Shoulder, hip and elbow cooperative power-assisted exoskeleton robot

Abstract

The invention provides a shoulder, hip and elbow cooperative assistance exoskeleton robot, and relates to the technical field of robots, the robot comprises an upper limb assembly, and the upper limb assembly is used for wrapping the upper limb of a human body and providing power for the upper limb of the human body; the waist assembly is connected with the upper limb assembly and used for wrapping the periphery of the waist of the human body so as to support the waist of the human body, and the size of the waist assembly can be adjusted; the lower limb assembly is connected with the waist assembly and used for wrapping the lower limbs of the human body and providing power for the lower limbs of the human body; the trunk assembly is connected with the upper limb assembly and the waist assembly and used for supporting the trunk of the human body. The upper limb assembly, the waist assembly, the lower limb assembly and the trunk assembly are connected into a whole and wrap the corresponding parts of the human body, and in actual work, the upper limb assembly, the waist assembly, the lower limb assembly and the trunk assembly can provide corresponding power or support according to the corresponding actions of the human body, so that assistance for multiple limbs is provided for the human body; and the applicability of the exoskeleton robot in actual operation is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robots, in particular to a shoulder, hip and elbow cooperative assisting exoskeleton robot. BACKGROUND

[0002] With the development of intelligent logistics and emergency rescue industry, there are still a large number of heavy physical labor that need to be completed by human work in the scenes of automobile assembly, port freight, warehouse sorting, disaster rescue, etc. The operators frequently perform the operations of bending down to carry heavy objects, overhead lifting tools, and long-time holding of heavy instruments, which easily leads to muscle strain and skeletal diseases of the lumbar spine, shoulder joint and elbow joint, thereby seriously endangering the health of workers and reducing work efficiency and operation quality. Therefore, exoskeleton robot technology emerges as the times require to provide additional power assistance for operators and "empower" humans to more easily and safely complete high-load operations. Most of the existing exoskeleton products (such as upper limb assisting robots, lower limb assisting robots, etc.) are designed to only solve a certain problem and only provide single-site assistance, but the actual operation situation is often a combination of full-body movements, which requires the operator to coordinate the strength of the upper and lower limbs at the same time, such as carrying heavy objects to a high place, which requires not only the support force of the lower limbs and the hip but also the lifting force of the shoulder and elbow. The existing exoskeletons are difficult to provide multi-limb assistance for the human body, which greatly reduces their applicability in actual operation scenes. SUMMARY

[0003] The purpose of the present application is to provide a shoulder, hip and elbow cooperative assisting exoskeleton robot to provide multi-limb assistance for the human body and improve its applicability in actual operation scenes.

[0004] The present application provides a shoulder, hip and elbow cooperative assisting exoskeleton robot, comprising: an upper limb assembly for covering the upper limbs of a human body and providing power for the upper limbs of the human body; a waist assembly connected with the upper limb assembly for covering the periphery of the waist of the human body to support the waist of the human body, and the size of the waist assembly is adjustable; a lower limb assembly connected with the waist assembly for covering the lower limbs of the human body and providing power for the lower limbs of the human body; a trunk assembly connected with the upper limb assembly and the waist assembly respectively for supporting the trunk of the human body.

[0005] According to the technical scheme provided by some embodiments of the present application, the upper limb assembly comprises: a large arm covering member for covering the large arm of a human body; a first driving member connected with one end of the large arm covering member for driving the large arm covering member to rotate; A small arm load-carrying member for covering a human small arm and a load object; A second driving member fixedly connected with the other end of the large arm covering member and connected with the small arm load-carrying member for driving the small arm load-carrying member to rotate; A support adjusting assembly one end of which is fixedly connected with the first driving member and the other end of which is detachably connected with the waist assembly, and the length and angle of which are adjustable.

[0006] According to certain embodiments of the present application, the support adjusting assembly comprises: A first adjusting rod which is open at both ends and hollow inside, and one end of which is fixedly connected with the first driving member, and the other end of which is provided with a U-shaped through slot extending along the axial direction of the first adjusting rod on the outer wall thereof; A second adjusting rod which is in size and shape adapted to the inner wall of the first adjusting rod, and which is inserted into the other end of the first adjusting rod and can slide in the first adjusting rod; A fixing member which is provided outside the U-shaped through slot of the first adjusting rod for fastening the first adjusting rod and the second adjusting rod; A rotating member one end of which is movably connected with the other end of the second adjusting rod and the other end of which is detachably connected with the waist assembly.

[0007] According to certain embodiments of the present application, the waist assembly comprises: A waist connecting member which is hollow inside and open at both ends along the axial direction thereof, and is provided with positioning holes at both ends thereof; A waist adjusting member which is in size and shape adapted to the inner wall of the waist connecting member, and one end of which is provided with a distance adjusting slot corresponding to the positioning holes, and one end of which with the distance adjusting slot is inserted into the waist connecting member and is in sliding fit with the waist connecting member; A limiting member for penetrating into the positioning holes and the distance adjusting slot to prevent the waist adjusting member from sliding out of the waist connecting member.

[0008] According to certain embodiments of the present application, the lower limb assembly comprises: A hip connecting member one end of which is rotatably connected with the waist adjusting member so that the hip connecting member rotates around a first direction; A third driving member fixedly connected with the other end of the hip connecting member; an upper leg support plate, one end of the upper leg support plate being connected with the third driving member, for rotating under the driving of the third driving member; a lower leg support plate, one end of the lower leg support plate being rotatably connected with the other end of the upper leg support plate, so that the lower leg support plate rotates around a second direction, the second direction being perpendicular to the first direction; a leg covering member, the leg covering member being connected with the other end of the lower leg support plate, and the leg covering member being used for covering the human leg.

[0009] According to the technical scheme provided in some embodiments of the present application, the trunk assembly comprises: a shoulder assembly, the shoulder assembly being rotatably connected with the upper limb assembly, and the shoulder assembly being adjustable in size; a back assembly, the back assembly being fixedly connected with the waist assembly, for supporting the back of the human body.

[0010] According to the technical scheme provided in some embodiments of the present application, the shoulder assembly comprises: an adjusting shell, the adjusting shell being hollow inside and having openings at both ends and at the top; a limiting plate, one end of the limiting plate being rotatably connected with the upper limb assembly, the other end of the limiting plate being inserted into the adjusting shell from the openings at both ends of the adjusting shell, the limiting plate being in sliding fit with the adjusting shell, and the other end of the limiting plate being provided with a plurality of limiting grooves; a limiting adjusting assembly, one end of the limiting adjusting assembly extending into the adjusting shell from the opening at the top of the adjusting shell, for being clamped with the limiting grooves; a shoulder support, the shoulder support being fixedly connected with the adjusting shell, and the shoulder support being provided with a fixing groove, for the shoulder strap to be inserted into the fixing groove.

[0011] According to the technical scheme provided in some embodiments of the present application, the limiting adjusting assembly comprises: an adjusting handle, a holding portion of the adjusting handle being located outside the top of the adjusting shell, an extension portion of the adjusting handle extending into the adjusting shell from the opening at the top of the adjusting shell, and the diameter of the extension portion being smaller than the opening at the top of the adjusting shell; a resilient member, the resilient member being sleeved outside the extension portion; a limiting block, the limiting block being fixedly connected with one end of the extension portion close to the limiting grooves, and the width of the limiting block being greater than the outer diameter of the resilient member; The limiting and adjusting assembly has a disassembled state and an installed state; when the limiting and adjusting assembly is in the disassembled state, the extension part drives the limiting block to move to completely separate from the limiting groove under the action of external force, so that the limiting plate can slide in the adjusting shell to adjust the length of the shoulder assembly; when the limiting and adjusting assembly is in the installed state, the external force is removed, and the limiting block can completely enter the limiting groove under the action of the restoring force of the elastic member.

[0012] According to the technical scheme provided in some embodiments of the present application, the back assembly comprises: a back rod, which extends along a first direction and is fixedly connected to the waist assembly at one end close to the waist assembly; a first back support, which is fixedly connected to the other end of the back rod, is used for supporting the back of a human body, and is provided with a fixing groove for passing through a shoulder strap and a chest strap; a back adjusting assembly, which is fixedly connected to the back rod and is arranged between the first back support and the waist assembly; a second back support, which comprises a rotating part and a supporting part, the rotating part is movably connected to the back adjusting assembly, and the supporting part is used for adapting to the posture of the back of a human body.

[0013] According to the technical scheme provided in some embodiments of the present application, the back adjusting assembly comprises: a back connecting plate, which is fixedly sleeved on the back rod and is arranged between the first back support and the waist assembly; a direction adjusting ball, which is located between the back connecting plate and the second back support, the fixed part of the direction adjusting ball is fixedly connected to the back connecting plate, the shape of the spherical part of the direction adjusting ball is adapted to the rotating part of the second back support, and the rotating part of the second back support can be sleeved outside the spherical part of the direction adjusting ball and slide along the spherical surface thereof, so that the second back support rotates around the spherical part.

[0014] The application provides a shoulder-hip-elbow cooperative assisting exoskeleton robot, which comprises an upper limb assembly, a waist assembly, a lower limb assembly and a trunk assembly.

[0015] It should be understood that the description of technical features, technical solutions, advantages or similar language in the present application does not imply that all features and advantages can be realized in any single embodiment. On the contrary, it can be understood that the description of a feature or advantage means that the specific technical feature, technical solution or advantage is included in at least one embodiment. Therefore, the description of technical features, technical solutions or advantages in the specification does not necessarily refer to the same embodiment. Furthermore, the technical features, technical solutions and advantages described in the embodiments can be combined in any appropriate manner. Those skilled in the art will understand that the embodiments can be implemented without one or more specific technical features, technical solutions or advantages of a specific embodiment. In other embodiments, additional technical features and advantages can be identified in specific embodiments that do not embody all embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required in the embodiment description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can obtain other drawings from these drawings without creating any creative labor.

[0017] Figure 1 A structural schematic diagram of a shoulder-hip-elbow cooperative assisting exoskeleton robot provided by the embodiments of the present application is provided. Figure 2 A structural schematic diagram of an upper limb assembly provided by the embodiments of the present application is provided. Figure 3 A structural schematic diagram of a support adjusting assembly provided by the embodiments of the present application is provided. Figure 4A structure schematic diagram of a waist assembly provided by an embodiment of the present application; Figure 5 A structure schematic diagram of a lower limb assembly provided by an embodiment of the present application; Figure 6 A structure schematic diagram of a shoulder assembly provided by an embodiment of the present application; Figure 7 A structure schematic diagram of a position-limiting adjusting assembly provided by an embodiment of the present application; Figure 8 A structure schematic diagram of a back assembly provided by an embodiment of the present application.

[0018] The text annotations in the figure represent: 1, upper limb assembly; 11, upper arm covering member; 111, upper arm support; 112, upper arm binding; 113, upper arm rod; 12, first driving member; 121, rotation limiting plate; 13, lower arm load bearing member; 131, lower arm rod; 132, wrist guard; 133, object carrying table; 134, hook; 14, second driving member; 15, support adjusting assembly; 151, first adjusting rod; 152, second adjusting rod; 153, fixing member; 154, rotating member; 1541, spherical body part; 1542, support column; 1543, bottom plate; 1544, connecting plate; 1545, positioning sleeve; 155, first connecting block; 156, second connecting block; 2, waist assembly; 21, waist connecting member; 22, waist adjusting member; 3, lower limb assembly; 31, hip connecting member; 311, hip connecting shaft; 32, third driving member; 33, upper leg support plate; 34, lower leg support plate; 35, leg covering member; 351, leg support; 352, upper leg binding; 353, leg transverse shaft; 4, torso assembly; 41, shoulder assembly; 411, adjusting housing; 412, limiting plate; 413, position-limiting adjusting assembly; 4131, adjusting handle; 4132, elastic member; 4133, limiting block; 414, shoulder support; 415, movable hinge; 416, shoulder support; 42, back assembly; 421, back rod; 422, first back support; 423, back adjusting assembly; 4231, back connecting plate; 4232, direction adjusting ball; 4233, back bottom plate; 4234, fixing plate; 424, second back support; 425, waist connecting member; 426, fixing member; 5, shoulder belt; 6, chest belt; 7, waist belt; 8, electric backpack. DETAILED DESCRIPTION

[0019] In order to make the skilled in the art better understand the technical solutions of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings, and the description in this part is only exemplary and explanatory, and should not have any limiting effect on the protection scope of the present application, specifically, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by the person skilled in the art without creative labor should belong to the protection scope of the present application.

[0020] It should be noted that similar reference numerals and letters indicate similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. In addition, the terms "include" and "have" and any variations thereof are intended to cover the inclusions that are not exclusive, for example, a process, method, system, product or device that includes a series of steps or units does not have to be limited to those steps or units that are clearly listed, but can include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0021] As mentioned in the background, in order to solve the problems in the prior art, the present embodiment provides a shoulder-hip-elbow cooperative assisting exoskeleton robot, comprising: An upper limb assembly 1, which is used to cover the human upper limb and provide power for the human upper limb; A waist assembly 2, which is connected with the upper limb assembly 1 and is used to cover the periphery of the human waist to support the human waist, and the size of the waist assembly 2 is adjustable; A lower limb assembly 3, which is connected with the waist assembly 2 and is used to cover the human lower limb and provide power for the human lower limb; A trunk assembly 4, which is connected with the upper limb assembly 1 and the waist assembly 2 respectively and is used to support the human trunk.

[0022] Specifically, please refer to Figure 1In the embodiment, the upper limb assemblies 1 can be two, used for covering the upper limbs of a human body and providing power to the upper limbs of the human body. The waist assemblies 2 are respectively connected with the upper limb assemblies 1, used for covering the periphery of the waist of the human body to support the waist of the human body, and the waist assemblies 2 are adjustable in size. The lower limb assemblies 3 can be two, and are respectively connected with the waist assemblies 2, used for covering the lower limbs of the human body and providing power to the lower limbs of the human body. The trunk assemblies 4 are respectively connected with the upper limb assemblies 1 and the waist assemblies 2, used for supporting the trunk of the human body, where the trunk of the human body mainly refers to the shoulder and back of the human body. The device further comprises an electrical backpack 8, which is fixedly connected with the side of the trunk assembly 4 away from the trunk of the human body, and the inside of the electrical backpack 8 is provided with a gyroscope sensor, a battery and an electrical circuit, and the gyroscope sensor is used for detecting the motion posture of the user.

[0023] The present application connects the upper limb assembly, the waist assembly, the lower limb assembly and the trunk assembly as a whole and covers the corresponding parts of the human body, so that the upper limb assembly, the waist assembly, the lower limb assembly and the trunk assembly can provide corresponding power or support according to the corresponding action of the human body during actual work, thereby providing multi-limb assistance to the human body, improving the applicability of the exoskeleton robot in the actual work scene, solving the problem that the traditional exoskeleton robot mainly uses single-limb assistance, and avoiding the poor applicability of the exoskeleton robot in the actual work scene.

[0024] In a preferred embodiment, the upper limb assembly 1 comprises: a large arm covering piece 11, used for covering the large arm of the human body; a first driving piece 12, connected with one end of the large arm covering piece 11, used for driving the large arm covering piece 11 to rotate; a small arm load bearing piece 13, used for covering the small arm of the human body and a load object; a second driving piece 14, fixedly connected with the other end of the large arm covering piece 11 and connected with the small arm load bearing piece 13, used for driving the small arm load bearing piece 13 to rotate; a support adjusting assembly 15, one end of which is fixedly connected with the first driving piece 12, and the other end of which is detachably connected with the waist assembly 2, and the length and angle of the support adjusting assembly 15 are adjustable.

[0025] Specifically, as Figure 1 and Figure 2As shown, the upper arm cover 11 comprises an upper arm holder 111, an upper arm band 112 and an upper arm rod 113. The middle part of the upper arm rod 113 is a rod structure, the upper arm holder 111 is connected to the middle part of the upper arm rod, and the two ends of the upper arm holder 111 are provided with through grooves, the upper arm band 112 passes through the through grooves and is bound to the upper arm holder 111, and after the human upper arm passes through the upper arm holder 111, the upper arm band 112 binds the human upper arm to the upper arm holder 111. The end of the upper arm rod 113 close to the first driving member 12 is a circular ring and is fixedly connected to the rotor part of the first driving member 12, so that the first driving member 12 drives the upper arm rod 113 to rotate and in turn drives the upper arm cover 11 to rotate; the other end thereof is a semicircle and is fixedly connected to the stator part of the second driving member 14, and the semicircular end of the upper arm rod 113 is used for limiting the rotation range of the lower arm load member 13, so as to avoid that the user is injured due to the rotation of the lower arm load member 13 exceeding the working range. The lower arm load member 13 comprises a lower arm rod 131, a wrist guard 132, a load table 133 and a hook 134. The middle part of the lower arm rod 131 is a rod structure, the load table 133 is fixed to the middle part of the lower arm rod 131 and is used for loading a heavy object; the end of the lower arm rod 131 close to the second driving member 14 is a circle and is connected to the rotor part of the second driving member 14, so that the second driving member 14 drives the lower arm rod 131 to rotate and in turn drives the lower arm load member 13 to rotate; the end of the lower arm rod 131 away from the second driving member 14 is fixedly connected to one side of the wrist guard 132, the wrist guard is a ring structure, the wrist can pass through the ring structure, the other side of the wrist guard 132 is connected to the hook 134 and is used for hanging an object. The load table 133 and the hook 134 enable the user to hold an object without directly contacting the human body, thereby reducing the risk of crushing the user when working. The stator part of the first driving member 12 is also provided with a rotation limiting plate 121 for limiting the rotation range of the upper arm rod 113, so as to avoid that the user is injured due to the rotation of the upper arm rod 113 exceeding the working range. In the embodiment, the first driving member 12 and the second driving member 14 are both motors. The support adjusting assembly 15 is used for supporting the upper limb assembly 1 and is connected to the upper limb assembly 1 and the waist assembly 2. One end thereof is fixedly connected to the first driving member 12, the other end thereof is detachably connected to the waist assembly 2, and the length and the angle of the support adjusting assembly 15 are both adjustable.

[0026] In a preferred embodiment, the support adjusting assembly 15 comprises: a first adjusting rod 151, the two ends of the first adjusting rod 151 are open and the inside thereof is hollow, one end of the first adjusting rod 151 close to the first driving member 12 is fixedly connected to the first driving member 12, and the outer wall of the end of the first adjusting rod 151 away from the first driving member 12 is provided with a U-shaped through groove extending along the axial direction of the first adjusting rod 151; a second adjusting rod 152, which is sized and shaped to fit the inner wall of the first adjusting rod 151, is inserted into one end of the first adjusting rod 151 away from the first driving member 12 and is slidable within the first adjusting rod 151; a fixing member 153, which is arranged outside the U-shaped through slot of the first adjusting rod 151, is used to fasten the first adjusting rod 151 and the second adjusting rod 152; a rotating member 154, one end of which is movably connected to one end of the second adjusting rod 152 away from the first adjusting rod 151, and the other end of which is detachably connected to the waist assembly 2.

[0027] Specifically, as Figure 1 , Figure 2 and Figure 3As shown, the first adjusting rod 151 is open at both ends and hollow inside, and one end of the first adjusting rod 151 close to the first driving member 12 is connected with the first driving member 12 through a first connecting block 155, the first connecting block 155 is sleeved on one end of the first adjusting rod 151 close to the first driving member 12, and the outside of the first connecting block 155 is provided with lugs, and the lugs are fixedly connected with the first driving member 12; the size and shape of the second adjusting rod 152 are adapted to the inner wall of the first adjusting rod 151, the second adjusting rod 152 is inserted into one end of the first adjusting rod 151 away from the first driving member 12 and can slide in the first adjusting rod 151, and the outer wall of one end of the first adjusting rod 151 away from the first driving member 12 is provided with a U-shaped through slot extending along the axial direction of the first adjusting rod 151, and the fixing member 153 is arranged outside the U-shaped through slot of the first adjusting rod 151, by changing the clamping force of the fixing member 153, the first adjusting rod 151 is deformed to fasten the second adjusting rod 152, the length of the supporting and adjusting assembly 15 can be adjusted, and users with different heights and body shapes can be adapted. The rotating member 154 includes a spherical body part 1541, a supporting column 1542, a bottom plate 1543, a connecting plate 1544 and a positioning sleeve 1545, the supporting column 1542 wraps the spherical body part 1541 at one end close to the second adjusting rod 152, so that the spherical body part 1541 has multiple rotational degrees of freedom, the spherical body part 1541 is fixedly connected with one end of the second adjusting rod 152 away from the first adjusting rod 151 through a second connecting block 156, so that the spherical body part 1541 drives the second adjusting rod 152 to rotate when the spherical body part 1541 rotates, the angle of the supporting and adjusting assembly 15 can be adjusted, different actions of the upper limb assembly 1 can be adapted, the bottom plate 1543 is fixed to one end of the supporting column 1542 away from the second adjusting rod 152, the connecting plate 1544 is fixed to the bottom of the bottom plate 1543, the connecting plate 1544 is inserted into the waist assembly 2 through the connecting plate 1544, and the positioning sleeve 1545 is arranged at the end of the connecting plate 1544 inserted into the waist assembly 2, so that the connecting plate 1544 does not separate from the waist assembly 2, and the connecting plate 1544 can be removed by removing the positioning sleeve 1545, so that the rotating member 154 and the waist assembly 2 are detachably connected.

[0028] In a preferred embodiment, the waist assembly 2 comprises: A waist connecting member 21, which is hollow inside and open at both ends along the axial direction, and is provided with positioning holes at both ends; A waist adjusting member 22, which is adapted to the inner wall of the waist connecting member 21 in size and shape, and one end of the waist adjusting member 22 is provided with a pitch adjusting groove corresponding to the positioning hole, and one end of the waist adjusting member 22 with the pitch adjusting groove is inserted into the waist connecting member 21 and is in sliding fit with the waist connecting member 21; A limiting member is used to pass through the positioning hole and the distance adjusting groove to prevent the waist adjusting member 22 from slipping out when sliding in the waist connecting member 21.

[0029] Specifically, as shown in Figure 4 The waist connecting member 21 is a hollow square tube with openings at both axial ends, and positioning holes are arranged at both ends. The waist adjusting member 22 is sized and shaped to fit the inner wall of the waist connecting member 21, and one end of the waist adjusting member 22 is provided with a distance adjusting groove corresponding to the positioning hole. The waist adjusting member 22 has one end inserted into the waist connecting member 21 and is in sliding fit with the waist connecting member 21. The limiting member (not shown in the figure) is used to pass through the positioning hole and the distance adjusting groove to prevent the waist adjusting member 22 from slipping out when sliding in the waist connecting member 21. In use, the waist adjusting member is pulled to adjust the size of the waist assembly 2 to adapt to users with different waist circumferences.

[0030] In a preferred embodiment, the lower limb assembly 3 comprises: A hip connecting member 31 is rotatably connected to one end of the waist adjusting member 22, so that the hip connecting member 31 rotates around a first direction; A third driving member 32 is fixedly connected to the other end of the hip connecting member 31; An upper leg support plate 33 is connected to one end of the third driving member 32 and is used to rotate under the driving of the third driving member 32; A lower leg support plate 34 is rotatably connected to the other end of the upper leg support plate 33, so that the lower leg support plate 34 rotates around a second direction, which is perpendicular to the first direction; A leg covering member 35 is connected to the other end of the lower leg support plate 34, and the leg covering member 35 is used to cover the human leg.

[0031] Specifically, as shown in Figure 1 And Figure 5As shown in the drawings, the hip connecting member 31 is rotatably connected to the waist adjusting member 22 through a hip connecting shaft 311, so that the hip connecting member 31 can rotate in a first direction to allow the human hip to have the freedom of adduction and external rotation, and the first direction is a vertical direction. The other end of the hip connecting member 31 is semi-circular and fixedly connected to the stator part of the third driving member 32, and the semi-circular part of the hip connecting member 31 can limit the rotation of the upper leg supporting plate 33 to avoid injury to the user due to the rotation of the upper leg supporting plate 33 beyond the working range. The upper leg supporting plate 33 is rod-shaped, and the end close to the third driving member 32 is circular and fixedly connected to the rotor part of the third driving member 32, which can rotate under the driving of the third driving member 32, and the third driving member 32 is an electric motor. The other end of the upper leg supporting plate 33 is connected to the lower leg supporting plate 34 through a leg rotating shaft 36, so that the lower leg supporting plate 34 can rotate in a second direction, effectively dispersing the stress of the upper leg supporting plate 33 and making the leg movement more flexible, and the second direction is perpendicular to the first direction. The leg covering member 35 includes a leg support 351 and a thigh binding 352, and the leg support 351 is connected to the lower leg supporting plate 34 through a leg horizontal shaft 353, so that the leg support 351 and the lower leg supporting plate 34 can rotate relative to each other to make the human body more flexible when walking. The leg support 351 has through grooves at both ends, and the thigh binding 352 passes through the through grooves and is bound to the leg support 351. After the human leg passes through the leg support 351, the thigh binding 352 binds the human leg and the leg support 351 to transmit the driving force of the third driving member 32 to the human leg, effectively realizing the assistance of walking and squatting and lifting movement.

[0032] In a preferred embodiment, the trunk assembly 4 comprises: a shoulder assembly 41 rotatably connected to the upper limb assembly 1, and the size of the shoulder assembly 41 is adjustable; a back assembly 42 fixedly connected to the waist assembly 2 for supporting the back of the human body.

[0033] Specifically, as shown in the drawings, Figure 1 and Figure 6 the shoulder assembly 41 is rotatably connected to the upper limb assembly 1 through a movable hinge 415, which effectively provides the shoulder assembly 41 with the freedom of internal rotation and external rotation. Moreover, the size of the shoulder assembly 41 is adjustable, which can be quickly adjusted to the appropriate range according to the different shoulder widths of users. The back assembly 42 is fixedly connected to the waist assembly 2 for supporting the back of the human body.

[0034] In a preferred embodiment, the shoulder assembly 41 comprises: an adjusting shell 411 which is hollow inside and has openings at both ends and the top; The limiting plate 412 is rotatably connected to the upper limb assembly 1 at one end, and inserted into the interior of the adjusting housing 411 from the openings at both ends of the adjusting housing 411, and slidably engaged with the adjusting housing 411. The other end of the limiting plate 412 is provided with multiple limiting grooves. A limit adjustment component 413, one end of which extends into the adjustment housing 411 from the top opening of the adjustment housing 411 and is used to engage with the limit groove. Shoulder support 414 is fixedly connected to the adjusting housing 411, and a fixing groove is provided on the shoulder support 414 for inserting the shoulder strap 5.

[0035] Specifically, such as Figure 6 As shown, the adjustable housing 411 is hollow inside and has openings at both ends and the top. There are two limiting plates 412, one end of which is rotatably connected to the upper limb assembly 1 via a hinge 415, and the other end is inserted into the adjustable housing 411 from the openings at both ends, slidingly engaging with the housing. The other end of each limiting plate 412 has multiple limiting grooves. There are two limiting adjustment components 413, one end of which extends into the adjustable housing 411 from the top opening, engaging with the corresponding limiting grooves of the limiting plates 412. The shoulder support 414 is fixedly connected to the adjustable housing 411 via a shoulder brace 416, and has a fixing groove for inserting the shoulder strap 5. The shoulder support 414 provides better support for the shoulder and alleviates user fatigue.

[0036] In a preferred embodiment, the limit adjustment component 413 includes: Adjustment handle 4131, the grip portion of the adjustment handle 4131 is located on the top outer side of the adjustment housing 411, the extension portion of the adjustment handle 4131 extends into the interior of the adjustment housing 411 from the top opening of the adjustment housing 411, and the diameter of the extension portion is smaller than the top opening of the adjustment housing 411; Elastic element 4132, which is fitted onto the outside of the extension; The limiting block 4133 is fixedly connected to one end of the extension near the limiting groove, and the width of the limiting block 4133 is greater than the outer diameter of the elastic member 4132. The limiting and adjusting assembly 413 has a disassembled state and an assembled state. When the limiting and adjusting assembly 413 is in the disassembled state, the extension part drives the limiting block 4133 to move out of the limiting groove under the action of an external force, so that the limiting plate 412 can slide in the adjusting shell 411 to adjust the length of the shoulder assembly 41. When the limiting and adjusting assembly 413 is in the assembled state, the limiting block 4133 can enter the limiting groove completely under the action of the restoring force of the elastic member 4132 after the external force is removed.

[0037] Specifically, as shown in Figure 7 The extension part of the adjusting handle 4131 extends into the inside of the adjusting shell 411 from the top opening of the adjusting shell 411, and the diameter of the extension part is smaller than the top opening of the adjusting shell 411, so that the extension part can slide in the adjusting shell 411 without being pulled out. The elastic member 4132 is sleeved outside the extension part, the limiting block 4133 is fixedly connected to one end of the extension part close to the limiting groove, and the width of the limiting block 4133 is greater than the outer diameter of the elastic member 4132, so that the elastic member 4132 cannot be pulled out of the extension part. The elastic member 4132 is a spring. The limiting and adjusting assembly 413 has a disassembled state and an assembled state. When the limiting and adjusting assembly 413 is in the disassembled state, the extension part drives the limiting block 4133 to move out of the limiting groove under the action of an external force, so that the limiting plate 412 can slide in the adjusting shell 411 to adjust the length of the shoulder assembly 41. At this time, the elastic member 4132 is compressed. When the limiting and adjusting assembly 413 is in the assembled state, the limiting block 4133 can enter the limiting groove completely under the action of the restoring force of the elastic member 4132 after the external force is removed, so as to fix the limiting plate 412 and fix the length of the shoulder assembly 41.

[0038] In a preferred embodiment, the back assembly 42 comprises: A back rod 421 extending in a first direction and fixedly connected to the waist assembly 2 at one end close to the waist assembly 2; A first back support 422 fixedly connected to the other end of the back rod 421, the first back support 422 being used for supporting the back of a human body and provided with fixing grooves for the shoulder belt 5 and the chest belt 6 to pass through; A back adjusting assembly 423 fixedly connected to the back rod 421 and arranged between the first back support 422 and the waist assembly 2; A second back support 424, which comprises a rotating part and a supporting part, the rotating part is movably connected with the back adjusting assembly 423, and the supporting part is used to adapt to the posture of the back of the human body.

[0039] Specifically, as shown in Figure 1 and Figure 8 The back rods 421 are hollow cylinders and extend along a first direction, and two of them are fixedly connected with the waist assembly 2 through waist connecting members 425 at one end close to the waist assembly 2. The outer side of the waist connecting member 425 is also fixed with a waist belt 7 for fixing the waist of the human body. The other end of the two back rods 421 is fixedly connected with the first back support 422 through a fixing member 426 of the first back support 422, which is used to support the back of the human body, and the first back support 422 is provided with a fixing groove for the shoulder belt 5 and the chest belt 6. The back adjusting assembly 423 is fixedly connected with the back rod 421 and is arranged between the first back support 422 and the waist assembly 2. The rotating part of the second back support 424 is movably connected with the back adjusting assembly 423, and the supporting part of the second back support 424 is a closed curved surface, the curvature of which is similar to that of the connection between the back and the waist of the human body, which can support the waist and back of the human body, so that the user is more comfortable, and the supporting part has four reinforced supporting plates, which can well disperse and transfer the pressure, further improving the comfort of the user and the strength of the second back support 424 itself. The shoulder belt 5, the chest belt 6 and the waist belt 7 are used to fix the relative position of the human body and the exoskeleton, facilitate the wearing of the exoskeleton and prevent the exoskeleton from falling off.

[0040] In a preferred embodiment, the back adjusting assembly 423 comprises: A back connecting plate 4231, which is fixedly sleeved on the back rod 421 and is arranged between the first back support 422 and the waist assembly 2; A direction adjusting ball 4232, which is located between the back connecting plate 4231 and the second back support 424, the fixed part of the direction adjusting ball 4232 is fixedly connected with the back connecting plate 4231, the shape of the spherical part of the direction adjusting ball 4232 is adapted to the rotating part of the second back support 424, and the rotating part of the second back support 424 can be sleeved outside the spherical part of the direction adjusting ball 4232 and slide along the spherical surface, so that the second back support 424 rotates around the spherical part.

[0041] Specifically, as shown in Figure 8As shown, the back connecting plate 4231 is fixedly sleeved on the back rod 421 and is arranged between the first back support 422 and the waist assembly 2. The direction adjusting ball 4232 is located between the back connecting plate 4231 and the second back support 424. The fixed part of the direction adjusting ball 4232 is provided with threads, and the fixed part of the direction adjusting ball 4232 is connected with the back bottom plate 4233 through threads. The back bottom plate 4233 is fixedly connected with the back connecting plate 4231. The spherical part of the direction adjusting ball 4232 is adapted in shape to the rotating part of the second back support 424. The rotating part of the second back support 424 can be sleeved outside the spherical part of the direction adjusting ball 4232 and slides along the spherical surface. A fixed plate 4234 consistent in curvature with the spherical part of the direction adjusting ball 4232 is arranged at the connection between the rotating part of the second back support 424 and the spherical part of the direction adjusting ball 4232, so that the second back support 424 rotates around the spherical part and does not fall out. When the user wears the exoskeleton to work, the human body changes and the exoskeleton is extruded, and the human body feels uncomfortable. The spherical hinge freedom degree generated by the spherical part of the direction adjusting ball 4232 can make the back support change along with the change of the human body, eliminate the discomfort caused by extrusion, and make the movement of the human body more flexible.

[0042] The shoulder-hip-elbow collaborative assisting exoskeleton robot provided by the application connects the upper limb assembly, the waist assembly, the lower limb assembly and the trunk assembly as a whole and covers each part of the human body, so that the upper limb assembly, the waist assembly, the lower limb assembly and the trunk assembly can provide corresponding power or support according to the corresponding movement of the human body during actual work, thereby providing multi-limb assistance for the human body, improving the applicability of the exoskeleton robot in actual work scenes, solving the problem that the traditional exoskeleton robot mainly uses single-limb assistance, and avoiding the poor applicability of the exoskeleton robot in actual work scenes. The shoulder strap, the waist strap and the chest strap and the large arm binding and the thigh binding are arranged, so that the user can wear the exoskeleton conveniently and prevent the exoskeleton from falling off. The shoulder support, the first back support and the second back support are arranged to match the curvature of the human body, so that the user can wear the exoskeleton comfortably and ensure that the exoskeleton is worn in the correct position, and the exoskeleton can be quickly adapted during initial use. The adjustable waist assembly, the adjustable shoulder assembly, the adjustable support adjusting assembly and the rotatable second back support can better match the activity freedom degree of the human body, reduce the mutual collision between the human body and the exoskeleton robot when the user performs a large-scale work action, and improve the compliance of the exoskeleton robot.

[0043] For the convenience of those skilled in the art, further, the working process of the shoulder-hip-elbow collaborative assisting exoskeleton robot provided by the application is as follows: According to the user's waist size adjustment waist assembly 2, the waist of the waist assembly 2 is inserted into the waist connecting piece 21 and slid to the position of the user's waist, and the limiting piece is fixed by the positioning hole of the waist connecting piece 21 and the distance adjusting groove of the waist adjusting piece 22; adjust the support adjusting assembly 15 of the upper limb assembly 1, slide the second adjusting rod 152 in the first adjusting rod 151 to adjust to the length of the user's waist, and then fasten the two with the fixing piece 153 through the U-shaped through slot of the first adjusting rod 151; adjust the shoulder assembly 41 of the trunk assembly 4, press the adjusting handle 4131 of the limiting adjusting assembly 413, make the extension part drive the limiting block 4133 out of the limiting slot of the limiting plate 412, slide the limiting plate 412 in the adjusting shell 411 to the length of the user's waist, and then loosen the adjusting handle 4131, the elastic piece 4132 resets the limiting block 4133 to be clamped into the limiting slot; the shoulder strap 5 is inserted into the shoulder support 414 of the shoulder assembly 41, and the shoulder strap 5 and the chest strap 6 are inserted into the first back support 422 of the back assembly 42 to fix the human body and the shoulder hip elbow to cooperate with the exoskeleton robot; the user's upper limbs are covered in the upper arm covering piece 11 and the small arm weight bearing piece 13 of the upper limb assembly 1, the lower limbs are covered in the upper leg support plate 33, the lower leg support plate 34 and the leg covering piece 35 of the lower limb assembly 3, the trunk is fitted with the first back support 422 and the second back support 424 of the back assembly 42, and the second back support 424 is slid along the spherical surface through the spherical part of the direction adjusting ball 4232 of the back adjusting assembly 423. When moving, the first driving piece 12 of the upper limb assembly 1 drives the upper arm covering piece 11 to rotate, the second driving piece 14 drives the small arm weight bearing piece 13 to rotate, realizes the power output of the upper limb and bears the object through the small arm weight bearing piece 13, and adjusts the angle of the support adjusting assembly 15 through the rotating piece 154, adapts to the user's upper limb action; the third driving piece 32 of the lower limb assembly 3 drives the upper leg support plate 33 to rotate, the lower leg support plate 34 rotates around the axis perpendicular to the upper leg rotation direction, cooperates with the hip connecting piece 31 to rotate around the first direction, realizes the power output of the lower limb; the waist assembly 2 forms stable support for the user's waist, the back rod 421 and the first back support 422 of the trunk assembly 4 support the user's back, and the direction adjusting ball 4232 of the back adjusting assembly 423 real-time adapts to the change of the back posture.

[0044] The shoulder-hip-elbow cooperative assisting exoskeleton robot provided by the application connects an upper limb assembly, a waist assembly, a lower limb assembly and a trunk assembly as a whole and covers each part of the human body, so that the upper limb assembly, the waist assembly, the lower limb assembly and the trunk assembly can provide corresponding power or support according to the corresponding action of the human body during actual work, to provide multi-limb assistance for the human body, improve the applicability of the exoskeleton robot in an actual work scene, solve the problem that the traditional exoskeleton robot is mostly single-limb assistance, and avoid the poor applicability of the exoskeleton robot in the actual work scene. The shoulder strap, the waist strap and the chest strap and the large arm binding and the thigh binding are arranged, so that the user is convenient to wear and the exoskeleton is prevented from falling off; the shoulder support, the first back support and the second back support are arranged to fit the curvature of the human body, so that the user is comfortable to wear, and the exoskeleton is ensured to be correctly worn, and is quickly adapted for initial use; the adjustable waist assembly, shoulder assembly and support adjusting assembly and the rotatable second back support better match the activity freedom of the human body, reduce the mutual collision between the human body and the exoskeleton robot when the user performs a large-scale work action, and improve the compliance of the exoskeleton robot.

[0045] The principles and implementation modes of the application are described by using specific examples in the present text, and the above description of the examples is only used to help understand the method of the application and its core idea. The above description is only the preferred implementation mode of the application, and it should be pointed out that, due to the limited nature of the language expression, there are infinite specific structures, and for ordinary skilled persons in the technical field, some improvements, refinements or changes can be made without departing from the principles of the application, or the above technical features can be combined in an appropriate manner; the improvements, refinements, changes or combinations, or the direct application of the inventive concept and technical solution to other occasions without improvement, shall be regarded as the protection scope of the application.

Claims

1. A shoulder-hind leg-elbow cooperative assistive exoskeleton robot characterized by, The application relates to a human body supporting and driving device. The device comprises: an upper limb assembly (1) for covering and driving a human upper limb; a waist assembly (2) connected with the upper limb assembly (1) for covering and supporting a human waist; a lower limb assembly (3) connected with the waist assembly (2) for covering and driving a human lower limb; 2. The shoulder-hindleg-elbow synergistic assistive exoskeleton robot according to claim 1, characterized in that, a trunk assembly (4) connected with the upper limb assembly (1) and the waist assembly (2) respectively for supporting a human trunk. The upper limb assembly (1) comprises: a large arm covering member (11) for covering a human large arm; a first driving member (12) connected with one end of the large arm covering member (11) for driving the large arm covering member (11) to rotate; a small arm load member (13) for covering a human small arm and a load object; a second driving member (14) fixedly connected with the other end of the large arm covering member (11) and connected with the small arm load member (13) for driving the small arm load member (13) to rotate; 3. The shoulder-hindleg-elbow synergistic assistive exoskeleton robot according to claim 2, characterized by, a support adjusting assembly (15) one end of which is fixedly connected with the first driving member (12) and the other end of which is detachably connected with the waist assembly (2), and the length and angle of the support adjusting assembly (15) are adjustable. The support adjusting assembly (15) comprises: a first adjusting rod (151) which is open at both ends and hollow inside, one end of the first adjusting rod (151) is fixedly connected with the first driving member (12), and a U-shaped through slot extending along the axial direction of the first adjusting rod (151) is arranged on the outer wall of the other end of the first adjusting rod (151) away from the first driving member (12); a second adjusting rod (152) which is matched with the inner wall of the first adjusting rod (151) in size and shape, the second adjusting rod (152) is inserted into the other end of the first adjusting rod (151) away from the first driving member (12) and can slide in the first adjusting rod (151); a fixing member (153) arranged outside the U-shaped through slot of the first adjusting rod (151) for fastening the first adjusting rod (151) and the second adjusting rod (152); 4. The shoulder-hindleg-elbow synergistic assistive exoskeleton robot according to claim 3, characterized by, a rotating member (154) one end of which is movably connected with the other end of the second adjusting rod (152) away from the first adjusting rod (151) and the other end of which is detachably connected with the waist assembly (2). The waist assembly (2) comprises: a waist connecting member (21) which is hollow inside and open at both ends along the axial direction and is provided with positioning holes at both ends. A waist adjusting member (22) is in size and shape adapted to the inner wall of the waist connecting member (21), and one end of the waist adjusting member (22) is provided with a distance adjusting groove corresponding to the positioning hole, and the waist adjusting member (22) is inserted into the waist connecting member (21) with the distance adjusting groove, and is in sliding fit with the waist connecting member (21); A limiting member is used to penetrate into the positioning hole and the distance adjusting groove, and prevents the waist adjusting member (22) from sliding out of the waist connecting member (21).

5. The shoulder-hindleg-elbow synergistic assistive exoskeleton robot according to claim 4, characterized by, The lower limb assembly (3) comprises: A hip connecting member (31) is rotatably connected to one end of the waist adjusting member (22), so that the hip connecting member (31) rotates around a first direction; A third driving member (32) is fixedly connected to the other end of the hip connecting member (31); An upper leg supporting plate (33) is connected to one end of the third driving member (32) and is used to rotate under the driving of the third driving member (32); A lower leg supporting plate (34) is rotatably connected to the other end of the upper leg supporting plate (33), so that the lower leg supporting plate (34) rotates around a second direction, and the second direction is perpendicular to the first direction; A leg covering member (35) is connected to the other end of the lower leg supporting plate (34), and the leg covering member (35) is used to cover the human leg.

6. The shoulder-hindleg-elbow synergistic assistive exoskeleton robot according to claim 1, characterized by, The trunk assembly (4) comprises: A shoulder assembly (41) is rotatably connected to the upper limb assembly (1), and the size of the shoulder assembly (41) is adjustable; A back assembly (42) is fixedly connected to the waist assembly (2) and is used to support the back of the human body.

7. The shoulder-hindleg-elbow synergistic assistive exoskeleton robot according to claim 6, characterized by, The shoulder assembly (41) comprises: An adjusting shell (411) is hollow inside and is provided with openings at both ends and the top; A limiting plate (412) is rotatably connected to one end of the upper limb assembly (1) and is inserted into the adjusting shell (411) from the openings at both ends of the adjusting shell (411) and is in sliding fit with the adjusting shell (411), and the other end of the limiting plate (412) is provided with a plurality of limiting grooves; A limiting adjusting assembly (413) is inserted into the adjusting shell (411) from the opening at the top of the adjusting shell (411) and is used to be clamped with the limiting grooves; A shoulder holder (414) is fixedly connected to the adjusting shell (411), and the shoulder holder (414) is provided with a fixing groove and is used to penetrate into a shoulder strap (5).

8. The shoulder-hindleg-elbow synergistic assistive exoskeleton robot according to claim 7, characterized by, The limiting adjusting assembly (413) comprises: An adjusting handle (4131) is provided on the top of the adjusting shell (411), and an extension of the adjusting handle (4131) extends into the adjusting shell (411) from the top opening of the adjusting shell (411), and the diameter of the extension is smaller than the diameter of the top opening of the adjusting shell (411); An elastic member (4132) is sleeved on the extension; A limiting block (4133) is fixedly connected to one end of the extension close to the limiting groove, and the width of the limiting block (4133) is greater than the outer diameter of the elastic member (4132); The limiting adjusting assembly (413) has a disassembled state and an assembled state. When the limiting adjusting assembly (413) is in the disassembled state, the extension drives the limiting block (4133) to move out of the limiting groove under the action of an external force, so that the limiting plate (412) can slide in the adjusting shell (411) to adjust the length of the shoulder assembly (41). When the limiting adjusting assembly (413) is in the assembled state, the limiting block (4133) can enter the limiting groove completely under the action of the restoring force of the elastic member (4132) when the external force is removed.

9. The shoulder-hindleg-elbow synergistic assistive exoskeleton robot according to claim 6, characterized by, The back assembly (42) comprises: A back rod (421) extends in a first direction, and one end close to the waist assembly (2) is fixedly connected to the waist assembly (2); A first back support (422) is fixedly connected to the other end of the back rod (421), and the first back support (422) is used for supporting the back of a human body, and a fixing groove is arranged on the first back support (422) for penetrating the shoulder belt (5) and the chest belt (6); A back adjusting assembly (423) is fixedly connected to the back rod (421) and arranged between the first back support (422) and the waist assembly (2); A second back support (424) comprises a rotating part and a supporting part, the rotating part is movably connected to the back adjusting assembly (423), and the supporting part is used for adapting to the posture of the back of a human body.

10. The shoulder-hindleg-elbow synergistic assistive exoskeleton robot according to claim 9, characterized by, The back adjusting assembly (423) comprises: A back connecting plate (4231) is fixedly sleeved on the back rod (421) and arranged between the first back support (422) and the waist assembly (2); A steering ball (4232) is located between the back connecting plate (4231) and the second back support (424), a fixed part of the steering ball (4232) is fixedly connected with the back connecting plate (4231), a spherical part of the steering ball (4232) is matched with a rotating part of the second back support (424), and the rotating part of the second back support (424) can be sleeved outside the spherical part of the steering ball (4232) and slide along the spherical surface, so that the second back support (424) rotates around the spherical part.

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