Non-human waist force output type exoskeleton transfer robot

Abstract

The invention provides a non-human waist output type exoskeleton transfer robot which comprises a waist module arranged on the waist of a human body, the waist module comprises a driving module and a waist rod, and the driving module is connected with the waist rod; the binding module is connected with the waist module, and the binding module is used for binding the waist module on a human body; the carrying module is connected with the driving module, the carrying module can be used for hanging heavy objects, and the carrying module is driven by the driving module to rotate so as to carry the heavy objects; the upper end of the leg module is connected with the driving module, and the lower end of the leg module makes contact with the front side of the thigh of the human body. The transfer robot is always in the leading position of power output, the waist burden of an operator is effectively relieved, and the risk that the worker suffers from the waist occupational disease is reduced. The transfer robot is light in weight, reliable in structure and efficient in power assisting mode.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a non-human waist-powered exoskeleton transport robot. Background Art

[0002] Although handling robots have been introduced into industries such as logistics, e-commerce, and retail, a large amount of manpower is still required to perform repetitive handling work in some scenarios where robots cannot be deployed, and this group still faces the risk of developing occupational diseases related to the waist. The wearable active handling assistance exoskeleton robot is driven by electricity to provide workers with handling assistance. Through the special exoskeleton structure, it can even basically offset the pressure on the waist caused by the weight of heavy objects for workers, thereby playing a role in protecting the human waist. The handling exoskeleton robots in the existing technology are usually dominated by the strength of the human waist, which can easily cause workers to suffer from occupational diseases of the waist.

[0003] Chinese patent application number 202022776177.4 discloses a waist-assisting exoskeleton with adjustable support arms. This structure supports the chest through support arms to provide assistance to the waist. In essence, it still allows the human body to bear the load of the handling process first. The assistance effect of the exoskeleton is limited. It can alleviate the process of workers suffering from lumbar occupational diseases, but it cannot completely avoid occupational diseases caused by handling work.

[0004] The Chinese patent application number 202011514554.5 discloses an active waist-assist exoskeleton. This structure provides assistance to the waist through a waist-back connection module and a carrying component. In essence, it still allows the human body to bear the load of the carrying process first. The assistance effect of the exoskeleton is limited. It can alleviate the process of workers suffering from lumbar occupational diseases, but it cannot completely avoid occupational diseases caused by carrying work. The weight of the transportation will be transferred to the shoulders of the human body through the carrying component, increasing the pressure on the shoulders. The back module is located in the upper part of the human body. When the human body bends over to carry, the center of gravity of the back module is away from the rotation center of the exoskeleton. The direction of the force arm formed by the weight of the back module is opposite to the direction of the torque applied by the drive module during the standing up and carrying process, which weakens part of the assistance effect of the drive module.

[0005] In view of the above reasons, a non-human waist output exoskeleton handling robot is needed. Summary of the Invention

[0006] The purpose of the present invention is to provide a non-human waist output type exoskeleton handling robot, which has a direct and efficient power assist mode, a reasonable structural layout, and does not put pressure on the human shoulder during the handling assistance process.

[0007] In order to achieve the above object, the present invention provides the following technical solutions:

[0008] A non-human waist-output exoskeleton carrying robot comprises: a waist module, which is arranged at the waist of a human body, and comprises a driving module and a waist bar, and the driving module is connected to the waist bar; a binding module, which is connected to the waist module and is used to bind the waist module to the human body; a carrying module, which is connected to the driving module and can carry heavy objects, and the carrying module is driven to rotate by the driving module to realize the carrying of heavy objects; and a leg module, the upper end of the leg module is connected to the driving module, and the lower end of the leg module is in contact with the front side of the human thigh.

[0009] Furthermore, in the above-mentioned non-human waist output type exoskeleton transport robot, the waist bar includes a first horizontal section, a second horizontal section and a mounting plate, the mounting plate is located on the back side of the human waist, two first horizontal sections are provided, one end of one first horizontal section is connected to one end of the mounting plate, and one end of the other first horizontal section is connected to the other end of the mounting plate, and the two first horizontal sections are symmetrically arranged relative to the mounting plate; the axis of the first horizontal section is collinear with the axis of the mounting plate; two second horizontal sections are provided, one end of the two second horizontal sections is respectively connected to the other end of the two first horizontal sections; the axis of the first horizontal section is perpendicular to the axis of the second horizontal section, the other end of the second horizontal section is located on both sides of the human body, and the other end of each second horizontal section is provided with a driving module.

[0010] Furthermore, in the above-mentioned non-human waist output type exoskeleton transport robot, the drive module is located on the outside of the second horizontal segment, and the axis of the drive module is perpendicular to the axis of the second horizontal segment; the first horizontal segment, the second horizontal segment and the mounting plate are an integrated structure.

[0011] Furthermore, in the above-mentioned non-human waist output type exoskeleton transport robot, the lower end of the mounting plate is lower than the lower end of the first horizontal section, and a fixing bracket is provided on the outer side wall of the mounting plate. The fixing bracket is connected to the mounting plate by bolts, and the fixing bracket can fix the battery pack on the mounting plate.

[0012] Furthermore, in the above-mentioned non-human waist output type exoskeleton transport robot, a control component is provided on the outer wall of the mounting plate, the control component is located above the fixing frame, the control component is connected to both the battery pack and the drive module, and the control component can control the operation of the drive module.

[0013] Furthermore, in the above-mentioned non-human waist output type exoskeleton transport robot, the binding module includes a waist binding belt and an upper body binding belt, one end of the waist binding belt is connected to the other end of the second horizontal section of one waist bar, and the other end of the waist binding belt is connected to the other end of the second horizontal section of another waist bar, and the waist binding belt can bind the waist module to the human body's waist; the upper body binding belt is provided with two, one end of the upper body binding belt is connected to one end of the waist binding belt, and one end of the other upper body binding belt is connected to the other end of the waist binding belt, and the upper end of the mounting plate is provided with a connecting hole, and the other ends of the two upper body binding belts are both connected to the connecting hole through a Japanese buckle after passing around the shoulders of the human body.

[0014] Furthermore, in the above-mentioned non-human waist output type exoskeleton carrying robot, the carrying module includes a first pipe clamp, a second pipe clamp, a fixing seat and a chest bar, and the output end of each driving module is connected to a fixing seat, and the upper end of the fixing seat is provided with a first pipe clamp; the chest bars are provided with two, and the lower ends of the two chest bars are respectively installed in the two first pipe clamps; the second pipe clamp is provided in front of the human chest, and the second pipe clamp is provided horizontally, and the upper ends of the two chest bars are respectively inserted into the second pipe clamp by the two ends of the second pipe clamp; the first pipe clamp is provided with a hand-tightening bolt, and the lower end of the chest bar can be fixed by the hand-tightening bolt; the second pipe clamp is provided with a fastening bolt, and the upper end of the chest bar can be fixed by the fastening bolt.

[0015] Furthermore, in the above-mentioned non-human waist output type exoskeleton transport robot, by loosening the hand-tightened bolt, the lower end of the chest bar can move up and down in the first pipe clamp, and the up and down movement of the chest bar can adjust the height of the transport module; driven by the driving module, the transport module can rotate with the driving module as the rotation center.

[0016] Furthermore, in the above-mentioned non-human waist output type exoskeleton handling robot, a plurality of tooling connection holes are provided at the lower end of the second pipe clamp, and heavy objects can be hung through the tooling connection holes.

[0017] Furthermore, in the above-mentioned non-human waist output type exoskeleton transport robot, there are two leg modules, and the two leg modules are symmetrically arranged on both sides of the human body; the leg module includes a leg rod, a thigh pressure plate, a connecting plate, a connecting piece and a leg strap, and the upper end of the connecting piece is connected to the driving module; the lower end of the connecting piece is connected to the upper end of the leg rod through a first hinge pin, and the leg rod can rotate with the first hinge pin as the axis; one end of the connecting plate is connected to the lower end of the leg rod through a second hinge pin, and the connecting plate can rotate with the second hinge pin as the axis, the thigh pressure plate is located on the front side of the human thigh, and one end of the thigh pressure plate is connected to the other end of the connecting plate; the leg strap is connected to the thigh pressure plate, and the leg strap can fix the thigh pressure plate on the human thigh; the waist rod of the waist module, the transport module, the leg rod of the leg module, the thigh pressure plate and the connecting plate are all made of carbon fiber.

[0018] Analysis shows that the present invention discloses a non-human waist output type exoskeleton handling robot. The handling robot optimizes the overall structural layout. During the handling process, the weight of the main structure of the handling robot has a positive effect on the power assistance of the drive module. When using this handling robot to carry tooling, the load will not cause pressure on the human shoulders, and the overall weight of the tooling is borne by the human body's stronger lower limbs. The handling robot is always in a dominant position in power output, effectively reducing the burden on the operator's waist and reducing the risk of workers suffering from lumbar occupational diseases. The handling robot is light in weight, reliable in structure, and has an efficient power assistance method. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings and the accompanying drawings, which constitute part of this application, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. Among them:

[0020] Figure 1 FIG. 1 is a schematic diagram of a three-dimensional structure of an embodiment of the present invention.

[0021] Figure 2 It is a right view structural schematic diagram of an embodiment of the present invention.

[0022] Figure 3 FIG. 1 is a schematic diagram of the three-dimensional structure of a waist module according to an embodiment of the present invention.

[0023] Figure 4 FIG. 1 is a schematic diagram of the three-dimensional structure of a transport module according to an embodiment of the present invention.

[0024] Figure 5 Schematic diagram of the three-dimensional structure of a leg module according to an embodiment of the present invention.

[0025] Figure 6 Schematic diagram of force analysis during the transport process of one embodiment of the present invention.

[0026] Explanation of the accompanying drawings: 1 binding module; 11 waist binding belt; 12 upper body binding belt; 2 waist module; 21 waist bar; 211 first horizontal section; 212 second horizontal section; 213 mounting plate; 214 fixing frame; 215 connecting hole; 22 driving module; 3 transport module; 31 first pipe clamp; 311 hand-tightening bolt; 32 second pipe clamp; 321 fastening bolt; 322 tooling connecting hole; 33 fixing seat; 34 chest bar; 4 leg module; 41 leg bar; 42 thigh pressure plate; 43 connecting plate; 44 connecting piece; 45 leg strap; 46 first hinge pin; 47 second hinge pin. DETAILED DESCRIPTION

[0027] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments. Each example is provided by way of explanation of the present invention and is not intended to limit the present invention. Indeed, it will be apparent to those skilled in the art that modifications and variations may be made in the present invention without departing from the scope or spirit of the present invention. For example, a feature shown or described as part of one embodiment may be used in another embodiment to produce yet another embodiment. Therefore, it is intended that the present invention encompasses such modifications and variations as come within the scope of the appended claims and their equivalents.

[0028] In the description of the present invention, the terms "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and do not require that the present invention must be constructed and operated in a specific orientation. Therefore, they should not be understood as limitations on the present invention. The terms "connected", "connected", and "set" used in the present invention should be understood in a broad sense. For example, they can be fixed connections or detachable connections; they can be directly connected or indirectly connected through intermediate components; they can be wired electrical connections, radio connections, or wireless communication signal connections. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0029] One or more examples of the present invention are shown in the accompanying drawings. The detailed description uses numerical and letter designations to refer to features in the drawings. Like or similar designations in the drawings and the description have been used to refer to like or similar parts of the present invention. As used herein, the terms "first," "second," and "third," etc. are used interchangeably to distinguish one component from another and are not intended to indicate the position or importance of an individual component.

[0030] like Figures 1 to 6As shown, according to an embodiment of the present invention, a non-human waist output type exoskeleton transport robot is provided, such as Figure 1 and Figure 2 As shown, the transport robot includes: a waist module 2, which is arranged at the waist of a human body, and the waist module 2 includes a driving module 22 and a waist bar 21, and the driving module 22 is fixedly connected to the waist bar 21 by bolts; a binding module 1, which is connected to the waist module 2, and the binding module 1 is used to bind the waist module 2 to the human body; a transport module 3, which is connected to the driving module 22, and the transport module 3 can carry heavy objects, and the transport module 3 is driven to rotate by the driving module 22 to realize the transport of heavy objects; a leg module 4, the upper end of the leg module 4 is connected to the driving module 22, and the lower end of the leg module 4 is in contact with the front side of the human thigh.

[0031] Further, if Figure 3 As shown, the waist bar 21 includes a first horizontal section 211, a second horizontal section 212 and a mounting plate 213. The mounting plate 213 is located on the back side of the waist of the human body. There are two first horizontal sections 211. One end of one first horizontal section 211 is connected to one end of the mounting plate 213, and one end of the other first horizontal section 211 is connected to the other end of the mounting plate 213. The two first horizontal sections 211 are respectively located on both sides of the mounting plate 213. The two first horizontal sections 211 are symmetrically arranged relative to the central axis of the mounting plate 213. The first horizontal section 211 is connected to the mounting plate 213 at one end. The axis of 211 is collinear with the axis of the mounting plate 213, and the vertical center plane of the first horizontal section 211 and the vertical center plane of the mounting plate 213 are located in the same vertical plane; there are two second horizontal sections 212, and one end of the two second horizontal sections 212 is respectively connected to the other end of the two first horizontal sections 211; the axis of the first horizontal section 211 is perpendicular to the axis of the second horizontal section 212, and the other end of the second horizontal section 212 is located on both sides of the human body, and a driving module 22 is provided at the other end of each second horizontal section 212.

[0032] Furthermore, the driving module 22 is located outside the second horizontal section 212 , and the axis of the driving module 22 is perpendicular to the axis of the second horizontal section 212 ; the first horizontal section 211 , the second horizontal section 212 and the mounting plate 213 are an integrated structure.

[0033] Furthermore, the lower end of the mounting plate 213 is lower than the lower end of the first horizontal section 211. A fixing bracket 214 is provided on the outer wall of the mounting plate 213. The fixing bracket 214 is connected to the mounting plate 213 by bolts and can secure the battery pack to the mounting plate 213. A control assembly is provided on the outer wall of the mounting plate 213 and is located above the fixing bracket 214. The control assembly is connected to both the battery pack and the drive module 22 and can control the operation of the drive module 22.

[0034] Further, if Figure 1 As shown, the binding module 1 includes a waist binding belt 11 and an upper body binding belt 12, one end of the waist binding belt 11 is connected to the other end of the second horizontal section 212 of a waist bar 21 by a bolt, and the other end of the waist binding belt 11 is connected to the other end of the second horizontal section 212 of another waist bar 21 by a bolt, and the waist binding belt 11 can bind the waist module 2 to the human body's waist; two upper body binding belts 12 are provided, one end of one upper body binding belt 12 is connected to one end of the waist binding belt 11, and one end of the other upper body binding belt 12 is connected to the other end of the waist binding belt 11, and the upper end of the mounting plate 213 is provided with a connecting hole 215, and the other ends of the two upper body binding belts 12 are both passed around the shoulders of the human body and connected to the connecting hole 215 through a Japanese buckle.

[0035] Further, if Figure 4 As shown, the transport module 3 includes a first pipe clamp 31, a second pipe clamp 32, a fixing seat 33 and a chest bar 34. The output end of each driving module 22 is connected to a fixing seat 33, which is fixed to the output end of the driving module 22 by bolts, and the upper end of the fixing seat 33 is provided with a first pipe clamp 31; two chest bars 34 are provided, and the lower ends of the two chest bars 34 are respectively installed in the two first pipe clamps 31; the second pipe clamp 32 is provided in front of the human body's chest, and the second pipe clamp 32 is arranged horizontally, and the upper ends of the two chest bars 34 are respectively inserted into the second pipe clamp 32 by the two ends of the second pipe clamp 32; the first pipe clamp 31 is provided with a hand-tightening bolt 311, and the lower end of the chest bar 34 can be fixed by the hand-tightening bolt 311; the second pipe clamp 32 is provided with a fastening bolt 321, and the upper end of the chest bar 34 can be fixed by the fastening bolt 321.

[0036] Furthermore, by loosening the hand-tightening bolt 311, the lower end of the front chest rod 34 can move up and down in the first pipe clamp 31, and the up and down movement of the front chest rod 34 can adjust the height of the transport module 3; driven by the driving module 22, the transport module 3 can rotate with the driving module 22 as the rotation center.

[0037] Furthermore, a plurality of tooling connection holes 322 are provided at the lower end of the second pipe clamp 32 , through which heavy objects can be mounted, and the tooling connection holes 322 are used to connect different types of handling tools (heavy objects) according to different scene requirements.

[0038] Further, if Figure 5As shown, two leg modules 4 are provided, and the two leg modules 4 are symmetrically arranged on both sides of the human body; the leg module 4 includes a leg rod 41, a thigh pressure plate 42, a connecting plate 43, a connecting piece 44 and a leg strap 45, and the upper end of the connecting piece 44 is connected to the driving module 22; the lower end of the connecting piece 44 is connected to the upper end of the leg rod 41 through a first hinge pin 46, and the leg rod 41 can rotate around the first hinge pin 46; one end of the connecting plate 43 is connected to the lower end of the leg rod 41 through a second hinge pin 47, and the connecting plate 43 can rotate around the second hinge pin 47, and the thigh pressure plate 42 is located on the front side of the human thigh, and one end of the thigh pressure plate 42 is connected to the other end of the connecting plate 43, and the thigh pressure plate 42 and the connecting plate 43 are an integrated structure. The leg rod 41 can rotate a certain angle around the first hinge pin 46, allowing it to swing in both directions in coordination with the user. The connecting plate 43 can rotate a certain angle around the second hinge pin 47, allowing the thigh pressure plate 42 to cooperate with the user's leg lifting or lowering movements. This arrangement improves the flexibility of the leg module 4 and enhances the user's comfort. The leg strap 45 is connected to the thigh pressure plate 42 and can secure the thigh pressure plate 42 to the user's thigh.

[0039] The waist bar 21 of the waist module 2, the handling module 3, the leg bars 41, the thigh pressure plate 42, and the connecting plate 43 of the leg module 4 are all made of carbon fiber, while the connecting piece 44 is made of aluminum alloy. This arrangement reduces the overall weight of the handling robot. The leg bars 41 are designed based on ergonomic principles, conforming to the curves of the human leg, making them more comfortable to wear.

[0040] To prevent the weight of the main structure of the transport robot from weakening the power-assisting effect of the drive module 22 due to an unreasonable structural layout, the present invention rearranges the waist bar 21 of the waist module 2 of the exoskeleton robot, the installation position of the battery pack, and the installation position of the control component. The waist bar 21 adopts an integrated structural design, and the first horizontal section 211 and the mounting plate 213 are straight as a whole, so that the waist module 2 can fit the human waist and make it more comfortable to wear. The control component is installed at the center of the waist bar 21, and the battery pack is installed below the control component installation position.

[0041] like Figure 6 As shown, G 重物 is the gravity of the weight, L1 is the lever arm of the weight, G 设备 is the gravity on the main structure of the equipment, L2 is the lever arm of the weight of the main structure of the equipment, and when the human body lifts up after carrying a heavy object, the weight of the main structure of the equipment (handling robot) generates a torque T 设备 =G 设备 ×L2 and the torque T generated by the drive module 22 驱动模组22The directions are consistent, so that the weight of the main structure of the transport robot has a positive effect on the assist of the driving module 22 .

[0042] To avoid the pressure on the shoulders caused by traditional exoskeleton structures during transport, the present invention positions the transport module 3 on the chest. Furthermore, the connection between the transport module 3 and the upper body straps 12 is eliminated, and the transport module 3 is secured only to the waist module 2. When using this transport robot to carry workpieces, the load does not put pressure on the shoulders; the overall weight of the workpiece is borne by the body's stronger lower limbs.

[0043] This handling robot uses force control technology to achieve active assistance during the handling process. During operation, the drive module 22 bears the primary load. The wearer simply indicates the handling direction through body movements, and the handling robot automatically follows and completes the heavy object handling task. This control method ensures that the exoskeleton robot is always in the dominant position in power output, effectively reducing the burden on the operator's waist.

[0044] The working principle of the transport robot is as follows: Before donning the exoskeleton, loosen the hand-tightening bolts 311 securing the transport module 3 and remove the transport module 3. The exoskeleton is then donned, strapped to the upper body, and secured to the upper body. The leg modules 4 are then secured to the wearer's legs using the leg straps 45. Finally, the transport module 3 is reattached to the waist module 2. The height of the transport module 3 is adjusted to the wearer's height, and after adjustment, the hand-tightening bolts 311 are tightened. The exoskeleton is then powered on and the desired mode is selected to begin use.

[0045] From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects:

[0046] A non-human waist-powered exoskeleton handling robot features an optimized overall structural layout. During handling, the weight of the robot's main structure positively impacts the power assist provided by the drive module 22. When using this robot to carry workpieces, the load does not cause pressure on the shoulders; the overall weight of the workpiece is borne by the human lower limbs, which are stronger. The robot maintains a dominant position in power output, effectively alleviating the operator's waist burden and reducing the risk of occupational lumbar diseases. The robot is lightweight, structurally reliable, and provides efficient power assistance.

[0047] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A non-human waist output type exoskeleton handling robot, characterized in that: include: A waist module, which is arranged at the waist of a human body and includes a driving module and a waist bar, wherein the driving module is connected to the waist bar; a binding module, the binding module being connected to the waist module and being used to bind the waist module to the human body; A transport module, which is connected to the driving module and can carry heavy objects. The transport module is driven to rotate by the driving module to transport heavy objects. A leg module, wherein the upper end of the leg module is connected to the driving module, and the lower end of the leg module is in contact with the front side of the human thigh.

2. The non-human waist-powered exoskeleton transport robot according to claim 1, characterized in that: The waist bar includes a first horizontal section, a second horizontal section, and a mounting plate, wherein the mounting plate is located at the back of the waist of the human body, and two first horizontal sections are provided, one end of one first horizontal section is connected to one end of the mounting plate, and one end of the other first horizontal section is connected to the other end of the mounting plate, and the two first horizontal sections are symmetrically arranged relative to the mounting plate; The axis of the first horizontal section is collinear with the axis of the mounting plate; There are two second horizontal segments, one end of each of the two second horizontal segments is connected to the other end of each of the two first horizontal segments; The axis of the first horizontal segment is perpendicular to the axis of the second horizontal segment. The other ends of the second horizontal segments are located on both sides of the human body. The other end of each second horizontal segment is provided with a driving module.

3. The non-human waist-powered exoskeleton transport robot according to claim 2, characterized in that: The driving module is located outside the second horizontal section, and the axis of the driving module is perpendicular to the axis of the second horizontal section; The first horizontal section, the second horizontal section and the mounting plate are an integrated structure.

4. The non-human waist-powered exoskeleton transport robot according to claim 2, characterized in that: The lower end of the mounting plate is lower than the lower end of the first horizontal section. A fixing bracket is provided on the outer side wall of the mounting plate. The fixing bracket is connected to the mounting plate by bolts. The fixing bracket can fix the battery pack on the mounting plate.

5. The non-human waist-powered exoskeleton transport robot according to claim 4, characterized in that: A control component is provided on the outer side wall of the mounting plate. The control component is located above the fixing frame. The control component is connected to both the battery pack and the driving module. The control component can control the operation of the driving module.

6. The non-human waist-powered exoskeleton transport robot according to claim 2, characterized in that: The binding module includes a waist binding belt and an upper body binding belt, one end of the waist binding belt is connected to the other end of the second horizontal section of one waist bar, and the other end of the waist binding belt is connected to the other end of the second horizontal section of another waist bar, and the waist binding belt can bind the waist module to the waist of the human body; Two upper body binding straps are provided, one end of one upper body binding strap is connected to one end of the waist binding strap, and one end of the other upper body binding strap is connected to the other end of the waist binding strap. A connecting hole is provided at the upper end of the mounting plate, and the other ends of the two upper body binding straps are both passed around the shoulders of the human body and connected to the connecting hole through a Japanese buckle.

7. The non-human waist-powered exoskeleton transport robot according to claim 1, characterized in that: The handling module includes a first pipe clamp, a second pipe clamp, a fixing seat and a front chest bar. The output end of each driving module is connected to one of the fixing seats, and the upper end of the fixing seat is provided with a first pipe clamp; There are two front chest bars, and the lower ends of the two front chest bars are respectively installed in the two first pipe clamps; The second tube clamp is arranged in front of the chest of the human body, and the second tube clamp is arranged horizontally, and the upper ends of the two front chest bars are respectively inserted into the second tube clamp from the two ends of the second tube clamp; The first pipe clamp is provided with a hand-tightening bolt, and the lower end of the front chest bar can be fixed by the hand-tightening bolt; The second pipe clamp is provided with a fastening bolt, and the upper end of the front chest bar can be fixed by the fastening bolt.

8. The non-human waist-powered exoskeleton transport robot according to claim 7, characterized in that: By loosening the hand-tightening bolt, the lower end of the front chest bar can move up and down in the first pipe clamp, and the up and down movement of the front chest bar can adjust the height of the transport module; Driven by the driving module, the transport module can rotate with the driving module as the rotation center.

9. The non-human waist-powered exoskeleton transport robot according to claim 7, characterized in that: The lower end of the second pipe clamp is provided with a plurality of tooling connection holes, through which heavy objects can be hung.

10. The non-human waist-powered exoskeleton transport robot according to claim 1, characterized in that: There are two leg modules, which are symmetrically arranged on both sides of the human body; The leg module includes a leg rod, a thigh pressing plate, a connecting plate, a connecting piece and a leg strap, and the upper end of the connecting piece is connected to the driving module; The lower end of the connecting member is connected to the upper end of the leg rod via a first hinge pin, and the leg rod can rotate around the first hinge pin as an axis; One end of the connecting plate is connected to the lower end of the leg rod through a second hinge pin, and the connecting plate can rotate around the second hinge pin as an axis. The thigh pressing plate is located on the front side of the human thigh, and one end of the thigh pressing plate is connected to the other end of the connecting plate; The leg strap is connected to the thigh compression plate, and the leg strap can fix the thigh compression plate on the thigh of the human body; The waist bar of the waist module, the carrying module, the leg bar of the leg module, the thigh pressure plate and the connecting plate are all made of carbon fiber.

Images