High-degree-of-freedom multidirectional exoskeleton power assisting device

Abstract

The invention discloses a high-degree-of-freedom multi-azimuth exoskeleton power assisting device which comprises a shell, a power assisting device, a power assisting device and a power assisting device. The two shoulder stretching units are symmetrically distributed on the back backboard and are used for stretching in a self-adaptive manner on the shoulders of the human body; the two upper limb lifting units are connected with the shoulder stretching units in a one-to-one correspondence mode and used for driving the upper limbs to move; the back power assisting unit comprises two symmetrically distributed linear driving units, a second fixing seat, a fixing rod, a force measuring plate and a pull pressure sensor; the two lower limb assisting units are symmetrically distributed on the hip back plate and used for driving the lower limbs to walk. The device is smaller in size, lighter in weight, low in cost, better in assisting effect and convenient to wear.

Description

Technical Field

[0001] The present invention belongs to the technical field of powered exoskeletons, and particularly relates to a high-degree-of-freedom multi-directional exoskeleton assist device. Background Art

[0002] For some disabled people or patients whose limb functions are damaged and need to be guided to recover, the use of mechanical exoskeleton brackets to assist movement is very useful. It can not only help patients stand and walk with the help of rehabilitation equipment, enabling them to take care of themselves and greatly improving the quality of life of the patients themselves, but also be used to guide patients to carry out functional recovery training, helping to reduce the burden on families and society, and having broad application prospects in the field of rehabilitation medicine. Therefore, exoskeleton robots are crucial for disabled people and patients.

[0003] Existing mechanical exoskeletons are designed by imitating the bones and joints of the human body. Due to the variability and complexity of limb movement actions, a large number of degrees of freedom are required to fully imitate and implement. However, there are usually the following problems: 1) More driving mechanisms are used to achieve the corresponding degrees of freedom, resulting in a complex structure, a relatively large overall weight, poor flexibility, and high costs; 2) The human joints have three degrees of freedom, while the current walking assist exoskeletons basically have two degrees of freedom, and the design does not fit well with the human joints, resulting in a certain limitation of the human activity range. For example, the lower limb joints can only control forward and backward steps and cannot control movements in other directions; 3) The functions are single, lacking multi-directional assistance and being inconvenient to adjust. Therefore, in view of the problems of large weight and poor flexibility of existing exoskeletons, a high-degree-of-freedom multi-directional exoskeleton assist device is proposed. Summary of the Invention

[0004] The purpose of the present invention is to propose a high-degree-of-freedom multi-directional exoskeleton assist device that is more compact, lightweight, low-cost, has better assistance effects, and is convenient to wear in view of the above problems.

[0005] To achieve the above purpose, the technical solutions adopted by the present invention are as follows:

[0006] A high-degree-of-freedom multi-directional exoskeleton assist device proposed by the present invention includes:

[0007] A housing, including a back backboard, a waist backboard, and a hip backboard that are sequentially hinged in the vertical direction;

[0008] Two shoulder extension units, symmetrically distributed on the back backboard and used for adapting to the human shoulders for extension;

[0009] Two upper limb lifting units, connected to the shoulder extension units in one-to-one correspondence and used for driving the movement of the upper limbs;

[0010] The back assist unit includes two symmetrically distributed wire drive units, a second fixed seat, a fixed rod, a force measuring plate, and a tension and compression sensor. The wire drive unit includes a motor sheave, a back assist drive motor, a drive wire, and a pulley. The second fixed seat is connected to the hip back plate, and the pulley is installed on the second fixed seat. One end of the drive wire is connected to the motor sheave, and the other end passes around the pulley and then through the back plate to be connected to the fixed rod. The back assist drive motor is connected to the hip back plate and is used to drive the motor sheave to rotate, thereby driving the drive wire to tighten or loosen. The fixed rod is located on the side of the back plate close to the human body. The force measuring plate contacts the human back, and the tension and compression sensor is connected to the force measuring plate and fixed on the back plate;

[0011] Two lower limb assist units are symmetrically distributed on the hip back plate and are used to drive the lower limbs to walk.

[0012] Preferably, the waist back plate includes an outer waist back plate and an inner waist back plate. The back plate is hinged to the outer waist back plate, and the hip back plate is hinged to the inner waist back plate. The outer waist back plate and the inner waist back plate are detachably connected.

[0013] Preferably, the back plate and the outer waist back plate, as well as the inner waist back plate and the hip back plate, are all hinged by hinges. Moreover, a plurality of third mounting holes and a plurality of fourth mounting holes are provided on the outer waist back plate, and a plurality of fifth mounting holes and a plurality of sixth mounting holes are provided on the inner waist back plate. The outer waist back plate and the inner waist back plate achieve height adjustment through the cooperation of the third mounting holes and the fifth mounting holes, as well as the cooperation of the fourth mounting holes and the sixth mounting holes.

[0014] Preferably, the shoulder extension unit includes a first motor connecting plate, a first H-shaped hinge, a special-shaped hinge, a first connecting seat, an adjusting rod, and a first fixed seat. The first fixed seat is connected to the back plate. One end of the adjusting rod is connected to the first fixed seat, and the other end is slidably connected to the first connecting seat. The special-shaped hinge is respectively hinged to the first connecting seat and the first H-shaped hinge. The first H-shaped hinge is also hinged to the first motor connecting plate. The sliding direction of the first connecting seat is horizontal, and the rotation direction of the first H-shaped hinge or the special-shaped hinge is perpendicular to the sliding direction of the first connecting seat.

[0015] Preferably, the special-shaped hinge is in a B shape, and a limit block for rotational limit is provided on the outer side of the end close to the upper limb lifting unit. An avoidance groove for avoiding the first H-shaped hinge is provided between the two hinge shafts.

[0016] Preferably, the upper limb lifting unit includes an upper limb assisting driving motor, a driving connecting plate, a linear slide, and an arm support. The upper limb assisting driving motor is connected to the first motor connecting plate and is used to drive the driving connecting plate to rotate. The fixed part of the linear slide is connected to the driving connecting plate, and the sliding part of the linear slide is connected to the arm support. The arm support is also fixed to the human upper arm through a strap, and the sliding direction of the arm support is the length direction of the human upper arm. The rotation direction of the driving connecting plate is perpendicular to the sliding direction of the arm support.

[0017] Preferably, the driving connecting plate is Z-shaped, and a plurality of first mounting holes for connecting the upper limb assisting driving motor are provided at one end, and a plurality of second mounting holes for connecting the linear slide are provided at the other end.

[0018] Preferably, the lower limb assisting unit includes a leg support, a leg support connecting rod, a second H-shaped hinge, a second motor connecting plate, a leg assisting driving motor, and a motor fixing plate. The leg support and the leg support connecting rod are detachably connected. The second H-shaped hinge is respectively hinged to the leg support connecting rod and the second motor connecting plate. The leg assisting driving motor is connected to the hip back plate and is used to drive the second motor connecting plate to rotate around the front-back direction of the human body. The motor fixing plate is connected to the hip back plate and is used to seal the leg assisting driving motor. A plurality of connecting holes, adjusting grooves, and a plurality of adjusting holes are also provided on the leg support. The leg support is fixed to the human thigh through a strap passing through the connecting holes. The leg support connecting rod slidably passes through the adjusting groove and is fixed by a screw passing through the adjusting hole;

[0019] The hip back plate is a symmetrical structure, and is provided with two first motor mounting holes, two second motor mounting holes, and a mounting groove. The leg assisting driving motors are respectively built in the first motor mounting holes, and the back assisting driving motors are respectively built in the second motor mounting holes. The second fixing seat is fixed on the mounting groove. Two reinforcing ribs and two receiving grooves are symmetrically provided on the second fixing seat. The pulleys are respectively built in the receiving grooves;

[0020] The outer edge of the motor grooved pulley is provided with an annular groove, a wire passing hole is provided on the side wall, and a fifth groove is also provided at one end close to the hip back plate. The driving wire is wound around the annular groove and one end is fixed by passing through the wire passing hole. The fifth groove cooperates with the second motor mounting hole for fixing the back assisting driving motor.

[0021] Preferably, a first groove, a second groove, and a third groove are provided on the back plate. The first groove is used to install a force measuring plate. The second groove is provided on the first groove and is used to install a tension and compression sensor. The tension and compression sensor protrudes from the second groove. A plurality of third grooves are arranged side by side in the up-down direction, and a fixing rod is installed in one of the third grooves. A limiting ring for fixing the driving wire is also provided on the fixing rod.

[0022] Preferably, a plurality of electromyography sensors in contact with the human body are also provided on the housing, the upper limb lifting unit, and the lower limb assisting unit.

[0023] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0024] The high-degree-of-freedom multi-directional exoskeleton assist device can complete the assistance for the upper limbs, lower limbs, and the back when bending over. Specifically, through the cooperation of the shoulder extension unit and the upper limb lifting unit, compared with the prior art, the assistance for the upper limbs is simplified, that is, it adopts an underactuated form around the Z-axis (up and down direction), follows the human body for free adjustment, and through multiple hinge connections and adaptive sliding, the movement range of the upper limbs is increased, enabling the robot and the human body to better fit and adaptively adjust. The upper limbs can complete the lifting assistance in various postures, and better assistance can be obtained in all directions, enabling the human body to easily complete actions such as shrugging the shoulders, increasing the wearing comfort and the degree of freedom of movement; through the cooperation of the outer shell and the back assistance unit, it can assist the human body to straighten the back and can be accurately adjusted to the appropriate position through the tension and pressure sensors; moreover, the lower limb assistance unit also increases the movement range of the lower limbs, enabling it to have the freedom of movement in the front-back and left-right directions, increasing its movement robustness, and can assist the human body in actions such as squatting and walking, and each component can be adjusted to adapt to different human bodies, with a wide range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is a schematic structural diagram of the high-degree-of-freedom multi-directional exoskeleton assist device of the present invention from the first perspective;

[0026] Figure 2 is a schematic structural diagram of the upper limb lifting unit of the present invention;

[0027] Figure 3 is a schematic structural diagram of the driving connecting plate of the present invention;

[0028] Figure 4 is a partial cross-sectional view of the shoulder extension unit of the present invention;

[0029] Figure 5 is an assembly schematic diagram of the first H-shaped hinge and the special-shaped hinge of the present invention;

[0030] Figure 6 is an assembly schematic diagram of the outer shell and the back assistance unit of the present invention;

[0031] Figure 7 is a schematic structural diagram of the high-degree-of-freedom multi-directional exoskeleton assist device of the present invention from the second perspective;

[0032] Figure 8 is a schematic structural diagram of the hip back plate of the present invention;

[0033] Figure 9 is a schematic structural diagram of the back assistance unit of the present invention;

[0034] Figure 10Schematic diagram of the second fixing seat of the present invention;

[0035] Figure 11 Schematic diagram of the motor grooved pulley of the present invention;

[0036] Figure 12 Schematic diagram of the assembly of the fixing rod, the force measuring plate, the tension and compression sensor and the back back plate of the present invention;

[0037] Figure 13 Schematic diagram of the waist back plate of the present invention;

[0038] Figure 14 Schematic diagram of the outer waist back plate of the present invention;

[0039] Figure 15 Schematic diagram of the assembly of the hip back plate and the lower limb assisting unit of the present invention;

[0040] Figure 16 Schematic diagram of the leg support of the present invention;

[0041] Figure 17 Schematic diagram of the human body wearing the high-degree-of-freedom multi-directional exoskeleton assisting device of the present invention.

[0042] Description of reference numerals: 10, high-degree-of-freedom multi-directional exoskeleton assistance device; 20, human body; 1, shoulder extension unit; 2, upper limb lifting unit; 3, housing; 4, back assistance unit; 5, lower limb assistance unit; 11, first motor connection plate; 12, first H-shaped hinge; 13, bearing; 14, shaft pin; 15, special-shaped hinge; 16, first connection seat; 17, adjusting rod; 18, first fixed seat; 21, upper limb assistance driving motor; 22, driving connection plate; 23, linear slide; 24, arm support; 25, electromyographic sensor; 151, limit block; 152, avoidance groove; 221, first mounting hole; 222, second mounting hole; 31, back backplate; 32, outer waist backplate; 33, inner waist backplate; 34, hinge; 35, hip backplate; 311, first groove; 312, second groove; 313, third groove; 321, third mounting hole; 322, fourth mounting hole; 331, fifth mounting hole; 332, sixth mounting hole; 351, first motor mounting hole; 352, second motor mounting hole; 353, mounting groove; 41, motor sheave; 42, back assistance driving motor; 43, driving wire; 44, second fixed seat; 45, driving wire cover plate; 46, pulley; 47, fixed rod; 48, force measuring plate; 49, tension and compression sensor; 411, annular groove; 412, fifth groove; 413, wire passing hole; 441, reinforcing rib; 442, receiving groove; 51, leg support; 52, leg support connecting rod; 53, second H-shaped hinge; 54, second motor connection plate; 55, leg assistance driving motor; 56, motor fixing plate; 511, connecting hole; 512, adjusting groove; 513, adjusting hole. Detailed implementation manners

[0043] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0044] It should be noted that when a component is referred to as being "connected" to another component, it can be directly connected to the other component or there can also be an intermediate component. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of the present application. The terms used in the description of the present application herein are only for the purpose of describing specific embodiments and are not intended to limit the present application.

[0045] As Figures 1 - 17 shown, a high-degree-of-freedom multi-directional exoskeleton assistance device includes:

[0046] The housing 3 includes a back backplate 31, a waist backplate, and a hip backplate 35 that are sequentially hinged in the up-down direction;

[0047] Two shoulder extension units 1 are symmetrically distributed on the back backplate 31 and are used to adaptively extend the human shoulders;

[0048] Two upper limb lifting units 2 are connected to the shoulder extension units 1 in a one-to-one correspondence and are used to drive the movement of the upper limbs;

[0049] The back assistance unit 4 includes two symmetrically distributed wire drive units, a second fixed seat 44, a fixed rod 47, a force measuring plate 48, and a tension and compression sensor 49. The wire drive unit includes a motor sheave 41, a back assistance drive motor 42, a drive wire 43, and a pulley 46. The second fixed seat 44 is connected to the hip backplate 35. The pulley 46 is installed on the second fixed seat 44. One end of the drive wire 43 is connected to the motor sheave 41, and the other end passes around the pulley 46 and then passes through the back backplate 31 to be connected to the fixed rod 47. The back assistance drive motor 42 is connected to the hip backplate 35 and is used to drive the motor sheave 41 to rotate, thereby driving the drive wire 43 to tighten or loosen. The fixed rod 47 is located on the side of the back backplate 31 close to the human body. The force measuring plate 48 contacts the human back, and the tension and compression sensor 49 is connected to the force measuring plate 48 and fixed on the back backplate 31;

[0050] Two lower limb assistance units 5 are symmetrically distributed on the hip backplate 35 and are used to drive the lower limbs to walk.

[0051] For ease of understanding, the directions involved in the text are described based on the orientation of the human wearable, that is, when the human body stands, the front is the direction of the human visual orientation, the back is the opposite side, the up-down direction is the height direction, and the left and right are the directions of the left and right hands of the human body.

[0052] Among them, as Figure 1 shown, this high-degree-of-freedom multi-directional exoskeleton assistance device (i.e., robot) can complete the back assistance for the upper limbs, lower limbs, and when bending over. It is mainly composed of five major parts: a housing 3, a shoulder extension unit 1, an upper limb lifting unit 2, a back assistance unit 4, and a lower limb assistance unit 5. There are two shoulder extension units 1, upper limb lifting units 2, and lower limb assistance units 5, and they are symmetrically arranged on the housing 3 to match the human body structure. As Figure 17 shown, 10 is this high-degree-of-freedom multi-directional exoskeleton assistance device, and 20 is the structural schematic diagram of the human body.

[0053] As Figure 2As shown in the figure, in order to simplify the volume of the robot, the assistance for the upper limb is simplified compared with the prior art. Among them, an underactuated form is adopted around the Z-axis (vertical direction), which can be freely adjusted following the human body, and the assistance is placed on the upward movement. Since no force is required for the movement around the Z-axis, it assists the upward movement of the human body. This greatly simplifies the volume and weight of the robot while ensuring the assistance effect.

[0054] Figure 6 , Figure 9 The back assistance is described. Among them, the torque of the back assistance drive motor 42 is M, and the radius of the motor sheave 41 is R. Then the tension F of the drive line 43 is F = M / R, and F N is the pressure on the force measuring plate 48 when the human body gets up backward. L is the distance between the back pulling point and the back rotation point. The back pulling point is the midpoint of the connection line of the contact points of the two drive lines 43 and the back backplate 31, and the back rotation point is the hinge point of the inner waist plate and the hip backplate 35 on the symmetry plane. After the drive line 43 bypasses the pulley 46 along the second fixed seat 44, it passes through the back backplate 31 and winds around the fixed rod 47 to pull the back backplate 31. The tension of the drive line 43 is F, and the tension generated by the two back assistance drive motors 42 is 2F. The pulling torque 2*M1 generated by the two back assistance drive motors 42 on the human body is approximately equal to 2F*L. Among them, M = F*R, M1 is approximately equal to F*L, and M1 is much larger than M. That is, compared with directly using a motor for torque assistance, through the way of wire drive transmission, it greatly amplifies the torque of the motor. Therefore, a small-volume and small-torque motor can be used to generate a large torque on the human body to assist in straightening the waist and back, which helps to achieve miniaturization and lightweight, reduce costs, and improve the user's comfort.

[0055] As Figure 9 shown, the drive line 43 is arranged along the second fixed seat 44. The back assistance unit 4 further includes a drive line cover plate 45 connected to the second fixed seat 44 to cover the drive line 43 to ensure that the drive line is not interfered.

[0056] The force measuring plate 48 is connected to the human back. When the human body bends down, the force measuring plate 48 is pulled to drive the tension and compression sensor 49, and at this time the robot bends accordingly. When the human body straightens up, the force measuring plate 48 presses against the tension and compression sensor 49. At this time, the tension and compression sensor 49 detects the pressure, and then the back assistance drive motor 42 rotates to pull the back backplate 31 backward to assist the human body in straightening the back.

[0057] In an embodiment, the waist backplate includes a waist outer backplate 32 and a waist inner backplate 33. The back backplate 31 is hinged to the waist outer backplate 32, the hip backplate 35 is hinged to the waist inner backplate 33, and the waist outer backplate 32 and the waist inner backplate 33 are detachably connected.

[0058] In one embodiment, the back backboard 31 and the lumbar outer backboard 32, as well as the lumbar inner backboard 33 and the hip backboard 35 are all hinged by hinges 34. Moreover, a plurality of third mounting holes 321 and a plurality of fourth mounting holes 322 are provided on the lumbar outer backboard 32, and a plurality of fifth mounting holes 331 and a plurality of sixth mounting holes 332 are provided on the lumbar inner backboard 33. The lumbar outer backboard 32 and the lumbar inner backboard 33 achieve height adjustment through the cooperation of the third mounting holes 321 and the fifth mounting holes 331, as well as the cooperation of the fourth mounting holes 322 and the sixth mounting holes 332.

[0059] Among them, height adjustment can be performed through the detachable connection of the lumbar outer backboard 32 and the lumbar inner backboard 33 to adapt to different human bodies, with a wide range of applications.

[0060] In one embodiment, the shoulder extension unit 1 includes a first motor connecting plate 11, a first H-shaped hinge 12, a special-shaped hinge 15, a first connecting seat 16, an adjusting rod 17 and a first fixing seat 18. The first fixing seat 18 is connected to the back backboard 31. One end of the adjusting rod 17 is connected to the first fixing seat 18, and the other end is slidably connected to the first connecting seat 16. The special-shaped hinge 15 is respectively hinged to the first connecting seat 16 and the first H-shaped hinge 12. The first H-shaped hinge 12 is also hinged to the first motor connecting plate 11. The sliding direction of the first connecting seat 16 is horizontal, and the rotation direction of the first H-shaped hinge 12 or the special-shaped hinge 15 is perpendicular to the sliding direction of the first connecting seat 16.

[0061] Among them, as Figure 4 , Figure 5 shown, the shoulder extension unit 1 is connected by a plurality of hinges. For example, the first H-shaped hinge 12 and the special-shaped hinge 15 are adopted. The cooperation of these two increases the movement range of the upper limb, enables the robot to better adapt to the human body and adjust adaptively, and the upper limb can complete the lifting assistance in various postures. The special-shaped hinge 15 is respectively hinged to the first connecting seat 16 and the first H-shaped hinge 12 through a pin 14 passing through the shaft hole. The first H-shaped hinge 12 is hinged to the first motor connecting plate 11 through a pin 14 passing through the shaft hole. Figure 4 In

[0062] In one embodiment, the special-shaped hinge 15 is in a B shape, and a limit block 151 for rotational limit is provided on the outer side of one end close to the upper limb lifting unit 2. An avoidance groove 152 for avoiding the first H-shaped hinge 12 is provided between the two hinge shafts.

[0063] Among them, as Figure 5As shown, the avoidance groove 152 of the special-shaped hinge 15 can reduce the interference with the first H-shaped hinge 12, enabling a smaller angle between the two during movement, making the movement more flexible. At the same time, the design of the limit block 151 is used to limit the rotation of the special-shaped hinge 15 to avoid excessive rotation. It is easy to understand that the special-shaped hinge 15 can also be of any shape.

[0064] In one embodiment, the upper limb lifting unit 2 includes an upper limb assisting driving motor 21, a driving connection plate 22, a linear slide 23, and an armrest 24. The upper limb assisting driving motor 21 is connected to the first motor connection plate 11 and is used to drive the driving connection plate 22 to rotate. The fixed part of the linear slide 23 is connected to the driving connection plate 22, and the sliding part of the linear slide 23 is connected to the armrest 24. The armrest 24 is also fixed to the human upper arm through a strap. Moreover, the sliding direction of the armrest 24 is the length direction of the human upper arm, and the rotation direction of the driving connection plate 22 is perpendicular to the sliding direction of the armrest 24.

[0065] Among them, as Figure 2 shown, the upper limb lifting unit 2 is connected to the human upper arm through the armrest 24. Two pairs of transverse holes are opened on the armrest 24 and are fixed to the human upper arm by passing straps through the transverse holes. To ensure the freedom of movement after the human body wears it, a linear slide 23 is provided in the upper limb lifting unit 2, which enables the human body to easily complete actions such as shrugging the shoulders, increasing the wearing comfort and the freedom of movement.

[0066] In one embodiment, the driving connection plate 22 is Z-shaped, and a plurality of first mounting holes 221 for connecting the upper limb assisting driving motor 21 are opened at one end, and a plurality of second mounting holes 222 for connecting the linear slide 23 are opened at the other end.

[0067] Among them, Figure 3 shows the structure of the driving connection plate 22. It is connected to the linear slide 23 through the second mounting holes 222 and is connected to the upper limb assisting driving motor 21 through the first mounting holes 221. The Z-shaped driving connection plate 22 makes the structure more compact and helps with miniaturization and lightweight design.

[0068] In one embodiment, the lower limb assisting unit 5 includes a leg support 51, a leg support link 52, a second H-shaped hinge 53, a second motor connecting plate 54, a leg assisting driving motor 55, and a motor fixing plate 56. The leg support 51 and the leg support link 52 are detachably connected. The second H-shaped hinge 53 is respectively hinged to the leg support link 52 and the second motor connecting plate 54. The leg assisting driving motor 55 is connected to the hip back plate 35 and is used to drive the second motor connecting plate 54 to rotate about the front-back direction of the human body. The motor fixing plate 56 is connected to the hip back plate 35 and is used to seal the leg assisting driving motor 55. A plurality of connection holes 511, adjustment slots 512, and a plurality of adjustment holes 513 are further formed on the leg support 51. The leg support 51 is fixed to the human thigh through a strap passing through the connection holes 511. The leg support link 52 is slidably inserted into the adjustment slot 512 and is fixed by a screw passing through the adjustment hole 513.

[0069] The hip back plate 35 is a symmetric structure, and is provided with two first motor mounting holes 351, two second motor mounting holes 352, and a mounting groove 353. The leg assisting driving motors 55 are respectively built in the first motor mounting holes 351. The back assisting driving motors 42 are respectively built in the second motor mounting holes 352. The second fixing seat 44 is fixed on the mounting groove 353. Two reinforcing ribs 441 and two receiving grooves 442 are symmetrically provided on the second fixing seat 44. The pulleys 46 are respectively built in the receiving grooves 442.

[0070] An annular groove 411 is formed on the outer edge of the motor grooved wheel 41, a wire passing hole 413 is formed on the side wall, and a fifth groove 412 is further formed at one end close to the hip back plate 35. The driving wire 43 is wound around the annular groove 411 and one end thereof is fixed by passing through the wire passing hole 413. The fifth groove 412 cooperates with the second motor mounting hole 352 to fix the back assisting driving motor 42.

[0071] Among them, as Figure 15 shown, the leg support link 52 and the second motor connecting plate 54 are connected by the second H-shaped hinge 53, which greatly increases the movement range of the lower limbs, enables them to have front-back and left-right movement freedoms, and increases their movement robustness. This design can assist in actions such as human squatting and walking that require assistance. As Figure 16 shown, by adjusting the depth of the leg support link 52 inserted into the adjustment slot 512 (i.e., inserted into the leg support 51), it is applicable to human bodies of different heights.

[0072] Figure 8 is a schematic structure of the hip back plate 35. The first motor mounting holes 351 are located on both sides of the hip back plate 35 and are the mounting positions for the leg assisting driving motors 55. The second motor mounting holes 352 are located at the rear side of the hip back plate 35 and are the mounting positions for the back assisting driving motors 42. The lower end of the second fixing seat 44 is fixed to the hip back plate 35 in cooperation with the mounting groove 353.

[0073] Figure 10 The second fixed seat 44 is shown. To ensure the strength of the second fixed seat 44, reinforcing ribs are designed at its edges to enhance its anti-bending characteristics. The pulleys 46 are respectively built in at the accommodating grooves 442, where thickening treatment is carried out, and grooves for avoiding the driving wire 43 are also provided.

[0074] Figure 11 It is a structural schematic diagram of the motor sheave 41. The annular groove 411 is used for winding the driving wire 43, and the driving wire 43 is fixed to the motor sheave 41 through the wire passing hole 413. The middle part of the motor sheave 41 is hollowed out to reduce its weight and enable it to be fitted and embedded with the back assist driving motor 42, reducing its protruding volume.

[0075] In one embodiment, a first groove 311, a second groove 312, and a third groove 313 are provided on the back backplane 31. The first groove 311 is used for installing the force measuring plate 48, the second groove 312 is provided on the first groove 311 and is used for installing the tensile and compressive force sensor 49. The tensile and compressive force sensor 49 protrudes from the second groove 312. A plurality of the third grooves 313 are arranged side by side in the up and down direction, and a fixing rod 47 is installed in one of the third grooves 313. A limiting ring for fixing the driving wire 43 is also provided on the fixing rod 47.

[0076] Among them, as Figure 12 shown, there are three third grooves 313 provided on the back backplane 31, corresponding to three different heights of the robot. As Figure 13 shown, the height adjustment of the robot is demonstrated, that is, the outer waist backplane 32 and the inner waist backplane 33 achieve height adjustment through the cooperation of the third installation holes 321 and the fifth installation holes 331, and the cooperation of the fourth installation holes 322 and the sixth installation holes 332. For example, a row of fifth installation holes 331 and three rows of sixth installation holes 332 are provided on the inner waist backplane 33. As Figure 14 , three rows of third installation holes 321 and a row of fourth installation holes 322 are provided on the outer waist backplane 32. The outer waist backplane 32 and the inner waist backplane 33 cooperate with each other to achieve three-stage adjustment of the robot height. At the same time, a number of hinges 34 are installed at the upper end of the outer waist backplane 32 and the lower end of the inner waist backplane 33, enabling it to be bent to increase the bending freedom of the back. And the three-stage adjustment of the height also respectively corresponds to the three third grooves 313 to achieve the optimal pulling force effect.

[0077] In one embodiment, a number of electromyography sensors 25 in contact with the human body are also provided on the housing 3, the upper limb lifting unit 2, and the lower limb assisting unit 5. By providing a number of electromyography sensors 25, the electromyography sensors 25 are preferably attached to the force-generating muscle groups of the human body to facilitate the acquisition of electromyography signals.

[0078] Working principle:

[0079] When in use, the high-freedom multi-directional exoskeleton power-assisting device is worn on the human body and the straps are tied, and then the back power-assisting drive motor is adjusted to adjust the tightness to straighten the back and complete the wearing. Each drive motor preferably adopts a servo motor, which has a built-in torque sensor and encoder, and can obtain the torque and posture of the robot, thereby obtaining the mechanical signal and position signal of the robot. The high-freedom multi-directional exoskeleton power-assisting device is adjusted by the collected electromyographic signals, mechanical signals and position signals, so that the robot power-assisting is more intelligent, more in line with the human body, and the power-assisting effect is better. For example, when normal wear does not require power-assisting, each drive motor is in zero torque mode. Since the robot has a high degree of freedom, the human body can move freely under the wearing condition. When the human body needs power-assisting to move heavy objects, the electromyographic sensor 25 will first collect the electromyographic signal, and then each drive motor enters the power-assisting mode, that is, when the electromyographic signal is collected, it is considered that the human body needs power-assisting. The tension and pressure sensor 49 and the torque sensors of each drive motor detect the interaction force between the robot and the human body in real time to form a mechanical signal. The encoder of each drive motor detects the position information of the robot in real time to form a position signal, and the position signal includes movement speed and acceleration. According to the collected electromyographic signals, mechanical signals and position signals, the robot can be directly followed and assisted by the preset drive motor adjustment parameters, or by collecting the movement parameters (electromyographic signals and position signals) of the human body under different load conditions and inputting them into a neural network model (such as a CNN-BiLSTM-Attention model, etc.) for training. The current input movement parameters can be obtained by the trained neural network model to obtain the current human body load and movement state. The prediction results of the neural network model (electromyographic signals and position signals) combined with the collected mechanical signals (interaction force between the robot and the human body) can sense the human body movement in real time, thereby sending the corresponding drive motor adjustment parameters to the robot to make accurate following and assistance.

[0080] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0081] The above-described embodiments only express the more specific and detailed embodiments described in this application, but they cannot be understood as limiting the scope of the application. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of this application, which all belong to the protection scope of this application. Therefore, the protection scope of this application shall be based on the attached claims.

Claims

1. A high-degree-of-freedom multi-directional exoskeleton power-assisting device, characterized in that: include: The outer shell (3) comprises a back back plate (31), a waist back plate and a hip back plate (35) which are hinged in sequence in the up-down direction; Two shoulder stretching units (1) are symmetrically distributed on the back plate (31) and are used to stretch the shoulders of a human body in an adaptive manner; Two upper limb lifting units (2) are connected to the shoulder stretching units (1) in a one-to-one correspondence and are used to drive the upper limbs to move; The back power-assisting unit (4) comprises two symmetrically distributed line drive units, a second fixed seat (44), a fixed rod (47), a force plate (48) and a tension and pressure sensor (49), wherein the line drive unit comprises a motor sheave (41), a back power-assisting driving motor (42), a drive line (43) and a pulley (46), wherein the second fixed seat (44) is connected to a hip back plate (35), the pulley (46) is mounted on the second fixed seat (44), and one end of the drive line (43) is connected to the motor sheave (41). The other end passes through the pulley (46) and then passes through the back backboard (31) to be connected to the fixing rod (47); the back power driving motor (42) is connected to the hip backboard (35) and is used to drive the motor sheave (41) to rotate, thereby driving the driving line (43) to tighten or loosen; the fixing rod (47) is located on the side of the back backboard (31) close to the human body; the force plate (48) contacts the back of the human body; the tension and pressure sensor (49) is connected to the force plate (48) and fixed on the back backboard (31); Two lower limb power-assisting units (5) are symmetrically distributed on the hip backboard (35) and are used to drive the lower limbs to walk.

2. The high-degree-of-freedom multi-directional exoskeleton assisting device according to claim 1, characterized in that: The waist back plate comprises a waist outer back plate (32) and a waist inner back plate (33); the back back plate (31) is hinged to the waist outer back plate (32); the hip back plate (35) is hinged to the waist inner back plate (33); the waist outer back plate (32) and the waist inner back plate (33) are detachably connected.

3. The high-freedom multi-directional exoskeleton assisting device according to claim 2, characterized in that: The back back plate (31) and the waist outer back plate (32), as well as the waist inner back plate (33) and the hip back plate (35) are all hinged by hinges (34), and the waist outer back plate (32) is also provided with a plurality of third mounting holes (321) and a plurality of fourth mounting holes (322), and the waist inner back plate (33) is also provided with a plurality of fifth mounting holes (331) and a plurality of sixth mounting holes (332). The waist outer back plate (32) and the waist inner back plate (33) are height-adjustable by the cooperation of the third mounting holes (321) and the fifth mounting holes (331), and the cooperation of the fourth mounting holes (322) and the sixth mounting holes (332).

4. The high-degree-of-freedom multi-directional exoskeleton assisting device according to claim 1, characterized in that: The shoulder extension unit (1) comprises a first motor connecting plate (11), a first H-shaped hinge (12), a special-shaped hinge (15), a first connecting seat (16), an adjusting rod (17) and a first fixed seat (18), wherein the first fixed seat (18) is connected to the back plate (31), one end of the adjusting rod (17) is connected to the first fixed seat (18), and the other end is slidably connected to the first connecting seat (16), the special-shaped hinge (15) is hinged to the first connecting seat (16) and the first H-shaped hinge (12) respectively, the first H-shaped hinge (12) is also hinged to the first motor connecting plate (11), the sliding direction of the first connecting seat (16) is horizontal, and the rotation direction of the first H-shaped hinge (12) or the special-shaped hinge (15) is perpendicular to the sliding direction of the first connecting seat (16).

5. The high-degree-of-freedom multi-directional exoskeleton assisting device according to claim 4, characterized in that: The special-shaped hinge (15) is B-shaped, and a limit block (151) for rotation limiting is provided on the outer side of one end close to the upper limb lifting unit (2), and an avoidance groove (152) for avoiding the first H-shaped hinge (12) is provided between the two hinge shafts.

6. The high-degree-of-freedom multi-directional exoskeleton assisting device according to claim 1, characterized in that: The upper limb lifting unit (2) comprises an upper limb power-assist driving motor (21), a driving connecting plate (22), a linear slide (23) and an arm support (24); the upper limb power-assist driving motor (21) is connected to the first motor connecting plate (11) and is used to drive the driving connecting plate (22) to rotate; the fixed part of the linear slide (23) is connected to the driving connecting plate (22); the sliding part of the linear slide (23) is connected to the arm support (24); the arm support (24) is also fixed to the upper arm of the human body by a strap, and the sliding direction of the arm support (24) is the length direction of the upper arm of the human body; the rotation direction of the driving connecting plate (22) is perpendicular to the sliding direction of the arm support (24).

7. The high-degree-of-freedom multi-directional exoskeleton assisting device according to claim 6, characterized in that: The driving connection plate (22) is Z-shaped, and has a plurality of first mounting holes (221) for connecting the upper limb assist driving motor (21) at one end, and a plurality of second mounting holes (222) for connecting the linear slide (23) at the other end.

8. The high-degree-of-freedom multi-directional exoskeleton assisting device according to claim 1, characterized in that: The lower limb power-assisting unit (5) comprises a leg support (51), a leg support connecting rod (52), a second H-shaped hinge (53), a second motor connecting plate (54), a leg power-assisting driving motor (55) and a motor fixing plate (56); the leg support (51) and the leg support connecting rod (52) are detachably connected; the second H-shaped hinge (53) is hinged to the leg support connecting rod (52) and the second motor connecting plate (54) respectively; the leg power-assisting driving motor (55) is connected to the hip back plate (35) and is used to drive the second motor connecting plate (54) ) rotates around the front and rear direction of the human body, the motor fixing plate (56) is connected to the hip back plate (35) and is used to seal the leg power driving motor (55), the leg support (51) is also provided with a plurality of connecting holes (511), an adjusting slot (512) and a plurality of adjusting holes (513), the leg support (51) is fixed to the human thigh by a strap passing through the connecting hole (511), the leg support connecting rod (52) is slidably passed through the adjusting slot (512) and is fixed by a screw passing through the adjusting hole (513); The hip back plate (35) is a symmetrical structure, and is provided with two first motor mounting holes (351), two second motor mounting holes (352) and a mounting slot (353); the leg power-assisted drive motors (55) are built into the first motor mounting holes (351) in a one-to-one correspondence; the back power-assisted drive motors (42) are built into the second motor mounting holes (352) in a one-to-one correspondence; the second fixing seat (44) is fixed on the mounting slot (353); the second fixing seat (44) is also symmetrically provided with two reinforcing ribs (441) and two accommodating slots (442); the pulleys (46) are built into the accommodating slots (442) in a one-to-one correspondence; The outer edge of the motor groove wheel (41) is provided with an annular groove (411), the side wall is provided with a wire passing hole (413), and a fifth groove (412) is provided at one end close to the hip back plate (35); the drive wire (43) is wound around the annular groove (411) and one end passes through the wire passing hole (413) for fixation; the fifth groove (412) cooperates with the second motor mounting hole (352) to fix the back power assist drive motor (42).

9. The high-freedom multi-directional exoskeleton assisting device according to claim 1, characterized in that: The back plate (31) is provided with a first groove (311), a second groove (312) and a third groove (313); the first groove (311) is used to install the force plate (48); the second groove (312) is provided on the first groove (311) and is used to install the tension and pressure sensor (49); the tension and pressure sensor (49) protrudes out of the second groove (312); a plurality of the third grooves (313) are arranged side by side in the up-down direction, and the fixing rod (47) is installed in one of the third grooves (313); the fixing rod (47) is also provided with a limiting ring for fixing the driving line (43).

10. The high-degree-of-freedom multi-directional exoskeleton assisting device according to claim 1, characterized in that: The housing (3), the upper limb lifting unit (2) and the lower limb assisting unit (5) are also provided with a plurality of myoelectric sensors (25) in contact with the human body.

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