An active power-assisted exoskeleton

Abstract

The present invention relates to the field of power-assisted exoskeleton, in particular to an active power-assisted exoskeleton, which includes a waist support component, two leg support components, two power components, two speed limiting devices and two joint housings, wherein the two ends of the waist support component are respectively connected to the two joint housings, one end of the leg support component is connected to the joint housing, and the other end of the leg support component is used to be fixed to the human thigh, the power component is arranged inside the joint housing, the power component is used to drive the leg support component to rotate, the speed limiting device is arranged between the power group and the leg support component, and the speed limiting device is used to limit the rotation speed of the power component. The speed limiting device ensures that the rotation speed of the joint is kept within a safe range, and prevents occupational injuries such as sprains and strains caused by excessive joint rotation speed.

Description

Technical Field

[0001] The present invention relates to the field of power-assisted exoskeletons, in particular to an active power-assisted exoskeleton. Background Art

[0002] The active waist and abdomen assist exoskeleton is designed to provide the necessary assistance and support when the wearer lifts heavy objects and bends to maintain a specific posture. The exoskeleton system has the ability to intelligently identify the wearer's movement intentions. When the wearer needs to stand up, the system can automatically transfer the power of the waist to the legs, thereby greatly reducing the pressure and burden on the waist. In addition, the walking assist exoskeleton can actively apply appropriate power to help the wearer's legs complete the walking action by accurately identifying the wearer's walking intentions and combining their unique gait and movement patterns, significantly reducing the burden on the legs during walking.

[0003] However, many technical solutions currently on the market often ignore the importance of safety protection devices in their designs, which results in the inability to provide the wearer with necessary protection measures when the rotation speed of the exoskeleton joints is too high. This design defect may pose a potential threat to the wearer's safety. Summary of the invention

[0004] The technical problem to be solved by the present invention is to solve one or more technical problems existing in the prior art and at least provide a beneficial choice or create conditions.

[0005] The solution of the present invention to its technical problem is: an active power-assisted exoskeleton, including a waist support component, two leg support components, two power components, two speed limiting devices and two joint housings, the two ends of the waist support component are respectively connected to the two joint housings, one end of the leg support component is connected to the joint housing, and the other end of the leg support component is used to be fixed to the human thigh, the power component is arranged inside the joint housing, the power component is used to drive the leg support component to rotate, the speed limiting device is arranged between the power component and the leg support component, and the speed limiting device is used to limit the rotation speed of the power component.

[0006] The beneficial effects of the present invention are as follows: the present invention provides an exoskeleton system with an integrated speed limiting device, which significantly improves the safety of the wearer. When the wearer uses the exoskeleton device, the waist support assembly is fixed to the user's waist, and the leg support assembly is fixed to the user's legs. The leg support assembly is driven to rotate by the power assembly, which reduces the wearer's physical exertion and improves work efficiency. In a high-intensity or high-risk environment, the speed limiting device ensures that the rotation speed of the power assembly remains within a safe range, effectively preventing occupational injuries such as sprains and strains caused by excessive rotation speed of the power assembly.

[0007] As a further improvement of the above technical solution, the power assembly includes a motor housing and a brushless motor and a planetary reducer both arranged inside the motor housing, the brushless motor includes a coaxially arranged motor rotor and a motor stator, the motor rotor is arranged on the outside of the motor stator, and the planetary reducer is arranged in a hollow position of the motor stator.

[0008] As a further improvement of the above technical solution, since there is no direct contact between the rotor and stator of the brushless motor, the maintenance work required for the brushless motor during operation is greatly reduced, thereby significantly extending its service life. The brushless motor has a larger inner diameter, and the planetary reducer can be integrated inside the brushless motor, effectively utilizing limited space resources and achieving a more compact design in the axial direction, thereby further optimizing the overall mechanical structure.

[0009] As a further improvement of the above technical solution, the power assembly also includes a first connecting member, a second connecting member and an output shaft, the planetary reducer includes a sun gear, a planetary gear and a ring gear, the first connecting member connects the motor rotor and the sun gear, the sun gear is meshed with the planetary gear, the sun gear drives the planetary gear to rotate along the ring gear, and the second connecting member connects the planetary gear and the output shaft.

[0010] As a further improved beneficial effect of the above technical solution, the motor rotor is connected to the sun gear through the first connecting member, thereby realizing effective transmission of power. The meshing design of the sun gear and the planetary gear enables the sun gear to drive the planetary gear to rotate along the ring gear, providing a larger reduction ratio. This enables the high-speed rotation of the motor to be converted into the low-speed and high-torque output required by the exoskeleton, thereby enhancing the power-assisting effect of the exoskeleton. The compact structure of the planetary reducer can also reduce the size of the joint part and obtain better use effect.

[0011] As a further improvement of the above technical solution, the speed limiting device includes a ratchet, a chassis, a first pawl and a first spring, the ratchet is fixedly connected to the joint housing, one end of the first pawl is provided with a first block, the ratchet is provided with a ratchet matching the first block, the first pawl is movably connected to the chassis through an axle pin, the chassis is provided with a connecting part and an inner rod, the connecting part is used to connect the leg support assembly, one end of the first spring is connected to an end of the first pawl away from the first block, the other end of the first spring is connected to the inner rod, and the first spring has a tendency to push the first pawl away from the inner rod.

[0012] As a further improvement of the above technical solution, when the rotation speed reaches a higher level, due to the centrifugal force, the pawl can overcome the force of the spring, and the end of the pawl with the block will move toward the ratchet wheel and finally get stuck in the ratchet teeth on the ratchet wheel to achieve a stuck state. This stuck state effectively limits the rotation of the moving parts, thereby preventing equipment damage or safety accidents that may be caused by over-speed rotation, and ensuring the safe and stable operation of the entire system.

[0013] As a further improvement of the above technical solution, the speed limiting device also includes a second pawl and a second spring, the second pawl is movably connected to the chassis through an axle pin, the first pawl and the second pawl are arranged opposite to each other, one end of the second pawl is provided with a second block matching the ratchet, one end of the second spring is connected to an end of the second pawl away from the second block, the other end of the second spring is connected to the inner rod, and the second spring has a tendency to push the second pawl away from the inner rod.

[0014] As a beneficial effect of further improvement of the above technical solution, the two pawls correspond to the movement of the moving parts in the positive and negative rotation directions, ensuring that no matter how the equipment rotates, once the speed exceeds the preset safety threshold, the two pawls can be stuck in time, thereby effectively preventing the equipment from continuing to run at high speed, avoiding mechanical failure or damage caused by excessive speed, and improving the safety and reliability of the equipment.

[0015] As a further improvement of the above technical solution, the active power-assisted exoskeleton also includes a force sensor, which includes a sensor body, a sensor shaft, a power input disc and a power output disc, the power input disc and the power output disc are both rotatably connected to the sensor shaft, one side of the power input disc is connected to the connecting portion, and a first protrusion is provided on the other side of the power input disc, one side of the power output disc is connected to the leg support assembly, and a second protrusion is provided on the other side of the power output disc, and both sides of the sensor body are respectively connected to the first protrusion and the second protrusion.

[0016] As a beneficial effect of further improvement of the above technical solution, when the rotation directions are different, the force sensor installed between the power output disc and the input disc will bear pressure and tension respectively, so that the same sensor can effectively measure the forces generated in two different rotation directions, thereby improving the measurement accuracy, simplifying the structure of the equipment, reducing costs, and also bringing convenience to the maintenance and operation of the equipment.

[0017] As a further improvement of the above technical solution, the active power-assisted exoskeleton also includes a joint encoder, which is arranged at the end of the output shaft and is used to output a joint angle signal.

[0018] As a beneficial effect of further improvement of the above technical solution, the joint encoder can realize accurate measurement and feedback of joint angles, and output joint angle signals in real time, making monitoring and control more real-time and accurate. The feedback of joint angle signals provides important data for the optimization of control algorithms, which can significantly improve the smoothness and response speed of motion control, ensuring the efficient and stable operation of the mechanical system.

[0019] As a further improvement of the above technical solution, the waist support assembly includes a first inertial measurement unit, a waist support body and a waist strap, the first inertial measurement unit is arranged on the waist support body, and both ends of the waist strap are connected to the waist support body.

[0020] As a further improved beneficial effect of the above technical solution, the first inertial measurement unit can output accurate kinematic information in real time to evaluate and adjust the support strength, posture and movement pattern. The waist strap ensures the stability and fit of the waist support body, and also provides additional comfort and flexibility, so that the user can remain comfortable when wearing it for a long time.

[0021] As a further improvement of the above technical solution, the leg support assembly includes a second inertial measurement unit, a leg support body and a leg strap, the second inertial measurement unit is arranged on the leg support body, and both ends of the leg strap are connected to the leg support body.

[0022] As a beneficial effect of further improvement of the above technical solution, the second inertial measurement unit can monitor and output the kinematic information of the user's legs in real time so as to evaluate and optimize sports performance and prevent sports injuries. The leg straps ensure that the leg support body can be firmly fixed on the user's legs, and its comfort and adjustability are also fully considered to adapt to users of different body shapes and provide a personalized support experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the structure of the present invention;

[0024] Figure 2 It is an exploded view of the assembly of the power unit, speed limiting device, joint housing and force sensor;

[0025] Figure 3 It is a schematic diagram of the structure of the speed limiting device;

[0026] Figure 4 It is a structural diagram of the force sensor.

[0027] In the accompanying drawings: 1-lumbar support assembly, 2-leg support assembly, 3-joint housing, 301-power assembly, 302-speed limiter, 303-motor housing, 304-brushless motor, 305-planetary reducer, 306-motor rotor, 307-motor stator, 308-first connecting member, 309-second connecting member, 310-output shaft, 311-sun gear, 312-planetary gear, 313-gear ring, 314-spike Wheel, 315-chassis, 316-first pawl, 317-first spring, 318-first block, 319-ratchet, 320-connecting part, 321-inner rod, 322-second pawl, 323-second spring, 324-second block, 325-force sensor, 326-sensor body, 327-sensing shaft, 328-power input disk, 329-power output disk, 330-first protrusion, 331-second protrusion. DETAILED DESCRIPTION

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the above briefly describes the drawings required for use in the description of the embodiments. Obviously, the drawings described are only part of the embodiments of the present invention, not all of the embodiments, and those skilled in the art can also obtain other design solutions and drawings based on these drawings without creative work.

[0029] The following will clearly and completely describe the concept, specific structure and technical effects of the present invention in combination with the embodiments and drawings, so as to fully understand the purpose, characteristics and effects of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, other embodiments obtained by technicians in this field without creative work are all within the scope of protection of the present invention. In addition, all the connection / connection relationships mentioned in the text do not refer to the direct connection of components, but refer to the formation of a better connection structure by adding or reducing connection accessories according to the specific implementation situation. The various technical features in the present invention can be combined interchangeably without conflicting with each other.

[0030] The active waist and abdomen assist exoskeleton is designed to provide the necessary assistance and support when the wearer lifts heavy objects and bends to maintain a specific posture. The exoskeleton system has the ability to intelligently identify the wearer's movement intentions. When the wearer needs to stand up, the system can automatically transfer the power of the waist to the legs, thereby greatly reducing the pressure and burden on the waist. In addition, the walking assist exoskeleton can actively apply appropriate power to help the wearer's legs complete the walking action by accurately identifying the wearer's walking intentions and combining their unique gait and movement patterns, significantly reducing the burden on the legs during walking.

[0031] However, many technical solutions currently on the market often ignore the importance of safety protection devices in their designs, which results in the inability to provide the wearer with necessary protection measures when the rotation speed of the exoskeleton joints is too high. This design defect may pose a potential threat to the wearer's safety.

[0032] To this end, the present invention proposes an active power-assisted exoskeleton, referring to Figure 1 to Figure 4 , including a waist support component 1, two leg support components 2, two power components 301, two speed limiting devices 302 and two joint housings 3, the two ends of the waist support component 1 are respectively connected to the two joint housings 3, one end of the leg support component 2 is connected to the joint housing 3, and the other end of the leg support component 2 is used to be fixed to the human thigh, the power component 301 is arranged inside the joint housing 3, the power component 301 is used to drive the leg support component 2 to rotate, the speed limiting device 302 is arranged between the power component 301 and the leg support component 2, and the speed limiting device 302 is used to limit the rotation speed of the power component 301.

[0033] The present invention provides an exoskeleton system integrated with a speed limiting device 302, which significantly improves the safety of the wearer. When the wearer uses the exoskeleton device, the waist support assembly 1 is fixed to the user's waist, and the leg support assembly 2 is fixed to the user's legs. The leg support assembly 2 is driven to rotate by the power assembly 301, which reduces the wearer's physical exertion and improves work efficiency. In a high-intensity or high-risk environment, the speed limiting device 302 ensures that the rotation speed of the power assembly 301 remains within a safe range, effectively preventing occupational injuries such as sprains and strains caused by excessive rotation of the power assembly 301.

[0034] The current exoskeleton power-assisted robot technology solutions usually use motors and harmonic reducers as joint drive actuators. Due to the large weight of the motor and reducer, the weight of the joint structure increases, the axial size becomes larger, and the structural power density decreases, and the endurance time is shortened. For the wearer, this increases the load and causes inconvenience in wearing. Therefore, in one embodiment, the power assembly 301 includes a motor housing 303 and a brushless motor 304 and a planetary reducer 305 both arranged inside the motor housing 303, the brushless motor 304 includes a coaxially arranged motor rotor 306 and a motor stator 307, the motor rotor 306 is arranged outside the motor stator 307, and the planetary reducer 305 is arranged in a hollow position of the motor stator 307. Since there is no direct contact between the rotor and stator of the brushless motor 304, the maintenance work required for the brushless motor 304 during operation is greatly reduced, thereby significantly extending its service life. The brushless motor 304 has a larger inner diameter, and the planetary reducer 305 can be integrated inside the brushless motor 304, effectively utilizing limited space resources and achieving a more compact design in the axial direction, thereby further optimizing the overall mechanical structure.

[0035] If the size and weight of the joints are large, the portability and comfort of the exoskeleton will be affected. Therefore, in one embodiment, the power assembly 301 further includes a first connecting member 308, a second connecting member 309 and an output shaft 310, the planetary reducer 305 includes a sun gear 311, a planetary gear 312 and a ring gear 313, the first connecting member 308 connects the motor rotor 306 and the sun gear 311, the sun gear 311 meshes with the planetary gear 312, the sun gear 311 drives the planetary gear 312 to rotate along the ring gear 313, and the second connecting member 309 connects the planetary gear 312 and the output shaft 310. The motor rotor 306 is connected to the sun gear 311 through the first connecting member 308, thereby realizing effective transmission of power. The meshing design of the sun gear 311 and the planetary gear 312 enables the sun gear 311 to drive the planetary gear 312 to rotate along the ring gear 313, providing a larger reduction ratio, which enables the high-speed rotation of the motor to be converted into the low-speed and high-torque output required by the exoskeleton, thereby enhancing the power-assisting effect of the exoskeleton. The compact structure of the planetary reducer 305 can also reduce the size of the joint part to obtain a better use effect.

[0036] During continuous and high-intensity use, the exoskeleton joint may cause potential injury risks due to excessive speed. Therefore, in one embodiment, the speed limiting device 302 includes a ratchet 314, a chassis 315, a first pawl 316 and a first spring 317, the ratchet 314 is fixedly connected to the joint housing 3, one end of the first pawl 316 is provided with a first block 318, the ratchet 314 is provided with a ratchet tooth 319 matched with the first block 318, the first pawl 316 is movably connected to the chassis 315 through an axle pin, the chassis 315 is provided with a connecting portion 320 and an inner rod 321, the connecting portion 320 is used to connect the leg support assembly 2, one end of the first spring 317 is connected to the end of the first pawl 316 away from the first block 318, the other end of the first spring 317 is connected to the inner rod 321, and the first spring 317 has a tendency to push the first pawl 316 away from the inner rod 321. When the speed reaches a higher level, due to the centrifugal force, the pawl can overcome the force of the spring, and one end of the pawl with the block will move toward the ratchet 314, and finally get stuck in the ratchet teeth 319 on the ratchet 314, thus achieving a stuck state. This stuck state effectively limits the rotation of the moving parts, thereby preventing equipment damage or safety accidents that may be caused by over-speed rotation, and ensuring the safe and stable operation of the entire system.

[0037] In actual application, according to different usage requirements and scenarios, the design of the joint allows it to rotate forward and backward. Therefore, in one embodiment, the speed limiting device 302 also includes a second pawl 322 and a second spring 323, the second pawl 322 is movably connected to the chassis 315 through a shaft pin, the first pawl 316 and the second pawl 322 are arranged oppositely, one end of the second pawl 322 is provided with a second block 324 that matches the ratchet 319, one end of the second spring 323 is connected to the end of the second pawl 322 away from the second block 324, the other end of the second spring 323 is connected to the inner rod 321, and the second spring 323 has a tendency to push the second pawl 322 away from the inner rod 321. The two pawls correspond to the movement of the moving parts in the forward and reverse directions of rotation, ensuring that no matter how the device rotates, once the speed exceeds the preset safety threshold, the two pawls can be stuck in time, thereby effectively preventing the device from continuing to run at a high speed, avoiding mechanical failure or damage caused by excessively high speed, and improving the safety and reliability of the device.

[0038] In terms of exoskeleton assisted robot joint torque control, the existing technical solutions either lack torque sensors to achieve torque closed-loop control, or although torque sensors are installed, the structural size and weight are increased. Therefore, in one embodiment, the active assisted exoskeleton also includes a force sensor 325, the force sensor 325 includes a sensor body 326, a sensor shaft 327, a power input disk 328 and a power output disk 329, the power input disk 328 and the power output disk 329 are both rotatably connected to the sensor shaft 327, one side of the power input disk 328 is connected to the connecting portion 320, the other side of the power input disk 328 is provided with a first protrusion 330, one side of the power output disk 329 is connected to the leg support assembly 2, the other side of the power output disk 329 is provided with a second protrusion 331, and the two sides of the sensor body 326 are respectively connected to the first protrusion 330 and the second protrusion 331. When the rotation directions are different, the force sensor 325 installed between the power output disc 329 and the input disc will bear pressure and tension respectively, so that the same sensor can effectively measure the forces generated in two different rotation directions, thereby improving the measurement accuracy, simplifying the structure of the equipment, reducing costs, and also bringing convenience to the maintenance and operation of the equipment.

[0039] In the control system, the feedback of the joint angle signal is the key data source for optimizing the control algorithm. Without this key data, the smoothness of the motion control will be seriously affected, and the response speed of the system will also be reduced, thereby affecting the performance of the entire system. Therefore, in one embodiment, the active power-assisted exoskeleton also includes a joint encoder, which is arranged at the end of the output shaft 310, and the joint encoder is used to output the joint angle signal. The joint encoder can realize accurate measurement and feedback of the joint angle, and output the joint angle signal in real time, so that monitoring and control become more real-time and accurate. The feedback of the joint angle signal provides important data for the optimization of the control algorithm, which can significantly improve the smoothness and response speed of the motion control, and ensure the efficient and stable operation of the mechanical system.

[0040] When using the lumbar support, sliding or displacement may occur, resulting in the inability to fully exert its support function. Therefore, in one embodiment, the lumbar support assembly 1 includes a first inertial measurement unit, a lumbar support body and a lumbar strap, wherein the first inertial measurement unit is disposed on the lumbar support body, and the two ends of the lumbar strap are connected to the lumbar support body. The first inertial measurement unit can output accurate kinematic information in real time in order to evaluate and adjust the support strength, posture and movement mode. The lumbar strap ensures the stability and fit of the lumbar support body, and also provides additional comfort and flexibility, so that the user can remain comfortable even when wearing it for a long time.

[0041] When using the leg support, sliding or displacement may occur, resulting in the inability to fully exert its support function. Therefore, in one embodiment, the leg support assembly 2 includes a second inertial measurement unit, a leg support body and a leg strap, and the second inertial measurement unit is arranged on the leg support body, and the two ends of the leg strap are connected to the leg support body. The second inertial measurement unit can monitor and output the kinematic information of the user's legs in real time, so as to evaluate and optimize sports performance and prevent sports injuries. The leg strap ensures that the leg support body can be firmly fixed on the user's legs, and its comfort and adjustability are also fully considered to adapt to users of different body shapes and provide a personalized support experience.

[0042] During use, the active power-assisted exoskeleton of the above embodiment firmly connects the user to the leg support body and the waist support body through the leg straps and the waist straps. The first inertial measurement unit and the second inertial measurement unit are responsible for detecting the user's kinematic data. The joint encoder is used to detect and output the joint angle signal. The force sensor 325 measures the pressure and tension between the power output disk 329 and the input disk. The joint torque information is obtained through signal processing, and the output torque is precisely controlled. After receiving the signal, the motor performs forward or reverse operation to drive the leg support assembly 2 to provide power assistance. When the speed is too high, due to the action of centrifugal force, the pawl will overcome the spring pressure and move outward, and get stuck in the ratchet 319 fixed on the outside, thereby achieving locking and limiting the rotation of the moving parts.

[0043] Preferably, based on any of the above embodiments, the active power-assisted exoskeleton further includes a control component, wherein the control component is used to receive signals for processing and output signals to control the movement of the motor.

[0044] Preferably, based on any of the above embodiments, the active power-assisted exoskeleton also includes a battery assembly, and the battery assembly is one of a lead-acid battery, a lithium-ion battery, a solar cell, and a nickel-hydrogen battery. The battery assembly is installed on the active power-assisted exoskeleton or placed outside the active power-assisted exoskeleton.

[0045] The preferred embodiments of the present invention are described in detail above, but the present invention is not limited to the embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. An active power-assisted exoskeleton, characterized in that: The invention comprises a waist support assembly (1), two leg support assemblies (2), two power assemblies (301), two speed limiting devices (302) and two joint housings (3), wherein two ends of the waist support assembly (1) are respectively connected to the two joint housings (3), one end of the leg support assembly (2) is connected to the joint housing (3), and the other end of the leg support assembly (2) is used for fixing to a human thigh, the power assembly (301) is arranged inside the joint housing (3), the power assembly (301) is used for driving the leg support assembly (2) to rotate, the speed limiting device (302) is arranged between the power assembly (301) and the leg support assembly (2), and the speed limiting device (302) is used for limiting the rotation speed of the power assembly (301); The speed limiting device (302) comprises a ratchet (314), a chassis (315), a first pawl (316) and a first spring (317); the ratchet (314) is fixedly connected to the joint housing (3); a first clamping block (318) is provided at one end of the first pawl (316); a ratchet tooth (319) matching the first clamping block (318) is provided on the ratchet (314); the first pawl (316) is movably connected to the chassis (315) via a shaft pin; The chassis (315) is provided with a connecting portion (320) and an inner rod (321); the connecting portion (320) is used to connect the leg support assembly (2); one end of the first spring (317) is connected to an end of the first pawl (316) away from the first clamping block (318); the other end of the first spring (317) is connected to the inner rod (321); the first spring (317) has a tendency to push the first pawl (316) away from the inner rod (321); The active power-assisted exoskeleton further comprises a force sensor (325), the force sensor (325) comprising a sensor body (326), a sensing shaft (327), a power input disc (328) and a power output disc (329), the power input disc (328) and the power output disc (329) both being rotationally connected to the sensing shaft (327), one side of the power input disc (328) being connected to the connecting portion (320), the other side of the power input disc (328) being provided with a first protrusion (330), one side of the power output disc (329) being connected to the leg support assembly (2), the other side of the power output disc (329) being provided with a second protrusion (331), and the two sides of the sensor body (326) being respectively connected to the first protrusion (330) and the second protrusion (331).

2. The active power-assisted exoskeleton according to claim 1, characterized in that: The power assembly (301) comprises a motor housing (303), and a brushless motor (304) and a planetary reducer (305) both arranged inside the motor housing (303); the brushless motor (304) comprises a coaxially arranged motor rotor (306) and a motor stator (307); the motor rotor (306) is arranged outside the motor stator (307); and the planetary reducer (305) is arranged in a hollow position of the motor stator (307).

3. The active power-assisted exoskeleton according to claim 2, characterized in that: The power assembly (301) further comprises a first connecting member (308), a second connecting member (309) and an output shaft (310); the planetary reducer (305) comprises a sun gear (311), a planetary gear (312) and a ring gear (313); the first connecting member (308) connects the motor rotor (306) and the sun gear (311); the sun gear (311) meshes with the planetary gear (312); the sun gear (311) drives the planetary gear (312) to rotate along the ring gear (313); and the second connecting member (309) connects the planetary gear (312) and the output shaft (310).

4. The active power-assisted exoskeleton according to claim 1, characterized in that: The speed limiting device (302) further comprises a second pawl (322) and a second spring (323); the second pawl (322) is movably connected to the chassis (315) via an axle pin; the first pawl (316) and the second pawl (322) are arranged opposite to each other; one end of the second pawl (322) is provided with a second clamping block (324) matching with the ratchet (319); one end of the second spring (323) is connected to one end of the second pawl (322) away from the second clamping block (324); the other end of the second spring (323) is connected to the inner rod (321); and the second spring (323) has a tendency to push the second pawl (322) away from the inner rod (321).

5. The active power-assisted exoskeleton according to claim 3, characterized in that: The active power-assisted exoskeleton further comprises a joint encoder, which is arranged at the end of the output shaft (310) and is used to output a joint angle signal.

6. The active power-assisted exoskeleton according to claim 1, characterized in that: The waist support assembly (1) comprises a first inertial measurement unit, a waist support body and a waist strap, wherein the first inertial measurement unit is arranged on the waist support body, and the two ends of the waist strap are connected to the waist support body.

7. The active power-assisted exoskeleton according to claim 1, characterized in that: The leg support assembly (2) comprises a second inertial measurement unit, a leg support body and a leg strap, wherein the second inertial measurement unit is arranged on the leg support body, and both ends of the leg strap are connected to the leg support body.

Images