A rope-pulling type upper limb power-assisted robot

Abstract

The application discloses a rope-pulling type upper-limb assisting robot, and relates to the field of human body assisting robots.The rope-pulling type upper-limb assisting robot comprises a width adjusting mechanism, a control mechanism, a fixing band and two assisting mechanisms.The assisting mechanism comprises a driving assembly, a winding and unwinding assembly and an outward stretching assembly.The outward stretching assembly comprises an outward stretching arm and a connecting rope.The width adjusting mechanism comprises an adjusting assembly and two connecting plates.The rear end of each connecting plate is fixed with a driving assembly and a winding and unwinding assembly.The front end of each connecting plate is fixed with an outward stretching arm.The one end of the connecting rope is installed on the winding and unwinding assembly.The other end of the connecting rope passes through the outward stretching arm and extends from the end of the outward stretching arm.The driving assembly is used for driving the winding and unwinding assembly to realize winding and unwinding of the connecting rope.The one end of the control mechanism is installed on the adjusting assembly, and the other end of the control mechanism is installed on the fixing band.The device makes the upper limb only play an assisting role, improves work efficiency, realizes the assisting function by using two power sources, has a simple structure, is low in control difficulty and is more applicable.

Description

Technical Field

[0001] The present invention relates to the field of human body assistive robots, in particular to a rope-pull type upper limb assistive robot. Background Art

[0002] With the rapid development of the transportation industry in recent years, the volume of cargo transported has continued to increase. Freight transfers require constant loading and unloading, often performed manually. Prolonged loading, unloading, carrying, or upper limb weight-bearing activities can reduce physical fitness and work efficiency, causing serious harm and posing safety risks. Upper limb assistive robots can provide assistance, assisting upper limb work, reducing the burden on the upper limbs, improving work efficiency, and ultimately preventing accidents.

[0003] In the upper limb exoskeleton robot disclosed in Patent Publication No. CN 109129443 A, the forearm, upper arm, and elbow joints are connected in series, with drive motors installed at each joint. This increases the robot's overall mass. The series connection also reduces the coupling and followability between the human body and the robot, increasing control difficulty. The upper limb exoskeleton robot disclosed in Patent Publication No. CN108839000A uses a parallel structure, which improves load capacity to a certain extent but also limits the range of motion of the upper limbs and reduces flexibility.

[0004] As can be seen, existing upper-limb exoskeleton-assisted robots mostly rely on human upper-limb movements as the primary movement. The exoskeleton's coordination with these movements is complex, with poor followability, which can easily cause disharmony with human limb movements and lead to stuttering. Furthermore, most existing upper-limb exoskeleton-assisted robots use multi-degree-of-freedom structures to coordinate with human joint movements, increasing the number of actuators, the difficulty of control, and the cost, making them difficult to apply and promote. Summary of the Invention

[0005] In order to solve the above technical problems, the present invention provides a rope-pulled upper limb power-assisting robot, in which the upper limbs only play an auxiliary role, thereby improving work efficiency. At the same time, two power sources are used to realize the power-assisting function, with a simple structure, low control difficulty, and easier application.

[0006] To achieve the above object, the present invention provides the following solutions:

[0007] 4. The repairing kit for automotive dents, according to claim 1, wherein a bottom of the foot stand comprises a through-hole, and the two foot pieces comprise two bosses, wherein the bosses comprise a through-hole, a screw bolt, and a nut. The through-hole comprises a screw bolt, and a nut. The through-hole comprises a screw bolt, and a nut.

[0008] Preferably, it further comprises a plurality of fixing members, each of the connecting plates is provided with a connecting groove extending in a horizontal direction, and the fixing member passes through the connecting groove to fix the connecting plate to the fixed strap.

[0009] Preferably, the adjusting assembly includes a two-way screw, a first screw nut, a second screw nut, a handle, a mounting plate, two slide plates and two adjusting plates, each of the connecting plates having a slide plate fixed thereon, a vertical slide plate provided on the slide plate, the first screw nut and the second screw nut being fixed to the upper ends of the two slide plates respectively, the two-way screw being installed in the first screw nut and the second screw nut, the middle fixed sleeve of the two-way screw being provided with the handle; the two adjusting plates are cross-hinged, the upper end of each adjusting plate is slidably installed in the vertical slide slot of one slide plate, the lower end of each adjusting plate is hinged to the bottom of the other slide plate, the upper end of the mounting plate is installed at the hinge of the two adjusting plates, and the control mechanism is installed at the lower end of the mounting plate.

[0010] Preferably, the outrigger assembly also includes a connecting block, a weight connector, a stop shell and three pulleys. The outrigger arm includes an upper arm and a lower arm. The connecting block is fixed to the connecting plate. One end of the upper arm is fixed to the connecting block. The other end of the upper arm is connected to the lower arm. The stop shell is installed on the lower arm. One pulley is provided on the connecting block. The upper and lower ends of the lower arm are respectively provided with a pulley. The pulleys are used to support and guide the connecting rope. The weight connector is installed at the lower end of the connecting rope.

[0011] Preferably, it also includes two locking bolts and two locking nuts, the upper arm includes two symmetrically arranged upper arm plates, the lower arm includes two symmetrically arranged lower arm plates, and a pulley is respectively installed at the upper and lower ends between the two lower arm plates, and the two upper arm plates are fixed on the connecting block, and the upper end of each lower arm plate is hinged to the inner side of an upper arm plate, a positioning hole is provided at the upper end of the lower arm plate, and a plurality of angle adjustment holes are provided at the lower end of the upper arm plate, and a locking bolt passes through one of the angle adjustment holes and one of the positioning holes and is fixed by a locking nut.

[0012] Preferably, the retracting and unwinding assembly includes a reel, a reel holder and a pressure plate, the reel holder is fixed to the upper end of the connecting plate, the reel is rotatably installed in the reel holder, the connecting rope is wound around the reel, and the end of the connecting rope is fixed to the reel through the pressure plate.

[0013] Preferably, the drive assembly includes a motor, a U-shaped bracket, a coupling, a first bevel gear and a second bevel gear, the U-shaped bracket is fixed to the upper end of the connecting plate, the motor is installed on the U-shaped bracket, the motor is connected to the control mechanism, the output shaft direction of the motor is perpendicular to the connecting plate, the first bevel gear is fixed on the output shaft of the motor, the second bevel gear is meshed with the first bevel gear, the output end of the second bevel gear extends to the outside through the U-shaped bracket, and is connected to the input end of the reel through the coupling.

[0014] Preferably, the control mechanism includes a control board, a battery, an IMU sensor, a first support plate, a second support plate, a connecting belt and two pressure sensors. The first support plate is hinged to the upper part of the battery close to the fixed strap. The first support plate and the second support plate are both fixed to the mounting plate. The first support plate is located above the second support plate. The lower end of the second support plate is hinged to the connecting belt. The lower end of the connecting belt is connected to the fixed strap. The control board is fixed to the upper part of the battery. The battery, the pressure sensor, the IMU sensor and the motor are all connected to the control board. The lower end of each connecting rope is connected to a pressure sensor, and the lower end of each pressure sensor is connected to a weight connector.

[0015] Preferably, a recessed portion is provided at the lower portion of the battery close to the fixing strap, two vertical plates are provided in the recessed portion, a connecting shaft is installed between the two vertical plates, and the lower end of the connecting belt passes through the gap between the connecting shaft and the battery and is connected to the fixing strap.

[0016] Compared with the prior art, the present invention has achieved the following technical effects:

[0017] The present invention provides a rope-pull upper limb power-assist robot, comprising a width adjustment mechanism, a control mechanism, a fixed strap, and two power-assist mechanisms. The power-assist mechanism comprises a drive assembly, a retractable assembly, and an extension assembly. The extension assembly comprises an extension arm and a connecting rope, the extension arm being used to provide support for the connecting rope. The width adjustment mechanism comprises an adjustment assembly and two connecting plates, the adjustment assembly being used to adjust the distance between the two connecting plates, and thereby the distance between the two extension arms, to meet the needs of people of different heights and shoulder widths. The robot is fixed to the back of a human body by a fixed strap. The control mechanism controls the drive assembly to output power, driving the retractable assembly to move the retractable connecting rope, thereby lifting and lowering a heavy object. It can be seen that the rope-pull upper limb power-assist robot in the present invention uses the connecting rope to lift the heavy object, and the human upper limb assists in carrying the heavy object. This changes the traditional upper limb exoskeleton robot method in which the human upper limb is the main body and the exoskeleton robot follows the movement, freeing the human hands, reducing the upper limb load, and improving work efficiency. At the same time, the flexible pulling method reduces the coupling between the power-assist robot and the human body and the control difficulty, further improving work efficiency. The present invention utilizes two drive components, reducing the number of power sources compared to conventional exoskeleton robots. This not only reduces weight but also overall size, making installation easier. The present invention mounts the entire robot on a fixed harness. Due to its overall lightness and compact size, the robot ensures comfort and is easier to wear and carry. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 A schematic diagram of the three-dimensional structure of the rope-pull upper limb power-assist robot provided by the present invention;

[0020] Figure 2 A side view of the rope-pull upper limb power-assist robot provided by the present invention;

[0021] Figure 3 This is a rear view of the rope-pull upper limb power-assisting robot provided by the present invention;

[0022] Figure 4 This is a schematic structural diagram of the width adjustment mechanism and the fixing straps in the rope-pull upper limb power-assist robot provided by the present invention;

[0023] Figure 5 This is a schematic structural diagram of the extension assembly of the rope-pull upper limb power-assist robot provided by the present invention;

[0024] Figure 6 This is a schematic structural diagram of the driving component and the retracting and extending component of the rope-pull upper limb power-assisting robot provided by the present invention;

[0025] Figure 7 This is a schematic structural diagram of the control mechanism in the rope-pull upper limb power-assist robot provided by the present invention.

[0026] Explanation of Reference Numerals: 100, rope-pull upper limb power-assist robot; 1, width adjustment mechanism; 101, connecting plate; 102, connecting groove; 103, slide plate; 104, bidirectional lead screw; 105, first lead screw nut; 106, second lead screw nut; 107, handle; 108, vertical slide; 109, adjustment plate; 1010, mounting plate; 2, drive assembly; 201, motor; 202, U-shaped bracket; 203, first bevel gear; 204, second bevel gear; 205, coupling; 3, retractable assembly; 301, reel; 302. Reel holder; 303. Pressure plate; 4. Control mechanism; 401. Battery; 402. Control board; 403. First support plate; 404. Second support plate; 405. Connecting belt; 406. Vertical plate; 407. Connecting shaft; 408. Pressure sensor; 5. Extension assembly; 501. Connecting block; 502. Upper arm; 503. Lower arm; 504. Connecting rope; 505. Weight connector; 506. Pulley; 507. Stop shell; 508. Stop cover; 509. Angle adjustment hole; 5010. Locking bolt; 6. Fixing strap. DETAILED DESCRIPTION

[0027] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0028] The purpose of the present invention is to provide a rope-pull upper limb power-assisting robot, in which the upper limbs only play an auxiliary role, thereby improving work efficiency. At the same time, two power sources are used to realize the power-assisting function, with a simple structure, low control difficulty, and easier application.

[0029] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0030] like Figure 1-Figure 3As shown, this embodiment provides a rope-pull upper limb power-assist robot 100, including a width adjustment mechanism 1, a control mechanism 4, a fixed strap 6 and two power-assist mechanisms, the power-assist mechanism including a driving component 2, a retracting component 3 and an outward extension component 5, the outward extension component 5 including an outward extension arm and a connecting rope 504, the width adjustment mechanism 1 including an adjustment component and two connecting plates 101, the two connecting plates 101 are respectively installed on both sides of the upper rear end of the fixed strap 6, the adjustment component is installed between the two connecting plates 101, the adjustment component is used to adjust the distance between the two connecting plates 101, and then adjust the distance between the two outward extension arms to meet the needs of people with different heights and shoulder widths. A driving component 2 and a retracting component 3 are fixed to the rear end of each connecting plate 101, and an outrigger arm is fixed to the front end of each connecting plate 101. One end of the connecting rope 504 is installed on the retracting component 3, and the other end of the connecting rope 504 passes through the outrigger arm and extends from the end of the outrigger arm. The outrigger arm is used to provide support for the connecting rope 504. The driving component 2 is used to drive the retracting component 3 to realize the retraction and extension of the connecting rope 504. The driving component 2 is connected to the control mechanism 4, one end of the control mechanism 4 is installed on the adjustment component, and the other end of the control mechanism 4 is installed on the fixed strap 6.

[0031] During use, the robot is fixed to the back of the human body via the fixed strap 6. The control mechanism 4 controls the drive assembly 2 to output power, driving the retractable assembly 3 to move the retractable connecting rope 504, thereby lifting and lowering the heavy object. It can be seen that the rope-pull upper limb assistive robot 100 in this embodiment uses the connecting rope 504 to lift the heavy object, and the human upper limb assists in completing the heavy object handling. This changes the traditional upper limb exoskeleton robot method in which the human upper limb is the main body and the exoskeleton robot follows the movement, freeing the human hands, reducing the upper limb load, and improving work efficiency. At the same time, the use of a flexible pulling method reduces the coupling between the assistive robot and the human body and the control difficulty, further improving work efficiency. In this embodiment, two drive assemblies 2 are used. Compared with the transmission exoskeleton robot, the number of power sources is reduced, which not only reduces the weight of the robot itself, but also reduces the overall volume, making it more convenient to install. In this embodiment, the robot is installed as a whole on the fixed strap 6. Due to the overall light weight and small volume of the robot, comfort is guaranteed. At the same time, it is easier to wear and carry, and more convenient for practical application.

[0032] like Figure 4As shown, this embodiment also includes a plurality of fixing members. Each connecting plate 101 is provided with a connecting groove 102 extending in the horizontal direction. The fixing member passes through the connecting groove 102 to fix the connecting plate 101 to the fixing strap 6. The fixing member includes a fixing bolt and a fixing nut. The fixing bolt passes through the connecting groove 102 and the fixing strap 6 and is tightened by the fixing nut, thereby achieving the fixation of the connecting plate 101 and the fixing strap 6. When it is necessary to adjust the distance between the connecting plates 101, the fixing nut is loosened. At this time, the connecting plate 101 can be translated left and right relative to the fixing bolt. The distance between the connecting plates 101 can be adjusted by adjusting the assembly. After the adjustment, the fixing nut is tightened to fix the connecting plate 101 to the fixing strap 6. In this specific embodiment, each connecting plate 101 is provided with two connecting grooves 102. Through the two connections, the connecting plate 101 and the fixing strap 6 can be more firmly connected.

[0033] The adjustment assembly includes a bidirectional screw 104, a first screw nut 105, a second screw nut 106, a handle 107, a mounting plate 1010, two slide plates 103 and two adjustment plates 109. A slide plate 103 is fixed on each connecting plate 101, and a vertical slide 108 is provided on the slide plate 103. The first screw nut 105 and the second screw nut 106 are respectively fixed to the upper ends of the two slide plates 103. Reverse threads are provided at both ends of the bidirectional screw 104. The lever 104 is installed in the first lead screw nut 105 and the second lead screw nut 106. A handle 107 is fixed in the middle of the bidirectional lead screw 104. The bidirectional lead screw 104 can achieve self-locking while adjusting the width. The two adjustment plates 109 are cross-hinged. The upper end of each adjustment plate 109 is slidably installed in the vertical slide 108 of a slide plate 103. The lower end of each adjustment plate 109 is hinged to the bottom of the other slide plate 103. The two adjustment plates 109 also play a supporting role. The upper end of the mounting plate 1010 is installed at the hinge of the two adjustment plates 109, and the control mechanism 4 is installed at the lower end of the mounting plate 1010. Specifically, the upper end of the mounting plate 1010 and the middle of the two adjustment plates 109 are hinged by a hinge, so that the mounting plate 1010 is always in the center of the device.

[0034] When the distance between the connecting plates 101 needs to be adjusted, the fixing nut is loosened so that the connecting plate 101 can be translated relative to the fixed strap 6, and the handle 107 is rotated to make the first screw nut 105 and the second screw nut 106 move toward or away from each other. Specifically, when the first screw nut 105 and the second screw nut 106 move toward each other, the upper end of the adjustment plate 109 moves upward relative to the vertical slide 108, and the distance between the upper ends and the distance between the lower ends of the two adjustment plates 109 are reduced, thereby reducing the distance between the two connecting plates 101; when the first screw nut 105 and the second screw nut 106 move away from each other, the upper end of the adjustment plate 109 moves downward relative to the vertical slide 108, and the distance between the upper ends and the distance between the lower ends of the two adjustment plates 109 are increased, thereby increasing the distance between the two connecting plates 101, and then adjusting the distance between the two outriggers to meet the needs of people of different heights and shoulder widths, thereby improving the scope of application of the device.

[0035] like Figure 5 As shown, the outrigger assembly 5 also includes a connecting block 501, a weight connector 505, a stopper 507, and three pulleys 506. The outrigger arm includes an upper arm 502 and a lower arm 503. The connecting block 501 is fixed to the connecting plate 101. One end of the upper arm 502 is fixed to the connecting block 501, and the other end of the upper arm 502 is connected to the lower arm 503. The lower arm 503 is mounted with a stopper 507. A pulley 506 is provided on the connecting block 501. A stopper 508 is provided on the connecting block 501. The stopper 508 is located above the pulley 506. A pulley 506 is provided at each end of the lower arm 503. The pulleys 506 are used to support and guide the connecting rope 504. The weight connector 505 is mounted at the lower end of the connecting rope 504. The stopper 507 and the stopper 508 can prevent the connecting rope 504 from detaching from the pulley 506 during movement.

[0036] In this embodiment, the fixed strap 6 is a shoulder strap, and the connecting rope 504 is a steel wire rope. The weight connecting member 505 is a hook, and different grippers, such as suction cups, handheld clamps, etc., can be designed according to different weight forms in different working conditions.

[0037] This embodiment also includes two locking bolts 5010 and two locking nuts. The upper arm 502 includes two symmetrically arranged upper arm plates, and the lower arm 503 includes two symmetrically arranged lower arm plates. A pulley 506 is installed at the upper and lower ends of the two lower arm plates. The two upper arm plates are fixed to the connecting block 501. The upper end of each lower arm plate is hinged to the inner side of an upper arm plate. The upper end of the lower arm plate is provided with a positioning hole, and the lower end of the upper arm plate is provided with multiple angle adjustment holes 509. A locking bolt 5010 passes through an angle adjustment hole 509 and a positioning hole and is fixed by a locking nut. Specifically, the lower arm plate and the upper arm plate are hinged by a hinge axis, and the distance between each angle adjustment hole 509 and the hinge axis is the same. By installing the locking bolt 5010 in different angle adjustment holes 509, the relative angle of the upper arm 502 and the lower arm 503 can be adjusted, thereby achieving adjustment of different lengths of the outrigger arm.

[0038] Specifically, multiple through holes are provided on the upper arm plate and the lower arm plate, so as to ensure the overall lightweight while ensuring the stress.

[0039] like Figure 6 As shown, the reel assembly 3 includes a reel 301, a reel holder 302 and a pressure plate 303. The reel holder 302 is fixed to the upper end of the connecting plate 101. The reel 301 is rotatably installed in the reel holder 302. The connecting rope 504 is wound around the reel 301. The end of the connecting rope 504 is fixed to the reel 301 through the pressure plate 303. The drive assembly 2 includes a motor 201, a U-shaped bracket 202, a coupling 205, a first bevel gear 203, and a second bevel gear 204. The U-shaped bracket 202 is fixed to the upper end of the connecting plate 101. The motor 201 is mounted on the U-shaped bracket 202. The motor 201 is connected to the control mechanism 4. The output shaft of the motor 201 is perpendicular to the connecting plate 101. The first bevel gear 203 is fixed to the output shaft of the motor 201. The second bevel gear 204 meshes with the first bevel gear 203. The output end of the second bevel gear 204 extends to the outside through the U-shaped bracket 202 and is connected to the input end of the reel 301 through the coupling 205. The control mechanism 4 controls the operation of the motor 201. The motor 201 transmits power to the reel 301 through the first bevel gear 203, the second bevel gear 204, and the coupling 205. The movement of the reel 301 drives the retraction and extension of the connecting rope 504, thereby achieving the lifting and lowering of the heavy object. In this embodiment, only two motors 201 are used to lift the heavy object, thereby achieving lightweight and simple structure. Specifically, the motors 201 in this embodiment are DC servo motors.

[0040] like Figure 7As shown, the control mechanism 4 includes a control board 402, a battery 401, an IMU sensor, a first support plate 403, a second support plate 404, a connecting belt 405 and two pressure sensors 408. The first support plate 403 is hinged to the upper part of the battery 401 near the fixed shoulder strap 6. The first support plate 403 and the second support plate 404 are both fixed to the mounting plate 1010. The first support plate 403 is located above the second support plate 404. The lower end of the second support plate 404 is hinged to the connecting belt 405. The lower end of the connecting belt 405 is connected to the fixed shoulder strap 6. The control board 402 is fixed to the upper part of the battery 401. The battery 401, the pressure sensor 408, the IMU sensor and the motor 201 are all connected to the control board 402. The lower end of each connecting rope 504 is connected to a pressure sensor 408, and the lower end of each pressure sensor 408 is connected to a weight connector 505. The battery 401 provides power for the entire device, collects the human body posture and weight status through the IMU sensor and pressure sensor 408, completes the signal input, and the control board 402 performs signal processing and controls the motor 201. Specifically, the battery 401 in this embodiment is a lithium battery.

[0041] Specifically, a recessed portion is provided at the lower portion of the battery 401 near the side of the fixed shoulder strap 6, in which two vertical plates 406 are provided, and a connecting shaft 407 is installed between the two vertical plates 406. The lower end of the connecting belt 405 passes through the gap between the connecting shaft 407 and the battery 401 and is connected to the fixed shoulder strap 6, thereby attaching the battery 401 to the human body to avoid swinging due to the movement of the human body.

[0042] This specification uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. A rope-pull upper limb power-assist robot, characterized in that: The invention relates to a method for adjusting the width of a backpack, wherein the width adjustment mechanism comprises a width adjustment mechanism, a control mechanism, a fixed shoulder strap and two power-assisting mechanisms, wherein the power-assisting mechanism comprises a driving assembly, a retracting assembly and an outreaching assembly, wherein the outreaching assembly comprises an outreaching arm and a connecting rope, and the width adjustment mechanism comprises an adjusting assembly and two connecting plates, wherein the two connecting plates are respectively mounted on both sides of the upper rear end of the fixed shoulder strap, and the adjusting assembly is mounted between the two connecting plates, and the adjusting assembly is used to adjust the distance between the two connecting plates; a driving assembly and a retracting assembly are fixed to the rear end of each connecting plate, and an outreaching arm is fixed to the front end of each connecting plate, one end of the connecting rope is mounted on the retracting assembly, and the other end of the connecting rope passes through the outreaching arm and is connected to the The end of the outrigger arm extends out, and the drive assembly is used to drive the retraction and extension assembly to realize the retraction and extension of the connecting rope, the drive assembly is connected to the control mechanism, one end of the control mechanism is installed on the adjustment assembly, and the other end of the control mechanism is installed on the fixed strap; the adjustment assembly includes a two-way screw, a first screw nut, a second screw nut, a handle, a mounting plate, two slide plates and two adjustment plates, each of the connecting plates is fixed with a slide plate, a vertical slide plate is provided on the slide plate, the first screw nut and the second screw nut are respectively fixed to the upper ends of the two slide plates, the two-way screw is installed in the first screw nut and the second screw nut, and the middle fixing sleeve of the two-way screw The control mechanism is installed at the bottom of the other slide plate, and the upper end of the mounting plate is installed at the hinge part of the two adjusting plates, and the control mechanism is installed at the lower end of the mounting plate; the outward extension assembly also includes a connecting block, a weight connecting piece, a stop shell and three pulleys, and the outward extension arm includes an upper arm and a lower arm, and the connecting block is fixed to the connecting plate, one end of the upper arm is fixed to the connecting block, and the other end of the upper arm is connected to the lower arm, and the stop shell is installed on the lower arm. A pulley is provided, which is used to support and guide the connecting rope, and the weight connecting piece is installed at the lower end of the connecting rope; it also includes two locking bolts and two locking nuts, the upper arm includes two symmetrically arranged upper arm plates, and the lower arm includes two symmetrically arranged lower arm plates, and the upper and lower ends between the two lower arm plates are respectively installed with a pulley, and the two upper arm plates are fixed on the connecting block, and the upper end of each lower arm plate is hinged to the inner side of an upper arm plate, and a positioning hole is provided at the upper end of the lower arm plate, and a plurality of angle adjustment holes are provided at the lower end of the upper arm plate, and a locking bolt passes through one of the angle adjustment holes and one of the positioning holes and is fixed by a locking nut.

2. The rope-pull upper limb power-assist robot according to claim 1, characterized in that: It also includes a plurality of fixing members, each of the connecting plates is provided with a connecting slot extending in a horizontal direction, and the fixing member passes through the connecting slot to fix the connecting plate to the fixed strap.

3. The rope-pull upper limb power-assist robot according to claim 1, characterized in that: The retracting and unwinding assembly includes a reel, a reel holder and a pressure plate. The reel holder is fixed to the upper end of the connecting plate. The reel is rotatably installed in the reel holder. The connecting rope is wound around the reel. The end of the connecting rope is fixed to the reel through the pressure plate.

4. The rope-pull upper limb power-assist robot according to claim 3, characterized in that: The drive assembly includes a motor, a U-shaped bracket, a coupling, a first bevel gear and a second bevel gear. The U-shaped bracket is fixed to the upper end of the connecting plate. The motor is installed on the U-shaped bracket. The motor is connected to the control mechanism. The output shaft direction of the motor is perpendicular to the connecting plate. The first bevel gear is fixed on the output shaft of the motor. The second bevel gear is meshed with the first bevel gear. The output end of the second bevel gear extends to the outside through the U-shaped bracket and is connected to the input end of the reel through the coupling.

5. The rope-pull upper limb power-assist robot according to claim 4, characterized in that: The control mechanism includes a control board, a battery, an IMU sensor, a first support plate, a second support plate, a connecting belt and two pressure sensors. The first support plate is hinged to the upper part of the battery close to the fixed strap. The first support plate and the second support plate are both fixed to the mounting plate. The first support plate is located above the second support plate. The lower end of the second support plate is hinged to the connecting belt. The lower end of the connecting belt is connected to the fixed strap. The control board is fixed to the upper part of the battery. The battery, the pressure sensor, the IMU sensor and the motor are all connected to the control board. The lower end of each connecting rope is connected to a pressure sensor, and the lower end of each pressure sensor is connected to a weight connector.

6. The rope-pull upper limb power-assist robot according to claim 5, characterized in that: A recessed portion is provided at the lower portion of the battery near the fixing strap, and two vertical plates are provided in the recessed portion. A connecting shaft is installed between the two vertical plates, and the lower end of the connecting belt passes through the gap between the connecting shaft and the battery and is connected to the fixing strap.

Images