A passive exoskeleton-assisted robot

Abstract

The present invention discloses a passive exoskeleton assist robot. The present invention is composed of a back support device, a size adjustment device, a waist support device, an arm support rotation device and a drive device connected in sequence. The main function of the passive exoskeleton assist robot is to provide a force for the arm through the drive device. When a human body wears the passive exoskeleton assist robot to work, the reaction force of the drive device is first transmitted to the back support device through the arm support rotation structure, and then part of the force is transmitted to the waist support device through the size adjustment rod, so as to realize that the back and waist jointly bear the reaction force. The back support device and the waist support device are designed according to the human body shape and conform to ergonomics; the size adjustment structure has 12 adjustable sizes in 2 orders. The arm support rotation device is composed of two rotary pairs and a sliding pair. This structure can achieve self-adaptation when the arm is adducted and abducted, ensuring the freedom of movement of the arm after wearing this device.

Description

Technical Field

[0001] The present invention belongs to an exoskeleton-assisted robot for the industrial field and the logistics handling field, and particularly relates to a passive exoskeleton-assisted robot without additional power. Background Art

[0002] The exoskeleton-assisted robot combines biological theories with mechanical engineering, and its assistance principle is consistent with the mechanism of the human skeletal muscle system. The exoskeleton-assisted robot mainly consists of a mechanical bracket, a power source, and a connecting member. The mechanical bracket corresponds to the bones in the human skeletal muscle, the power source corresponds to the muscles, and the connecting member corresponds to the tendons. The skeletal muscle is the power source for human movement. The tendon connects the muscle to the bone, and the muscle contraction pulls the bone through the tendon to generate joint movement. Currently, both domestic and foreign research on exoskeleton-assisted robots focuses more on active exoskeleton-assisted robots. The active exoskeleton-assisted robot uses electricity, hydraulics, or pneumatics as the power source and is equipped with a control system, which can precisely control the range of assistance and the movement speed.

[0003] However, the active exoskeleton-assisted robot has problems such as heavy weight, high cost, and inconvenient use. The energy and endurance problems of the active exoskeleton-assisted robot are important issues that need to be solved urgently in current research. Due to its large volume and weight, the active exoskeleton-assisted robot is difficult to operate in some environments with restricted working space. And in working environments where a smaller assistance size and lower movement speed accuracy are required, it is not suitable to use the active exoskeleton-assisted robot. Compared with the traditional active exoskeleton-assisted robot, the passive exoskeleton-assisted robot reduces several or even dozens of orders of magnitude in terms of volume and mass, and there is no energy storage and endurance problem. The characteristics of light weight and small volume make the passive exoskeleton robot more adaptable to working environments with limited working space, smaller assistance size, and convenient wearing. Summary of the Invention

[0004] In order to solve the problems in the background art, the present invention provides a passive exoskeleton-assisted robot that does not require additional power.

[0005] The technical solution adopted by the present invention is as follows:

[0006] I. A passive exoskeleton-assisted robot

[0007] It includes a back support device, a size adjustment device, a driving device, an arm support rotating device, and a waist support device; the back support device and the waist support device are arranged vertically and are connected by a size adjustment device. The rear sides of the back support device and the waist support device are respectively connected with a vertically arranged size adjustment device through an upper support seat and a lower support seat; two arm support rotating devices are connected to the left and right sides of the back support device through bearing seats, and a driving device is connected to the end of each arm support rotating device through a horizontal rod connecting head.

[0008] The arm support rotating device includes a horizontal rod, a slider tube, and a slide rail tube connected in sequence; one end of the horizontal rod is fixed with a vertical rotating shaft at the bottom, and the other end is fixed with a horizontal rotating shaft on the side; both the slider tube and the slide rail tube are composed of a horizontal part and a vertical part.

[0009] The vertical rotating shaft of the horizontal rod extends into the vertical part of the slider tube and is connected to the slider tube through angular contact ball bearing Ⅰ, and the vertical rotating shaft can rotate within the slider tube; a torsion spring Ⅲ is sleeved on the vertical rotating shaft, one end of the torsion spring Ⅲ is fixed on the vertical rotating shaft, and the other end is fixed inside the slider tube.

[0010] A linear bearing is installed at the end of the horizontal part of the slider tube, and the outer end face of the linear bearing is in interference fit with the inner end face of the slider tube; the horizontal part of the slide rail tube passes through the linear bearing and extends into the inside of the slider tube, and the inner end face of the linear bearing can move along the slide rail tube.

[0011] The bottom of the vertical part of the slide rail tube is installed in the bearing seat through angular contact ball bearing Ⅱ, the slide rail tube can rotate within the bearing seat, one end of the torsion spring Ⅳ sleeved on the bottom of the slide rail tube is fixed on the slide rail tube, and the other end is fixed inside the bearing seat, and the bearing seat is fixed on the back support device.

[0012] A bearing cover Ⅰ is installed at the top of the vertical part of the slider tube, and the vertical rotating shaft of the horizontal rod passes through the bearing cover Ⅰ and extends into the slider tube; the upper and lower end faces of the bearing seat are connected with a top cover and a bottom end cover through screws.

[0013] The driving device includes a housing, a crank, a rocker, a switch rotating table, an opening and closing control rod, and a nitrogen spring.

[0014] A housing end cover is installed at the front of the housing, the horizontal rotating shaft of the horizontal rod passes through the housing from front to back, and the end of the horizontal rotating shaft passes through the housing end cover and is connected to the horizontal rod connecting head. The horizontal rod connecting head is used to limit the horizontal rotating shaft front and back to prevent the horizontal rod from coming out; a sleeve Ⅰ and a sleeve Ⅱ are respectively installed between the horizontal rotating shaft and the back of the housing and the housing end cover, and the sleeves are used to reduce friction during rotation.

[0015] The crank, rocker, switch rotating table, and opening and closing control lever are installed inside the shell; one end of the crank is hingedly connected to the horizontal rotating shaft of the horizontal rod, and the other end is hingedly connected to the top of the rocker; one end of the torsion spring I sleeved on the horizontal rotating shaft is fixed to the horizontal rod, and the other end is fixed to the crank; a torsion spring II is connected between the rocker and the crank, and a shaft sleeve III is installed between the crank and the rocker to reduce friction during rotation;

[0016] A nitrogen spring is installed at the bottom of the shell through a nitrogen spring connector. The nitrogen spring piston rod extends into the shell through the nitrogen spring connector, and the end face of the nitrogen spring piston rod is always in contact with the bottom end of the rocker in the shell, and the end face area of ​​the nitrogen spring piston rod is larger than the end face area of ​​the bottom end of the rocker; the opening and closing control rod is arranged parallel to the bottom surface of the shell, one end is hingedly connected to the switch rotating table, the other end is provided with a boss in contact with the bottom surface of the shell, and the other end is provided with a push rod extending to the outside of the shell; the opening and closing control rod moves the boss to the end face of the nitrogen spring piston rod under the drive of the push rod, and limits the movement of the nitrogen spring piston rod toward the rocker by pressing against the end face of the piston rod.

[0017] The size adjustment device includes a size adjustment outer rod, a lengthening rod and a size adjustment inner rod which are sequentially connected from top to bottom, the top of the size adjustment outer rod is fixed to the back support device through an upper end support seat, and the bottom of the size adjustment inner rod is fixed to the waist support device through a lower end support seat;

[0018] A plurality of adjustment holes I are evenly spaced along the vertical direction on the size adjustment outer rod, and an adjustment hole II is opened on the top of the size adjustment inner rod; an adjustment button I and an adjustment button II are respectively arranged on the upper and lower parts of the growth rod; the upper part of the growth rod extends into the size adjustment outer rod, and the size is adjusted by embedding the adjustment button I into different adjustment holes I; the lower part of the growth rod extends into the size adjustment inner rod, and the adjustment button II limits the growth rod by embedding into the adjustment hole II; the size adjustment inner rod can drive the growth rod to extend into the size adjustment outer rod, and the adjustment button II is embedded in different adjustment holes I to adjust the size.

[0019] Adjustment button I and adjustment button II are retractable spring buttons.

[0020] 2. Working method of a passive exoskeleton-assisted robot

[0021] The following steps are involved:

[0022] The back support device and the waist support device are fixedly worn on the human body by means of a restraining belt, so that the back support device is attached to and supports the back of the human body, and the waist support device is attached to and supports the waist of the human body, and then the two driving devices are respectively tied to the arms of the human body by means of the restraining belt;

[0023] Pull the push rod of the opening and closing control rod outside the housing, driving the boss of the opening and closing control rod away from the end face of the nitrogen spring piston rod, no longer restricting the movement of the nitrogen spring piston rod towards the rocker. The compression of the nitrogen spring is released, and the nitrogen spring piston rod pushes the rocker to move, and the rocker drives the crank to rotate. When the nitrogen spring piston rod applies a force to the rocker, it receives a reaction force from the rocker on the nitrogen spring piston rod. The reaction force acts on the housing through the nitrogen spring connecting piece. The reaction force is perpendicular to the piston rod and downward. Since the position of the piston rod of the nitrogen spring is eccentric relative to the horizontal rotation axis of the horizontal rod, a torque acting on the housing is formed (the torque direction is counterclockwise taking the Figure 4 view as an example). The housing rotates around the horizontal rotation axis in the direction away from the body under the action of the torque, thereby driving the arm to lift;

[0024] During the process of the arm lifting, the compression of the nitrogen spring gradually decreases, reducing the force on the rocker; the working rotation angle of the torsion spring Ⅰ gradually increases, and the torque of the torsion spring Ⅰ returning to the free state gradually increases until the force generated by the nitrogen spring piston rod on the rocker caused by the compression of the nitrogen spring reaches equilibrium with the torque of the torsion spring Ⅰ returning to the free state, and the arm stops lifting, completing the assistance for the arm to lift;

[0025] The human body's two arms apply a downward rotating force to the driving device. Under the action of the force applied by the human body and the torques of the torsion spring Ⅰ and the torsion spring Ⅱ wanting to return to the free state, the rotating device rotates to the initial position, the torsion spring Ⅰ and the torsion spring Ⅱ return to the initial position, the nitrogen spring piston rod is pushed back to the original position, and the arm droops to both sides of the body; Push the push rod of the opening and closing control rod inward outside the housing, driving the boss of the opening and closing control rod to move to the end face of the nitrogen spring piston rod to close the driving device.

[0026] When the human arm is placed vertically on both sides of the body naturally, each component in the passive exoskeleton assist robot is in the initial position, and each torsion spring is in the natural state.

[0027] When the arm is placed vertically on both sides of the body, that is, when the driving device is placed vertically: The center of gravity of the nitrogen spring is eccentrically arranged with the center of the horizontal rotation axis of the horizontal rod, and the arrangement position of the nitrogen spring is closer to the body than the center of the horizontal rotation axis of the horizontal rod.

[0028] During the process of the arm lifting, the torque of the torsion spring Ⅰ returning to the free state is transmitted to the back support device through the horizontal rod, the slider tube, the slide rail tube, and the bearing seat in sequence, and part of the force is then transmitted to the waist support device through the upper support seat and the lower support seat of the size adjustment device, realizing that the back support device and the waist support device bear the reaction force simultaneously.

[0029] When the arm swings left and right, it drives the horizontal rod and the slide rail tube to rotate simultaneously: When the arm is in the abducted position, the horizontal rod and the slide rail tube rotate towards the outside of the body, and the working torsion angles of torsion springs Ⅲ and Ⅳ increase. The slider tube is driven by a linear bearing to move towards the vertical part of the slide rail tube; when the arm is in the adducted position, the horizontal rod rotates towards the inside of the body, and the working torsion angles of torsion springs Ⅲ and Ⅳ increase in the reverse direction. The slider tube is driven by a linear bearing to move away from the vertical part of the slide rail tube; when the arm is in a relaxed state, under the torque of torsion springs Ⅲ and Ⅳ returning to the free state, the horizontal rod, the slider tube, and the slide rail tube return to the position before movement.

[0030] The up-and-down swing (lifting) and left-and-right swing of the arm are respectively realized by the driving device and the arm support slewing device.

[0031] The beneficial effects of the present invention are:

[0032] The passive exoskeleton assist robot of the present invention uses a driving device to provide power for arm lifting. Compared with an active exoskeleton assist robot, it eliminates the large-sized and heavy power source. On the one hand, by releasing the compression amount of the nitrogen spring to provide power, there is no need to consider the power source endurance problem. On the other hand, the weight of the entire device is reduced, and the volume is decreased. After the entire robot is worn, the convex parts that fit well with the human back and arm are less than 20 cm, and it can well adapt to the working environment with limited working space. Description of the Drawings

[0033] Figure 1 is the orthographic isometric view of the passive exoskeleton robot in the unassisted state;

[0034] Figure 2 is the orthographic isometric view of the passive exoskeleton robot in the assisted state;

[0035] Figure 3 is the schematic diagram of the arm support slewing device. (a) is the overall schematic diagram of the arm support slewing device, (b) is the top view of the upper support seat, and (c) is the connection schematic diagram of the upper support seat and the dimension adjustment outer rod;

[0036] Figure 4 is the schematic diagram of the driving device;

[0037] Figure 5 is the schematic diagram of the dimension adjustment device;

[0038] Figure 6 In (a) is the schematic diagram of the slider tube;

[0039] Figure 6 In (b) is the schematic diagram of the slide rail tube.

[0040] In the figure: back support device (1), size adjustment device (2), drive device (3), arm support rotary device (4), waist support device (5), upper end support seat (201), size adjustment outer rod (202), adjustment button I (203), extension rod (204), adjustment button II (205), size adjustment inner rod (206), lower end support seat (207), horizontal rod connector (301), housing end cover (302), housing (303), torsion spring I (304), torsion spring II (305), bushing I (306), crank (307), bushing II (308), bushing III (309), rocker (310), switch turntable (311), opening and closing control rod (312), nitrogen spring piston rod (313), nitrogen spring connector (314), nitrogen spring (315), horizontal rod (401), seal ring I (402), bearing cover I (403), angular contact ball bearing I (404), torsion spring III (405), slider tube (406), linear bearing (407), slide rail tube (408), bearing cover II (409), seal ring II (410), angular contact ball bearing II (411), torsion spring IV (412), bearing seat (413) and end cover (414). Detailed implementation mode

[0041] The present invention will be further described in detail below with reference to the accompanying drawings.

[0042] As Figure 1 shown, the passive exoskeleton assist robot of the present invention is mainly composed of a back support device 1, a size adjustment device 2, a drive device 3, an arm support rotary device 4 and a waist support device 5 connected in sequence. Among them, the back support device 1 is connected to the size adjustment device 2 through the upper end support seat 201, the size adjustment device 2 is connected to the waist support device 5 through the lower end support seat 207, the arm support rotary device 4 is connected to the back support device 1 through the bearing seat 413, and the drive device 3 is connected to the arm support rotary device through the horizontal rod connector 301.

[0043] The back support device and the waist support device are designed according to the human body shape and conform to ergonomics. The back support device includes a support plate conforming to the human back structure, on which there are two slot holes and three through holes. Among them, the two slot holes are worn on the human body through textile shoulder straps, etc., the two through holes on both sides are used to connect the support seat of the back support device and the arm support rotary device, and the middle through hole is used to connect the upper end support seat of the back support device and the size adjustment device. The waist support device includes a support plate conforming to the human waist structure, on which there are two slot holes and one through hole. Among them, the two slot holes are used to be worn on the human body through textile waist belts, etc., and one through hole is used to connect the lower end support seat of the waist support device and the size adjustment device.

[0044] AsFigure 1 The figure shows the positive isometric view of the passive exoskeleton robot in the unassisted state. In the unassisted state, the human arms are vertically placed on both sides of the body. As Figure 2 shown is the positive isometric view of the passive exoskeleton robot in the assisted state. In the assisted state, the upper arm of the human body is supported by the passive exoskeleton robot. In this state, the angle between the upper arm and the front of the human body is 135° when viewed from the side, and the angle between the upper arm and the front of the human body is approximately 90° when viewed from above. This state is the most common working state in the working conditions applicable to the present invention. Comparing Figure 1 and Figure 2 , the horizontal rod 401 rotates by a certain angle, the slider tube 406 and the linear bearing 407 move a certain distance away from the slide rail tube 408, and the lower end of the slide rail tube 408 rotates by a certain angle. When observing from directly above the head, when the angle between the arm and the front of the human body changes, the angle of rotation of the horizontal rod 401, the distance that the slider tube 406 and the linear bearing 407 move away from or close to the slide rail tube 408, and the angle of rotation of the lower end of the slide rail tube 408 change accordingly to adapt to the left - right rotation of the arm. The driving device 3 rotates around one end of the horizontal rod 401, and this end of the horizontal rod 401 is equivalent to the shoulder joint in the human body structure. When the viewing angle from above remains unchanged, when observing from the side, when the angle between the arm and the front of the human body changes, the angle of rotation of the driving device 3 relative to the horizontal rod 401 changes to adapt to the up - down rotation of the arm.

[0045] As Figure 3 shown in (a) of Figure 3 is a schematic diagram of the size - adjusting device. The size - adjusting device of the passive exoskeleton robot of the present invention mainly consists of an upper support seat 201, a size - adjusting outer rod 202, an adjusting button Ⅰ203, an extension rod 204, an adjusting button Ⅱ205, a size - adjusting inner rod 206, and a lower support seat 207. The upper support seat 201 is connected to the back support device 1 through bolts using four holes on the back, Figure 3 shown in (b) of Figure 3 is the bottom view of the upper support seat 201, Figure 3 shown in (c) of Figure 3 is a schematic diagram of the upper end of the upper support seat 201 and the size - adjusting outer rod 202. The position is fixed through the protrusion of the upper support seat 201 and the groove of the size - adjusting outer rod 202. Both the adjusting button Ⅰ203 and the adjusting button Ⅱ205 are installed on the extension rod. The adjusting button Ⅰ203 is used for size adjustment in the adjustment holes of the size - adjusting outer rod 202, and the adjusting button Ⅱ205 is used to combine the extension rod 204 and the size - adjusting inner rod 206. When the user's height is between 154 cm and 172 cm, the adjusting button Ⅱ205 is pressed and the extension rod 204 enters the interior of the size - adjusting inner rod 206; the adjusting button Ⅰ203 passes through the extension rod 204 and the size - adjusting inner rod 206 for size adjustment in the adjustment holes of the size - adjusting outer rod 202. When the user's height is between 172 cm and 190 cm, the size - adjusting outer rod 202 and the extension rod 204 are pulled upward so that the adjusting button Ⅱ205 is located asFigure 3 As shown, the adjustment button Ⅰ 203 is used to adjust the size in the adjustment hole of the size adjustment outer rod 202. The fixing method of the lower end of the size adjustment inner rod 206 and the lower end support seat 207 is similar to that of the upper end support seat 201 and the size adjustment outer rod 202. The lower end support seat 207 is connected to the lumbar support device 5 through bolts using the four holes on the back.

[0046] The size adjustment outer rod includes 6 adjustment holes to achieve 6 - gear adjustment. When the extension rod and the size adjustment inner rod are combined, 2 - stage adjustment can be achieved. When they are not combined, the size adjustment inner rod can achieve adjustment from 154 cm to 172 cm, and when combined, it can achieve adjustment from 172 cm to 190 cm. The size adjustment inner rod includes a retractable spring button. Press the button to adjust to the corresponding position, and the button pops out to the corresponding adjustment hole to fix the position of the size adjustment inner rod.

[0047] As Figure 4 shown, it is a schematic diagram when the driving device is not enabled. The driving device of the passive exoskeleton robot of the present invention mainly consists of a horizontal rod connector 301, a housing end cover 302, a housing 303, a torsion spring Ⅰ 304, a torsion spring Ⅱ 305, a bushing Ⅰ 306, a crank 307, a bushing Ⅱ 308, a bushing Ⅲ 309, a rocker 310, a switch rotating table 311, an opening - closing control rod 312, a nitrogen spring piston rod 313, a nitrogen spring connector 314 and a nitrogen spring cylinder block. The positions of the horizontal rod connector 301 and the housing end cover 302 are as Figure 1 shown. The horizontal rod connector 301 is fixed to the horizontal rod 401 with screws. There is a bushing Ⅱ 308 between the housing end cover 302 and the horizontal rod 401 to reduce friction. The housing end cover 302 and the housing 303 are fixed by screw connection. One end of the torsion spring Ⅰ 304 is fixed on the horizontal rod 401, and the other end is fixed on the crank 307. One end of the torsion spring Ⅱ 305 is fixed on the crank 307, and the other end is fixed on the rocker 310. The bushing Ⅰ 306 is installed between the housing 303 and the horizontal rod 401 to reduce friction during rotation. The bushing Ⅱ 308 is installed between the crank 307, the housing end cover 302 and the horizontal rod 401 to reduce friction during rotation. The bushing Ⅲ 309 is installed between the crank 307 and the rocker 310 to reduce friction during rotation.

[0048] As Figure 4 shown is a schematic diagram when the driving device is not enabled. At this time, both the torsion spring Ⅰ 304 and the torsion spring Ⅱ 305 are in a free state, and the lower end of the rocker 310 is parallel and in contact with the upper end face of the nitrogen spring piston rod 313. The switch rotating table 311 is installed at the bottom of the housing 303 through bolt connection; the opening - closing control rod 312 is installed on the switch rotating table 311 and can rotate on the switch rotating table 311; as Figure 4As shown, the position of the opening and closing control rod 312 is at the position when the driving device is not enabled. At this time, the opening and closing control rod 312 restricts the outward movement of the nitrogen spring piston rod 313, and the nitrogen spring has a certain amount of compression. The nitrogen spring connecting piece 314 is fixed to the housing by bolt connection. The nitrogen spring cylinder body is connected by the thread on its surface to match the internal thread of the nitrogen spring connecting piece 314.

[0049] When the driving device is enabled, the opening and closing control rod 312 rotates clockwise and leaves the surface of the nitrogen spring piston rod 313. The opening and closing control rod 312 no longer restricts the outward movement of the nitrogen spring piston rod 313, and the compression of the nitrogen spring is released. The nitrogen spring piston rod 313 pushes the rocker 310 to move; at the same time, under the action of the torsion spring II 305, the crank 307 rotates. While the nitrogen spring piston rod 313 exerts a force on the rocker 310, it receives a reaction force from the rocker 310 on the nitrogen spring piston rod 313, and this reaction force acts on the nitrogen spring cylinder body, the nitrogen spring connecting piece 314 and the housing 303. Since the position of the nitrogen spring is eccentric to the rotation axis of the horizontal rod 401, a torque is formed; and because the driving device is installed on the upper arm of the human body, under the action of this torque, the arm is lifted to overcome gravity. During the process of the arm being lifted, the compression of the nitrogen spring and the force received by the rocker 310 both decrease. During the process of the arm being lifted, the working torsion angle of the torsion spring I 304 becomes larger, and the torque of the torsion spring I 304 returning to the free state also increases; when the arm is lifted to about 135°, the compression of the nitrogen spring and the torque of the torsion spring I 304 returning to the free state reach equilibrium, and at this time the arm receives the supporting force provided by the driving device housing 303.

[0050] When the assistance ends and the driving device needs to be closed, the wearer's arm needs to apply a downward force. Under the combined action of the force provided by the wearer, the torsion spring I 304 and the torque of the torsion spring II 305 wanting to return to the free state, the nitrogen spring piston rod 313 is pushed to the position as shown in Figure 4 ; the torsion spring I 304 and the torsion spring II 305 return to the initial position; the lower end of the rocker 310 is parallel and contacts the nitrogen spring piston rod 313, and the opening and closing control rod 312 is rotated to the position as shown in Figure 4 to close the driving device 3.

[0051] As shown in Figure 5 and Figure 6As shown in the figure, it is a schematic diagram of the arm support and rotation device. The arm support and rotation device of the passive exoskeleton robot of the present invention mainly consists of a horizontal rod 401, a seal ring I 402, a bearing cover I 403, an angular contact ball bearing I 404, a torsion spring III 405, a slider tube 406, a linear bearing 407, a slide rail tube 408, a bearing cover II 409, a seal ring II 410, an angular contact ball bearing II 411, a torsion spring IV 412, a bearing seat 413 and an end cover 414. Using the horizontal rod connector 301, the horizontal rod 401 is connected to the driving device 3 by screws; one end of the torsion spring III is fixed to the lower end of the horizontal rod 401, and the other end of the torsion spring III 405 is fixed to the slider tube 406. When the entire passive exoskeleton robot is in the unassisted state as shown in Figure 1 When shown, the state of the torsion spring III 405 is as shown in Figure 5 As shown in, at this time the state is the free state of the torsion spring. Since the driving device 3 is fixed on the arm, the horizontal rod 401 is connected to the driving device 3. When the arm makes a horizontal abduction posture, the working torsion angle of the torsion spring III 405 becomes larger; when the arm makes a horizontal adduction posture, the working torsion angle of the torsion spring III 405 becomes larger in the reverse direction; when the arm is in a relaxed state, under the action of the torsion spring III 405, the horizontal rod returns to the original position when unassisted.

[0052] The seal ring I 402 and the bearing cover I 403 are used for the sealing protection of the angular contact ball bearing I 404, and the bearing cover I 403 is connected to the upper end of the slider tube 406 by screws. The outer end of the linear bearing 407 has an interference fit with the slider tube 406, and the inner end of the linear bearing 407 can move on the slide rail tube 408. When the arm makes an abduction posture, the linear bearing 407 will move towards the direction close to the boss of the slide rail tube 408; when the arm makes an adduction posture, the linear bearing 407 will move towards the direction away from the boss of the slide rail tube 408.

[0053] The bearing cover II 409 and the seal ring II 410 are used for the sealing protection of the angular contact ball bearing. The bearing cover II 409 is connected to the bearing seat 413 by screws; the bearing seat 413 is bolted to the back support device 1 using the 4 holes on its side. One end of the torsion spring IV 412 is fixed to the slide rail tube 408, and the other end is fixed to the bearing seat 413. When the entire passive exoskeleton robot is in the unassisted state as shown in Figure 1 When shown, the state of the torsion spring IV 412 is as shown in Figure 5 As shown in, at this time the state is the free state of the torsion spring. Since the driving device 3 is fixed on the arm, the horizontal rod 401 is connected to the driving device 3; when the arm moves, it drives the horizontal rod 401 and the slide rail tube 408 to rotate at the same time. When the arm makes an abduction posture, the working torsion angle of the torsion spring IV 412 becomes larger; when the arm makes an adduction posture, the working torsion angle of the torsion spring IV 412 becomes larger in the reverse direction; when the arm is in a relaxed state, under the action of the torsion spring IV 412, the horizontal rod returns to the original position when unassisted.

[0054] Embodiment:

[0055] When the passive exoskeleton robot of the present invention is working, the opening and closing control rod 312 in the driving device 3 is pulled to rotate outwards, leaving the surface of the nitrogen spring piston rod 313. The opening and closing control rod 312 no longer restricts the outward movement of the nitrogen spring piston rod 313, the compression amount of the nitrogen spring is released, and the nitrogen spring piston rod 313 pushes the rocker 310 to move; at the same time, under the action of the torsion spring II 305, the crank 307 rotates. While the nitrogen spring piston rod 313 exerts a force on the rocker 310, it receives a reaction force from the rocker 310 on the nitrogen spring piston rod 313, and this reaction force acts on the nitrogen spring cylinder block, the nitrogen spring connecting piece 314 and the housing 303. Since the position of the nitrogen spring is eccentric with respect to the rotation axis of the horizontal rod 401, a torque is formed; and because the driving device is installed on the upper arm of the human body, the arm is lifted under the action of this torque.

[0056] The torsion spring I 304 provides a torque to restore the free state. At the same time, the rotation axis of the horizontal rod 401 is subject to the reaction of the torsion spring I 304, and this reaction force is transmitted to the slider tube 406 in the arm support rotary device 4 through the horizontal rod 401, and then to the slide rail tube 408, and is transmitted to the back support device 1 through the bearing seat 413; through the upper support seat 201 and the lower support seat 207 of the size adjustment device 2, part of the force is transmitted to the waist support device 5, so that the back support device 1 and the waist support device 5 bear the reaction force at the same time.

[0057] Without considering the operation of the driving device, when the position of the arm swinging up and down remains unchanged; when the arm swings left and right, the angle between the horizontal rod 401 and the slider tube 406 changes, causing the slider tube 406 and the linear bearing 407 to move away from or close to the boss of the slide rail tube 408; and changing the rotation angle of the lower end of the slide rail tube 408 to adapt to the left and right swing of the arm. When the position of the arm swinging left and right remains unchanged, the up and down swing of the arm is adapted by the rotation angle of the driving device 3 and the horizontal rod 401.

[0058] In the normal working state, the arm swings up and down and left and right at the same time. At this time, the rotation angle between the horizontal rod 401 and the slider tube 406, the distance between the slider tube 406 and the linear bearing 407 moving away from or close to the boss of the slide rail tube 408, the rotation angle of the lower end of the slide rail tube 408, and the rotation angle of the driving device 3 and the horizontal rod 401 can be adjusted simultaneously, so as to adapt to the swinging movement of the arm.

Claims

1. A passive exoskeleton assist robot, characterized in that, it includes a back support device (1), a size adjustment device (2), a drive device (3), an arm support rotary device (4) and a waist support device (5); the back support device (1) and the waist support device (5) are arranged up and down and are connected by the size adjustment device (2). The rear sides of the back support device (1) and the waist support device (5) are respectively connected with a vertically arranged size adjustment device (2) through an upper support seat (201) and a lower support seat (207) up and down; two arm support rotary devices (4) are connected to the left and right sides of the back support device (1) through bearing seats (413), and a drive device (3) is connected to the end of each arm support rotary device (4) through a horizontal rod connection head (301); The arm support rotary device (4) includes a horizontal rod (401), a slider tube (406), and a slide rail tube (408) connected in sequence; one end of the horizontal rod (401) is fixed with a vertical rotating shaft at the bottom, and the other end is fixed with a horizontal rotating shaft on the side; both the slider tube (406) and the slide rail tube (408) are composed of a horizontal part and a vertical part; The vertical rotating shaft of the horizontal rod (401) extends into the vertical part of the slider tube (406) and is connected to the slider tube (406) through an angular contact ball bearing I (404), and the vertical rotating shaft can rotate within the slider tube (406); a torsion spring III (405) is sleeved on the vertical rotating shaft, one end of the torsion spring III (405) is fixed on the vertical rotating shaft, and the other end is fixed within the slider tube (406); A linear bearing (407) is installed at the end of the horizontal part of the slider tube (406), and the outer end face of the linear bearing (407) is in interference fit with the inner end face of the slider tube (406); the horizontal part of the slide rail tube (408) passes through the linear bearing (407) and extends into the inside of the slider tube (406), and the inner end face of the linear bearing (407) can move along the slide rail tube (408); The bottom of the vertical part of the slide rail tube (408) is installed in the bearing seat (413) through an angular contact ball bearing II (411), the slide rail tube (408) can rotate within the bearing seat (413), one end of a torsion spring IV (412) sleeved on the bottom of the slide rail tube (408) is fixed on the slide rail tube (408), and the other end is fixed within the bearing seat (413), and the bearing seat (413) is fixed on the back support device (1).

2. The passive exoskeleton assist robot according to claim 1, characterized in that, the drive device (3) includes a housing (303), a crank (307), a rocker (310), a switch rotary table (311), an opening and closing control rod (312), and a nitrogen spring (315); A housing end cover (302) is installed at the front of the housing (303), the horizontal rotating shaft of the horizontal rod (401) passes through the housing (303) from front to back, and the end of the horizontal rotating shaft passes through the housing end cover (302) and is connected to the horizontal rod connection head (301); a sleeve I (306) and a sleeve II (308) are respectively installed between the horizontal rotating shaft and the back of the housing (303) and the housing end cover (302); The crank (307), rocker (310), switch rotating platform (311), and opening / closing control rod (312) are installed inside the housing (303); one end of the crank (307) is rotatably connected to the horizontal rotation shaft of the horizontal rod (401), and the other end is rotatably connected to the top of the rocker (310). One end of the torsion spring Ⅰ (304) sleeved on the horizontal rotation shaft is fixed on the horizontal rod (401), and the other end is fixed on the crank (307); a torsion spring Ⅱ (305) is connected between the rocker (310) and the crank (307). A nitrogen spring (315) is installed at the bottom of the housing through a nitrogen spring connecting piece (314). The nitrogen spring piston rod (313) extends into the housing (303) through the nitrogen spring connecting piece (314), and the end face of the nitrogen spring piston rod (313) is always in contact with the bottom end of the rocker (310) inside the housing; the opening / closing control rod (312) is arranged parallel to the bottom surface of the housing (303). One end is hinged to the switch rotating platform (311), and the other end is provided with a convex platform in contact with the bottom surface of the housing (303), and the other end is provided with a push rod extending outside the housing (303); the opening / closing control rod (312) drives the convex platform to move to the end face of the nitrogen spring piston rod (313) under the drive of the push rod, and restricts the movement of the nitrogen spring piston rod (313) in the direction towards the rocker (310) by abutting against the end face of the nitrogen spring piston rod (313).

3. The passive exoskeleton assist robot according to claim 1, characterized in that The size adjustment device (2) includes a size adjustment outer rod (202), an extension rod (204), and a size adjustment inner rod (206) connected in sequence from top to bottom. The top of the size adjustment outer rod (202) is fixed to the back support device (1) through an upper end support seat (201), and the bottom of the size adjustment inner rod (206) is fixed to the waist support device (5) through a lower end support seat (207). A plurality of adjustment holes Ⅰ are arranged at equal intervals in the vertical direction on the size adjustment outer rod (202), and an adjustment hole Ⅱ is opened at the top of the size adjustment inner rod (206); adjustment buttons Ⅰ (203) and adjustment buttons Ⅱ (205) are respectively arranged on the upper and lower parts of the extension rod (204); the upper part of the extension rod (204) extends into the size adjustment outer rod (202), and the size is adjusted by inserting the adjustment button Ⅰ (203) into different adjustment holes Ⅰ; the lower part of the extension rod (204) extends into the size adjustment inner rod (206), and the adjustment button Ⅱ (205) limits the extension rod (204) by being inserted into the adjustment hole Ⅱ; the size adjustment inner rod (206) can drive the extension rod (204) to extend into the size adjustment outer rod (202), and the size is adjusted by inserting the adjustment button Ⅱ (205) into different adjustment holes Ⅰ.

4. The working method of the passive exoskeleton assist robot according to any one of claims 1 to 3, characterized in that comprises the following steps: Fix the back support device (1) and the waist support device (5) on the human body respectively through the restraint belts, so that the back support device (1) adheres to and supports the human back, and the waist support device (5) adheres to and supports the human waist. Then bind the two drive devices (3) to the human arms respectively through the restraint belts; Pull the push rod of the opening and closing control rod (312) outside the housing (303), drive the boss of the opening and closing control rod (312) to leave the end face of the nitrogen spring piston rod (313), and no longer restrict the movement of the nitrogen spring piston rod (313) towards the rocker (310). The compression of the nitrogen spring is released, and the nitrogen spring piston rod (313) pushes the rocker (310) to move, and the rocker (310) drives the crank (307) to rotate; while the nitrogen spring piston rod (313) exerts a force on the rocker (310), it receives the reaction force of the rocker (310) on the nitrogen spring piston rod (313). The reaction force acts on the housing (303) through the nitrogen spring connecting piece (314). Since the position of the nitrogen spring piston rod is eccentric with respect to the horizontal rotation axis of the horizontal rod (401), a torque acting on the housing is formed, and the housing (303) rotates away from the body around the horizontal rotation axis under the action of the torque, thereby driving the arm to lift; During the arm lifting process, the compression of the nitrogen spring gradually decreases, so that the force on the rocker (310) decreases; the working rotation angle of the torsion spring I (304) gradually increases, and the torque of the torsion spring I (304) returning to the free state gradually increases until the force generated by the nitrogen spring piston rod (313) on the rocker (310) caused by the compression of the nitrogen spring is balanced with the torque of the torsion spring I (304) returning to the free state, and the arm stops lifting, completing the arm lifting assistance; The human arms exert a downward rotating force on the drive device (3). Under the action of the force applied by the human body and the torques of the torsion spring I (304) and the torsion spring II (305) wanting to return to the free state, the rotating device rotates to the initial position, the torsion spring I (304) and the torsion spring II (305) return to the initial position, the nitrogen spring piston rod (313) is pushed back to the original position, and the arm droops to both sides of the body; Push the push rod of the opening and closing control rod (312) inward outside the housing (303), drive the boss of the opening and closing control rod (312) to move to the end face of the nitrogen spring piston rod (313), and close the drive device (3).

5. The working method of the passive exoskeleton assist robot according to claim 4, characterized in that, When the arm is placed vertically on both sides of the body, that is, when the drive device (3) is placed vertically: the center of gravity of the nitrogen spring is eccentrically arranged with respect to the center of the horizontal rotation axis of the horizontal rod (401), and the arrangement position of the nitrogen spring is closer to the body than the center of the horizontal rotation axis of the horizontal rod (401).

6. The working method of the passive exoskeleton assist robot according to claim 4, characterized in that, During the arm lifting process, the torque for the torsion spring I (304) to return to its free state is transmitted to the back support device (1) through the horizontal rod (401), successively via the slider tube (406), the slide rail tube (408), and the bearing seat (413). Part of the force is then transmitted to the waist support device (5) through the upper support seat (201) and the lower support seat (207) of the size adjustment device (2), enabling the back support device (1) and the waist support device (5) to bear the reaction force simultaneously.

7. The working method of the passive exoskeleton assist robot according to claim 4, characterized in that, when the arm swings left and right, it simultaneously drives the horizontal rod (401) and the slide rail tube (408) to rotate: when the arm is in the abduction posture, the horizontal rod (401) and the slide rail tube (408) rotate towards the outside of the body, and the working torsion angles of the torsion spring III (405) and the torsion spring IV (412) become larger, driving the slider tube (406) to move towards the vertical part of the slide rail tube (408) through the linear bearing (407); when the arm is in the adduction posture, the horizontal rod (401) rotates towards the inside of the body, and the working torsion angles of the torsion spring III (405) and the torsion spring IV (412) become larger in the reverse direction, driving the slider tube (406) to move away from the vertical part of the slide rail tube (408) through the linear bearing (407); when the arm is in the relaxed state, under the action of the torque for the torsion spring III (405) and the torsion spring IV (412) to return to their free states, the horizontal rod (401), the slider tube (406), and the slide rail tube (408) return to their positions before the movement.

8. The working method of the passive exoskeleton assist robot according to claim 7, characterized in that, the up-and-down swing and the left-and-right swing of the arm are respectively realized through the driving device (3) and the arm support slewing device (4).

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