Exoskeleton robot structure capable of being used for waist assistance

Abstract

According to the exoskeleton robot structure capable of being used for assisting the waist, a binding assembly is connected to a frame, a driving motor is also installed on the frame through a support, an output wheel is fixedly connected to an output shaft of the driving motor, one end of a winding belt is fixedly connected to the wheel face of the output wheel and wound around the output wheel, and the other end of the winding belt is fixedly connected to the frame. The other end of the winding belt is simultaneously connected to two thigh binding belts of the binding assembly through a flexible belt; the output wheel is further fixedly connected with a ratchet wheel, the pawl is arranged beside the ratchet wheel, a shaft rod is installed at the position, corresponding to the pawl, of the support, the middle of the pawl is hinged to the shaft rod, the face, away from the ratchet wheel, of the tail of the pawl is connected to the support through an extension spring, and an electromagnet is arranged beside the other face of the tail of the pawl and fixedly connected to the rack. And the tail part of the pawl is made of a ferromagnetic material. The exoskeleton robot has the advantages of being good in waist assisting effect, small in human body load, good in user experience, capable of keeping the posture, flexible and convenient to use, low in manufacturing and follow-up maintenance cost and the like.

Description

Technical Field

[0001] The utility model belongs to the field of power-assist robots, and in particular relates to an exoskeleton robot structure that can be used for waist power assistance. Background Art

[0002] Wearable waist exoskeleton robots can provide functions such as assistance, protection, and support for people's waists. They integrate multiple technologies such as mechanics, electronics, control, and sensing. They can drive the system through a matching follow-up control strategy to perform human-machine collaborative movement, enhance the load and movement capacity of the human waist, and have broad application prospects in many fields such as industrial production, rehabilitation medicine, and military.

[0003] Currently, most active power-assisted exoskeleton robots for the waist are driven by placing a pair of drive motors at the human hip joint. This type of exoskeleton robot uses a dual-motor hip joint power-assisted mode to assist the human hip joint, which can be used to assist the human lower limbs in walking. It also has a certain waist power-assisted function. When the human body bends or stands up, the drive motors at the two hip joints can also rotate in the bending direction and the standing direction simultaneously to assist the human waist extension movement. However, according to the walking habits of the human body, its drive motor needs to be a high-speed, low-load type, while for the characteristics of waist movement, a low-speed, high-load drive motor needs to be selected. Therefore, the actual application effect of the waist power-assisted function of this type of exoskeleton robot with a dual-motor hip joint power-assisted mode is poor, and two motors are required to drive it synchronously. The load on the human legs is also large. Therefore, there is an urgent need for an exoskeleton robot specifically for waist power-assisted walking.

[0004] Furthermore, many applications of waist-assisted exoskeleton robots require the waist to maintain a fixed position for extended periods. In these scenarios, the drive motor needs to maintain a certain torque without mechanical movement. This converts all electrical energy into heat, generating significant heat in the motor, which can cause it to overheat or even burn out. Some motors have brakes, which offer some braking function. However, these brakes typically rely on friction between friction plates, preventing relative rotation between the motor's stator and rotor. Under heavy loads, this braking function is ineffective, creating a dangerous situation. Furthermore, motors with brakes are bulky and heavy, compromising the compactness of the robotic system.

[0005] For example, Maibao Intelligent Technology (Suzhou) Co., Ltd. has designed an active waist-assist exoskeleton (CN112621722A), which places a pair of motors at the human hip joints to assist the hip joints. In addition to assisting the human body in walking, the motors can also simultaneously rotate forward or reverse to achieve waist-assistance functions for the human body to bend and stand up. However, the symmetrical installation structure of the two motors increases the overall weight of the system. This configuration achieves waist bending and straightening through the relative rotation of the back and thighs. In order to ensure that the human body can turn and move sideways at the same time, an additional mechanism to support leg turning and moving sideways is added, which greatly increases the complexity of the thigh and binding mechanism. The relatively high-speed and low-torque characteristics of the motors are also incompatible with the low-speed and high-torque characteristics required for waist assistance, reducing the effectiveness of waist assistance. There is no corresponding holding mechanism for the hip joint. When the waist needs to maintain a certain posture for a long time, the motor will continue to output torque without rotation, resulting in a large temperature rise, which not only wastes electricity but also is not conducive to the normal operation of the subsequent motor. Utility Model Content

[0006] Based on the shortcomings of existing exoskeleton robots described in the background technology, the utility model provides an exoskeleton robot structure that can be used for waist assistance, which has the characteristics of good waist assistance effect, small human body load, good user experience, posture maintenance function, flexible and convenient use, and low manufacturing and subsequent maintenance costs.

[0007] Provided is an exoskeleton robot structure that can be used for waist assistance, comprising a binding assembly, a frame, a drive motor, an output wheel, a reel, a flexible belt, a ratchet, a pawl, a shaft, an electromagnet, and a tension spring;

[0008] The binding assembly is connected to the frame, and the driving motor is also installed on the frame through a bracket and a support plate. The output shaft of the driving motor is fixedly connected to an output wheel, and one end of the belt is fixedly connected to the wheel surface of the output wheel and wound around the output wheel. Specifically, a slot is provided on the wheel surface of the output wheel, and one end of the belt can be pressed into the slot by a pressure block. The other end of the belt is simultaneously connected to the two thigh straps of the binding assembly through a flexible belt, and the flexible belt can specifically be a tension belt.

[0009] The output wheel is also fixedly connected to a ratchet, and the ratchet is coaxially arranged next to the output wheel and can be fastened to the output wheel by a plurality of circumferentially arrayed screws, so that the ratchet and the output wheel are securely installed; the pawl is arranged next to the ratchet, and the bracket is equipped with a shaft at the corresponding position of the pawl, and the middle part of the pawl is hinged to the shaft, specifically, a rotating hole is opened in the middle part of the pawl, and the pawl is sleeved on the shaft through its rotating hole, and the side of the tail of the pawl away from the ratchet is connected to the lower part of the bracket through a tension spring, and an electromagnet is arranged next to the other side of the tail of the pawl, and the electromagnet is fixedly connected to the bottom surface of the frame through a mounting bracket, and the tail of the pawl is made of ferromagnetic material.

[0010] The exoskeleton robot with the above structure adopts a single motor back flexible belt waist power-assist mode. Its working principle is as follows:

[0011] When the human body bends or stands up, the drive motor works to unwind or rewind the belt on the output wheel. The belt movement is transmitted to the thigh strap through the flexible belt, assisting the human waist to stretch, thus realizing the waist assistance function.

[0012] When the electromagnet is not energized, the tension spring tightens the tail of the pawl, causing the pawl to engage with the tooth groove of the ratchet wheel to restrict the rotation of the ratchet wheel, thereby restricting the rotation of the output wheel. In this state, the belt cannot be unwound, thereby preventing the waist from bending, thereby achieving the waist load retention function;

[0013] When the electromagnet is energized, it attracts the tail of the pawl, which can overcome the tension of the tension spring on the tail of the pawl, causing the tension spring to be further stretched, and the pawl swings around the shaft, so that the pawl moves away from the ratchet, thereby releasing the waist load holding function and restoring normal waist movement and power assist function.

[0014] The control of the above-mentioned drive motor and electromagnet can be achieved through intelligent control gloves. A bending sensor is installed on the back of each finger of the intelligent control glove, a thin film pressure sensor is installed on the front of the finger tip, and a signal acquisition and communication control circuit is installed on the back of the palm. The bending sensor and the thin film pressure sensor can be used to collect the movement state of the finger tip and the contact force between the finger and the object, and transmit them to the main control board in the electrical control box through wired or wireless communication, so as to control the operation of the drive motor and electromagnet; the control method of the drive motor and electromagnet is existing technology. Since this application aims to protect the structure of the exoskeleton robot, the specific control method and logic of the drive motor and electromagnet will not be repeated here.

[0015] Preferably, the drive motor is a low-speed, high-load reduction motor, stepper motor or servo motor that can rotate forward and reverse. Such a low-speed, high-load drive motor is more in line with the movement characteristics of the waist and is conducive to improving the waist assistance effect under large load scenarios.

[0016] Furthermore, the above-mentioned exoskeleton robot that can be used for waist assistance also includes a limit guide assembly, which includes a limit member, a limit rod and a tension guide shaft;

[0017] The limiting member is arranged below the output wheel and fixedly connected to the lower part of the frame. A through hole is opened on the limiting member, and two parallel limiting rods are installed in the through hole of the limiting member; the bracket is installed with a tensioning guide shaft at the unwinding position of the belt, and the belt passes around the tensioning guide shaft and passes through the gap between the two limiting rods; in this way, the belt will not shake when winding and unwinding, and a more stable waist support effect can be achieved.

[0018] Furthermore, the above-mentioned exoskeleton robot that can be used for waist assistance also includes a mounting block, the bottom surface of which is integrally connected to a pull ring, the end of the roll belt is fixedly connected to the mounting block after passing through the through hole of the limiter, one end of the flexible belt is detachably connected to the thigh strap via Velcro, and the other end of the flexible belt is detachably connected to the pull ring of the mounting block via Velcro; the flexible belt arranged in this way facilitates the connection and disconnection of the driving component and the thigh strap, and is convenient for human wear after disconnection.

[0019] Preferably, an anti-collision rubber piece is fixedly connected to the top surface of the mounting block to avoid direct rigid contact between the mounting block and the limiting piece when the tape is wound.

[0020] Preferably, the binding assembly also includes a backboard, a waist side guard plate, a shoulder strap and a waist belt; the backboard is fixedly connected to the frame, the backboard and the drive motor are respectively arranged on the front and rear sides of the frame, the two waist side guard plates are respectively arranged on the left and right sides of the backboard and are respectively fixedly connected to the backboard, one end of the shoulder strap is fixedly connected to the backboard, and the other end is fixedly connected to the corresponding waist side guard plate, the two ends of the waist belt are respectively detachably connected to the corresponding waist side guard plates, and the thigh straps are fixedly connected to the corresponding waist side guard plates through stretch straps; the human torso is combined and tied to the human body through the front waist belt and shoulder straps, and the human thighs are combined and tied through the lower thigh straps. Such a binding assembly can be firmly tied to the human body and will not affect the waist assistance effect.

[0021] Preferably, a shell cover is also provided at the back plate, the shell cover is fixedly connected to the frame, the bracket, drive motor, output wheel, ratchet and pawl are all located inside the shell cover, and the shell cover is provided with an obstacle avoidance hole at the tape unwinding position; in this way, the shell cover can protect the various power-assisted drive components on the back of the human body and also make the appearance good.

[0022] Preferably, an electric control box is provided inside the shell cover and above the motor. The electric control box is fixedly connected to the back panel. The main control board, battery and other components are installed in the electric control box. It has functions such as signal acquisition, transmission, calculation, and control, and supplies power to the system at the same time. An extended display control panel electrically connected to the electric control box is installed on the shoulder strap to facilitate personnel to monitor the system status and adjust the operating mode during the operation of the equipment.

[0023] Preferably, the frame is a hollow tube structure, with wire through holes opened on the surface of the frame, and cables distributed in the hollow cavity of the frame; the cables arranged in this way can be hidden and not exposed, and the cables can pass through the wire through holes on the surface of the frame to connect with the drive motor, electromagnet and battery in the electric control box, and various control components.

[0024] Through the above technical solution, the utility model has at least the following beneficial effects:

[0025] The exoskeleton robot that can be used for waist assistance described in the present application is designed as a single-motor back flexible belt waist assistance mode. The linear assistance from the back to the legs is more in line with the movement characteristics of the waist, which can improve the load capacity and increase the waist assistance effect; the single drive motor used as the power element reduces the number of motors used compared to the exoskeleton robot with a dual-motor hip joint assistance mode described in the background technology, which not only reduces costs, but also reduces system weight and reduces the load on the human body. The single drive motor and the corresponding assistance component units are integrated on the back of the human body, which greatly reduces the load on the human legs and improves the user experience.

[0026] The exoskeleton robot that can be used for waist assistance described in the present application also integrates a retaining mechanism with a ratchet and pawl in the power-assisting drive unit on the back, and has waist load and posture maintenance functions, that is, after the waist moves to a certain position, it can maintain this posture for a long time without consuming electricity, meeting the requirements of adapting to various movement modes; in the scenario of maintaining the posture for a long time, it can not only greatly reduce the system power consumption and maintain the waist load capacity, but also effectively reduce the motor temperature rise and increase the motor service life; it achieves posture maintenance through mechanical self-locking, compared with the motor braking mode with brake described in the background technology, it has higher reliability and greater load capacity.

[0027] The exoskeleton robot that can be used for waist assistance described in the present application has a waist assistance mode that uses a flexible belt to transmit force to pull the thigh strap to achieve waist extension movement. Since the flexible belt is flexible and bendable, it does not affect the turning and lateral movement of the human body, and is flexible and convenient to use. Compared with the dual-motor hip joint assistance mode described in the background technology (which requires a complex rigid structure to be bound to the thigh to transmit torque from the hip joint motor, and requires two rotating pairs to realize the lower limb turning and lateral movement functions), it not only greatly simplifies the complexity of the transmission mechanism, but also eliminates the need to add additional rotating mechanisms, thereby reducing manufacturing and subsequent maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic diagram of the overall structure of an exoskeleton robot that can be used for waist assistance as described in an embodiment of the present application;

[0029] Figure 2 This is a schematic diagram of a portion of the internal structure of an exoskeleton robot that can be used for waist assistance as described in an embodiment of the present application;

[0030] Figure 3 This is a schematic diagram of the structure of the ratchet and spine of an exoskeleton robot that can be used for waist assistance as described in an embodiment of the present application (the back plate, bracket and other components are hidden in the figure);

[0031] Figure 4Schematic diagram of the structure of the limiting member and the limiting rod described in the embodiment of the present application. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. These drawings are all simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0033] In the description of this application, it should be understood that if there are terms such as "upper", "lower", "left", "right", "front", "back", etc. indicating directions or positional relationships, they are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operate in a specific direction. Therefore, the terms describing the positional relationship are only used for illustrative purposes and cannot be understood as limiting this patent; if there are terms such as "first", "second", etc., they are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first", "second", etc. may explicitly or implicitly include one or more of the said features. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances.

[0034] In the description of the utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "provided with," "connected," etc. should be understood in a broad sense. For example, "connected" can mean a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0035] refer to Figures 1 to 4 An exoskeleton robot structure that can be used for waist assistance includes a binding assembly, a frame 1, a drive motor 8, an output wheel 9, a belt 10, a flexible belt 2, a ratchet 11, a pawl 12, a shaft 18, an electromagnet 13, and a tension spring 14;

[0036] The binding assembly is connected to the frame 1, and the drive motor 8 is also installed on the frame 1 through the bracket 15 and the support plate 16. The output shaft of the drive motor 8 is fixedly connected to the output wheel 9, and one end of the belt 10 is fixedly connected to the wheel surface of the output wheel 9 and wound around the output wheel 9. Specifically, a slot is provided on the wheel surface of the output wheel 9, and one end of the belt 10 can be pressed into the slot by a pressure block. The other end of the belt 10 is simultaneously connected to the two thigh straps 301 of the binding assembly through a flexible belt 2. The flexible belt 2 can specifically be a tension belt.

[0037] The output wheel 9 is also fixedly connected to a ratchet 11, and the ratchet 11 is coaxially arranged next to the output wheel 9 and can be fastened to the output wheel 9 by a plurality of circumferential array screws, so that the ratchet 11 and the output wheel 9 are securely installed; the pawl 12 is arranged next to the ratchet 11, and the bracket 15 is equipped with a shaft 18 at the corresponding position of the pawl 12, and the middle part of the pawl 12 is hinged to the shaft 18. Specifically, a rotating hole is opened in the middle part of the pawl 12, and the pawl 12 is sleeved on the shaft 18 through its rotating hole, and the side of the tail of the pawl 12 away from the ratchet 11 is connected to the lower part of the bracket 15 through a tension spring 14, and an electromagnet 13 is provided next to the other side of the tail of the pawl 12. The electromagnet 13 is fixedly connected to the bottom surface of the frame through a mounting bracket, and the tail of the pawl 12 is made of ferromagnetic material.

[0038] The exoskeleton robot with the above structure adopts a single motor back flexible belt waist power-assist mode. Its working principle is as follows:

[0039] When the human body bends or stands up, the driving motor 8 works to unwind or rewind the belt 10 on the output wheel 9. The movement of the belt 10 is transmitted to the thigh strap 301 through the flexible belt 2, assisting the human body in stretching the waist, thereby achieving the waist assistance function;

[0040] When the electromagnet 13 is not energized, the tension spring 14 tightens the tail of the pawl 12, causing the claw of the pawl 12 to engage with the tooth groove of the ratchet wheel 11 to restrict the rotation of the ratchet wheel 11, thereby restricting the rotation of the output wheel 9. In this state, the belt 10 cannot be unwound, thereby preventing the waist from bending, thereby achieving the waist load retention function;

[0041] When the electromagnet 13 is energized, the electromagnet 13 attracts the tail of the pawl 12, which can overcome the pulling force of the tension spring 14 on the tail of the pawl 12, so that the tension spring 14 is further stretched, and the pawl 12 swings around the shaft 18 as the axis, so that the claw of the pawl 12 is away from the ratchet 11, to release the waist load holding function, thereby restoring normal waist movement and power assist function.

[0042] The control of the above-mentioned drive motor 8 and electromagnet 13 can be achieved through the intelligent control glove 4. A bending sensor is installed on the back of each finger of the intelligent control glove 4, a thin film pressure sensor is installed on the front of the finger tip, and a signal acquisition and communication control circuit is installed on the back of the palm. The bending sensor and the thin film pressure sensor can be used to collect the movement state of the finger tip and the contact force between the finger and the object, and transmit them to the main control board in the electrical control box through wired or wireless communication, so as to control the operation of the drive motor 8 and the electromagnet 13; the control method of the drive motor 8 and the electromagnet 13 is the existing technology. Since this application aims to protect the structure of the exoskeleton robot, the specific control method and logic of the drive motor 8 and the electromagnet 13 will not be repeated here.

[0043] The drive motor 8 can be selected as a low-speed, high-load reduction motor, stepper motor or servo motor that can rotate forward and reverse. Such a low-speed, high-load drive motor 8 is more in line with the movement characteristics of the waist and is conducive to improving the waist assistance effect under large load scenarios.

[0044] In this specific embodiment:

[0045] The above-mentioned exoskeleton robot for waist assistance also includes a limit guide component, refer to Figure 2 and Figure 4 , the limiting guide assembly includes a limiting member 6, a limiting rod 601 and a tensioning guide shaft 17;

[0046] The limiting member 6 is arranged below the output wheel 9 and fixedly connected to the lower part of the frame 1. A through hole is opened on the limiting member 6, and two parallel limiting rods 601 are installed in the through hole of the limiting member 6; the bracket 15 is installed with a tensioning guide shaft 17 at the unwinding position of the belt 10, and the belt 10 is arranged to bypass the tensioning guide shaft 17 and pass through the gap between the two limiting rods 601; in this way, the belt 10 will not shake when winding and unwinding, and a more stable waist support effect can be achieved.

[0047] refer to Figure 1 and Figure 2 The exoskeleton robot for waist assistance also includes a mounting block 7, the bottom surface of which is integrally connected to a pull ring 701. The end of the tape 10 is fixedly connected to the mounting block 7 after passing through the through hole of the stopper 6. One end of the flexible belt 2 is detachably connected to the thigh strap 301 via a Velcro 201, and the other end of the flexible belt 2 is detachably connected to the pull ring 701 of the mounting block 7 via a Velcro 201. This arrangement of the flexible belt 2 facilitates connection and disconnection between the drive component and the thigh strap 301, making it easier for the wearer to wear the device after disconnection. The top surface of the mounting block 7 is also fixedly connected to an anti-collision rubber member 702 to prevent direct rigid contact between the mounting block 7 and the stopper 6 when the tape 10 is reeled.

[0048] refer to Figure 1 The strap 304 is connected to the waist belt 305 by the upper arm and the lower arm, and the upper arm is fixed to the waist belt 305 by the lower arm.

[0049] refer to Figure 1 A shell cover 5 is also provided at the back plate 302, and the shell cover 5 is fixedly connected to the frame 1. The bracket 15, drive motor 8, output wheel 9, ratchet 11 and pawl 12 are all located in the shell cover 5. The shell cover 5 is provided with an obstacle avoidance hole at the unwinding position of the belt 10; in this way, the shell cover 5 can protect the various power-assisted drive components on the back of the human body and also make the appearance good.

[0050] An electrical control box is also located within the housing 5, above the motor. This box is fixedly connected to the back panel 302 and contains components such as a main control board and a battery. The box performs functions such as signal acquisition, transmission, calculation, and control, while also providing power to the system. An extended display control panel, electrically connected to the box, is mounted on the shoulder strap, facilitating monitoring of system status and adjustment of operating modes during operation. The frame 1 is a hollow tubular structure with cable holes formed on its surface. Cables are distributed within the hollow cavity of the frame 1. This arrangement allows the cables to be concealed and not exposed. The cables can pass through the cable holes on the surface of the frame 1 to connect to the drive motor 8, electromagnet 13, the battery within the electrical control box, and various control components.

[0051] The above-mentioned exoskeleton robot that can be used for waist assistance is designed as a single-motor back flexible belt waist assistance mode. The linear assistance from the back to the legs is more in line with the movement characteristics of the waist, which can improve the load capacity and increase the waist assistance effect; the single drive motor 8 is used as the power element. Compared with the exoskeleton robot with a dual-motor hip joint assistance mode described in the background technology, the number of motors used is reduced, which not only reduces costs, but also reduces the weight of the system and reduces the load on the human body. The single drive motor 8 and the corresponding assistance component units are integrated on the back of the human body, which greatly reduces the load on the human legs and improves the user experience.

[0052] This exoskeleton robot, which can be used for waist assistance, also integrates a retaining mechanism with a ratchet 11 and a pawl 12 at the power-assistance drive unit on the back, and has waist load and posture retention functions, that is, after the waist moves to a certain position, it can maintain this posture for a long time without consuming electricity, meeting the requirements of adapting to various movement modes; in the scenario of maintaining a posture for a long time, it can not only greatly reduce the system power consumption and maintain the waist load capacity, but also effectively reduce the motor temperature rise and increase the motor service life; it achieves posture retention through mechanical self-locking, and has higher reliability and greater load capacity than the motor braking mode with a brake described in the background technology.

[0053] The exoskeleton robot that can be used for waist assistance, in its waist assistance mode, transmits force through the flexible belt 2 to pull the thigh strap 301 to achieve waist extension movement. Since the flexible belt 2 is flexible and bendable, it does not affect the turning and lateral movement of the human body, and is flexible and convenient to use. Compared with the dual-motor hip joint assistance mode described in the background technology (which requires a complex rigid structure to be bound to the thigh to transmit the torque from the hip joint motor, and requires two rotating pairs to realize the lower limb turning and lateral movement movement functions), it not only greatly simplifies the complexity of the transmission mechanism, but also eliminates the need to add an additional rotating mechanism, thereby reducing the manufacturing and subsequent maintenance costs.

[0054] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Based on the present invention and the above description, relevant personnel can make various changes and modifications without departing from the technical idea of ​​the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An exoskeleton robot structure that can be used for waist assistance, characterized by: The invention comprises a binding assembly, a frame (1), a driving motor (8), an output wheel (9), a winding belt (10), a flexible belt (2), a ratchet (11), a pawl (12), a shaft (18), an electromagnet (13) and a tension spring (14); The binding assembly is connected to the frame (1), the driving motor (8) is also installed on the frame (1) through the bracket (15), the output shaft of the driving motor (8) is fixedly connected to the output wheel (9), one end of the winding belt (10) is fixedly connected to the wheel surface of the output wheel (9) and wound around the output wheel (9), and the other end of the winding belt (10) is simultaneously connected to the two thigh straps (301) of the binding assembly through the flexible belt (2); The output wheel (9) is also fixedly connected to a ratchet (11), the pawl (12) is arranged beside the ratchet (11), the bracket (15) is installed with a shaft (18) at a corresponding position of the pawl (12), the middle part of the pawl (12) is hinged to the shaft (18), the side of the tail of the pawl (12) away from the ratchet (11) is connected to the bracket (15) through a tension spring (14), and an electromagnet (13) is arranged beside the other side of the tail of the pawl (12), the electromagnet (13) is fixedly connected to the frame, and the tail of the pawl (12) is made of ferromagnetic material.

2. The exoskeleton robot structure for waist assistance according to claim 1, characterized in that: The driving motor (8) is a low-speed, high-load reduction motor, a stepping motor or a servo motor capable of forward and reverse rotation.

3. The exoskeleton robot structure for waist assistance according to claim 1, characterized in that: It also includes a limiting guide assembly, which includes a limiting member (6), a limiting rod (601) and a tensioning guide shaft (17); The limiting member (6) is arranged below the output wheel (9) and fixedly connected to the frame (1); a through hole is provided on the limiting member (6); two parallel limiting rods (601) are installed in the through hole of the limiting member (6); the bracket (15) is installed with a tensioning guide shaft (17) at the unwinding position of the tape (10); the tape (10) bypasses the tensioning guide shaft (17) and passes through the gap between the two limiting rods (601).

4. The exoskeleton robot structure for waist assistance according to claim 3, characterized in that: The invention also includes a mounting block (7), wherein the bottom surface of the mounting block (7) is integrally connected with a pull ring (701), the end of the roll belt (10) is fixedly connected to the mounting block (7) after passing through the through hole of the limiting member (6), one end of the flexible belt (2) is detachably connected to the thigh strap (301) through a Velcro (201), and the other end of the flexible belt (2) is detachably connected to the pull ring (701) of the mounting block (7) through the Velcro (201).

5. The exoskeleton robot structure for waist assistance according to claim 4, characterized in that: The top surface of the mounting block (7) is also fixedly connected with an anti-collision rubber piece (702).

6. An exoskeleton robot structure for waist assistance according to any one of claims 1 to 5, characterized in that: The binding assembly further comprises a back plate (302), a waist side guard plate (303), a shoulder strap (304) and a waist belt (305); The back plate (302) is fixedly connected to the frame (1); the back plate (302) and the drive motor (8) are respectively arranged on the front and rear sides of the frame (1); the two waist side guards (303) are respectively arranged on the left and right sides of the back plate (302) and are respectively fixedly connected to the back plate (302); one end of the shoulder strap (304) is fixedly connected to the back plate (302) and the other end is fixedly connected to the corresponding waist side guard (303); both ends of the waist belt (305) are respectively detachably connected to the corresponding waist side guard (303); and the thigh strap (301) is fixedly connected to the corresponding waist side guard (303) via a stretch belt.

7. The exoskeleton robot structure for waist assistance according to claim 6, characterized in that: A shell cover (5) is also provided at the back plate (302), and the shell cover (5) is fixedly connected to the frame (1). The bracket (15), the drive motor (8), the output wheel (9), the ratchet (11) and the pawl (12) are all located inside the shell cover (5). The shell cover (5) is provided with an obstacle avoidance hole at the unwinding position of the tape (10).

8. The exoskeleton robot structure for waist assistance according to claim 7, characterized in that: An electric control box is also provided inside the housing cover (5) and above the motor, and the electric control box is fixedly connected to the back plate (302).

9. The exoskeleton robot structure for waist assistance according to claim 8, characterized in that: The frame (1) is a hollow tube structure, a surface of the frame (1) is provided with wire-threading holes, and cables are distributed in the hollow cavity of the frame (1).

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