A quasi-unpowered exoskeleton robot

Abstract

The present invention relates to the field of industrial exoskeleton technology, specifically a quasi-unpowered exoskeleton robot. The device comprises a waist fixation module, a back linkage module, a shoulder linkage module, an upper arm linkage module, a forearm linkage module, a locking joint module, and an end-hole drilling module. Compared to existing technologies, this invention utilizes the locking joint module to offset and transfer the load on the worker during the processing phase of the operation, and utilizes a spring load-reducing device to balance the load exerted by the tool's gravity on the worker during non-processing operations, achieving a more comprehensive assistance effect.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial exoskeleton, and in particular to a quasi-unpowered exoskeleton robot. Background Art

[0002] Manufacturing involves a significant amount of drilling work. Due to the complexity of the parts being machined and small production batches, many drilling and assembly tasks cannot be performed by robots. Instead, workers must hold tools and maintain a certain posture while performing repetitive, heavy-duty tasks. This repetitive, heavy-duty work can easily lead to musculoskeletal injuries, seriously harming workers' health and causing significant economic losses to businesses. Exoskeletons can effectively reduce worker loads and help them adopt correct working postures, thereby reducing musculoskeletal injuries, increasing work efficiency, protecting workers, and generating greater profits for businesses. Therefore, exoskeletons have been a hot research topic worldwide. However, existing powered exoskeletons are expensive, complex, and difficult to ensure reliability, making them difficult to implement in production. Currently, unpowered exoskeletons are widely used in production, but they only partially balance the weight of the body or tools and cannot offset the reaction forces of the worker's machining process. Therefore, their effectiveness in assisting tasks with high reaction forces, such as drilling and riveting, is limited.

[0003] In the invention of patent number CN202210823352.1, a lifting-type upper limb assist exoskeleton is disclosed, which uses a motor to assist the human arm in performing an overall arm-lifting action, thereby reducing the labor intensity of the worker; however, this exoskeleton is a powered exoskeleton, the motor is heavy, the control is complex, and it is not easy to use. In the invention of patent number CN202310063299.4, a wearable passive quasi-unpowered exoskeleton assist device is disclosed, which uses a gas spring to assist the worker in lifting the upper arm, thereby reducing the load on the upper arm; however, this mechanism can only reduce the load of the tool's gravity on the worker's shoulder joint, and cannot offset the processing reaction force, and the assist effect is limited. Therefore, it is necessary to design a passive exoskeleton system that can assist workers in drilling and riveting and offset the processing reaction force based on the working characteristics of workers in the aviation industry, improve the workers' ergonomic load level, reduce the degree of waist and upper limb strain of workers during the operation process, and improve the workers' work efficiency and precision. Summary of the Invention

[0004] Purpose of the invention: To solve the above problems, the present invention provides a quasi-unpowered exoskeleton robot that can balance the reaction force of processing and the gravity of the tool, improve the power assistance efficiency, and reduce the load on the worker's upper limbs.

[0005] Technical solution: To achieve the above objectives, the quasi-unpowered exoskeleton robot described in the present invention includes a waist fixation module, a back linkage module, a shoulder linkage module, an upper arm linkage module, a forearm linkage module, a locking joint module, and an end hole-making module; the back linkage module includes a shoulder internal and external rotation joint connected to the waist fixation module, a shoulder spring unloading device connected to the upper end of the shoulder internal and external rotation joint, and a shoulder joint locking sleeve; the shoulder spring unloading device is equipped with four tension springs and a pulley block; one end of the shoulder joint locking sleeve is fixed to the bottom of the spring, and the other end passes through the pulley block and is connected to the forearm linkage module;

[0006] The shoulder link module includes a shoulder joint link; both ends of the shoulder joint link are respectively connected to two locking joint modules;

[0007] The upper arm link module includes a shoulder joint upper arm link connected to the locking joint module, an upper arm spring unloading device, an elbow joint upper arm link connected to the upper arm spring unloading device, and an upper arm lasso; the upper arm spring unloading device is equipped with two compression springs and a spring guide rod connected to the elbow joint upper arm link, a spring movable cover plate and a spring fixed cover plate at both ends of the compression spring; one end of the upper arm lasso is fixed to the central axis of the spring movable cover plate, and the other end passes through the guide pulley on the spring fixed cover plate and is connected to the forearm link module;

[0008] The forearm link module includes an elbow joint forearm link, a wrist joint forearm link, and a forearm threaded locking mechanism; one end of the elbow joint forearm link is connected to the locking joint module, and the other end is connected to the forearm threaded locking mechanism; one end of the wrist joint forearm link is arranged in the elbow joint forearm link, and the other end is connected to the locking joint module.

[0009] Furthermore, the waist fixation module includes a back fixation rod, a waist fixation plate connected to the lower end of the back fixation rod, a back fixation plate connected to the upper end of the back fixation rod, a back strap, a waist protector, a rotary joint shaft fixed to one side of the waist fixation plate, and a joint shaft fixing ring.

[0010] Furthermore, the locking joint module includes a front limb link, a rear limb link, a gear plate arranged on one side of the front limb link, and a joint core connected to the rear limb link.

[0011] Furthermore, the joint core includes a joint base and a joint top cover concentrically arranged on two axes, a coaxially fixed cam and groove wheel, a micro motor arranged on one side of the joint base, a worm, a worm wheel, a roller, and a pawl connected to the micro motor; the joint base and the joint top cover are connected to the forelimb connecting rod.

[0012] Furthermore, the end hole making module includes a pneumatic slide, a base connected to the pneumatic slide and the locking joint module, and an electric drill fixed on the pneumatic slide.

[0013] Furthermore, the spring movable cover plate and the spring fixed cover plate each have two holes slightly larger than the outer diameter of the spring guide rod.

[0014] Furthermore, the joint base is provided with symmetrical grooves, and ratchets are provided in the grooves.

[0015] Furthermore, each of the pawls is provided with two rollers, and the rollers are embedded in a groove formed by the outer arc surface of the cam and the inner groove surface of the groove wheel.

[0016] Furthermore, when the joint is unlocked, the worm wheel rotates and the cam pushes the roller, the pawl rotates outward along the groove of the joint base, and when it rotates to a specific angle, the pawl contacts the toothed disc and the joint is locked; when the joint needs to be unlocked, the worm wheel rotates in the opposite direction, the groove wheel pushes the roller, the pawl rotates inward along the groove, the pawl disengages from the toothed disc, and the joint is unlocked.

[0017] Furthermore, four degrees of freedom in the robot's gravity balance system are affected by gravity: the flexion and extension degree of freedom of the shoulder and elbow joints, the adduction and swing-in degree of freedom of the shoulder joints, the ulnar flexion degree of freedom of the wrist joints, and the radial flexion degree of freedom of the wrist joints.

[0018] Beneficial effects: Compared with the existing technology, it has the following significant effects: through the cooperation of the locking joint and the spring unloading device, the gravity during the operation can be balanced and the processing reaction force can be transferred to offset it, thereby reducing the worker's load in an all-round way and improving the assistance efficiency; the unpowered spring unloading device is used to reduce the joint torque of the worker during the operation, avoiding large motors and complex control systems, and improving the robustness and ease of use of the exoskeleton; the movable pulley group is used to reduce the required stretching distance of the spring in the spring unloading device, reduce the size of the mechanism, and realize the lightweight and miniaturization of the exoskeleton; the locking joint uses an electrically controllable multi-tooth meshing gear disc-ratchet slider locking mechanism to lock the joint, which can offset loads of different sizes and directions, adapt to different processing postures, and improve the flexibility of the exoskeleton; the modular design is adopted, and the locking joint module and each limb link module can be replaced and recombined to change the load-bearing capacity and degree of freedom of the exoskeleton, which is reconfigurable. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0020] Figure 2 Schematic diagram of the structure of the waist fixation module 1 of the present invention.

[0021] Figure 3 This is a structural schematic diagram of the back connecting rod module II of the present invention.

[0022] Figure 4 This is a structural schematic diagram of the shoulder link module III of the present invention.

[0023] Figure 5 This is a structural schematic diagram of the upper arm connecting rod module IV of the present invention.

[0024] Figure 6 This is a structural schematic diagram of the forearm connecting rod module V described in the present invention.

[0025] Figure 7 This is a structural diagram of the locking joint module VI described in the present invention.

[0026] Figure 8 This is a structural schematic diagram of the terminal hole-making module VII described in the present invention.

[0027] Figure 9 This is a schematic diagram of the double-joint gravity balance modeling described in the present invention.

[0028] Figure 10 This is a schematic diagram of the gravity balance modeling of the shoulder joint adduction and outward swing degrees of freedom described in the present invention. DETAILED DESCRIPTION

[0029] The present invention discloses a quasi-unpowered exoskeleton robot. Figures 1 to 8 The quasi-unpowered exoskeleton robot provided by the present invention is further described below in detail: the quasi-unpowered exoskeleton robot includes a waist fixation module I, a back linkage module II, a shoulder linkage module III, an upper arm linkage module IV, a forearm linkage module V, a locking joint module VI, and an end hole-making module VII. The waist fixation module I includes a waist fixation plate 1, a back fixation rod 2, a back fixation plate 3, a back strap 4, a waist protector 5, a rotary joint axis 6, and a joint axis fixing ring 7. The waist protector 5 is fixed to the waist fixing plate 1 by a threaded connection and is worn on the human waist; one end of the back fixing rod 2 is fixed to the hole in the center of the waist fixing plate 1 by a threaded connection, and the other end is fixed to the back fixing plate 3 in the same way; the back fixing plate 3 is provided with a plurality of groups of different holes, and the height of the back fixing plate can be adjusted by fixing it at different holes to adapt to people of different heights; the back strap 4 is fixed to the back fixing plate 3 by a threaded connection, wrapping around the human shoulder and thorax, and cooperating with the waist protector 5 so that the exoskeleton waist module can be comfortably and tightly fixed to the upper body trunk of the human body; the joint axis fixing ring 7 can be fixed in the corresponding holes on both sides of the waist fixing plate 1, and only needs to be installed on the side of the user's dominant hand; the rotary joint axis 6 is inserted into the joint axis fixing ring 7. When the locking screw on the joint axis fixing ring 7 is tightened, the rotary joint axis 6 is convenient for the joint axis fixing ring 7 to be fixed. When the locking screw on the joint axis fixing ring 7 is loosened, the position of the rotary joint axis 6 can be adjusted to adapt to users of different heights.

[0030] Back linkage module II includes shoulder internal and external rotation joint 8, shoulder spring unloading device 9, pulley bracket 10, shoulder front joint link 11, shoulder rear joint link 12, and shoulder joint lasso 13. The shoulder spring unloading device 9 is installed on the upper part of the shoulder internal and external rotation joint 8 and includes a device housing 901, a spring fixing ring 902, four tension springs 903, a spring fixing plate 904, a movable pulley set 905, and a device top cover 906. The shoulder internal and external rotation joint 8 is installed on the rotary joint shaft 6 and is limited by a thrust bearing and a flange retaining ring bearing. It can rotate around it, allowing the exoskeleton shoulder joint to have internal and external rotation freedom. The device housing 901 of the shoulder spring unloading device 9 is fixed to the shoulder internal and external rotation joint through a threaded connection. 8, and the other end is equipped with a device top cover 906; the spring fixing ring 902 is fixedly connected to the four threaded holes evenly distributed on the circumference of the shoulder internal and external rotation joint 8 through the threads thereon; the hook on one side of the tension spring 903 is hung in the hole of the fixing ring 902, and the hook on the other side is hung in the hole of the spring fixing plate 904; a pulley and a spring fixing ring 902 are installed in the middle of the spring fixing plate 904 through a pin shaft, and a pulley installed in the center of the device top cover 906 forms a movable pulley group 905; the front joint of the shoulder The joint link 11 and the shoulder rear joint link 12 are mounted on the device top cover 906 through threaded connections; the pulley bracket 10 is fixed to the top of the shoulder front joint link 11 and the shoulder rear joint link 12, and has a number of pulleys on it; one end of the shoulder joint lasso 13 is fixed to the hole of the spring fixing ring 902 on the spring fixing plate 904, and the other end passes through the movable pulley group 905, and then leads out from the hole on the device top cover 906, and is connected to the pulley of the forearm link module V via the guide pulley on the pulley bracket 10; when When the exoskeleton follows the movement of the human upper limb, the lasso is pulled, causing the elongation of the tension spring 903 to change, thereby changing the spring tension acting on the upper limb. By properly calculating and selecting the spring stiffness and installation position, the sum of the torques provided by the spring and gravity load on each joint of the upper limb can be kept constant, thereby reducing the load on the worker caused by the weight of the tool. The movable pulley assembly 905 uses the movable pulley to shorten the elongation distance of the tension spring 903 to 1 / 3 of the lasso's movement, reducing the required spring stretch length.

[0031] The shoulder link module III includes a shoulder joint link 14, which is connected to two locking joint modules through threaded holes at both ends to achieve the abduction or adduction freedom and the flexion or extension freedom of the shoulder joint.

[0032] The upper arm link module IV includes a shoulder joint upper arm link 15 , an elbow joint upper arm link 16 , an upper arm spring unloading device 17 , an upper arm wearing component 18 , and an upper arm lasso 19 . The upper arm spring unloading device 17 includes a threaded locking mechanism 1701, a spring guide rod 1702, a spring movable cover plate 1703, a spring fixed cover plate 1704, a pulley 1705, and two compression springs 1706; wherein, the two compression springs 1706 are respectively against the spring movable cover plate 1703 and the spring fixed cover plate 1704 on both sides; the spring movable cover plate 1703 and the spring fixed cover plate 1704 are respectively provided with two holes slightly larger than the outer diameter of the spring guide rod 1702; the spring guide rod 1702 is fixed to the threaded locking mechanism 1701 by a threaded connection, passes through the holes on the spring movable cover plate 1703 and the spring fixed cover plate 1704, and the other end is fixed to the elbow joint upper arm connecting rod 16 by a threaded connection; one end of the upper arm lasso 19 is tied to the rod in the center of the spring movable cover plate 1703, and the other end is connected to the forearm through the guide pulley on the spring fixed cover plate 1704 On the pulley on the elbow forearm link 20 of the connecting rod module V; when the elbow joint rotates, the distance between the pulley on the elbow forearm link 20 and the guide pulley on the spring fixed cover 1704 increases, so that the upper arm lasso 19 pulls the spring movable cover 1703 to slide along the spring guide rod 1702, compressing the compression spring 1706, thereby bringing additional torque to the elbow joint; when the spring stiffness and the pulley installation position meet the conditions, the additional torque will be able to just offset the torque generated by the tool gravity on the elbow joint, reducing the load of the tool gravity on the elbow joint; one side of the shoulder joint upper arm link 15 is connected to the locking joint module VI corresponding to the shoulder joint abduction or adduction freedom degree, and the other side passes through the threaded locking mechanism 1701 and is inserted into the spring guide rod 1702; when the screw of the threaded locking mechanism 1701 is loosened, the insertion depth can be changed to adjust the upper arm connecting rod module IV to the appropriate length. One side of the elbow joint upper arm link 16 is fixed to the spring fixing cover 1704 through a threaded connection, and the other side is connected to the locking joint module VI of the elbow joint; the upper arm wearing part is fixed to the upper arm spring unloading device 17 through a threaded connection, and there is a pad made of flexible materials such as sponge on it to increase the comfort of human wearing.

[0033] The forearm link module V includes an elbow joint forearm link 20 , a wrist joint forearm link 21 , a pulley 22 , a pulley base 23 , a pulley adjustment slider 24 , and a forearm thread locking mechanism 25 . The elbow forearm link 20 is connected to the locking joint module VI of the elbow extension or bending freedom, and the other side is fixed with a forearm thread locking mechanism 25 by a thread; one end of the wrist forearm link 21 is inserted into the elbow forearm link 20, and the insertion depth can be adjusted by the forearm thread locking mechanism 25 to adapt to different human arm lengths, and the other end is fixed to the locking joint module VI of the wrist joint; a pulley base 23 and a pulley 22 are installed on the wrist forearm link 21; the lasso 13 extended from the back link module II is connected to the pulley 22, and the pulley base 23 can be installed in different hole positions to adjust the spring installation position; the pulley adjustment slider 24 is installed on the elbow forearm link 20, and the position of the slider 24 can be adjusted by the pulley, and the lasso 19 led out from the upper arm link module IV is connected to the pulley 22 of the pulley adjustment slider 24 to balance the gravity exerted on the upper limb.

[0034] The locking joint module VI includes a joint core 26, a toothed disc 27, a front limb link 28, and a rear limb link 29. The toothed disc 27 is mounted on one side of the front limb link 28; the joint core 26 is fixed to the rear limb link 29 via a threaded connection. The joint core 26 includes a joint base 2601, a joint cover 2602, a micromotor 2603, a worm 2604, a worm gear 2605, a cam 2606, a sheave 2607, a roller 2608, and a pawl 2609. The joint base 2601 and the joint cover 2602 are fixed via a threaded connection, each with a protruding cantilever shaft. The joint base 2601 and the joint cover 2602 are fixed and concentric, and are mounted on the front limb link 28 connected to the locking joint module VI. After the front limb link 28 and the rear limb link 29 are connected, the joint core 2601 and the joint cover 2602 are fixed. The assembly of the same locking joint can rotate relative to each other around the joint axis; a micro motor 2603 is installed on one side of the joint base 2601 through a threaded connection; a worm 2604 is fixed to the extended shaft of the micro motor 2603 by a set screw; the worm wheel 2605 is coaxial with the joint axis and is installed between the joint base 2601 and the joint top cover 2602 through a flange bearing limiter; the cam 2606 and the groove wheel 2607 are fixedly connected to the worm wheel 2605 through a threaded connection and are coaxial; when the micro motor 2603 rotates, it drives the worm wheel 2605 and the cam 2606 and the groove wheel 2607 thereon to rotate through the worm 2604; there are symmetrically arranged grooves on the joint base 2601, each of which is equipped with a ratchet The pawl 2609 is mounted on a plurality of rollers 2608, which are embedded in the groove formed by the outer arc surface of the cam 2606 and the inner groove surface of the groove wheel 2607. When the joint is in the unlocked state, the worm wheel 2605 rotates, and the outer arc surface of the cam 2606 pushes the roller 2608, causing the pawl 2609 to slide outward along the groove on the joint base 2601. When the worm wheel 2605 rotates clockwise to a certain angle, the radius of the arc groove formed by the cam 2606 and the groove wheel 2607 is different at different places, causing the pawl 2609 to move outward along the groove of the joint base 2601 close to the ratchet wheel, and the pawl 2609 contacts the toothed disk 27, and the pawl 2609 meshes with the ratchet wheel. The joint is locked because the worm wheel 2605 and worm 2604 have self-locking capabilities. Therefore, even when loaded, the pawl 2609 cannot rotate the cam 2606, thus preventing the joint from accidentally unlocking. When the joint needs to be unlocked, the worm wheel 2605 rotates in the opposite direction, and the inner groove surface of the sheave 2607 pushes the roller 2608, causing the pawl 2609 to move inward along the groove on the joint base 2601, away from the ratchet wheel. The pawl 2609 disengages from the toothed disc 27, allowing the joint to rotate relative to each other. The number of teeth, module, and length of the pawl 2609 and toothed disc 27 can be adjusted according to the required load-bearing capacity without changing the other components of the exoskeleton.The Locking Joint Module VI itself is a modular design. The exoskeleton's Locking Joint Modules VI can be interchanged, and the order of joint connections between the joints and links can be adjusted to suit the work environment, making the exoskeleton reconfigurable. When the Locking Joint Module VI is locked, the unpowered exoskeleton's upper limbs provide rigid support for the machining tool, offsetting the tool's weight-bearing load on the worker. Simultaneously, the machining reaction force generated by the end-hole drilling module VII is transferred to the human torso through the exoskeleton, preventing excessive load on the upper limbs.

[0035] The end-hole drilling module VII comprises a base 32, a pneumatic slide 33, an electric drill retaining ring 30, and an electric drill 31. The base 32 is threadedly secured to the pneumatic slide 33 and the wrist locking joint module VI, allowing it to move with the wrist. The electric drill 31 is pressed against the drill retaining ring 30 and secured to the slide of the pneumatic slide 33. When the user presses the control button, the electric drill 31 begins to operate, and the slide of the pneumatic slide 33 drives the electric drill 31 forward, performing the drilling operation.

[0036] The quasi-unpowered exoskeleton system has five degrees of freedom: three shoulder joints enable flexion / extension, abduction / adduction, and internal / external rotation of the shoulder; one elbow joint enables extension / flexion; and one wrist joint enables dorsiflexion / palmar flexion to accommodate drilling or assembly operations requiring specific angles. Each joint is connected by links in the exoskeleton limbs. These links include length adjustment mechanisms and wearable components, allowing them to be worn on the corresponding limb and adjusted to the user's body size. All five degrees of freedom (DOFs) of the upper limbs, except for the shoulder joint's external and internal rotation, are equipped with locking joint modules. These lock the joints during machining, supporting the worker's arms and transferring the weight of the tool and the reaction forces from machining to the body's stronger torso. The back and upper arm link modules are equipped with spring unloading devices, which counteract the joint torques exerted by the tool's weight on the shoulder and elbow joints during non-machining operations. The end-hole actuator is connected to the exoskeleton's wrist joint to enable feed machining. The exoskeleton's link modules are connected in sequence and then fixed to the waist fixation module via the back link module. The waist fixation module is equipped with a waist brace and harness to ensure the exoskeleton remains securely worn. Of the five DOFs of the quasi-unpowered exoskeleton's gravity-balancing system, four are affected by gravity: flexion and extension of the shoulder and elbow joints, adduction and external swing of the shoulder joint, and ulnar or radial flexion of the wrist joint. Since the wrist joint is close to the center of gravity of the quasi-unpowered exoskeleton, the change in the joint angle produces a small change in the torque of each joint. To simplify the mechanism, the degree of freedom of the wrist joint is not considered in the gravity balance system.

[0037] like Figure 9 As shown, is the weight of the exoskeleton upper arm, is the weight of the exoskeleton forearm, is the weight of the exoskeleton end effector. is the upper arm length, is the forearm length, is the distance from the center of mass of the upper arm to the shoulder joint, is the distance from the forearm center of mass to the elbow joint, is the distance from the center of mass of the end effector, i.e. the exoskeleton hand, to the wrist joint. The stiffness of spring 1 is , the stiffness of spring 2 is , are the angles between the upper arm and forearm and the horizontal direction respectively; is the distance from the connection point of spring 903 above the shoulder joint to the shoulder joint; The connection point of spring 903 at the forearm is along Distance to elbow joint; The connection point of spring 1706 at the upper arm is along Distance to elbow joint; The connection point of spring 1706 at the forearm is along Distance to elbow joint; .

[0038] Since the wrist joint motion is not considered, the forearm and hand are combined into one link. , the distance from the center of mass of the forearm and hand to the elbow joint is: .

[0039] The gravitational potential energy of the exoskeleton and the human body is:

[0040]

[0041] in:

[0042]

[0043]

[0044] make

[0045]

[0046]

[0047] From the above formula, we can know the elastic potential energy of spring 903 It can be expressed as:

[0048]

[0049] Similarly, the elastic potential energy of spring 1706 for:

[0050]

[0051] The total potential energy of the system :

[0052]

[0053] is a constant, that is, the system gravity is balanced at this time. Therefore, the installation parameters of spring 903 and spring 1706 should satisfy the following relationship:

[0054]

[0055]

[0056]

[0057] like Figure 10 As shown in the figure, under the premise of achieving double joint gravity balance, the gravity balance of the shoulder joint adduction and outward swing freedom is considered. When the shoulder joint is in the outward swing angle of 0, if the line connecting the shoulder joint rotation center and the upper limb exoskeleton gravity center is The gravitational potential energy will not change if the rotation axis is rotated. Therefore, for any posture, the gravitational potential energy is the same as the change of posture around The gravitational potential energy when the external swing angle is 0. Since the system has achieved gravitational balance when the external swing angle is 0, if the exoskeleton upper limb can rotate If the spring's elastic potential energy does not change during rotation, the gravity balance of the three joints can be achieved. When rotating, The distance between them remains unchanged, The distance between , so if the connection point of spring 903 exist On the extension line of The distance, that is, the elongation of spring 903, also remains unchanged. The movement of the shoulder joint does not affect the elbow joint, so the elastic potential energy of spring 1706 remains constant, and the total elastic potential energy of the spring will still be able to offset the gravity potential energy.

[0058] Center of gravity It can be expressed in vector form as:

[0059]

[0060] make satisfy:

[0061]

[0062] Then connect the points Will be in On the extension line of .

[0063]

Claims

1. A quasi-unpowered exoskeleton robot, characterized in that: It comprises a waist fixing module (I), a back connecting rod module (II), a shoulder connecting rod module (III), an upper arm connecting rod module (IV), a forearm connecting rod module (V), a locking joint module (VI), and an end hole making module (VII); the back connecting rod module (II) comprises a shoulder internal and external rotation joint (8) connected to the waist fixing module (I), a shoulder spring unloading device (9) connected to the upper end of the shoulder internal and external rotation joint (8), and a shoulder joint lasso (13); the shoulder spring unloading device (9) is provided with four tension springs (903) and a movable pulley group (905); the spring unloading device (9) is provided with a spring fixing plate (904), the middle part of the spring fixing plate (904) is provided with a spring fixing ring (902), one end of the shoulder joint lasso (13) is fixed in the hole of the spring fixing ring (902) on the spring fixing plate (904), and the other end passes through the movable pulley group (905) and is connected to the forearm connecting rod module (V); The shoulder link module (III) includes a shoulder joint link (14); both ends of the shoulder joint link (14) are respectively connected to two locking joint modules (VI); The upper arm link module (IV) comprises a shoulder joint upper arm link (15) connected to the locking joint module (VI), an upper arm spring unloading device (17), an elbow joint upper arm link (16) connected to the upper arm spring unloading device (17), and an upper arm lasso (19); the upper arm spring unloading device (17) is provided with two compression springs (1706) and a spring guide rod (1702) connected to the elbow joint upper arm link (16), a spring movable cover plate (1703) and a spring fixed cover plate (1704) located at both ends of the compression spring (1706); one end of the upper arm lasso (19) is fixed to the central axis of the spring movable cover plate (1703), and the other end passes through the guide pulley on the spring fixed cover plate (1704) and is connected to the forearm link module (V); The forearm link module (V) comprises an elbow joint forearm link (20), a wrist joint forearm link (21), and a forearm thread locking mechanism (25); one end of the elbow joint forearm link (20) is connected to the locking joint module (VI), and the other end is connected to the forearm thread locking mechanism (25); one end of the wrist joint forearm link (21) is inserted into the elbow joint forearm link (20), and the insertion depth is adjusted by the forearm thread locking mechanism (25), and the other end is connected to the locking joint module (VI), and the locking joint module (VI) is used to achieve joint locking or unlocking.

2. The unpowered exoskeleton robot according to claim 1, characterized in that: The waist fixing module (I) comprises a back fixing rod (2), a waist fixing plate (1) connected to the lower end of the back fixing rod (2), a back fixing plate (3) connected to the upper end of the back fixing rod (2), a back strap (4) connected to the back fixing plate (3), a waist protector (5), a rotary joint shaft (6), and a joint shaft fixing ring (7); the waist protector (5) is fixed on the waist fixing plate (1), the joint shaft fixing ring (7) is fixed in corresponding holes on both sides of the waist fixing plate (1), the rotary joint shaft (6) is inserted into the joint shaft fixing ring (7), and the shoulder internal and external rotation joint (8) is fixedly connected to the rotary joint shaft (6).

3. The unpowered exoskeleton robot according to claim 1, characterized in that: The locking joint module (VI) comprises a front limb connecting rod (28), a rear limb connecting rod (29), a toothed disc (27) provided on one side of the front limb connecting rod (28), and a joint core (26) connected to the rear limb connecting rod (29).

4. The unpowered exoskeleton robot according to claim 3, characterized in that: The joint core (26) comprises a joint base (2601) and a joint cover (2602) arranged concentrically on two axes, a coaxially fixed cam (2606) and a groove wheel (2607), a micro motor (2603) arranged on one side of the joint base (2601), a worm (2604) connected to the micro motor (2603), a worm wheel (2605), a roller (2608), and a pawl (2609); the joint base (2601) and the joint cover (2602) are connected to the forelimb connecting rod (28), the joint base (2601) is provided with symmetrical grooves, and the grooves are provided with pawls (2609), and each pawl (2609) is provided with two The roller (2608) is embedded in a groove formed by the outer arc surface of the cam (2606) and the inner groove surface of the groove wheel (2607); when the joint is unlocked, the worm wheel (2605) rotates and the cam (2606) pushes the roller (2608), and the pawl (2609) rotates outward along the groove of the joint base (2601). When the pawl (2609) rotates to a specific angle, the pawl (2609) contacts the toothed disc (27), and the joint is locked; when the joint needs to be unlocked, the worm wheel (2605) rotates in the opposite direction, the groove wheel (2607) pushes the roller (2608), the pawl (2609) rotates inward along the groove, the pawl (2609) disengages from the toothed disc (27), and the joint is unlocked.

5. The unpowered exoskeleton robot according to claim 1, characterized in that: The terminal hole-making module (VII) comprises a pneumatic slide (33), a base (32) connected to the pneumatic slide (33) and the locking joint module (VI), and an electric drill (31) fixed on the pneumatic slide (33).

6. The unpowered exoskeleton robot according to claim 1, characterized in that: The spring movable cover plate (1703) and the spring fixed cover plate (1704) are respectively provided with two holes slightly larger than the outer diameter of the spring guide rod (1702).

7. The unpowered exoskeleton robot according to claim 1, characterized in that: Four degrees of freedom in the robot's gravity balance system are affected by gravity: the flexion and extension degree of freedom of the shoulder and elbow joints, the adduction and external swing degree of freedom of the shoulder joints, the ulnar flexion degree of freedom of the wrist joints, and the radial flexion degree of freedom of the wrist joints.

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