The invention discloses a self-reconfiguration
constant force arm and a self-reconfiguration variable rigidity
constant force auxiliary
exoskeleton, and relates to the technical field of wearable
exoskeleton robot driving. Comprising a large arm shell, a small arm, an adjusting motor, a gear, a linear groove
cam provided with a plurality of linear grooves, a
pulley adjusting
assembly, a pre-tightening force adjusting
assembly and the like. The second gear is provided with a plurality of guide grooves, and a pin shaft of the movable
pulley correspondingly penetrates through the linear groove and the guide grooves. A controller is linked with an adjusting motor based on load pressure collected by a
forearm pressure sensor, changes the rotation angle of a second gear through
gear transmission, and is linked with movable pulleys to move in a linear groove under the guidance of a guide groove, so that the number of the movable pulleys entering an effective working state is changed, the
joint rotation rigidity is improved, and the
constant force output range is expanded. And meanwhile, the pre-tightening force adjusting
assembly is linked to adjust the tightness of the
rope, and the pre-tightening force within the
target range is output. A fixed-configuration constant-force mechanism is converted into a variable-stiffness structure capable of being autonomously reconstructed, and wide-range accurate adjustment of constant-
force output is achieved.