Can’t put six month old down

My son will not let me put him down hardly without screaming.. if I put him in his bouncer or exersaucer or on the floor with his toys to do something he will just cry. I can’t get anything done. I will have him in the high chair sometimes to do dishes and he will sit there and cry even with me talking and signing to him until I am done and pick him up then smile. I baby wore him in a wrap for a while when he was smaller but he is 18 lbs now and I have chronic neck and shoulder pain so if I wear him for more then 5-10 minutes I begin to get horrendous pain. Any tips?