Exoskeleton robot and anti-falling mechanism thereof

Abstract

The invention relates to an exoskeleton robot and an anti-falling mechanism thereof. The anti-falling mechanism comprises a connecting base used for being installed on the exoskeleton robot, a rope shaft is rotationally arranged on the connecting base, and a winding and unwinding driving unit used for driving the rope shaft to rotate around the axis of the rope shaft is further arranged on the connecting base; the anti-falling safety rope is wound on the rope shaft, and an anti-falling lock catch is arranged at the free end of the anti-falling safety rope; the non-return device is arranged on the connecting base and connected with the rope shaft, the non-return device is provided with a non-return control module used for controlling the non-return device to be switched between a non-return state and a non-return release state, and in the non-return state, the non-return device allows the rope shaft to do rolling rotation motion and prevents the rope shaft from doing unrolling rotation motion. By arranging the non-return device, after the non-return state is released, the rope shaft can be wound and unwound to release the anti-falling safety rope to a proper length, and in the non-return state, the rope shaft can only execute winding operation, so that the situation of high-altitude falling caused by factors such as misoperation or instability of an operator is avoided, and the safety of high-altitude operation of the operator is greatly improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of exoskeleton robots, and particularly relates to a fall prevention mechanism for an exoskeleton robot and an exoskeleton robot configured with the fall prevention mechanism. Background Art

[0002] In the power industry, the replacement of insulator strings is an important maintenance task. However, since insulator strings are usually located at high altitudes and are relatively heavy, operators need to bear a large physical burden during the replacement process, which not only increases the operation difficulty but also may pose a threat to the safety of operators. Exoskeleton robots can provide assistance to operators during work, greatly reducing the physical burden of operators, but there is still a risk of falling from high altitudes, endangering the personal safety of operators. Summary of the Invention

[0003] The present invention relates to a fall prevention mechanism for an exoskeleton robot and an exoskeleton robot configured with the fall prevention mechanism, which can at least solve some defects of the prior art.

[0004] The present invention relates to a fall prevention mechanism for an exoskeleton robot, including:

[0005] A connecting seat for mounting on an exoskeleton robot, a rope shaft is rotatably arranged on the connecting seat, and a winding and unwinding driving unit for driving the rope shaft to rotate around its own axis is further configured;

[0006] A fall prevention safety rope wound around the rope shaft, and an anti - detachment lock is provided at the free end of the fall prevention safety rope;

[0007] A reverse - stop device, which is arranged on the connecting seat and connected to the rope shaft, and the reverse - stop device is configured with a reverse - stop control module for controlling its switching between a reverse - stop state and a reverse - stop release state. In the reverse - stop state, the reverse - stop device allows the rope shaft to make a winding rotation movement and prevents the rope shaft from making an unwinding rotation movement.

[0008] As one of the embodiments, the reverse - stop device includes a ratchet wheel and at least one pawl. The ratchet wheel is fixedly installed on the rope shaft, and each pawl is respectively rotatably connected to the reverse - stop control module, so as to have a reverse - stop position meshing with the ratchet wheel and an avoidance position separated from the ratchet wheel.

[0009] As one of the embodiments, the reverse - stop control module includes a fall prevention power unit, a fall prevention driving gear, and at least one fall prevention driven gear meshing with the fall prevention driving gear. The fall prevention power unit is arranged on the connecting seat and is in transmission connection with the fall prevention driving gear, and each pawl is correspondingly connected to each fall prevention driven gear.

[0010] As one of the implementation manners, a protective cover is provided on the connecting seat; the anti-falling power unit includes a translation box, a transmission rod and a reset structure. The translation box is movably arranged on the protective cover along a first direction. An arc-shaped guiding groove is provided on the protective cover. The arc-shaped guiding groove is arranged around the axis of the anti-falling driving gear. One end of the transmission rod is fixedly connected to the anti-falling driving gear. The transmission rod passes through the arc-shaped guiding groove and the other end is movably arranged in the translation box along a second direction. The second direction is perpendicular to the first direction and both are perpendicular to the axial direction of the anti-falling driving gear. The reset structure is arranged on the protective cover and connected to the translation box for resetting the translation box.

[0011] The present invention also relates to an exoskeleton robot, including a robot body and the anti-falling mechanism of the exoskeleton robot as described above. The connecting seat is installed on the robot body.

[0012] As one of the implementation manners, the robot body includes a back plate, a shoulder assisting mechanism and an elbow assisting mechanism. The shoulder assisting mechanism is movably connected to the back plate. The elbow assisting mechanism is movably connected to the shoulder assisting mechanism. The connecting seat is installed on the back plate.

[0013] As one of the implementation manners, the elbow assisting mechanism includes a large arm exoskeleton. The large arm exoskeleton is rotationally connected to the shoulder exoskeleton of the shoulder assisting mechanism, and the axial direction of the rotating shaft is perpendicular to the length direction of the large arm exoskeleton and parallel to the horizontal direction. The large arm exoskeleton is configured with a large arm flexion and extension driving unit for driving its rotation relative to the shoulder exoskeleton.

[0014] As one of the implementation manners, a first fixed gear is provided on the shoulder exoskeleton. The large arm flexion and extension driving unit includes a large arm assisting motor and a first movable gear. The large arm assisting motor is installed on the large arm exoskeleton. The first movable gear is installed on the output shaft of the large arm assisting motor and meshes with the first fixed gear. The axial direction of the first fixed gear is perpendicular to the length direction of the large arm exoskeleton and parallel to the horizontal direction.

[0015] As one of the implementation manners, the elbow assisting mechanism further includes a small arm exoskeleton. The small arm exoskeleton is rotationally connected to the large arm exoskeleton, and the axial direction of the rotating shaft is perpendicular to the length direction of the large arm exoskeleton and parallel to the horizontal direction. The small arm exoskeleton is configured with a small arm flexion and extension driving unit for driving its rotation relative to the large arm exoskeleton.

[0016] As one of the implementation manners, the forearm flexion and extension driving unit includes a forearm assisting motor, a second fixed gear, and a second movable gear. The second fixed gear is installed on the forearm exoskeleton, the forearm assisting motor is installed on the forearm exoskeleton, the second movable gear is installed on the output shaft of the forearm assisting motor and meshes with the second fixed gear, and the axial direction of the second fixed gear is perpendicular to the length direction of the upper arm exoskeleton and parallel to the horizontal direction.

[0017] The present invention has at least the following beneficial effects:

[0018] In the present invention, by being connected to the safety hanging point through the anti-detachment buckle, it can play a role in protecting against falling; and by setting the anti-reverse device and being able to switch between the anti-reverse state and the anti-reverse release state based on the function of the anti-reverse control module. After the anti-reverse state is released, the rope shaft can perform winding and unwinding operations, and the anti-falling safety rope can be released to an appropriate length, facilitating the high-altitude operation of the operator while ensuring the personal safety of the operator. In the anti-reverse state, the rope shaft can only perform winding operations, avoiding the situation of high-altitude falling due to factors such as misoperation or the instability of the operator, greatly improving the safety of the operator's high-altitude operation. Description of the Drawings

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0020] Figure 1 It is a schematic structural diagram of the exoskeleton robot provided by the embodiment of the present invention;

[0021] Figure 2 It is a schematic structural diagram of the anti-falling mechanism provided by the embodiment of the present invention;

[0022] Figure 3 It is a schematic diagram of the ratchet and pawl cooperation structure provided by the embodiment of the present invention;

[0023] Figure 4 It is a schematic diagram of the cooperation structure of the anti-falling driving gear and the anti-falling driven gear provided by the embodiment of the present invention;

[0024] Figure 5 It is a schematic structural diagram of the anti-falling power unit provided by the embodiment of the present invention

[0025] Figure 6 It is a combined schematic diagram of the shoulder assisting mechanism and the elbow assisting mechanism provided by the embodiment of the present invention;

[0026] Figure 7 Structural schematic diagram of the shoulder exoskeleton provided by an embodiment of the present invention;

[0027] Figure 8 Structural schematic diagram of the upper arm exoskeleton provided by an embodiment of the present invention;

[0028] Figure 9 Structural schematic diagram of the forearm exoskeleton provided by an embodiment of the present invention. Detailed implementation manners

[0029] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0030] Embodiment 1

[0031] As Figures 1 - 5 , an anti - falling mechanism 5 of an exoskeleton robot provided by an embodiment of the present invention includes:

[0032] A connecting seat 501 for being installed on the exoskeleton robot. A rope shaft 502 is rotatably arranged on the connecting seat 501, and a winding and unwinding driving unit for driving the rope shaft 502 to rotate around its own axis is also configured;

[0033] An anti - falling safety rope 503 wound around the rope shaft 502. An anti - detachment lock 504 is provided at the free end of the anti - falling safety rope 503;

[0034] A reverse - prevention device. The reverse - prevention device is arranged on the connecting seat 501 and is connected to the rope shaft 502. The reverse - prevention device is configured with a reverse - prevention control module for controlling its switching between the reverse - prevention state and the reverse - prevention release state. In the reverse - prevention state, the reverse - prevention device allows the rope shaft 502 to perform winding rotation movement and prevents the rope shaft 502 from performing unwinding rotation movement.

[0035] The above - mentioned connecting seat 501 is preferably detachably installed on the exoskeleton robot, including but not limited to being installed on the exoskeleton robot by means such as bolt fixation, and the connecting part on the connecting seat 501 can be configured accordingly.

[0036] In one embodiment, as Figure 2 , the above - mentioned connecting seat 501 is C - shaped, including a base plate and two end plates arranged at both ends of the base plate. The three form a receiving groove. Both ends of the above - mentioned rope shaft 502 are respectively rotatably installed on the two end plates and can rotate relative to the connecting seat 501, so as to perform winding and unwinding operations.

[0037] In one embodiment, the reeling and unreeling operation is performed by manual drive, such as Figure 2 The retractable driving unit includes a turning handle 505, one end of the rope shaft 502 is connected to the turning handle 505, and rotating the turning handle 505 can drive the rope shaft 502 to rotate.

[0038] In this embodiment, by connecting to the safety hanging point through the anti-drop lock buckle 504, it can play a role in safety anti-falling protection; and by setting up a non-return device, and based on the function of the non-return control module, it can switch between the non-return state and the non-return release state. After the non-return state is released, the rope shaft 502 can perform winding and unwinding operations, and the anti-fall safety rope 503 can be released to an appropriate length, which is convenient for the operators to perform high-altitude operations while ensuring the personal safety of the operators. In the non-return state, the rope shaft 502 can only perform winding operations to avoid high-altitude falls due to misoperation or instability of the operators, thereby greatly improving the safety of high-altitude operations for the operators.

[0039] In one embodiment, the anti-return device adopts a ratchet mechanism, specifically, as Figure 3 and Figure 4 The anti-return device includes a ratchet 506 and at least one pawl 509. The ratchet 506 is fixedly mounted on the rope shaft 502. Each pawl 509 is rotatably connected to the anti-return control module so as to have an anti-return position engaged with the ratchet 506 and an avoidance position separated from the ratchet 506.

[0040] Alternatively, if Figure 3 and Figure 4 There are multiple pawls 509, and the pawls 509 are distributed in sequence along the circumference of the ratchet wheel 506 at intervals, which can improve the working reliability of the anti-return device.

[0041] Preferably, the ratchet 506 is installed at one end of the rope shaft 502 away from the retractable drive unit, which can facilitate the arrangement of various components, and prevent mutual interference between the retractable drive unit and the anti-return control module, thereby reducing the occurrence of misoperation.

[0042] The anti-return control module can control the pawl 509 to rotate, so that the pawl 509 is engaged with the ratchet 506 or separated from the ratchet 506. In one embodiment, Figures 3 - 5 The anti-reverse control module includes an anti-falling power unit, an anti-falling active gear 512 and at least one anti-falling driven gear 510 meshing with the anti-falling active gear 512. The anti-falling power unit is arranged on the connecting seat 501 and is transmission-connected with the anti-falling active gear 512. Each of the ratchet pawls 509 is connected to each of the anti-falling driven gears 510 in a one-to-one correspondence.

[0043] The anti-falling power unit drives the anti-falling driving gear 512 to rotate, and the anti-falling driving gear 512 drives each anti-falling driven gear 510 to rotate, thereby driving each pawl 509 to rotate, that is, the purpose of the pawl 509 moving between the anti-reverse position and the avoidance position is achieved. Since the same anti-falling driving gear 512 drives each anti-falling driven gear 510 to rotate, the synchronization of the actions of each pawl 509 can be ensured, and correspondingly, the working reliability of the anti-reverse device is improved.

[0044] Among them, the number of pawls 509 is the same as the number of anti-falling driven gears 510 and they are arranged in one-to-one correspondence. Each pawl 509 is installed on the corresponding anti-falling driven gear 510. For example, the pawl 509 is fixed on the driven gear shaft 508 of the anti-falling driven gear 510.

[0045] For the setting of the anti-falling power unit, it can be designed accordingly based on the requirement of manual drive or based on the requirement of automatic drive. In this embodiment, the manual drive mode is adopted, and the following provides a preferred solution:

[0046] Such as Figure 4 and Figure 5 , a protective cover is provided on the connecting seat 501; the anti-falling power unit includes a translation box 516, a transmission rod 513 and a reset structure. The translation box 516 is movably arranged on the protective cover along the first direction. An arc-shaped guide groove 514 is provided on the protective cover. The arc-shaped guide groove 514 is arranged around the axis of the anti-falling driving gear 512. One end of the transmission rod 513 is fixedly connected to the anti-falling driving gear 512. The transmission rod 513 passes through the arc-shaped guide groove 514 and the other end is movably arranged in the translation box 516 along the second direction. The second direction is perpendicular to the first direction and both are perpendicular to the axial direction of the anti-falling driving gear 512.

[0047] Optionally, such as Figures 2 - 5 , the above-mentioned protective cover includes a first protective cover 507 and a second protective cover 511. The first protective cover 507 is installed on the connecting seat 501 and they enclose a first cover cavity. The ratchet wheel 506 and the pawl 509 are accommodated in this first cover cavity. The second protective cover 511 is installed on the first protective cover 507 and they enclose a second cover cavity. The anti-falling driving gear 512 and the anti-falling driven gears 510 are accommodated in this second cover cavity. The above-mentioned translation box 516 is located outside the second protective cover 511, and the above-mentioned arc-shaped guide groove 514 is opened on the second protective cover 511.

[0048] Among them, the arc-shaped guide groove 514 is in guiding cooperation with the transmission rod 513. Preferably, the groove width of the arc-shaped guide groove 514 is designed to match (be the same as or close to) the diameter of the transmission rod 513, so that there is a clearance fit between the transmission rod 513 and the arc-shaped guide groove 514, ensuring that the transmission rod 513 can move smoothly within the arc-shaped guide groove 514.

[0049] It is defined that the first end of the transmission rod 513 is fixedly connected to the anti-falling driving gear 512, and the second end extends into the translation box 516. Preferably, a limiting head is provided at the second end of the transmission rod 513, and the size of the limiting head is larger than the rod diameter of the transmission rod 513, which can prevent the transmission rod 513 from disengaging from the translation box 516; the inner cavity width of the translation box 516 (this width direction is parallel to the above-mentioned first direction) matches (is the same as or close to) the diameter / width of the limiting head, so that there is a clearance fit between the limiting head and the translation box 516 in the first direction, thereby only allowing the limiting head to move within the translation box 516 along the second direction.

[0050] In the above solution, when the translation box 516 is driven to translate along the first direction, the transmission rod 513 has a tendency to translate along the first direction. Due to the constraint of the arc-shaped guide groove 514, the limiting head generates a displacement in the second direction in the translation box 516. Under the synthesis of the displacement in the first direction and the displacement in the second direction, it is ensured that the transmission rod 513 can move along the arc-shaped guide groove 514, and then drive the anti-falling driving gear 512 to rotate relative to its own axis.

[0051] The above anti-reverse device adopts a pure mechanical structure with high working reliability; the retracting and deploying drive unit and the anti-reverse device need to be operated independently. Especially when both the retracting and deploying drive unit and the anti-falling power unit need to be manually operated, the probability of anti-reverse failure caused by single-handed misoperation is extremely low, thus ensuring the safety of high-altitude operations.

[0052] The above reset structure is arranged on the protective cover and connected to the translation box 516 for resetting the translation box 516; when the protective cover includes the first protective cover 507 and the second protective cover 511, the reset structure is correspondingly arranged on the second protective cover 511. In the initial state, the translation box 516 is in the initial position. For example, at this time, the transmission rod 513 is located at one end of the arc-shaped guide groove 514, and the pawl 509 is engaged with the ratchet wheel 506; when the translation box 516 generates a translation displacement and the power disappears, under the action of the reset structure, the translation box 516 can return to the initial position, ensuring the working reliability of the above anti-falling device. Optionally, the above reset structure uses a spring to reset the translation box 516, including but not limited to the following structures: such as Figure 5, a guide rod 515 is provided on the second protective cover 511. The axial direction of the guide rod 515 is parallel to the first direction. The translation box 516 is slidably arranged on the guide rod 515. A return spring 517 is sleeved on the guide rod 515. One end of the return spring 517 abuts against or is fixedly connected to the limit block on the second protective cover 511, and the other end abuts against or is fixedly connected to the translation box 516. Among them, preferably, there are two or more guide rods 515, which can further improve the movement stability of the translation box 516.

[0053] Embodiment Two

[0054] As Figure 1 , an embodiment of the present invention provides an exoskeleton robot, including a robot body, which is further configured with the anti-falling mechanism 5 of the exoskeleton robot provided in the first embodiment above, and the connecting seat 501 is installed on the robot body.

[0055] In one embodiment, the robot body includes a back plate 1, and the connecting seat 501 is installed on the back plate 1. Optionally, as Figure 1 , a fixing belt 2 is provided on the back plate 1 to facilitate the operator to wear. After wearing, the back plate 1 is located on the back side of the operator, and the fixing belt 2 is located on the chest and abdomen side of the operator. In this structure, the connecting seat 501 can be installed on the fixing belt 2 to facilitate the operator to operate the anti-disengagement lock 504, the retracting and extending drive unit, the anti-reverse device, etc.

[0056] Furthermore, as Figure 1 and Figure 6 , the robot body further includes a shoulder assist mechanism 3 and an elbow assist mechanism 4. The shoulder assist mechanism 3 is movably connected to the back plate 1, and the elbow assist mechanism 4 is movably connected to the shoulder assist mechanism 3.

[0057] In one embodiment, as Figure 1 and Figure 6 , the above-mentioned shoulder assist mechanism 3 includes a shoulder exoskeleton 304, which is rotatably connected to the back plate 1, and the shoulder exoskeleton 304 is configured with a shoulder external rotation and adduction drive unit for driving its rotation relative to the back plate 1. Based on this structure, through the shoulder external rotation and adduction drive unit, the shoulder exoskeleton 304 can be driven to perform external rotation and adduction actions, thereby driving the elbow to perform external rotation and adduction. Among them, preferably, the axial direction of the rotating shaft between the shoulder exoskeleton 304 and the back plate 1 is perpendicular to the back plate 1 or approximately perpendicular to the back plate 1.

[0058] Optionally, as Figure 6 and Figure 7, a shoulder seat 301 is installed on the backboard 1. The above-mentioned shoulder external rotation and internal adduction drive unit includes a shoulder assist motor 302 and a transmission plate 305. The shoulder assist motor 302 is installed on the shoulder seat 301. One end of the transmission plate 305 is hinged to the output end of the shoulder assist motor 302, and the other end is hinged to the shoulder exoskeleton 304. The axial directions of the hinge shafts are all parallel to the axial direction of the rotating shaft between the exoskeleton and the backboard 1. Among them, the above-mentioned transmission plate 305 can adopt an arc-shaped plate, which can better adapt to the rotational movement of the shoulder exoskeleton 304 and reduce the space required for its movement.

[0059] Optionally, the above-mentioned shoulder assist motor 302 adopts a stepper motor, a lead nut is installed on its output end, and a transmission lead screw 303 is screwed on the lead nut. The transmission lead screw 303 is hinged to the above-mentioned transmission plate 305. Using a stepper motor can improve the smoothness of the movement of the shoulder exoskeleton 304 and avoid damage to the operator due to excessive shoulder movement amplitude.

[0060] Preferably, the shoulder assist mechanism 3 is set to two groups, which are respectively arranged on the left and right sides of the backboard 1, and can assist the shoulder-elbow parts on both sides of the operator.

[0061] In one embodiment, as Figure 1 , Figures 6 - 8 , the elbow assist mechanism 4 includes a forearm exoskeleton 401. The forearm exoskeleton 401 is rotatably connected to the shoulder exoskeleton 304 of the shoulder assist mechanism 3, and the axial direction of the rotating shaft is perpendicular to the length direction of the forearm exoskeleton 401 and parallel to the horizontal direction. The forearm exoskeleton 401 is configured with a forearm flexion and extension drive unit for driving its rotation relative to the shoulder exoskeleton 304. Based on this structure, through the forearm flexion and extension drive unit, the forearm exoskeleton 401 can be driven to perform flexion and extension actions, which is convenient for the operator to perform related operation activities.

[0062] Optionally, as Figures 6 - 8 , a first fixed gear 306 is provided on the shoulder exoskeleton 304. The forearm flexion and extension drive unit includes a forearm assist motor 402 and a first movable gear 403. The forearm assist motor 402 is installed on the forearm exoskeleton 401. The first movable gear 403 is installed on the output shaft of the forearm assist motor 402 and meshes with the first fixed gear 306. The axial direction of the first fixed gear 306 is perpendicular to the length direction of the forearm exoskeleton 401 and parallel to the horizontal direction. By driving the first movable gear 403 to rotate through the forearm assist motor 402, based on the meshing effect between the first movable gear 403 and the first fixed gear 306, the forearm exoskeleton 401 can be driven to rotate around the first fixed gear 306, realizing the lifting and lowering of the forearm exoskeleton 401 (i.e., corresponding to flexion and extension actions).

[0063] In the above structure, the boom assist motor 402 is arranged on the boom exoskeleton 401, and the boom exoskeleton 401 is actuated based on gear meshing transmission. The first fixed gear 306 also serves as a joint between the boom exoskeleton 401 and the shoulder exoskeleton 304. The joint structure is simple and the transmission reliability is high, greatly simplifying the structure of the boom exoskeleton 401 and the boom flexion and extension drive unit, and improving the smoothness and reliability of elbow movement.

[0064] Preferably, as Figure 6 and Figure 8 , a boom strap 404 is provided on the boom exoskeleton 401 for the operator's boom to wear.

[0065] In one embodiment, as Figure 1 , Figure 6 and Figure 9 , the elbow assist mechanism 4 further includes a forearm exoskeleton 407, which is rotatably connected to the boom exoskeleton 401, and the axis of the rotating shaft is perpendicular to the length direction of the boom exoskeleton 401 and parallel to the horizontal direction. The forearm exoskeleton 407 is configured with a forearm flexion and extension drive unit for driving its rotation relative to the boom exoskeleton 401. Based on this structure, the forearm exoskeleton 407 can be driven to perform flexion and extension actions by the forearm flexion and extension drive unit, facilitating the operator to perform related operation activities.

[0066] Optionally, as Figure 1 , Figures 6 - 9 , the forearm flexion and extension drive unit includes a forearm assist motor 405, a second fixed gear 408, and a second movable gear 406. The second fixed gear 408 is installed on the forearm exoskeleton 407, the forearm assist motor 405 is installed on the forearm exoskeleton 407, the second movable gear 406 is installed on the output shaft of the forearm assist motor 405 and meshes with the second fixed gear 408, and the axis of the second fixed gear 408 is perpendicular to the length direction of the boom exoskeleton 401 and parallel to the horizontal direction.

[0067] By driving the second movable gear 406 to rotate by the forearm assist motor 405, based on the meshing action between the second movable gear 406 and the second fixed gear 408, the forearm exoskeleton 407 can be driven to rotate by the second fixed gear 408, realizing the lifting and lowering of the forearm exoskeleton 407 (i.e., corresponding to flexion and extension actions).

[0068] In the above structure, the forearm assist motor 405 is arranged on the upper arm exoskeleton 401. Based on the gear meshing transmission, the forearm exoskeleton 407 is actuated. The second fixed gear 408 also serves as the joint between the forearm exoskeleton 407 and the upper arm exoskeleton 401. The joint structure is simple and the transmission reliability is high, greatly simplifying the structure of the forearm exoskeleton 407 and the forearm flexion and extension drive unit. The weight of the forearm exoskeleton 407 is very light, so the front-end operation flexibility is better, making it easier for the operator to operate and reducing the labor intensity of the operator.

[0069] Among them, the upper arm exoskeleton 401 and the forearm exoskeleton 407 only need to perform flexion and extension actions, and the action reliability is strong. It is easy for them to cooperate with each other, thus improving the working reliability of the exoskeleton robot.

[0070] Preferably, as Figure 6 and Figure 9 , a forearm strap 409 is provided on the forearm exoskeleton 407 for the operator's forearm to wear.

[0071] Preferably, the elbow assist mechanism 4 is set to two groups, which are respectively arranged on the left and right sides of the back plate 1, and can assist the elbows on both sides of the operator.

[0072] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An anti-falling mechanism for an exoskeleton robot, characterized in that, include: A connecting seat for mounting on an exoskeleton robot, wherein a rope shaft is rotatably arranged on the connecting seat and a retracting and extending driving unit is configured for driving the rope shaft to rotate around its own axis; An anti-fall safety rope wound on the rope shaft, wherein the free end of the anti-fall safety rope is provided with an anti-drop lock buckle; A non-return device, wherein the non-return device is arranged on the connecting seat and connected to the rope shaft, and the non-return device is provided with a non-return control module for controlling the switching between the non-return state and the non-return release state. In the non-return state, the non-return device allows the rope shaft to make a winding rotation motion, but prevents the rope shaft from making an unwinding rotation motion.

2. The anti-falling mechanism of the exoskeleton robot according to claim 1, characterized in that: The anti-return device includes a ratchet and at least one pawl, the ratchet is fixedly mounted on the rope shaft, and each pawl is rotationally connected to the anti-return control module so as to have an anti-return position engaged with the ratchet and an avoidance position separated from the ratchet.

3. The anti-falling mechanism of the exoskeleton robot according to claim 2, wherein: The anti-reverse control module includes an anti-fall power unit, an anti-fall driving gear and at least one anti-fall driven gear meshing with the anti-fall driving gear. The anti-fall power unit is arranged on the connecting seat and is transmission-connected with the anti-fall driving gear, and each of the ratchet pawls is connected to each of the anti-fall driven gears one by one.

4. The anti-falling mechanism of the exoskeleton robot according to claim 3, characterized in that: A protective cover is provided on the connecting seat; the anti-falling power unit includes a translation box, a transmission rod and a reset structure, the translation box is movably arranged on the protective cover along a first direction, an arc guide groove is provided on the protective cover, the arc guide groove is arranged around the axis of the anti-falling active gear, one end of the transmission rod is fixedly connected to the anti-falling active gear, the transmission rod passes through the arc guide groove and the other end is movably arranged in the translation box along a second direction, the second direction is perpendicular to the first direction and both are perpendicular to the axial direction of the anti-falling active gear; the reset structure is arranged on the protective cover and connected to the translation box, and is used to reset the translation box.

5. An exoskeleton robot, comprising a robot body, characterized in that: It also includes an anti-falling mechanism for the exoskeleton robot as described in any one of claims 1 to 4, and the connecting seat is installed on the robot body.

6. The exoskeleton robot according to claim 5, wherein: The robot body comprises a back plate, a shoulder power-assisting mechanism and an elbow power-assisting mechanism, the shoulder power-assisting mechanism is movably connected to the back plate, the elbow power-assisting mechanism is movably connected to the shoulder power-assisting mechanism, and the connecting seat is installed on the back plate.

7. The exoskeleton robot according to claim 6, characterized in that: The elbow assist mechanism includes an upper arm exoskeleton, which is rotatably connected to the shoulder exoskeleton of the shoulder assist mechanism, and the axis of the rotation shaft is perpendicular to the length direction of the upper arm exoskeleton and parallel to the horizontal direction. The upper arm exoskeleton is equipped with an upper arm flexion and extension drive unit for driving it to rotate relative to the shoulder exoskeleton.

8. The exoskeleton robot according to claim 7, wherein: The shoulder exoskeleton is provided with a first fixed gear, and the upper arm flexion and extension driving unit includes an upper arm assist motor and a first movable gear. The upper arm assist motor is installed on the upper arm exoskeleton, and the first movable gear is installed on the output shaft of the upper arm assist motor and meshes with the first fixed gear. The axial direction of the first fixed gear is perpendicular to the length direction of the upper arm exoskeleton and parallel to the horizontal direction.

9. The exoskeleton robot according to claim 7, wherein: The elbow assist mechanism further includes a forearm exoskeleton, which is rotatably connected to the upper arm exoskeleton, and the axis of the rotating shaft is perpendicular to the length direction of the upper arm exoskeleton and parallel to the horizontal direction. The forearm exoskeleton is configured with a forearm flexion and extension drive unit for driving its rotation relative to the upper arm exoskeleton.

10. The exoskeleton robot according to claim 9, characterized in that: The forearm flexion and extension drive unit includes a forearm assist motor, a second fixed gear, and a second movable gear. The second fixed gear is installed on the forearm exoskeleton, the forearm assist motor is installed on the forearm exoskeleton, the second movable gear is installed on the output shaft of the forearm assist motor and meshes with the second fixed gear, and the axis of the second fixed gear is perpendicular to the length direction of the upper arm exoskeleton and parallel to the horizontal direction.

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