A wearable assistive support robot

Abstract

The application discloses a wearable auxiliary support robot, which comprises a back wearing auxiliary tool, which is used for wearing the auxiliary support robot to the human body trunk and is provided with a back plate for supporting the human back and for mounting a shoulder joint driving mechanism; the shoulder joint driving mechanism is arranged on the left and right sides of the back plate and is used for driving the left and right and front and back directions of the two degrees of freedom of the telescopic support arm connected with the shoulder joint driving mechanism to swing, realizing the pitching and rolling movement of the human body; the telescopic support arm realizes the height adjustment of the human body trunk through the telescopic movement and constitutes a three-degree-of-freedom mechanical arm with the shoulder joint driving mechanism; and the end support switching device is provided with a foldable roller and can realize the switching between the marching state and the supporting state. The application combines the real-time posture of the wearer and timely adjustment, satisfies the demand of the posture adjustment of the wearer, reduces the efforts of the operator in the supporting state for adjusting the posture and maintaining the posture, and reduces the fatigue feeling.

Description

Technical Field

[0001] The present invention relates to the field of robots, and in particular to a wearable auxiliary support robot. Background Art

[0002] With the continuous development of the manufacturing industry and the increasing demand for production capacity, the demand for assembly and maintenance of large-scale equipment is gradually increasing. Although existing intelligent manufacturing and automated production technologies have effectively improved production efficiency and have replaced manual labor in many application scenarios, special scenarios such as operations in confined spaces such as aircraft wings and cabins still rely on manual labor. In these scenarios, it is often necessary to crawl through some small spaces and maintain a kneeling posture for a long time, which is very likely to induce occupational musculoskeletal diseases and reduce the work efficiency of operators. During maintenance or assembly, operators often need to support themselves with one hand to maintain balance, which not only limits the workspace to a certain extent, but also accelerates the fatigue of operators.

[0003] For operations in confined spaces, more needs are placed on auxiliary support, maintaining a stable posture, portability, and safety protection capabilities. While the exoskeletons in existing wearable robots can help alleviate muscle soreness during support, the limb occupation can seriously affect flexibility during operation. Exolimbs can assist the operator independently of the human body, without interfering with the operator's limbs while effectively expanding the operator's mobility. However, currently, most exolimbs are tandem robotic arms, providing very limited payload capacity.

[0004] For maintenance or work scenarios in confined spaces, existing devices such as repair boards are used for lying and sitting operations. CN 218576209U has developed a detachable and assemblyable repair board that can be used for both lying and sitting positions. It can be detached, used for both lying and sitting positions, can be moved on wheels, and has a screw-type adjustment function. It is convenient in relatively regular environments, but for complex environments, the overall length will greatly affect flexibility and passability. In addition, the overall intelligence level is not high, and it can only be used after adjustment, and cannot be adjusted in real time. Summary of the Invention

[0005] The purpose of the present invention is to provide a wearable auxiliary support robot that can provide effective support, maintain overall stability within an effective range, has a certain posture adjustment ability, is portable and can provide a certain safety protection capability for the wearer.

[0006] The technical solution for achieving the purpose of the present invention is:

[0007] A wearable auxiliary support robot, comprising:

[0008] Back wear assistive device, used to wear the auxiliary support robot on the human torso, and provided with a back plate to support the human back and to install the shoulder joint drive mechanism;

[0009] The shoulder joint drive mechanisms provided on the left and right sides of the back plate are used to drive the retractable support arms connected thereto to swing in two degrees of freedom in the left and right and front and back directions, thereby achieving the pitch and roll motion of the human body.

[0010] The telescopic support arm can adjust the height of the human torso through telescopic movement, and together with the shoulder joint drive mechanism, it forms a three-degree-of-freedom robotic arm;

[0011] The end support switching device is provided with a foldable roller, which can realize the switching between the traveling state and the supporting state.

[0012] Compared with the prior art, the present invention has the following significant advantages:

[0013] (1) The structural design allows the entire device to be disassembled, increasing portability. The optimized four-bar mechanism increases the drive conversion ratio. The push rod acts as a drive, and its self-locking characteristics allow the entire device to remain in its original state even when the power is off, thereby achieving the effect of protecting safety and increasing standby time.

[0014] (2) The multi-sensor fusion method makes the whole system more intelligent. Inertial measurement sensors are set on the torso and thighs, and pressure sensors are set on the robot support points and the contact points between the knees and the ground. Combined with the corresponding control methods in different scenarios, the wearer's flexibility and safety are enhanced.

[0015] (3) The switching between the moving state and the supporting state can reduce the inconvenience and physical exertion caused by frequent standing up during use, and can flexibly adjust to the working environment in complex working scenarios.

[0016] The present invention is described in further detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0018] Figure 2 It is a schematic diagram of the structure of the back wearing assistive device.

[0019] Figure 3 It is a schematic diagram of the shoulder joint drive mechanism structure.

[0020] Figure 4 It is a schematic diagram of the joint drive structure.

[0021] Figure 5 It is a schematic diagram of the telescopic support arm structure.

[0022] Figure 6 It is a structural diagram of the end support switching device.

[0023] Figure 7It is a schematic diagram of the support state.

[0024] Figure 8 It is a schematic diagram of the marching state.

[0025] Figure 9 It is a schematic diagram of the human-machine model. DETAILED DESCRIPTION

[0026] The present invention will be further explained below with reference to the accompanying drawings and specific embodiments.

[0027] Please refer to Figure 1 As shown, this example provides a wearable auxiliary support robot, including: a back-wearable assistive device 1, a shoulder joint driving mechanism 2, a retractable support arm 3, and an end support switching device 4; in this embodiment, the shoulder joint driving mechanism 2 is connected to the back-wearable assistive device 1 as a whole by bolts, a retractable support arm 3 is connected to each side of the shoulder joint driving mechanism 2, and the end support switching device 4 is connected to the end of the retractable support arm 3.

[0028] Please refer to Figure 2 As shown, the back wear assistive device includes a strap 101, a waist belt 102, a buckle 103, a back pad 104, a back plate 105, a position adjustment plate 106, and a lumbar support 107. The back plate 105 is the overall frame of the back wear assistive device. A waist-shaped hole is left on the back plate for connecting the strap 101 and the waist belt 102. The strap 101 and the waist belt 102 are fixed to the human body and the back plate 105 together through the buckle 103. The back plate 105 has some reserved holes for installing the back pad 104, the lumbar support 107, and the position adjustment plate 106. The back pad 104 and the lumbar support 107 are designed to fit the back and waist of the wearer, providing a comfortable wearing experience. The position adjustment plate 106 is provided with mounting holes in different positions for adjusting the position of the shoulder joint drive mechanism on the wearer's back, and for adjusting to the wearer's optimal support position. The optimal position is the one with minimal interference and the largest range of support movement.

[0029] Please refer to Figure 3-4As shown, the shoulder joint drive mechanism includes a reinforcing rib 201, a linear drive 202, a limit block 203, a back plate connecting frame 204, a hinge 205, a combined shaft seat 206, a push rod head 207, a push rod head connecting piece 208, a first connecting rod 209, a second connecting rod 210, a slider 211, a guide rail 212, a joint base plate 213, a stepped shaft 214, a joint motor connecting frame 215, a joint motor 216, a flange bearing 217, and a retaining ring 218; in this embodiment, the back plate connecting frame 204 is connected to the position adjustment plate 106, the reinforcing rib 201 is connected to the four corners of the back plate connecting frame 204 by bolts, and is used to enhance the bending resistance of the back plate connecting frame 204, the end of the linear drive 202 is clamped with the limit block 203 by bolts and gaskets, and the limit block 203 is connected to the back plate connecting frame 204 by bolts. The push rod of the linear drive 202 is connected to one end of the push rod head connecting piece 208 through the push rod head 207, and the other end of the push rod head connecting piece 208 is connected to the side of the slider 211 by a bolt, which is used to drive the slider 211 to move together. The slider 211 cooperates with the guide rail 212, and the first connecting rod 209 and the second connecting rod 210, the second connecting rod 210 and the slider 211, and the combined shaft seat 206 and the back plate connecting frame 204 are all connected by a hinge 205. The first connecting rod 209 and the combined shaft seat 206 are connected by bolts to form a rocker, so that the linear motion of the slider 211 can be transmitted to the combined shaft seat 206 to obtain the required rotation, wherein the hinge 205 and the first connecting rod 209, the second connecting rod 210, the combined shaft seat 206, the back plate connecting frame 204, and the slider 211 are all connected by bolts. The two sliders 211 are set on the same guide rail 212 and arranged symmetrically on the left and right. The drive arrangement and connecting rod distribution are symmetrical structures, which can better balance the forces on both sides. The use of a combined rocker can reduce the overall weight while reducing processing costs and eliminating interference. The driving joint part consists of a joint base plate 213, a stepped shaft 214, a joint motor connecting frame 215, a joint motor 216, a flange bearing 217, and a retaining ring 218. The stepped shaft 214 serves as the core frame. The flange bearing 217 is connected to the center of the joint base plate 213 and cooperates with the second step of the stepped shaft 214. The inner ring of the joint motor 216 is connected to the reserved hole on the bottom surface of the stepped shaft 214. The outer ring of the joint motor 216 is connected to the joint base plate 213 through the joint motor connecting frame 215. The joint motor 216 and the joint motor connecting frame 215, as well as the joint motor connecting frame 215 and the joint base plate 213 are all connected by bolts. The constructed driving joint is connected to the reserved hole of the combined shaft seat 206 through the stepped shaft 214, and the axial relative movement of the combined shaft seat 206 and the stepped shaft 214 is limited by the retaining ring 218.

[0030] Please refer to Figure 5As shown, the telescopic support arm 3 includes a fixed ear piece 301, a sleeve outer tube 302, a limiting sleeve 303, a sleeve inner tube 304, a linear drive mounting frame 305, a linear drive 306, a joint frame 307, a joint 308, a plug 309, a first linear bearing 310, a retaining ring 311, and a second linear bearing 312; in this embodiment, the upper end of the sleeve outer tube 302 is connected to the joint base plate 213 by a bolt through the fixed ear piece 301, the sleeve inner tube 304 is slidably matched with the sleeve outer tube 302, and one end of the sleeve inner tube 304 is connected to the first A straight bearing 310, the first linear bearing 310 is limited by a plug 309 and a retaining ring 311, the first linear bearing 310 cooperates with the inner wall of the outer tube 302 of the sleeve and can slide relatively, the other end of the outer tube 302 of the sleeve is connected to the limiting sleeve 303, the limiting sleeve 303 has a small hole for inserting a pin to limit the second linear bearing 312 inside it, when the limiting sleeve 303 is kept in cooperation with the outer tube 302 of the sleeve, the second linear bearing 312 can be kept at the end of the other end of the outer tube 302 of the sleeve, and the two linear bearings are limited It is ensured that the inner tube 304 of the sleeve and the outer tube 302 of the sleeve can maintain linear motion when they move relative to each other. The other end of the inner tube 304 of the sleeve is connected to the joint 308, and the joint 308 is connected to the joint frame 307 by bolts. The two linear drive mounting frames 305 are respectively installed on the joint base plate 213 and the joint frame 307, and are connected by bolts. The mounting holes at both ends of the linear drive 306 are respectively fixed to the two linear drive mounting frames 305 by bolts. Here, the sleeve is mainly used to bear the radial force during use to ensure that the linear drive 30 6 will not be damaged due to the radial force, and at the same time it can also enhance the overall bending resistance of the telescopic support arm, and have less interference with the control while maintaining a certain overall quality. When the telescopic support arm 3 is extended, the linear drive 306 pushes the linear drive mounting frame 305 to perform linear motion, thereby driving the inner tube 304 of the sleeve to perform linear motion relative to the outer tube 302 of the sleeve. A contact switch is installed inside the head and tail of the linear drive 202 and the linear drive 306 respectively, which is used to detect whether the linear drive has reached the limit stroke and disconnect it after reaching the condition to protect the linear drive.

[0031] Please refer to Figure 6 、 Figure 8As shown, the end support switching device 4 includes a ball joint 401, a wheel 402, a rubber pad 403, and a locking switch 404. One end of the ball joint 401 is connected to the joint frame 307, and the other end is connected to the side of one end of the wheel 402. The rubber pad 403 is fixed to the side of the other end of the wheel 402. The locking switch 404 is connected to the joint frame 307 by bolts, and the slotted end is close to the side of the retractable support arm with the linear drive 306. When in the moving state, the wheel 402 folds laterally so that the protrusion of the wheel 402 shaft is stuck in the notch of the locking switch 404. During the support process, the wheel 402 can be kept on the side due to the support force, thereby achieving the change from the leg type in the support state to the wheel type. When the wheel 402 is in the supporting state, the rubber pad 403 on the side of the wheel 402 contacts the ground. The rubber pad 403 increases the friction to better stabilize the supporting end. The ball joint 401 ensures that the rubber pad 403 can better fit the ground when the human body posture changes to prevent tilting.

[0032] Please refer to Figure 7 As shown, when the whole is in a supporting state, the retractable support arm 3 will rotate to an initial position perpendicular to the plane of the back plate 105. The wearer first kneels on the ground with his hands on the ground. The retractable support arm 3 extends under the drive of the linear drive 306 until the pressure sensor between the wheel 402 and the rubber pad 403 detects a value not equal to 0. At this time, the position of the whole can be used as the initial position of support, and the wearer's hands can be taken off the ground for work.

[0033] The human torso and thigh are equipped with inertial measurement sensors. The inertial measurement sensors on the torso are used to detect the pitch angle of the human body. and roll angle The inertial measurement sensor set on the thigh measures the angle between the thigh and the Z axis as θ leg The pressure sensor between the wheel 402 and the rubber pad 403 measures the ground support force f on the two supporting points of the external limb. E 、f F In addition, a pressure sensor is set on the human knee to measure the ground support force f on the knee through the pressure sensor installed on the contact surface between the human knee and the ground K (It can be obtained by averaging the values ​​measured at the two knee positions), the data detected by the pressure sensor and the inertial measurement sensor are transmitted to the controller, the controller calculates the posture of the center point B of the back plate 105 and the center of mass position of the whole composed of the human body and the external limbs, and controls the amount of motion required for each joint of the external limbs. Each drive of the external limbs moves to the corresponding position according to the required amount of motion, thereby achieving the purpose of assisting the wearer to reach the target position and avoiding safety accidents.

[0034] Please refer to Figure 9As shown in the figure, the direction of the wearer's kneeling posture is the Y-axis direction, the vertical upward direction is the Z-axis direction, and the X-axis direction is determined by these two axes according to the right-hand rule. The world coordinate origin O is the measurement point, and the external limb support points are E and F, where E is the right support point of the human body and F is the left support point of the human body. The coordinates of point E can be obtained by measuring the instrument of the world coordinate origin O as (x E ,y E , z E ), the coordinates of point F are (x F ,y F , z F ), the coordinates of point K are (x K ,y K , z k ), for the convenience of modeling, EF is selected to be perpendicular to the Y axis, point N is the midpoint of EF, and the coordinates of point N are (x N ,y N , z N ) can be calculated from points E and F. Point K is the midpoint of the contact point between the human knee and the ground. Here, NK is parallel to the Y axis, and the length of NK is l NK , H point is the center of the human hip joint, HK represents the wearer's thigh, and its length is l leg , the angle between HK and Z axis is θ leg , used to represent the angle of rotation of the thigh around point K, point M is a point on the axis of the human body, and the line BM connecting the center point B of the back plate 105 and point M is perpendicular to MH, and the length of MH is l MH Point A and point D are the left and right rotation centers of the shoulder joint of the external limb respectively. Point G is the intersection of the perpendicular line from point M to the straight line NK. The foot of the perpendicular is G, and the length of MG is h.

[0035] In order to study the wearer's posture relatively simply, the posture of point B is taken as the research target. The posture of point B can be expressed by the coordinates of the X, Y, and Z axes and the rotation angles around the X, Y, and Z axes, which can be written as where x B 、y B 、z B Indicates the coordinates of point B relative to the world coordinate origin O, Represents the attitude angle of point B, which is the rotation angle around the X, Y, and Z axes. Since the attitude change around the Z axis is not a stable attitude, only the pitch and roll attitude changes of the human body are considered here, that is, only Two attitude angle changes and y B 、z B Two coordinate positions are changed.

[0036] When the human body is in a supporting state, the height of point M from the horizontal plane can be calculated by the wearer's posture, that is, Since BM and MH are perpendicular to each other, the coordinate of point B in the Z-axis direction can be obtained. NG length So the coordinate y of point G on the Y axis is G =y N -l NG , there is a geometric relationship to get the coordinate of point B on the Y axis The movement in the X-axis direction is not considered here, so x B =x N The attitude angles of point B are measured and calculated by the inertial measurement sensor, so the current posture state P of point B can be obtained.

[0037] Here use Represents the coordinate transformation relationship of the base coordinate system {B} of point B relative to the base coordinate system {O} of the world coordinate system origin O, Indicates the transformation relationship between the reference coordinate system {D} of point D and the reference coordinate system {B} of point B, It represents the transformation relationship between the reference coordinate system {A} of point A and the reference coordinate system {B} of point B. The measured coordinates of point E are the coordinates in the world coordinate system {O}, which can be written in the homogeneous form as In order to perform the inverse solution, the coordinates of point E need to be converted to the coordinate system of the ipsilateral shoulder joint, which corresponds to the {D} system. Then, the coordinates of point E in the {D} coordinate system can be obtained and written in matrix form: in Representation matrix The inverse operation of Representation matrix The inverse operation is similarly required to convert the coordinates of point F to the {A} system and write it in matrix form. in Representation matrix The inverse operation of .

[0038] The robotic arms composed of the shoulder joint drive mechanisms and the retractable support arms on both sides are three-degree-of-freedom robotic arms, so the inverse kinematics calculation can be done using the geometric method. According to the mutual conversion formula between the polar coordinate system and the rectangular coordinate system, two deflection angles and a length can be obtained. Since the left and right sides need to be calculated separately, the symbols i=l or r are used to refer to the left and right sides, j=E or F to refer to the support points on the left and right sides, and k=A or D to refer to the rotation centers of the shoulder joints on the left and right sides. k P j That is, the coordinates of point j in the coordinate system of k, k P jx 、k P jy 、 k P jz That is, the coordinate values ​​of point j in the x, y, and z axes in the coordinate system of point k. One of the deflection angles is Another one is The length is Here θ l2 Driven by the crank slider mechanism (i.e., the first connecting rod, the second connecting rod, and the slider), the linear drive 202 drives the slider 211 to achieve the rotation effect, thereby controlling the inward and outward expansion of the left robotic arm. Here, the extension and contraction amount of the linear drive 202 is l1 represents the length of the second connecting rod 210, l2 represents the length of the first connecting rod 209, d represents the straight-line distance between point B and AD, θ i3 represents the rotation amount of the joint motor 216 in the shoulder joint drive mechanism 2 that controls the swing of the wearer's left robotic arm, l i4 Represents the state quantity of the left telescopic support arm 3, and the state quantities of each drive on the left and right sides are written in matrix form as

[0039] The above calculations related to the inverse kinematics of the external limbs are organized into a simplified function:

[0040]

[0041] Here q l ,q r Represents the state of the three driving joints of the left and right external limb arms, g l 、g r They are the functions corresponding to the inverse kinematics of the left and right manipulators of the external limbs, and the combined total driving state quantity of the external limbs q = (q l q r ) T , taking the derivative of q with respect to time, we can get the Jacobian matrix J between the infinitesimal joint displacement dq and the posture of the center point B of the backboard 105: dq=Jdx,

[0042] In this way, the instantaneous speed of each joint drive motion can be obtained, which is used for precise control of each drive.

[0043] When a human body in a supporting state wants to reach a certain target position, it can send an instruction for the target coordinate position of point B. The position of point B is obtained through the above human posture solution, and then the inverse kinematics of the external limb is used to solve the required amount of motion for each joint of the external limb. Each drive of the external limb moves to the corresponding position according to the required amount of motion, thereby achieving the purpose of assisting the wearer to reach the target position.

[0044] In the support state, the two support points E and F of the outer limb and the contact point K between the wearer's knee and the ground form a triangular plane. The ground support force f exerted on the two support points of the outer limb is measured by the pressure sensor between the wheel 402 and the rubber pad 403. E 、f F The ground support force f on the knee is measured by installing a pressure sensor on the contact surface between the human knee and the ground K Here, it is assumed that the coordinates of the center of mass of the human body and external limbs projected on the horizontal plane are C(x C ,y C ), according to the zero moment theory, the sum of the moments of points E, F, and K relative to the coordinate position of the center of mass projected on the horizontal plane is zero, so we can get:

[0045]

[0046] If the coordinates of point C are inside the triangle, it can be determined that the whole is in a stable state. If it is about to exceed the limit, it is necessary to immediately initiate an emergency stop to stop the movement of the external limbs in time to avoid safety accidents.

[0047] refer to Figure 8 As shown, when the whole is in the moving state, the retractable support arm 3 will rotate to the initial position perpendicular to the plane of the back plate 105, the linear drive 202 in the shoulder joint drive mechanism 2 will extend to the maximum distance to control the retractable support arm 3 to the maximum extent, and the wheel 402 will fold toward the side of the linear drive 306, so that the end of the ball joint 401 is stuck in the gap of the locking switch 404, thereby forming a supportable wheeled structure. The wearer can rely on the wheeled support body to kneel forward, and both hands are still free to pick up items or avoid obstacles during the journey. During this process, the length of the retractable support arm 3 does not change, and the shoulder joint drive mechanism will adjust accordingly to adapt to the angle changes during the kneeling process. There will still be stability detection to prevent overturning during the journey.

[0048] The introduction of inertial measurement sensors and pressure sensors can detect human body posture and overall center of mass position in real time, reflecting the real-time interaction between the wearable auxiliary support robot and the wearer. The controller can adjust the overall state of the wearable robot in real time to cooperate with the human body to achieve the optimal support position.

Claims

1. A wearable auxiliary support robot, characterized in that: include: Back wear assistive device, used to wear the auxiliary support robot on the human torso, and provided with a back plate to support the human back and to install the shoulder joint drive mechanism; The shoulder joint drive mechanisms provided on the left and right sides of the back plate are used to drive the retractable support arms connected thereto to swing in two degrees of freedom in the left and right and front and back directions, thereby achieving the pitch and roll motion of the human body. The telescopic support arm can adjust the height of the human torso through telescopic movement, and together with the shoulder joint drive mechanism, it forms a three-degree-of-freedom robotic arm; The end support switching device is equipped with foldable rollers to achieve switching between the traveling state and the supporting state; The first pressure sensor is set at the side end of the roller and is used to detect the support force f between the left and right end support switching devices and the ground support point in the support state. E 、f F ; The second pressure sensor is used to detect the ground support force f applied to the knee when the knee contacts the ground. K ; Inertial measurement sensor for detecting the pitch angle of the human body and roll angle and the angle θ between the thigh and the vertical direction leg ; The controller uses the data detected by the two pressure sensors and the inertial measurement sensor to calculate the position of the center point of the backboard and the center of mass position of the entire body composed of the human body and the auxiliary support robot to control the required movement of the three-degree-of-freedom robotic arm; The shoulder joint driving mechanism comprises: Backplane connecting frame, used for connecting with the backplane; Guide rail, fixed on the backplane connecting frame; Two sliders arranged on the guide rail; a first connecting rod, one end of which is hinged to a slider and the other end of which is hinged to one end of the second connecting rod; a second connecting rod, the other end of which is hinged to the combined axle seat; Combined shaft seat hinge for connecting joint motor; The joint motor is used to drive the retractable support arm to swing back and forth; Two linear drives are fixed on the back plate connecting frame and are connected to one of the sliders through the push rod head connecting piece respectively, which are used to drive the slider to move forward and backward linearly, so as to realize the left and right swing of the telescopic support arm; The end support switching device includes: A ball joint, one end of which is connected to the telescopic support arm and the other end is connected to the side of one end of the wheel; Wheel, with rubber pad on the other side, The locking switch is connected to the telescopic support arm and is provided with a notch, which can be engaged with the protrusion of the wheel shaft when the wheel is folded sideways to the moving state.

2. The wearable auxiliary support robot according to claim 1, characterized in that: The left and right swing angles of the three-degree-of-freedom robotic arm are: The forward and backward swing angle is: The length is: in k P jx 、 k P jy 、 k P jz That is, the coordinate value of point j in the coordinate system of k, j = E or F to refer to the left and right support points, k = A or D to refer to the left and right shoulder joint rotation centers; The coordinate value of k is obtained by the coordinate transformation of the backplane center point B; Coordinates of the backplane center point B: x B =x N , where x N ,y N is the coordinate of the midpoint N of the left and right support points, l NK The distance between the midpoint N of the left and right support points and the midpoint K of the contact point between the human knee and the ground; l MH is the distance from point M on the human trunk axis to point H, the center of the human hip joint. BM is the distance from the center point B of the backplane to point M. The line BM connecting the center point B of the backplane and point M is perpendicular to MH.

3. The wearable auxiliary support robot according to claim 1, characterized in that: The center of mass coordinates of the entire body composed of the human body and the auxiliary support robot projected on the horizontal plane are: where x E ,y E is the coordinate of the left support point, x F ,y F is the coordinate of the right support point, x K ,y K is the coordinate of the midpoint K of the contact point between the human knee and the ground; the horizontal plane is the triangular plane formed by the left and right support points and the midpoint K of the contact point between the human knee and the ground. If the obtained center of mass coordinate is inside the triangle, it is determined that the whole is in a stable state.

4. The wearable auxiliary support robot according to claim 1, characterized in that: The extension and contraction of the linear drive is: Where l1 represents the length of the second link, l2 represents the length of the first link, d represents the straight-line distance between the center point B of the back plate and the line AD connecting the rotation centers of the left and right shoulder joints, θ i2 Indicates the left and right swing angle of the three-degree-of-freedom robotic arm.

5. The wearable auxiliary support robot according to claim 1, characterized in that: The retractable support arm comprises: casing outer tube; A fixing lug is used to fix the upper end of the outer tube of the casing; The inner tube of the casing is slidably matched with the outer tube of the casing, and linear bearings are provided at both ends; the bottom of the inner tube of the casing is connected to the joint; A joint frame connected to the bottom of the inner tube of the casing; Two linear drive mounting brackets respectively connect the fixed ear piece, the joint bracket and the shoulder joint drive mechanism; The linear drive is connected to the two linear drive mounting brackets and is used to promote the linear motion of the inner tube of the casing relative to the outer tube of the casing.

6. The wearable auxiliary support robot according to claim 1, characterized in that: The back wearing assistive device comprises: The shoulder straps and waist belt are used to fix the human body and the backboard together through buckles; the backboard is provided with a back pad and waist support.

7. The wearable auxiliary support robot according to claim 6, characterized in that: The back plate is provided with a position adjustment plate, and the position adjustment plate is provided with mounting holes at different positions for adjusting the mounting position of the shoulder joint drive mechanism.

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