Lightweight upper limb assistive exoskeleton robot

Abstract

This invention relates to exoskeleton robots, providing a lightweight upper limb assistive exoskeleton robot, comprising: a backplate assembly having an upper backplate and a lower backplate, the upper backplate being connected to the lower backplate via an extension rod, the extension rod adjusting the distance between the upper and lower backplates; two sets of connecting rods, the two sets of connecting rods being spaced apart at the ends of the upper backplates away from the lower backplates, and an arm guard assembly being provided at the ends of the connecting rods away from the upper backplates; and straps attached to the ends of the lower backplates away from the upper backplates. The exoskeleton robot provided by this invention features a simple structure for lightweight design, and the straps impose minimal restrictions on the upper backplate and connecting rods. Furthermore, the adjustable distance between the upper and lower backplates via the extension rod allows for adaptation to wearers of different body types, thereby significantly reducing the restriction on upper limb movement for the wearer and facilitating high-altitude electrical work.

Description

Technical Field

[0001] This invention relates to exoskeleton robots, specifically a lightweight upper limb assistive exoskeleton robot. Background Technology

[0002] In high-altitude power operations (such as high-voltage cable installation and substation equipment maintenance), power workers need to frequently raise their upper limbs to perform tasks such as carrying heavy objects (insulator strings, fittings, etc.), continuously tightening bolts on a suspended arm, and connecting wires at height. These actions require the shoulder and elbow joints to bear high static torque for a long time, which can easily lead to rotator cuff muscle strain. In addition, the high-altitude working environment restricts the body's leverage posture, further exacerbating the risk of upper limb fatigue.

[0003] Upper limb assistive exoskeleton robots can coordinate with the human upper limbs through mechanical structures, providing safe and effective assistive torque to the wearer. Especially when applied to high-altitude power work environments, they can significantly reduce the workload of power workers, prevent damage to their upper limb muscles and joints from prolonged work, effectively extend their working hours, and improve their work efficiency.

[0004] However, most existing upper limb assistive exoskeleton robots on the market are used for rehabilitation training, and it is not convenient to adjust the size of the exoskeleton robot according to the different heights of power workers. This may affect the range of motion of the power workers' joints and reduce the adaptability of the exoskeleton robot. In addition, most existing upper limb assistive exoskeleton robots on the market are not convenient to adjust their assistive direction in a timely manner according to the limb movements of power workers, which leads to a lag in the assistive response of the exoskeleton robot and reduces the assistive effect of the exoskeleton robot. Summary of the Invention

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

[0006] To achieve the above objectives, embodiments of the present invention provide the following technical solution: a lightweight upper limb assistive exoskeleton robot, comprising:

[0007] A back panel assembly has an upper back panel and a lower back panel, wherein the upper back panel is connected to the lower back panel via an extension rod, and the extension rod adjusts the distance between the upper back panel and the lower back panel.

[0008] The connecting rod has two sets, which are arranged at a distance from each other on the upper back plate at the end away from the lower back plate, and the end of the connecting rod away from the upper back plate is provided with a guard arm assembly.

[0009] The straps are installed at the end of the lower back panel away from the upper back panel.

[0010] Furthermore, the lower back plate is provided with a sliding groove for the extension rod to extend into, and the extension rod is provided with a plurality of positioning holes, which are distributed sequentially at intervals along the length direction of the extension rod. The lower back plate is provided with a positioning pin that can be inserted into the positioning hole.

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

[0012] Furthermore, the connecting rod is rotatably connected to the upper back plate, and the rotation axis is in the Z direction; the guard arm assembly includes a mounting cylinder, a guard arm, and a DC motor. The mounting cylinder is installed at the end of the connecting rod away from the upper back plate, the DC motor is installed inside the mounting cylinder, and a hinge seat is rotatably mounted on the mounting cylinder. The output shaft of the DC motor is drivenly connected to the hinge seat, and the output shaft of the DC motor and the rotation axis of the hinge seat are coaxial and both in the Y direction; the guard arm is hinged to the hinge seat, and the hinge axis is in the X direction.

[0013] Furthermore, an electromyography (EMG) sensor is provided on the inner surface of the arm guard, and the speed and direction of the DC motor are controlled according to the EMG signals detected by the EMG sensor.

[0014] Furthermore, the arm guard includes an arc-shaped arm plate and a flexible sleeve, the flexible sleeve and the arc-shaped arm plate forming a closed ring for the arm to pass through, the closed ring extending along the X direction, and the hinge seat hinged to the arc-shaped arm plate.

[0015] Furthermore, the flexible sleeve is provided with multiple interconnected airbags, and each airbag is inflated by an air pump. A pressure sensor is provided on the inner wall of the flexible sleeve, and the air pump inflation action is controlled by the detection value of the pressure sensor.

[0016] Furthermore, it also includes an L-shaped plate, which corresponds one-to-one with the connecting rod. One end of the L-shaped plate is installed at the end of the upper back plate away from the lower back plate, and the connecting rod is rotatably connected to the upper back plate through the corresponding L-shaped plate.

[0017] Furthermore, the upper back plate is provided with a mounting cavity, in which the energy storage battery and control board are located.

[0018] Furthermore, it also includes a fall arrest mechanism, which is connected to the straps via a connecting seat.

[0019] Compared with existing technologies, the advantages of this invention are: the exoskeleton robot has a very simple structure, mainly including a backplate assembly, straps, and arm guards, which not only reduces constraints but also makes the overall weight relatively small, which is very beneficial for high-altitude operations in power-related scenarios. The backplate assembly uses an upper and lower backplate combination, allowing the distance between the upper and lower backplates to be adjusted according to the wearer's height and body type. This improves the adaptability of the exoskeleton robot while ensuring the wearer's joint range of motion, thus increasing the wearer's work efficiency. Attached Figure Description

[0020] Figure 1 This is a first-view structural schematic diagram of the lightweight upper limb assistive exoskeleton robot provided in an embodiment of the present invention;

[0021] Figure 2 This is a structural schematic diagram from a second perspective of the lightweight upper limb assistive exoskeleton robot provided in an embodiment of the present invention;

[0022] Figure 3 for Figure 2 Enlarged view of point A in the middle;

[0023] Figure 4 This is a schematic diagram of the connection rod and arm guard assembly of the lightweight upper limb assistive exoskeleton robot provided in an embodiment of the present invention.

[0024] Figure 5 for Figure 4 Enlarged view at point B in the middle;

[0025] Figure 6 A third-view structural schematic diagram of the lightweight upper limb assistive exoskeleton robot provided in an embodiment of the present invention;

[0026] Figure 7 This is a schematic diagram of the structure of the lightweight upper limb assistive exoskeleton robot after the mounting cavity is opened, as provided in an embodiment of the present invention.

[0027] Figure 8 A schematic diagram of the anti-fall mechanism of a lightweight upper limb assistive exoskeleton robot provided in an embodiment of the present invention;

[0028] Figure 9 A schematic diagram of the ratchet mounting of the fall protection mechanism of the lightweight upper limb assistive exoskeleton robot provided in an embodiment of the present invention;

[0029] Figure 10 This is a schematic diagram of the ratchet and anti-fall gear cooperation structure of the anti-fall mechanism of the lightweight upper limb assistive exoskeleton robot provided in an embodiment of the present invention;

[0030] Figure 11 This is a schematic diagram of the fall prevention mechanism of the lightweight upper limb assistive exoskeleton robot provided in an embodiment of the present invention. Detailed Implementation

[0031] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] See Figure 1 and Figure 2 This invention provides a lightweight upper limb assistive exoskeleton robot, which is mainly suitable for high-altitude operations in the power industry. It can provide upper limb assistance to the wearer, so that the wearer can carry heavy objects in a limited space, such as replacing insulators.

[0033] In this invention, the exoskeleton robot includes a backplate assembly 1, a connecting rod 2, and straps 3.

[0034] The backplate assembly 1 includes an upper backplate 11 and a lower backplate 12. When the exoskeleton robot is in use, the upper backplate 11 is located above the lower backplate 12, and the two are connected by an extension rod 13. The distance between the upper backplate 11 and the lower backplate 12 can be adjusted by the extension rod 13. The upper backplate 11 and the lower backplate 12 have similar shapes and structures, and the lower backplate 12 is similar to the inverted structure of the upper backplate 11. Specifically, the upper backplate 11 gradually expands in the upward direction, while the lower backplate 12 gradually expands in the downward direction. That is, the size of the upper backplate 11 and the lower backplate 12 is relatively small at the closer part, and the extension rod 13 is located at the smaller part of the two.

[0035] The connecting rods 2 are in two sets, both connected to the upper back plate 11 and located at the end of the upper back plate 11 away from the lower back plate 12 (in use, this end is the upper end of the upper back plate 11). The two sets of connecting rods 2 are located on opposite sides of the upper end of the upper back plate 11, i.e., the two sets of connecting rods 2 are spaced apart. An arm guard assembly 4 is provided at the end of the connecting rods 2 away from the upper back plate 11. When using the exoskeleton robot, the connecting rods 2 correspond to the wearer's arm position, and the arm guard assembly 4 can support the wearer's upper arm and provide assistance when necessary.

[0036] The strap 3 is installed at the end of the lower back panel 12 away from the upper back panel 11 (in use, this end is the lower end of the lower back panel 12). The strap 3 resembles a seatbelt structure and has two parts: 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 panel 12 via a first connecting block 311, and the other end is provided with a buckle 312. The second restraint part 32 is connected to the lower back panel 12 via a second connecting block 321, and the other end is provided with a plug 322, which engages with the buckle 312. The second restraint part 32 is adjustable in length. When the plug 322 and the buckle 312 are used together, the first restraint part 31 and the second restraint part 32 wrap around the wearer's waist and secure the lower back panel 12 to the wearer's back.

[0037] In this invention, the exoskeleton robot comprises a backplate assembly 1, an arm guard assembly 4, and straps 3. The overall structure is relatively simple and meets lightweight requirements. Since the backplate assembly 1 consists of an upper backplate 11 and a lower backplate 12, and the straps 3 primarily provide strong binding to the lower backplate 12, and the upper backplate 11 and lower backplate 12 are connected by an extension rod 13, the binding effect of the straps 3 on the upper backplate 11 is relatively low. Therefore, both the upper backplate 11 and the connecting rod 2 have a high degree of freedom, significantly reducing the exoskeleton robot's restriction on the wearer's upper limb movement, making it highly suitable for high-altitude power operations. Furthermore, the distance between the upper backplate 11 and lower backplate 12 can be adjusted via the extension rod 13, allowing for adjustments based on the wearer's height and body type. This improves the exoskeleton robot's adaptability and further reduces the exoskeleton robot's restriction on the wearer's joint range of motion, ensuring the wearer's work efficiency.

[0038] See Figure 2 as well as Figure 3The adjustment structure between the upper back plate 11 and the lower back plate 12 is refined. A sliding groove 121 is provided on the lower back plate 12, and multiple positioning holes 131 are provided on the extension rod 13. The positioning holes 131 are distributed sequentially and spaced apart along the length direction of the extension rod 13, and the upper end of the extension rod 13 is connected to the upper back plate 11, at least partially sliding within the sliding groove 121. A positioning pin 14 is provided on the lower back plate 12, which 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, spaced apart. Correspondingly, two sliding grooves 121 are provided on the lower back plate 12, with each sliding groove 121 corresponding to one extension rod 13. When wearing the exoskeleton robot, first position the arm support assembly 4 on the wearer's arm, then adjust the extension rod 13 and the slide groove 121 relative to each other (the lower back plate 12 moves) according to the required binding position of the strap 3, and when the strap 3 is in the right position, insert the positioning pin 14 into the positioning hole 131 at the corresponding position of the extension rod 13 to form a connection and fixation between the extension rod 13 and the lower back plate 12, and finally lock the strap 3.

[0039] See Figure 3 In a preferred embodiment, a mounting groove 122 is provided on the lower back plate 12. The mounting groove 122 is vertically connected to the sliding groove 121. The positioning pin 14 passes through the mounting groove 122, with one end of the positioning pin 14 located on the outside of the lower back plate 12, the middle part located in the mounting groove 122, and the other end located in the mounting groove 122 to be inserted into the positioning hole 131 of the extension rod 13. Based on the three parts of the positioning pin 14, a pull block 141 is installed on its outer end, that is, the pull block 141 is located on the outer side of the lower back plate 12. A return spring 142 and a limiting plate 143 are installed on the middle part, which means that the return spring 142 and the limiting plate 143 are both located in the mounting groove 122. The limiting plate 143 is fixed on the positioning pin 14 and can move along the mounting groove 122. The return spring 142 is sleeved on the positioning pin 14 and sandwiched between the limiting plate 143 and the end face of the mounting groove 122 (near the pull 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 slide groove 121, the pull block 141 is first pulled outward so that the positioning pin 14 moves synchronously along the mounting groove 122. The positioning pin 14 is pulled out from the corresponding positioning hole 131, releasing 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 properly adjusted, the pulling force on the pull block 141 is released. The return spring 142 drives the limiting plate 143 to move to one side of the slide groove 121. The inner end of the positioning pin 14 abuts against the extension rod 13. The lower back plate 12 is further fine-tuned (lowered) until the inner end of the positioning pin 14 is inserted into the nearest positioning hole 131.

[0040] See Figure 1 , Figure 4 as well as 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 vertical. The arm support assembly 4 includes a mounting cylinder 41, an arm support 42, and a DC motor 43. The mounting cylinder 41 is installed at the end of the connecting rod 2 away from the upper back plate 11. The DC motor 43 is installed inside the mounting cylinder 41, and a hinge seat 44 is rotatably mounted on the mounting cylinder 41. The output shaft of the DC motor 43 is drivenly 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 are in the Y direction. The arm support 42 is hinged to the hinge seat 44, and the connection axis is in the X direction. The arm support 42 is a structure that cooperates with the wearer's arm. In this embodiment, since the arm protector assembly 4 is mounted on the connecting rod 2, when the connecting rod 2 rotates relative to the upper back plate 11 around the Z-axis, the entire arm protector assembly 4 rotates synchronously relative to the upper back plate 11 around the Z-axis. A bearing 45 is provided between the mounting cylinder 41 and the hinge seat 44, and the relative rotation between the mounting cylinder 41 and the hinge seat 44 is realized through the bearing. Thus, the DC motor 43, preferably a brushless DC motor 43, can drive the hinge seat 44 to rotate relative to the mounting cylinder 41 around the Y-axis, thereby driving the arm protector 42 to rotate relative to the mounting cylinder 41 around the Y-axis. The arm protector 42 can rotate relative to the hinge seat 44 around the X-axis. Thus, through the three rotation axes X, Y, and Z, the flexible rotation of the wearer's arm joints is satisfied. In this invention, when the exoskeleton robot is worn, the Z-axis is close to the wearer's shoulder joint, and the connecting rod 2 extends along the outer side of the wearer's upper arm. The Y-axis is relatively close to the X-axis, and the arm guard 42 corresponds to the wearer's upper arm (triceps). Through this structure, the arm guard assembly 4 does not restrict the wearer's elbow and wrist joint movements, ensuring flexibility. At the same time, the DC motor 43 can drive the arm guard 42 to rotate around the Y-axis, thereby enabling the arm guard 42 to assist the wearer's upper arm without affecting the wearer's forearm and wrist movements. This is very beneficial for high-altitude power operations, such as the disassembly and assembly of insulators. The arm guard 42 can effectively assist in the handling of insulators while ensuring the flexibility of the wrist or forearm during the disassembly and assembly process. In addition, the hinge seat 44 and the arm guard 42 are both located inside the corresponding connecting rod 2. When the wearer's arm passes through the arm guard 42, the restriction of the connecting rod 2 on the wearer's arm can be reduced.

[0041] See Figure 1 as well as Figure 6In an optimized embodiment, an electromyography (EMG) sensor 421 is provided on the inner surface of the arm protector 42. The speed and direction of the DC motor 43 are controlled based on the EMG signals detected by the EMG sensor 421. In this embodiment, the EMG sensor 421 can fit against the triceps brachii muscle of the wearer's upper arm to capture the EMG signals generated when the triceps brachii muscle contracts. The EMG signals are transmitted to the control board 111 and compared with a threshold value for the EMG signal set in advance inside the control board 111. If the threshold value is reached, the DC motor 43 is started by the control board 111 and rotates in the same direction as the DC motor 43 monitored by the encoder. This coordinates with the contraction and relaxation of the triceps brachii muscle of the wearer's upper arm, and adjusts the speed and direction of the DC motor 43 in a timely manner. If the threshold value is not reached, the DC motor 43 is in standby mode.

[0042] See Figure 4 as well as Figure 6 The structure of the arm protector 42 is refined, including an arc-shaped arm plate 422 and a flexible sleeve 423. The flexible sleeve 423 and the arc-shaped arm plate 422 form a closed ring through which the arm passes, and the closed ring extends along the X direction. 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, indicating that the arm protector 42 is a combination of rigid and soft materials. The electromyography sensor 421 is placed 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. Since the arm protector 42 needs to fit closely to the wearer's upper arm, the flexible sleeve 423 can play a good role in adjusting the tightness and improve the wearer's comfort. Two embodiments can be adopted for the flexible sleeve 423. In one embodiment, the flexible sleeve 423 includes hook-and-loop fasteners 3 and loop fasteners 3. One end of the arc-shaped arm plate 422 is connected to the hook-and-loop fasteners 3, and the other end is connected to the loop fasteners 3. The hook-and-loop fasteners 3 and the loop fasteners 3 fit tightly together. In another embodiment, the flexible sleeve 423 is provided with multiple interconnected airbags, and each airbag is inflated by an air pump. A pressure sensor is provided on the inner wall of the flexible sleeve 423. The air pump inflation action is controlled by the detection value of the pressure sensor. Specifically, when the wearer's arm passes through the closed ring, the air pump inflates the airbags of the flexible sleeve 423, which can cause the inner wall of the closed ring to contract, so that the arm protector 42 has a better fit with the wearer's arm. When the detection value of the pressure sensor reaches the preset value, the air pump stops inflating.

[0043] See Figure 6 and Figure 7Preferably, the upper back panel 11 is further provided with an L-shaped plate 112, which corresponds one-to-one with the connecting rod 2. One end of the L-shaped plate 112 is installed at the end of the upper back panel 11 away from the lower back panel 12 (the upper end of the upper back panel 11), and the other end is rotatably connected to the corresponding connecting rod 2. In this embodiment, the L-shaped plate 112 is used to adapt to the wearer's shoulder and arm structure, and the two L-shaped plates 112 are arranged opposite to each other. Part of both extend along the corresponding shoulder of the wearer, and the other part extends along the outer side of the upper arm of the wearer at the corresponding position, so that the upper back panel 11 and the wearer have a better fit. Based on this, the edge of the upper back panel 11 (extending along the height direction of the upper back panel 11) bends inward (towards the wearer's back) to further enhance the fit between the upper back panel 11 and the wearer's back, while not restricting the wearer's shoulder joint movement.

[0044] See Figure 7 The structure of the upper back panel 11 is further refined, with a mounting cavity 113 inside. The energy storage battery 114 and the control board 111 are both installed in the mounting cavity 113. The energy storage battery 114 can supply power to the DC motor 43 and the control board 111, etc. The mounting cavity 113 is sealed by a sealing plate 115. As for the control board 111, its operating area is embedded in the outer surface of the upper back panel 11. Some preset values ​​can be set as needed through the operating area of ​​the control board 111. Since it is located on the upper back panel 11, it can be operated by other people or before wearing the device.

[0045] See Figure 1 as well as Figure 8 In a preferred embodiment, the exoskeleton robot further includes a fall protection mechanism 5, which is mounted on the strap 3 via a connecting seat. In this embodiment, when the wearer is performing high-altitude work, the fall protection mechanism 5 is connected to a safety attachment point, providing fall protection.

[0046] See Figure 1 , Figure 8 as well as Figure 9Specifically, the fall protection mechanism 5 includes a connecting seat 501, a rope shaft 502, a fall protection safety rope 503, an anti-detachment buckle 504, a throttle 505, a ratchet 506, and a first protective cover 507. The connecting seat 501 is located in the middle of the strap 3. Alternatively, since the exoskeleton robot provided by this invention has a large degree of freedom in the upper back plate 11, the connecting rod 2, and the arm guard assembly 4, the connecting seat 501 can also be located on the first connecting block 311 or the second connecting block 321. The rope shaft 502 is located inside the connecting seat 501. To make it easier for the wearer to operate, the rope shaft 502 and the connecting seat 501 are rotatably connected. That is, the fall protection mechanism 5 is installed as a whole on the strap 3 or the connecting block through the connecting seat 501, and the rope shaft 502 can rotate relative to the connecting seat 501. In addition, the fall protection mechanism 5 also includes a fall protection safety rope 503, a lock 504, a throttle 505, a ratchet 506, and a first protective cover 507. One end of the fall protection safety rope 503 is fixedly connected to the rope shaft 502, and the fall protection safety rope 503 is wound around the middle of the rope shaft 502. The lock 504 is fixedly installed at the end of the fall protection safety rope 503 away from the connecting seat 501. The throttle 505 is fixedly installed at the end of the rope shaft 502 located outside the connecting seat 501. The ratchet 506 is fixedly installed at the end of the rope shaft 502 located outside the connecting seat 501 and away from the throttle 505. The first protective cover 507 is fixedly installed on the outer wall of the connecting seat 501 and sleeved on the outside of the ratchet 506. The ratchet tooth 509 is driven away from the ratchet 506 by the rotating shaft 508. At this time, the throttle 505 is rotated, which drives the rope shaft 502 to rotate, so that the fall protection safety rope 503 wound on the rope shaft 502 is released.

[0047] See Figures 8-10The structure of the fall arrestor 5 is further refined, including a first fall arrestor gear 510, a second protective cover 511, and a second fall arrestor gear 512. Four rotating shafts 508 pass through the first protective cover 507 and are evenly distributed around the ratchet 506. One end of each rotating shaft 508 inside the first protective cover 507 is movably connected to the outer wall of the connecting seat 501. Four ratchet teeth 509 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 506 through meshing. Four first fall arrestor gears 510 are respectively fixedly installed on the four rotating shafts 508. Shaft 508 is located at one end 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-fall 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-fall gear 512 is movably connected to the four first anti-fall gears 510 through meshing. The transmission rod 513 is driven to move along the arc groove 514 through the limiting groove, so that the second anti-fall gear 512 follows the transmission rod 513 to rotate. When the transmission rod 513 rotates, the first anti-fall gear 510 drives the rotating shaft 508 to rotate.

[0048] See Figure 10 as well as Figure 11 Furthermore, the fall arrest mechanism 5 also includes a slide rod 515, a translation box 516, and a reset structure 517. A transmission rod 513 is fixedly installed on the side of the second fall arrest gear 512 away from the first protective cover 507. An arc-shaped groove 514 is formed on the second protective cover 511, through which the transmission rod 513 passes. Two slide rods 515 are fixedly installed on the side of the second protective cover 511 away from the first protective cover 507, located at the upper and lower ends of the arc-shaped groove 514, respectively. The two ends of the translation box 516 are movably sleeved on the two slide rods 515. A limiting groove is provided on the side of 516 near the second protective cover 511. The end of the transmission rod 513 away from the second anti-fall gear 512 passes through the limiting groove and is movably installed inside the translation box 516. The reset structure 517 uses a spring and has two springs, which are respectively sleeved on the two slide rods 515. The elastic force of the reset structure 517 causes the translation box 516 to reset, so that the ratchet 509 locks the ratchet 506, so that the rope shaft 502 can only wind up the anti-fall safety rope 503 and cannot release the anti-fall safety rope 503, thereby improving the safety of the wearer when working at height.

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

Claims

1. A lightweight upper limb assistive exoskeleton robot, characterized in that, include: A back panel assembly has an upper back panel and a lower back panel, wherein the upper back panel is connected to the lower back panel via an extension rod, and the extension rod adjusts the distance between the upper back panel and the lower back panel. The connecting rod has two sets, and the two sets of connecting rods are arranged at a relatively interval at the end of the upper back plate away from the lower back plate, and the end of the connecting rod away from the upper back plate is provided with a guard arm assembly. Straps are attached to the end of the lower back panel away from the upper back panel; The connecting rod is rotatably connected to the upper back plate, and the rotation axis is in the Z direction; the guard arm assembly includes a mounting cylinder, a guard arm, and a DC motor. The mounting cylinder is installed at the end of the connecting rod away from the upper back plate. The DC motor is installed inside the mounting cylinder, and a hinge seat is rotatably mounted on the mounting cylinder. The output shaft of the DC motor is drivenly connected to the hinge seat. The output shaft of the DC motor and the rotation axis of the hinge seat are coaxial and both are in the Y direction; the guard arm is hinged to the hinge seat, and the hinge axis is in the X direction. An electromyography (EMG) sensor is provided on the inner surface of the arm protector. The speed and direction of the DC motor are controlled according to the EMG signal detected by the EMG sensor. The arm protector corresponds to the triceps brachii muscle of the wearer's upper arm, and the EMG sensor detects the EMG signal of the triceps brachii muscle.

2. The lightweight upper limb assistive exoskeleton robot as described in claim 1, characterized in that, The lower back plate is provided with a sliding groove for the extension rod to extend into, and the extension rod is provided with a plurality of positioning holes, which are distributed sequentially at intervals along the length of the extension rod. The lower back plate is provided with a positioning pin that can be inserted into the positioning hole.

3. The lightweight upper limb assistive exoskeleton robot as described in claim 2, characterized in that, The lower back plate is provided with an installation groove communicating with the slide groove. The positioning pin passes through the installation groove. A pull block, a return spring and a limiting plate are installed on the positioning pin. The limiting plate is fixedly installed on the positioning pin and slidably disposed in the installation groove. The return spring is sleeved on the positioning pin and clamped between the end face of the limiting plate and the installation groove. The pull block is located on the outside of the lower back plate.

4. The lightweight upper limb assistive exoskeleton robot as described in claim 1, characterized in that, The arm guard includes an arc-shaped arm plate and a flexible sleeve. The flexible sleeve and the arc-shaped arm plate form a closed ring through which the arm passes. The closed ring extends along the X direction, and the hinge seat is hinged to the arc-shaped arm plate.

5. The lightweight upper limb assistive exoskeleton robot as described in claim 4, characterized in that, The flexible sleeve contains multiple interconnected air bladders, each of which is inflated by an air pump. A pressure sensor is installed on the inner wall of the flexible sleeve, and the air pump is controlled by the detection value of the pressure sensor.

6. The lightweight upper limb assistive exoskeleton robot as described in claim 1, characterized in that, It also includes L-shaped plates, each corresponding to a connecting rod. One end of the L-shaped plate is installed on the end of the upper back plate away from the lower back plate, and the connecting rod is rotatably connected to the upper back plate through the corresponding L-shaped plate.

7. The lightweight upper limb assistive exoskeleton robot as described in claim 1, characterized in that, The upper back plate has a mounting cavity, in which the energy storage battery and control board are located.

8. The lightweight upper limb assistive exoskeleton robot as described in claim 1, characterized in that, It also includes a fall protection mechanism, which is connected to the straps via a connecting seat.

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