Exoskeleton-assisted robot and load-driving method

Abstract

The present invention relates to the technical field of wearable exoskeletons, and more specifically to an exoskeleton power-assist robot and a load-driving method, comprising: a support structure, comprising a back support, a hip support, a leg support, and a shoulder support, wherein the back support and the shoulder support are an integrated structure, the back support is wearably connected to the user's back, and the shoulder supports extend from above the back support to both sides of the user's shoulders and neck. The power-assist robot proposed in this application comprises a main skeleton part and a transmission part, wherein the weight of the main skeleton part is mainly concentrated on the back, and the weight distribution is reasonable, the transmission part uses a Bowden cable as a transmission medium, and the transmission harness relies on the flexible arrangement of the skeleton, and mainly uses two motors loaded on the back to provide power to the upper limbs and waist respectively, especially to provide power to lift loads and the important force-generating process of bending and straightening the waist, which can significantly reduce labor intensity.

Description

Technical Field

[0001] The present invention relates to the technical field of wearable exoskeleton, and in particular to an exoskeleton-assisted robot and a load-driving method. Background Art

[0002] With the rapid development of science and technology, robots are increasingly being used in our daily lives. The working principle of exoskeleton robots is to provide external force through a power source, which, in combination with a transmission device, converts the external force into auxiliary force for the human body to achieve the target movement, thereby achieving an assistive effect.

[0003] Current wearable exoskeletons typically use rigid transmission structures, such as shafts and gears. Rigid transmissions have high mass, are difficult to change the transmission direction, and have complex structures for changing the transmission distance. Common flexible transmissions (such as flexible belt transmissions) have advantages such as low mass and simple structure, but they still require auxiliary structures such as steering pulleys when changing the direction, and the structure needs to be changed accordingly when the transmission distance changes. Summary of the Invention

[0004] In view of the technical problems existing in the prior art exoskeleton-assisted robots, the first aspect of the present invention provides an exoskeleton-assisted robot, comprising:

[0005] A support structure comprising a back support, a hip support, a leg support and a shoulder support, wherein the back support and the shoulder support are an integrated structure, the back support is wearably connected to the user's back, the shoulder support extends from above the back support to both sides of the user's shoulders and neck, the hip support is wearably connected to the user's hip, the leg support has a first end connected to the bottom of the hip support, and a second end extending toward the back of the thigh, the lower end of the back support is connected to the hip support, so that the free ends of the shoulder support and the free ends of the leg support have a relatively fixed relative position, and when the user bends over, the free ends of the shoulder support and the free ends of the leg support can rotate around the hip support as a fulcrum;

[0006] The transmission mechanism includes an upper limb transmission mechanism and a waist transmission mechanism, wherein the upper limb transmission mechanism includes a first winding component, a first wire transmission sleeve, and a first transmission wire, wherein the first transmission wire passes through the first wire transmission sleeve and can slide relative to the first wire transmission sleeve, and the first winding component is used to retract and release the first transmission wire, and the waist transmission mechanism includes a second winding component, a second wire transmission sleeve, and a second transmission wire, wherein the second transmission wire passes through the second wire transmission sleeve and can slide relative to the second wire transmission sleeve;

[0007] a calf leg brace, which is wearably attached to the user's lower limb;

[0008] Wherein, the first winding component and the second winding component are both connected to the back support, and the free ends of the shoulder support and the free ends of the leg support are provided with connecting seats;

[0009] The first end of the first wire transmission sleeve is fixed to one side of the first winding component, and the second end is connected to the connecting seat of the free end of the shoulder bracket. The first end of the first transmission wire is wound around the first winding component, and the second end passes through the second end of the first wire transmission sleeve to form a free load end.

[0010] The first end of the second wire transmission sleeve is fixed to one side of the second winding component, and the second end is connected to the connecting seat at the free end of the leg bracket. The first end of the second transmission wire is wound around the second winding component, and the second end passes through the second end of the second wire transmission sleeve and is connected to the calf leg bracket.

[0011] Preferably, the back support includes a support frame and a pair of lower support plates, the support frame is constructed in a rectangular shape, the support frame includes a first area and a second area arranged on the left and right, the first winding component and the second winding component are arranged in the first area, and a battery is provided in the second area, the shoulder support includes a pair of upper support plates, which are respectively connected to the two upper corners of the support frame, and a pair of lower support plates are respectively connected to the two lower corners of the support frame.

[0012] Preferably, the lower support plate extends from the lower corner of the support frame toward the outside of the user's hip, the extension direction of the first end of the lower support plate is perpendicular to the extension direction of the second end, and the width direction of the first end of the lower support plate is perpendicular to the width direction of the second end.

[0013] Preferably, the hip support is worn on the user's waist and hips through wearable accessories, and the hip support is relatively fixed relative to the user's waist and hips. The leg support is configured as a linear component, and the leg support and the hip support are detachably connected, and the relative angle between the leg support and the hip support can be adjusted.

[0014] Preferably, the first wire transmission sleeve includes only two fixed ends, the first fixed end connects the first wire transmission sleeve to the support frame, the second fixed end connects the first wire transmission sleeve to the connecting seat of the shoulder support, and the second wire transmission sleeve includes only two fixed ends, the third fixed end connects the second wire transmission sleeve to the support frame, and the fourth fixed end connects the second wire transmission sleeve to the connecting seat of the leg support.

[0015] Preferably, the first winding component also includes a one-way clutch component, and the one-way clutch component is configured to include a first state and a second state. When the one-way clutch component is in the first state, the first transmission line is allowed to be wound through the first winding component and cannot be released, so that the load connected to the free load end of the first transmission line is lifted or maintained at a predetermined height. When the one-way clutch component is in the second state, the first transmission line is allowed to be wound and released through the first winding component.

[0016] Preferably, the first winding component includes a winding motor, a wire taking-up reel, a ratchet disc and a one-way clutch component. The wire taking-up reel and the ratchet disc are relatively fixed and connected to the output end of the winding motor. The one-way clutch component includes an electromagnetic drive mechanism and a pawl. The electromagnetic drive mechanism drives the pawl to contact or separate from the ratchet disc. When the pawl contacts the ratchet disc, the wire taking-up reel can be driven by the winding motor to rewind the first transmission line and prevent the wire taking-up reel from rotating in the opposite direction. When the pawl disengages from the ratchet disc, the wire taking-up reel can rotate in both directions.

[0017] Preferably, the take-up reel includes a first winding layer and a second winding layer, and the upper limb transmission mechanism includes two left and right groups, wherein the left first transmission line and the right first transmission line in the left and right groups of upper limb transmission mechanisms are respectively wound on the first winding layer and the second winding layer.

[0018] Preferably, the free load end of the first transmission line is provided with a connection structure, and the connection structure is used to connect to a load and / or a user's hand.

[0019] A second aspect of the present invention provides a technical solution, a load driving method, using the above-mentioned exoskeleton power-assisted robot, comprising the following steps:

[0020] Step 1: Pre-adjustment: The user puts on the support structure, and according to the user's size, the first winding component and the second winding component are controlled to pre-wind, so that the length of the first transmission line exposed outside the first transmission sleeve is appropriate, and the length of the second transmission line exposed outside the second transmission sleeve is appropriate;

[0021] Step 2: Connect the load: The user manually operates the free load end of the first transmission line to connect it to the load;

[0022] Step 3: Lifting the load: controlling the state of the first winding component to reel the first transmission line, so that the load is pulled by the first transmission line and lifted to a predetermined height;

[0023] Step 4: Transfer the load: Control the state of the first winding component to stop the first transmission line from retracting or releasing the load. The load is pulled by the first transmission line and maintained at a predetermined height. The user then transfers the load.

[0024] Step 5: Release the load: Control the state of the first winding component to release the first transmission line and lower the load to a predetermined height.

[0025] Compared with the prior art, the advantages of the present invention are:

[0026] The power-assist robot proposed in this application includes a main frame part and a transmission part. The weight of the main frame part is mainly concentrated on the back, and the weight distribution is reasonable. The transmission part uses a Bowden cable as a transmission medium, and the transmission harness is flexibly arranged based on the frame. It mainly uses two motors loaded on the back to provide power assistance to the upper limbs and waist respectively, especially for lifting loads and the important force-generating process from bending to straightening the waist, which can significantly reduce labor intensity.

[0027] This power-assisting robot not only provides reliable assistance to users, but also has little impact on the user's physical sense, less sense of restraint, high flexibility, and light weight. When in use, the length of the steel wire rope wound in by the motor can meet the needs of users of different heights, and has strong adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component shown in various figures may be represented by the same reference numeral. For the sake of clarity, not every component is labeled in every figure. Embodiments of various aspects of the present invention will now be described by way of example and with reference to the accompanying drawings, in which:

[0029] Figure 1 is a schematic diagram of the exoskeleton-assisted robot shown in the present invention in a standing state;

[0030] Figure 2 Schematic diagram of the exoskeleton-assisted robot in a bent-over state shown in the present invention;

[0031] Figure 3 Schematic diagram of the structure of the exoskeleton power-assisted robot shown in the present invention;

[0032] Figure 4 Schematic diagram of the back support structure of the exoskeleton power-assisted robot shown in the present invention;

[0033] Figure 5 1 is a schematic structural diagram of the first winding component shown in the present invention;

[0034] Figure 6 It is a structural schematic diagram of the take-up reel shown in the present invention. DETAILED DESCRIPTION

[0035] In order to better understand the technical content of the present invention, specific embodiments are given and described below with reference to the accompanying drawings.

[0036]

Exoskeleton-assisted robot

[0037] Combine Figure 1-4 As shown, the first aspect of the present invention provides an exoskeleton power-assist robot, comprising a support structure, a transmission mechanism, and a calf support 30. The support structure provides support for the transmission mechanism, which is wearable and connected to the user. The transmission mechanism primarily provides support for the waist and shoulders. This exoskeleton power-assist robot can assist users engaged in logistics, handling, rescue, manufacturing, and other tasks that require support for the waist and lifting heavy objects.

[0038] Furthermore, the support structure includes a back support 10 , a crotch support 11 , a thigh and leg support 12 and a shoulder support 13 .

[0039] The back support 10 and the shoulder support 13 are an integrated structure. The back support 10 is wearably connected to the user's back, and the shoulder support 13 extends from the top of the back support 10 to both sides of the user's shoulders and neck.

[0040] The crotch support 11 is wearably connected to the user's crotch, the first end of the thigh and leg support 12 is connected to the bottom of the crotch support 11, and the second end extends to the back of the thigh. The lower end of the back support 10 is connected to the crotch support 11, so that the free end of the shoulder support 13 and the free end of the thigh and leg support 12 have a relatively fixed relative position, and when the user bends over, the free end of the shoulder support 13 and the free end of the thigh and leg support 12 can rotate around the crotch support 11 as a fulcrum.

[0041] It can be seen that the back support 10 and the hip support 11 are divided into two wearable modules, which are respectively supported by the user's shoulders and waist after being worn. Optionally, the back support 10 and the hip support 11 are worn to the user through straps and quick buckles.

[0042] Furthermore, the transmission mechanism includes an upper limb transmission mechanism and a waist transmission mechanism. The upper limb transmission mechanism provides assistance to the upper limbs in lifting heavy objects, and the waist transmission mechanism provides assistance to the user in bending over and then straightening the waist.

[0043] Among them, the upper limb transmission mechanism includes a first winding component 21, a first wire transmission sleeve and a first transmission wire 211. The first transmission wire 211 passes through the first wire transmission sleeve and can slide relative to the first wire transmission sleeve. The first winding component 21 is used to retract and release the first transmission wire 211. The waist transmission mechanism includes a second winding component 22, a second wire transmission sleeve and a second transmission wire 221. The second transmission wire 221 passes through the second wire transmission sleeve and can slide relative to the second wire transmission sleeve.

[0044] It can be understood that in this application, both the upper limb transmission mechanism and the waist transmission mechanism use wire rope transmission. Through flexible transmission, while achieving power assistance, the weight of the transmission structure is reduced and the flexibility of the transmission is improved. In particular, it has the characteristics of a large transmission angle range and easy matching with the user's body shape.

[0045] Among them, the first winding component 21, the first wire transmission sleeve and the first transmission line 211 can constitute a set of Bowden wire transmission structures, and the second winding component 22, the second wire transmission sleeve and the second transmission line 221 can constitute another set of Bowden wire transmission structures. This transmission structure only provides tension and cannot provide supporting force, that is, the wire rope is constrained by the rope loop to a predetermined path. When the wire rope at one end of the rope loop is wound, the wire rope at the other end can be retracted toward the direction of the rope loop as a free end to provide assistance to the user.

[0046] Furthermore, the calf leg support 30 can be wearably connected to the user's lower limb, wherein the calf leg support 30 can serve as an anchor point for the free end of the wire rope in the Bowden cable transmission structure.

[0047] Furthermore, the first winding component 21 and the second winding component 22 are both connected to the back support 10, and the free ends of the shoulder support 13 and the thigh and leg support 12 are provided with a connecting seat 14. The first end of the first wire transmission sleeve is fixed to one side of the first winding component 21, and the second end is connected to the connecting seat 14 at the free end of the shoulder support 13. The first end of the first transmission line 211 is wound around the first winding component 21, and the second end passes through the second end of the first wire transmission sleeve to form a free load end. The first end of the second wire transmission sleeve is fixed to one side of the second winding component 22, and the second end is connected to the connecting seat 14 at the free end of the thigh and leg support 12. The first end of the second transmission line 221 is wound around the second winding component 22, and the second end passes through the second end of the second wire transmission sleeve and is connected to the calf and leg support 30.

[0048] like Figure 1 As shown, the Bowden cable transmission structure arranged by the upper limb transmission mechanism, the first winding component 21 is on the back support 10, the first line transmission sleeve extends from the back support 10 to the connecting seat 14 at the free end of the shoulder support 13, and the first transmission line 211 continues to extend forward to facilitate the user to pull the free end of the first transmission line 211 to reach the appropriate position. It should be understood that according to the user's body shape, its free end can be retracted and extended to the appropriate length by the first winding component 21, so as to adjust the appropriate length for the user.

[0049] Furthermore, the Bowden cable transmission structure arranged in the waist transmission mechanism, the second winding component 22 is on the back support 10, the second cable transmission sleeve extends from the back support 10 to the connecting seat 14 at the free end of the thigh leg support 12, and the second transmission cable 221 extends from the connecting seat 14 and is connected to the calf leg support 30.

[0050] like Figure 2 As shown, after the user adjusts the free end of the first transmission line 211 so that it is connected to the heavy object to be lifted, the first transmission line 211 and the second transmission line 221 are controlled to be wound through the first winding component 21 and the second winding component 22. It should be understood that when the user needs to lift a heavy object, the waist and arms bear the greatest force, and through this power-assisting structure, especially the winding of the first transmission line 211, the user's arms can be helped to lift the heavy object, and the winding of the second transmission line 221 can help the user's waist straighten up, achieving the power-assisting effect. When the user frequently carries heavy objects, the fatigue of the arms and waist can be reduced.

[0051] Combine Figure 3-4 As shown, in order to make the exoskeleton compact and lightweight, the back support 10 includes a support frame and a pair of lower support plates. The support frame is constructed in a rectangular shape. The support frame includes a first area and a second area arranged on the left and right. The first winding component 21 and the second winding component 22 are arranged in the first area, and a battery is provided in the second area. The shoulder support 13 includes a pair of upper support plates, which are respectively connected to the two upper corners of the support frame, and a pair of lower support plates are respectively connected to the two lower corners of the support frame.

[0052] In this way, the heavier driving components and batteries in the exoskeleton are arranged on the left and right sides of the support frame respectively, which can provide stable support for the driving components and batteries and ensure the balance of weight, so that users can reduce discomfort when carrying them.

[0053] Combine Figure 3-4 As shown, the lower support plate extends from the lower corner of the support frame toward the outside of the user's hip, the extension direction of the first end of the lower support plate is perpendicular to the extension direction of the second end, and the width direction of the first end of the lower support plate is perpendicular to the width direction of the second end.

[0054] In this way, by twisting the lower support plate, it can be made more suitable for the user's body shape, and the strength of the lower support plate can be ensured to achieve reliable support.

[0055] Furthermore, the hip support 11 is worn on the user's waist and hips through wearable accessories, and the hip support 11 is relatively fixed relative to the user's waist and hips. The thigh and leg support 12 is set as a linear component. The thigh and leg support 12 and the hip support 11 are detachably connected, and the relative angle between the thigh and leg support 12 and the hip support 11 can be adjusted.

[0056] In this way, the user can adjust the relative angles of the thigh support 12 and the hip support 11 according to the bending and straightening movements after wearing the device, ensuring that the straightening movement after bending can be assisted by the winding of the second transmission line 221.

[0057] Combine Figure 3-4As shown, the upper part of the first winding component 21 is connected to the upper left wire sleeve 21a and the upper right wire sleeve 21b, which are respectively used to provide support for the upper left transmission line 211a and the upper right transmission line 211b, and the upper left transmission line 211a and the upper right transmission line 211b realize the load assistance of the user's hands. The lower part of the second winding component 22 is connected to the lower left wire sleeve 22a and the lower right wire sleeve 22b, which are respectively used to provide support for the lower left transmission line 221a and the lower right transmission line 221b. When the lower left transmission line 221a and the lower right transmission line 221b are wound, the lower left transmission line 221a and the lower right transmission line 221b are wound together. Figure 2 As shown, the distance between the connecting seat 14 of the thigh leg support 12 and the calf leg support 30 is reduced, so that the entire support rotates counterclockwise around the hip support 11 as a fulcrum, providing assistance for the bending-straightening movement.

[0058] Furthermore, the first wire transmission sleeve only includes two fixed ends, the first fixed end connects the first wire transmission sleeve to the support frame, and the second fixed end connects the first wire transmission sleeve to the connecting seat 14 of the shoulder bracket 13.

[0059] It can be understood that the portion of the first-line transmission sleeve between the two fixed ends can be flexibly arranged without interfering with or interfering with the transmission of itself and other components. Therefore, this transmission structure can more flexibly adapt to the wearer's body shape and also has a lighter weight.

[0060] Similarly, the second wire transmission sleeve only includes two fixed ends, the third fixed end connects the second wire transmission sleeve to the support frame, and the fourth fixed end connects the second wire transmission sleeve to the connecting seat 14 of the thigh leg support 12.

[0061] In this way, the portion of the second wire transmission sleeve between the two fixed ends can be flexibly arranged without interfering with or interfering with the transmission of itself or other components. Therefore, this transmission structure can flexibly adapt to the wearer's body shape and also has a lighter weight.

[0062] Furthermore, since the purpose of the upper limb transmission mechanism is to assist the upper limb strength, especially to assist the arm in lifting the load, it should be understood that arm lifting the load includes two processes, the lifting process and the holding process. In both the lifting and holding processes, the user needs to apply force to do work. In the holding process, it is not conducive to use the winding motor to control the load to maintain a certain height, especially from the perspective of motor power control. Therefore, this application sets a clutch structure at the output end of the motor to control the winding state of the winding mechanism from a mechanical perspective.

[0063] Therefore, the first winding component 21 also includes a one-way clutch component, which is configured to include a first state and a second state. When the one-way clutch component is in the first state, the first transmission line 211 is allowed to be wound through the first winding component 21 and cannot be released, so that the load connected to the free load end of the first transmission line 211 is lifted or maintained at a predetermined height. When the one-way clutch component is in the second state, the first transmission line 211 is allowed to be wound and released through the first winding component 21.

[0064] Thus, when the clutch component is in the first state, the first transmission line 211 can only be wound up, that is, it can only lift the load. Once the lifting action stops, the load remains at its original height, and the height of the load is maintained by locking the position of the first transmission line 211. In this state, the motor and the user do not need to do any work, which is obviously more advantageous. In the second state, the first transmission line 211 can be flexibly controlled by the first winding component 21 to be wound up or released, so that the load can be raised or lowered, for example, according to the forward and reverse rotation of the motor to control the rise or fall of the load. It should be understood that the reversal of the electrode (the load lowering process) can be active or passive, that is, the load drives the motor to reverse, and the motor can provide a certain amount of damping during the reversal to prevent the rapid fall of the load from causing harm to the user.

[0065] In a specific embodiment, combined with Figure 5 and Figure 6 As shown, the first winding component 21 includes a winding motor 216, a wire take-up drum 214, a ratchet disk 215 and a one-way clutch component. The wire take-up drum 214 and the ratchet disk 215 are relatively fixed and connected to the output end of the winding motor 216. The one-way clutch component includes an electromagnetic drive mechanism 213 and a pawl 213c. The electromagnetic drive mechanism 213 drives the pawl 213c to contact or separate from the ratchet disk 215. When the pawl 213c contacts the ratchet disk 215, the wire take-up drum 214 can be driven by the winding motor 216 to rewind the first transmission line 211 and prevent the wire take-up drum 214 from rotating in the opposite direction. When the pawl 213c is disengaged from the ratchet disk 215, the wire take-up drum 214 can rotate in both directions.

[0066] The take-up drum 214 and the ratchet disk 215 are coaxially connected and can be driven to rotate by the take-up motor 216. When the take-up motor 216 rotates forward or reverse, the transmission line wound on the surface of the take-up drum 214 is reeled or released. The output end of the electromagnetic drive mechanism 213 is connected to a lever 213b through a connecting block 213a, and the front end of the lever 213b is a ratchet 213c. When the electromagnetic drive mechanism 213 is energized, the adsorption connecting block 213a contracts, so that the ratchet 213c is out of contact with the ratchet disk 215, and the take-up drum 214 and the ratchet disk 215 can rotate freely. When the electromagnetic drive mechanism 213 loses power, the adsorption connecting block 213a extends, so that the ratchet 213c contacts the ratchet disk 215, and the take-up drum 214 and the ratchet disk 215 are only allowed to rotate forward, that is, when the first transmission line 211 is reeled, the load is lifted and the position is maintained.

[0067] Furthermore, the take-up drum 214 includes a first winding layer 214a and a second winding layer 214b. The upper limb transmission mechanism includes two groups, the left first transmission wire and the right first transmission wire of the left and right upper limb transmission mechanisms being wound around the first winding layer 214a and the second winding layer 214b, respectively. This allows the first transmission wires on both sides to be lifted synchronously when the take-up drum 214 rotates, maintaining load balance.

[0068] In an optional embodiment, the second winding component 22 has the same structure as the first winding component 21, but does not include a one-way clutch component and only has winding and releasing functions.

[0069] Furthermore, a connection structure is provided at the free load end of the first transmission line 211, and the connection structure is used to connect to the load and / or the user's hand. The connection structure can be a connection structure such as a hook.

[0070]

Load driving method

[0071] A second aspect of the present invention provides a technical solution, a load driving method, using the above-mentioned exoskeleton power-assisted robot, comprising the following steps:

[0072] Step 1: Pre-adjustment: The user puts on the support structure and controls the first winding component 21 and the second winding component 22 to pre-wind according to the user's size, so that the first transmission line 211 is exposed outside the first transmission sleeve at an appropriate length, and the second transmission line 221 is exposed outside the second transmission sleeve at an appropriate length;

[0073] Step 2: Connecting the load: The user manually operates the free load end of the first transmission line 211 to connect it to the load;

[0074] Step 3: Lifting the load: Control the state of the first winding component 21 to reel the first transmission line 211, and the load is pulled by the first transmission line 211 and lifted to a predetermined height;

[0075] Step 4: Transfer the load: Control the state of the first winding component 21 to stop the first transmission line 211 from retracting or releasing the load. The load is pulled by the first transmission line 211 and maintained at a predetermined height. The user then transfers the load.

[0076] Step 5: Release the load: Control the state of the first winding component 21 to release the first transmission line 211 and lower the load to a predetermined height.

[0077] It can be understood that in step 1, the user can flexibly control the first winding component 21 and the second winding component 22 to pre-wind according to his or her own needs, so that the length of the first transmission line 211 and the second transmission line 221 exposed outside the line transmission sleeve is appropriate, wherein the first winding component 21 and the second winding component 22 can be controlled by a remote control during the pre-adjustment.

[0078] After the pre-adjustment is completed, for example, if the stacked load needs to be transferred from point A to point B, the user needs to first move to point A and bend down to connect the free load end of the first transmission line 211 to the load, for example, using a hook to hook the load, and then control the first winding component 21 and the second winding component 22 to wind up. When winding up, the first transmission line 211 shortens to assist the user's arm, and the second transmission line 221 winds up to assist the user's waist. When the load is lifted to a predetermined height, the first winding component 21 stops winding, and controls the electromagnetic drive mechanism 213 to lose power, so that the pawl 213c is connected to the ratchet disk 215. The wire take-up drum 214 and the ratchet disk 215 are only allowed to rotate forward. At this time, the load is maintained at a predetermined height. The user can transfer from point A to point B, and then control the electromagnetic drive mechanism 213 to be energized, so that the ratchet 213c is out of contact with the ratchet disk 215, and the wire take-up drum 214 can be reversed. The first transmission line 211 is extended, and the load is released, completing a handling process. It can be understood that in the above process, the forward and reverse control of the first winding component 21 and the second winding component 22 can be remotely controlled by the user, or automatically controlled by the internal controller, for example, through posture or action recognition, to assist the user's actions.

[0079] In combination with the above embodiments, the power-assisting robot proposed in this application includes a main frame part and a transmission part. The weight of the main frame part is mainly concentrated on the back, and the weight distribution is reasonable. The transmission part uses the Bowden cable as the transmission medium, and the transmission harness is flexibly arranged based on the frame. It mainly uses two motors loaded on the back to provide power assistance to the upper limbs and waist respectively, especially for lifting loads and the important force-generating process from bending to straightening the waist, which can significantly reduce labor intensity.

[0080] This power-assisting robot not only provides reliable assistance to users, but also has little impact on the user's physical sense, less sense of restraint, high flexibility, and light weight. When in use, the length of the steel wire rope wound in by the motor can meet the needs of users of different heights, and has strong adaptability.

[0081] While the present invention has been disclosed above with reference to preferred embodiments, this is not intended to limit the present invention. Persons skilled in the art will readily appreciate that various modifications and variations can be made without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be determined by the claims.

Claims

1. An exoskeleton-assisted robot, characterized in that: include: A support structure, comprising a back support (10), a crotch support (11), a thigh and leg support (12) and a shoulder support (13), wherein the back support (10) and the shoulder support (13) are an integrated structure, the back support (10) is wearably connected to the back of a user, the shoulder support (13) extends from above the back support (10) to both sides of the user's shoulders and neck, the crotch support (11) is wearably connected to the user's crotch, the thigh and leg support (12) has a first end connected to the bottom of the crotch support (11) and a second end extending toward the back of the thigh, the lower end of the back support (10) is connected to the crotch support (11), so that the free ends of the shoulder support (13) and the free ends of the thigh and leg support (12) have a relatively fixed relative position, and when the user bends, the free ends of the shoulder support (13) and the free ends of the thigh and leg support (12) can rotate around the crotch support (11) as a fulcrum; A transmission mechanism comprises an upper limb transmission mechanism and a waist transmission mechanism, wherein the upper limb transmission mechanism comprises a first winding component (21), a first wire transmission sleeve, and a first transmission wire (211), wherein the first transmission wire (211) passes through the first wire transmission sleeve and can slide relative to the first wire transmission sleeve, and the first winding component (21) is used to retract and release the first transmission wire (211), and the waist transmission mechanism comprises a second winding component (22), a second wire transmission sleeve, and a second transmission wire (221), wherein the second transmission wire (221) passes through the second wire transmission sleeve and can slide relative to the second wire transmission sleeve; a calf leg brace (30) wearably attached to a user's lower limb; Wherein, the first winding component (21) and the second winding component (22) are both connected to the back support (10), and the free ends of the shoulder support (13) and the thigh and leg support (12) are provided with connecting seats (14); The first end of the first wire transmission sleeve is fixed to one side of the first winding component (21), and the second end is connected to the connecting seat (14) at the free end of the shoulder bracket (13); the first end of the first transmission wire (211) is wound around the first winding component (21), and the second end passes through the second end of the first wire transmission sleeve to form a free load end; The first end of the second wire transmission sleeve is fixed to one side of the second winding component (22), and the second end is connected to the connecting seat (14) at the free end of the thigh leg support (12). The first end of the second transmission wire (221) is wound around the second winding component (22), and the second end passes through the second end of the second wire transmission sleeve and is connected to the calf leg support (30).

2. The exoskeleton-assisted robot according to claim 1, characterized in that: The back support (10) includes a support frame and a pair of lower support plates. The support frame is constructed in a rectangular shape. The support frame includes a first area and a second area arranged on the left and right. The first winding component (21) and the second winding component (22) are arranged in the first area. A battery is provided in the second area. The shoulder support (13) includes a pair of upper support plates respectively connected to two upper corners of the support frame, and a pair of lower support plates respectively connected to two lower corners of the support frame.

3. The exoskeleton-assisted robot according to claim 2, characterized in that: The lower support plate extends from the lower corner of the support frame toward the outside of the user's hip, the extension direction of the first end of the lower support plate is perpendicular to the extension direction of the second end, and the width direction of the first end of the lower support plate is perpendicular to the width direction of the second end.

4. The exoskeleton-assisted robot according to claim 1, characterized in that: The hip support (11) is worn on the waist and hips of the user through a wearable accessory, and the hip support (11) is relatively fixed relative to the waist and hips of the user. The thigh and leg support (12) is configured as a linear component. The thigh and leg support (12) and the hip support (11) are detachably connected, and the relative angle between the thigh and leg support (12) and the hip support (11) can be adjusted.

5. The exoskeleton-assisted robot according to claim 2, characterized in that: The first wire transmission sleeve includes only two fixed ends, the first fixed end connects the first wire transmission sleeve to the support frame, and the second fixed end connects the first wire transmission sleeve to the connection seat (14) of the shoulder bracket (13). The second wire transmission sleeve includes only two fixed ends, the third fixed end connects the second wire transmission sleeve to the support frame, and the fourth fixed end connects the second wire transmission sleeve to the connection seat (14) of the thigh leg bracket (12).

6. The exoskeleton-assisted robot according to claim 1, characterized in that: The first winding component (21) further includes a one-way clutch component, which is configured to include a first state and a second state. When the one-way clutch component is in the first state, the first transmission line (211) is allowed to be wound through the first winding component (21) and cannot be released, so that the load connected to the free load end of the first transmission line (211) is lifted or maintained at a predetermined height. When the one-way clutch component is in the second state, the first transmission line (211) is allowed to be wound and released through the first winding component (21).

7. The exoskeleton-assisted robot according to claim 6, characterized in that: The first winding component (21) includes a winding motor (216), a wire take-up reel (214), a ratchet disc (215), and a one-way clutch component. The wire take-up reel (214) and the ratchet disc (215) are relatively fixed and connected to the output end of the winding motor (216). The one-way clutch component includes an electromagnetic drive mechanism (213) and a ratchet (213c). The electromagnetic drive mechanism (213) drives the ratchet (213c) to contact or separate from the ratchet disc (215). When the ratchet (213c) contacts the ratchet disc (215), the wire take-up reel (214) can be driven by the winding motor (216) to reel in the first transmission line (211) and prevent the wire take-up reel (214) from rotating in the opposite direction. When the ratchet (213c) disengages from the ratchet disc (215), the wire take-up reel (214) can rotate in both directions.

8. The exoskeleton-assisted robot according to claim 7, characterized in that: The take-up drum (214) comprises a first winding layer (214a) and a second winding layer (214b); the upper limb transmission mechanism comprises two left and right groups; wherein the left first transmission line and the right first transmission line in the left and right groups of upper limb transmission mechanisms are respectively wound on the first winding layer (214a) and the second winding layer (214b).

9. The exoskeleton-assisted robot according to claim 1, characterized in that: The free load end of the first transmission line (211) is provided with a connection structure, and the connection structure is used to connect to a load and / or a user's hand.

10. A load driving method, characterized in that: Using the exoskeleton-assisted robot according to any one of claims 1 to 8 comprises the following steps: Step 1, pre-adjustment: the user puts on the support structure, and according to the size of the user, controls the first winding component (21) and the second winding component (22) to pre-wind, so that the length of the first transmission line (211) exposed outside the first transmission sleeve is appropriate, and the length of the second transmission line (221) exposed outside the second transmission sleeve is appropriate; Step 2, connecting the load: the user operates the free load end of the first transmission line (211) by hand to connect it to the load; Step 3, lifting the load: controlling the state of the first winding component (21) to cause the first transmission line (211) to be wound, and the load is pulled by the first transmission line (211) and lifted to a predetermined height; Step 4, transferring the load: controlling the state of the first winding component (21) to stop the first transmission line (211) from retracting or releasing the load, so that the load is pulled by the first transmission line (211) and maintained at a predetermined height, and the user transfers the load; Step 5: releasing the load: controlling the state of the first winding component (21) so that the first transmission line (211) is released and the load is lowered to a predetermined height.

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