Heavy upper limb exoskeleton robot

Abstract

The invention provides a heavy upper limb exoskeleton robot which comprises a back assembly, a shoulder assembly, an upper arm assembly and a lower arm assembly, and the back assembly can be fixed to the back of a human body; the shoulder component is connected with the upper end of the back component; the upper arm assembly is connected with the shoulder assembly, the upper arm assembly is bound on a big arm of a human body, and the upper arm assembly can rotate relative to the shoulder assembly; the lower arm assembly is connected with the upper arm assembly, the lower arm assembly is bound on a forearm of a human body, and the lower arm assembly can rotate relative to the upper arm assembly. The exoskeleton robot adopts the three-degree-of-freedom shoulder joint appearance design, and it is ensured that the exoskeleton robot adapts to the scene where operation is narrow. The exoskeleton robot cannot slide down due to the weight of the exoskeleton robot, so that the gyration center of the joint is kept consistent with a human body, and the stability and reliability are kept in a high-load environment by adopting a high-strength aluminum alloy material and a high-power motor.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, in particular to a heavy upper limb exoskeleton robot. Background Art

[0002] In recent years, with the increase in industrial automation and the demand for heavy physical labor, heavy upper limb exoskeleton robots have become the focus of research, aiming to effectively reduce the risk of musculoskeletal injuries faced by workers in high-intensity work. Many industries, such as construction, logistics, and military support, often require workers to carry heavy objects or maintain their arms at a high position for repetitive operations, which not only increases the possibility of joint and muscle injuries, but also causes significant consumption of workers' physical strength.

[0003] Existing exoskeleton technology still faces problems such as heavy weight, lack of flexibility and excessive freedom of joints, which result in the wearer's movement being restricted or unable to adapt effectively during use.

[0004] The Chinese patent application number CN202210901526.1 discloses a human-wearable upper limb exoskeleton device for heavy-load handling, which transfers the strength of the human arm to the human back, shares the pressure and torque of the heavy object on the shoulder joint when the human body carries heavy objects, and forms a double-support auxiliary structure to assist the human body in carrying heavy objects. However, it does not have the elbow joint assistance that also requires a large force in the carrying action, and the shoulder joint has only one degree of freedom, and the flexibility of movement is poor.

[0005] The Chinese patent application number CN20231030738.5 discloses a full upper limb exoskeleton robot, which has a back support frame and two arm-assisted support frames adapted to the arms, each of which includes a spring energy storage mechanism connected in sequence to provide assistance. However, its shoulder joint has only two rotational degrees of freedom, and cannot complete the adduction / abduction movement of the shoulder joint. It has a low load capacity and is not suitable for scenarios with strong assistance.

[0006] A Chinese patent with application number CN202210918522.4 discloses an upper limb exoskeleton with a shoulder joint having three degrees of freedom, and the three-degree-of-freedom rotation axes are respectively consistent with the corresponding degrees of freedom rotation axes of the human body. However, due to the heavy weight of the heavy exoskeleton, the flexible structure of the shoulder strap alone cannot ensure that the wearer's shoulder joint is fixed at the designer's preset position; the binding belt and waist belt are also flexible structures of the same belt type, which cannot fix the position of the human body relative to the exoskeleton, the wearer's joints are poorly consistent with the exoskeleton axis, and there is a large joint offset; and the three-degree-of-freedom mechanism of the shoulder joint is large in size and does not fit the human body closely, and cannot adapt to narrower operating scenarios.

[0007] In view of the above-mentioned deficiencies in the prior art, a heavy-duty upper limb exoskeleton robot is needed. Summary of the invention

[0008] The purpose of the present invention is to provide a heavy-duty upper limb exoskeleton robot that can provide strong assistive functional joints and has high consistency with the exoskeleton axis. The exoskeleton robot combines ergonomic design to better fit the natural movement of the human body, improve flexibility, and enhance the comfort and safety of the wearer in heavy physical labor.

[0009] In order to achieve the above object, the present invention provides the following technical solutions:

[0010] A heavy-duty upper limb exoskeleton robot comprises a back assembly, a shoulder assembly, an upper arm assembly and a lower arm assembly, wherein the back assembly can be fixed on the back of a human body; the shoulder assembly is connected to the upper end of the back assembly; the upper arm assembly is connected to the shoulder assembly, the upper arm assembly is tied to the upper arm of a human body, and the upper arm assembly can rotate relative to the shoulder assembly; the lower arm assembly is connected to the upper arm assembly, the lower arm assembly is tied to the forearm of a human body, and the lower arm assembly can rotate relative to the upper arm assembly.

[0011] Furthermore, in the above-mentioned heavy-duty upper limb exoskeleton robot, the back assembly includes a back plate and a box cover, one side surface of the back plate contacts the back of the human body, and the other side surface of the back plate is provided with a control board and a battery, and the control board can control the upper arm assembly and the lower arm assembly; the battery is connected to the control board; the box cover covers the outer surface of the back plate, and the box cover can provide protection for the control board and the battery, and a switch button is provided on the box cover, and the switch button is connected to the control board, and the switch button is used to control the power supply of the exoskeleton robot, and the power supply of the exoskeleton robot is provided by the battery; the material of the back plate and the box cover are both plastic.

[0012] Furthermore, in the above-mentioned heavy-duty upper limb exoskeleton robot, two shoulder assemblies are provided, and the two shoulder assemblies are symmetrically arranged on both sides of the back assembly. The shoulder assembly includes a shoulder frame, an internal and external rotation connecting rod, a shoulder joint connecting rod and an output wheel connecting piece. One end of the shoulder frame is connected to the upper end of the back plate, and the other end of the shoulder frame extends away from the back plate. The axis of the shoulder frame is perpendicular to the axis of the back plate; the shoulder frame is a frame structure, and the lower surface of the shoulder frame is an arc-shaped structure adapted to the human shoulder. The frame is used to fix the internal-external rotation connecting rod to the back plate; one end of the internal-external rotation connecting rod is connected to the other end of the shoulder back frame, the other end of the internal-external rotation connecting rod extends to the outside of the shoulder back frame, the other end of the internal-external rotation connecting rod is connected to one end of the shoulder joint connecting rod through a first hinge part, the other end of the shoulder joint connecting rod is connected to one end of the output wheel connecting member through a second hinge part, and the other end of the output wheel connecting member is connected to the upper arm assembly; the shoulder back frame, the internal-external rotation connecting rod, the shoulder joint connecting rod and the output wheel connecting member are all made of aluminum alloy.

[0013] Furthermore, in the above-mentioned heavy-duty upper limb exoskeleton robot, the upper arm assembly includes a first motor, an upper arm rod, a first upper arm binding member and a second upper arm binding member, one end of the first motor is connected to the output wheel connecting member, the other end of the first motor is connected to one end of the upper arm rod, an upper arm outer shell is arranged on the outer side of the upper arm rod, an upper arm inner shell is arranged on the inner side of the upper arm rod, and the other end of the upper arm rod is connected to the lower arm assembly; a double-degree-of-freedom output rod is arranged on the inner wall of the upper arm inner shell, the outer side wall of the first upper arm binding member and the double-degree-of-freedom output rod are connected by a cylindrical pin, the first upper arm binding member and the second upper arm binding member are arranged opposite to each other, one end of the first upper arm binding member is hinged to one end of the second upper arm binding member by a cylindrical pin, and the other end of the first upper arm binding member is connected to the other end of the second upper arm binding member by a snap.

[0014] Furthermore, in the above-mentioned heavy-duty upper limb exoskeleton robot, a joint limiter is provided on the first motor, and the joint limiter is used to limit the limit range of the upper arm; the edge of the inner wall of the first upper arm binding piece and the edge of the inner wall of the second upper arm binding piece are both provided with protruding rubbers, and a groove is formed between the protruding rubbers, and a first sponge pad is provided in the groove, and the first sponge pad and the protruding rubber are interference fit; a mounting frame is provided at the other end of the upper arm rod, and an encoder reader is installed in the mounting frame; the encoder reader and the first motor are both connected to the control board; the power of the first motor is 300W~500W; the upper arm rod, the first upper arm binding piece, the second upper arm binding piece, the upper arm outer shell, the upper arm inner shell and the mounting frame are all made of aluminum alloy material.

[0015] Furthermore, in the above-mentioned heavy-duty upper limb exoskeleton robot, the lower arm assembly includes a second motor, a forearm rod, a first forearm binding piece and a second forearm binding piece, one end of the second motor is connected to the upper arm rod of the upper arm assembly through the mounting frame, the other end of the second motor is connected to one end of the forearm rod, a forearm cover is provided on the inner side of the forearm rod, and a three-dimensional force sensor is provided on the end of the forearm cover away from the second motor; the outer wall of the first forearm binding piece is connected to the three-dimensional force sensor, the first forearm binding piece and the second forearm binding piece are arranged opposite to each other, one end of the first forearm binding piece is hinged to one end of the second forearm binding piece by a cylindrical pin, and the other end of the first forearm binding piece is connected to the other end of the second forearm binding piece by a snap.

[0016] Furthermore, in the above-mentioned heavy-duty upper limb exoskeleton robot, a second joint limiter is provided on the second motor, and the second joint limiter is used to limit the limit range of the forearm; the three-dimensional force sensor and the second motor are both connected to the control panel; the edge of the inner wall of the first forearm binding piece and the edge of the inner wall of the second forearm binding piece are both provided with protruding rubbers, and a groove is formed between the protruding rubbers, and a second sponge pad is provided in the groove, and the second sponge pad is interference fit with the protruding rubber; the power of the second motor is 300W~500W; the forearm rod, the first forearm binding piece, the second forearm binding piece and the forearm cover are all made of aluminum alloy material.

[0017] Furthermore, in the above-mentioned heavy-duty upper limb exoskeleton robot, it also includes a waist component, which is connected to the back component and can be fixed to the waist of a human body.

[0018] Furthermore, in the above-mentioned heavy-duty upper limb exoskeleton robot, the waist component includes a lumbar head, a lumbar middle, a lumbar tail, a lumbar axis, a spinal resetting part, a belt seat, a belt piece and a strap; the lumbar head, the lumbar middle, the lumbar tail and the belt seat are connected in sequence, the lumbar head can rotate relative to the lumbar middle, the lumbar middle can rotate relative to the lumbar tail, the lumbar head and the lumbar middle, the lumbar middle and the lumbar tail are all connected through a lumbar axis; two belt pieces are provided, and the two belt pieces are symmetrically arranged on both sides of the belt seat; one end of the strap is fixedly connected to one of the belt pieces, and the other end of the strap is provided with a hook surface and a fur surface.

[0019] Furthermore, in the above-mentioned heavy-duty upper limb exoskeleton robot, a plurality of lumbar vertebrae are provided, and the plurality of lumbar vertebrae are connected by a lumbar axis, and the number of lumbar vertebrae is increased or decreased according to the height of the human body; the spinal resetting components are provided on the lumbar head and the lumbar tail, and a spring is provided between the two spinal resetting components.

[0020] It can be seen from the analysis that the present invention discloses a heavy-duty upper limb exoskeleton robot, which adopts a three-degree-of-freedom shoulder joint shape design that fits the human body curve as closely as possible to ensure that it can adapt to narrower working scenes. The shoulder frame and rigid parts in the binding system are used to fix the position of the human body relative to the exoskeleton robot, so that the exoskeleton robot will not slide down due to its own weight, thereby keeping the rotation center of the joint consistent with the human body. The binding system uses a combination of rigid and flexible protruding rubber and rigid materials to disperse the force, significantly improving the wearing comfort. The shoulder joint is equipped with a high-output first motor, and the elbow joint is equipped with a high-output second motor to achieve a strong power assist function to meet the needs of high-intensity operations. The overall design of the exoskeleton robot adopts a wire-free exposed shell covering design, which enhances the reliability and safety of the exoskeleton robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. Among them:

[0022] Figure 1 It is a schematic diagram of the three-dimensional structure of an embodiment of the present invention.

[0023] Figure 2 It is a schematic diagram of the three-dimensional structure of a shoulder component according to an embodiment of the present invention.

[0024] Figure 3 It is a schematic diagram of the three-dimensional structure of an upper arm assembly according to an embodiment of the present invention.

[0025] Figure 4It is a schematic diagram of the three-dimensional structure of the upper arm inner shell, the first upper arm binding component and the second upper arm binding component assembled according to one embodiment of the present invention.

[0026] Figure 5 It is a schematic diagram of the three-dimensional structure of a lower arm assembly according to an embodiment of the present invention.

[0027] Figure 6 FIG. 4 is a schematic diagram of the three-dimensional structure of a back assembly according to an embodiment of the present invention.

[0028] Figure 7 It is a schematic structural diagram of a back assembly according to an embodiment of the present invention.

[0029] Figure 8 FIG. 4 is a schematic diagram of the three-dimensional structure of a waist component according to an embodiment of the present invention.

[0030] Description of reference numerals: 1 shoulder assembly; 2 upper arm assembly; 3 lower arm assembly; 4 back assembly; 5 waist assembly; 6 shoulder back frame; 7 internal and external rotation connecting rod; 8 shoulder joint connecting rod; 9 output wheel connecting member; 10 first motor; 11 joint limiting member; 12 upper arm outer shell; 13 upper arm rod; 14 upper arm inner shell; 15 mounting frame; 16 first upper arm binding member; 17 first sponge pad; 18 second upper arm binding member; 19 buckle; 20 double-degree-of-freedom output rod; 21 forearm rod; 22 first forearm binding piece; 23 second forearm binding piece; 24 second sponge pad; 25 three-dimensional force sensor; 26 forearm cover; 27 box cover; 28 back plate; 29 switch button; 30 control board; 31 battery; 32 strap; 33 spinal repositioning piece; 34 belt seat; 35 belt piece; 36 lumbar tail; 37 lumbar middle; 38 lumbar head; 39 second motor; 40 lumbar shaft; 41 first hinge part; 42 second hinge part. DETAILED DESCRIPTION

[0031] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments. Each example is provided by way of explanation of the present invention and does not limit the present invention. In fact, it will be clear to those skilled in the art that modifications and variations may be made in the present invention without departing from the scope or spirit of the present invention. For example, a feature shown or described as a part of one embodiment may be used in another embodiment to produce yet another embodiment. Therefore, it is desired that the present invention encompasses such modifications and variations within the scope of the appended claims and their equivalents.

[0032] In the description of the present invention, the terms "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and do not require that the present invention must be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention. The terms "connected", "connected" and "set" used in the present invention should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection; it can be a direct connection or an indirect connection through an intermediate component; it can be a wired electrical connection, a radio connection, or a wireless communication signal connection. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0033] One or more examples of the present invention are shown in the accompanying drawings. The detailed description uses numbers and letter labels to refer to features in the drawings. Like or similar labels in the drawings and description have been used to refer to like or similar parts of the present invention. As used herein, the terms "first", "second", "third", etc. are used interchangeably to distinguish one component from another and are not intended to indicate the location or importance of individual components.

[0034] like Figures 1 to 8 As shown, according to an embodiment of the present invention, a heavy upper limb exoskeleton robot is provided, such as Figure 1 As shown, the exoskeleton robot includes a back component 4, a shoulder component 1, an upper arm component 2 and a lower arm component 3, wherein the back component 4 can be fixed on the back of a human body; the shoulder component 1 is connected to the upper end of the back component 4; the upper arm component 2 is connected to the shoulder component 1, the upper arm component 2 is tied to the upper arm of a human body, and the upper arm component 2 can rotate relative to the shoulder component 1; the lower arm component 3 is connected to the upper arm component 2, the lower arm component 3 is tied to the forearm of a human body, and the lower arm component 3 can rotate relative to the upper arm component 2.

[0035] Furthermore, if Figure 6 As shown, the back assembly 4 includes a back plate 28 and a box cover 27. One side surface of the back plate 28 contacts the back of the human body. Figure 7As shown, a control board 30 and a battery 31 are arranged on the other side surface of the back plate 28. The control board 30 can control the upper arm assembly 2 and the lower arm assembly 3; the battery 31 is connected to the control board 30; the box cover 27 covers the outer surface of the back plate 28, and the box cover 27 can provide protection for the control board 30 and the battery 31. The box cover 27 is provided with a switch button 29, which is connected to the control board 30. The switch button 29 is used to control the power supply of the exoskeleton robot, and the power supply of the exoskeleton robot is provided by the battery 31; the material of the back plate 28 and the box cover 27 are both plastic. The control board 30 is responsible for controlling the control sensor system of the exoskeleton robot, and forms target parameters such as torque value or position value by receiving the signal of the sensor system (encoder reader and three-dimensional force sensor 25) and using the intention recognition algorithm to analyze and calculate, and controls the actuator (first motor 10 and second motor 39) accordingly through the compliant control algorithm, thereby realizing the control of the exoskeleton robot.

[0036] Furthermore, two shoulder components 1 are provided, and the two shoulder components 1 are symmetrically arranged on both sides of the back component 4, such as Figure 2As shown, the shoulder assembly 1 includes a shoulder frame 6, an internal and external rotation connecting rod 7, a shoulder joint connecting rod 8 and an output wheel connecting member 9. One end of the shoulder frame 6 is connected to the upper end of the back plate 28, and the other end of the shoulder frame 6 extends away from the back plate 28. The axis of the shoulder frame 6 is perpendicular to the axis of the back plate 28. The shoulder frame 6 is a frame structure, and the lower surface of the shoulder frame 6 is an arc-shaped structure adapted to the human shoulder. The frame structure of the back shoulder frame can reduce the weight burden of the exoskeleton robot, improve the wearing comfort and stability, ensure that the exoskeleton robot will not slide down due to weight, and keep the rotation center of the joint consistent with the human body. The shoulder back frame 6 is used to fix the internal and external rotation connecting rod 7 on the back plate 28; one end of the internal and external rotation connecting rod 7 is connected to the other end of the shoulder back frame 6 through the bottom bolt of the shoulder back frame 6, the other end of the internal and external rotation connecting rod 7 extends to the outside of the shoulder back frame 6, the other end of the internal and external rotation connecting rod 7 is connected to one end of the shoulder joint connecting rod 8 through the first hinge 41, the other end of the shoulder joint connecting rod 8 is connected to one end of the output wheel connecting member 9 through the second hinge 42, and the other end of the output wheel connecting member 9 is connected to the upper arm assembly 2. The cooperation of the internal and external rotation connecting rod 7, the shoulder joint connecting rod 8 and the output wheel connecting member 9 can make the shoulder joint have two degrees of freedom. The first hinge 41 includes a stainless steel shaft, two AXK-1024-2AS bearings and one HK1010 bearing. The internal and external rotation connecting rod 7 is connected to the shoulder joint connecting rod 8 through the first hinge 41, which can provide the shoulder joint with degrees of freedom in the internal rotation / external rotation direction, and realize the internal rotation and external rotation movement of the shoulder joint. The second hinge part 42 includes a stainless steel shaft, two AXK-1024-2AS bearings and one HK1010 bearing. The shoulder joint connecting rod 8 is connected to the output wheel connecting piece 9 through the second hinge part 42, which can provide the freedom of the shoulder joint in the adduction / abduction direction to realize the adduction and abduction movement of the shoulder joint. The shoulder back frame 6, the internal and external rotation connecting rod 7, the shoulder joint connecting rod 8 and the output wheel connecting piece 9 are all made of high-strength aluminum alloy material.

[0037] Furthermore, if Figure 3 As shown, the upper arm assembly 2 includes a first motor 10, an upper arm rod 13, a first upper arm binding member 16 and a second upper arm binding member 18. One end of the first motor 10 is connected to the output wheel connecting member 9, and the other end of the first motor 10 is connected to one end of the upper arm rod 13. The torque of the first motor 10 can be transmitted to the upper arm rod 13, so that the shoulder joint has a third degree of freedom in the flexion and extension direction. An upper arm outer shell 12 is provided on the outer side of the upper arm rod 13, and an upper arm inner shell 14 is provided on the inner side of the upper arm rod 13. The other end of the upper arm rod 13 is connected to the lower arm assembly 3; as shown Figure 4As shown, a double-degree-of-freedom output rod 20 is provided on the inner wall of the upper arm inner shell 14, and the outer wall of the first upper arm binding member 16 is connected to the double-degree-of-freedom output rod 20 by a cylindrical pin. The double-degree-of-freedom output rod 20 enables the first upper arm binding member 16 to have two degrees of freedom along the width direction of the upper arm inner shell 14, which is used to compensate for the relative displacement and movement between the human body and the exoskeleton. The first upper arm binding member 16 and the second upper arm binding member 18 are arranged opposite to each other, and one end of the first upper arm binding member 16 is hinged to one end of the second upper arm binding member 18 by a cylindrical pin, and the other end of the first upper arm binding member 16 is connected to the other end of the second upper arm binding member 18 by a buckle 19 to realize the opening and closing function. The upper arm binding member 16 and the second upper arm binding member 18 cooperate to bind the upper arm assembly 2 to the upper arm of the human body, and the upper arm outer shell 12 has a wiring conduit to enhance the reliability and safety of the exoskeleton robot.

[0038] Furthermore, the first motor 10 is provided with a first joint limiter 11, which is used to limit the limit range of the upper arm to prevent damage to the human arm. The edge of the inner wall of the first upper arm binding member 16 and the edge of the inner wall of the second upper arm binding member 18 are both provided with protruding rubbers, and a U-shaped groove is formed between the protruding rubbers. A first sponge pad 17 is provided in the groove. The first sponge pad 17 and the protruding rubber are interference-fitted, serving as a buffer pad between the upper arm of the human body and the upper arm assembly 2. Such a setting can make the binding function of the upper arm assembly 2 realize a combination of rigidity and flexibility, and avoid affecting the freedom of movement or causing discomfort to the human body during high-intensity work. The other end of the upper arm rod 13 is provided with a mounting frame 15, and an encoder reader is installed in the mounting frame 15. The encoder reader is a device that can sense encoder signals, and converts mechanical motion into digital signal output by reading the rotational motion of the encoder drive shaft; the encoder reader and the first motor 10 are both connected to the control board 30; the power of the first motor 10 is 300W to 500W. The upper arm rod 13, the first upper arm binding member 16, the second upper arm binding member 18, the upper arm outer shell 12, the upper arm inner shell 14 and the mounting frame 15 are all made of high-strength aluminum alloy material.

[0039] Furthermore, if Figure 5As shown, the lower arm assembly 3 includes a second motor 39, a forearm rod 21, a first forearm binding piece 22 and a second forearm binding piece 23, one end of the second motor 39 is connected to the upper arm rod 13 of the upper arm assembly 2 through a mounting frame 15, and the other end of the second motor 39 is connected to one end of the forearm rod 21, a forearm cover 26 is arranged on the inner side of the forearm rod 21, and a three-dimensional force sensor 25 is arranged on the end of the forearm cover 26 away from the second motor 39, and the wearer's interaction data with the exoskeleton can be obtained through the three-dimensional force sensor 25 for the control algorithm; the outer wall of the first forearm binding piece 22 is connected to the three-dimensional force sensor 25, the first forearm binding piece 22 and the second forearm binding piece 23 are arranged opposite to each other, one end of the first forearm binding piece 22 and one end of the second forearm binding piece 23 are hinged by a cylindrical pin, and the other end of the first forearm binding piece 22 and the other end of the second forearm binding piece 23 are connected by a buckle 19 to realize the opening and closing function. The first forearm binding piece 22 and the second forearm binding piece 23 cooperate to bind the lower arm assembly 3 to the forearm of the human body, and the torque of the second motor 39 is transmitted to the forearm rod 21 to achieve the flexion and extension of the elbow joint. The forearm cover 26 has a wiring conduit to enhance the reliability and safety of the exoskeleton robot.

[0040] Furthermore, the second motor 39 is provided with a second joint limiter 11, which is used to limit the limit range of the forearm to prevent damage to the human arm. The three-dimensional force sensor 25 and the second motor 39 are both connected to the control board 30; the edge of the inner wall of the first forearm binding piece 22 and the edge of the inner wall of the second forearm binding piece 23 are both provided with protruding rubbers, and a U-shaped groove is formed between the protruding rubbers, and a second sponge pad 24 is provided in the groove. The second sponge pad 24 and the protruding rubber are interference-fitted, serving as a buffer pad between the human forearm and the lower arm assembly 3. Such a setting can achieve a rigid-flexible combination of the binding function of the lower arm assembly 3, avoiding the human body from affecting the freedom of movement or causing discomfort during high-intensity work. The power of the second motor 39 is 300W to 500W. The forearm rod 21, the first forearm binding piece 22, the second forearm binding piece 23 and the forearm cover 26 are all made of high-strength aluminum alloy materials.

[0041] Furthermore, the exoskeleton robot also includes a waist component 5, which is connected to the back component 4 and can be fixed to the waist of a human body.

[0042] Furthermore, if Figure 8As shown, the waist component 5 includes a lumbar head 38, a lumbar middle 37, a lumbar tail 36, a lumbar axis 40, a spinal reduction component 33, a belt seat 34, a belt piece 35 and a strap 32; the lumbar head 38, the lumbar middle 37, the lumbar tail 36 and the upper end of the belt seat 34 are connected in sequence, the lumbar head 38 can rotate relative to the lumbar middle 37, the lumbar middle 37 can rotate relative to the lumbar tail 36, and the lumbar head 38 and the lumbar middle 37, as well as the lumbar middle 37 and the lumbar tail 36 are connected by a lumbar axis 40; two belt pieces 35 are provided, and the two belt pieces 35 are symmetrically arranged on both sides of the belt seat 34; the strap 32 is a fabric belt, one end of the strap 32 is fixedly connected to one belt piece 35, and the other end of the strap 32 is provided with a hook surface and a fur surface, and after the other end of the strap 32 passes around the other belt piece 35, the hook surface can be used to stick to the fur surface. The structure of the lumbar head 38, the lumbar middle 37, the lumbar tail 36 and the lumbar axis 40 of the waist component 5 imitates the design of the human spine, providing a part of passive assistance for the waist. The waist belt seat 34 and the waist belt piece 35 can be wrapped around the waist of the human body and fixed on the waist of the human body through the strap 32.

[0043] Furthermore, there are multiple lumbar vertebrae 37, and the multiple lumbar vertebrae 37 are connected by a lumbar axis 40, and the number of lumbar vertebrae 37 is increased or decreased according to the height of the human body; a spinal resetting component 33 is provided on the lumbar head 38 and the lumbar tail 36, and two springs are provided between the two spinal resetting components 33, and the two springs are vertically arranged on the left and right sides of the vertical axis of the belt seat 34, respectively. The spinal resetting component 33 can keep the human waist upright in a natural state.

[0044] The exoskeleton robot is driven by a large-output motor (the first motor 10 and the second motor 39) to realize the strong power-assisting function of the heavy-duty upper limb exoskeleton robot, which is specially designed for high-intensity operation scenarios, such as heavy object handling, weight lifting, repeated force application, etc. The first motor 10 and the second motor 39 perform human intention recognition based on the human body's motion data obtained by the sensor (encoder reader and three-dimensional force sensor 25), and provide strong power assistance when necessary to ensure that the wearer remains efficient during long-term, high-load operations. Compared with lightweight design, the heavy-duty exoskeleton robot gives priority to power-assisting performance, and focuses on the shoulders and elbows by reasonably distributing the weight of motors and structural parts to carry greater power output. The shoulder joint design of the exoskeleton robot maintains a high degree of consistency with the human body's joints. The rigid parts of the shoulder back frame 6 and the binding system (upper arm assembly 2, lower arm assembly 3 and waist assembly 5) are used to fix the position of the human body and the exoskeleton robot to prevent the exoskeleton robot from sliding down due to its own weight, ensuring that the joint rotation center is consistent with the human body, and the rigid and flexible binding combination avoids affecting the freedom of movement or causing discomfort during high-intensity work. The heavy-duty exoskeleton robot adopts high-strength aluminum alloy materials and high-power motors (first motor 10 and second motor 39) to ensure stability and reliability under high-load environments.

[0045] From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects:

[0046] 1. The three-degree-of-freedom shoulder joint design is designed to fit the human body curve as closely as possible to ensure that it can adapt to narrower working scenes.

[0047] 2. The shoulder frame 6 and the rigid parts in the binding system are used to fix the position of the human body relative to the exoskeleton robot so that the exoskeleton robot will not slide down due to its own weight, thereby keeping the rotation center of the joint consistent with the human body.

[0048] 3. The binding system uses a combination of rigid and flexible protruding rubber and rigid materials to disperse the force, significantly improving the wearing comfort.

[0049] 4. The shoulder joint is equipped with a first motor 10 with high output, and the elbow joint is equipped with a second motor 39 with high output, so as to realize a strong power assist function to meet the requirements of high-intensity operations.

[0050] 5. The overall design of the exoskeleton robot adopts a wire-free exposed shell covering design, which enhances the reliability and safety of the exoskeleton robot.

[0051] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A heavy-duty upper limb exoskeleton robot, characterized in that: It includes a back assembly, a shoulder assembly, an upper arm assembly and a lower arm assembly, wherein: The back component can be fixed on the back of a human body; The shoulder assembly is connected to the upper end of the back assembly; The upper arm assembly is connected to the shoulder assembly, the upper arm assembly is tied to the upper arm of the human body, and the upper arm assembly can rotate relative to the shoulder assembly; The lower arm assembly is connected to the upper arm assembly, the lower arm assembly is tied to the forearm of a human body, and the lower arm assembly can rotate relative to the upper arm assembly.

2. The heavy-duty upper limb exoskeleton robot according to claim 1, characterized in that: The back assembly includes a back plate and a box cover, one side surface of the back plate contacts the back of the human body, and the other side surface of the back plate is provided with a control board and a battery, and the control board can control the upper arm assembly and the lower arm assembly; The battery is connected to the control board; The box cover covers the outer surface of the back plate, and the box cover can provide protection for the control board and the battery. A switch button is provided on the box cover, and the switch button is connected to the control board. The switch button is used to control the power supply of the exoskeleton robot, and the power supply of the exoskeleton robot is provided by the battery; The back plate and the box cover are both made of plastic.

3. The heavy upper limb exoskeleton robot according to claim 2, characterized in that: The shoulder components are provided with two, and the two shoulder components are symmetrically arranged on both sides of the back component, and the shoulder component includes a shoulder frame, an internal and external rotation connecting rod, a shoulder joint connecting rod and an output wheel connecting member, one end of the shoulder frame is connected to the upper end of the back plate, and the other end of the shoulder frame extends away from the back plate, and the axis of the shoulder frame is perpendicular to the axis of the back plate; The shoulder back frame is a frame structure, the lower surface of the shoulder back frame is an arc-shaped structure adapted to the human shoulder, and the shoulder back frame is used to fix the internal and external rotation connecting rod to the back plate; One end of the internal-external rotation connecting rod is connected to the other end of the shoulder back frame, the other end of the internal-external rotation connecting rod extends outward from the shoulder back frame, the other end of the internal-external rotation connecting rod is connected to one end of the shoulder joint connecting rod through a first hinge portion, the other end of the shoulder joint connecting rod is connected to one end of the output wheel connecting member through a second hinge portion, and the other end of the output wheel connecting member is connected to the upper arm assembly; The shoulder back frame, the internal and external rotation connecting rod, the shoulder joint connecting rod and the output wheel connecting piece are all made of aluminum alloy material.

4. The heavy upper limb exoskeleton robot according to claim 3, characterized in that: The upper arm assembly comprises a first motor, an upper arm rod, a first upper arm binding member and a second upper arm binding member, one end of the first motor is connected to the output wheel connecting member, the other end of the first motor is connected to one end of the upper arm rod, an upper arm outer shell is arranged on the outer side of the upper arm rod, an upper arm inner shell is arranged on the inner side of the upper arm rod, and the other end of the upper arm rod is connected to the lower arm assembly; A double-degree-of-freedom output rod is arranged on the inner wall of the upper arm inner shell, the outer wall of the first upper arm binding part and the double-degree-of-freedom output rod are connected by a cylindrical pin, the first upper arm binding part and the second upper arm binding part are arranged opposite to each other, one end of the first upper arm binding part and one end of the second upper arm binding part are hinged by a cylindrical pin, and the other end of the first upper arm binding part and the other end of the second upper arm binding part are connected by a snap.

5. The heavy-duty upper limb exoskeleton robot according to claim 4, characterized in that: The first motor is provided with a joint limiter, and the joint limiter is used to limit the limit range of the upper arm; The edges of the inner side walls of the first upper arm binding piece and the inner side walls of the second upper arm binding piece are both provided with protruding rubbers, a groove is formed between the protruding rubbers, a first sponge pad is provided in the groove, and the first sponge pad is interference fit with the protruding rubbers; The other end of the upper arm is provided with a mounting frame, and an encoder reader is installed in the mounting frame; The encoder reader and the first motor are both connected to the control board; The power of the first motor is 300W to 500W; The upper arm rod, the first upper arm binding piece, the second upper arm binding piece, the upper arm outer shell, the upper arm inner shell and the mounting frame are all made of aluminum alloy material.

6. The heavy upper limb exoskeleton robot according to claim 5, characterized in that: The lower arm assembly comprises a second motor, a forearm rod, a first forearm binding piece and a second forearm binding piece, one end of the second motor is connected to the upper arm rod of the upper arm assembly through the mounting frame, the other end of the second motor is connected to one end of the forearm rod, a forearm cover is arranged on the inner side of the forearm rod, and a three-dimensional force sensor is arranged on the end of the forearm cover away from the second motor; The outer wall of the first forearm binding is connected to the three-dimensional force sensor, the first forearm binding and the second forearm binding are arranged opposite to each other, one end of the first forearm binding is hinged to one end of the second forearm binding through a cylindrical pin, and the other end of the first forearm binding is connected to the other end of the second forearm binding through a buckle.

7. The heavy upper limb exoskeleton robot according to claim 6, characterized in that: The second motor is provided with a second joint limiter, and the second joint limiter is used to limit the limit range of the forearm; The three-dimensional force sensor and the second motor are both connected to the control board; The edge of the inner side wall of the first forearm binding piece and the edge of the inner side wall of the second forearm binding piece are both provided with protruding rubbers, a groove is formed between the protruding rubbers, a second sponge pad is provided in the groove, and the second sponge pad is interference fit with the protruding rubbers; The power of the second motor is 300W to 500W; The forearm rod, the first forearm binding piece, the second forearm binding piece and the forearm cover are all made of aluminum alloy material.

8. The heavy upper limb exoskeleton robot according to claim 1, characterized in that: The utility model also comprises a waist component, wherein the waist component is connected to the back component and can be fixed to the waist of a human body.

9. The heavy upper limb exoskeleton robot according to claim 8, characterized in that: The waist component includes a lumbar head, a lumbar middle, a lumbar tail, a lumbar axis, a spinal reduction component, a waist belt seat, a waist belt piece and a binding belt; The lumbar head, the lumbar middle, the lumbar tail and the belt seat are connected in sequence, the lumbar head can rotate relative to the lumbar middle, the lumbar middle can rotate relative to the lumbar tail, and the lumbar head and the lumbar middle, the lumbar middle and the lumbar tail are all connected via a lumbar axis; The belt pieces are provided with two, and the two belt pieces are symmetrically arranged on both sides of the belt seat; One end of the binding belt is fixedly connected to one of the waist belt pieces, and the other end of the binding belt is provided with a hook surface and a fleece surface.

10. The heavy upper limb exoskeleton robot according to claim 9, characterized in that: There are multiple lumbar vertebrae, each of which is connected by a lumbar axis, and the number of lumbar vertebrae is increased or decreased according to the height of the human body; The spinal column resetting components are both arranged on the lumbar vertebra head and the lumbar vertebra tail, and a spring is arranged between the two spinal column resetting components.

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