An exolimb robot

Abstract

This invention belongs to the field of robotics and provides an exolimb robot comprising a lumbar-back base joint, a lumbar-back arm power assembly, a dorsal extension arm joint, a mid-section folding-out joint, an end-effector coupling posture joint, and an end-effector tool connector. The lumbar-back arm power assembly is connected to the lumbar-back base joint; the dorsal extension arm joint is rotatably connected to the lumbar-back arm power assembly; the dorsal extension arm joint is connected to the mid-section folding-out joint; and the mid-section folding-out joint is connected to the end-effector coupling posture joint. The posture of the lumbar-back arm power assembly is adjusted by controlling the lumbar-back base joint. The dorsal extension arm joint is configured to be driven by the lumbar-back lifting arm assembly to fold and unfold relative to the lumbar-back arm power assembly. The mid-section folding-out joint is configured to be driven by the lumbar-back arm power assembly to fold and unfold relative to the dorsal extension arm joint. The posture of the end-effector tool connector is adjusted by controlling the end-effector coupling posture joint. This invention has a compact structure, can coordinate with the upper limbs, and also provides auxiliary support and multi-tasking capabilities.

Description

Technical Field

[0001] This invention belongs to the field of wearable robots and human-robot collaborative robots, specifically relating to an extremity robot that is installed on the human torso, shoulder, back, or waist. Background Technology

[0002] With the rapid development of robotics, artificial intelligence, and human-machine collaboration technologies, wearable robots are gradually becoming an important technological direction for improving human motor abilities, assisting in complex tasks, and improving the quality of life for special groups. Existing wearable robots mainly include exoskeleton robots, rehabilitation training robots, assistive robotic arms, and various human enhancement devices, which have broad application prospects in fields such as medical rehabilitation, industrial production, emergency rescue, space exploration, and daily assistance.

[0003] In actual operations, the human upper limbs perform multiple functions, including grasping, carrying, supporting, positioning, operating tools, and maintaining body balance. However, due to the limited number of upper limbs, joint range of motion, continuous output capacity, and load-bearing capacity, users often experience low operational efficiency, muscle fatigue, limited movement, and insufficient safety when they need to perform multiple tasks simultaneously, maintain a specific posture for extended periods, carry heavy objects, operate tools, or provide auxiliary support. This is especially true in complex scenarios such as industrial assembly, equipment maintenance, extravehicular activities, and disaster relief, where users often need to maintain body stability while performing delicate operations or heavy-load tasks. Relying solely on the arms is insufficient to meet the stability, continuity, and coordination requirements of complex tasks.

[0004] Meanwhile, for people with limited upper limb function, the elderly, and some post-operative rehabilitation patients, insufficient upper limb strength, limited joint mobility, or decreased limb coordination can significantly affect their ability to perform daily actions such as grasping, supporting, picking up, and transferring objects. Among existing assistive devices, traditional rehabilitation exoskeletons primarily focus on joint training and passive traction, and are usually fixed in specific rehabilitation scenarios, making it difficult to meet the active assistance needs of daily life and complex environments. Industrial assistive robotic arms are mostly fixed to workbenches or mobile platforms; while they can provide some load compensation, their coordination with human movement is weak, making them difficult to carry and use flexibly. Some wearable upper limb assistive devices mainly compensate for the torque of the existing arms, failing to fundamentally increase the number of usable limbs and providing additional grasping, supporting, or assistive operation capabilities when both hands are occupied.

[0005] Therefore, current technologies still suffer from limitations such as single functionality, restricted application scenarios, insufficient human-machine collaboration capabilities, low structural integration, and difficulty in balancing load capacity and flexibility. For users who need to perform complex upper limb tasks, there is an urgent need for an upper limb exolimb robot that can attach to the human torso or back and function as an additional manipulator. This robot should be able to provide additional support, grasping, carrying, or auxiliary maneuvering capabilities without significantly restricting the original movement of the human arms, thereby improving the human's operational efficiency, safety, and task adaptability in complex working environments. Summary of the Invention

[0006] To overcome the shortcomings of the prior art, this invention provides an exolimb robot. This robot has a compact structure, is easy to wear, can move in coordination with the human upper limb, and has the ability to assist in support, share load, and perform multi-task operations. It can work with the human upper limb to complete tasks such as grasping, supporting, carrying, manipulating, and assisting in posture.

[0007] An exolimb robot includes: a lumbar and back base joint, a lumbar and back arm power assembly, a dorsal extension arm joint, a mid-section folding joint, an end-effector posture joint, and an end-effector tool connector;

[0008] The backrest arm power assembly is connected to the backrest base joint, the rear arm extension joint is rotatably connected to the backrest arm power assembly, the rear arm extension joint is connected to the intermediate folding joint, the intermediate folding joint is connected to the end coupling posture joint, and the end coupling posture joint is connected to the end tool connector. The posture adjustment of the backrest arm power assembly is achieved by controlling the backrest base joint, and the remote transmission of motion is achieved by controlling the backrest arm power assembly. The rear arm extension joint is configured to be driven by the backrest lifting arm assembly to fold and unfold relative to the backrest arm power assembly. The intermediate folding joint is configured to be driven by the backrest arm power assembly to fold and unfold relative to the rear arm extension joint. The posture adjustment of the end tool connector is achieved by controlling the end coupling posture joint.

[0009] Furthermore, the lumbar and back base joint includes a motor a, a drive gear, a driven gear, and an output shaft; the drive gear is installed at the output end of the motor a, the drive gear meshes with the driven gear, the driven gear is installed on the output shaft and the two are relatively stationary, and the lumbar and back arm power assembly is installed on the output shaft and the two are relatively stationary.

[0010] Furthermore, the motion can be remotely transmitted by controlling the lead screw and rope wheel transmission structure of the waist-back-arm power assembly.

[0011] Furthermore, the power assembly for the waist and back arm includes two sets of screw and sheave transmission structures; the two sets of screw and sheave transmission structures are symmetrically arranged, and each set of screw and sheave transmission structures includes a motor b, a ball screw pair, a wire rope fixing component, a driving sheave and a driven sheave. The driving sheave and the driven sheave are arranged radially at intervals and can rotate independently. The driving sheave and the driven sheave are connected by two wound wire ropes, which are symmetrically distributed on the upper and lower sides of the sheave shaft. The motor b is used to transmit power to the ball screw pair, and the wire rope fixing component is installed on the screw nut of the ball screw pair and fixed to one of the two wire ropes.

[0012] Furthermore, the intermediate folding joint includes a winding wheel, a snap-fit ​​connector, and a joint member; the snap-fit ​​connector connects to the rear arm joint, the winding wheel is rotatably mounted on the snap-fit ​​connector, the joint member is connected to the winding wheel and the two are relatively stationary, the winding wheel and the driven rope wheel are connected by a wound steel wire rope, and the steel wire rope is guided by a guide wheel to drive the joint member to rotate.

[0013] Furthermore, the dorsal extension arm joint includes an extension arm joint shaft and an extension arm bracket; the driven rope pulley is rotatably mounted on the extension arm joint shaft, the extension arm bracket is rotatably mounted on the extension arm joint shaft, and is connected to the intermediate folding joint.

[0014] Furthermore, the end-effector coupling posture joint includes a first posture mechanism and a second posture mechanism. The first posture mechanism includes a motor c, a gear set c, a drive shaft, a bevel gear, and a bevel gear shaft. The output end of the motor c is connected to the drive shaft through the gear set. The bevel gear is mounted on the rotatable drive shaft and the two are relatively stationary. The bevel gear meshes with the bevel gear on the rotatable bevel gear shaft. The end-effector connector is connected to the shaft end of the bevel gear shaft. The first posture mechanism is connected to the second posture mechanism. The second posture adjustment of the end-effector connector is realized by controlling the second posture mechanism.

[0015] Furthermore, gear set c is a two-stage reduction gear.

[0016] Furthermore, the end-effector coupling posture joint includes a first posture mechanism and a second posture mechanism. The second posture mechanism includes a motor d, a gear set d, and an end support. The output end of the motor d is connected to the end support through the gear set d. The gear set d rotates synchronously with the end support. The end support is connected to the end actuator. The first posture mechanism is connected to the second posture mechanism. The first posture adjustment of the end tool connector is achieved by controlling the first posture mechanism.

[0017] Furthermore, gear set d is a single-stage reduction gear.

[0018] The advantages of this application compared to the prior art are:

[0019] I. This invention designs a waist and back lifting arm assembly and its wire rope transmission scheme.

[0020] This invention integrates a motor, ball screw assembly, driving wire rope pulley, and driven wire rope pulley into a lumbar and back lifting arm assembly. During operation, the motor's output torque is amplified by a reducer and transmitted to the flange nut of the ball screw assembly. The flange nut moves linearly along the guide shaft, further driving the wire rope fixed to it to move, causing the two sets of driving wire rope pulleys to rotate. These rotations, in turn, drive the driven wire rope pulley at the back arm joint to rotate via the corresponding wire ropes. This design concentrates the drive components in the lumbar and back area close to the user's back, reducing the mass and rotational inertia of the distal extremity movement components, thus improving the extremity's motion response performance and wearing stability.

[0021] II. This invention designs a dual-set independent lead screw wire rope pulley transmission structure.

[0022] The lumbar support lifting arm assembly features two sets of independently rotating driving wire rope pulleys and two corresponding sets of driven wire rope pulleys, each driven by an independent wire rope. These two transmission structures are mechanically independent and can input motion to the coupling transmission mechanisms corresponding to the rear-side extension arm joint and the intermediate folding joint, thus providing independent drive inputs for the multi-degree-of-freedom coupled joints. This structure facilitates rear-mounted drive sources, a compact transmission path, and coordinated control of multi-degree-of-freedom joints, while avoiding the increased joint size and mass caused by directly placing the motor at the rear-side extension arm joint or the intermediate folding joint.

[0023] III. This invention designs a coupled tendon drive scheme for the dorsal extension joint and the intermediate flexion joint.

[0024] The driven wire rope pulley at the dorsal extension joint does not directly drive any single rotary joint. Instead, it serves as the input to a coupled transmission mechanism. Through the coupling relationship between the wire rope, the winding pulley of the intermediate folding joint, and the joint connection structure, coordinated movement of the dorsal extension joint and the intermediate folding joint is achieved. This coupled tendon-driven method allows for the folding and extending movements of the proximal and intermediate arm segments of the extremity with a limited number of drives, enabling the extremity to extend, unfold, retract, and adjust its end-effector position from the dorsal side of the body. This design improves the structural integration of the extremity, expands the accessible working space of the end effector, and helps reduce the structural complexity at the proximal joint.

[0025] IV. This invention designs an end-effector coupled posture joint.

[0026] The end effector joint is equipped with two motors and corresponding gear sets. After gear reduction, the two motors drive the end effector support to rotate and the end tool connector to rotate around its axis, thereby enabling attitude adjustment and interface orientation adjustment of the end effector connected to the end tool connector. This structure allows the end effector to further adjust its attitude after reaching the target position to adapt to the needs of grasping, supporting, clamping, tooling, or other auxiliary operations, improving the flexibility and adaptability of end effector operations. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the working state of the exophoric robot of the present invention;

[0028] Figure 2 This is a schematic diagram of the three-dimensional structure of the exophoric robot of the present invention;

[0029] Figure 3 A schematic diagram of the lumbar and back base joint;

[0030] Figure 4 Schematic diagram of the back arm power assembly;

[0031] Figure 5 A schematic diagram of the dorsal extension joint and the intermediate flexion joint;

[0032] Figure 6 This is a schematic diagram of the intermediate folding joint and the distal coupled posture joint;

[0033] Figure 7 This is a schematic diagram of the end-effector coupled attitude joint.

[0034] In the picture: Wearing back panel I;

[0035] Waist and back base joint II, motor aII-1, drive gear II-2, input shaft II-3, driven gear II-4, output shaft II-5, base support II-6;

[0036] Waist and back lifting arm assembly III, support frame III-1, motor b III-2, reducer III-3, motor bracket III-4, universal joint III-5, drive wheel bracket III-6, transition shaft III-7, drive rope pulley III-8, lead screw bracket III-9, ball screw pair III-10, guide shaft III-11, lower cage III-12, upper cage III-13, wire rope fixing component III-14, driven rope pulley III-16;

[0037] Dorsal arm extension joint IV, arm extension joint shaft IV-1, arm extension bracket IV-2, arm extension guide wheel IV-3;

[0038] First link V;

[0039] The middle folding joint VI, the snap-fit ​​connector VI-1, the folding guide wheel VI-2, the winding wheel VI-3, and the joint VI-4;

[0040] Second link VII;

[0041] End-effector attitude joint VIII, joint connector VIII-1, attitude support VIII-2, motor c VIII-3, first shaft VIII-4, second shaft VIII-5, motor dVⅢ-6, third shaft VIII-7, bevel gear VIII-8, drive shaft VIII-9, bevel gear shaft VIII-10, end-effector support VIII-11;

[0042] End tool connector IX. Detailed Implementation

[0043] The embodiments of the technical solution of the present invention will now be described in detail with reference to the accompanying drawings. Unless otherwise stated, the technical or scientific terms used in this application have the ordinary meaning as understood by those skilled in the art.

[0044] Figure 1 The diagram shows a wearable upper limb exolimb robot, assembled via a backrest base joint II and a wearable backplate I. In operation, the wearable backplate I can be connected to the user's back using straps, buckles, or other securing methods. Batteries, controllers, and other related devices can also be mounted on the wearable backplate I. The exolimb robot is fixed to the wearable backplate via bolts using connectors.

[0045] The following examples illustrate the structural composition and application relationship of several parts.

[0046] Figure 2 The diagram shows the components of an exoskeleton robot. This embodiment provides an exoskeleton robot, such as... Figure 2 As shown, it includes a backrest base joint II, a backrest arm power assembly III, a rear-side extension arm joint IV, a first link V, an intermediate folding joint VI, a second link VII, an end-coupling posture joint VIII, and an end-tool connector IX. The backrest arm power assembly III is connected to the backrest base joint II. The rear-side extension arm joint IV is located at the output end of the backrest arm power assembly III. The rear-side extension arm joint IV is connected to the intermediate folding joint VI via the first link V. The intermediate folding joint VI is connected to the end-coupling posture joint VIII via the second link VII. The end-coupling posture joint VIII is connected to the end-tool connector IX.

[0047] This embodiment, through the combination of the lumbar-back base joint II, the lumbar-back arm power assembly III, the dorsal extension arm joint IV, the intermediate folding joint VI, the second link VII, and the end-coupling posture joint VIII, enables the extremity to extend from the back of the human body, creating additional operating space around the upper limbs. This extremity provides the user with additional support, grasping, load-sharing, and tool-operating capabilities without significantly interfering with the user's original arm movements, improving the operational adaptability of the upper limb extremity robot. It is suitable for scenarios such as industrial assembly, assisted handling, special environment operations, daily assistance, and human-robot collaborative operation.

[0048] like Figure 3 As shown, motor aⅡ-1 is fixed on base bracket Ⅱ-6. It drives driven gear Ⅱ-4 through input shaft Ⅱ-3 and drive gear Ⅱ-2, which in turn drives output shaft Ⅱ-5, thereby driving the waist and back lifting arm assembly Ⅲ.

[0049] like Figure 4 As shown, support frame Ⅲ-1 is fixed on input shaft Ⅱ-5, and integrates motor bracket Ⅲ-4, drive wheel bracket Ⅲ-6, upper cage Ⅲ-13, and lower cage Ⅲ-12 on it. Motor bⅢ-2 and the reducer Ⅲ-3 connected to it are fixed on motor bracket Ⅲ-4, and drive ball screw pair Ⅲ-10 through universal joint Ⅲ-5 and transition shaft Ⅲ-7. The ball screw of ball screw pair Ⅲ-10 is rotatably mounted on the side plates connected to drive wheel bracket Ⅲ-6 and lower support plate Ⅲ-15 respectively through screw bracket Ⅲ-9, and works normally under the guidance of guide shaft Ⅲ-11. The screw nut of ball screw pair Ⅲ-10 is fitted with wire rope fixing part Ⅲ-14, which drives the wire rope to move linearly. The wire rope is wound around the driving pulley Ⅲ-8 and the driven pulley Ⅲ-16, converting the linear motion of the lead screw nut into the rotational motion of the driven pulley Ⅲ-16, which in turn drives the movement of the dorsal arm joint Ⅳ and the subsequent intermediate folding joint Ⅵ.

[0050] This application designs a rear-drive layout suitable for backpack-style upper limb extremities. The main drive components are positioned near the wearable backplate I and the waist-back-arm assembly III, bringing heavier components such as motor III-2, reducer III-3, and ball screw assembly III-10 closer to the human torso. The first link V, second link VII, and end effector primarily handle transmission and actuation functions. Compared to solutions that directly place the drive motors at the distal joints, this application effectively reduces the load on the distal arm segments of the extremity, decreases the user's swaying inertia and discomfort when carrying the limb, and improves the stability, safety, and human-machine coordination of the extremity during movement.

[0051] Specifically, two driving sheaves III-8 and two driven sheaves III-16 are arranged in a one-to-one correspondence. Two steel wire ropes are wound around the driving sheaves III-8 and driven sheaves III-16 on the same inner and outer sides. One steel wire rope wraps around the driving sheaves III-8 and driven sheaves III-16 from the top at both ends, forming an upper layer steel wire rope outer connection; the other steel wire rope wraps around the driving sheaves III-8 and driven sheaves III-16 from the bottom at both ends, forming a lower layer steel wire rope outer connection. Optionally, the steel wire rope fixing piece III-14 is fixed to the lower layer steel wire rope.

[0052] like Figure 5 As shown, the first driven sheave III-16a and the second driven sheave III-16b, driven by the arm extension joint axis IV-1, rotate independently on the arm extension joint axis IV-1, which is rotatably mounted on the retainer plate III-17. The intermediate folding joint VI is fixed to the first link V via the snap-fit ​​connector VI-1 and connected to the second link VII via the snap-fit ​​joint VI-4. The wire rope is wound around the driven sheave III-16, passes over the arm extension guide wheel IV-3, passes through the hollow carbon fiber first link V, passes over the folding guide wheel VI-2, passes over the winding wheel VI-3, and continues to the fixed end located on the snap-fit ​​joint VI-4 for fixation.

[0053] For example, the winding wheel VI-3 has two sets of parallel grooves, and each driven rope wheel Ⅲ-16 corresponds to one set of grooves. The winding method of the wire rope between the winding wheel VI-3 and the two driven rope wheels Ⅲ-16 is as follows: the winding method close to the paper surface is an upper wrapping winding. For example, one end of the wire rope is fixed to the bottom of the groove of a driven rope wheel Ⅲ-16, and then it is wound upwards to wrap around the driven rope wheel Ⅲ-16. After that, it is wound downwards, passing under the lower part of the arm guide wheel Ⅳ-3 and through the hollow first connecting rod V. It passes over the bottom of the unfolding guide wheel VI-2, and then it is led upwards to wrap around the corresponding set of grooves on the winding wheel VI-3. Then, the other end of the wire rope is led out from the bottom of the groove and fixed to the inward fixed end of the buckle joint VI-4.

[0054] The winding method, deviating from the description on paper, involves tying a knot in the middle of the wire rope, fixing the knot to the center of another driven pulley Ⅲ-16 facing the driving pulley Ⅲ-8. Then, the two wire ropes wrap around the grooves of the driven pulley Ⅲ-16 from top to bottom, respectively, before overlapping in the opposite direction to the arm guide pulley Ⅳ-3 and passing through the hollow first connecting rod V. They then overlap in the opposite direction again to the unfolding guide pulley Ⅵ-2. Next, the two wire ropes wrap around the corresponding set of grooves on the winding pulley Ⅵ-3 from bottom to top, respectively. Finally, the ends of the wire ropes leading from the grooves are fixed to the two fixed ends corresponding to the joint piece Ⅵ-4. In reality, the two wire ropes in this method are wound in a figure-eight pattern.

[0055] like Figure 6As shown, the second link VII is connected to the intermediate folding joint via joint VI-4, and to other components of the end coupling posture joint VIII via joint connector VIII-1.

[0056] like Figure 7 As shown, the attitude support VIII-2 of the end-coupled attitude joint VIII is fixed to the second link VII via joint connector VIII-1. The attitude support VIII-2 is fixed to joint connector VIII-1, and motors cVIII-3 and dVIII-6, the first shaft VIII-4, the second shaft VIII-5, the third shaft VIII-7, and the drive shaft VIII-9 are mounted on the attitude support VIII-2.

[0057] The first axis VIII-4 is connected to the output end of motor cVIII-3, the second axis VIII-5 can rotate relative to the attitude support VIII-2, the third axis VIII-7 is connected to the output end of motor dVIII-6, and the drive axis VIII-9 can rotate relative to the attitude support VIII-2.

[0058] The bevel gear VIII-8 is fixed on the drive shaft VIII-9. The shaft segment of the bevel gear shaft VIII-10 is rotatably mounted on the end bracket VIII-11. The shaft segment of the bevel gear shaft VIII-10 passes through the end bracket VIII-11 and connects to the end tool connector IX. Motor aⅧ-3 is decelerated by a two-stage gear system (a first gear fixed to the first shaft Ⅷ-4, a large intermediate gear and a small intermediate gear fixed to the second shaft Ⅷ-5, and a drive gear fixed to the drive shaft Ⅷ-9, with the first gear meshing with the large intermediate gear and the small intermediate gear meshing with the drive gear) and then drives the drive shaft Ⅷ-9 to rotate, which in turn drives the bevel gear Ⅷ-8 to rotate, and further drives the bevel gear on the bevel gear shaft Ⅷ-10 to rotate around its own axis. Similarly, motor dⅧ-6 is decelerated by a first-stage gear system (including a second gear fixed to the third shaft Ⅷ-7 and a third gear mounted on the drive shaft Ⅷ-9) and then drives the end bracket Ⅷ-11 to deflect up and down, thus achieving coupled motion of two degrees of freedom.

[0059] In operation, the wearable backplate I is fixedly connected to the user's back or lumbar region. The wearable backplate I can be connected to the human torso via shoulder straps, waist belts, buckles, straps, or other wearable fixing structures. Components such as batteries, controllers, and actuators can be mounted on the wearable backplate I or on auxiliary structures connected to it. The lumbar-back base joint II is mounted on the wearable backplate I and is used to fix the exolimb robot to the back of the user, serving as the root joint for the exolimb robot's movement relative to the human torso.

[0060] When the exolimb robot is working, the motor aⅡ-1 in the lumbar and back base joint Ⅱ outputs torque, which is reduced and increased in torque by the drive gear Ⅱ-2 and the driven gear Ⅱ-4 before being transmitted to the output shaft Ⅱ-5. The output shaft Ⅱ-5 drives the lumbar and back arm power assembly Ⅲ to rotate relative to the wearable back plate Ⅰ, thereby adjusting the posture of the root of the exolimb robot relative to the back of the human body. Through the movement of the lumbar and back base joint Ⅱ, the exolimb robot can unfold from the back of the human body to one side or to the outside, and provide a suitable initial working position for the subsequent back extension arm joint Ⅳ, the intermediate folding joint VI, and the end tool connector IX.

[0061] When the backrest lifting arm assembly III is working, the motor bⅢ-2 outputs torque, which is reduced and amplified by the reducer Ⅲ-3, and then transmitted to the ball screw pair Ⅲ-10 through the universal joint Ⅲ-5 and the transition shaft Ⅲ-7. When the ball screw pair Ⅲ-10 rotates, the screw nut on it moves linearly along the guide shaft Ⅲ-11, and the wire rope fixing component Ⅲ-14 installed on the screw nut moves accordingly. Since the wire rope is wound between the driving wire rope pulley Ⅲ-8 and the driven wire rope pulley Ⅲ-16, the linear movement of the wire rope fixing component Ⅲ-14 can pull the wire rope to move, and further drive the corresponding wire rope pulley to generate rotational motion, thereby converting the linear motion output of the ball screw Ⅲ-10 into the rotational input at the backrest lifting arm joint Ⅳ.

[0062] The lumbar and back lifting arm assembly III is equipped with two independent sets of lead screws and wire rope transmission structures. Two sets of driving wire rope pulleys III-8 are connected to two sets of driven wire rope pulleys III-16 via corresponding wire ropes. These two sets of pulleys can rotate independently, inputting motion into the coupling transmission structures of the dorsal arm extension joint IV and the intermediate folding joint VI. Because the two sets of lead screws and wire rope transmission structures are independently arranged, coordinated folding and extending movements between the proximal and intermediate arm segments can be achieved by controlling the displacement, speed, or direction input by the two sets of wire ropes.

[0063] The driven wire rope pulley III-16 at the rear arm extension joint IV does not directly drive the rear arm extension joint IV or the intermediate folding joint VI independently, but serves as the input end of the coupling transmission mechanism. Specifically, after the wire rope is wound out by the driven wire rope pulley III-16, it changes direction via the arm extension guide pulley IV-3, passes through the first connecting rod V of the hollow carbon fiber, and then winds around the winding pulley VI-3 via the folding guide pulley VI-2 at the intermediate folding joint VI, finally being fixed to the joint member VI-4 or the fixed end connected to it. Through the above wire rope path, a coupling connection is formed between the rear arm extension joint IV and the intermediate folding joint VI, so that the rotation of the driven wire rope pulley III-16 can drive the rear arm extension joint IV and the intermediate folding joint VI to move in tandem according to the preset coupling relationship.

[0064] When the exoskeleton robot needs to extend from the back of the user, the back-lifting arm assembly III pulls a steel cable via a ball screw pair III-10, causing the two driven steel cable pulleys III-16 to rotate in the corresponding directions. This, coupled with the steel cable, drives the back-side extension arm joint IV and the intermediate folding joint VI to unfold. At this time, the first link V swings outward relative to the back-lifting arm assembly III, and the second link VII unfolds relative to the first link V, causing the end effector coupling posture joint VIII and the end effector tool connector IX to move to the target working area around the upper limbs or in front of or to the side of the user. When the exoskeleton robot needs to be retracted, motor bIII-2 moves in the opposite direction, and the ball screw pair III-10 drives the steel cable fixing component III-14 to move in the opposite direction, causing the back-side extension arm joint IV and the intermediate folding joint VI to fold in opposite directions. This allows the exoskeleton robot to be retracted to the vicinity of the user's back, reducing interference with the user's activities when not in use.

[0065] The second link VII is connected to the intermediate folding joint VI via joint latch VI-4, and to the posture support VII-2 of the end-effector coupling posture joint VIII via joint connector VIII-1. The intermediate folding joint VI completes the unfolding and retraction of the main workspace of the extremity robot, while the second link VII transmits the motion of the intermediate folding joint VI to the end-effector coupling posture joint VIII, enabling the end-effector connector IX to reach working positions at different heights, distances, and directions. The first link V and the second link VII can be made of carbon fiber tubing or other lightweight, high-strength rods to reduce the distal mass of the extremity and improve wearing comfort.

[0066] When the end-effector coupling attitude joint VIII is working, motors cVIII-3 and dVIII-6 serve as two drive inputs. Motor cVIII-3, after being reduced in speed by a gear transmission mechanism, drives shaft VIII-9 to rotate. Driven shaft VIII-9 drives bevel gear VIII-8 to rotate, and bevel gear VIII-8 further drives bevel gear shaft VIII-10 and the end-effector connector IX connected to it to rotate around its axis, thus achieving rotation of end-effector connector IX around its axis, denoted as the first attitude. Motor dVIII-6, after being reduced in speed by a gear, drives end-effector support VIII-11 to deflect around its corresponding axis, thereby adjusting the pitch attitude of end-effector connector IX relative to the second link VII, denoted as the second attitude. Through the cooperation of motors cVIII-3 and dVIII-6, the end-effector coupling attitude joint VIII can achieve position and attitude adjustment of end-effector connector IX.

[0067] Once the end-effector IX reaches the target work area, its orientation can be further adjusted via the end-coupling attitude joint VIII, allowing the end-effector of IX to adapt to different gripping, support, or tool operation directions. The end-effector can be configured as a gripper, support end, tool mount, operating tool interface, or other actuation structure according to actual task requirements. When the end-effector is a gripping structure, it assists the user in grasping, handling, and holding objects; when it is a tool mount, it can mount screwdrivers, clamps, sensors, or other working tools; when it is a support end, it provides additional support when the user's hands are occupied or when maintaining a posture is required.

[0068] In summary, during operation, this embodiment achieves root posture adjustment of the exolimb robot through the lumbar-back base joint II, remote transmission of drive input through the ball screw and wire rope wheel transmission structure in the lumbar-back lifting arm assembly III, deployment and retraction of the exolimb from the back of the user through the coupled drive of the dorsal extension arm joint IV and the intermediate folding joint VI, and posture adjustment of the end effector through the end-effector coupling posture joint VIII. This exolimb robot can provide users with additional manipulative limbs to perform tasks such as grasping, supporting, carrying, tool operation, and multi-task collaborative work without significantly restricting the user's original upper limb movements.

[0069] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions created by the present invention, and are not intended to limit the scope of protection of the present invention. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions created by the present invention without departing from the essence and scope of the technical solutions created by the present invention.

Claims

1. An exolimb robot, characterized in that: It includes a lumbar and back base joint, a lumbar and back arm power assembly III, a dorsal extension arm joint, a middle folding and extending joint, an end-coupling posture joint, and an end-tool connector. The backrest arm power assembly is connected to the backrest base joint, the rear arm extension joint is rotatably connected to the backrest arm power assembly, the rear arm extension joint is connected to the intermediate folding joint, the intermediate folding joint is connected to the end coupling posture joint, and the end coupling posture joint is connected to the end tool connector. The posture adjustment of the backrest arm power assembly is achieved by controlling the backrest base joint, and the remote transmission of motion is achieved by controlling the backrest arm power assembly. The rear arm extension joint is configured to be driven by the backrest lifting arm assembly to fold and unfold relative to the backrest arm power assembly. The intermediate folding joint is configured to be driven by the backrest arm power assembly to fold and unfold relative to the rear arm extension joint. The posture adjustment of the end tool connector is achieved by controlling the end coupling posture joint.

2. The exolimb robot according to claim 1, characterized in that: The lumbar and back base joint includes a motor a, a drive gear, a driven gear, and an output shaft; the drive gear is installed at the output end of the motor a, and the drive gear meshes with the driven gear; the driven gear is installed on the output shaft and the two are relatively stationary; the lumbar and back arm power assembly III is installed on the output shaft and the two are relatively stationary.

3. The exolimb robot according to claim 1, characterized in that: The remote transmission of motion is achieved by controlling the lead screw and rope wheel transmission structure of the waist, back and arm power assembly.

4. The exolimb robot according to claim 1, characterized in that: The waist-back arm power assembly III includes two sets of lead screw and rope wheel transmission structures. The two sets of lead screw and rope pulley transmission structures are symmetrically arranged. Each set of screw and pulley transmission structure includes a motor b, a ball screw pair, a wire rope fixing component, a driving pulley and a driven pulley. The driving pulley and the driven pulley are arranged radially at intervals and can rotate independently. The driving pulley and the driven pulley are connected by two wound wire ropes. The two wire ropes are symmetrically distributed on the upper and lower sides of the pulley shaft. The motor b is used to transmit power to the ball screw pair. The wire rope fixing component is installed on the screw nut of the ball screw pair and fixed to one of the two wire ropes.

5. The exolimb robot according to claim 4, characterized in that: The intermediate folding joint includes a winding wheel, a snap-fit ​​connector, and a joint component; The snap-fit ​​connector connects to the rear arm joint. The winding wheel is rotatably mounted on the snap-fit ​​connector. The joint is connected to the winding wheel and the two are relatively stationary. The winding wheel and the driven rope wheel are connected by a wound steel wire rope. The steel wire rope is guided by a guide wheel to drive the joint to rotate.

6. The exolimb robot according to claim 4, characterized in that: The dorsal extension arm joint includes the extension arm joint axis and the extension arm support; The driven sheave is rotatably mounted on the boom extension joint axis, and the boom extension bracket is rotatably mounted on the boom extension joint axis and connected to the intermediate folding joint.

7. The exolimb robot according to claim 1, characterized in that: The end-effector coupling posture joint includes a first posture mechanism and a second posture mechanism. The first posture mechanism includes a motor c, a gear set c, a drive shaft, a bevel gear, and a bevel gear shaft. The output end of the motor c is connected to the drive shaft through the gear set. The bevel gear is mounted on the rotatable drive shaft and the two are relatively stationary. The bevel gear meshes with the bevel gear on the rotatable bevel gear shaft. The end-effector connector is connected to the shaft end of the bevel gear shaft. The first posture mechanism is connected to the second posture mechanism. The second posture adjustment of the end-effector connector is realized by controlling the second posture mechanism.

8. The exolimb robot according to claim 7, characterized in that: Gear set c is a two-stage reduction gear.

9. The exolimb robot according to claim 1, characterized in that: The end-effector coupling posture joint includes a first posture mechanism and a second posture mechanism. The second posture mechanism includes a motor d, a gear set d, and an end support. The output end of the motor d is connected to the end support through the gear set d. The gear set d and the end support rotate synchronously. The end support is connected to the end actuator. The first posture mechanism is connected to the second posture mechanism. The first posture adjustment of the end tool connector is achieved by controlling the first posture mechanism.

10. An exolimb robot according to claim 9, characterized in that: Gear set d is a single-stage reduction gear.

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