Exoskeleton robot with intelligent carrying gripper

Abstract

The invention discloses an exoskeleton robot with an intelligent carrying gripper, belongs to the field of exoskeleton robots, and aims to solve the problems that an exoskeleton robot adopting an intelligent glove scheme cannot provide assistance for hands and cannot liberate the hands. The exoskeleton comprises an exoskeleton body, a gripper assembly, a connecting box and a rope. The exoskeleton body comprises a back wearing assembly, a double-shoulder wearing assembly, a waist wearing assembly, a buckle and a control box; the control box is arranged on the rear end face of the back wearing assembly, the left side and the right side of the back wearing assembly are connected with the double-shoulder wearing assembly, the lower end of the back wearing assembly is connected with the waist wearing assembly, and the waist wearing assembly is fixed to the waist through a buckle. The double-shoulder wearing assembly is provided with a rope along the front edge curve, the front end of the rope is connected with the gripper assembly through a connecting box, the rear end of the rope is fixedly connected with the control box, the rope is driven by a motor to stretch out and draw back, and a communication line is arranged in the rope. And the gripper assembly is used for gripping the heavy object and carrying the heavy object to a destination.

Description

Technical Field

[0001] The invention relates to an exoskeleton robot capable of grabbing and carrying heavy objects and measuring the weight of the carried objects, belonging to the field of exoskeleton robots. Background Art

[0002] Exoskeleton originally refers to a hard external structure in biology that protects the soft organs inside organisms. Now, exoskeleton robots refer to a type of mechanical device that imitates the movement state of the human body, enhances the human body's movement ability, and integrates bionics and ergonomics. They are worn on the outside of human limbs and can improve people's ability in specific aspects such as walking endurance and load-bearing capacity. Since exoskeleton robots involve ergonomics, they are required to have strong adaptability. They must not only be suitable for wearers of different body shapes, but also provide dangerous protection for human joints to prevent human injuries during wearing. The upper limb exoskeleton robots of the existing technology generally use intelligent gloves. During the handling process, the carrier needs to grab the objects with his hands. The gloves cannot provide assistance to the hands, cannot reduce the burden on the hands, and cannot effectively relax the fingers. Summary of the invention

[0003] In view of the problem that an exoskeleton robot adopting an intelligent glove solution cannot provide assistance to the hands and cannot free the hands, the present invention provides an exoskeleton robot with an intelligent handling gripper.

[0004] The exoskeleton robot with an intelligent handling gripper described in the present invention comprises an exoskeleton body, a gripper assembly 1, a connection box 2 and a rope 19;

[0005] The exoskeleton body includes a back wearing component 20, a shoulder wearing component 21, a waist wearing component 22, a buckle 23 and a control box 24; the control box 24 is arranged on the rear end face of the back wearing component 20, the left and right sides of the back wearing component 20 are connected to the shoulder wearing components 21, the lower end of the back wearing component 20 is connected to the waist wearing component 22, and the waist wearing component 22 is fixed to the waist by the buckle 23;

[0006] The shoulder-worn assembly 21 is provided with a rope 19 along the front edge curve, the front end of the rope 19 is connected to the gripper assembly 1 through the connection box 2, the rear end of the rope 19 is fixedly connected to the control box 24, and the rope 19 is extended and retracted under the drive of the motor, and a signal line 27 is arranged inside the rope 19;

[0007] The gripper assembly 1 is used to grab heavy objects and carry them to a destination.

[0008] Preferably, the gripper assembly 1 includes a hook 3, a gripper upper shell 4, a gripper lower shell 5, a decorative shell 6, a No. 1 button 7, a No. 2 button 8, a spring 9, a micro switch 10, a strain sensor 11, a PCB circuit board 12 and a connecting groove 25; a mounting base is provided on the gripper lower shell 5, two micro switches 10 are provided at the front end of the mounting base, the No. 1 button 7 and the No. 2 button 8 are installed at the front end of the micro switch 10 through the spring 9, the front end of the mounting base is fixedly connected to the hook 3, and a strain sensor 11 is attached to each side of the hook 3;

[0009] A PCB circuit board 12 is arranged on the mounting base, and a strain sensor 11 is used to sense whether the hook 3 grabs a heavy object, and a strain signal of the strain sensor 11 is sent to a control box 24 through the PCB circuit board 12;

[0010] The decorative shell 6 and the gripper upper shell 4 are buckled on the gripper lower shell 5 in sequence, and the rear end of the entire shell has a connection groove 25 connected to the connection box 2.

[0011] Preferably, the gripper assembly 1 also includes an LED lamp 26 and a light guide column 13. The LED lamp 26 is arranged on the PCB circuit board 12 and is located at the front end of the mounting base. The light guide column 13 is arranged above the LED lamp 26. The working state of the exoskeleton robot is characterized by the different colors of the light guide column 13 and the lighting state of the LED lamp 26.

[0012] Preferably, the connecting box 2 includes a connecting hook 14, a connecting box upper shell 15, a connecting box lower shell 16, a tension and pressure sensor 17 and a rope connector 18. The tension and pressure sensor 17 is clamped between the connecting box upper shell 15 and the connecting box lower shell 16. The connecting hook 14 is set at one force-bearing end of the tension and pressure sensor 17. The connecting hook 14 extends into the connecting groove 25 of the gripper assembly 1 to fix the gripper assembly 1 and the connecting box 2 together. The rope connector 18 is set at the other force-bearing end of the tension and pressure sensor 17. The rope connector 18 is used to be fixedly connected to the rope 19. The tension and pressure sensor 17 is used to measure the weight of the heavy object grasped by the gripper assembly 1 and feed it back to the control box 24.

[0013] Preferably, two motors are provided in the control box 24, and the extension and retraction of each rope 19 is controlled by one motor. Button No. 1 7 is the motor start button for realizing the heavy object lifting action, and button No. 2 8 is the motor stop button for realizing the heavy object hovering action. Pressing button No. 1 7 and button No. 2 8 at the same time is used to realize the heavy object lowering action.

[0014] Preferably, a processor is provided in the control box 24, which determines whether the gripper assembly 1 grabs a heavy object according to the strain signal received from the strain sensor 11, obtains the weight of the heavy object according to the tension and pressure sensor 17, and controls the output force of the motor according to the weight.

[0015] Preferably, the processor's solution for carrying heavy objects includes an intelligent mode and a manual mode, and each mode can realize single-handed operation and two-handed operation.

[0016] Preferably, the control process of the processor includes:

[0017] Step 1: Initialization: adjust the initial length of the rope 19 according to the length of the human arm, and adjust the length by pressing button 1 7 and button 2 8;

[0018] Step 2: Select the smart mode or the manual mode through the control box 24. If the smart mode is selected, go to step 3; if the manual mode is selected, go to step 4;

[0019] Step 3: judging whether to grab the heavy object on one side or on both sides through the feedback signals of the strain sensor 11 and the tension and pressure sensor 17, so as to automatically judge the single-handed mode and adaptively start the single-side motor or the double-side motor;

[0020] When any of the following conditions is met, the motor stops, and button 1 7 and button 2 8 are pressed manually at the same time to lower the weight through rope 19:

[0021] Condition 1: reaching the limit position, at which time the rope 19 has reached its longest position;

[0022] Condition 2: Press button 2, 8;

[0023] Condition 3: The arm stops lifting the weight. At this time, the arm pushes the weight to the destination, and the pull pressure sensor 17 generates a step-change large signal;

[0024] Step 4: Manually control the one-hand mode or the two-hand mode, and manually press button 1 7 to lift the heavy object, and press button 2 8 to suspend the heavy object;

[0025] When any of the following conditions is met, the motor stops, and button 1 7 and button 2 8 are pressed manually at the same time to lower the weight through rope 19:

[0026] Condition 1: reaching the limit position, at which time the rope 19 has reached its longest position;

[0027] Condition 2: Press button 2 (8).

[0028] Beneficial effects of the present invention: Compared with the prior art, the present invention is an intelligent gripper for upper limb carrying exoskeleton, and can select intelligent mode or manual mode according to different task requirements. In the intelligent mode, the strain sensor and the tension and pressure sensor can be used to determine whether the exoskeleton grabs heavy objects and judge the user's intention. The exoskeleton can also be controlled by buttons in the intelligent mode. In the button mode, the exoskeleton can lift, hover and put down the heavy objects after grabbing them through buttons 1 and 2 on the intelligent gripper. In the intelligent mode, the exoskeleton body can realize differential or synchronous actions of both hands according to the strain sensor and the tension and pressure sensor. In the manual mode, the user can select differential or synchronous mode of both hands through the buttons of the intelligent gripper.

[0029] The exoskeleton robot of the present invention can check whether the gripper has grasped the object to be transported, measure the mass of the object to be transported, and can be controlled by a button. During use, the mass of the object to be transported can be measured, and real-time data can be transmitted to the exoskeleton body, so that the exoskeleton can actively adjust the power assistance and change the power assistance mode. During the transport process, the hand is no longer used as a support point for the object, and the fingers can operate the buttons and move arbitrarily, thereby reducing the burden on the hand, allowing the fingers to be effectively relaxed, and playing the effect of reducing the overall burden on the upper limbs. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a structural schematic diagram of an exoskeleton robot with an intelligent handling gripper according to the present invention;

[0031] Figure 2 It is a structural diagram of a PCB circuit board;

[0032] Figure 3 It is a schematic diagram of the exploded structure of the gripper assembly;

[0033] Figure 4 It is a schematic diagram of the exploded structure of the connection box;

[0034] Figure 5 It is a control flow chart of the exoskeleton robot of the present invention.

[0035] 1. Grip assembly, 2. Connection box, 3. Hook, 4. Grip upper shell, 5. Grip lower shell, 6. Decorative shell, 7. Button No. 1, 8. Button No. 2, 9. Spring, 10. Micro switch, 11. Strain sensor, 12. PCB circuit board, 13. Light guide column, 14. Connection hook, 15. Connection box upper shell, 16. Connection box lower shell, 17. Pull pressure sensor, 18. Rope connector, 19. Rope, 20. Back wearing assembly, 21. Shoulder wearing assembly, 22. Waist wearing assembly, 23. Buckle, 24. Control box, 25. Connection groove, 26. LED light, 27. Signal line. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0038] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0039] Specific implementation method 1: The following is combined Figures 1 to 4 This embodiment describes an exoskeleton robot with an intelligent handling gripper, including an exoskeleton body, a gripper assembly 1, a connection box 2 and a rope 19; see Figure 1 shown.

[0040] The exoskeleton body includes a back wearing component 20, a shoulder wearing component 21, a waist wearing component 22, a buckle 23 and a control box 24; the control box 24 is arranged on the rear end face of the back wearing component 20, the left and right sides of the back wearing component 20 are connected to the shoulder wearing components 21, the lower end of the back wearing component 20 is connected to the waist wearing component 22, and the waist wearing component 22 is fixed to the waist by the buckle 23;

[0041] The shoulder-worn assembly 21 is provided with a rope 19 along the front edge curve, the front end of the rope 19 is connected to the gripper assembly 1 through the connection box 2, the rear end of the rope 19 is fixedly connected to the control box 24, and the rope 19 is extended and retracted under the drive of the motor, and a signal line 27 is arranged inside the rope 19;

[0042] The gripper assembly 1 is used to grab heavy objects and carry them to a destination.

[0043] See also Figure 3 The gripper assembly 1 includes a hook 3, an upper gripper housing 4, a lower gripper housing 5, a decorative housing 6, a No. 1 button 7, a No. 2 button 8, a spring 9, a micro switch 10, a strain sensor 11, a PCB circuit board 12 and a connecting groove 25; a mounting base is provided on the lower gripper housing 5, two micro switches 10 are provided at the front end of the mounting base, the No. 1 button 7 and the No. 2 button 8 are installed at the front end of the micro switch 10 through the spring 9, the front end of the mounting base is fixedly connected to the hook 3, and a strain sensor 11 is attached to each side of the hook 3;

[0044] A PCB circuit board 12 is arranged on the mounting base, and a strain sensor 11 is used to sense whether the hook 3 grabs a heavy object, and a strain signal of the strain sensor 11 is sent to a control box 24 through the PCB circuit board 12;

[0045] The decorative shell 6 and the gripper upper shell 4 are buckled on the gripper lower shell 5 in sequence, and the rear end of the entire shell has a connection groove 25 connected to the connection box 2.

[0046] The gripper assembly 1 further includes an LED lamp 26 and a light guide column 13. The LED lamp 26 is disposed on the PCB circuit board 12 and is located at the front end of the mounting base. The light guide column 13 is disposed above the LED lamp 26. The working state of the exoskeleton robot is characterized by the different colors of the light guide column 13 and the light state of the LED lamp 26. The light guide column 13 is glued and fixed to the upper housing 4 of the gripper.

[0047] See also Figure 2 The PCB circuit board 12 is electrically connected to the exoskeleton robot body through a signal line 27, and the signal line 27 is carried on the rope 19.

[0048] See also Figure 4 The connection box 2 includes a connection hook 14, a connection box upper shell 15, a connection box lower shell 16, a tension pressure sensor 17 and a rope connector 18. The tension pressure sensor 17 is clamped between the connection box upper shell 15 and the connection box lower shell 16. A connection hook 14 is provided at one force-bearing end of the tension pressure sensor 17. The connection hook 14 extends into the connection groove 25 of the gripper assembly 1 to fix the gripper assembly 1 and the connection box 2 together. A rope connector 18 is provided at the other force-bearing end of the tension pressure sensor 17. The rope connector 18 is used to be fixedly connected with the rope 19; the tension pressure sensor 17 is used to measure the weight of the heavy object grasped by the gripper assembly 1 and feed it back to the control box 24. The tension pressure sensor 17 is used to measure the weight of the heavy object grasped by the gripper assembly 1 and feed it back to the exoskeleton robot body through the signal line. The tension pressure sensor 17 is fixed in the connection box body through the mounting structure, and is electrically connected to the exoskeleton robot body through the wire inlet groove and the signal line. The tension pressure sensor 17 is threadedly connected to the connection hook 14 and fixed to the hook 3 through the connection groove 20. The tension pressure sensor 17 is threadedly connected to the rope connector 18. The rope connector 18 is fixed to the rope 19. The rope 19 is connected to the exoskeleton robot body.

[0049] Two motors are arranged in the control box 24, and the extension and retraction of each rope 19 is controlled by one motor. Button No. 1 7 is the motor start button for realizing the lifting action of the heavy object, and button No. 2 8 is the motor stop button for realizing the hovering action of the heavy object. Pressing button No. 1 7 and button No. 2 8 at the same time can realize the lowering action of the heavy object.

[0050] The control box 24 is provided with a processor, which determines whether the gripper assembly 1 grabs a heavy object according to the strain signal received from the strain sensor 11, obtains the weight of the heavy object according to the tension and pressure sensor 17, and controls the output force of the motor according to the weight.

[0051] The processor's solutions for carrying heavy objects include smart mode and manual mode, each mode can achieve one-handed operation or two-handed operation. Figure 5 , the control process of the processor includes:

[0052] Step 1, initialization, adjust the initial length of rope 19 according to the length of human arm, and realize the length adjustment by pressing button 1 7 and button 2 8; press button 1 7 and button 2 8 at the same time, rope 19 becomes longer, press button 1 7 to start the motor, rope 19 shortens, press button 2 8 to stop the motor, through these operations, the length of rope 19 can be adjusted to match the arm length, and the adjustment of initial length is convenient for manual operation.

[0053] Step 2: Select the smart mode or the manual mode through the control box 24. If the smart mode is selected, go to step 3; if the manual mode is selected, go to step 4;

[0054] Step 3: judging whether to grab the heavy object on one side or on both sides through the feedback signals of the strain sensor 11 and the tension and pressure sensor 17, so as to automatically judge the single-handed mode and adaptively start the single-side motor or the double-side motor;

[0055] When any of the following conditions is met, the motor stops, and button 1 7 and button 2 8 are pressed manually at the same time to lower the weight through rope 19:

[0056] Condition 1: reaching the limit position, at which time the rope 19 has reached its longest position;

[0057] Condition 2: Press button 2;

[0058] Condition 3: The arm stops lifting the weight. At this time, the arm pushes the weight to the destination, and the pull pressure sensor 17 generates a step-change large signal;

[0059] In the intelligent mode, if a heavy object is grabbed, the strain sensors 11 on both sides of the hook 3 are deformed, and the strain signals are sent to the processor of the control box 24 through the PCB circuit board 12. The processor can determine that the hook 3 has grabbed a heavy object based on the strain signal. If one gripper assembly 1 returns a strain signal, it is a single-sided grab. If both gripper assemblies 1 return a strain signal, it is a double-sided grab. The corresponding motor starts, and the magnitude of the motor output force is determined according to the data returned by the tension and pressure sensor 17. It can be seen that the user's action intention can be obtained according to the strain sensor 11 and the tension and pressure sensor 17 to control the start and stop of the two-arm motor. When there is no other action, the motor stops after moving to the limit. When the motor is running, the motor stops when the No. 2 button of the intelligent gripper is pressed, or the motor stops when the user's arm stops moving upward. In the stopped state, the motor still provides hovering assistance. When the user needs to put down the transported object, the arm moves downward, the motor reverses, and the transported object is put down to the initial position of the gripper and then stops. The lowering action can also be achieved by pressing the No. 1 button and the No. 2 button of the intelligent gripper on the same side at the same time.

[0060] Step 4: Manually control the one-hand mode or the two-hand mode, and manually press button 1 7 to lift the heavy object, and press button 2 8 to suspend the heavy object;

[0061] When any of the following conditions is met, the motor stops, and button 1 7 and button 2 8 are pressed manually at the same time to lower the weight through rope 19:

[0062] Condition 1: reaching the limit position, at which time the rope 19 has reached its longest position;

[0063] Condition 2: Press button 2.

[0064] In manual mode, the control box 24 can select the one-hand differential assistance mode and the two-hand synchronous assistance mode according to the buttons on the smart gripper. In the one-hand differential assistance mode, the exoskeleton can control the start of the motors on both sides according to the No. 1 button of the smart grippers on both sides. When the motor moves to the limit, it stops. During the operation of the motor, the motor stops by pressing the No. 2 button of the smart gripper. In the stopped state, the motor still provides hovering assistance. When the user needs to put down the heavy object, the lowering action is achieved by pressing the No. 1 button and the No. 2 button of the smart gripper on the same side at the same time. In the two-hand synchronous assistance mode, after pressing the No. 1 button of the smart grippers on both sides at the same time, the exoskeleton controls the motors on both sides to move synchronously. The motors stop synchronously after moving to the limit. During the operation of the motor, the motor stops by pressing the No. 2 button of the smart gripper. In the stopped state, the motor still provides hovering assistance. When the user needs to put down the heavy object, the lowering action is achieved by pressing the No. 1 button and the No. 2 button of the smart gripper on the same side at the same time.

[0065] In summary, the present invention is a control scheme for carrying upper limbs based on an intelligent gripper. The exoskeleton body can select the working state through the buttons of the intelligent gripper, and the functional state of the exoskeleton can be judged by the LED light state on the gripper. The strain sensor is used to determine whether the hook has grabbed a heavy object, and the pull pressure sensor measures the weight of the heavy object. The buttons can be used to select functions such as the intelligent mode, manual mode, and whether the two hands are synchronized. In the intelligent mode, the strain sensor and the pull pressure sensor can be used to determine whether the exoskeleton grabs a heavy object, and the user's intention can be judged to achieve the lifting, hovering and putting down actions after grabbing the heavy object. The buttons can also be used to control the exoskeleton in the intelligent mode. In the button mode, the lifting, hovering and putting down actions of the exoskeleton after grabbing the heavy object are achieved through the No. 1 and No. 2 buttons on the intelligent gripper. In the intelligent mode, the exoskeleton body can realize the differential or synchronous action of both hands according to the strain sensor and the pull pressure sensor. In the manual mode, the user can select the differential or synchronous mode of both hands through the buttons of the intelligent gripper.

[0066] Although the present invention is described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the present invention. It should therefore be understood that many modifications may be made to the exemplary embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the various dependent claims and features described herein may be combined in a manner different from that described in the original claims. It should also be understood that the features described in conjunction with a single embodiment may be used in other described embodiments.

Claims

1. An exoskeleton robot with an intelligent handling gripper, characterized in that: It comprises an exoskeleton body, a gripper assembly (1), a connection box (2) and a rope (19); The exoskeleton body comprises a back wearing component (20), a shoulder wearing component (21), a waist wearing component (22), a buckle (23) and a control box (24); the control box (24) is arranged on the rear end surface of the back wearing component (20); the left and right sides of the back wearing component (20) are connected to the shoulder wearing components (21); the lower end of the back wearing component (20) is connected to the waist wearing component (22); and the waist wearing component (22) is fixed to the waist via the buckle (23); A rope (19) is arranged along the front edge curve of each shoulder wearing assembly (21), the front end of the rope (19) is connected to the gripper assembly (1) through a connection box (2), the rear end of the rope (19) is fixedly connected to a control box (24), and the rope (19) is extended and retracted under the drive of a motor, and a signal line (27) is arranged inside the rope (19); The gripper assembly (1) is used to grab heavy objects and carry them to a destination.

2. According to claim 1, an exoskeleton robot with an intelligent handling gripper is characterized in that: The gripper assembly (1) comprises a hook (3), a gripper upper shell (4), a gripper lower shell (5), a decorative shell (6), a No. 1 button (7), a No. 2 button (8), a spring (9), a micro switch (10), a strain sensor (11), a PCB circuit board (12) and a connecting groove (25); a mounting base is arranged on the gripper lower shell (5), two micro switches (10) are arranged at the front end of the mounting base, the No. 1 button (7) and the No. 2 button (8) are mounted at the front end of the micro switch (10) via the spring (9), the front end of the mounting base is fixedly connected to the hook (3), and a strain sensor (11) is attached to each side of the hook (3); A PCB circuit board (12) is arranged on the mounting base, and the strain sensor (11) is used to sense whether the hook (3) grabs a heavy object, and the strain signal of the strain sensor (11) is sent to the control box (24) through the PCB circuit board (12); The decorative shell (6) and the gripper upper shell (4) are buckled onto the gripper lower shell (5) in sequence, and the rear end of the entire shell has a connection groove (25) connected to the connection box (2).

3. According to claim 2, an exoskeleton robot with an intelligent handling gripper is characterized in that: The gripper assembly (1) further comprises an LED lamp (26) and a light guide column (13), wherein the LED lamp (26) is arranged on a PCB circuit board (12) and is located at the front end of the mounting base, and a light guide column (13) is arranged above the LED lamp (26), and the working state of the exoskeleton robot is characterized by the different colors of the light guide column (13) and the light state of the LED lamp (26).

4. The exoskeleton robot with intelligent handling gripper according to claim 2, characterized in that: The connection box (2) comprises a connection hook (14), a connection box upper shell (15), a connection box lower shell (16), a tension pressure sensor (17) and a rope connector (18); the tension pressure sensor (17) is clamped between the connection box upper shell (15) and the connection box lower shell (16); a connection hook (14) is arranged at one force-bearing end of the tension pressure sensor (17); the connection hook (14) extends into a connection groove (25) of a gripper assembly (1) to fix the gripper assembly (1) and the connection box (2) together; a rope connector (18) is arranged at the other force-bearing end of the tension pressure sensor (17); the rope connector (18) is used to be fixedly connected to a rope (19); the tension pressure sensor (17) is used to measure the weight of a heavy object grasped by the gripper assembly (1) and feed it back to a control box (24).

5. The exoskeleton robot with intelligent handling gripper according to claim 3, characterized in that: Two motors are arranged in the control box (24), and the extension and retraction of each rope (19) is controlled by one motor. The No. 1 button (7) is a motor start button for realizing the action of lifting the heavy object, and the No. 2 button (8) is a motor stop button for realizing the action of suspending the heavy object. The No. 1 button (7) and the No. 2 button (8) are pressed simultaneously to realize the action of lowering the heavy object.

6. The exoskeleton robot with intelligent handling gripper according to claim 5, characterized in that: A processor is provided in the control box (24), which determines whether the gripper assembly (1) grasps a heavy object based on the strain signal received from the strain sensor (11), obtains the weight of the heavy object based on the tension and pressure sensor (17), and controls the output force of the motor based on the weight.

7. The exoskeleton robot with intelligent handling gripper according to claim 6, characterized in that: The processor's solutions for carrying heavy objects include smart mode and manual mode, each of which can be operated with one hand or two hands.

8. The exoskeleton robot with intelligent handling gripper according to claim 7, characterized in that: The processor's control process includes: Step 1: Initialization: adjusting the initial length of the rope (19) according to the length of the human arm, and adjusting the length by pressing button No. 1 (7) and button No. 2 (8); Step 2: Select the intelligent mode or the manual mode through the control box (24); if the intelligent mode is selected, execute step 3; if the manual mode is selected, execute step 4; Step 3: judging whether to grab the heavy object on one side or on both sides through feedback signals from the strain sensor (11) and the tension and pressure sensor (17), so as to automatically judge the single-handed or double-handed mode, and adaptively start the single-side motor or the double-side motor; When any of the following conditions is met, the motor stops, and the No. 1 button (7) and No. 2 button (8) are pressed manually at the same time to allow the rope (19) to lower the weight: Condition 1: reaching the limit, at which point the rope (19) has reached its longest length; Condition 2: Press button 2 (8); Condition 3: The arm stops lifting the weight. At this time, the arm pushes the weight to the destination, and the pull pressure sensor (17) generates a step-change large signal; Step 4: Manually control the one-hand mode or the two-hand mode, by manually pressing button No. 1 (7) to realize the lifting action of the heavy object, and pressing button No. 2 (8) to realize the hovering action of the heavy object; When any of the following conditions is met, the motor stops, and the No. 1 button (7) and No. 2 button (8) are pressed manually at the same time to allow the rope (19) to lower the weight: Condition 1: reaching the limit, at which point the rope (19) has reached its longest length; Condition 2: Press button 2 (8).

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