Wearable flexible rope-driven double-arm exoskeleton device

Abstract

The invention provides a wearable flexible rope-driven double-arm exoskeleton device, which is applied to the technical field of wearable robots, and comprises a wearable backpack, a rope-driven flexible arm, a clamping jaw and a motor set, the two ends of the rope-driven flexible arm are connected with the wearable backpack and the clamping jaw respectively, and the motor set and a rope are matched to move; the rope-driven flexible arm comprises a rigid framework and a flexible porous anti-collision layer, the rigid framework comprises a plurality of joint assemblies, and the joint assemblies are connected through universal joint assemblies; the rigid framework is covered with the flexible porous anti-collision layer, the flexible porous anti-collision layer comprises anti-collision assemblies, the anti-collision assemblies comprise a plurality of first anti-collision assemblies and second anti-collision assemblies which are alternately assembled, each first anti-collision assembly and the corresponding second anti-collision assembly comprise an arc-shaped tile-shaped body and an installation layer, and the edges of the installation layers of the first anti-collision assemblies and the second anti-collision assemblies are of complementary clamping structures; every two adjacent clamped mounting layers are connected with the connecting rods of the joint assemblies through the same fixing piece. The exoskeleton device can meet the requirements of multi-joint free movement, wearing comfort, modular assembly and the like.

Description

Technical Field

[0001] This invention belongs to the field of wearable robot technology, specifically relating to a wearable flexible rope-driven dual-arm exoskeleton device. Background Technology

[0002] Exoskeleton devices are an important branch of the wearable robotics field. Their research and application stem from the urgent need for human movement assistance equipment in scenarios such as industrial assistance, medical rehabilitation, and military enhancement. The core is to replace traditional rigid linkage transmission with cable transmission to solve the pain points of rigid exoskeletons.

[0003] Traditional exoskeletons mostly employ rigid linkages and transmission structures such as gears and reducers. While they offer strong load-bearing capacity and motion precision, they have significant drawbacks: Large size and weight: Rigid components and complex transmission parts result in an overall bulky device, placing a heavy burden on the wearer and easily causing fatigue during prolonged use, making them unsuitable for everyday activities. Poor motion flexibility: The rigid joints have limited range and direction of rotation, resulting in low compatibility with the flexible motion characteristics of human joints, easily causing motion interference and affecting the wearer's voluntary movements. Poor human-computer interaction experience: The rigid structure does not conform well to the human body, easily causing collisions and compression during movement, resulting in poor comfort and a lag in response to the wearer's movement intentions.

[0004] To address the aforementioned problems, this invention proposes a rope-driven, multi-joint, flexible, comfortable, and load-bearing flexible exoskeleton device with sensing capabilities, which balances the requirements of wearing comfort and movement flexibility. Summary of the Invention

[0005] In view of the above-mentioned problems in the prior art, the purpose of the present invention is to provide a wearable flexible rope-driven dual-arm exoskeleton device.

[0006] A wearable flexible rope-driven dual-arm exoskeleton device includes a wearable backpack, rope-driven flexible arms, grippers, and a motor assembly. One end of the rope-driven flexible arm is connected to the wearable backpack, and the other end is connected to the grippers. The rope-driven flexible arm moves in conjunction with the motor assembly and ropes. The rope-driven flexible arm includes a rigid frame and a flexible porous anti-collision layer. The rigid frame includes multiple joint components connected in sequence, and each joint component is connected to the others via universal joint components. Each joint component includes a connecting rod and a U-shaped fork structure. The U-shaped fork structure is connected to the connecting rod, and adjacent joint components are connected to the universal joint via the U-shaped fork structure. The joint components are connected by cooperation; the flexible porous anti-collision layer covers the rigid frame, and the flexible porous anti-collision layer includes the same number of anti-collision components as the rigid frame joint components. The anti-collision components include multiple alternately assembled anti-collision component one and anti-collision component two. Both anti-collision component one and anti-collision component two include an arc-shaped tile-shaped main body. The two ends of the arc-shaped tile-shaped main body are respectively provided with mounting layers. The edges of the mounting layers of anti-collision component one and anti-collision component two are complementary snap-fit ​​structures. Two adjacent snap-fit ​​mounting layers are connected to the connecting rod of the joint component through the same fastener.

[0007] Preferably, the linkage includes a plurality of intermediate linkages connected in sequence and two end linkages located at both ends. One of the end linkages is used to connect to the gripper, and the other end linkage is used to connect to the shoulder joint, which is configured between the rope-driven flexible arm and the motor assembly.

[0008] Preferably, the intermediate connecting rod and the end connecting rod are both disc-shaped structures with multiple tentacles. The multiple tentacles are distributed circumferentially along the center of the disc-shaped structure. The tentacles include tentacles one and two, which are arranged alternately. Tentacle one is equipped with a sleeve for a rope to pass through, and tentacles two are provided with mounting holes for anti-collision components that cooperate with the flexible porous anti-collision layer.

[0009] Preferably, the two sides of the intermediate connecting rod are respectively provided with mirror-symmetrical U-shaped fork structures, and the axes of the two U-shaped fork structures are on the same straight line, located on the central axis of the intermediate connecting rod; the end connecting rod is provided with a U-shaped fork structure on one side facing the intermediate connecting rod, and a cylindrical protrusion on the other side, which is used to connect with the gripper or shoulder joint.

[0010] Preferably, the rotation of the joint is achieved by connecting two adjacent intermediate links or between an intermediate link and an end link via a U-shaped fork structure and a universal joint assembly. The universal joint assembly includes a universal joint center and a semaphore screw. The U-shaped fork structure is connected to the universal joint center via the semaphore screw. The U-shaped ends of two U-shaped fork structures connected to the same universal joint centerline are perpendicularly distributed to each other. After the semaphore screw is locked to the universal joint center, its relative position is fixed, and the semaphore screw and the link can rotate relative to each other. A magnet is disposed on the semaphore screw, and an angle sensor is installed on the U-shaped fork structure. The detection area of ​​the angle sensor covers the magnet in the semaphore screw. When the link rotates relative to the universal joint center, the angle sensor obtains the rotation angle by monitoring the change in the magnetic field of the magnet, thereby realizing the position feedback of the link.

[0011] Preferably, two rope-driven flexible arms are arranged opposite each other, with the two rope-driven flexible arms located on both sides of the wearable backpack. Two sets of motor groups are correspondingly arranged, each set including a rope motor for driving rope movement, a shoulder motor for driving shoulder joint rotation, and a swing motor for driving the motor mounting base two to swing. The motor mounting base two has a central mounting position and multiple edge mounting positions, which are circumferentially distributed around the central mounting position. One edge mounting position is used to assemble the shoulder motor, and the remaining edge mounting positions are used to assemble the rope motor. The edge mounting positions for assembling the shoulder motor and the edge mounting positions for assembling the rope motor are perpendicularly distributed. The central mounting position is used to assemble the output shaft of the swing motor.

[0012] Preferably, the rope motor is equipped with a rope winding reel, which includes a cylindrical disc with a V-shaped groove on its side along the circumference for winding and storing rope. One end of the rope is tightened and fixed by a bolt disposed in the V-shaped groove, and the other end passes through the joint components in the flexible arm. The rope motor drives the winding reel to rotate forward or backward to realize the rope winding or unwinding operation, thereby controlling the movement of the flexible arm. The swing motor is disposed on a motor main seat, which is mounted on a wearable backpack. The motor main seat is equipped with a motor junction box for connecting the power lines and signal lines of each motor in the motor group in parallel and communicating with the main control module.

[0013] Preferably, the shoulder joint configured between the rope-driven flexible arm and the motor assembly includes a flexible arm mounting surface for connecting the flexible arm and a motor mounting surface for connecting the shoulder motor, with the two mounting surfaces arranged perpendicularly. A circular boss is provided at the center of the side of the flexible arm mounting surface facing the flexible arm, and multiple reinforcing ribs are arranged in a circular pattern around the periphery of the circular boss. A mounting hole for engaging with the end link of the flexible arm is provided at the center of the circular boss. A cable guide tube is provided on the side of the flexible arm mounting surface away from the flexible arm for guiding the rope's direction. A circular boss is provided at the edge of the side of the motor mounting surface facing the shoulder motor, and a reinforcing rib is provided on the circular boss. The reinforcing rib extends from the junction of the flexible arm mounting surface and the motor mounting surface towards the circular boss.

[0014] Preferably, the wearable backpack includes a carbon fiber plate and shoulder straps, which are detachably connected. A remote-operated joystick is mounted on the shoulder strap via a joystick mounting bracket, and the shoulder strap and joystick mounting bracket are detachably connected. The joystick mounting bracket and the remote-operated joystick are connected in an angle-adjustable manner. A battery, a power management box, and a main control module are configured on the carbon fiber plate. The power management box is used to regulate and output the battery output voltage. The main control module includes a main control box and a data acquisition box. The main control box includes a main control board and multiple interfaces for parsing, calculating, and converting the signals transmitted by the remote-operated joystick and communicating with the motor assembly to drive the corresponding motor to the target position. The data acquisition box is used to collect data from the angle sensor and feed it back to the main control board.

[0015] Preferably, the remote-operated joystick includes a joystick panel, a small arm joystick, a gripper button, a joystick body, a base joystick, a joystick base, and an ADC acquisition board. The small arm joystick, gripper button, and joystick body are all mounted on the joystick panel. The movement of the small arm joystick along the X and Y axes controls the bending of the flexible arm along the X and Y axes. The gripper button is used to control the gripping or releasing of the gripper. The bottom of the joystick body is connected to the base joystick. The joystick body swings along the X and Y axes, driving the swing of the base joystick, thereby driving the rotation of the swing motor and the shoulder motor, realizing the up-and-down swing of the motor mounting base and the forward-and-backward swing of the shoulder joint. The base joystick and the ADC acquisition board are both configured on the joystick base. The ADC acquisition board is used to collect the control signals of the joystick and gripper button and transmit them to the main control board.

[0016] The beneficial effects of this invention are: It adopts a dual-layer structure of a rigid frame and a flexible porous anti-collision layer, balancing the strength of sports support and the safety of wearing it. Moreover, the anti-collision layer uses an alternating assembly method of anti-collision component one and anti-collision component two, and is connected and fixed to the frame at the same joint through a structure with complementary edge splicing. This achieves modular assembly and disassembly and a tight fit, solving the problems of cumbersome installation and poor fit of traditional anti-collision layers.

[0017] The rigid frame uses a structure with multiple universal joints and connecting rods to form multiple rotatable nodes, and each universal joint has two degrees of freedom, so that each node can achieve bending movements along the X-axis and Y-axis, thereby realizing the multi-dimensional composite movement of the entire flexible arm and breaking through the limitations of insufficient joint freedom of existing rope-driven exoskeletons.

[0018] An angle sensor is integrated into the U-shaped fork structure and a magnet is built into the sida screw. When the connecting rod and the universal joint rotate relative to each other, the sensor detects the rotation angle in real time through the change of magnetic field, thereby realizing the position feedback of each joint of the flexible arm, which facilitates precise positioning and control.

[0019] The connecting rod employs a disc-shaped structure with multiple antennae, dividing the antennae into antennae one and antennae two, which are arranged alternately. An opening is made in antennae one to install a sleeve, enabling rope guidance and abrasion protection. An opening is made in antennae two, and a flexible porous anti-collision layer is fixed in place with bolts, providing protection for the rigid frame. This structural design of the connecting rod not only achieves rope guidance and abrasion protection but also facilitates the modular installation of the flexible porous anti-collision layer.

[0020] The second motor mounting bracket adopts a central "flower stamen" and peripheral "petal" structure, rationally allocating the positions of the rope motor, shoulder motor, and swing motor to achieve a compact layout of multiple motors, greatly reducing space occupation. Simultaneously, the shoulder joint has two mutually perpendicular mounting surfaces, used for mounting the flexible arm and shoulder motor respectively, and integrates cable guides to guide rope turning, reducing rope bending and wear. Furthermore, a motor junction box is integrated on the main motor mount to collect the power and signal cables of each motor in the motor group, improving wiring neatness and maintenance convenience.

[0021] The wearable backpack features a separate structure for the carbon fiber plate and shoulder straps, secured by metal buckles for easy assembly and disassembly. The carbon fiber plate integrates a lithium battery, power management box, main control module, and data acquisition box. The power management box incorporates multiple DC-DC modules for multi-voltage compatible output, while the data acquisition box collects angle sensor data in real-time and feeds it back to the main control board, forming a closed-loop control system of "command, execution, and feedback." The shoulder straps are equipped with Velcro-attached joystick mounting brackets, allowing for quick assembly and disassembly of the joysticks, with adjustable mounting angles via bolts. The joysticks utilize a combination of dual joysticks and buttons: a small arm joystick corresponds to flexible arm bending, a base joystick corresponds to the overall swing of the shoulder and the swing motor, and a gripper button controls the end effector (gripper), enabling precise and convenient human-machine interaction. Attached Figure Description

[0022] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a front view of the exoskeleton device of the present invention; Figure 2 This is a top view of the exoskeleton device of the present invention; Figure 3 This is a schematic diagram of the overall structure of the flexible arm of the present invention; Figure 4 This is a schematic diagram of the anti-collision component of the present invention; Figure 5 These are structural comparison diagrams of anti-collision component one and anti-collision component two of the present invention; Figure 6 This is an exploded view of the rigid frame of the present invention; Figure 7 This is a schematic diagram of the connecting rod and U-shaped fork structure of the present invention; Figure 8 This is a cross-sectional view of the sleeve of the present invention; Figure 9 This is a cross-sectional view of the connecting rod and universal joint assembly of the present invention; Figure 10 This is a comparison diagram of the model of the Saida screw and the U-shaped fork mechanism of the present invention; Figure 11 This is a schematic diagram of the shoulder joint structure of the present invention; Figure 12 This is a schematic diagram of the cable tray in the shoulder joint of the present invention; Figure 13 This is a schematic diagram of the structure of the motor unit of the present invention; Figure 14 This is an exploded view of the motor unit of the present invention; Figure 15 This is a side view of the rope winding disc of the present invention; Figure 16 This is a schematic diagram of the structure of the rope winding reel mounting base of the present invention; Figure 17 This is a schematic diagram of the structure of the wearable backpack of the present invention; Figure 18 This is an exploded view of the teleoperated joystick of the present invention.

[0023] The components in the diagram are labeled as follows: 1. Rope-driven flexible arm; 2. Gripper; 3. Motor assembly; 4. Motor mounting base one; 5. Shoulder joint; 6. Wearable backpack; 7. Main control module; 8. Lithium battery; 9. Remote control joystick; 10. Rigid frame; 11. Flexible porous anti-collision layer; 12. Intermediate link; 13. End link; 14. Universal joint center; 15. Seda screw; 16. Magnet; 17. Angle sensor; 18. Sleeve; 19. Shoulder motor; 20. Rope motor; 21. 21. Swing motor; 22. Motor main seat; 23. Motor hub box; 24. Carbon fiber plate; 25. Motor mounting bracket II; 26. Rope winding reel; 27. Rope winding reel mounting bracket; 28. Shoulder strap; 29. ​​Metal buckle; 30. Main control box; 31. Power management box; 32. Data acquisition box; 33. Joystick mounting bracket; 34. Joystick panel; 35. Arm small joystick; 36. Grip button; 37. Joystick body; 38. Base joystick; 39. Joystick base; 40. ADC acquisition board. Detailed Implementation

[0024] Example 1 like Figure 1 , Figure 2 As shown, a wearable flexible rope-driven dual-arm exoskeleton device includes a wearable backpack 6, rope-driven flexible arms 1, grippers 2, and a motor assembly 3. Two rope-driven flexible arms 1 are arranged opposite each other, located on either side of the wearable backpack 6. One end of each rope-driven flexible arm 1 is connected to the wearable backpack 6 via the motor assembly 3, which is mounted on the wearable backpack 6 via a motor mounting bracket 4. The other ends of each rope-driven flexible arm 1 are connected to the grippers 2.

[0025] The rope-driven flexible arm 1 is connected to the motor unit 3 via the shoulder joint 5, and the motor unit 3 drives the rope to move by retracting or releasing the rope. In addition, the wearable backpack 6 is equipped with a main control module 7, a lithium battery 8 that powers the entire exoskeleton device, and a telescopic joystick 9 that can be quickly detached for operating the flexible arm.

[0026] like Figure 3As shown, the rope-driven flexible arm 1 includes a rigid frame 10 and a flexible porous anti-collision layer 11. The flexible porous anti-collision layer 11 covers the rigid frame 10 and provides protection. In this embodiment, the rope-driven flexible arm 1 adopts a seven-joint structure, and the corresponding rigid frame 10 and flexible porous anti-collision layer 11 both adopt a seven-segment structure. The following description uses the seven-joint rope-driven flexible arm 1 as an example.

[0027] like Figure 6 As shown, the seven-segment rigid frame 10 has eight links and seven rotation nodes, each with two degrees of freedom in two directions. The eight links are divided into five intermediate links 12 connected in sequence and two end links 13 located at both ends. One end link 13 is used to connect to the gripper 2, and the other end link 13 is used to connect to the shoulder joint 5.

[0028] like Figure 7 As shown, the intermediate connecting rod 12 is a disc-shaped structure with eight tentacles, which are distributed circumferentially along the center of the disc-shaped structure. The tentacles include tentacle one and tentacle two, which are arranged alternately. Specifically, a hole is made in the center of tentacle one, and an anti-wear sleeve 18 is installed through it via an interference fit. The sleeve 18 allows the drive rope to pass through. Figure 8 As shown, the sleeve 18 is made of metal, and its inner ring undergoes precision machining and heat treatment, resulting in higher surface roughness and wear resistance, which reduces rope wear. Furthermore, one end of the rope is fixed to the winding disc 26 on the rope motor 20, and the other end passes through the sleeve 18 of each connecting rod and is then bolted to the end connecting rod 13 connected to the gripper 2. The rope connects each joint, thereby adjusting the rope tension to drive the corresponding movement of each joint. The second antenna also has a hole in the middle for bolting the flexible porous anti-collision layer 11, thus connecting the flexible porous anti-collision layer 11 to the rigid frame 10.

[0029] like Figure 7 As shown, mirror-symmetrical U-shaped fork structures are arranged on both sides of the intermediate connecting rod 12. The axes of the two U-shaped fork structures are on the same straight line, located on the central axis of the intermediate connecting rod 12. The rotation of the joints between adjacent intermediate connecting rods 12 or between the intermediate connecting rod 12 and the end connecting rod 13 is achieved through the cooperation of the U-shaped fork structures and the universal joint assembly. Specifically, as... Figure 9 As shown, the U-shaped fork structure has a countersunk hole for the passage of the saddle screw 15. The saddle screw 15 is used to connect to the universal joint center 14. After the saddle screw 15 and the universal joint center 14 are locked, their relative positions are fixed, but they are in a rotating relationship with the connecting rod.

[0030] Furthermore, such as Figure 6As shown, the universal joint center 14 has a cubic structure, with threaded holes at the center of each of its four sides for connection with the S-bolt 15. The U-shaped ends of the two U-shaped fork structures connected to the same universal joint center 14 are arranged perpendicularly to each other, forming a cross-shaped arrangement.

[0031] The head of the Seda screw 15 has a slotted groove and a countersunk hole. The slotted groove makes it easy to install with a flathead screwdriver, while the countersunk hole is used to install the magnet 16. The magnet 16 is fixed in the countersunk hole with adhesive and does not rotate.

[0032] In addition, the countersunk hole in the U-shaped fork structure is symmetrically provided with protruding cylindrical mounting seats on both sides for mounting angle sensor 17. The detection area of ​​angle sensor 17 is directly opposite the position of magnet 16 in the countersunk hole of sedar screw 15. Thus, when the connecting rod rotates relative to the center 14 of universal joint, angle sensor 17 can obtain the rotation angle by the change in the magnetic field position of magnet 16 fixed in sedar screw 15, thereby realizing the position feedback of the connecting rod.

[0033] like Figure 6 As shown, the end link 13 and the middle link 12 have the same structure, both being disc-shaped structures with eight tentacles. The end link 13 has a U-shaped fork structure only on one side facing the middle link 12, and a cylindrical protrusion on the other side. The cylindrical protrusion has a threaded hole for connecting with the gripper 2 or the shoulder joint 5 to form a complete rope-driven flexible arm 1 structure.

[0034] like Figure 7 As shown, both the end link 13 and the middle link 12 are provided with arc-shaped waist holes evenly distributed around the circumference, which are used to pass through the data lines of the angle sensor 17 and the gripper 2, so as to facilitate cable routing and avoid data cable tangling.

[0035] In addition, during the actual implementation, since the skeleton near the shoulder joint 5 needs to withstand greater torque during the movement, the corresponding sedar screw 15 needs to have a larger size. Therefore, an enhanced sedar screw is selected. The corresponding connecting rod also has some changes in shape and size in the area where it mates with the universal joint assembly, but the specific working principle remains unchanged.

[0036] Specifically, such as Figure 10 As shown, the two rotating joints located near the shoulder joint 5 have reinforced structures for the corresponding sedar screws 15, with a diameter that is 60% larger than that of the ordinary structure. The external dimensions of the universal joint center 14 remain unchanged, the size of the threaded hole that mates with the sedar screw 15 is correspondingly increased, and the mating position between the connecting rod and the sedar screw 15 is also correspondingly increased.

[0037] The flexible porous anti-collision layer 11 is provided with a corresponding number of anti-collision components corresponding to the structure of the rope-driven flexible arm 1. Each anti-collision component is used to wrap the rotating joint at the corresponding position. The anti-collision components include multiple alternately assembled anti-collision component one and anti-collision component two, such as... Figure 4 , Figure 5 As shown, the main bodies of anti-collision component one and anti-collision component two are similar in shape, both presenting an arc-shaped tile shape, and both ends are provided with mounting layers for installation and connection with the rigid frame 10.

[0038] Specifically, the arc-shaped tile-like main body is a mesh structure made of flexible material. The mounting layers at both ends are provided with mounting holes for connecting with the intermediate connecting rod 12 or the end connecting rod 13 of the rigid frame 10. The installation is achieved by the cooperation of the two tentacles on the intermediate connecting rod 12 or the end connecting rod 13 with bolts.

[0039] Furthermore, such as Figure 5 As shown, the mounting layer edges of anti-collision component one and anti-collision component two differ. Adjacent mounting layer edges of anti-collision components one and two have a complementary structure, allowing them to interlock and connect to corresponding connecting rods using the same bolt, facilitating installation. Through the structural design of anti-collision components one and two, and their structural cooperation with the connecting rods in the rigid frame 10, modular assembly and disassembly of the anti-collision layer are achieved, ensuring a tight fit between the anti-collision layer and the rigid frame 10. This solves the problems of cumbersome installation and poor fit associated with traditional anti-collision layers.

[0040] Example 2 Based on Example 1, such as Figure 13 , Figure 14 As shown, the motor group 3 in this embodiment includes two groups, left and right. Each group includes four rope motors 20 for driving the rope movement, one shoulder motor 19 for driving the shoulder joint 5 to rotate, and one swing motor 21 for driving the entire motor mounting base 25 to swing.

[0041] Both the shoulder motor 19 and the rope motor 20 are mounted on the motor mounting base 25, which is connected to the swing motor 21 and is driven to swing by the swing motor 21. Specifically, the main body of the motor mounting base 25 is shaped like a five-petaled flower. Four of the "petals" are used to mount the rope motor 20 and are respectively provided with through holes for the output shaft to extend out. The position of the other "petal" is perpendicular to the positions of the other four "petals" and is used to mount the shoulder motor 19 to drive the shoulder joint 5 to rotate. The central "stamen" is used to connect to the output shaft of the swing motor 21.

[0042] like Figure 14 As shown, a rope reel 26 is mounted on the output shaft of the rope motor 20 via a rope reel mounting base 27. Figure 15As shown, the rope winding reel 26 includes a circular cylinder and a flange. The flange is connected to the circular cylinder, and a V-shaped groove is formed on the side of the circular cylinder along the circumferential direction for winding and storing the rope. One end of the rope is tightened and fixed by bolts arranged in the V-shaped groove, and the other end passes through each joint node in the flexible arm. The rope winding reel 26 is driven to rotate forward or backward by the rope motor 20 to realize the rope winding or unwinding operation, thereby controlling the movement of the flexible arm. Figure 16 As shown, the rope reel mounting base 27 includes a flange two and a circular boss three. The flange two is connected to the circular boss three. The rope reel mounting base 27 is connected to the rope reel 26 through the cooperation between the flange two and the flange one. The circular boss three has a mounting hole corresponding to the output shaft of the rope motor 20.

[0043] like Figure 14 As shown, the swing motor 21 is mounted on the motor main seat 22, which is mounted on the carbon fiber plate 24 of the wearable backpack 6. The motor main seat 22 is generally rectangular, with mounting slots at both ends for mounting the swing motor 21. The middle of the motor main seat 22 is hollowed out for mounting the motor hub box 23. The power lines and signal lines of each motor in the motor group 3 are connected in parallel at the motor hub box 23 according to their respective groups, and then communicate with the main control module 7.

[0044] Example 3 Based on the description in Example 2, as follows Figure 11 As shown, the shoulder joint 5 in this embodiment has two mutually perpendicular mounting surfaces, which are used to connect to the flexible arm and the shoulder motor 19, respectively. The two mounting surfaces are the flexible arm mounting surface and the motor mounting surface.

[0045] A circular boss is located at the center of the side of the flexible arm mounting surface facing the flexible arm. Multiple circumferentially distributed reinforcing ribs surround this circular boss. A mounting hole for mates with the end connecting rod 13 of the flexible arm is located at the center of the circular boss. Screw holes are provided around the mounting hole to enhance the connection strength. Furthermore, as... Figure 12 As shown, a cable guide mounting seat is provided on the side of the flexible arm mounting surface away from the flexible arm. The cable guide mounting seat has multiple equally spaced and equally sized circular holes in the center along the length direction for installing cable guides. The cable guides are connected to the cable guide mounting seat by an interference fit. The cable guides the rope to turn and reduces wear.

[0046] A circular boss is provided on the edge of the motor mounting surface facing the shoulder motor 19. The circular boss has multiple motor mounting holes and motor positioning pin holes for mounting the shoulder motor 19. A reinforcing rib is provided on the circular boss, which extends towards the circular boss along the junction of the flexible arm mounting surface and the motor mounting surface.

[0047] Example 4 Based on Example 3, such as Figure 17 As shown, the wearable backpack 6 in this embodiment includes a carbon fiber plate 24 and a shoulder strap 28. The carbon fiber plate 24 provides support and fixation, while the shoulder strap 28 enhances wearing comfort. The carbon fiber plate 24 and the shoulder strap 28 are secured together by a metal buckle 29. A remote control joystick 9 is mounted on the shoulder strap 28 via a joystick mounting base 33. The joystick mounting base 33 is secured to the shoulder strap 28 with Velcro, allowing for quick assembly and disassembly. The joystick mounting base 33 and the remote control joystick 9 are secured together with bolts, allowing for quick adjustment of the joystick 9's mounting angle by adjusting the bolt tightness to achieve the most comfortable usage position.

[0048] Furthermore, a lithium battery 8, a power management box 31, and a main control module 7 are bolted onto the carbon fiber plate 24. The voltage output from the lithium battery 8 first enters the power management box 31, and after passing through different DC-DC modules integrated in the power management box 31, it is regulated to the voltage applicable to the other modules before being output separately.

[0049] The main control module 7 includes a main control box 30 and a data acquisition box 32. The main control box 30 integrates the main control board and various interfaces, and is responsible for parsing, calculating, and converting the ADC signal transmitted by the remote control joystick 9. Then, it transmits the signal to the motor group 3 via the CAN communication protocol to command the corresponding motor to reach the target position. The data acquisition box 32 acquires the data transmitted back by the angle sensor 17 on the flexible arm, obtains the current actual posture of the flexible arm, and feeds it back to the main control board.

[0050] like Figure 18 As shown, the remote-operated joystick 9 includes a joystick panel 34, a small arm joystick 35, a gripper button 36, a joystick body 37, a base joystick 38, a joystick base 39, and an ADC acquisition board 40. The small arm joystick 35 and the gripper button 36 are mounted on the joystick panel 34. The movement of the small arm joystick 35 along the X and Y axes controls the bending of the flexible arm along the X and Y axes, respectively. The gripper button 36 controls the gripping or releasing of the gripper 2. The joystick panel 34 is connected to the joystick body 37 by bolts. The bottom of the joystick body 37 is fixedly connected to the base joystick 38. The swinging of the joystick body 37 along the X and Y axes drives the swinging of the base joystick 38, thereby driving the rotation of the swing motor 21 and the shoulder motor 19, realizing the up-and-down swinging of the entire motor mounting base 25 and the forward-and-backward swinging of the shoulder joint 5. The base joystick 38 and the ADC acquisition board 40 are both configured on the joystick base 39. The ADC acquisition board 40 is used to collect the ADC data output by each small joystick and button on the remote joystick 9 and transmit it to the main control board.

[0051] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A wearable flexible rope-driven dual-arm exoskeleton device, characterized in that, It includes a wearable backpack (6), a rope-driven flexible arm (1), a gripper (2) and a motor assembly (3). One end of the rope-driven flexible arm (1) is connected to the wearable backpack (6) and the other end is connected to the gripper (2). The rope-driven flexible arm (1) moves by the cooperation of the motor assembly (3) and the rope. The rope-driven flexible arm (1) includes a rigid frame (10) and a flexible porous anti-collision layer (11). The rigid frame (10) includes multiple joint components connected in sequence, and the joint components are connected to each other through universal joint components. The joint assembly includes a connecting rod and a U-shaped fork structure. The U-shaped fork structure is connected to the connecting rod, and adjacent joint assemblies are connected through the cooperation of the U-shaped fork structure and the universal joint assembly. The flexible porous anti-collision layer (11) covers the rigid frame (10). The flexible porous anti-collision layer (11) includes the same number of anti-collision components as the joint components of the rigid frame (10). The anti-collision components include multiple alternating anti-collision component one and anti-collision component two. Both anti-collision component one and anti-collision component two include an arc-shaped tile-shaped body. The two ends of the arc-shaped tile-shaped body are respectively provided with mounting layers. The edges of the mounting layers of anti-collision component one and anti-collision component two are complementary snap-fit ​​structures. Two adjacent snap-fit ​​mounting layers are connected to the connecting rod of the joint component through the same fastener.

2. The wearable flexible rope-driven dual-arm exoskeleton device according to claim 1, characterized in that, The linkage includes a plurality of intermediate links (12) connected in sequence and two end links (13) located at both ends. One of the end links (13) is used to connect the gripper (2), and the other end link (13) is used to connect the shoulder joint (5). The shoulder joint (5) is configured between the rope-driven flexible arm (1) and the motor assembly (3).

3. The wearable flexible rope-driven dual-arm exoskeleton device according to claim 2, characterized in that, The intermediate connecting rod (12) and the end connecting rod (13) are both disc-shaped structures with multiple tentacles. The multiple tentacles are distributed in a circle along the center of the disc-shaped structure. The tentacles include tentacles one and tentacles two, which are arranged alternately and adjacent to each other. The first tentacle is equipped with a sleeve (18) for the rope to pass through, and the second tentacle is provided with an anti-collision component mounting hole for use with the flexible porous anti-collision layer (11).

4. The wearable flexible rope-driven dual-arm exoskeleton device according to claim 2, characterized in that, The two sides of the intermediate connecting rod (12) are respectively equipped with mirror-symmetrical U-shaped fork structures, and the axes of the two U-shaped fork structures are on the same straight line, located on the central axis of the intermediate connecting rod (12); The end link (13) is provided with a U-shaped fork structure on one side facing the middle link (12), and a cylindrical protrusion on the other side. The cylindrical protrusion is used to connect with the gripper (2) or the shoulder joint (5).

5. The wearable flexible rope-driven dual-arm exoskeleton device according to claim 2, characterized in that, The nodes can rotate by connecting the two adjacent intermediate links (12) or the intermediate link (12) and the end link (13) with the universal joint assembly through a U-shaped fork structure; The universal joint assembly includes a universal joint center (14) and a sedar screw (15). The U-shaped fork structure is connected to the universal joint center (14) through the sedar screw (15). The U-shaped ends of the two U-shaped fork structures connected to the same universal joint centerline (14) are distributed perpendicularly to each other. After the sedar screw (15) is locked to the universal joint center (14), the relative position is fixed. The sedar screw (15) and the connecting rod can rotate relative to each other. A magnet (16) is disposed on the sedar screw (15), and an angle sensor (17) is installed on the U-shaped fork structure. The detection area of ​​the angle sensor (17) covers the magnet (16) in the sedar screw (15). When the connecting rod rotates relative to the center (14) of the universal joint, the angle sensor (17) obtains the rotation angle by monitoring the change of the magnetic field of the magnet (16) to realize the position feedback of the connecting rod.

6. The wearable flexible rope-driven dual-arm exoskeleton device according to claim 1, characterized in that, Two rope-driven flexible arms (1) are arranged opposite each other, and the two rope-driven flexible arms (1) are located on both sides of the backpack (6). Two sets of motor groups (3) are arranged accordingly. Each set of motor groups (3) includes a rope motor (20) for driving the rope movement, a shoulder motor (19) for driving the shoulder joint (5) to rotate, and a swing motor (21) for driving the motor mounting base (25) to swing. The motor mounting base 2 (25) has a central mounting position and multiple edge mounting positions. The multiple edge mounting positions are distributed circumferentially with the central mounting position as the center. One edge mounting position is used to assemble the shoulder motor (19), and the other edge mounting positions are used to assemble the rope motor (20). The edge mounting positions for assembling the shoulder motor (19) and the edge mounting positions for assembling the rope motor (20) are distributed perpendicularly. The central mounting position is used to assemble the output shaft of the swing motor (21).

7. The wearable flexible rope-driven dual-arm exoskeleton device according to claim 6, characterized in that, The rope motor (20) is equipped with a rope winding disc (26), which includes a circular disc. The side of the circular disc has a V-shaped groove along the circumferential direction for winding and storing rope. One end of the rope is tightened and fixed by a bolt configured in the V-shaped groove, and the other end passes through each joint component in the flexible arm. The rope motor (20) drives the rope winding disc (26) to rotate forward or backward to realize the rope winding or unwinding operation, thereby controlling the movement of the flexible arm. The swing motor (21) is mounted on the motor main seat (22), which is installed on the backpack (6). The motor main seat (22) is equipped with a motor hub box (23) for connecting the power lines and signal lines of each motor in the motor group (3) in parallel and communicating with the main control module (7).

8. The wearable flexible rope-driven dual-arm exoskeleton device according to claim 1, characterized in that, The shoulder joint (5) configured between the rope-driven flexible arm (1) and the motor group (3) includes a flexible arm mounting surface for connecting the flexible arm and a motor mounting surface for connecting the shoulder motor (19), with the two mounting surfaces arranged vertically. A circular boss is provided at the center of the side of the flexible arm mounting surface facing the flexible arm. A plurality of reinforcing ribs are provided around the circular boss. A mounting hole is provided at the center of the circular boss to cooperate with the end connecting rod (13) of the flexible arm. A cable guide tube is provided on the side of the flexible arm mounting surface away from the flexible arm to guide the rope to turn. A circular boss is provided on the side edge of the motor mounting surface facing the shoulder motor (19) to be assembled with the shoulder motor (19). A reinforcing rib is provided on the circular boss, and the reinforcing rib extends towards the circular boss along the junction of the flexible arm mounting surface and the motor mounting surface.

9. The wearable flexible rope-driven dual-arm exoskeleton device according to claim 1, characterized in that, The wearable backpack (6) includes a carbon fiber plate (24) and a shoulder strap (28). The carbon fiber plate (24) and the shoulder strap (28) are detachably connected. A remote control joystick (9) is mounted on the shoulder strap (28) via a joystick mounting base (33). The shoulder strap (28) and the joystick mounting base (33) are detachably connected. The joystick mounting base (33) and the remote control joystick (9) are connected at an adjustable angle. The carbon fiber plate (24) is equipped with a battery, a power management box (31) and a main control module (7). The power management box (31) is used to regulate and output the battery output voltage. The main control module (7) includes a main control box (30) and a data acquisition box (32). The main control box (30) includes a main control board and multiple interfaces, which are used to analyze, calculate and convert the signals transmitted by the remote control joystick (9) and communicate with the motor group (3) to drive the corresponding motor to the target position. The data acquisition box (32) is used to collect the data of the angle sensor (17) and feed it back to the main control board.

10. The wearable flexible rope-driven dual-arm exoskeleton device according to claim 9, characterized in that, The remote operation joystick (9) includes a joystick panel (34), an arm joystick (35), a gripper button (36), a joystick body (37), a base joystick (38), a joystick base (39), and an ADC acquisition board (40). The small arm rocker (35), the gripper button (36), and the rocker body (37) are all mounted on the rocker panel (34). The movement of the small arm rocker (35) along the X-axis and Y-axis directions corresponds to the bending of the flexible arm along the X-axis and Y-axis directions. The gripper button (36) is used to control the gripper (2) to clamp or release. The bottom of the rocker arm (37) is connected to the base rocker arm (38). The rocker arm (37) swings along the X-axis and Y-axis directions to drive the base rocker arm (38) to swing, thereby driving the swing motor (21) and the shoulder motor (19) to rotate, realizing the up-and-down swing of the motor mounting base (25) and the back-and-forth swing of the shoulder joint (5). The base rocker arm (38) and the ADC acquisition board (40) are both mounted on the rocker arm base (39). The ADC acquisition board (40) is used to collect the control signals of the rocker arm and the gripper button (36) and transmit them to the main control board.

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