted to the robotic arm assembly.

4. The upper limb exoskeleton assistive working device for heavy-duty handheld tools according to claim 1, characterized in that, The shoulder section includes a shoulder frame, which is rotatably mounted on a support base, and an extension connecting frame is fixed on the shoulder frame; The posture sensor of the shoulder segment is fixed to the shoulder frame; The boom section includes a boom frame, one end of which is rotatably provided with a first connecting frame, which is rotatably connected to an extension connecting frame, and the other end of which is rotatably provided with a second connecting frame. The boom is equipped with an extension plate; The attitude sensor of the boom segment is fixed inside the boom frame.

5. The upper limb exoskeleton assistive working device for heavy-duty handheld tools according to claim 4, characterized in that, The forearm segment includes a forearm frame, on which a rotating block is fixed, and the rotating block is rotatably mounted on a second connecting frame; The attitude sensor of the forearm segment is fixed inside the forearm frame.

6. The upper limb exoskeleton assistive working device for heavy-duty handheld tools according to claim 5, characterized in that, The drive module is an electric push rod, which is installed at the shoulder joint and elbow joint of the robotic arm to accurately respond to the assist adjustment command of the controller. It consists of a first electric push rod and a second electric push rod. The first electric push rod has a first extension block on its fixed end and a second extension block on its output end. The first extension block is rotatably mounted on the bearing base, and the second extension block is rotatably connected to the shoulder frame. The fixed end of the second electric push rod is provided with a third extension block, and the output end is provided with a fourth extension block. The third extension block is rotatably mounted on the extension plate, and the second extension block is rotatably connected to the second connecting frame.

7. The upper limb exoskeleton assistive working device for heavy-duty handheld tools according to claim 6, characterized in that, The variable damping floating unit includes a positioning frame, a mounting plate, and a self-locking assembly, wherein the positioning frame and the mounting plate are connected by a damper. The mounting plate is fixed to the end of the boom; A damping spring is fitted on the damper. One end of the damping spring is fixed to the sliding pair of the damper, and the other end is fixed to an adjusting frame. One end of the adjusting frame is fixed to a driven plate, and a through hole is opened on the driven plate. An adjustable electric push rod is fixed on the positioning frame, and one end of the output end of the adjustable electric push rod passes through the through hole and is fixed with a drive plate.

8. The upper limb exoskeleton assistive working device for heavy-duty handheld tools according to claim 7, characterized in that, The self-locking component is an airbag-type friction locking mechanism, including a miniature air pump, an electromagnetic valve, and a locking airbag; The miniature air pump and electromagnetic air valve are controlled by the controller; The locking airbag is mounted on the adjustment frame; The electromagnetic valve controls the inflation and deflation of the locking airbag. Inflating the airbag allows for frictional clamping and locking of the adjustment frame's degrees of freedom, while depressurizing the airbag releases the adjustment frame's degrees of freedom.

9. The upper limb exoskeleton assistive working device for heavy-duty handheld tools according to claim 8, characterized in that, The tool connection mechanism includes a rotating shaft, which is rotatably mounted on the positioning frame; A positioning ring is fixed on the rotating shaft, and a positioning groove is provided on the positioning ring. The force sensor is fixed in the positioning groove. The rotating shaft has a threaded hole and a limiting groove that communicate with the positioning ring, and a screw is threaded into the threaded hole.

10. The upper limb exoskeleton assistive working device for heavy-duty handheld tools according to claim 1, characterized in that, The load-bearing base adopts an integrated fit structure, which is designed to fit the physiological curve of the human waist and shoulders. This can evenly distribute the concentrated load transmitted by the robotic arm to the human waist, shoulders and torso, improving load distribution stability and wearing comfort.

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