Foldable wearable waist rope-driven exoskeleton robot with telescopic function

Abstract

This application discloses a foldable, retractable, waist-worn, cable-driven exoskeleton robot, relating to the field of exoskeleton robot technology. By incorporating a robotic arm with retractable, folding, rotating, and bending functions, the robot expands its applicable workspace and enables it to perform various tasks. The exoskeleton robot includes a waist support, a rigid upper arm, a rigid lower arm, a retractable lower arm, an end effector, a rigid lower arm rotation drive mechanism, a retractable lower arm folding drive mechanism, a retractable lower arm bending drive mechanism, and an end effector drive mechanism. The waist support, rigid upper arm, rigid lower arm, retractable lower arm, and end effector are connected sequentially. The rigid lower arm rotation drive mechanism drives the rigid lower arm to rotate; the retractable lower arm folding drive mechanism drives the retractable lower arm to fold; the retractable lower arm bending drive mechanism drives the retractable lower arm to bend; and the end effector drive mechanism drives the end effector to move.

Description

Technical Field

[0001] This application relates to the field of exolimb robot technology, and in particular to a foldable, retractable waist-worn cable-driven exolimb robot. Background Technology

[0002] Exoskeleton robots are robots that can be worn and attached to the human body to assist in performing certain tasks. They represent a new type of robot that falls between wearable devices and collaborative robots, effectively overcoming the limitations of wearable exoskeleton robots in joint movement and the poor autonomous mobility of collaborative robots. By attaching robotic arms or hands to the human torso or limbs, exoskeleton robots can supplement or expand human capabilities, allowing tasks that previously required multiple people to be completed by a single person, thus maximizing the advantages of human-robot collaboration.

[0003] Domestically and internationally, exolimb robots are mainly classified into exolimbs and exofingers based on their body structure. Exolimbs are used in industrial production, elderly and disabled assistance, and daily life services. Exofingers, compared to exolimbs, are smaller and lighter, and are mainly used in medical rehabilitation and daily life services, capable of fulfilling the requirements of daily life and production.

[0004] However, existing exolimb robots have relatively simple functional structures and high requirements for their working environment, making them unsuitable for diverse application scenarios. For example, some exolimb robots are too large, limiting their use in many situations and restricting their workspace to a single function, thus hindering their ability to perform multiple tasks. Summary of the Invention

[0005] The embodiments of this application provide a foldable, telescopic, waist-worn, cable-driven exolimb robot. By setting up a robotic arm with telescopic, folding, rotating, and bending functions, the range of its applicable workspace is expanded, thereby enabling it to complete tasks of different types.

[0006] To achieve the above objectives, embodiments of this application provide a foldable, retractable, waist-worn, cable-driven exolimb robot, comprising a waist support, a rigid upper arm, a rigid forearm, a retractable forearm, an end effector, a rigid forearm rotation drive mechanism, a retractable forearm folding drive mechanism, a retractable forearm bending drive mechanism, and an end effector drive mechanism; the waist support, rigid upper arm, rigid forearm, retractable forearm, and end effector are connected sequentially; the rigid forearm rotation drive mechanism can drive the rigid forearm to rotate; the retractable forearm folding drive mechanism can drive the retractable forearm to fold; the retractable forearm bending drive mechanism can drive the retractable forearm to bend; and the end effector drive mechanism can drive the end effector to move.

[0007] Furthermore, both the rigid upper arm and the rigid lower arm are shell structures; the rigid upper arm and the rigid lower arm are hinged together by a drive shaft, and the drive shaft is fixedly connected to the rigid lower arm; the rigid upper arm is provided with a pulley shaft arranged parallel to the drive shaft; the rigid lower arm rotation drive mechanism includes a first motor, a first guide wheel, a first drive wheel, and two first traction ropes; the first motor is mounted on the waist support member; a first winding wheel is provided on the output shaft of the first motor; the first guide wheel is rotatably connected to the pulley shaft; the first drive wheel is fixedly connected to the drive shaft; the first ends of the two first traction ropes are both wound around the first winding wheel, and the second ends are both wrapped around the first guide wheel and fixedly connected to the first drive wheel, and the winding directions of the two first traction ropes are opposite.

[0008] Furthermore, the rigid forearm and the telescopic forearm are hinged together by a vertically arranged frame structure; the frame structure includes an upper connecting shaft, a lower connecting shaft, and two support rods supported between the upper and lower connecting shafts; the lower connecting shaft is fixedly connected to the rigid forearm, and the two ends of the upper connecting shaft are hinged to the two support rods; the upper connecting shaft is fixedly connected to the telescopic forearm; the telescopic forearm folding drive mechanism includes a second motor, a second drive wheel, three second guide wheels, and two second traction ropes; the second motor is mounted on the waist support member; a second winding wheel is provided on the output shaft of the second motor; the three second guide wheels are rotatably connected to the pulley shaft, the drive shaft, and the lower connecting shaft, respectively; the second drive wheel is fixedly connected to the upper connecting shaft; the first ends of the two second traction ropes are both wound around the second winding wheel, and the second ends are both wound around and fixedly connected to the second drive wheel after passing over the second guide wheel, and the winding directions of the two second traction ropes are opposite.

[0009] Furthermore, the telescopic arm includes a bellows and a plurality of connecting discs arranged sequentially along the axial direction within the bellows; at least three springs are provided between two adjacent connecting discs.

[0010] Furthermore, the connecting disc is provided with a second rope threading hole; the retractable forearm bending drive mechanism includes at least three retractable forearm bending drive components; the retractable forearm bending drive components include a third motor, a third traction rope, and four third guide wheels; the third motor is mounted on the waist support member; the output shaft of the third motor is provided with a third winding wheel; the four third guide wheels are respectively located on the pulley shaft, the drive shaft, the lower connecting shaft, and the upper connecting shaft; the first end of the third traction rope is wound around the first winding wheel, and the second end passes through the four third guide wheels in sequence and then passes through the second rope threading hole in sequence before being fixed to the connecting disc located at the end; the plurality of springs are located on the outside of the third traction rope.

[0011] Furthermore, there are four of each of the retractable forearm bending drive assembly and the spring.

[0012] Furthermore, the end effector is a mechanical gripper; the end effector drive mechanism includes a fourth motor, a fourth traction rope, and four fourth guide wheels; the fourth motor is mounted on the waist support; a fourth winding wheel is provided on the output shaft of the fourth motor; the four fourth guide wheels are respectively located on the pulley shaft, the drive shaft, the lower connecting shaft, and the upper connecting shaft; the first end of the fourth traction rope is wound around the first winding wheel, and the second end passes through the three fourth guide wheels in sequence and is then fixed to the end effector.

[0013] Furthermore, the waist support includes a waist belt and a waist belt backpack disposed on the waist belt; the rigid upper arm is fixedly connected to the waist belt; the first motor, the second motor, the third motor and the fourth motor are all located inside the waist belt backpack.

[0014] Furthermore, it also includes a control module and a power module; the control module is capable of controlling the start and stop of the first motor, the second motor, the third motor, and the fourth motor; the power module is capable of supplying power to the control module, the first motor, the second motor, the third motor, and the fourth motor; both the control module and the power module are located inside the belt backpack.

[0015] Furthermore, the first motor, the second motor, the third motor, and the fourth motor are all stepper motors.

[0016] This application has the following advantages over the prior art:

[0017] 1. The embodiments of this application provide a foldable, telescopic waist-worn cable-driven exolimb robot. By setting up a robotic arm with telescopic, folding, rotating, and bending functions, the range of its applicable workspace is expanded, thereby enabling it to complete different types of work.

[0018] 2. The embodiments of this application provide a foldable, telescopic waist-worn, cable-driven exolimb robot, which solves the problems of bulky structure and poor flexibility of existing exolimb robots, and is convenient for application in various occasions. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the structure of a foldable, telescopic, waist-worn, cable-driven exolimb robot according to an embodiment of this application.

[0021] Figure 2 This is a schematic diagram of the rigid upper arm of a foldable, telescopic, waist-worn, cable-driven exoskeleton robot, as described in an embodiment of this application.

[0022] Figure 3 This is a schematic diagram of the frame structure in the foldable, telescopic waist-worn cable-driven exolimb robot of this application embodiment;

[0023] Figure 4 This is a schematic diagram of the retractable forearm in a foldable, telescopic, waist-worn, cable-driven exolimb robot according to an embodiment of this application (with the corrugated pipe removed).

[0024] Figure 5 This is a diagram illustrating the bending state of a retractable forearm in a foldable, telescopic, waist-worn, cable-driven exolimb robot, as described in this application embodiment.

[0025] Figure 6 This is a diagram showing the state of the foldable, telescopic waist-worn, cable-driven exoskeleton robot according to an embodiment of this application when it is folded.

[0026] Figure 7 This is a diagram showing the state of a foldable, retractable waist-worn, cable-driven exoskeleton robot worn on the human body, as described in this embodiment of the application. Detailed Implementation

[0027] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0028] In the description of this application, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0029] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation", "connection" and "joining" should be interpreted broadly, for example, they can refer to fixed connection, detachable connection, or integral connection; for those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0030] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0031] Reference Figures 1 to 6 The embodiments of this application provide a foldable, telescopic, waist-worn, cable-driven exolimb robot, including a waist support 1, a rigid upper arm 2, a rigid lower arm 3, a telescopic lower arm 4, an end effector 5, a rigid lower arm rotation drive mechanism 6, a telescopic lower arm folding drive mechanism 7, a telescopic lower arm bending drive mechanism, an end effector drive mechanism 9, a control module (not shown in the figure), and a power module (not shown in the figure).

[0032] The system comprises a waist support 1, a rigid upper arm 2, a rigid lower arm 3, a retractable lower arm 4, and an end effector 5, connected sequentially. A rigid lower arm rotation drive mechanism 6 drives the rigid lower arm 3 to bend. A retractable lower arm folding drive mechanism 7 drives the retractable lower arm 4 to fold. A retractable lower arm bending drive mechanism drives the retractable lower arm 4 to bend. An end effector drive mechanism 9 drives the end effector 5 to move. A control module controls the movements of the rigid lower arm rotation drive mechanism 6, the retractable lower arm folding drive mechanism 7, the retractable lower arm bending drive mechanism, and the end effector drive mechanism 9. A power module supplies power to the control module, the rigid lower arm rotation drive mechanism 6, the retractable lower arm folding drive mechanism 7, the retractable lower arm bending drive mechanism, and the end effector drive mechanism 9.

[0033] Reference Figure 1 The waist support component 1 includes a waist belt 11 and a waist belt backpack 12 located behind the waist belt 11. A rigid upper arm 2 is fixed to the left or right side of the waist belt 11 via a connector 13. The rigid forearm rotation drive mechanism 6, the telescopic forearm folding drive mechanism 7, the telescopic forearm bending drive mechanism, and the end effector drive mechanism 9 all employ a rope-driven structure powered by an electric motor. All motors, control modules, and power modules are housed within the waist belt backpack 12.

[0034] Reference Figure 1 and Figure 2Both the rigid upper arm 2 and the rigid lower arm 3 are shell structures with openings facing each other. The head end of the rigid lower arm 3 (the end closest to the rigid upper arm) is fixedly connected to the drive shaft 31, and the tail end of the rigid upper arm 2 (the end closest to the rigid lower arm) is rotatably connected to the drive shaft 31. Thus, the rigid upper arm 2 and the rigid lower arm 3 can rotate relative to each other. The rigid upper arm 2 also has a pulley shaft 32 arranged parallel to the drive shaft 31, with the pulley shaft 32 located near the head end of the rigid upper arm 2. The head end of the rigid upper arm 2 also has multiple first rope holes 21, through which the traction rope led out from the waist belt backpack 12 enters the rigid upper arm 2. To facilitate rope threading, the traction rope is also equipped with a lasso 14 and a lasso head 15. In addition, for easy observation, an observation port 22 is provided on the top surface of the rigid upper arm 2.

[0035] The rigid forearm rotation drive mechanism 6 includes a first motor (not shown), a first guide wheel 61, a first drive wheel 62, and two first traction ropes 63. The first motor is housed inside the waist belt backpack 12. The first motor is a stepper motor. A first winding wheel (not shown) is mounted on the output shaft of the first motor. The first winding wheel, the first guide wheel 61, and the first drive wheel 62 are all double-grooved wheels. The first guide wheel 61 is rotatably connected to the pulley shaft 32, and the first drive wheel 62 is fixedly connected to the drive shaft 31. The first ends of the two first traction ropes 63 are wound around the first winding wheel, and the second ends are wrapped around the first guide wheel 61 and then fixedly connected to the first drive wheel 62. The winding directions of the two first traction ropes 63 are opposite.

[0036] Therefore, controlling the rotation of the first motor (e.g., forward rotation) causes one of the first traction ropes 63 to contract and wind around the first winding wheel, while the other first traction rope 63 unwinds from the first winding wheel and winds around the first drive wheel 62. Since both traction ropes are wound around and fixed to the first drive wheel 62, and the first drive wheel 62 is fixedly connected to the drive shaft 31, which in turn is fixedly connected to the rigid forearm 3, the two first traction ropes 63 will drive the first drive wheel 62 and the drive wheel to rotate, thereby causing the rigid forearm 3 to rotate around the hinge point, thus achieving bending of the rigid forearm 3. Controlling the first motor to rotate in the opposite direction (e.g., reverse rotation) will reset the rigid forearm 3. The working principle is similar to bending and will not be described in detail here.

[0037] Reference Figure 1 , Figure 2 and Figure 3 The rigid forearm 3 and the retractable forearm 4 are hinged together by a vertically arranged frame structure 31. The vertically arranged frame structure 31 is chosen here to allow the rigid forearm 3 and the retractable forearm to be at different heights, thereby facilitating the folding function.

[0038] Specifically, the frame structure 31 includes an upper connecting shaft 311, a lower connecting shaft 312, and two support rods 313 supported between the upper connecting shaft 311 and the lower connecting shaft 312. The lower connecting shaft 312 is fixedly connected to the tail end of the rigid forearm 3, and both ends of the upper connecting shaft 311 are hinged to the two support rods 313. The upper connecting shaft 311 is fixedly connected to the telescopic forearm 4 via a connecting plate 32.

[0039] The retractable forearm folding drive mechanism 7 includes a second motor (not shown), a second drive wheel 72, three second guide wheels 71, and two second traction ropes 73. The second motor is housed inside the waist belt backpack 12. The second motor is also a stepper motor. A second winding wheel (not shown) is mounted on the output shaft of the second motor. The second winding wheel, the second guide wheels 71, and the second drive wheel 72 are all double-grooved wheels. The three second guide wheels 71 are rotatably connected to the pulley shaft 32, the drive shaft 31, and the lower connecting shaft 312, respectively. The second drive wheel 72 is fixedly connected to the upper connecting shaft 311. The first ends of the two second traction ropes 73 are wound around the second winding wheel, and the second ends are wrapped around the second guide wheels 71 and fixedly connected to the second drive wheel 72, with the winding directions of the two second traction ropes 73 being opposite.

[0040] Therefore, controlling the rotation of the second motor (e.g., forward rotation) causes one of the second traction ropes 73 to contract and wind around the second winding wheel, while the other second traction rope 73 unwinds from the second winding wheel and winds around the second drive wheel 72. Since both traction ropes are wound around and fixed to the second drive wheel 72, and the second drive wheel 72 is fixedly connected to the upper connecting shaft 311, which in turn is fixedly connected to the retractable arm 4 via the connecting plate 32, the two second traction ropes 73 will drive the second drive wheel 72 and the upper connecting shaft 311 to rotate, thereby causing the retractable arm 4 to rotate around the hinge point. Due to the sufficient height difference between the rigid arm 3 and the retractable arm 4, folding of the retractable arm 4 can be achieved. It should be noted that the intermediate process of folding is also equivalent to bending. Controlling the second motor to rotate in the opposite direction (e.g., reverse rotation) will reset the arm; the working principle is similar to folding and will not be described in detail here.

[0041] Reference Figure 4 and Figure 5 The telescopic arm 4 includes a bellows 41 and a plurality of connecting discs 42 arranged axially within the bellows 41. Each connecting disc 42 has a second rope-threading hole 43. At least three springs 44 are provided between two adjacent connecting discs 42. The telescopic arm bending drive mechanism includes at least three telescopic arm bending drive assemblies 8. The following explanation uses an example where four telescopic arm bending drive assemblies 8 and four springs 44 are used, and five connecting discs 42 are used.

[0042] Five connecting discs 42 are arranged axially inside the bellows 41, and each connecting disc 42 has four second rope holes 43 evenly distributed circumferentially. Four sets of springs 44 are provided between two adjacent connecting discs 42, and the positions of the four sets of springs 44 correspond one-to-one with the positions of the four second rope holes 43. In order to prevent the springs 44 from shifting, spring seats 45 are also provided on the opposite surfaces of the two connecting discs 42.

[0043] Each telescopic forearm bending drive assembly 8 includes a third motor (not shown), a third traction rope 82, and four third guide wheels 81. The third motor is housed within the waist belt backpack 12. The third motor is also a stepper motor. A third winding wheel (not shown) is mounted on the output shaft of the third motor. The four third guide wheels 81 are located on the pulley shaft 32, drive shaft 31, lower connecting shaft 312, and upper connecting shaft 311, respectively. The first end of the third traction rope 82 is wound around the first winding wheel, and the second end successively passes around the four third guide wheels 81 and then through the second rope holes 43 on the five connecting discs 42 before being fixed to the connecting disc 42 at the end. Four springs 44 are located on the outer side of the corresponding third traction rope 82.

[0044] Therefore, when the retractable arm 4 needs to retract, it is only necessary to simultaneously control the rotation of the four third motors (e.g., forward rotation). The first ends of the four third traction ropes 82 simultaneously retract and wind around the third winding reel. Since the second ends of the third traction ropes 82 are fixed to the connecting disc 42 at the end, the third traction ropes 82 will drive the connecting disc 42 at the end to move closer to the connecting disc 42 at the beginning, thereby compressing the spring 44 between the connecting discs 42, thus realizing the retraction function of the retractable arm 4. When the retractable arm 4 needs to extend, it is only necessary to simultaneously control the rotation of the four third motors in the opposite direction (e.g., reverse rotation). The working principle is similar to that of retraction, and will not be described in detail here.

[0045] Another function of the retractable arm 4 is its own bending capability. For example, when the retractable arm 4 needs to bend in the direction of the third traction ropes 82a and 83b, it is only necessary to control the two third motors connected to the third traction ropes 82a and 83b to rotate (e.g., forward rotation), while simultaneously controlling the other two motors to rotate in the opposite direction. In this way, two of the third traction ropes 82 shorten, and the other two extend, allowing the four third traction ropes 82 to drive the retractable arm to bend more naturally. It should be noted that in this working condition, the other two third traction ropes 82 may not extend, in which case the retractable arm can simultaneously bend and compress.

[0046] Reference Figure 1 and Figure 6The end effector 5 is located at the end of the retractable arm 4, and its main function is grasping. The end effector 5 is a mechanical claw. The end effector drive mechanism 9 includes a fourth motor (not shown), a fourth traction rope 92, and four fourth guide wheels 91. The fourth motor is located inside the waist belt backpack 12. The fourth motor is also a stepper motor. A fourth winding wheel (not shown) is provided on the output shaft of the fourth motor. The four fourth guide wheels 91 are located on the pulley shaft 32, the drive shaft 31, the lower connecting shaft 312, and the upper connecting shaft 311, respectively. The first end of the fourth traction rope 92 is wound around the first winding wheel, and the second end passes through the three fourth guide wheels 91 in sequence, and is fixed to the three claws of the end effector 5 after passing through the central hole on the connecting plate 42. Controlling the fourth motor to rotate (e.g., forward rotation) causes the first end of the fourth traction rope 92 to retract and wind around the fourth winding wheel, and the second end of the fourth traction rope 92 drives the mechanical claw to grasp. It should be noted that all guide wheels are connected to the corresponding shafts through bearings.

[0047] Reference Figure 7 When wearing it, the waist belt 11 in this embodiment is worn around the operator's waist, with the waist belt backpack 12 located on the back side, and the robotic arm consisting of the rigid upper arm 2, the rigid lower arm 3, the telescopic lower arm 4 and the end effector 5 located on the left or right side of the body.

[0048] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A foldable, retractable, waist-worn, cable-driven exoskeleton robot, characterized in that, It includes a waist support component, a rigid upper arm, a rigid lower arm, a telescopic lower arm, an end effector, a rigid lower arm rotation drive mechanism, a telescopic lower arm folding drive mechanism, a telescopic lower arm bending drive mechanism, and an end effector drive mechanism. The waist support, rigid upper arm, rigid lower arm, telescopic lower arm, and end effector are connected in sequence; the rigid lower arm rotation drive mechanism can drive the rigid lower arm to rotate; the telescopic lower arm folding drive mechanism can drive the telescopic lower arm to fold; the telescopic lower arm bending drive mechanism can drive the telescopic lower arm to bend; the end effector drive mechanism can drive the end effector to move. Both the rigid upper arm and the rigid lower arm are shell structures; the rigid upper arm and the rigid lower arm are hinged together by a drive shaft, and the drive shaft is fixedly connected to the rigid lower arm; the rigid upper arm is provided with a pulley shaft arranged parallel to the drive shaft; The rigid forearm rotation drive mechanism includes a first motor, a first guide wheel, a first drive wheel, and two first traction ropes; the first motor is mounted on the waist support; a first winding wheel is provided on the output shaft of the first motor; the first guide wheel is rotatably connected to the pulley shaft; the first drive wheel is fixedly connected to the drive shaft; the first ends of the two first traction ropes are both wound around the first winding wheel, and the second ends are both wrapped around the first guide wheel and fixedly connected to the first drive wheel, and the winding directions of the two first traction ropes are opposite.

2. The foldable, telescopic, waist-worn, cable-driven exoskeleton robot according to claim 1, characterized in that, The rigid forearm and the telescopic forearm are hinged together by a vertically arranged frame structure; the frame structure includes an upper connecting shaft, a lower connecting shaft, and two support rods supported between the upper connecting shaft and the lower connecting shaft; the lower connecting shaft is fixedly connected to the rigid forearm, and the two ends of the upper connecting shaft are hinged to the two support rods; the upper connecting shaft is fixedly connected to the telescopic forearm. The retractable forearm folding drive mechanism includes a second motor, a second drive wheel, three second guide wheels, and two second traction ropes; the second motor is mounted on the waist support; a second winding wheel is provided on the output shaft of the second motor; the three second guide wheels are rotatably connected to the pulley shaft, the drive shaft, and the lower connecting shaft, respectively; the second drive wheel is fixedly connected to the upper connecting shaft; the first ends of the two second traction ropes are both wound around the second winding wheel, and the second ends are both wrapped around the second guide wheel and fixedly connected to the second drive wheel, and the winding directions of the two second traction ropes are opposite.

3. The foldable, telescopic, waist-worn, cable-driven exoskeleton robot according to claim 2, characterized in that, The telescopic arm includes a bellows and a plurality of connecting discs arranged sequentially along the axial direction within the bellows; at least three springs are provided between two adjacent connecting discs.

4. The foldable, telescopic, waist-worn, cable-driven exoskeleton robot according to claim 3, characterized in that, The connecting disc is provided with a second rope threading hole; the retractable forearm bending drive mechanism includes at least three retractable forearm bending drive components; the retractable forearm bending drive components include a third motor, a third traction rope, and four third guide wheels; the third motor is mounted on the waist support; a third winding wheel is provided on the output shaft of the third motor; the four third guide wheels are respectively located on the pulley shaft, the drive shaft, the lower connecting shaft, and the upper connecting shaft; the first end of the third traction rope is wound around the first winding wheel, and the second end passes through the four third guide wheels in sequence and then passes through the second rope threading hole in sequence before being fixed to the connecting disc located at the end; multiple springs are located on the outside of the third traction rope.

5. The foldable, telescopic, waist-worn, cable-driven exoskeleton robot according to claim 4, characterized in that, There are four of each of the retractable forearm bending drive assembly and the spring.

6. The foldable, telescopic, waist-worn, cable-driven exoskeleton robot according to claim 5, characterized in that, The end effector is a mechanical gripper; the end effector drive mechanism includes a fourth motor, a fourth traction rope, and four fourth guide wheels; the fourth motor is mounted on the waist support; a fourth winding wheel is provided on the output shaft of the fourth motor; the four fourth guide wheels are respectively located on the pulley shaft, the drive shaft, the lower connecting shaft, and the upper connecting shaft; the first end of the fourth traction rope is wound around the first winding wheel, and the second end passes through the three fourth guide wheels in sequence and is fixed to the end effector.

7. The foldable, telescopic, waist-worn, cable-driven exoskeleton robot according to claim 6, characterized in that, The waist support includes a waist belt and a waist belt backpack mounted on the waist belt; the rigid upper arm is fixed to the waist belt; the first motor, the second motor, the third motor and the fourth motor are all located inside the waist belt backpack.

8. The foldable, telescopic, waist-worn, cable-driven exoskeleton robot according to claim 7, characterized in that, It also includes a control module and a power module; the control module can control the start and stop of the first motor, the second motor, the third motor and the fourth motor; the power module can supply power to the control module, the first motor, the second motor, the third motor and the fourth motor; both the control module and the power module are located inside the belt backpack.

9. The foldable, telescopic, waist-worn, cable-driven exoskeleton robot according to claim 8, characterized in that, The first motor, the second motor, the third motor, and the fourth motor are all stepper motors.

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