Wearable power-assisted robot

Abstract

The wearable power-assisted robot comprises a series elastic driver, an upper limb power-assisted mechanism and a back bottom plate, the series elastic driver comprises a motor, a lead screw, a lead screw nut, springs, a spring seat and a pulley yoke, the motor outputs to drive the lead screw to rotate, the lead screw is in threaded connection with the lead screw nut, the two springs are located in the spring seat, and the upper limb power-assisted mechanism is located in the pulley yoke. The two springs are located on the two sides of the lead screw nut respectively, the two ends of each spring abut against the spring seat and the lead screw nut respectively, the spring seat is connected with the pulley yoke, the pulley yoke is provided with the pulley, the series elastic driver drives the upper limb assisting mechanism through the driving rope, and the upper limb assisting mechanism can be installed on one side or two sides of the back bottom plate. When the method is applied to an industrial production scene, the risk that shoulders, elbows and waists of workers are injured can be reduced; when the device is applied to a medical rehabilitation scene, safe and mild rehabilitation assisting training can be provided for patients with insufficient muscle strength and dyskinesia, and the recovery of the movement function is promoted.

Description

Technical Field

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

[0002] The urgent need for assistive devices in industrial production and rehabilitation medicine points the way for the development of exoskeleton robots.

[0003] In industrial settings, high-intensity upper-limb work in assembly, handling, and other positions can easily lead to muscle strain and joint damage, reducing efficiency and increasing costs for businesses. Among existing assistive devices, fixed robotic arms have poor flexibility and are difficult to adapt to diverse needs; traditional exoskeletons, due to their multi-motor, multi-joint design, are heavy and require reducers to adapt to human movement speed, resulting in high rigidity and failing to meet the requirements of lightweighting and flexibility. Therefore, there is an urgent need for practical assistive devices.

[0004] In the field of rehabilitation medicine, motor dysfunction is common among hemiplegic patients, and their rehabilitation relies on scientific exercise training and assistance. Currently, manual assisted training is limited by the availability of rehabilitation therapists, making it difficult to carry out continuous and personalized training; traditional rehabilitation robots are either too expensive to be widely adopted, or their rigid transmission lacks cushioning and poses safety risks, while simple devices cannot provide precise assistance. Therefore, rehabilitation equipment that combines safety cushioning with adaptability to individual needs is crucial.

[0005] Exoskeleton robots can enhance users' limb strength, reduce load, decrease injury, and improve efficiency, helping them cope with long hours and repetitive tasks. Based on the source of the auxiliary torque, they can be divided into three categories: passive, semi-passive, and active.

[0006] Passive exoskeletons rely on elastic elements such as springs to recover energy and generate auxiliary torque. While lightweight and low-cost, their torque is not adjustable. Semi-passive exoskeletons use low-power servo motors to adjust the spring lever arm to change the torque, representing a compromise between passive and active systems, but still require the user to compress the spring to store energy. Therefore, active exoskeletons have become a key requirement for providing external energy and adjustable auxiliary torque.

[0007] In addition, for industrial production and rehabilitation medical scenarios, upper limb exoskeletons need to be lightweight enough and their size can be flexibly adjusted according to the user's body shape in order to reduce the burden and improve applicability. Summary of the Invention

[0008] The purpose of this invention is to overcome the shortcomings of the prior art and provide a wearable assistive robot that, when applied to industrial production scenarios, can reduce the risk of shoulder, elbow, and waist injuries to workers and effectively improve production safety and work efficiency; when applied to medical rehabilitation scenarios, it can provide safe and gentle rehabilitation assistance training for patients with muscle weakness and motor dysfunction, and promote the recovery of motor function.

[0009] To achieve the above objectives, the present invention adopts the following technical solution:

[0010] A wearable assistive robot includes a series elastic actuator, an upper limb assist mechanism, and a back plate. The series elastic actuator and the upper limb assist mechanism are both mounted on the back plate. The series elastic actuator includes a motor, a lead screw, a lead screw nut, a spring, a spring seat, and a pulley frame. The motor output drives the lead screw to rotate. The lead screw and the lead screw nut are connected by threads. There are two springs, both located inside the spring seat and both sleeved on the lead screw. The two springs are located on opposite sides of the lead screw nut, and both ends of each spring are connected to the spring seat and the lead screw nut, respectively. In contrast, one end face of the spring seat is connected to a pulley frame, which is equipped with pulleys. The series elastic actuator drives the upper limb assist mechanism via a drive rope. The upper limb assist mechanism can be installed on one or both sides of the back panel. When the upper limb assist mechanism is installed on one side of the back panel, one end of the drive rope is connected to the pulley of the pulley frame, and the other end of the drive rope is connected to the upper limb assist mechanism. When the upper limb assist mechanism is installed on both sides of the back panel, the drive rope passes around the pulley of the pulley frame, and both ends of the drive rope are respectively connected to the upper limb assist mechanisms on both sides.

[0011] It also includes a tensioning mechanism, which comprises a knob, a threaded screw, a tensioning slider, an optical axis support, a bearing seat, and a copper sleeve. The knob is fixedly connected to the threaded screw, the bearing seat is connected to the threaded screw via a bearing, the optical axis support is connected to the threaded screw via a copper sleeve, and the tensioning slider is threaded to the threaded screw. The threaded holes of the two tensioning sliders are left-handed and right-handed, respectively. The optical axis support and the two tensioning sliders are all equipped with pulleys.

[0012] When the upper limb assist mechanism is installed on one side of the back panel, one end of the drive rope passes over the corresponding optical axis support and a tension slider pulley and is connected to the pulley of the pulley frame, and the other end of the drive rope is connected to the upper limb assist mechanism; when the upper limb assist mechanism is installed on both sides of the back panel, the drive rope passes over the pulley of the optical axis support, the pulleys of the two tension sliders, and the pulley of the pulley frame, and both ends of the drive rope are connected to the upper limb assist mechanisms on both sides respectively.

[0013] The upper limb assist mechanism is a shoulder and elbow joint assist mechanism, which includes a main drive rope, a shoulder and elbow differential drive rope, a back support, an upper arm support A, a single piece, an upper arm C, a shoulder and elbow differential platform, an elbow joint drive wheel, and a forearm. The back support is fixedly connected to the back base plate. The upper arm support A can rotate horizontally along one end of the back support. The single piece is fixedly connected to the upper arm support A. One end of the upper arm C is rotatably connected between the single piece and the upper arm support A. The other end of the upper arm C is connected to a rotatable elbow joint drive wheel. The elbow joint drive wheel is fixedly connected to the forearm. The shoulder and elbow differential platform is fixedly installed on the upper arm C.

[0014] When the shoulder joint assist mechanism is installed on one side, the shoulder-elbow differential drive rope passes around the pulley installed on the shoulder-elbow differential platform, with one end fixed to the elbow joint drive wheel and the other end fixed to the integral component. One end of the main drive rope is fixed to the pulley of the series elastic actuator, and the other end passes through the center of the integral component and is fixed to the shoulder-elbow differential platform. When the shoulder joint assist mechanism is installed on both sides, the main drive rope passes around the pulley of the series elastic actuator, and both ends of the main drive rope are fixed to the shoulder-elbow differential platforms on both sides respectively.

[0015] The upper limb assist mechanism is a shoulder joint assist mechanism, which includes a shoulder joint drive rope, a back support, an upper arm support B, an outer upper arm support A, a shoulder joint drive wheel, an upper arm A, and a pulley. The back support is fixedly connected to the back base plate. The upper arm support B can rotate horizontally along one end of the back support. The outer upper arm support A is fixedly connected to the upper arm support B. The shoulder joint drive wheel is rotatably connected between the outer upper arm support A and the upper arm support B. One end of the upper arm A is fixedly connected to the shoulder joint drive wheel.

[0016] When the shoulder joint assist mechanism is installed on one side, the shoulder joint drive rope passes around each pulley in sequence, with one end of the shoulder joint drive rope fixed to the pulley of the series elastic actuator and the other end of the shoulder joint drive rope fixed to the shoulder joint drive wheel; when the shoulder joint assist mechanism is installed on both sides, the shoulder joint drive rope passes around the pulley of the series elastic actuator and both ends of the shoulder joint drive rope are fixed to the shoulder joint drive wheels on both sides respectively.

[0017] The upper limb assist mechanism is an elbow joint assist mechanism, which includes an elbow joint drive rope, a back support, an upper arm support A, an outer upper arm support B, an upper arm B, an elbow joint drive wheel, a forearm, and a pulley. The back support is fixedly connected to the back base plate. The upper arm support A can rotate horizontally along one end of the back support. The outer upper arm support B is fixedly connected to the upper arm support A. One end of the upper arm B is rotatably connected between the outer upper arm support B and the upper arm support A. The elbow joint drive wheel is rotatably connected to the other end of the upper arm B. The forearm is fixedly connected to the elbow joint drive wheel.

[0018] When the elbow joint assist mechanism is installed on one side, the elbow joint drive rope passes around each pulley in sequence, with one end of the elbow joint drive rope fixed to the pulley of the series elastic actuator and the other end of the elbow joint drive rope fixed to the elbow joint drive wheel. When the elbow joint assist mechanism is installed on both sides, the elbow joint drive rope passes around the pulley of the series elastic actuator and both ends of the elbow joint drive rope are fixed to the elbow joint drive wheels on both sides respectively.

[0019] The upper limb assist mechanism also includes a waist assist mechanism. The shoulder joint assist mechanism is installed on both sides. The waist assist mechanism includes pulleys, a double pulley frame, a waist drive rope, a hip connection, a fixing component, a hip joint drive disc, a drive arm, and a leg support. The double pulley frame is fixedly connected to one end of the spring seat in the series elastic actuator. The double pulley frame and the pulley frame are located at both ends of the spring seat. Pulleys are installed at both ends of the double pulley frame. The hip connection is fixedly connected to the back panel. The fixing component is fixedly connected to the hip connection. The hip joint drive disc is rotatably connected between the hip connection and the fixing component. The hip joint drive disc is fixedly connected to one end of the drive arm. The other end of the drive arm is connected to the leg support. The waist drive rope passes over the pulleys of the two double pulley frames. The two ends of the waist drive rope are fixed to the hip joint drive discs on both sides.

[0020] In summary, the present invention has the following beneficial effects:

[0021] 1. Using a series elastic actuator as the prime mover, the actuator has a built-in spring structure, and the power transmission adopts a rope pulley transmission method instead of rigid transmission. The introduction of springs and ropes gives the device excellent cushioning performance, which can directly adapt to the needs of human limb movement. While realizing the assistive function, it can better fit the characteristics of human movement, reduce the impact on the user, and improve the safety and comfort of wearing the device.

[0022] Second, the series elastic actuator serves as the robot's power unit, containing a single motor capable of driving multiple joints. Specifically, when shoulder and elbow joint assist mechanisms are installed on both sides of the robot, the series elastic actuator can simultaneously drive four joints: the left shoulder joint, the left elbow joint, the right shoulder joint, and the right elbow joint. Designing the number of prime movers to be only one gives the mechanism underactuated characteristics, perfectly suited for assist scenarios, while simultaneously simplifying the mechanical structure and reducing weight and cost.

[0023] Third, the tensioning mechanism uses positive and negative threaded screws and two sliders to achieve synchronous and equidistant movement in opposite directions on both sides through helical transmission, thereby realizing the function of adjusting the tension of the rope.

[0024] IV. The upper limb assist mechanism includes the shoulder joint assist mechanism, the elbow joint assist mechanism, and the shoulder and elbow dual joint assist mechanism. Users can choose different upper limb assist mechanisms to install on one or both sides of the robot according to different usage scenarios. Users can selectively install according to their assistance needs.

[0025] 5. When the upper limb assistive mechanism is a shoulder joint assistive mechanism and is installed on both sides, it can be used in conjunction with a waist assistive mechanism to provide assistance to both the shoulder and the waist. Attached Figure Description

[0026] Figure 1 This is a three-dimensional view of a series elastic actuator.

[0027] Figure 2 This is a cross-sectional view of a series elastic actuator.

[0028] Figure 3 This is a 3D diagram of the tensioning mechanism.

[0029] Figure 4 This is a schematic diagram of the shoulder and elbow joint assist mechanism of Embodiment 1 worn by a user.

[0030] Figure 5 This is a perspective view of the shoulder and elbow joint assist mechanism of Example 1.

[0031] Figure 6 This is a schematic diagram of the shoulder joint assist mechanism of Embodiment 2 worn by a user.

[0032] Figure 7 This is a perspective view of the shoulder joint assist mechanism in Example 2.

[0033] Figure 8 This is a schematic diagram of the elbow joint assist mechanism of Example 3 worn by the user.

[0034] Figure 9 This is a perspective view of the elbow joint assist mechanism in Example 3.

[0035] Figure 10 This is a schematic diagram of the shoulder joint assist mechanism and waist assist mechanism of Example 4 worn by the user.

[0036] Figure 11 This is a perspective view of the shoulder joint assist mechanism and the waist assist mechanism working together in Example 4.

[0037] Figure 12 This is a first-person perspective perspective view of the lumbar support mechanism of Example 4.

[0038] Figure 13 This is a second-view perspective perspective view of the waist support mechanism of Example 4.

[0039] Figure 14This is a cross-sectional view of the hip structure of Example 4, showing the fit of the leg bend, leg support, and rotating fastener.

[0040] Figure 15 This is a perspective view of the rotating fixing component in Example 4.

[0041] Figure 16 This is a schematic diagram illustrating the application of the end-effector and waist-assisted structure.

[0042] Reference numerals: 1. Series elastic actuator; 10. Base; 11. Motor; 12. Coupling; 13. Lead screw; 14. Lead screw nut; 15. Lead screw seat; 16. Spring; 17. Top plug; 18. Linear guide; 19. Slider; 110. Spring seat; 111. Pulley frame; 2. Tensioning mechanism; 20. Knob; 21. Threaded screw; 22. Tensioning slider; 23. Optical shaft support; 24. Bearing seat; 25. Copper sleeve; 36. Upper limb assist mechanism; 30. Main drive rope; 31. Shoulder-elbow differential drive rope; 32. Short support rod; 33. Back support; 34. Integrated support; 35. Upper back connection; 36. Upper arm support A; 37. Integrated piece; 38. Shoulder joint shaft; 39. Upper arm C; 310. Shoulder-elbow differential platform; 311. Linear guide; 312. Slider C; 313. Arm rest; 314. Forearm outer side connection. 14. Forearm inner side connection 315. Elbow joint drive wheel 316. Forearm 317. Wrist support 318. Upper arm outer side support A 319. Shoulder joint drive wheel 320. Shoulder joint drive rope 321. Upper arm support B 322. Upper arm A 323. Elbow joint drive rope 324. Upper arm outer side support B 325. Upper arm B 326. Waist assist mechanism 4. Double pulley frame 41. Waist drive rope 42. Hip connection 43. Fixing piece 44. Hip joint drive disc 45. Drive arm 46. Swing rod connector 47. Leg bend tube 48. Leg support 49. Rotating fixing piece 410. Stop 411. Leg connecting plate 412. Leg pad 413. Copper sleeve 414. Power supply 5. Controller 6. Waist support 7. Hanging ring 71. Back base plate 8. Pulley 9. Detailed Implementation

[0043] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0044] A wearable assistive robot includes a series elastic actuator 1, a tensioning mechanism 2, an upper limb assistive mechanism 3, a waist assistive mechanism 4, a back plate 8, a power supply 5, a controller 6, a waist support 7, and a hanging ring 71.

[0045] Reference Figure 1 - Figure 2As shown, the series elastic actuator 1 includes a base 10, a motor 11, a coupling 12, a lead screw 13, a lead screw nut 14, a lead screw seat 15, a spring 16, a top plug 17, a linear guide 18, a slider 19, a spring seat 110, and a pulley frame 111. The motor 11 is mounted on one end of the base 10, which is mounted on the back plate 8. One end of the lead screw 13 is connected to the output shaft of the motor 11 via the coupling 12, and the other end of the lead screw 13 is rotatably connected to the lead screw seat 15. The lead screw nut 14 is threadedly connected to the lead screw 13. The linear guide 18... The linear guide 18 is slidably engaged with the slider 19. The linear guide 18 is fixedly connected to the base 10. The slider 19 is connected to the spring seat 110. The spring seat 110 is connected to the lead screw 13 via two top plugs 17, located at both ends of the spring seat 110. There are two springs 16, located inside the spring seat 110. Both springs 16 are sleeved on the lead screw 13 and located on both sides of the lead screw nut 14. The two ends of each spring 16 abut against the top plug 17 and the lead screw nut 14, respectively. One end face of the spring seat 110 is connected to the pulley frame 111, which is equipped with pulleys 9.

[0046] Reference Figure 3 As shown, the tensioning mechanism 2 includes a knob 20, a threaded screw 21, a tensioning slider 22, an optical axis support 23, a bearing seat 24, a copper sleeve 25, and a pulley 9. The bearing seat 24 and the optical axis support 23 are both mounted on the back plate 8. The knob 20 is fixedly connected to the threaded screw 21. The width of the tensioning mechanism 2 can be adjusted by rotating the knob 20. The bearing seat 24 and the threaded screw 21 are connected by bearings. The optical axis support 23 is connected to the threaded screw 21 by the copper sleeve 25. Here, the threaded screw 21 is a threadless section. The tensioning slider 22 is connected to the threaded screw 21 by threads. The threaded holes of the two tensioning sliders 22 are left-handed and right-handed, respectively. Based on the matching relationship of the left-handed and right-handed threads on the threaded screw 21, the two tensioning sliders 22 can be adjusted to be equidistant on both sides by rotating the threaded screw 21 by the handle 20. The optical axis support 23 and the two tensioning sliders 22 are both equipped with pulleys 9.

[0047] The series elastic actuator 1, tensioning mechanism 2, upper limb assist mechanism 3, waist assist mechanism 4, power supply 5 and controller 6 are all installed on the back base plate 8, and the series elastic actuator 1, tensioning mechanism 2, power supply 5 and controller 6 are all located on the outward side of the back base plate 8. The waist support 7 is fixedly connected to the inward side of the back base plate 8. The hanging rings 71 are installed on both sides of the back base plate 8. By attaching straps to the hanging rings 71, the back base plate 8 can be tied to the human body. At this time, the waist support 7 is against the waist of the human body.

[0048] The upper limb assistive mechanism 3 includes a shoulder and elbow joint assistive mechanism, a shoulder joint assistive mechanism, and an elbow joint assistive mechanism. Users can optionally install the upper limb assistive mechanism 3 and the waist assistive mechanism 4.

[0049] Example 1

[0050] Reference Figure 4 - Figure 5 As shown, the upper limb assist mechanism 3 is a shoulder and elbow joint assist mechanism, which includes a main drive rope 30, a shoulder and elbow differential drive rope 31, a short support rod 32, a back support 33, an integrated support 34, an upper back connection 35, an upper arm support A 36, an integrated component 37, a shoulder joint axis 38, an upper arm C 39, a shoulder and elbow differential platform 310, a linear guide C 311, a slider C 312, an arm support 313, an outer forearm connection 314, an inner forearm connection 315, and an elbow joint drive wheel. 316, forearm 317, wrist support 318, pulley 9; one end of short support rod 32 and back support 33 are respectively connected to the front and back sides of back base plate 8, and the other end of short support rod 32 and back support 33 are both connected to integrated support 34. One end of upper back connection 35 is fixed to back support 33, and the other end is connected to upper arm support A36 through bearing; both ends of shoulder joint axis 38 are connected to upper arm support A36 and integrated part 37 through bearings, and shoulder joint axis 38 is connected to upper arm C39. Both are located between the upper arm support A36 and the integral part 37. The upper arm C39 is equipped with a pair of parallel linear guides C311 and sliders C312. The shoulder-elbow differential platform 310 is connected to the two sliders C312. An arm support 313 is installed on the inner side of the end of the upper arm C39. The outer forearm connection 314 and the inner forearm connection 315 are respectively installed on both sides of the end of the upper arm C39. The elbow joint drive wheel 316 is connected to the outer forearm connection 314 and the inner forearm connection 315 through bearings at both ends. The elbow differential drive rope 31 passes over the pulley 9 mounted on the shoulder-elbow differential platform 310, with one end fixed to the elbow joint drive wheel 316 and the other end fixed to the integral component 37. One end of the main drive rope 30 is fixed to the pulley 9 of the series elastic actuator 1 and passes over the pulley 9 on one side of the tensioning mechanism 2 (including the pulley 9 on the same side of the optical axis support 23 and the pulley 9 on the same side of the tensioning slider 22). The other end passes through the center of the integral component 37 from the inside of the upper arm support A36 and is fixed to the shoulder-elbow differential platform 310. The shoulder-elbow joint can achieve underdrive differential transmission by transmitting force through the shoulder-elbow differential platform 310 via the main drive rope 30. Therefore, this assist mechanism can provide assistance to either the shoulder or elbow joint individually or to both joints simultaneously.

[0051] The shoulder and elbow joint assist mechanism can be installed on one or both sides, allowing users to choose the installation method according to their needs, thereby achieving unilateral or bilateral assistance. When the shoulder and elbow joint assist mechanism is installed on both sides, the main drive rope 30 passes around the pulley 9 of the series elastic actuator 1 and the pulleys 9 on both sides of the tensioning mechanism 2, and the two ends of the main drive rope 30 are respectively fixed to the shoulder and elbow differential platforms 310 on both sides.

[0052] Example 2

[0053] Reference Figure 6- Figure 7 As shown, the upper limb assist mechanism 3 is a shoulder joint assist mechanism, which includes a shoulder joint drive rope 321, a short support rod 32, a back support 33, an integrated support 34, an upper back connection 35, an upper arm support B322, an outer upper arm support A319, a shoulder joint drive wheel 320, an upper arm A323, an arm rest 313, and a pulley 9. One end of the short support rod 32 and the back support 33 are respectively connected to the front and back sides of the back base plate 8, and the other end of the short support rod 32 and the back support 33 are both connected to the integrated support 34. One end of the upper back connection 35 is fixed to the back support. The shoulder joint drive wheel 320 is connected to the upper arm support B322 and the outer upper arm support A319 respectively through bearings at both ends. The shoulder joint drive wheel 320 is fixedly connected to one end of the upper arm A323. An arm support 313 is installed on the inner side of the end of the upper arm A323. The shoulder joint drive rope 321 passes through each pulley 9 in sequence. One end of the shoulder joint drive rope 321 is fixed to the pulley 9 of the series elastic actuator 1 and passes through the pulley 9 on one side of the tensioning mechanism 2. The other end of the shoulder joint drive rope 321 is fixed to the shoulder joint drive wheel 320.

[0054] The shoulder joint assist mechanism can be installed on one or both sides, allowing users to choose the installation method according to their needs, thereby achieving unilateral or bilateral assistance. When the shoulder joint assist mechanism is installed on both sides, the shoulder joint drive rope 321 passes around the pulley 9 of the series elastic actuator 1 and the pulleys 9 on both sides of the tensioning mechanism 2, and the two ends of the shoulder joint drive rope 321 are respectively fixed to the shoulder joint drive wheels 320 on both sides.

[0055] Example 3

[0056] Reference Figure 8 - Figure 9As shown, the upper limb assist mechanism 3 is an elbow joint assist mechanism, which includes an elbow joint drive rope 324, a short support rod 32, a back support 33, an integrated support 34, an upper back connection 35, an upper arm support A36, an outer upper arm support B325, a shoulder joint axis 38, an upper arm B326, an arm rest 313, an outer forearm connection 314, an inner forearm connection 315, an elbow joint drive wheel 316, a forearm 317, a wrist rest 318, and a pulley 9. One end of the short support rod 32 and the back support 33 are respectively connected to the front and back sides of the back base plate 8, and the other end of the short support rod 32 and the back support 33 are both connected to the integrated support 34. One end of the upper back connection 35 is fixed to the back support 33, and the other end is connected to the upper arm support A36 through a bearing. The two ends of the shoulder joint axis 38 are respectively connected to the axle. The upper arm support A36 and the outer upper arm support B325 are connected; the shoulder joint shaft 38 is connected to the upper arm B326, both of which are located between the upper arm support A36 and the outer upper arm support B325. An arm support 313 is installed on the inner side of the end of the upper arm B326, and the outer forearm connection 314 and the inner forearm connection 315 are respectively installed on both sides of the end of the upper arm B326; the elbow joint drive wheel 316 is connected to the outer forearm connection 314 and the inner forearm connection 315 at both ends through bearings, and the elbow joint drive wheel 316 is fixedly connected to the forearm 317; the elbow joint drive rope 324 passes around each pulley 9 in sequence, one end of the elbow joint drive rope 324 is fixed to the pulley 9 of the series elastic actuator 1 and passes around the pulley 9 on one side of the tensioning mechanism 2, and the other end of the elbow joint drive rope 324 is fixed to the elbow joint drive wheel 316.

[0057] The elbow joint assist mechanism can be installed on one or both sides, allowing users to choose the installation method according to their needs, thus achieving single-sided or double-sided assistance. When the elbow joint assist mechanism is installed on both sides, the elbow joint drive rope 324 passes around the pulley 9 of the series elastic actuator 1 and the pulleys 9 on both sides of the tensioning mechanism 2, and the two ends of the elbow joint drive rope 324 are respectively fixed to the elbow joint drive wheels 316 on both sides.

[0058] Example 4

[0059] Reference Figure 10 - Figure 15 As shown, the upper limb assist mechanism 3 is a shoulder joint assist mechanism installed on both sides, and a waist assist mechanism 4 is also installed. The shoulder joint assist mechanism is the same as in embodiment 2.

[0060] The lumbar support mechanism 4 includes pulleys 9, a double pulley frame 41, a lumbar drive rope 42, a hip connection 43, a fixing member 44, a hip joint drive disc 45, a drive arm 46, a swing rod connector 47, a leg bend tube 48, a leg support 49, a rotating fixing member 410, a stop 411, a leg connecting plate 412, a leg pad 413, and a copper sleeve 414. The double pulley frame 41 is fixedly connected to the spring seat 110 in the series elastic actuator 1. The double pulley frame 41 and the pulley frame 111 are located at both ends of the spring seat 110, and pulleys 9 are installed at both ends of the double pulley frame 41. The hip connection 43 is connected to the back panel 8. One end of the hip connection 43 is fixedly connected to a fixing member 44. The two ends of the hip joint drive disc 45 are connected to the hip connection 43 and the fixing member 44 through bearings. One end of the drive arm 46 is fixedly connected to the hip joint drive disc 45. The waist drive rope 42 passes around each pulley 9, and its two ends are fixed to the hip joint drive discs 45 on the left and right sides. The other end of the drive arm 46 is rotatably connected to a swing rod connector 47 through a copper sleeve 414. The other end of the swing rod connector 47 is rotatably connected to the leg bend tube 48. The leg support 49, the rotating fixing member 410, and the leg connecting plate 412 are interconnected. Specifically, the rotating fixing member 410 is fixedly connected to the leg connecting plate 412, and the leg support 49 is fixedly connected to the rotating fixing member 410. One side of the leg tube 48 passes through the space formed by the leg support 49 and the rotating fastener 410; the rotating fastener 410 has a stop 411, and after the leg tube 48 is inserted into the rotating fastener 410, it is restricted by the stop 411 and cannot be pulled out, but the stop 411 does not restrict the rotation of the leg tube 48. The leg pad 413 is attached to the inside of the leg connecting plate 412 to ensure wearing comfort.

[0061] The lumbar support mechanism 4 has multiple degrees of freedom to meet wearing comfort: the first degree of freedom is the rotational degree of freedom of the swing rod joint 47 and the drive arm 46 around the whole system; the second degree of freedom is the radial rotational degree of freedom of the leg support 49 and the leg pad 413 around the end of the leg bend tube 48 (i.e., the leg bend tube 48 rotates around the swing rod joint 47); the third degree of freedom is the axial rotational degree of freedom of the leg support 49 and the leg pad 413 around the end of the leg bend tube 48 (i.e., the end of the leg bend tube 48 rotates around the space formed by the leg support 49 and the rotating fixing member 410).

[0062] In this mode, a single motor can provide assistance to the user's waist (left and right hip joints) and shoulders (left and right shoulders). When assisting the shoulders, the motor 11 drives the lead screw 13 to rotate to one side via the coupling 12. The rotation of the lead screw 13 causes the lead screw nut 14 to move downward and compress the lower spring 16 in the series elastic actuator 1. The lower spring 16 compresses the spring seat 110 downward, thereby pulling the shoulder joint drive rope 321 to achieve shoulder joint assistance. When assisting the waist, the motor 11 drives the lead screw 13 to rotate to the other side via the coupling 12. The rotation of the lead screw 13 causes the lead screw nut 14 to move upward and compress the upper spring 16 in the series elastic actuator 1. The upper spring 16 compresses the spring seat 110 upward, thereby pulling the waist drive rope 42 to press the leg pad 413 at the end down onto the thigh, assisting the user in lifting the upper torso and achieving waist assistance.

[0063] Reference Figure 16 As shown, Figure 16 This is a summary of the application of the above four embodiments.

[0064] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A wearable assistive robot, characterized in that, The system includes a series elastic actuator (1), an upper limb assist mechanism (3), and a back plate (8). The series elastic actuator (1) and the upper limb assist mechanism (3) are both mounted on the back plate (8). The series elastic actuator (1) includes a motor (11), a lead screw (13), a lead screw nut (14), a spring (16), a spring seat (110), and a pulley frame (111). The motor (11) drives the lead screw (13) to rotate. The lead screw (13) and the lead screw nut (14) are connected by threads. There are two springs (16). The two springs (16) are located inside the spring seat (110). The two springs (16) are both sleeved on the lead screw (13). The two springs (16) are located on both sides of the lead screw nut (14). The two ends of each spring (16) are connected to the spring. The seat (110) and the lead screw nut (14) abut against each other. One end face of the spring seat (110) is connected to the pulley frame (111). The pulley frame (111) is equipped with a pulley (9). The series elastic actuator (1) drives the upper limb assist mechanism (3) through the drive rope. The upper limb assist mechanism (3) can be installed on one or both sides of the back plate (8). When the upper limb assist mechanism (3) is installed on one side of the back plate (8), one end of the drive rope is connected to the pulley (9) of the pulley frame (111), and the other end of the drive rope is connected to the upper limb assist mechanism (3). When the upper limb assist mechanism (3) is installed on both sides of the back plate (8), the drive rope passes around the pulley (9) of the pulley frame (111), and both ends of the drive rope are connected to the upper limb assist mechanism (3) on both sides respectively.

2. The wearable assistive robot according to claim 1, characterized in that, It also includes a tensioning mechanism (2), which includes a knob (20), a threaded screw (21), a tensioning slider (22), an optical axis support (23), a bearing seat (24), and a copper sleeve (25). The knob (20) is fixedly connected to the threaded screw (21), the bearing seat (24) is connected to the threaded screw (21) through a bearing, the optical axis support (23) is connected to the threaded screw (21) through a copper sleeve (25), and the tensioning slider (22) is connected to the threaded screw (21) through a thread. The threaded holes of the two tensioning sliders (22) are left-handed and right-handed, respectively. The optical axis support (23) and the two tensioning sliders (22) are all equipped with pulleys (9).

3. A wearable assistive robot according to claim 2, characterized in that, When the upper limb assist mechanism (3) is installed on one side of the back plate (8), one end of the drive rope passes over the pulley (9) of the optical axis support (23) and a tension slider (22) on the corresponding side and is connected to the pulley (9) of the pulley frame (111), and the other end of the drive rope is connected to the upper limb assist mechanism (3); when the upper limb assist mechanism (3) is installed on both sides of the back plate (8), the drive rope passes over the pulley (9) of the optical axis support (23), the pulley (9) of the two tension sliders (22), and the pulley (9) of the pulley frame (111), and both ends of the drive rope are connected to the upper limb assist mechanisms (3) on both sides respectively.

4. A wearable assistive robot according to any one of claims 1-3, characterized in that, The upper limb assist mechanism (3) is a shoulder and elbow joint assist mechanism. The shoulder and elbow joint assist mechanism includes a main drive rope (30), a shoulder and elbow differential drive rope (31), a back support (33), an upper arm support A (36), an integral part (37), an upper arm C (39), a shoulder and elbow differential platform (310), an elbow joint drive wheel (316), and a forearm (317). The back support (33) is fixedly connected to the back base plate (8). The upper arm support A (36) can rotate horizontally along one end of the back support (33). The integral part (37) is fixedly connected to the upper arm support A (36). One end of the upper arm C (39) is rotatably connected between the integral part (37) and the upper arm support A (36). The other end of the upper arm C (39) is connected to a rotatable elbow joint drive wheel (316). The elbow joint drive wheel (316) is fixedly connected to the forearm (317). The shoulder and elbow differential platform (310) is fixedly installed on the upper arm C (39).

5. A wearable assistive robot according to claim 4, characterized in that, When the shoulder joint assist mechanism is installed on one side, the shoulder-elbow differential drive rope (31) passes around the pulley (9) installed on the shoulder-elbow differential platform (310), one end is fixed to the elbow joint drive wheel (316), and the other end is fixed to the integral part (37). One end of the main drive rope (30) is fixed to the pulley (9) of the series elastic actuator (1), and the other end passes through the center of the integral part (37) and is fixed to the shoulder-elbow differential platform (310). When the shoulder joint assist mechanism is installed on both sides, the main drive rope (30) passes around the pulley (9) of the series elastic actuator (1), and the two ends of the main drive rope (30) are respectively fixed to the shoulder-elbow differential platforms (310) on both sides.

6. A wearable assistive robot according to any one of claims 1-3, characterized in that, The upper limb assist mechanism (3) is a shoulder joint assist mechanism. The shoulder joint assist mechanism includes a shoulder joint drive rope (321), a back support (33), an upper arm support B (322), an upper arm outer support A (319), a shoulder joint drive wheel (320), an upper arm A (323), and a pulley (9). The back support (33) is fixedly connected to the back base plate (8). The upper arm support B (322) can rotate horizontally along one end of the back support (33). The upper arm outer support A (319) is fixedly connected to the upper arm support B (322). The shoulder joint drive wheel (320) is rotatably connected between the upper arm outer support A (319) and the upper arm support B (322). One end of the upper arm A (323) is fixedly connected to the shoulder joint drive wheel (320).

7. A wearable assistive robot according to claim 6, characterized in that, When the shoulder joint assist mechanism is installed on one side, the shoulder joint drive rope (321) passes around each pulley (9) in sequence, one end of the shoulder joint drive rope (321) is fixed to the pulley (9) of the series elastic actuator (1), and the other end of the shoulder joint drive rope (321) is fixed to the shoulder joint drive wheel (320); when the shoulder joint assist mechanism is installed on both sides, the shoulder joint drive rope (321) passes around the pulley (9) of the series elastic actuator (1), and both ends of the shoulder joint drive rope (321) are fixed to the shoulder joint drive wheels (320) on both sides respectively.

8. A wearable assistive robot according to any one of claims 1-3, characterized in that, The upper limb assist mechanism (3) is an elbow joint assist mechanism. The elbow joint assist mechanism includes an elbow joint drive rope (324), a back support (33), an upper arm support A (36), an upper arm outer support B (325), an upper arm B (326), an elbow joint drive wheel (316), a forearm (317), and a pulley (9). The back support (33) is fixedly connected to the back base plate (8). The upper arm support A (36) can rotate horizontally along one end of the back support (33). The upper arm outer support B (325) is fixedly connected to the upper arm support A (36). One end of the upper arm B (326) is rotatably connected between the upper arm outer support B (325) and the upper arm support A (36). The elbow joint drive wheel (316) is rotatably connected to the other end of the upper arm B (326). The forearm (317) is fixedly connected to the elbow joint drive wheel (316).

9. A wearable assistive robot according to claim 8, characterized in that, When the elbow joint assist mechanism is installed on one side, the elbow joint drive rope (324) passes around each pulley (9) in sequence. One end of the elbow joint drive rope (324) is fixed to the pulley (9) of the series elastic actuator (1), and the other end of the elbow joint drive rope (324) is fixed to the elbow joint drive wheel (316). When the elbow joint assist mechanism is installed on both sides, the elbow joint drive rope (324) passes around the pulley (9) of the series elastic actuator (1), and both ends of the elbow joint drive rope (324) are fixed to the elbow joint drive wheels (316) on both sides respectively.

10. A wearable assistive robot according to claim 6, characterized in that, The upper limb assist mechanism (3) also includes a waist assist mechanism (4). The shoulder joint assist mechanism is installed on both sides. The waist assist mechanism (4) includes a pulley (9), a double pulley frame (41), a waist drive rope (42), a hip connection (43), a fixing piece (44), a hip joint drive disc (45), a drive arm (46), and a leg support (49). The double pulley frame (41) is fixedly connected to one end of the spring seat (110) in the series elastic actuator (1). The double pulley frame (41) and the pulley frame (111) are located at the two ends of the spring seat (110), respectively. The hip joint is equipped with a pulley (9), the hip connection (43) is fixedly connected to the back plate (8), the fastener (44) is fixedly connected to the hip connection (43), the hip joint drive disc (45) is rotatably connected between the hip connection (43) and the fastener (44), the hip joint drive disc (45) is fixedly connected to one end of the drive arm (46), the other end of the drive arm (46) is connected to the leg support (49), the waist drive rope (42) passes over the pulleys (9) of the two double pulley frames (41), and the two ends of the waist drive rope (42) are respectively fixed to the hip joint drive discs (45) on both sides.

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