Exoskeleton Tool-Holding Arm With Adjustable Gravity Compensation
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Solution Overview
Problem
Current exoskeleton technologies face limitations in providing automatic and rapid adjustment of gravity-compensating tool-holding arms for varying tool weights, lack of ability to lock tool-holding arms for increased force application, and inadequate balance and mobility during tool use, especially in complex environments.
Innovation Solution
The development of exoskeleton systems with adjustable fluid springs, lockable mechanisms, and actuated counterbalances that allow for automatic tension adjustment, tool arm locking, and improved balance and mobility, along with integrated power and consumable supply systems for enhanced tool support.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If manual adjustment of spring tension is used for gravity compensation, then the system structure remains simple, but the adjustment speed is slow and cannot keep pace with rapid tool changes
Solution Approach 1:
The patent replaces the manual mechanical adjustment system with an automated electronic control system. Sensors detect tool weight and send signals to a control unit, which automatically adjusts spring tension via actuators, eliminating manual intervention and dramatically increasing adjustment speed while managing system complexity through integration.
Solution Approach 2:
The system performs self-adjustment by automatically detecting tool weight through sensors and autonomously modifying spring tension without user input. The control unit processes sensor data and actuates the adjustment mechanism, enabling the system to service itself during tool changes.
2Force
If the tool-holding arm remains unlocked for flexibility, then the user can freely position the tool, but the user cannot apply additional force through the arm
Solution Approach 1:
The locking mechanism transitions between unlocked and locked states based on operational requirements. When unlocked, the arm moves freely for positioning; when locked, it becomes rigid for force application. This dynamic state change allows the system to adapt its mechanical properties to match the current task phase.
Solution Approach 2:
The system changes the mechanical parameter of rigidity by engaging or disengaging the lock. In the unlocked state, the arm has low rigidity for ease of movement; in the locked state, it has high rigidity for force transmission, effectively modifying a key mechanical parameter to suit different operational modes.
3Force
If the exoskeleton is designed for heavy load bearing, then the carrying capacity increases, but the mobility and agility decrease
Solution Approach 1:
The exoskeleton employs dynamic support mechanisms that activate only when needed for heavy loads. During normal mobility, the system operates in a lightweight mode with minimal structural engagement. When heavy tools are detected or load exceeds thresholds, the support structures engage to provide necessary carrying capacity, allowing the system to switch between mobility-optimized and load-optimized states.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables efficient manipulation of tools with varying weights, increased force application, improved balance and mobility, and direct power and consumable supply to tools, enhancing the overall utility and performance of exoskeletons in diverse work environments.
Implementation Method 1
A first fluid spring is configured to provide a gravity-counteracting force to the tool-holding arm
Implementation Method 2
A fluid transfer mechanism is configured to transfer a fluid between a second cylinder and the first cylinder
Data Source
AI summary
A tool-holding arm includes a plurality of links and a tool coupling that removably secures a tool to the tool-holding arm. A first fluid spring provides a gravity-counteracting force to the tool-holding arm. A locking mechanism selectively locks the first fluid spring. An adjustment mechanism selectively adjusts an amount of the gravity-counteracting force provided by the first fluid spring.