Power output kit and wearable power-assisted robot

Abstract

The invention discloses a power output suite and a wearable power-assisted robot, and relates to the technical field of exoskeleton robotics.The power output suite is applied to the wearable power-assisted robot and comprises a shell, a power assembly, a motion controller and a power battery, and the shell is provided with a containing cavity; the shell is provided with an external key and an interface used for being connected with the outside; the power assembly comprises a motor assembly and a speed reducer assembly which are located in the containing cavity. The motion controller is located in the containing cavity and connected with the motor assembly and the speed reducer assembly. The power battery is located in the containing cavity and used for providing electric energy for the power assembly and the motion controller. The power output kit is an independent module in the wearable power-assisted robot, has independent working and power-assisted capabilities, and is beneficial to improving the universality and convenience in modular combination of the wearable power-assisted robot.

Description

Technical Field

[0001] This invention relates to the field of exoskeleton robot technology, specifically to a power output kit and a wearable assistive robot. Background Technology

[0002] As a type of service robot, wearable assistive robots have experienced rapid development in recent years. The civilian market has evolved from heavy-duty medical exoskeletons initially targeting the medical rehabilitation market to lightweight consumer-grade exoskeleton robots for outdoor sports, industrial handling, and logistics. Currently, there are numerous products on the market; however, they generally suffer from relatively fixed structural forms and a lack of connection between different product lines from the same manufacturer. Taking consumer-grade exoskeleton robots used in outdoor sports as an example, the industry exhibits a high degree of mutual borrowing, resulting in similar structural forms. For instance, various types of wearable active hip-joint assistive exoskeletons all feature joint motor modules at the hip joint, a main controller and battery module at the waist, and restraint mechanisms at the thighs and calves, resulting in highly similar overall layouts and a lack of differentiated innovation. This structural convergence not only limits further performance improvements but also makes it difficult for users to obtain a personalized assistive experience.

[0003] Furthermore, looking at the current field of exoskeleton robot technology, most exoskeleton robots designed and developed for various application scenarios rarely adopt modular design schemes. Even in the few systems that have adopted modular design, the degree of modularity is often low. On the one hand, it only stays at the level of dividing functional structures. For example, to address different upper or lower limb assistance needs, the overall mechanical functional structure of the upper or lower limb is designed as a module. On the other hand, other integral functional structures are added to the existing mechanical functional structure to expand the assistance function, such as adding an elbow joint assistance function to a wearable shoulder joint assistive robot. The existing design aims to provide additional assistance to the forearm on top of the existing arm's support. However, its modular design approach is somewhat one-sided, focusing only on packaging the power battery and motion controller as independent modules. It fails to consider designing the power output components as independently operable modules with decoupled interfaces, resulting in a high degree of dependence on the specific overall architecture for the physical installation and electrical connections of core components. Furthermore, the existing solution lacks unified standards for mechanical and electrical interfaces, still employing traditional connection methods such as threaded fastening, direct hardwire connections, and customized plug-ins, leading to poor cross-platform compatibility and high maintenance costs. All these issues make it difficult for the existing solution to achieve cross-platform reuse and rapid iterative upgrades.

[0004] Therefore, current products in the industry have poor functional scalability in different application scenarios, cannot be flexibly modularized according to application scenarios, and have poor versatility and convenience. Summary of the Invention

[0005] The purpose of this invention is to overcome the above-mentioned technical deficiencies and propose a power output kit and a wearable assistive robot to solve the technical problems of inflexible modular assembly, poor versatility and convenience in the prior art.

[0006] To achieve the above-mentioned technical objectives, the present invention adopts the following technical solution:

[0007] In a first aspect, the present invention provides a power output kit for use in a wearable power-assisted robot, comprising a housing, a power component, a motion controller, and a power battery. The housing has a receiving cavity and is provided with external buttons and an interface for external connection. The power component includes a motor assembly and a reducer assembly located within the receiving cavity. The motion controller is located within the receiving cavity and is connected to both the motor assembly and the reducer assembly. The power battery is located within the receiving cavity and is used to provide electrical energy to the power component and the motion controller.

[0008] In some embodiments, the power battery is adjacent to the power assembly, and the motion controller is located on top of the power battery and the power assembly.

[0009] In some embodiments, the axial direction of the output shaft of the motor assembly is parallel to the axial direction of the output shaft of the reducer assembly; the motor assembly includes a motor stator, a motor rotor and a motor end cover, and the reducer assembly includes a base, on which the motor stator is fixedly mounted.

[0010] In some embodiments, the reducer assembly further includes a third gear shaft, which is interference-fitted to the frame of the motor rotor and axially fixed to the base by bearings.

[0011] In some embodiments, the reducer assembly further includes a planetary reducer sun gear shaft, a first gear, a second gear, and a gear on a third gear shaft that, together with the first and second gears, forms a reduction structure; the first gear is fixed to the planetary reducer sun gear shaft by an interference fit.

[0012] In some embodiments, the reducer assembly further includes a planetary reducer internal gear ring, planetary reducer planetary gears, planetary gear shafts, and bushings; the planetary reducer internal gear ring is fixed on a base, the planetary reducer planetary gears are rotatably mounted on the planetary gear shafts, and bushings are provided between the planetary reducer planetary gears and the planetary gear shafts.

[0013] In some embodiments, the interface includes a first general mechanical interface, a second general mechanical interface, and a general electrical interface. The first general mechanical interface is used for connecting the power output kit to other modules; the general electrical interface is used for electrical connection of the power output kit to other modules; the second general mechanical interface is disposed on the reducer assembly and is used for transmitting the torque after deceleration by the reducer assembly.

[0014] In some embodiments, the external buttons include an external first button and an external second button, wherein the external first button is used to perform power on / off and the external second button is used to perform mode switching.

[0015] In some embodiments, the housing includes an upper housing and a lower housing, which are snapped together.

[0016] Secondly, the present invention also provides a wearable assistive robot, including the aforementioned power output kit.

[0017] Compared with existing technologies, the power output kit provided by this invention adopts an integrated design, integrating key components such as motion controller, motor assembly, reducer assembly, and power battery into a housing, balancing miniaturization and structural compactness, and adapting to wearable assistive robot scenarios. The motion controller ensures precise motion control response, the built-in power battery provides independent power supply, and external buttons enable quick operation, giving the power output kit complete independent operation and assistive capabilities. The coordinated transmission of the motor assembly and reducer assembly can efficiently output high torque, and the interface design enables rapid mechanical docking and real-time electrical signal interaction with other modules, greatly improving the versatility, ease of assembly, and adaptability to multiple scenarios of the power output kit.

[0018] Furthermore, this invention proposes a deeply modular power output kit architecture, different from existing solutions. It aims to integrate core units that provide power output functionality into a single power output kit, enabling it to "work independently." This involves integrating the motor, reducer, driver, motion controller, battery unit, and external buttons into a single module. This significantly reduces the system complexity of wearable assistive robots (exoskeleton robots). The unified mechanical and electrical interfaces facilitate disassembly and maintenance. In addition, by using the functional expansion kit and flexible locking kit of this invention in conjunction with the wearable assistive robot, and by replacing power output kits with different power output capabilities or types, or functional expansion kits developed for different application scenarios, the product can achieve systematic upgrades within the same scenario and rapid adaptation and cross-scenario development capabilities in different scenarios. This truly supports the paradigm shift of exoskeleton robots from "dedicated equipment" to "general-purpose platform." This architecture achieves dual decoupling of physical connection and information interaction by defining standardized mechanical mounting reference surfaces, multi-degree-of-freedom quick-release locking mechanisms, and unified electrical interface protocols (including power bus, control bus, and status feedback channels). Each submodule adopts board-level integration and shielded wiring internally, while only standardized interface terminals are retained externally, significantly improving electromagnetic compatibility and environmental robustness. At the same time, hot-swapping and plug-and-play configuration recognition are supported between modules, providing underlying support for system-level functional reconfiguration and field-level rapid maintenance. Attached Figure Description

[0019] Figure 1 A schematic diagram of a power output kit provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the internal structure of a power output kit provided in an embodiment of the present invention; Figure 3 This is a schematic diagram illustrating the structure and effect of the wearable assistive robot provided in this embodiment of the invention when used as a wearable hip joint assistive robot. Figure 4 This is a schematic diagram illustrating the structure and effect of the wearable assistive robot provided in this embodiment of the invention when used as a wearable knee joint assistive robot. Figure 5 This is a schematic diagram illustrating the structure and effect of the wearable assistive robot provided in this embodiment of the invention when used as a wearable shoulder joint assistive robot. Figure 6 This is a schematic diagram illustrating the structure and effect of the wearable assistive robot provided in this embodiment of the invention when used as a wearable elbow joint assistive robot. Figure 7 This is a schematic diagram illustrating the structure and effect of the wearable assistive robot provided in this embodiment of the invention when used as a wearable back and waist assistive robot.

[0020] Explanation of reference numerals in the attached figures: 1. Power output kit; 11. Housing; 111. Upper housing; 112. Lower housing; 12. Motion controller; 13. Motor assembly; 131. Motor stator; 132. Motor rotor; 133. Motor end cover; 14. Reducer assembly; 141. Planetary reducer sun gear shaft; 142. First gear; 143. Second gear; 144. Third gear shaft; 145. Planetary reducer internal gear ring; 146. Planetary reducer planetary gears; 147. Planetary carrier; 148. Base; 149. Planetary gear shaft; 1410. Bushing; 1411. Planetary reducer end cover; 15. Power battery; 16. First universal mechanical interface; 161. First universal mechanical interface group 1; 162. First universal mechanical interface group 2; 17. Second universal mechanical interface; 18. Universal electrical interface; 19. External button; 191. External first button; 192. External second button; 2. Functional expansion kit; 21. Thigh module; 22. Calf module; 23. Upper arm module; 24. Shoulder module; 25. Back module; 26. Forearm module; 27. Waist module; 3. Flexibility Lock Kit; 31. Hip Flexibility Lock Kit; 311. Waist Flexibility Lock Kit; 312. Thigh Flexibility Lock Kit; 32. Knee Flexibility Lock Kit; 33. Upper Arm Flexibility Lock Kit; 34. Elbow Flexibility Lock Kit. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0022] To address the technical problems of wearable assistive robots' inflexible modular assembly, poor versatility, and lack of convenience, this invention provides a power output kit and a wearable assistive robot. The power output kit is an independent module within the wearable assistive robot, possessing independent working and assistive capabilities, which helps improve the versatility and convenience of modular assembly of wearable assistive robots.

[0023] It should be noted that the power output kit of this invention is installed in a wearable assistive robot for, but not limited to, assisting the human body in walking, running, climbing stairs, and ascending and descending slopes. Other uses requiring motion assistance are essentially the same as described above and will not be elaborated upon here. Furthermore, the wearable assistive robot of this invention is suitable for people of all ages, including teenagers, adults, and the elderly.

[0024] This application provides a power output kit 1, which is applied to a wearable power-assisted robot. The power output kit 1 is the core power output or effect output module of the wearable power-assisted robot, used to provide various forms of "assist" effects. It is connected to the function expansion kit and used to transmit the effects of driving torque or various forms of actuator output to the function expansion kit.

[0025] like Figure 1 and Figure 2 As shown, the power output kit 1 includes a housing 11, a power assembly, a motion controller 12, and a power battery 15. The housing 11 has a receiving cavity and is provided with an external button 19 and an interface for external connection. The power assembly includes a motor assembly 13 and a reducer assembly 14 located in the receiving cavity. The motion controller 12 is located in the receiving cavity and is connected to the motor assembly 13 and the reducer assembly 14 respectively. The power battery 15 is located in the receiving cavity and is used to provide power to the power assembly and the motion controller 12.

[0026] The housing 11 is the external housing structure of the power output kit 1. The shape of the housing 11 can be determined according to actual needs. For example, the housing 11 can be a cuboid, cube, cylinder, or any complex curved surface structure. The housing 11 has an internal cavity for accommodating components such as the motor assembly 13, the reducer assembly 14, the motion controller 12, and the power battery 15. The arrangement of the components inside is not limited, as long as it meets the power output requirements.

[0027] The outer surface of the housing 11 is provided with external buttons 19 and interfaces. The number and specific location of the external buttons 19 and interfaces can be determined according to the requirements. Relevant embodiments will be given later for explanation.

[0028] The power assembly includes a motor assembly 13 and a reducer assembly 14, which are connected in a transmission connection for outputting the required power. An embodiment of the relevant structural arrangement will be given later.

[0029] The motion controller 12 is located inside the housing 11. The motion controller 12 integrates a main control chip, a motor driver, an encoder, an IMU and other sensors. The motion controller 12 not only functions as a low-level driver for the motor, but also has the function of real-time acquisition and processing of information from various sensors such as the encoder and IMU integrated on the motion controller 12, as well as the function of real-time motion control of the motor based on the algorithm logic through the control algorithm program burned on it. This enables the power output kit 1 to work independently as a single functional module and provide assistance.

[0030] The power battery 15 is located within the housing cavity and is used to power the motion controller 12 and the motor assembly 13 to support their normal operation. The type of power battery 15 and its arrangement within the housing 11 are not limited. For example, the power battery 15 is a lithium battery, which can be a pouch lithium battery. Therefore, its size, shape, and layout can be specifically designed according to the specific space inside the housing 11.

[0031] In this embodiment, an integrated design is adopted, integrating key components such as the motion controller 12, motor assembly 13, reducer assembly 14, and power battery 15 into the housing 11, balancing miniaturization and structural compactness, and adapting to the wearable scenarios of wearable assistive robots. The motion controller 12 ensures accurate response of motion control, and the built-in power battery 15 provides independent power supply. With the help of external buttons 19, quick operation is achieved, enabling the power output kit 1 to have complete independent working and assistive capabilities. The coordinated transmission of the motor assembly 13 and the reducer assembly 14 can efficiently output high torque, and the interface design enables rapid mechanical docking and real-time electrical signal interaction with other modules, greatly improving the versatility, ease of assembly, and adaptability to multiple scenarios of the power output kit 1.

[0032] Furthermore, the power output kit architecture proposed in this embodiment aims to integrate the core units that provide power output functions into a power output kit 1, making it "capable of independent operation." This involves integrating the motor, reducer, driver, motion controller, battery unit, and external buttons into the same module. Its significance lies not only in significantly reducing the system complexity of wearable assistive robots (exoskeleton robots), but also in facilitating disassembly and maintenance through the design of unified mechanical and electrical interfaces. In addition, by using the functional expansion kit and soft-lock kit of the wearable assistive robot of this invention in conjunction with the synergistic use of the power output kit with different power output capabilities or types, or the functional expansion kit developed for different application scenarios, the system upgrade capability of the product in the same scenario and the ability to quickly adapt to applications and develop across scenarios can be realized respectively. This truly supports the paradigm shift of exoskeleton robots from "dedicated equipment" to "general platform." This architecture achieves dual decoupling of physical connection and information interaction by defining standardized mechanical mounting reference surfaces, multi-degree-of-freedom quick-release locking mechanisms, and unified electrical interface protocols (including power bus, control bus, and status feedback channels). Each submodule adopts board-level integration and shielded wiring internally, while only standardized interface terminals are retained externally, significantly improving electromagnetic compatibility and environmental robustness. At the same time, hot-swapping and plug-and-play configuration recognition are supported between modules, providing underlying support for system-level functional reconfiguration and field-level rapid maintenance.

[0033] In some embodiments, such as Figure 1 As shown, the power battery 15 is adjacent to the power assembly, and the motion controller 12 is located on top of the power battery 15 and the power assembly.

[0034] In this embodiment, the power battery 15 is located inside the housing 11 near the side wall of the housing 11. The power assembly includes a motor assembly 13 and a reducer assembly 14. The motion controller 12 is arranged above the motor assembly 13, the reducer assembly 14 and the power battery 15, thereby improving the utilization of space.

[0035] To facilitate understanding of the cooperative arrangement of the motor assembly 13 and the reducer assembly 14, the components of the motor assembly 13 and the reducer assembly 14 are described below. For example, the motor assembly 13 includes a motor stator 131, a motor rotor 132, and a motor end cover 133. For example, the reducer assembly 14 includes a planetary reducer sun gear shaft 141, a first gear 142, a second gear 143, a third gear shaft 144, a planetary reducer internal gear ring 145, planetary reducer planet gears 146, a planet carrier 147, a base 148, a planet gear shaft 149, a bushing 1410, and a planetary reducer end cover 1411.

[0036] In some embodiments, such as Figure 1 As shown, the axial direction of the output shaft of the motor assembly 13 is parallel to the axial direction of the output shaft of the reducer assembly 14; the motor assembly 13 includes a motor stator 131, a motor rotor 132 and a motor end cover 133, and the reducer assembly 14 includes a base 148, on which the motor stator 131 is fixedly mounted.

[0037] In this embodiment, the axial direction of the output shaft of the motor assembly 13 is parallel to the axial direction of the output shaft of the reducer assembly 14. That is, the motor assembly 13 and the reducer assembly 14 are arranged side by side, rather than axially. This arrangement helps to reduce the size of the housing 11. Furthermore, fixing the motor stator 131 to the base 148 reduces assembly complexity and improves the structural stability of the motor and reducer transmission.

[0038] In some embodiments, such as Figure 1 As shown, the reducer assembly 14 also includes a third gear shaft 144, which is interference-fitted to the frame of the motor rotor 132, and the third gear shaft 144 and the motor rotor 132 are axially fixed to the base 148 by bearings.

[0039] In this embodiment, the motor stator 131 is fixedly mounted on the base 148, and the third gear shaft 144, as the motor shaft, is pressed and fixed together with the frame structure where the motor rotor 132 is located by an interference fit. At the same time, this assembly is axially fixed to the base 148 by the motor end cover 133 through two bearings, thereby fixing the motor assembly 13 on the base 148, and its rotation axis is arranged parallel to the output rotation axis of the reducer assembly 14.

[0040] The forming method of the third gear shaft 144 is not limited. For example, the third gear shaft 144 is a component that is machined in one piece. The third gear shaft 144, which is machined in one piece, also serves as the motor shaft, which greatly simplifies the transmission connection structure between the motor and the reducer and reduces the space occupied inside the power output kit 1. Furthermore, the gear shaft and the motor rotor 132 are fixed by interference fit, and the axial fixing method of the bearing improves the rotational stability of the motor rotor 132 and the gear shaft assembly.

[0041] In some embodiments, such as Figure 1 As shown, the reducer assembly 14 also includes a planetary reducer sun gear shaft 141, a first gear 142, a second gear 143, and a gear on the third gear shaft 144 that, together with the first gear 142 and the second gear 143, form a reduction structure; the first gear 142 is press-fitted to the planetary reducer sun gear shaft 141.

[0042] In this embodiment, the gear on the third gear shaft 144, together with the first gear 142 and the second gear 143, forms a fixed-axis reduction gear system, which is used to transmit the speed and torque output by the motor to the planetary reduction gear system for two-stage reduction. The first gear 142 is press-fitted and fixed together with the sun gear shaft 141 of the planetary reducer through an interference fit. The inner ring of the bearing fixed on the second gear 143 is press-fitted and fixed together with the corresponding cylindrical protrusion structure on the base 148 through an interference fit.

[0043] In this embodiment, a fixed-axis reduction gear train is formed by the third gear shaft 144, the first gear 142, and the second gear 143, and a fixed method of interference fit is used to achieve the initial smooth deceleration and torque increase of the motor speed.

[0044] In some embodiments, such as Figure 1 As shown, the reducer assembly 14 also includes a planetary reducer internal gear ring 145, a planetary reducer planetary gear 146, a planetary gear shaft 149, and a bushing 1410; the planetary reducer internal gear ring 145 is fixed on the base 148, the planetary reducer planetary gear 146 is rotatably mounted on the planetary gear shaft 149, and a bushing 1410 is provided between the planetary reducer planetary gear 146 and the planetary gear shaft 149.

[0045] In this embodiment, the internal gear ring 145 of the planetary reducer is fixed on the base 148, the sun gear shaft 141 of the planetary reducer is located at the center of the reducer, and the three sets of planetary gears 146 are respectively rotatably mounted on their respective planet gear shafts 149 and are connected by bushings 1410 to achieve low frictional resistance. At the same time, the whole is sandwiched and fixed in the middle by the planet carrier 147 and the second general mechanical interface 17, which functions as another planet carrier (the relevant connection structure of the second general mechanical interface 17 is directly designed on another output planet carrier structure, so it is referred to as the second general mechanical interface 17). While the assembly is being assembled with the sun gear shaft 141 and the internal gear ring 145 of the planetary reducer, it is axially fixed on the base 148 by the planetary reducer end cover 1411 through several bearings. By utilizing the multi-tooth meshing transmission characteristics of the planetary gears 146 in the planetary reducer, a large reduction ratio and high torque power output are achieved. The planetary transmission has a compact structure, further reducing the space occupied by the reducer assembly 14. The bushing 1410 design reduces frictional resistance and energy loss. Furthermore, the second universal mechanical interface 17 is directly integrated into the output planetary carrier, realizing the integrated design of the torque output end and the mechanical interface, while simplifying the overall structure of the reducer assembly 14.

[0046] In some embodiments, such as Figure 1 As shown, the interface includes a first general mechanical interface 16, a second general mechanical interface 17, and a general electrical interface 18. The first general mechanical interface 16 is used for connecting the power output kit 1 to other modules; the general electrical interface 18 is used for electrical connection of the power output kit 1 to other modules; the second general mechanical interface 17 is disposed on the reducer assembly 14 and is used to transmit the torque after reduction by the reducer assembly 14.

[0047] In this embodiment, to enable connection and disassembly between modules, the first general-purpose mechanical interface 16, exemplarily, includes a first set of first general-purpose mechanical interfaces 161 and a second set of first general-purpose mechanical interfaces 162, as well as a general-purpose electrical interface 18 that can be configured as needed, enabling rapid mechanical connection and electrical signal transmission. The arrangement of the two sets of first general-purpose mechanical interfaces 16 enables stable splicing and precise power assist control between the power output kit 1 and the soft-lock kit 3, or any module having the same general-purpose connection components as thereon.

[0048] In this embodiment, the second general-purpose mechanical interface 17 is disposed on the output planetary carrier of the aforementioned planetary reducer, serving as the torque output end of the reducer mechanism in this scheme. It can stably transmit the high torque power after two-stage reduction to any functional expansion kit 2 connected to it. The first general-purpose mechanical interface 16 is used to realize the power supply and communication signal transmission between the power output kit 1 and other modules, ensuring real-time interaction between control commands and status feedback.

[0049] In some embodiments, such as Figure 2 As shown, the external button 19 includes an external first button 191 and an external second button 192. The external first button 191 is used to perform power on / off, and the external second button 192 is used to perform mode switching.

[0050] In some embodiments, such as Figure 1 and Figure 2 As shown, the housing 11 includes an upper housing 111 and a lower housing 112, which are interlocked with each other.

[0051] In this embodiment, the upper housing 111 and the lower housing 112 are connected by a snap-fit ​​mechanism, which helps to improve assembly efficiency. The upper housing 111 and the lower housing 112 can be equipped with interfaces and external buttons 19 according to actual conditions. For example, the upper housing 111 is provided with external buttons 19, and the lower housing 112 is provided with interfaces.

[0052] It should be noted that the shape of the housing 11, the number and layout of the external buttons 19, the number and layout of the universal interfaces, the shape and layout of the motion controller 12, and the shape and layout of the power battery 15 of the power output kit 1 should all be understood as optional embodiments and not as limitations on this invention patent. The external buttons 19 can be one, two, or more and can be located anywhere on the housing 11. The number of universal mechanical or electrical interfaces is not specified and can also be located anywhere. The motion controller 12 can also have any complex shape and be located anywhere inside the housing 11. The power battery 15 can be a soft-pack lithium battery. For any wearable assistive robot (exoskeleton robot) with a modular design, any technical solution that integrates the unit for providing core power output (joint torque) in a modular form, and has integrated battery units, controller units, and external buttons, and achieves plug-and-play connection and control interaction through standardized mechanical and electrical interfaces, can be considered to have the same technical substance and implementation effect as the power output kit 1 of this invention embodiment.

[0053] In some embodiments, such as Figure 1 and Figure 2 As shown, to maintain a compact structure and small size, a parallel layout of motor assembly 13 and reducer assembly 14 is adopted, meaning their rotation axes are parallel. In the power transmission part, in the first-stage fixed-axis reduction gear system, unlike the scheme that uses metal gears with end caps for sealing, this application uses high-strength engineering plastic gears and adopts an open structure design without end caps to further reduce the module thickness (i.e., height direction) and overall weight. This design reduces the overall height of the module by about 20% and the weight by about 10% while meeting the requirements of rated load transmission accuracy and lifespan.

[0054] In this embodiment, refer to Figure 1 and Figure 2 To enable the power output kit 1 of this application to function independently as a single module of a wearable assistive robot, on the one hand, its internal controller hardware PCB integrates not only the circuit components of the motor driver, but also the motor encoder, motion controller, multi-axis attitude sensor (IMU), external button 19 circuitry, battery management unit (BMS), and wireless communication module. Considering space occupancy and functional layout requirements (such as external button 19 and motor encoder), the entire hardware PCB is placed above the motor assembly 13 and reducer assembly 14 inside the housing 11 and fixed to the base 148 with screws. On the other hand, to reduce the overall size of the module, especially to ensure that the width and thickness do not exceed the spatial envelope constraints formed by the aforementioned internal components, this application adopts a power system that differs from the traditional exoskeleton robot system composed of 18650 and other grade lithium polymer battery cells connected in series. Instead, it adopts a customized high-energy-density stacked soft-pack battery solution. Compared to the former, this stacked soft-pack battery can reduce the size of the power output kit 1 module by about 20% with the same capacity, thereby effectively controlling its length dimension.

[0055] Furthermore, the power output kit 1 of this application integrates an external button 19 and a unified mechanical and electrical interface. For ease of operation, the external button 19 is located in a recessed area on the upper housing 111 of the module that is easily accessible to the thumb, and is sealed with a silicone cap for dust and water protection (IP67 rating). To facilitate connection and use with the functional expansion kit 2 and the soft-lock kit 3 of this application, and based on conventional operating habits, the first universal mechanical interface 16 and the universal electrical interface 18 are both located below the lower housing 112. The first universal mechanical interface 16 uses a standardized mounting reference surface and a quick-release locking mechanism to ensure that the module can complete physical assembly / disassembly within 1 second. The universal electrical interface 18 differs from the multiple sets of cable interfaces scattered in existing exoskeleton systems. This design can centralize all signal and power transmission into a single plug interface, supporting hot-swapping and plug-and-play.

[0056] It should be noted that the present invention demonstrates, as shown in the example Figure 1 and Figure 2The power output kit 1 shown is only a preferred embodiment of the present invention. Any modular integration, standardized interface definition, physical and electrical decoupling structure of components with power output function (such as motors, reducers, drivers, etc.) without departing from the core idea of ​​the present invention, and enabling them to work independently, should fall within the protection scope of the claims of the present invention. For example, the motor can be a brushless DC external rotor motor or an internal rotor motor, and the reducer can be a harmonic reducer or a planetary reducer. At the same time, the connection between the motor and the reducer can also be a coaxial rotation arrangement. In particular, from the perspective of volume control of the present invention, the scheme of coaxially arranging the planetary reducer in the internal cavity of the stator of the external rotor motor to maximize the compression of the axial dimension is also within the core idea and technical path covered by the present invention. Any scheme that has the "deep modularity" feature defined by the power output kit of the present invention, and whose internal components have a similar spatial layout to the present invention, and achieves the same technical effect as the present invention in terms of volume and weight control, should be regarded as an equivalent replacement of the present invention.

[0057] This invention also provides a wearable assistive robot, which includes a power output kit 1, a function expansion kit 2, and a flexible locking kit 3. The function expansion kit 2 is fixedly connected to the power output kit 1, and the power output kit 1 is used to transmit driving torque to the function expansion kit 2. The function expansion kit 2 includes a functional module for transmitting auxiliary power. The flexible locking kit 3 is connected to the power output kit 1 and the function expansion kit 2 respectively through mechanical interfaces. The flexible locking kit 3 is used to restrain the combination of the power output kit 1 and the function expansion kit 2 to a specific part of the human body and to transmit force and motion. The flexible locking kit 3 is restrained to a specific part of the human body that corresponds to the function expansion kit 2.

[0058] Function Expansion Kit 2 is a modular component designed and developed for different application scenarios. It is used to connect to Power Output Kit 1 in a fixed manner or to transmit its output effect while connected. Various sensors can be configured on it as needed.

[0059] The functional expansion kit 2 includes, but is not limited to, modules for the hip, knee, shoulder, elbow, lower back, and ankle joints, which can be applied to the hip, knee, shoulder, elbow, and lower back joints, respectively. It also provides specific technical solutions for modular wearable multi-joint assistive robots based on combinations of the above single-joint solutions. These multi-joint solutions can be applied to scenarios involving the hip and knee joints, shoulder and elbow joints, combinations of lower back and shoulder joints, and combinations of lower back and shoulder / elbow joints. Specifically, the technical solutions applied to the knee, hip, and hip-knee joint modular wearable assistive robots assist the human body in walking, running, climbing stairs, and navigating slopes; the technical solutions applied to the shoulder, elbow, and shoulder-elbow joint modular wearable assistive robots assist the human body in overhead work and lifting / carrying; the technical solutions applied to the lower back modular wearable assistive robots assist the human body in bending and carrying; and the technical solutions applied to the lower back and shoulder joints and the lower back and shoulder-elbow joint modular wearable assistive robots assist the human body in comprehensive carrying functions such as overhead work, lifting, and bending. Detailed implementation examples will be provided later.

[0060] The flexible locking kit 3 can be fixedly connected to the power output kit 1 and the function expansion kit 2; the flexible locking kit 3 is used to restrain the combination of the power output kit 1 and the function expansion kit 2 to a specific part of the human body and realize the effective transmission of force and motion.

[0061] The flexible locking kit 3 can have various shapes and binding methods depending on the specific structure of the wearable assistive robot and the parts it is worn on. However, regardless of the form, it should have the same functional components, namely, the flexible locking kit includes a binding system and a universal connecting component. For example, the binding system of the flexible locking kit 3 is made of nylon textile fabric wrapped around a thin plate of rigid plastic material (PC, PP, etc.). The inner side that fits against the human body is additionally wrapped with a high-density sponge pad to improve the comfort of wearing and binding. The universal connecting component of the flexible locking kit 3 is fixedly set on the thin plate of rigid plastic material. When the binding system is worn on the corresponding parts of the human body and tightened, the rigid plastic plate inside provides a certain degree of rigidity, which allows the power output kit 1 or the functional expansion kit 2 connected to it to have good structural stability and is not prone to large relative displacement with the human body. At this time, it can be regarded that the power output kit 1 or the functional expansion kit 2 has formed a relatively fixed effect with the human body. The universal connection component can be fixedly connected to the first universal mechanical interface. Its specific connection and fixing method should have quick-installation and quick-disassembly capabilities. It is used to connect and fix the wearable assistive robot and its related functional modules to the corresponding binding systems. The binding systems are used to bind the wearable assistive robot to various parts of the human body. During wear, the binding systems can be worn on the corresponding parts of the human body first, and then the exoskeleton can be fixed to the binding systems via the first universal mechanical interface 16. Alternatively, the exoskeleton can be fixedly connected to the corresponding binding systems via the first universal mechanical interface 16 first, and then the exoskeleton can be bound to the corresponding parts of the human body via the binding systems, thus completing the entire wearing process.

[0062] In this embodiment, the wearable assistive robot adopts a layered decoupling and platform-first design concept, employing a deeply modular structure design for the power output kit 1, the function expansion kit 2, and the flexible locking kit 3. The function expansion kit 2 is equipped with multiple modules adapted to different parts of the human body, allowing users to independently select modules and complete customized setups. It possesses strong functional expandability and can fully adapt to the needs of various usage scenarios. Simultaneously, this modular structure design offers advantages such as convenient operation and easy maintenance, effectively reducing equipment operation and maintenance costs.

[0063] In some embodiments, the functional extension kit 2 includes a hip joint module, and the soft-lock kit 3 includes a lumbar soft-lock kit 311 located at the waist of the human body and a thigh soft-lock kit 312 located at the thigh of the human body; the hip joint module includes a thigh module 21, the thigh module 21 includes a first rod, one end of the first rod is connected to a power output kit 1 disposed on the lumbar soft-lock kit, and the other end of the first rod is connected to the thigh soft-lock kit 312.

[0064] In this embodiment, as Figure 3As shown, the functional expansion kit 2 is applied to a wearable hip-assisting robot. In this solution, the structural composition can be chosen to provide single-leg or dual-leg hip joint assistance, depending on the requirements. That is, the robot can be configured with only the functional modules providing single-leg assistance, or it can be configured with modules providing dual-leg assistance. Regardless of the approach, Figure 3 The power output kit 1 and flexible locking kit 3 shown have a universal design that does not distinguish between left and right legs. Their structures and connection interfaces are symmetrically arranged, facilitating interchangeable installation and quick adaptation for left and right legs. The hip joint flexible locking kit 31 includes a waist flexible locking kit 311 and a thigh flexible locking kit 312. When using a double-leg hip joint assist scheme, the two power output kits 1 are respectively set at the hip joints on both sides of the wearer's waist, and are connected and fixed to the waist flexible locking kit 311, which is set around the waist, via a first universal mechanical interface 16. The two sets of universal connection components located on both sides of the waist are also connected and fixed. For example, the functional expansion kit 2 is a rod-shaped structure with a spatial curve shape, namely the thigh module 21. The thigh module 21 consists of three parts: a drive connection end k, a flexible locking connection end k, and a first rod, which is an irregularly shaped rod k.

[0065] Furthermore, the flexible locking connection end k is provided with a first universal mechanical interface. The drive connection end k and the flexible locking connection end k are respectively fixed to both ends of the irregular rod. Both are multi-degree-of-freedom mechanical structures, and are provided with a second universal mechanical interface, which is used to connect with the power output end of the power output kit 1 and the universal connection component of the thigh flexible locking kit 312, respectively. At the same time, through the multi-degree-of-freedom mechanical structure, the drive connection end k can provide a rotational degree of freedom to meet the abduction and adduction movement freedom of the thigh, while the flexible locking connection end k can provide a rotational degree of freedom perpendicular to the sagittal plane, which together are used to compensate for the interference of the coordinated movement. The irregular rod k is integrally processed by carbon fiber mold or metal 3D printing process. Thus, the functional expansion kit 2, namely the thigh module 21, applied to this solution can realize the transmission of the torque output by the power output kit 1 to the thigh flexible locking kit 312 connected to it and finally to the human thigh, which plays a role in assisting the movement of the thigh during the flexion and extension swing.

[0066] It should be noted that the spatial design of the thigh module 21 shown in all the accompanying drawings should be understood as an optional embodiment and not as a limitation of the present invention. It can be a straight shape, an S-shape, an arc shape, or other shapes. Any rod-shaped structure with different geometric shapes that is applied to a modular hip joint assistive robot, uses a similar connection method to achieve rapid assembly with the power output kit and the soft locking kit, and is designed based on spatial adaptation requirements can be considered to have the same technical essence and implementation effect as the embodiments of the present invention.

[0067] In some embodiments, the functional expansion kit 2 further includes a knee joint module, and the soft-lock kit 3 further includes a knee soft-lock kit 32 located at the knee of the human body; the knee joint module includes a lower leg module 22, the lower leg module 22 includes a second rod, one end of the second rod is connected to the power output kit 1 located on the outside of the human thigh and close to the knee joint, and the other end of the second rod is connected to the knee soft-lock kit 32.

[0068] In this embodiment, as Figure 4 As shown, the functional expansion kit 2 is applied to a wearable knee-assist robot. In this solution, the structural composition can be chosen to provide single-leg or dual-leg knee assistance, depending on the requirements. That is, the robot can be configured with only modules providing single-leg assistance, or it can be configured with modules providing dual-leg assistance simultaneously. Regardless of the method, Figure 4 The power output kit 1, function expansion kit 2, and soft lock kit 3 shown in the diagram have a universal design that does not distinguish between left and right legs. Their structures and connection interfaces are symmetrically laid out, which facilitates interchangeable installation and quick adaptation of left and right legs. Figure 4 The knee flexible locking kit 32 shown is wrapped around the wearer's lower leg and thigh near the knee joint. The power output kit 1 is located on the outer thigh near the knee joint and is rigidly connected to the knee flexible locking kit 32 via the first universal mechanical interface 16. For example, the functional expansion kit 2 is a rod-shaped structure, namely the lower leg module 22, used to transmit power to the lower leg. The lower leg module 22 consists of a drive connection end x, a flexible locking connection end x, and a second rod. The second rod is a middle support rod x. The drive connection end x and the flexible locking connection end x are located at opposite ends of the middle support rod x. All three are multi-degree-of-freedom mechanical structures, and a second universal mechanical interface 17 is provided on them.

[0069] Furthermore, the drive connection end x is used to connect to the output end of the power output kit 1. While connected, it provides a rotational degree of freedom through the aforementioned multi-degree-of-freedom mechanical structure. This allows the power output kit 1 and the lower leg module 22 to closely conform to the outer contour of the leg in real time, without causing pulling or deformation interference to the knee soft-lock kit 32, ensuring smooth power transmission and wearing comfort during knee flexion and extension movements. The soft-lock connection end x is detachably connected to the knee soft-lock kit 32 through the second universal mechanical interface 17. Similarly, while connected, it provides a rotational degree of freedom perpendicular to the sagittal plane and a translational degree of freedom parallel to the lower leg and torso direction through the multi-degree-of-freedom mechanical structure, adapting to the complex displacement trajectory of the lower leg during knee joint movement and reducing discomfort during coordinated movements. The intermediate support rod x is integrally formed using carbon fiber molds or metal 3D printing technology. It transmits power to the lower leg via the knee soft-lock kit 32, providing assistance during flexion, extension, and swinging movements.

[0070] It should be noted that the rod shape schemes of the lower leg module 22 shown in all the accompanying drawings should be understood as optional embodiments and not as limitations on the present invention. They can be various shapes such as hollow tubular rods with circular cross-sections, hollow tubular rods with rectangular cross-sections, and thin plate rods. Any rod structure with different geometric shapes that is applied to modular knee joint assistive robots, adopts similar module function definitions, similar connection methods, and is quickly assembled with the power output kit 1 and the knee soft lock kit 32, and is designed based on force transmission requirements, can be considered to have the same technical essence and implementation effect as the embodiments of the present invention.

[0071] In some embodiments, the functional expansion kit 2 further includes a shoulder joint module, and the flexible locking kit 3 further includes an upper arm flexible locking kit 33 located on the upper arm of the human body; the shoulder joint module includes a shoulder module 24, a back module 25 and an upper arm module 23, the shoulder module 24 is located on the shoulder joint of the human body; the back module 25 is located on the back of the human body and is connected to the shoulder module 24; the upper arm module 23 includes a third rod, one end of the third rod is connected to a power output kit disposed on the shoulder module 24, and the other end of the third rod is connected to the upper arm flexible locking kit 33.

[0072] In this embodiment, as Figure 5 As shown, the functional expansion kit 2 is applied to a wearable shoulder joint assistive robot. In this solution, the functional expansion kit 2 consists of three parts: a back module 25, a shoulder module 24, and an upper arm module 23. The back module 25 is a back support frame, set on the back of the human body and designed with an ergonomic curved panel structure to achieve a good fit with the back of the human body. Its inner side is lined with sponge material for cushioning to improve wearing comfort. The whole is made of carbon fiber through a hot-pressing molding process, which has the characteristics of being lightweight and high-strength. It is equipped with two backpack-like straps to securely fix the entire back module 25 to the back of the human body. The upper left and right ends and the lower back side of the robot have third universal mechanical interfaces and electrical interfaces for connecting to the shoulder modules, respectively. The shoulder joint assist robot can be configured with shoulder modules 24 on one or both sides according to actual needs. That is, if only one side of the upper arm needs to be assisted, the structure can be set with only one shoulder module 24, power output kit 1, upper arm module 23 and upper arm soft lock kit 33. Each shoulder module 24 can be quickly connected and assembled with the back module 25 through the third universal mechanical interface. Under the modular scheme based on centralized control architecture, the signal and power supply can be completed with the help of additional electrical interfaces.

[0073] Furthermore, the shoulder module 24 is a multi-degree-of-freedom mechanical structure, which can be composed of multiple rotational or translational degrees of freedom to simulate the complex motion characteristics of the human shoulder joint and meet the flexibility requirements of the shoulder joint in multi-dimensional movements such as flexion / extension, abduction / adduction, and internal / external rotation, thereby reducing the sense of interference in coordinated movements. The multi-degree-of-freedom mechanical structure of the shoulder module 24 is equipped with the same universal connection components as the flexible locking kit 3 and an optional universal electrical interface 18 for connecting the power output kit 1 to achieve force transmission and information interaction. The upper arm module 23 is a force transmission component. Exemplarily, the upper arm module 23 consists of three parts: a drive connection end j, a flexible locking connection end j, and a third rod. The third rod is an irregularly shaped rod j. The drive connection end j connects to the output end of the power output kit 1 via a second universal mechanical interface 17, achieving efficient transmission of driving torque. The flexible locking connection end j is composed of a multi-degree-of-freedom mechanical structure, on which a first universal mechanical interface 16 is provided for quick connection between the upper arm module 23 and the upper arm flexible locking kit 33. Simultaneously, it provides a degree-of-freedom system composed of multiple rotational or translational degrees of freedom, satisfying the comfort of human-machine collaborative movement and reducing interference. The irregularly shaped rod j adopts a spatial curve design with an elliptical cross-section. It is integrally formed from carbon fiber composite material using precision molds, ensuring structural strength while reducing overall weight. By transmitting power to the human upper arm through the connected flexible locking kit, it assists the upper arm in flexion, extension, abduction, and adduction movements.

[0074] It should be noted that the shapes of the back module 25 and upper arm module 23 shown in all the accompanying drawings should be understood as optional embodiments and not as limitations on this invention. They can be of any shape. Any related structure with different geometric forms applied to modular shoulder joint assistive robots, employing similar module function definitions, structural layouts, connection and usage methods, and achieving rapid assembly with the power output kit 1 and upper arm flexible locking kit 33, and designed based on force bearing and transmission requirements, can be considered to have the same technical essence and implementation effect as the embodiments of this invention. In addition, although the specific structure of the shoulder module 24 is not specified in detail, those skilled in the art should have a full understanding and knowledge of its module function definitions and structural composition based on the technical common sense involved in the field, and can reasonably deduce various implementation forms. For any wearable assistive robot (exoskeleton robot), any structural design that has the same functional definition and is designed in a modular form, integrated into the human shoulder area, and used to achieve multi-degree-of-freedom motion transmission can be considered to have the same technical effect as this invention.

[0075] In some embodiments, the functional expansion kit 2 further includes an elbow joint module, and the flexible locking kit 3 further includes an elbow flexible locking kit 34 located at the elbow of the human body; the elbow joint module includes a forearm module 26, the forearm module 26 includes a fourth rod, one end of the fourth rod is connected to the power output kit 1 located on the outside of the upper arm of the human body and close to the elbow joint, and the other end of the fourth rod is connected to the elbow flexible locking kit 34.

[0076] In this embodiment, as Figure 6 As shown, the functional expansion kit 2 is applied to a modular wearable elbow joint assistive robot. In this solution, the structural composition can be adjusted to configure elbow joint assistive functional modules for one or both hands, depending on the requirements. For example, if only unilateral elbow joint assistance is needed, the structural composition can consist of only a single-sided power output kit 1, forearm module 26, and elbow flexible locking kit 34. Regardless of the approach... Figure 6 Each module shown has a universal design that does not distinguish between left and right arms. Its structure and connection interface are symmetrically laid out, which facilitates interchangeable installation and quick adaptation of the left and right arms. Figure 6 The elbow flexible locking kit 34 shown is arranged around the wearer's forearm and upper arm near the elbow joint. The power output kit 1 is located on the outside of the upper arm near the elbow joint and is rigidly connected to the elbow flexible locking kit 34 through a first universal mechanical interface. For example, the functional expansion kit 2 is a rod-shaped structure, namely the forearm module 26, used to transmit power to the human forearm. The forearm module 26 consists of a drive connection end z, a flexible locking connection end z, and a fourth rod, which is a middle support rod z.

[0077] Furthermore, the drive connection end z and the flexible locking connection end z are located at both ends of the middle support rod z, and all three are multi-degree-of-freedom mechanical structures. A second universal mechanical interface 17 is provided on them. The drive connection end z is used to connect to the output end of the power output kit 1. At the same time as the connection, a rotational degree of freedom can be provided through the above-mentioned multi-degree-of-freedom mechanical structure to adapt to the elbow joint's flexion and extension movements. This allows the power output kit 1 and the forearm module 26 to closely fit the outer contour of the arm in real time without pulling or deforming the elbow flexible locking kit 34, ensuring the smoothness of power transmission and wearing comfort. The flexible locking connection end z is detachably connected to the elbow flexible locking kit 34 through the second universal mechanical interface 17. Similarly, at the same time as the connection, one or more mechanical degrees of freedom can be provided by designing this multi-degree-of-freedom mechanical structure according to specific needs, so as to improve the comfort of the elbow joint assist robot when the forearm is flexing and extending relative to the upper arm and reduce the feeling of motion interference. The intermediate support rod z, as the main structure of the forearm module 26, can be integrally processed by carbon fiber mold or metal 3D printing process, and plays a role in assisting the forearm to move during bending and stretching activities relative to the upper arm.

[0078] It should be noted that the rod shape schemes of the forearm module 26 shown in all the accompanying drawings should be understood as optional embodiments and not as limitations on the present invention. They can be various shapes such as hollow tubular rods with circular cross-sections, hollow tubular rods with rectangular cross-sections, and thin plate rods. Any rod structure with different geometric shapes that is applied to modular elbow joint assistive robots, adopts similar module function definitions, similar connection methods, and is quickly assembled with the power output kit 1 and elbow flexible locking kit 34, and is designed based on force transmission requirements, can be considered to have the same technical essence and implementation effect as the embodiments of the present invention.

[0079] In some embodiments, the functional expansion kit 2 also includes a back module, which includes a back module 25, a thigh module 21, and a waist module 27 connected to the back module 25. The waist module 27 surrounds the lower back of the human body and begins and ends at the hip joints on both sides.

[0080] In this embodiment, as Figure 7 As shown, the functional expansion kit 2 is applied to a modular wearable back assist robot. In this solution, the functional expansion kit 2 includes three parts: a back module 25, a waist module 27, and a thigh module 21. Furthermore, the flexible locking kit 3 includes a waist flexible locking kit 311 and a thigh flexible locking kit 312. As a modularly designed wearable assist robot system, the structure, function, and wearing method of the back module 25 are completely consistent with the back module 25 used in the aforementioned modular wearable shoulder joint assist robot, and they can be directly interchanged without additional adjustments. Similarly, the structure and function of the waist flexible locking kit 311, the thigh flexible locking kit 312, and the thigh module 21 are consistent with the corresponding components in the aforementioned hip joint assist robot, achieving module universality for cross-scenario applications. For example, the waist module 27 consists of a frame structure and a hip connection structure. The frame structure is a waist support frame, consisting of a plate-like structure with an arc shape that surrounds the lower back and terminates at both hip joints. A certain space is designed between the frame structure and the lower back of the human body to prevent contact with any part of the lower back.

[0081] Furthermore, exemplarily, the lumbar support frame is integrally molded from carbon fiber material, possessing lightweight and high-strength characteristics. Simultaneously, its local contours are optimized according to ergonomic design to improve fit and comfort. A third universal mechanical interface and electrical interface are located in the middle of the back side of the body for connection and fixation with the back module 25, forming an integral rigid structural frame extending from the hip joints on both sides of the waist to the center of the back near the neck. Power supply and signal transmission between the back module 25 and the lumbar module 27 are achieved through a selectable electrical interface. Two identical sets of hip connection structures are respectively located on the inner surfaces of the frame structure at the hip joints on both sides, providing a rotational self-supporting structure perpendicular to the sagittal plane. The mechanical structure has a fixed end and a rotating end. The fixed end is directly connected and fixed to the frame structure. Two sets of hip connection structures are symmetrically arranged, and the rotation axis of the rotating end is coaxial and approximately close to the rotational degree of freedom axis of the human hip joint perpendicular to the sagittal plane. The rotating end is provided with a first universal mechanical interface 16 for connecting with the waist soft lock kit 311, thereby binding the waist module 27 to the human waist. At the same time, through the above-mentioned rotational degree of freedom, the rigid structural frame composed of the waist module 27 and the back module 25 can rotate as a whole around the rotation axis of the hip connection structure. Thus, the waist and back assist robot and its rigid structural frame can be stably worn and bound to the human waist and back, and the structural support for the human bending movement can also be achieved.

[0082] Furthermore, or as Figure 7 As shown, the frame structure of the waist module 27 has a set of universal connection components identical to those on the flexible locking kit 3, and a configurable universal electrical interface on the outer surface of the hip joints on both sides. These are used to fix the two power output kits 1 with torque output function to both sides of the hip joint, ensuring that the rotation axes of their output ends are coaxial with the rotation axis of the aforementioned hip connection structure. Simultaneously, the universal electrical interface enables the power output kits 1 (…) to be implemented under a modular design scheme based on a centralized control architecture. Figure 7 The power supply and control signal transmission between the waist module 27 and the back module 25 (not shown in the diagram) are as follows. One end of each of the two thigh modules 21 is rotatably connected to its corresponding power output kit 1, and the other end is connected to the thigh soft lock kit 312 strapped to the left / right thighs through the first universal mechanical interface 16. Thus, when the wearable assistive robot is worn by the user and performs the operation of bending over to lift heavy objects, the two power output kits 1 located at the hip joints on both sides can transmit the torque output by the two power output kits 1 through the waist module 27 and the back module 25 to the waist and shoulders of the human body when the legs are not stationary. This is then converted into a lifting force on the shoulders and a restoring torque on the upper body rotating around the hip joints, thereby realizing the support and assistance function for the waist and back of the human body, and ultimately assisting the upper body to return from a bent-over state to an upright state.

[0083] It should be noted that the specific shape and manufacturing method of the waist module 27 shown in the above and all the accompanying drawings should be understood as an optional embodiment and not as a limitation of the present invention. Those skilled in the art can make adaptive adjustments to the geometric configuration of the waist module according to actual needs. For any wearable assistive robot system that adopts the modular design concept, any system that uses the same module function definition, the same whole-machine module matching scheme, the same or equivalent connection method and interface layout as the waist module 27 of this solution can be considered to have the same technical essence and implementation effect as the embodiment of the present invention.

[0084] The specific embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention. Any other corresponding changes and modifications made in accordance with the technical concept of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A power output kit for use in a wearable assistive robot, characterized in that, include: The housing has a receiving cavity, and the housing is provided with external buttons and an interface for external connection; The power assembly includes a motor assembly and a reducer assembly located within the receiving cavity; A motion controller is located within the receiving cavity, and the motion controller is connected to the motor assembly and the reducer assembly respectively; A power battery is located within the receiving cavity, and the power battery is used to provide electrical energy to the power assembly and the motion controller.

2. The power output kit according to claim 1, characterized in that, The power battery is adjacent to the power assembly, and the motion controller is located on top of the power battery and the power assembly.

3. The power output kit according to claim 1, characterized in that, The axial direction of the output shaft of the motor assembly is parallel to the axial direction of the output shaft of the reducer assembly; The motor assembly includes a motor stator, a motor rotor, and a motor end cover. The reducer assembly includes a base, and the motor stator is fixedly mounted on the base.

4. The power output kit according to claim 3, characterized in that, The reducer assembly also includes a third gear shaft, which is interference-fitted to the frame of the motor rotor and axially fixed to the base by bearings.

5. The power output kit according to claim 4, characterized in that, The reducer assembly also includes a planetary reducer sun gear shaft, a first gear, and a second gear. The gear on the third gear shaft, together with the first gear and the second gear, forms a reduction structure. The first gear is fixed to the planetary reducer sun gear shaft by interference fit.

6. The power output kit according to claim 5, characterized in that, The reducer assembly further includes a planetary reducer internal gear ring, planetary reducer planetary gears, planetary gear shafts, and bushings; the planetary reducer internal gear ring is fixed on the base, the planetary reducer planetary gears are rotatably mounted on the planetary gear shafts, and the bushings are provided between the planetary reducer planetary gears and the planetary gear shafts.

7. The power output kit according to claim 1, characterized in that, The interface includes a first general mechanical interface, a second general mechanical interface, and a general electrical interface. The first general mechanical interface is used for connecting the power output kit to other modules; the general electrical interface is used for electrical connection of the power output kit to other modules; the second general mechanical interface is disposed on the reducer assembly and is used to transmit the torque after the reducer assembly has decelerated.

8. The power output kit according to claim 1, characterized in that, The external buttons include a first external button and a second external button. The first external button is used to turn the device on or off, and the second external button is used to switch modes.

9. The power output kit according to claim 1, characterized in that, The housing includes an upper housing and a lower housing, which are interlocked with each other.

10. A wearable assistive robot, characterized in that, Includes the power output kit as described in any one of claims 1-9.

Images