A dynamic powered exoskeleton for power work environments

Abstract

The application relates to the technical field of exoskeletons, and particularly discloses a dynamic power-assisted exoskeleton for electric power operation environment, which comprises a back bearing unit, two shoulder power-assisted locking units and two arm supporting units. The back bearing unit comprises a back plate, a guide rail, a sliding block, a back connecting rod and a waist connecting plate. The sliding block can be adjusted in the horizontal position along the guide rail to adapt to the shoulder positions of different users. The shoulder power-assisted locking unit comprises a shoulder arm, an arm plate, a cam connecting rod, a spring, an adjusting pusher, an adjusting knob and a pawl. The adjusting knob changes the elastic force of the spring applied to the cam connecting rod through the adjusting pusher, so that the arm supporting unit can obtain adjustable assistance during arm lifting. The pawl is engaged with a ratchet wheel when the unlocking button is not pressed, so that the arm plate is unidirectionally rotated and forms a support retention. When the unlocking button is pressed, the arm plate can be bidirectionally rotated to switch postures. The scheme can improve the adaptability of the exoskeleton to different body types, arm lifting angles and operation loads.

Description

Technical Field

[0001] This application relates to the field of exoskeleton technology, and more particularly to a dynamic assistive exoskeleton for power work environments. Background Technology

[0002] An exoskeleton is a mechanical device worn on the outside of the human body to assist in performing movements, support limbs, or reduce muscle load. Depending on the area being assisted, exoskeletons can include lower limb exoskeletons, lumbar exoskeletons, and upper limb exoskeletons. Upper limb exoskeletons are typically used to support the shoulder, upper arm, or forearm to reduce muscle strain during tasks such as lifting, carrying, assembling, inspecting, and repairing.

[0003] In power work environments, workers frequently need to perform continuous or repetitive upper limb operations at locations such as distribution cabinets, transformer equipment, line terminals, and maintenance platforms. These jobs are typically characterized by significant variations in working height, prolonged arm raising time, unpredictable operating postures, varying tool loads, and significant differences in worker body types. When workers maintain a raised, extended, or semi-raised arm posture for extended periods, shoulder and upper arm muscles are prone to fatigue, which can affect work stability and operational safety. Therefore, utilizing upper limb-assisted exoskeletons to provide auxiliary support for workers' arms is significant in reducing labor intensity, improving continuous work capacity, and enhancing operational safety.

[0004] Existing upper limb assistive exoskeletons typically provide auxiliary torque to the upper limbs through mechanisms such as springs, torsion springs, and gas springs. Their function is limited; while they can provide support for the upper limbs of workers, in electrical work environments, workers vary greatly in body size, and their working postures frequently change due to equipment location, wiring height, maintenance angles, and tool loads. Furthermore, some existing upper limb assistive exoskeletons struggle to simultaneously adapt to differences in shoulder position, arm length, and forearm posture among different users. This can lead to deviations between the support position and direction provided by the exoskeleton and the user's actual limb movement, affecting the stability of the support effect. Utility Model Content

[0005] In view of this, the purpose of this application is to provide a dynamic assistive exoskeleton for power operation environments to solve the above problems.

[0006] To achieve the above technical objectives, this application provides a dynamic assistive exoskeleton for power work environments, including a back support unit, two shoulder assist locking units, and two arm support units.

[0007] The back support unit includes: a back plate, a guide rail, a slider, a back connecting rod, and a waist connecting plate;

[0008] The guide rail is horizontally mounted on the back plate;

[0009] The slider is adjustable in horizontal position and is mounted on the guide rail.

[0010] The back connecting rod is vertically arranged, and the upper end of the back connecting rod is connected to the back plate, while the lower end of the back connecting rod is connected to the waist connecting plate.

[0011] The waist connecting plate is provided with a waist connector for connecting the waist.

[0012] The two shoulder-assisted locking units are respectively disposed on both sides of the back plate;

[0013] The shoulder-assisted locking unit includes: a shoulder upper arm, an arm plate, a cam connecting rod, a spring, an adjusting pusher, an adjusting knob, and a pawl;

[0014] One end of the shoulder arm is rotatably hinged to the slider in the horizontal direction;

[0015] The arm plate is rotatably connected to the other end of the shoulder arm in a vertical direction;

[0016] The arm plate is provided with guide grooves and ratchet;

[0017] The adjusting pusher is engaged with the guide groove;

[0018] The adjustment knob is rotatably connected to the arm plate, and the adjustment knob is fixedly connected to the adjustment pusher;

[0019] The arm support unit includes: an arm support rod and an unlock button;

[0020] The cam connecting rod is rotatably connected to the arm plate and to the arm support rod;

[0021] One end of the spring abuts against the cam connecting rod, and the other end of the spring extends into the guide groove and abuts against the adjusting pusher;

[0022] The adjustment knob is used to adjust the position of the adjustment pusher to adjust the elastic force applied by the spring to the cam connecting rod;

[0023] The pawl is mounted on the upper arm of the shoulder.

[0024] The unlock button is located on the arm plate;

[0025] The pawl is configured to engage with the ratchet when the unlock button is not pressed, at which time the arm plate can rotate in one direction.

[0026] The pawl is configured to disengage from the ratchet when the unlock button is pressed, at which point the arm plate can rotate in both directions.

[0027] Furthermore, the back support unit also includes: a slider lock stop pin;

[0028] The guide rail includes at least two guide rail bodies spaced apart in the horizontal direction;

[0029] The slider is slidably connected to the guide rail body;

[0030] The slider locking pin is disposed on the slider and configured to restrict the slider from sliding along the guide rail in the locked state, and to allow the slider to slide along the guide rail in the unlocked state, so as to adjust the horizontal position of the shoulder upper arm relative to the back plate.

[0031] Furthermore, the back support unit also includes: a back spring pin;

[0032] The length of the back connecting rod can be adjusted in the vertical direction;

[0033] The back connecting rod is provided with multiple positioning holes along the vertical direction;

[0034] The back spring pin can extend into one of the positioning holes to lock the adjustable length of the back link.

[0035] Furthermore, the cam connecting rod includes a rotating connecting part and a fixed connecting part;

[0036] The rotating connection part is a cam structure and can be rotatably connected to the arm plate;

[0037] The fixed connection part is fixedly connected to the arm support rod and the rotating connection part;

[0038] When the arm support rod rotates vertically relative to the arm plate, the cam connecting rod changes the compression of the spring through the rotating connection part, thereby changing the elastic force applied by the spring to the cam connecting rod;

[0039] As the arm support rod rotates upward relative to the arm plate, the compression of the spring increases.

[0040] Furthermore, the cam profile surface of the rotating connection is an Archimedean spiral profile surface;

[0041] The lift angle of the cam profile surface of the rotating connection is 15° to 30°.

[0042] Furthermore, the upper shoulder arm is provided with an installation cavity;

[0043] The pawl is disposed within the mounting cavity;

[0044] A return spring is provided between the pawl and the upper shoulder arm;

[0045] The return spring is used to drive the pawl toward the ratchet to return to the engaged state.

[0046] Furthermore, when the pawl engages with the ratchet, the arm plate can rotate upward relative to the shoulder upper arm.

[0047] Furthermore, the arm support unit also includes: an extension rod;

[0048] The arm support rod is provided with a telescopic cavity;

[0049] The extension rod can be adjusted to extend into the telescopic cavity.

[0050] Furthermore, a pawl guide groove is provided on the shoulder upper arm;

[0051] When the unlock button is pressed, the pawl slides along the pawl guide groove.

[0052] Furthermore, the arm support unit also includes an arm rest;

[0053] The arm rest is located at the end of the arm support rod away from the arm plate;

[0054] The arm rest is rotatably connected to the arm support rod to adjust the support direction according to the user's forearm posture.

[0055] As can be seen from the above technical solutions, this application provides a dynamic assistive exoskeleton for power work environments, including a back support unit, two shoulder assist locking units, and two arm support units. The back support unit includes a back plate, a guide rail, a slider, a back connecting rod, and a waist connecting plate. The guide rail is horizontally mounted on the back plate. The slider is horizontally adjustable and mounted on the guide rail. The back connecting rod is vertically mounted, with its upper end connected to the back plate and its lower end connected to the waist connecting plate. The waist connecting plate has a waist connector for connecting the waist. The two shoulder assist locking units are respectively mounted on both sides of the back plate. Each shoulder assist locking unit includes a shoulder upper arm, an arm plate, a cam connecting rod, a spring, an adjusting pusher, an adjusting knob, and a pawl. One end of the shoulder upper arm is rotatably hinged to the slider in the horizontal direction. The arm plate is rotatably connected to the shoulder in the vertical direction. The other end of the upper arm; the arm plate is provided with a guide groove and a ratchet; the adjusting pusher is engaged with the guide groove; the adjusting knob is rotatably connected to the arm plate, and the adjusting knob is fixedly connected to the adjusting pusher; the arm support unit includes: an arm support rod and an unlocking button; the cam connecting rod is rotatably connected to the arm plate and connected to the arm support rod; one end of the spring abuts against the cam connecting rod, and the other end of the spring extends into the guide groove and abuts against the adjusting pusher; the adjusting knob is used to adjust the position of the adjusting pusher to adjust the elastic force applied by the spring to the cam connecting rod; the pawl is provided on the upper arm of the shoulder; the unlocking button is provided on the arm plate; the pawl is configured to engage with the ratchet when the unlocking button is not pressed, at which time the arm plate can rotate in one direction; the pawl is configured to disengage from the ratchet when the unlocking button is pressed, at which time the arm plate can rotate in both directions.

[0056] This solution achieves stable fixation of the exoskeleton on the user's back and waist through the back support unit, and the shoulder assist locking unit can be adapted to different users' shoulder positions through the horizontal position adjustment of the slider. On this basis, through the cooperation of the cam connecting rod, spring, adjusting pusher and adjusting knob, the arm support unit can obtain adjustable elastic assistance during the user's arm raising process. The cooperation of pawl and ratchet allows the arm plate to rotate unidirectionally to form support and hold when it is not unlocked, and can rotate bidirectionally after pressing the unlock button to facilitate posture switching. This improves the adaptability of the exoskeleton to users of different body types, different arm raising angles and different working loads in power operations, reduces hand fatigue and support displacement caused by long-term arm raising, extension or half-arm operation, and improves the comfort and stability of continuous operation. Attached Figure Description

[0057] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0058] Figure 1 A schematic diagram of the overall structure of a dynamic assistive exoskeleton for power work environments provided in this application embodiment;

[0059] Figure 2 A schematic diagram illustrating the wearing state of a dynamic assistive exoskeleton for power work environments, provided as an embodiment of this application;

[0060] Figure 3 A schematic diagram of the shoulder assist locking unit and arm support unit of a dynamic assistive exoskeleton for power work environments provided in this application embodiment;

[0061] Figure 4 A schematic diagram of the internal structure of the shoulder assist locking unit and arm support unit of a dynamic assistive exoskeleton for power work environments provided in this application embodiment;

[0062] Figure 5 An exploded view of the shoulder-assist locking unit and arm support unit of a dynamic assistive exoskeleton for power work environments, provided in an embodiment of this application.

[0063] Figure 6 A side semi-perspective view of the shoulder assist locking unit and arm support unit of a dynamic assistive exoskeleton for power work environments provided in this application embodiment;

[0064] In the diagram: 1. Backplate; 2. Guide rail; 3. Slider lock pin; 4. Slider; 41. Extension seat; 5. Backrest link; 6. Backrest spring pin; 7. Waist connecting plate; 71. Waist connector; 8. Shoulder arm; 9. Arm plate; 91. Guide groove; 10. Cam connecting rod; 101. Rotating connection; 102. Fixed connection; 11. Shoulder strap; 12. Extension rod; 13. Arm support rod; 15. Arm rest; 16. Arm plate cover; 17. Unlock button; 18. Spring; 19. Adjustment pusher; 20. Adjustment knob; 21. Ratchet; 22. Pawl; 23. Square slot. Detailed Implementation

[0065] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Based on the embodiments in this application specification, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection claimed in this application.

[0066] In the description of the embodiments of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0067] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a replaceable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application according to the specific circumstances.

[0068] Please see Figures 1 to 5 This application provides a dynamic assistive exoskeleton (hereinafter referred to as the assistive exoskeleton) for power work environments, mainly used in power maintenance, electrical assembly, distribution cabinet wiring, substation equipment inspection, line maintenance, and other scenarios requiring workers to raise, extend, or partially raise their arms for extended periods. In such work environments, workers vary in height, shoulder width, and arm length, and their work positions and angles change frequently. If the shoulder support position, assist direction, and arm support position of the exoskeleton do not match the user's upper limb posture, shoulder strain, localized compression, and movement interference can easily occur. In the embodiments provided in this application, the exoskeleton, through the cooperation of a back support unit, two shoulder assist locking units, and two arm support units, enables the exoskeleton to adapt to users of different body types and provides adjustable assistance and unidirectional support during arm raising, thereby improving comfort, stability, and safety during power work.

[0069] Specifically, in one embodiment, the power-assisted exoskeleton includes a back support unit, two shoulder-assist locking units, and two arm support units. The back support unit serves as the basic support structure of the entire device, used to rest against and fix to the user's back and waist; the two shoulder-assist locking units are respectively located on both sides of the back plate 1, corresponding to the user's left and right upper limbs respectively; the two arm support units are respectively connected to the corresponding shoulder-assist locking units, used to support the user's forearms and rotate with the user's arm movements.

[0070] The back support unit includes a back plate 1, a guide rail 2, a slider 4, a back connecting rod 5, and a waist connecting plate 7. The guide rail 2 is horizontally mounted on the back plate 1, and the slider 4 is adjustable in horizontal position on the guide rail 2. The back connecting rod 5 is vertically mounted, with its upper end connected to the back plate 1 and its lower end connected to the waist connecting plate 7. The waist connecting plate 7 is equipped with a waist connector 71 for connecting the waist. The waist connector 71 can be a waist belt hole, a strap groove, a buckle connector, a waist belt connecting ring, or other structures that can connect to a waist fixing strap. When the user wears the exoskeleton, the back plate 1 can be fixed to the back via the shoulder straps 11, and the waist belt can be connected via the waist connector 71, so that the waist connecting plate 7 rests against the user's waist area, thereby distributing the overall load of the exoskeleton to the back and waist, avoiding the shoulders bearing the weight of the exoskeleton alone.

[0071] The shoulder-assisted locking unit includes a shoulder upper arm 8, an arm plate 9, a cam connecting rod 10, a spring 18, an adjusting pusher 19, an adjusting knob 20, and a pawl 22. One end of the shoulder upper arm 8 is rotatably hinged to a slider 4 in the horizontal direction, allowing the shoulder upper arm 8 to extend or retract horizontally relative to the back plate 1 to adapt to the user's shoulder position. The arm plate 9 is rotatably connected to the other end of the shoulder upper arm 8 in the vertical direction, allowing the arm plate 9 to rotate in the vertical plane with the upper limb when the user raises or lowers the arm.

[0072] In one implementation, an extension seat 41 may be provided on the slider 4. The extension seat 41 may be curved, with its bottom end connected to the slider 4 on the back plate 1 at the height corresponding to the shoulder bone position, and its top end extending to the position corresponding to the wearer's shoulder. One end of the shoulder upper arm 8 is rotatably hinged to the extension seat 41 in the horizontal direction.

[0073] The boom plate 9 is provided with a guide groove 91 and a ratchet 21. An adjusting pusher 19 engages with the guide groove 91, and an adjusting knob 20 is rotatably connected to the boom plate 9 and fixedly connected to the adjusting pusher 19. One end of a spring 18 abuts against the cam connecting rod 10, and the other end extends into the guide groove 91 and abuts against the adjusting pusher 19. The adjusting knob 20 is used to adjust the position of the adjusting pusher 19, thereby changing the pre-compression of the spring 18, so that the elastic force applied by the spring 18 to the cam connecting rod 10 can be adjusted according to different operating loads.

[0074] The arm support unit includes an arm support rod 13 and an unlocking button 17. A cam connecting rod 10 is rotatably connected to the arm plate 9 and to the arm support rod 13. The arm support rod 13 is used to transfer the support load of the user's forearm to the arm plate 9 and the shoulder assist locking unit. When the user's forearm drives the arm support rod 13 to rotate upward, the cam connecting rod 10 moves with the arm support rod 13 and changes the compression of the spring 18 through the cam profile, so that the spring 18 provides an elastic restoring force to the cam connecting rod 10. This elastic restoring force then acts on the arm support rod 13 through the cam connecting rod 10, thereby providing assistance to the user's upper limb.

[0075] Specifically, in this embodiment, the arm support rod 13 can be used to support the wearer's arm; and during the wearer's arm movement, the force applied to the arm support rod 13 can be transmitted to the spring 18 through the cam connecting rod 10, giving the arm support rod 13 the ability to elastically sway, so as to facilitate the wearer's work activities. While the wearer's arm moves, the spring 18, in conjunction with the cam connecting rod 10, provides support to the arm support rod 13, reducing the burden on the wearer's arm from prolonged arm raising. During the above process or before wearing the garment, the operator can adjust the tension of the spring 18 by rotating the adjustment knob 20, thereby adjusting the magnitude of the elastic support force provided by the spring 18.

[0076] In one implementation, the cam connecting rod 10 and the spring 18 are configured such that as the cam connecting rod 10 rotates upward relative to the arm plate 9, the spring 18 contracts in the compression direction, so that the greater the range of the user's arm lifting upward, the greater the elastic support force provided by the spring 18.

[0077] It should be noted that in this embodiment, the other end of the spring 18 is guided and limited by the guide groove 91, and can be stably set in the guide groove 91; in some embodiments, the other end of the spring 18 can also be fixedly connected to the adjusting pusher 19 by means of adhesive bonding, welding or other methods. In practical applications, the elastic force exerted by the spring 18 on the cam connecting rod 10 can be decomposed into a horizontal component and a vertical component. The vertical component is used to resist the downward rotation of the arm support rod 13, thereby serving as an elastic support force for the cam connecting rod 10 and the arm support rod 13.

[0078] In some embodiments, a pawl 22 is disposed on the upper arm 8, and an unlock button 17 is disposed on the arm plate 9. When the unlock button 17 is not pressed, the pawl 22 engages with the ratchet 21, allowing the arm plate 9 to rotate unidirectionally. Specifically, when the user raises their arm, the arm plate 9 can rotate upwards relative to the upper arm 8, and the engagement between the pawl 22 and the ratchet 21 allows this directional rotation. When the user relaxes their arm or their arm tends to fall downwards, the pawl 22 engages with the ratchet 21 and restricts the arm plate 9 from rotating in the opposite direction, thereby providing unidirectional support at the working angle and reducing the burden on the user to maintain the raised arm posture through continuous force. When the unlock button 17 is pressed, the pawl 22 disengages from the ratchet 21, allowing the arm plate 9 to rotate bidirectionally, enabling the user to actively lower their arm or switch working postures.

[0079] In one implementation, the ratchet 21 can be configured as a hollow structure, so that when the unlock button 17 is pressed, it partially extends into the hollow structure of the ratchet 21 to avoid interference between the unlock button 17 and the ratchet 21.

[0080] In one implementation, the unlock button 17 can be fixedly connected to the pawl 22, so that the unlock button 17 can synchronously drive the pawl 22 to move, thus preventing the pawl 22 from shifting after it separates from the ratchet 21.

[0081] The assistive exoskeleton provided in this embodiment can include the following steps during the wearing and adjustment process: First, the backplate 1 is placed against the user's back, and the horizontal position of the slider 4 on the guide rail 2 is adjusted according to the user's shoulder width so that the upper shoulder arm 8 corresponds to the outer side of the user's shoulder; second, the length of the back connecting rod 5 is adjusted according to the user's height and shoulder height so that the upper shoulder arm 8 is basically matched with the position of the user's shoulder; then, the backplate 1 is fixed to the user's shoulder and back area by the shoulder strap 11, and the waist belt is connected by the waist connecting plate 71, so that the waist connecting plate 71... The arm support 15 is fixed to the user's waist. Then, the extension length of the arm support rod 13 and the extension rod 12 is adjusted according to the user's arm length so that the arm support 15 is positioned in a suitable support position for the user's forearm. After that, the adjustment knob 20 is rotated so that the adjustment pusher 19 moves along the guide groove 91 to adjust the preload of the spring 18. Finally, the user places the forearm on the arm support 15, which provides elastic assistance from the spring 18 and the cam connecting rod 10 when raising the arm. When it is necessary to maintain the working height, the pawl 22 and the ratchet 21 provide one-way locking support.

[0082] Through the aforementioned structure, this embodiment does not simply superimpose single structures such as shoulder width adjustment, spring assistance, or pawl locking onto the exoskeleton. Instead, it coordinates the back support position, shoulder rotation position, arm support position, spring assistance level, and unidirectional locking direction. Therefore, in power operations, the exoskeleton can simultaneously solve the problems of inconsistent wearing positions for users of different body types, fatigue from prolonged arm raising, inconvenience in adjusting assistance intensity under different loads, and the tendency for arms to fall back after relaxation, thereby improving continuous working capacity.

[0083] In one implementation, the back support unit also includes a slider locking pin 3. The guide rail 2 includes at least two guide rail bodies spaced apart in the horizontal direction, and the slider 4 is slidably connected to the guide rail bodies. By guiding the slider 4 through at least two guide rail bodies, the stability of the slider 4 during horizontal adjustment can be improved, and the possibility of the slider 4 swaying or deflecting when bearing the load of the shoulder upper arm 8 and the arm support unit can be reduced.

[0084] A slider locking pin 3 is mounted on the slider 4. In the locked state, the slider locking pin 3 restricts the slider 4 from sliding along the guide rail 2; in the unlocked state, it allows the slider 4 to slide along the guide rail 2. After the user wears the exoskeleton, they can first release the locking pin 3, allowing the slider 4 to move left and right along the guide rail 2. Once the upper shoulder arm 8 has moved to a position corresponding to the outer side of the user's shoulder, the slider locking pin 3 is then locked, thus fixing the horizontal position of the upper shoulder arm 8.

[0085] In application, the slider lock pin 3 can be a rotary eccentric lock pin. When the rotary eccentric lock pin rotates to the first angle, the clamping force between the eccentric part and the guide rail 2 or the slider 4 is released, and the slider 4 can slide along the guide rail 2; when the rotary eccentric lock pin rotates to the second angle, the eccentric part presses against the guide rail 2 or the slider 4, locking the slider 4 in the current position. Preferably, the first angle and the second angle can differ by 90° to facilitate quick adjustment by the user. The slider lock pin 3 can also adopt a structure such as an elastic pin, a threaded clamping part, a quick-release buckle, or a toothed locking part.

[0086] This horizontal adjustment structure helps the exoskeleton adapt to users with different shoulder widths, ensuring that the upper shoulder arm 8 is positioned as close as possible to the outer side of the user's shoulder, reducing support direction offset caused by the upper shoulder arm 8 being too far inward or outward. For electrical work, users often need to operate in front of narrow cabinets or equipment at different heights. This horizontal adjustment structure allows the shoulder mechanisms on both sides of the exoskeleton to correspond to the user's left and right shoulder positions, thereby reducing the exoskeleton's interference with natural arm-raising movements.

[0087] In some embodiments, the back support unit further includes a back spring pin 6. The back link 5 is adjustable in length in the vertical direction, and the back link 5 is provided with a plurality of positioning holes in the vertical direction. The back spring pin 6 can extend into one of the positioning holes to lock the adjustable length of the back link 5.

[0088] In practice, the back support link 5 may include an upper link and a lower link that are nested together. The upper link is connected to the back plate 1, and the lower link is connected to the waist connecting plate 7. Multiple positioning holes are spaced apart along the length of the upper or lower link. When the user needs to adjust the shoulder height, they can press the back spring pin 6 and then pull or push the back support link 5 to change the distance between the back plate 1 and the waist connecting plate 7. When the position of the upper shoulder arm 8 matches the user's shoulder height, the back spring pin 6 is released, allowing it to extend into the corresponding positioning hole under elastic action, thereby locking the current length of the back support link 5.

[0089] In other embodiments, the back link 5 can also be height-adjustable via a threaded telescopic structure, a rack and pinion locking structure, a slide locking structure, or a snap-on telescopic structure. The back spring pin 6 can be a spring pin, a button-type positioning pin, or a knob-type positioning pin. The spacing between multiple positioning holes can be set according to differences in human height, allowing the exoskeleton to adapt to users of different heights. In practical applications, the assistive exoskeleton provided in this embodiment can be configured to adapt to users with heights of 150cm to 190cm, shoulder widths of 35cm to 50cm, and arm lengths of 50cm to 80cm. This adaptation range can be achieved through the vertical adjustment of the back link 5, the horizontal adjustment of the slider 4, and the length adjustment of the arm support rod 13.

[0090] With the cooperation of the back link 5 and the back spring pin 6, this embodiment can adapt the height position of the upper arm 8 to the user's shoulder height, so that when the arm support unit provides assistance, the force transmission path is closer to the natural rotation position of the human shoulder, which can reduce shoulder traction, upper limb awkwardness and wearing discomfort caused by the mismatch of the exoskeleton shoulder structure height.

[0091] In some embodiments, the cam connecting rod 10 includes a rotatable connecting portion 101 and a fixed connecting portion 102. The rotatable connecting portion 101 is a cam structure and is rotatably connected to the arm plate 9; the fixed connecting portion 102 is fixedly connected to the arm support rod 13 and the rotatable connecting portion 101. Thus, when the arm support rod 13 rotates relative to the arm plate 9, it can drive the fixed connecting portion 102 and the rotatable connecting portion 101 to rotate synchronously.

[0092] A cam profile surface is formed on the outer periphery of the rotating connection 101. One end of the spring 18 abuts against the rotating connection 101, and the other end abuts against the adjusting pusher 19. When the arm support rod 13 rotates vertically relative to the arm plate 9, the cam connecting rod 10 changes the compression of the spring 18 through the cam structure of the rotating connection 101, thereby changing the elastic force exerted by the spring 18 on the cam connecting rod 10. When the arm support rod 13 rotates upward relative to the arm plate 9, the cam profile surface of the rotating connection 101 pushes the spring 18, increasing the compression of the spring 18 and generating a greater elastic restoring force. This elastic restoring force acts on the arm support rod 13 through the cam connecting rod 10, thereby providing upward support assistance to the user's forearm.

[0093] In this embodiment, the spring 18 is not simply fixed between the arm support rod 13 and the arm plate 9. Instead, the rotation angle of the arm support rod 13 is converted into a change in the compression of the spring 18 through the cam connecting rod 10. This allows the cam profile to be designed according to the changing pattern of the assistance required during the upper limb raising process, making the output force of the spring 18 more closely match the movement process of the human upper limb. For example, when the user's arm raising angle is small, the compression of the spring 18 is small, resulting in less assistance; when the user's arm raising angle increases, the compression of the spring 18 increases, resulting in greater assistance, thus providing more significant support in arm-raising postures where the user is more prone to fatigue.

[0094] In one implementation, the spring 18 can be configured such that when the cam connecting rod 10 rotates from 0° to 90°, the spring compression increases linearly, and its assist torque increases linearly from 0 N·m to 15 N·m. This linearly increasing assist configuration allows the user to receive continuously varying assistance at different arm-raising angles, rather than abrupt or fixed assistance. For common electrical work operations such as wiring, tightening, testing, and tool holding, continuously varying assistance reduces the unnatural feeling during arm raising and improves operational precision.

[0095] In applications, spring 18 can be a compression spring or other elastic elements that can provide elastic restoring force, such as gas springs, elastic rubber parts, or composite elastic components. The rotating connection 101 and spring 18 can be in direct contact or indirectly contacted via rollers or push blocks to reduce friction and improve force transmission stability. The fixed connection 102 can be integrally formed with the arm support rod 13, or it can be fixedly connected by screws, pins, welding, or snap-fit ​​methods.

[0096] Through the above structure, this embodiment can transform the change in arm angle during the user's arm raising process into a gradual compression change of spring 18, thereby giving the assistance provided by the exoskeleton a dynamic change characteristic, improving the problem of mismatch between the assistance magnitude and the angle of the human arm in traditional upper limb assistance structures, and enabling users to obtain more natural and stable support when working at a high position for a long time.

[0097] In some embodiments, the cam profile surface of the rotating connection 101 can be configured as an Archimedean spiral profile surface, and the lift angle of the cam profile surface is 15° to 30°. The Archimedean spiral profile surface enables the rotating connection 101 to change the compression of the spring 18 in a more stable and regular manner during rotation. Compared with ordinary circular cams or simple eccentric wheels, the Archimedean spiral profile surface is more conducive to forming continuous and smooth changes in assistance.

[0098] Specifically, when the arm support rod 13 rotates upward relative to the arm plate 9, the rotating connection part 101 rotates synchronously. Because the radius of the cam profile surface of the rotating connection part 101 changes with the rotation angle, the position of the contact spring 18 gradually changes, and the spring 18 is gradually compressed. When the lift angle is set to 15° to 30°, the compression of the spring 18 changes relatively smoothly, which can both prevent the arm from being suddenly lifted due to excessively rapid assisted lifting and prevent insufficient support when raising the arm at a high position due to excessively slow assisted lifting.

[0099] Through the above-mentioned cam profile design, this embodiment can form a more reasonable correspondence between the output force of the spring 18 and the arm lifting angle, making the exoskeleton assistance more in line with the movement characteristics of the human upper limb, thereby reducing shoulder and upper arm muscle fatigue during operation, and also reducing the adverse effects of sudden assistance changes on precision electrical operation.

[0100] In other embodiments, the cam profile surface can also be a piecewise curve, an involute, an eccentric arc, or a compound curve, as long as it increases the compression of the spring 18 when the arm support rod 13 rotates upward. The specific curve of the cam profile surface can be customized according to different power operation tasks.

[0101] In some embodiments, the guide groove 91 extends along the extension and retraction direction of the spring 18, and the adjusting pusher 19 engages with the guide groove 91 and is movable along the guide groove 91. The adjusting knob 20 is rotatably connected to the arm plate 9, and the adjusting knob 20 is fixedly connected to the adjusting pusher 19. When the user rotates the adjusting knob 20, the adjusting knob 20 causes the adjusting pusher 19 to move relative to the guide groove 91, thereby changing the position of the other end of the spring 18.

[0102] Specifically, when the user rotates the adjustment knob 20 in the first direction, the adjustment pusher 19 moves along the guide groove 91 towards the cam connecting rod 10, increasing the initial compression of the spring 18 and the initial elastic force exerted by the spring 18 on the cam connecting rod 10, thus enhancing the exoskeleton's output assistance. When the user rotates the adjustment knob 20 in the second direction, the adjustment pusher 19 moves along the guide groove 91 away from the cam connecting rod 10, decreasing the initial compression of the spring 18 and weakening the exoskeleton's output assistance.

[0103] The guide groove 91 guides and limits the adjusting pusher 19, ensuring that it remains coaxial or substantially in the same direction as the spring 18 during movement, preventing the adjusting pusher 19 from becoming misaligned and causing uneven force on the spring 18. The adjusting knob 20 can be equipped with anti-slip textures, scale lines, or indicators to facilitate the user in selecting the appropriate level of assistance based on the workload. The meshing connection between the guide groove 91 and the adjusting pusher 19 can be a toothed meshing, a slider-groove fit, a threaded fit, or other connection methods that limit the offset of the adjusting pusher 19.

[0104] By adjusting the knob 20, the pusher 19, and the spring 18, users can change the level of assistance without replacing the spring 18 or disassembling the exoskeleton. For electrical work, the same worker may need to perform light-load inspections, medium-load assembly, or heavy-load handling at different times. The same exoskeleton can adapt to different loads by adjusting the knob 20, reducing equipment replacement and reconfiguration time. This allows the assistive exoskeleton to simultaneously meet the needs of different scenarios such as light-load office work, medium-load assembly, and heavy-load handling.

[0105] In some embodiments, the shoulder arm 8 is provided with a mounting cavity, and the pawl 22 is disposed in the mounting cavity. A return spring is provided between the pawl 22 and the shoulder arm 8. The return spring is used to drive the pawl 22 toward the ratchet 21 so that the pawl 22 returns to the state of being engaged with the ratchet 21.

[0106] Specifically, the mounting cavity can be located at the rotatable connection point of the shoulder upper arm 8 near the arm plate 9. A ratchet 21 is mounted on the arm plate 9 and rotates with the arm plate 9 relative to the shoulder upper arm 8. A pawl 22 is mounted in the mounting cavity of the shoulder upper arm 8, with its end extending out of the mounting cavity and engaging with the teeth of the ratchet 21. When the unlock button 17 is not pressed, the return spring pushes the pawl 22 toward the ratchet 21, keeping the pawl 22 engaged; when the unlock button 17 is pressed, the unlock button 17 pushes the pawl 22 away from the return spring and away from the ratchet 21, allowing the arm plate 9 to rotate bidirectionally relative to the shoulder upper arm 8.

[0107] In a more specific embodiment, the shoulder arm 8 may be provided with square slots 23, which are used to limit the sliding path of the pawl 22. In practical applications, two square slots 23 may be provided on the shoulder arm 8, with a slot spacing of 4mm. The aforementioned return spring is installed within the square slot 23. After being pushed by the unlock button 17, the pawl 22 can move along a predetermined path and is automatically pushed back to the engaged position by the return spring after the unlock button 17 is released. The two square slots can improve the balance of force on the pawl 22 and avoid single-point reset causing the pawl 22 to deflect or jam.

[0108] With the above structure, the pawl 22 can reliably engage with the ratchet 21 when the user does not actively unlock it, thus maintaining unidirectional support; when the user needs to lower their arm or adjust their posture, they only need to press the unlock button 17 to disengage. Compared with structures that require screwing or manual alignment, this embodiment can achieve quick unlocking through a pressing action, which is suitable for scenarios in power operations where frequent changes in arm height and operating angle are required.

[0109] In some embodiments, the aforementioned square slot 23 can serve as a pawl guide slot and a sliding guide slot for the unlocking button 17 to perform the unlocking action; when the unlocking button 17 is pressed, the pawl 22 slides along the square slot 23. It should be noted that in the actual structure, the pawl guide slot can also be provided on the shoulder arm 8, arm plate 9, or mounting base adjacent to the pawl 22, as long as it can guide the pawl 22 to move towards or away from the ratchet 21.

[0110] By cooperating with the pawl guide groove and the unlock button 17, this embodiment can improve the stability and reliability of the unlocking action. The pawl 22 will not get stuck due to force deviation, nor will it develop significant displacement due to long-term use, which helps to improve the efficiency of posture switching.

[0111] In some embodiments, when the pawl 22 engages with the ratchet 21, the arm plate 9 can rotate upward relative to the shoulder arm 8. Specifically, the tooth profile direction of the ratchet 21 and the engagement direction of the pawl 22 are configured such that when the user raises their arm, the arm plate 9 can drive the ratchet 21 to rotate in the permissible direction, and the pawl 22 makes a slight clearance under the action of the tooth groove inclined surface and crosses the tooth groove, allowing the arm plate 9 to rotate smoothly upward; when the user's arm falls downward, the ratchet 21 rotates in the opposite direction, and the pawl 22 abuts against the tooth groove stop surface, thereby restricting the downward rotation of the arm plate 9.

[0112] In other words, without pressing the unlock button 17, the user can actively raise their arm to a higher position, during which the arm plate 9 will not fall freely due to the weight of the arm or the load of the tool. In practical applications, when operators are wiring, tightening bolts, or testing equipment, they often need to raise their arms to a certain height and hold them for a period of time. Through this unidirectional rotation structure, the user can gradually raise their arm and obtain support at any one or more tooth positions, without having to continuously rely on shoulder muscles to resist the weight of the arm and the tool.

[0113] When the user needs to lower the arm or switch to a lower working position, pressing the unlock button 17 disengages the pawl 22 from the ratchet 21, allowing the arm plate 9 to rotate bidirectionally relative to the upper arm 8. After the user lowers the arm, releasing the unlock button 17 causes the return spring to re-engage the pawl 22 with the ratchet 21, restoring the unidirectional support state.

[0114] In some embodiments, please refer to Figures 1 to 6The arm support unit also includes an extension rod 12. The arm support rod 13 is provided with a telescopic cavity, into which the extension rod 12 can be adjusted in position. By adjusting the depth of the extension rod 12 into the telescopic cavity, the overall length of the arm support unit can be changed so that the arm rest 15 is positioned appropriately for the user's forearm.

[0115] In practical use, the user can pull the extension rod 12 out of the telescopic cavity of the arm support rod 13 according to their own arm length. When the user's arm length is long, the extension rod 12 can be extended beyond the arm support rod 13 to move the arm support 15 to a suitable position in the middle of the forearm or near the wrist; when the user's arm length is short, the extension rod 12 can be extended to a position where the arm support 15 is close to the elbow but does not interfere with the elbow joint movement.

[0116] A spring-loaded pin, positioning hole, locking screw, quick-release latch, or friction lock can be provided between the extension rod 12 and the arm support rod 13 to lock the position of the extension rod 12 after adjustment. The cross-section of the telescopic cavity can be circular, square, elliptical, or irregular. In application, the telescopic cavity and the extension rod 12 use a non-circular cross-section to reduce the circumferential rotation of the extension rod 12 relative to the arm support rod 13 and improve the directional stability of the arm support 15. Length graduations can also be provided on the extension rod 12 for easy recording and quick restoration of commonly used lengths.

[0117] With the extension rod 12 and the arm support rod 13, the assistive exoskeleton provided in this embodiment can be adapted to users with different arm lengths, so that the arm support 15 is supported in a position where the forearm is more comfortable to bear force, avoiding the impact on the operator's hand operation flexibility or causing local pressure due to the unsuitable position of the arm support 15, thereby improving support stability and wearing comfort.

[0118] In some embodiments, the arm support unit further includes an arm rest 15. The arm rest 15 is disposed at the end of the arm support rod 13 away from the arm plate 9, and the arm rest 15 is rotatably connected to the arm support rod 13 to adjust the support direction according to the user's forearm posture.

[0119] Specifically, the arm support 15 can be connected to the arm support rod 13 via an arm support connector, pin, hinge, ball joint, or universal joint. After the user's forearm is placed on the arm support 15, when the forearm pitches, the arm support 15 can rotate relative to the arm support rod 13 to fit the lower surface of the forearm; when the forearm deflects left or right, the arm support 15 can also adjust the support direction accordingly to reduce the problem of the edge of the arm support 15 pressing against the forearm.

[0120] In one implementation, the armrest 15 can employ a dual-axis hinge structure. The dual-axis hinge structure includes a first hinge axis and a second hinge axis that are perpendicular to each other. The first hinge axis is used to achieve pitch rotation of the armrest 15, and the second hinge axis is used to achieve left and right swinging of the armrest 15. The rotation range of the armrest 15 in both directions is -45° to 45°. Through dual-axis rotation, the armrest 15 can automatically adjust to a more suitable position according to the user's forearm posture, eliminating the need for repeated manual adjustments by the user.

[0121] The support surface of the armrest 15 can be designed as a curved concave surface to adapt to the shape of the forearm. The armrest 15 can be equipped with padding, a non-slip layer, straps, or Velcro to improve forearm stability and wearing comfort. The armrest 15 can be made of plastic, aluminum alloy, carbon fiber composite materials, or other lightweight materials. The armrest 15 can also be available in different sizes to suit different users' forearm widths, or it can be designed with an adjustable width structure.

[0122] The rotating connection structure of the armrest 15 solves the problem of insufficient fit of the fixed armrest when the forearm posture changes. In power operations, the user's arm not only needs to be raised and lowered, but also needs to rotate inward, outward, extend laterally, or change the direction of gripping tools. This solution, through the rotating armrest 15, allows the forearm support direction to change with the movement, thereby improving comfort during long-term wear.

[0123] In some embodiments, the arm plate 9 may include an arm plate body and an arm plate cover 16. The arm plate body is provided with mounting positions for the aforementioned guide groove 91, ratchet 21, spring 18, adjusting pusher 19, and other internal structures. The arm plate cover 16 is detachably connected to the first arm plate and covers at least a portion of the structure of the spring 18, adjusting pusher 19, adjusting knob 20, ratchet 21, and pawl 22.

[0124] The arm plate cover 16 can be connected to the arm plate body via screws, clips, or plug-in structures. After installing the arm plate cover 16, on the one hand, it prevents moving parts such as the spring 18, adjusting pusher 19, and ratchet 21 from being exposed, reducing the risk of pinching the user's clothing or fingers; on the other hand, it reduces the entry of dust, metal debris, or other foreign objects into the engagement area and guide groove 91, ensuring the long-term stable operation of the adjustment and locking mechanism. In power operation scenarios, where there may be dust, cable debris, or collisions in confined spaces, the arm plate cover 16 can improve the protection and reliability of the internal transmission structure.

[0125] The boom plate cover 16 can also serve a limiting function, such as preventing the adjusting pusher 19 from disengaging from the guide groove 91, or preventing the spring 18 from shifting laterally during compression. The boom plate cover 16 can be provided with an inspection port or observation window to facilitate viewing the position of the adjusting pusher 19, the status of the spring 18, or the gear engagement status.

[0126] In some embodiments, the power-assisted exoskeleton achieves multi-dimensional adjustment through the slider 4, back link 5, extension rod 12, adjustment knob 20, and arm rest 15. The slider 4 is used to adapt to shoulder width, the back link 5 is used to adapt to shoulder height, the extension rod 12 is used to adapt to arm length, the adjustment knob 20 is used to adapt to workload, and the arm rest 15 is used to adapt to forearm posture.

[0127] In practical use, workers can complete the main adjustments without the aid of external tools. Specifically, slider 4 can be quickly unlocked and locked via slider lock pin 3; back linkage 5 can be quickly adjusted in height via back spring pin 6; extension rod 12 can be quickly adjusted in arm length via telescopic cavity and positioning structure; adjustment knob 20 can be rotated to change the amount of assistance; arm support 15 can automatically adjust with the forearm posture. All adjustment operations can be performed manually using the quick adjustment structure, and the wearing and adjustment time can be controlled within 2 minutes. This makes this application suitable for use by different personnel in power operation teams, and also suitable for quick switching between different work sites.

[0128] Compared to upper limb exoskeletons with only a single assist function, the assistive exoskeleton provided in this application embodiment can achieve synergy in many aspects, such as human adaptation, dynamic assistance, unidirectional holding, quick unlocking, and forearm keeping in contact during operation. When the user raises their arm, the pawl 22 allows the arm plate 9 to rotate upward in one direction, while the cam connecting rod 10 gradually compresses the spring 18 and provides assistance; when the user needs to maintain the current arm height, the pawl 22 engages with the ratchet 21, restricting the reverse rotation of the arm plate 9 and reducing continuous muscle exertion; when the user needs to lower their arm, pressing the unlock button 17 will disengage the engagement, allowing the arm plate 9 to rotate in both directions. The above process does not require the user to stop working for complex adjustments, thus it is suitable for the high-frequency posture switching needs in power maintenance and assembly.

[0129] In general, the dynamic power-assisted exoskeleton provided in this application embodiment forms a back support and body shape adaptation foundation through the back plate 1, guide rail 2, slider 4, back connecting rod 5, and waist connecting plate 7. This allows the two shoulder assistance locking units to adjust their positions according to the user's shoulder width and height, reducing the pulling and interference caused by mismatch between the exoskeleton and the user's shoulder position. Through the cooperation of the arm support rod 13, cam connecting rod 10, spring 18, adjusting pusher 19, and adjusting knob 20, the power-assisted exoskeleton can establish a correspondence between the arm lifting angle and the spring compression. By adjusting the knob 20, the preload of the spring 18 can be changed, thereby achieving adjustable assistance under different workloads. In particular, when the cam connecting rod 10 adopts an Archimedean spiral profile, the assistance can smoothly change with the arm lifting angle, improving the naturalness and comfort of the assistance. Through the cooperation of ratchet 21, pawl 22, return spring, and unlock button 17, this application allows the arm plate 9 to rotate upwards in one direction when the user raises their arm, and provides limiting support for the arm plate 9 when the user's arm tends to fall. When the user needs to lower their arm, pressing the unlock button 17 releases the engagement between the pawl 22 and the ratchet 21, enabling bidirectional rotation. Therefore, the power-assisted exoskeleton can reduce the burden on the shoulder and upper arm muscles during long-term high-position work, while ensuring the convenience of posture switching. In addition, through the setting of the extension rod 12 and the arm support 15, the power-assisted exoskeleton can also adapt to different user arm lengths and adjust the forearm support direction according to the user's forearm posture changes, reducing local pressure and support offset. Overall, this application can address the problems of large differences in the body shape of workers, frequent changes in working posture, long periods of holding the arm in a high position, and different tool loads in power operation scenarios, by providing an exoskeleton structure that combines body shape adaptation, dynamic assistance, one-way holding, quick unlocking, and adaptive forearm support, thereby significantly improving continuous working ability, wearing comfort, and work safety.

[0130] The above are merely preferred embodiments of this application and are not intended to limit the present invention. Although the present application has been described in detail with reference to examples, those skilled in the art can still modify the technical solutions described in the foregoing examples or make equivalent substitutions for some of the technical features. However, any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A dynamic assistive exoskeleton for power work environments, characterized in that, It includes a back support unit, two shoulder-assisted locking units, and two arm support units; The back support unit includes: a back plate (1), a guide rail (2), a slider (4), a back connecting rod (5), and a waist connecting plate (7). The guide rail (2) is arranged horizontally on the back plate (1); The slider (4) is adjustable in horizontal position on the guide rail (2); The back connecting rod (5) is vertically arranged, and the upper end of the back connecting rod (5) is connected to the back plate (1), and the lower end of the back connecting rod (5) is connected to the waist connecting plate (7). The waist connecting plate (7) is provided with a waist connector (71) for connecting the waist. The two shoulder-assisted locking units are respectively disposed on both sides of the back plate (1); The shoulder-assisted locking unit includes: a shoulder upper arm (8), an arm plate (9), a cam connecting rod (10), a spring (18), an adjusting pusher (19), an adjusting knob (20), and a pawl (22). One end of the shoulder arm (8) is rotatably hinged to the slider (4) in the horizontal direction. The arm plate (9) is rotatably connected to the other end of the shoulder arm (8) in the vertical direction; The arm plate (9) is provided with a guide groove (91) and a ratchet (21). The adjusting pusher (19) is engaged with the guide groove (91); The adjustment knob (20) is rotatably connected to the arm plate (9), and the adjustment knob (20) is fixedly connected to the adjustment pusher (19). The arm support unit includes: an arm support rod (13) and an unlock button (17). The cam connecting rod (10) is rotatably connected to the arm plate (9) and connected to the arm support rod (13). One end of the spring (18) abuts against the cam connecting rod (10), and the other end of the spring (18) extends into the guide groove (91) and abuts against the adjusting pusher (19). The adjustment knob (20) is used to adjust the position of the adjustment pusher (19) to adjust the elastic force applied by the spring (18) to the cam connecting rod (10); The pawl (22) is disposed on the upper shoulder arm (8); The unlock button (17) is located on the arm plate (9); The pawl (22) is configured to engage with the ratchet (21) when the unlock button (17) is not pressed, at which time the arm plate (9) can rotate in one direction; The pawl (22) is configured to separate from the ratchet (21) when the unlock button (17) is pressed, at which time the arm plate (9) can rotate in both directions.

2. The dynamic assistive exoskeleton for power work environments according to claim 1, characterized in that, The back support unit also includes: a slider lock pin (3); The guide rail (2) includes at least two guide rail bodies spaced apart in the horizontal direction; The slider (4) is slidably connected to the guide rail body; The slider locking pin (3) is disposed on the slider (4) and configured to restrict the slider (4) from sliding along the guide rail (2) in the locked state, and to allow the slider (4) to slide along the guide rail (2) in the unlocked state, so as to adjust the horizontal position of the shoulder arm (8) relative to the back plate (1).

3. The dynamic assistive exoskeleton for power work environments according to claim 1, characterized in that, The back support unit also includes: a back spring pin (6). The length of the back connecting rod (5) can be adjusted in the vertical direction; The back connecting rod (5) is provided with multiple positioning holes in the vertical direction; The back spring pin (6) can extend into one of the positioning holes to lock the adjustable length of the back link (5).

4. The dynamic assistive exoskeleton for power work environments according to claim 1, characterized in that, The cam connecting rod (10) includes a rotating connecting part (101) and a fixed connecting part (102). The rotating connection part (101) is a cam structure and can be rotatably connected to the arm plate (9). The fixed connection part (102) is fixedly connected to the arm support rod (13) and the rotating connection part (101). When the arm support rod (13) rotates vertically relative to the arm plate (9), the cam connecting rod (10) changes the compression of the spring (18) through the rotating connection part (101) to change the elastic force applied by the spring (18) to the cam connecting rod (10); As the arm support rod (13) rotates upward relative to the arm plate (9), the compression of the spring (18) increases.

5. The dynamic assistive exoskeleton for power work environments according to claim 4, characterized in that, The cam profile surface of the rotating connection part (101) is an Archimedean spiral profile surface; The lift angle of the cam profile surface of the rotating connection (101) is 15° to 30°.

6. The dynamic assistive exoskeleton for power work environments according to claim 1, characterized in that, The upper shoulder arm (8) is provided with an installation cavity; The pawl (22) is disposed within the mounting cavity; A return spring is provided between the pawl (22) and the shoulder upper arm (8); The return spring is used to drive the pawl (22) toward the ratchet (21) to return to the engaged state.

7. The dynamic assistive exoskeleton for power work environments according to claim 1, characterized in that, When the pawl (22) engages with the ratchet (21), the arm plate (9) can rotate upward relative to the shoulder arm (8).

8. The dynamic assistive exoskeleton for power work environments according to claim 1, characterized in that, The arm support unit also includes: an extension rod (12); The arm support rod (13) is provided with a telescopic cavity; The extension rod (12) can be adjusted to extend into the telescopic cavity.

9. The dynamic assistive exoskeleton for power work environments according to claim 1, characterized in that, The shoulder upper arm (8) is provided with a pawl guide groove; When the unlock button (17) is pressed, the pawl (22) slides along the pawl guide groove.

10. The dynamic assistive exoskeleton for power work environments according to any one of claims 1 to 9, characterized in that, The arm support unit also includes an arm rest (15). The arm support (15) is located at the end of the arm support rod (13) away from the arm plate (9); The arm rest (15) is rotatably connected to the arm support rod (13) so as to adjust the support direction according to the user's forearm posture.

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