Lightweight upper limb assisting exoskeleton robot

Abstract

The invention relates to an exoskeleton robot, and provides a lightweight upper limb power-assisted exoskeleton robot, comprising: a back plate assembly having an upper back plate and a lower back plate, the upper back plate being connected with the lower back plate through an extension rod, and the extension rod adjusting the distance between the upper back plate and the lower back plate; the number of the connecting rods is two, the two connecting rods are oppositely arranged at the end, away from the lower back plate, of the upper back plate in a spaced mode, and arm protection assemblies are arranged at the ends, away from the upper back plate, of the connecting rods; and the bandage is arranged at the end part, far away from the upper back plate, of the lower back plate. According to the exoskeleton robot, the structure is simple, light weight is achieved, the limitation of the binding belts on the upper back plate and the connecting rods is small, the distance between the upper back plate and the lower back plate can be adjusted through the extension rods, the exoskeleton robot can adapt to wearers of different body types, and therefore the limitation of the exoskeleton robot on upper limb movement of the wearers is greatly reduced; and electric power high-altitude operation is facilitated.

Description

Technical Field

[0001] The present invention relates to an exoskeleton robot, and particularly to a lightweight upper limb assistive exoskeleton robot. Background Art

[0002] In the scenario of high-altitude electric power operation (such as high-voltage cable installation, substation equipment maintenance, etc.), electric power workers need to frequently lift their upper limbs for operations - for example, carrying heavy objects (insulator strings, fittings, etc.), continuously cantilever tightening bolts, high-altitude wiring, etc. Such actions require the shoulder and elbow joints to bear high-load static torque for a long time, which is likely to cause rotator cuff muscle strain. Moreover, the high-altitude operation environment restricts the body's borrowing force posture, further exacerbating the risk of upper limb fatigue.

[0003] The upper limb assistive exoskeleton robot can move in coordination with the human upper limb through a mechanical structure and can provide a safe and effective assistive torque to the wearer. Especially when it is applied to the high-altitude electric power operation environment, it can greatly reduce the operation burden of electric power workers, prevent the upper limb muscles and joints of electric power workers from being damaged during long-term operations, effectively extend the working hours of electric power workers, and improve the working efficiency of electric power workers.

[0004] However, most of the existing upper limb assistive exoskeleton robots on the market are used for rehabilitation training and are not convenient for adjusting the size of the exoskeleton robot according to the heights of different electric power workers, which may affect the range of motion of the joints of electric power workers and reduce the adaptability of the exoskeleton robot. In addition, most of the existing upper limb assistive exoskeleton robots on the market are not convenient for adjusting the assisting direction in a timely manner according to the limb movements of electric power workers, thus resulting in a lag in the assistive response of the exoskeleton robot and reducing the assistive effect of the exoskeleton robot. Summary of the Invention

[0005] The purpose of the present invention is to provide a lightweight upper limb assistive exoskeleton robot, which can at least solve some defects in the prior art.

[0006] To achieve the above purpose, the embodiments of the present invention provide the following technical solutions: A lightweight upper limb assistive exoskeleton robot, comprising:

[0007] A backboard assembly, having an upper backboard and a lower backboard, the upper backboard is connected to the lower backboard through an extension rod, and the extension rod adjusts the distance between the upper backboard and the lower backboard;

[0008] Connecting rods, there are two groups, the two groups of connecting rods are relatively spaced and arranged at the end of the upper backboard away from the lower backboard, and a forearm guard assembly is arranged at the end of the connecting rod away from the upper backboard;

[0009] A strap, which is arranged at the end of the lower backboard away from the upper backboard.

[0010] Further, a sliding groove for the extension rod to extend into is provided on the lower back plate. A plurality of positioning holes are provided on the extension rod, and the positioning holes are sequentially and spaced apart along the length direction of the extension rod. A positioning pin that can be inserted into the positioning holes is provided on the lower back plate.

[0011] Further, an installation groove communicating with the sliding groove is provided on the lower back plate. The positioning pin passes through the installation groove. A pull block, a return spring, and a limit disk are installed on the positioning pin. The limit disk is fixedly installed on the positioning pin and is slidably arranged in the installation groove. The return spring is sleeved on the positioning pin and is clamped between the limit disk and the end face of the installation groove. The pull block is located outside the lower back plate.

[0012] Further, the connecting rod is rotatably connected to the upper back plate, and the rotation axis is in the Z direction; the arm guard assembly includes an installation cylinder, an arm guard, and a DC motor. The installation cylinder is arranged at the end of the connecting rod far from the upper back plate. The DC motor is arranged in the installation cylinder. A hinge seat is rotatably arranged on the installation cylinder. The output shaft of the DC motor is drivingly connected to the hinge seat. The rotation axis of the output shaft of the DC motor and the hinge seat is coaxially arranged and is in the Y direction; the arm guard is hinged to the hinge seat, and the hinge axis is in the X direction.

[0013] Further, an electromyographic sensor is provided on the inner surface of the arm guard, and the rotation speed and rotation direction of the DC motor are controlled according to the electromyographic signal detected by the electromyographic sensor.

[0014] Further, the arm guard includes an arc-shaped arm plate and a flexible sleeve. The flexible sleeve and the arc-shaped arm plate enclose a closed ring for the arm to pass through. The closed ring penetrates along the X direction, and the hinge seat is hinged to the arc-shaped arm plate.

[0015] Further, a plurality of air bags communicating with each other are provided in the flexible sleeve, and each air bag is inflated by an air pump. A pressure sensor is provided on the inner wall of the flexible sleeve, and the inflation action of the air pump is controlled by the detection value of the pressure sensor.

[0016] Further, an L-shaped plate is further included. The L-shaped plates correspond to the connecting rods one by one. One end of the L-shaped plate is installed at the end of the upper back plate far from the lower back plate. The connecting rod is rotatably connected to the upper back plate through the corresponding L-shaped plate.

[0017] Further, an installation cavity is provided in the upper back plate, and a storage battery and a control board are arranged in the installation cavity.

[0018] Further, a falling prevention mechanism is further included. The falling prevention mechanism is connected to the strap through a connecting seat.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows: The structure of the exoskeleton robot is very simple, mainly including a backplate assembly, straps, and an arm guard assembly. It not only reduces restraint but also makes the overall weight relatively small, which is very conducive to high-altitude operations in power scenarios. For the backplate assembly, the upper backplate and the lower backplate are used in a cooperative manner, and the distance between the upper backplate and the lower backplate can be adjusted according to the height and body shape of the wearer. On the one hand, the adaptability of the exoskeleton robot is improved, and on the other hand, the range of joint movement of the wearer is ensured, and the operation efficiency of the wearer is increased. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 FIG. is a schematic structural diagram of the lightweight upper limb assisting exoskeleton robot provided by an embodiment of the present invention from a first perspective;

[0021] Figure 2 FIG. is a schematic structural diagram of the lightweight upper limb assisting exoskeleton robot provided by an embodiment of the present invention from a second perspective;

[0022] Figure 3 is Figure 2 an enlarged view of part A in

[0023] Figure 4 FIG. is a schematic structural diagram of the cooperation between the connecting rod and the arm guard assembly of the lightweight upper limb assisting exoskeleton robot provided by an embodiment of the present invention;

[0024] Figure 5 is Figure 4 an enlarged view of part B in

[0025] Figure 6 FIG. is a schematic structural diagram of the lightweight upper limb assisting exoskeleton robot provided by an embodiment of the present invention from a third perspective;

[0026] Figure 7 FIG. is a schematic structural diagram of the lightweight upper limb assisting exoskeleton robot provided by an embodiment of the present invention after the installation cavity is opened;

[0027] Figure 8 FIG. is a schematic structural diagram of the anti-falling mechanism of the lightweight upper limb assisting exoskeleton robot provided by an embodiment of the present invention;

[0028] Figure 9 FIG. is a schematic installation diagram of the ratchet of the anti-falling mechanism of the lightweight upper limb assisting exoskeleton robot provided by an embodiment of the present invention;

[0029] Figure 10 FIG. is a schematic cooperation structure diagram of the ratchet and the anti-falling gear of the anti-falling mechanism of the lightweight upper limb assisting exoskeleton robot provided by an embodiment of the present invention;

[0030] Figure 11 FIG. is a schematic reset diagram of the anti-falling mechanism of the lightweight upper limb assisting exoskeleton robot provided by an embodiment of the present invention. Detailed implementation mode

[0031] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

[0032] See Figure 1 And Figure 2 , the embodiment of the present invention provides a lightweight upper limb assist exoskeleton robot, which is mainly applicable to high-altitude operations in the power industry, and can provide upper limb assistance to the wearer to facilitate the wearer to carry heavy objects in a limited activity space, such as replacing insulators.

[0033] In the present invention, the exoskeleton robot includes a backboard assembly 1, a connecting rod 2, and a strap 3.

[0034] The backboard assembly 1 includes an upper backboard 11 and a lower backboard 12. When the exoskeleton robot is in use, the upper backboard 11 is located above the lower backboard 12, and the two are connected by an extension rod 13, and the distance between the upper backboard 11 and the lower backboard 12 can be adjusted through the extension rod 13. The shapes and structures of the upper backboard 11 and the lower backboard 12 are similar, and the lower backboard 12 is similar to the inverted structure of the upper backboard 11. Specifically, the upper backboard 11 is gradually expanding in the upward direction, while the lower backboard 12 is gradually expanding in the downward direction, that is, the sizes of the upper backboard 11 and the lower backboard 12 at the close position are relatively small, and the extension rod 13 is located at the position where the sizes of the two are small.

[0035] The connecting rod 2 has two groups. Both groups of connecting rods 2 are connected to the upper backboard 11 and are arranged at the end of the upper backboard 11 away from the lower backboard 12 (when in use, this end is the upper end of the upper backboard 11). The two groups of connecting rods 2 are respectively located on both sides of the upper end of the upper backboard 11, that is, the two groups of connecting rods 2 are relatively spaced apart. A forearm protection assembly 4 is provided at the end of the connecting rod 2 away from the upper backboard 11. When using the exoskeleton robot, the connecting rod 2 corresponds to the position of the wearer's arm, and the forearm protection assembly 4 can support the wearer's upper arm and can assist the upper arm when necessary.

[0036] The strap 3 is installed at the end of the lower back plate 12 away from the upper back plate 11 (when in use, this end is the lower end of the lower back plate 12). The strap 3 is similar to a seat belt structure and has two parts, namely a first restraint part 31 and a second restraint part 32. One end of the first restraint part 31 is connected to the lower back plate 12 through a first connection block 311, and the other end is provided with a buckle 312. The second restraint part 32 is connected to the lower back plate 12 through a second connection block 321, and the other end is provided with a plug 322. The plug 322 is engaged with the buckle 312. The length of the second restraint part 32 can be adjusted. When the plug 322 is used in cooperation with the buckle 312, the first restraint part 31 and the second restraint part 32 wind around the wearer's waist and bind the lower back plate 12 to the wearer's back.

[0037] In the present invention, the components of the exoskeleton robot are a back plate assembly 1, an arm guard assembly 4, and a strap 3. The overall structure is relatively simple and can meet the lightweight requirements. Moreover, since the back plate assembly 1 includes two parts, an upper back plate 11 and a lower back plate 12, the strap 3 mainly has a strong binding effect on the lower back plate 12. Since the upper back plate 11 and the lower back plate 12 are connected by an extension rod 13, the binding effect of the strap 3 on the upper back plate 11 is relatively low. Then, both the upper back plate 11 and the connecting rod 2 have a high degree of freedom, which will greatly reduce the restriction of the exoskeleton robot on the upper limb activities of the wearer and is very suitable for high-altitude electric work. In addition, the distance between the upper back plate 11 and the lower back plate 12 can be adjusted through the extension rod 13, and the distance between the upper back plate 11 and the lower back plate 12 can be adjusted according to the height and body type of the wearer. On the one hand, the adaptability of the exoskeleton robot is improved, and on the other hand, the restriction of the exoskeleton robot on the range of joint activities of the wearer is further reduced, ensuring the operation efficiency of the wearer.

[0038] See Figure 2 and Figure 3, refine the adjustment structure between the upper back plate 11 and the lower back plate 12. A sliding groove 121 is provided on the lower back plate 12, and a plurality of positioning holes 131 are provided on the extension rod 13. The positioning holes 131 are sequentially and spaced apart along the length direction of the extension rod 13. The upper end of the extension rod 13 is connected to the upper back plate 11 and is at least partially slidably disposed in the sliding groove 121. A positioning pin 14 is provided on the lower back plate 12. The positioning pin 14 can be inserted into the positioning hole 131 located in the sliding groove 121, thereby forming a connection and fixation between the extension rod 13 and the lower back plate 12. In this embodiment, two extension rods 13 can be provided, and the two are spaced apart. Correspondingly, two sliding grooves 121 are provided on the lower back plate 12, and the sliding grooves 121 correspond to the extension rods 13 one by one. When wearing the exoskeleton robot, first position the arm guard assembly 4 on the wearer's arm, and then adjust the relative movement of the extension rod 13 and the sliding groove 121 (the lower back plate 12 moves) according to the required binding position of the strap 3. When the position of the strap 3 is appropriate, insert the positioning pin 14 into the positioning hole 131 at the corresponding position of the extension rod 13, thereby forming a connection and fixation between the extension rod 13 and the lower back plate 12, and finally tighten the strap 3.

[0039] See Figure 3 , in a preferred embodiment, an installation groove 122 is provided on the lower back plate 12. The installation groove 122 is vertically communicated with the sliding groove 121. The positioning pin 14 is disposed through the installation groove 122. One end of the positioning pin 14 is located outside the lower back plate 12, the middle part is located in the installation groove 122, and the other end is located in the installation groove 122 to insert into the positioning hole 131 of the extension rod 13. Based on the three parts of the positioning pin 14, a pulling block 141 is installed on the outer end thereof, that is, the pulling block 141 is located outside the lower back plate 12. A return spring 142 and a limit disk 143 are installed on the middle part, indicating that both the return spring 142 and the limit disk 143 are located in the installation groove 122. The limit disk 143 is fixed on the positioning pin 14 and can move along the installation groove 122. The return spring 142 is sleeved on the positioning pin 14 and is clamped between the limit disk 143 and the end face of the installation groove 122 (close to the pulling block 141). The return spring 142 is a compression spring (or a disc spring). In this embodiment, when adjusting the relative movement of the extension rod 13 and the sliding groove 121, first pull the pulling block 141 outward to make the positioning pin 14 move synchronously along the installation groove 122, and the positioning pin 14 is pulled out from the corresponding positioning hole 131 to release the limit between the lower back plate 12 and the extension rod 13. During this process, the return spring 142 is compressed. When the position between the extension rod 13 and the lower back plate 12 is adjusted appropriately, release the pulling force on the pulling block 141. The return spring 142 drives the limit disk 143 to move toward the sliding groove 121 side. The inner end of the positioning pin 14 abuts against the extension rod 13, and continue to finely adjust the lower back plate 12 (move the lower back plate 12 downward) until the inner end of the positioning pin 14 is inserted into the closest positioning hole 131.

[0040] Refer to Figure 1 , Figure 4 and Figure 5 . In one embodiment, the connecting rod 2 is rotatably connected to the lower back plate 12, and the rotation axis is in the Z direction. When the exoskeleton robot is worn, the Z direction is approximately the vertical direction; the arm guard assembly 4 includes an installation cylinder 41, an arm guard 42 and a DC motor 43. The installation cylinder 41 is arranged at the end of the connecting rod 2 away from the upper back plate 11. The DC motor 43 is arranged in the installation cylinder 41. A hinge seat 44 is rotatably arranged on the installation cylinder 41. The output shaft of the DC motor 43 is drivingly connected to the hinge seat 44, and the output shaft of the DC motor 43 and the rotation axis of the hinge seat 44 are coaxially arranged and both in the Y direction; the arm guard 42 is hinged to the hinge seat 44, and the handover axis is in the X direction, wherein the arm guard 42 is a matching structure with the wearer's arm. In this embodiment, since the arm guard assembly 4 is arranged on the connecting rod 2, when the connecting rod 2 rotates relative to the upper back plate 11 around the Z-direction axis, the entire arm guard assembly 4 rotates synchronously relative to the upper back plate 11 around the Z-direction axis; a bearing 45 is arranged between the installation cylinder 41 and the hinge seat 44, and the relative rotation between the installation cylinder 41 and the hinge seat 44 is realized through the bearing. Thus, through the DC motor 43, preferably the brushless DC motor 43, the hinge seat 44 can be driven to rotate relative to the installation cylinder 41 around the Y-direction axis, and then drive the arm guard 42 to rotate relative to the installation cylinder 41 around the Y-direction axis; the arm guard 42 can rotate relative to the hinge seat 44 around the X-direction axis. Thus, through the three rotation axes of X, Y, and Z, the flexible rotation of the wearer's arm joint can be satisfied. In the present invention, when the exoskeleton robot is worn, the Z-direction axis is close to the shoulder joint of the wearer, the connecting rod 2 extends along the outer side of the wearer's upper arm, and the Y-direction axis is relatively close to the X-direction axis. The arm guard 42 corresponds to the wearer's upper arm (at the triceps brachii). With this structure, the arm guard assembly 4 does not limit the activities of the wearer's elbow joint and wrist joint, ensuring flexibility. At the same time, the DC motor 43 can drive the arm guard 42 to rotate around the Y-axis, and then the arm guard 42 can assist the wearer's upper arm. At the same time, it does not affect the movement of the wearer's forearm and wrist, which is very beneficial for high-altitude electric operations, such as the disassembly and assembly of insulators. Through the arm guard 42, it can not only effectively assist in the handling of insulators, but also ensure the flexibility of the wrist or forearm during the disassembly and assembly process. In addition, both the hinge seat 44 and the arm guard 42 are located inside the corresponding connecting rod 2. When the wearer's arm passes through the arm guard 42, the limitation of the connecting rod 2 on the wearer's arm can be reduced.

[0041] Refer to Figure 1 and Figure 6, Optimize the above embodiment. An electromyography sensor 421 is provided on the inner surface of the forearm guard 42. The rotation speed and direction of the DC motor 43 are controlled according to the electromyography signal detected by the electromyography sensor 421. In this embodiment, the electromyography sensor 421 can be attached to the triceps brachii of the wearer's upper arm, so as to capture the electromyography signal generated when the triceps brachii of the wearer's upper arm contracts, and transmit the electromyography signal to the control board 111, which is compared with the threshold value of the electromyography signal pre-set inside the control board 111. If the threshold value of the electromyography signal set by the control board 111 is reached, the DC motor 43 is started by the control board 111 and rotates in the same direction as monitored by the encoder. Thus, it coordinates with the contraction and relaxation of the triceps brachii of the wearer's upper arm, and timely adjusts the rotation speed and direction of the DC motor 43. If the threshold value of the electromyography signal set by the control board 111 is not reached, the DC motor 43 is in the standby state.

[0042] See Figure 4 and Figure 6 , Refine the structure of the forearm guard 42. It includes an arc-shaped arm plate 422 and a flexible sleeve 423. The flexible sleeve 423 and the arc-shaped arm plate 422 enclose a closed ring for the arm to pass through, and this closed ring penetrates along the X direction, and the hinge seat 44 is hinged to the arc-shaped arm plate 422. In this embodiment, the arc-shaped arm plate 422 is a rigid structure, and the flexible sleeve 423 is a soft structure. Thus, it shows that the forearm guard 42 is a structure combined by rigid and soft parts. The above-mentioned electromyography sensor 421 is arranged on the inner wall of the flexible sleeve 423. The arc-shaped arm plate 422 has a good force transmission effect, and the assistance of the DC motor 43 can be transmitted to the wearer's upper arm in a timely and effective manner. And because the forearm guard 42 needs to be closely attached to the wearer's upper arm, on the one hand, the flexible sleeve 423 can play a good role in adjusting the tightness, and on the other hand, it can improve the comfort of the wearer. For the flexible sleeve 423, two embodiments can be adopted. In one embodiment, the flexible sleeve 423 includes a hook surface magic tape strap 3 and a loop surface magic tape strap 3. One end of the arc-shaped arm plate 422 is connected to the hook surface magic tape strap 3, and the other end is connected to the loop surface magic tape strap 3, and they are closely attached through the hook surface magic tape strap 3 and the loop surface magic tape strap 3. In another embodiment, a plurality of air bags communicating with each other are arranged inside the flexible sleeve 423, and each air bag is inflated by an air pump. A pressure sensor is arranged on the inner wall of the flexible sleeve 423, and the inflation action of the air pump is controlled according to the detection value of the pressure sensor. Specifically, when the wearer's arm passes through the closed ring, the air pump is used to inflate the air bags in the flexible sleeve 423, which can make the inner wall of the closed ring contract, so that the forearm guard 42 has a better fitting effect with the wearer's arm. And when the detection value of the pressure sensor reaches the preset value, the air pump stops inflating.

[0043] See Figure 6 and Figure 7, preferably, an L-shaped plate 112 is further provided on the upper back plate 11. The L-shaped plates 112 correspond to the connecting rods 2 one by one. One end of the L-shaped plate 112 is installed at the end of the upper back plate 11 away from the lower back plate 12 (the upper end of the upper back plate 11), and the other end is rotatably connected to the corresponding connecting rod 2. In this embodiment, the L-shaped plates 112 are used to adapt to the shoulder and arm structure of the wearer. The two L-shaped plates 112 are arranged oppositely. A part of each of them extends along the shoulders of the wearer at the corresponding positions, and the other part extends along the outer sides of the upper arms of the wearer at the corresponding positions, so that there is a good fitting effect between the upper back plate 11 and the wearer. Based on this, the edge of the upper back plate 11 (extending along the height direction of the upper back plate 11) is bent inward (towards the back of the wearer) to further enhance the fitting effect between the upper back plate 11 and the back of the wearer, and at the same time, it will not restrict the movement of the shoulder joint of the wearer.

[0044] See Figure 7 , continue to refine the structure of the upper back plate 11. An installation cavity 113 is provided therein. The energy storage battery 114 and the control board 111 are both installed in the installation cavity 113. The energy storage battery 114 can supply power to devices such as the DC motor 43 and the control board 111. Of course, the installation cavity 113 is blocked by a sealing plate 115. For the control board 111, its operation area is embedded in the outer surface of the upper back plate 11. Some preset values can be set as needed through the operation area of the control board 111. Of course, since it is located on the upper back plate 11, it can be operated by others or before wearing.

[0045] See Figure 1 and Figure 8 , in the preferred embodiment, the exoskeleton robot further includes a fall prevention mechanism 5, and the fall prevention mechanism 5 is installed on the strap 3 through a connecting seat. In this embodiment, when the wearer is performing high-altitude operations, the fall prevention mechanism 5 is connected to a safety hanging point, which can play a role in protecting against falling.

[0046] See Figure 1 、 Figure 8 and Figure 9, specifically, the anti-falling mechanism 5 includes a connecting seat 501, a rope shaft 502, an anti-falling safety rope 503, an anti-disengagement buckle 504, a turning handle 505, a ratchet 506 and a first protective cover 507. The connecting seat 501 is arranged in the middle of the strap 3. Or, due to the large degrees of freedom of the exoskeleton robot provided by the present invention at the upper back plate 11, the connecting rod 2 and the arm guard assembly 4, the connecting seat 501 can also be arranged on the first connecting block 311 or the second connecting block 321. The rope shaft 502 is arranged inside the connecting seat 501. For the convenience of the wearer's operation, the rope shaft 502 is rotatably connected to the connecting seat 501. That is, the anti-falling mechanism 5 is integrally installed on the strap 3 or the connecting block through the connecting seat 501, while the rope shaft 502 can rotate relative to the connecting seat 501. In addition, the anti-falling mechanism 5 further includes an anti-falling safety rope 503, an anti-disengagement buckle 504, a turning handle 505, a ratchet 506 and a first protective cover 507. One end of the anti-falling safety rope 503 is fixedly connected to the rope shaft 502, and the anti-falling safety rope 503 is wound around the middle of the rope shaft 502. The anti-disengagement buckle 504 is fixedly installed at the end of the anti-falling safety rope 503 far from the connecting seat 501. The turning handle 505 is fixedly installed at the end of the rope shaft 502 outside the connecting seat 501. The ratchet 506 is fixedly installed at the end of the rope shaft 502 outside the connecting seat 501 and far from the turning handle 505. The first protective cover 507 is fixedly installed on the outer side wall of the connecting seat 501 and sleeved outside the ratchet 506. By driving the ratchet teeth 509 to turn away from the ratchet 506 through the rotating shaft 508, at this time, turning the turning handle 505 drives the rope shaft 502 to rotate, so that the anti-falling safety rope 503 wound on the rope shaft 502 is released.

[0047] See Figure 8 - Figure 10, continue to refine the structure of the anti-falling mechanism 5, which further includes a first anti-falling gear 510, a second protective cover 511, and a second anti-falling gear 512. There are four rotating shafts 508 in total, all of which pass through the first protective cover 507 and are evenly distributed around the ratchet wheel 506. One end of the rotating shaft 508 located inside the first protective cover 507 is movably connected to the outer side wall of the connecting seat 501. There are four ratchet teeth 509 in total, all of which are located inside the first protective cover 507 and are respectively fixedly sleeved on the four rotating shafts 508. The ratchet teeth 509 are movably connected to the ratchet wheel 506 through meshing. There are four first anti-falling gears 510 in total, and they are respectively fixedly installed at one end of the four rotating shafts 508 located outside the first protective cover 507. The second protective cover 511 is fixedly installed on the side of the first protective cover 507 away from the connecting seat 501. The second anti-falling gear 512 is located inside the second protective cover 511 and is movably installed in the middle of the side of the first protective cover 507 away from the connecting seat 501. The second anti-falling gear 512 is movably connected to the four first anti-falling gears 510 through meshing; drive the transmission rod 513 to move along the arc-shaped groove 514 through the limit groove, so that the second anti-falling gear 512 rotates following the transmission rod 513. When the transmission rod 513 rotates, drive the rotating shaft 508 to rotate through the first anti-falling gear 510.

[0048] See Figure 10 and Figure 11 , further, the anti-falling mechanism 5 further includes a sliding rod 515, a translation box 516, and a reset structure 517. The transmission rod 513 is fixedly installed on the side of the second anti-falling gear 512 away from the first protective cover 507. The arc-shaped groove 514 is opened on the second protective cover 511. The transmission rod 513 passes through the arc-shaped groove 514. There are two sliding rods 515 in total, both of which are fixedly installed on the side of the second protective cover 511 away from the first protective cover 507 and are respectively located at the upper and lower ends of the arc-shaped groove 514. The two ends of the translation box 516 are respectively movably sleeved on the two sliding rods 515. A limit groove is opened on one side of the translation box 516 close to the second protective cover 511. One end of the transmission rod 513 away from the second anti-falling gear 512 passes through the limit groove and is movably installed inside the translation box 516. The reset structure 517 uses springs and there are two of them, and they are respectively sleeved on the two sliding rods 515; the translation box 516 is reset by the elastic force of the reset structure 517, so that the ratchet teeth 509 lock the ratchet wheel 506, so that the rope shaft 502 can only wind up the anti-falling safety rope 503 and cannot release the anti-falling safety rope 503, improving the safety of the wearer during high-altitude operations.

[0049] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A lightweight upper limb assistive exoskeleton robot, characterized in that, Including: A backplane assembly having an upper backplane and a lower backplane, wherein the upper backplane is connected to the lower backplane by an extension rod, and the extension rod adjusts the distance between the upper backplane and the lower backplane; Two connecting rods are relatively spaced apart at the end of the upper backplane away from the lower backplane, and an arm guard assembly is provided at the end of the connecting rod away from the upper backplane; A strap is installed at the end of the lower backplane away from the upper backplane.

2. The lightweight upper limb assistance exoskeleton robot according to claim 1, wherein A chute for the extension rod to extend into is provided on the lower backplane. A plurality of positioning holes are provided on the extension rod, and the positioning holes are sequentially spaced along the length direction of the extension rod. A positioning pin that can be inserted into the positioning holes is provided on the lower backplane.

3. The lightweight upper limb assistive exoskeleton robot according to claim 2, wherein An installation groove communicating with the chute is provided on the lower backplane. The positioning pin passes through the installation groove. A pull block, a return spring and a limit disk are installed on the positioning pin. The limit disk is fixedly installed on the positioning pin and slidably arranged in the installation groove. The return spring is sleeved on the positioning pin and clamped between the limit disk and the end face of the installation groove. The pull block is located outside the lower backplane.

4. The lightweight upper limb assistive exoskeleton robot according to claim 1, characterized in that, The connecting rod is rotatably connected to the upper backplane, and the rotation axis is in the Z direction; the arm guard assembly includes an installation cylinder, an arm guard and a DC motor. The installation cylinder is installed at the end of the connecting rod away from the upper backplane. The DC motor is installed in the installation cylinder. A hinge seat is rotatably installed on the installation cylinder. The output shaft of the DC motor is drivingly connected to the hinge seat. The rotation axis of the output shaft of the DC motor and the hinge seat is coaxial and both are in the Y direction; the arm guard is hinged to the hinge seat, and the hinge axis is in the X direction.

5. The lightweight upper limb assistive exoskeleton robot according to claim 4, characterized in that, An electromyogram sensor is provided on the inner surface of the arm guard, and the rotation speed and direction of the DC motor are controlled according to the electromyogram signal detected by the electromyogram sensor.

6. The lightweight upper limb assistive exoskeleton robot according to claim 4, wherein, The arm guard includes an arc-shaped arm plate and a flexible sleeve. The flexible sleeve and the arc-shaped arm plate enclose a closed ring for the arm to pass through. The closed ring penetrates in the X direction, and the hinge seat is hinged to the arc-shaped arm plate.

7. The lightweight upper limb assistive exoskeleton robot according to claim 6, wherein, A plurality of air bags communicating with each other are provided in the flexible sleeve, and each air bag is inflated by an air pump. A pressure sensor is provided on the inner wall of the flexible sleeve, and the inflation action of the air pump is controlled by the detection value of the pressure sensor.

8. The lightweight upper limb assistive exoskeleton robot according to claim 4, wherein An L-shaped plate is further included. The L-shaped plates correspond to the connecting rods one by one. One end of the L-shaped plate is installed at the end of the upper backplane away from the lower backplane, and the connecting rod is rotatably connected to the upper backplane through the corresponding L-shaped plate.

9. The lightweight upper limb assistive exoskeleton robot according to claim 1, wherein, An installation cavity is provided in the upper backplane, and a storage battery and a control board are provided in the installation cavity.

10. The lightweight upper limb assistive exoskeleton robot according to claim 1, wherein An anti-falling mechanism is further included, and the anti-falling mechanism is connected to the strap through a connecting seat.

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