Exoskeleton robot structure for upper limb assistance

Abstract

According to the disclosed exoskeleton robot structure for upper limb assistance, two assistance arm assemblies are arranged on the two sides of a trunk assembly correspondingly; the power-assisted arm assembly comprises a front arm rod, an elbow joint driving mechanism, an upper arm rod, a shoulder joint driving mechanism, an adapter, a first two-degree-of-freedom rotating mechanism, a second two-degree-of-freedom rotating mechanism, a front arm binding piece, a third two-degree-of-freedom rotating mechanism and an upper arm binding piece; one end of the front arm rod is connected to one end of the upper arm rod through the elbow joint driving mechanism, the other end of the upper arm rod is connected to the adapter through the shoulder joint driving mechanism, and the adapter is connected to a frame of the trunk assembly through the first two-degree-of-freedom rotating mechanism; the front arm rod is connected with a front arm binding piece through a second two-degree-of-freedom rotating mechanism, and the upper arm rod is connected with an upper arm binding piece through a third two-degree-of-freedom rotating mechanism. The exoskeleton robot structure for upper limb assistance has the advantages of being wide in application scene, good in assistance effect, high in flexibility degree, good in user experience feeling 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 for upper limb power assistance. Background Art

[0002] Wearable upper limb exoskeleton robots can provide functions such as assistance and support for people's upper limbs, and have wide application value in production, manufacturing, logistics and transportation. It assists the human upper limbs in production, maintenance, and transportation by assisting the human shoulder, elbow and other joints, thereby reducing upper limb fatigue and increasing labor efficiency.

[0003] At present, most active upper limb assisted exoskeleton robots have problems such as limited application scenarios and low flexibility when worn, resulting in poor user experience due to structural design defects.

[0004] For example, a power-assisted upper limb exoskeleton (CN 112847313A) developed by Shanghai Aosha Intelligent Technology Co., Ltd. only places a drive motor at the human shoulder joint, which can provide shoulder joint assistance, but is not suitable for scenarios requiring elbow assistance, such as lifting. Its shoulder joint lacks the degree of freedom of abduction / adduction, which does not conform to the laws of human kinematics. When the arms are in the vertical downward position, the arms cannot directly perform abduction / adduction movements, resulting in a poor user experience. Its arm binding structure has only one degree of freedom of displacement along the direction of the upper arm rod, which does not take into account the differences in human body shape. For example, when the human upper arm is in a free-hanging state, it is not strictly parallel to the direction of gravity, but exists at a certain angle. When binding, binding stress will be generated due to the angle error, resulting in a poor user experience. There is no movable neck support for the neck. In long-term head-up work scenarios, people are prone to neck fatigue and cervical spondylosis. The torso binding is made of soft fabric. When the robot is subjected to load, the external load on the torso binding will force the torso binding mechanism to sink, resulting in poor integration of the robot with the human body and reduced power assistance effect. Utility Model Content

[0005] In response to the shortcomings of existing upper limb assistance exoskeleton robots described in the background technology, the present application provides an exoskeleton robot structure for upper limb assistance, which has the characteristics of wide application scenarios, good assistance effect, high flexibility and good user experience.

[0006] Disclosed is an exoskeleton robot structure for upper limb assistance: two power-assisting arm assemblies are symmetrically arranged on either side of a torso assembly, each comprising a forearm rod, an elbow joint drive mechanism, an upper arm rod, a shoulder joint drive mechanism, an adapter, a first two-degree-of-freedom rotation mechanism, a second two-degree-of-freedom rotation mechanism, a forearm binding member, a third two-degree-of-freedom rotation mechanism, and an upper arm binding member;

[0007] One end of the forearm rod is connected to one end of the upper arm rod via an elbow joint drive mechanism, the other end of the upper arm rod is connected to an adapter via a shoulder joint drive mechanism, and the adapter is connected to the frame of the trunk assembly via a first double-degree-of-freedom rotation mechanism. Under the action of the first double-degree-of-freedom rotation mechanism, the entire power-assist arm assembly can rotate relative to the trunk assembly in two directions: internal rotation / external rotation and adduction / abduction;

[0008] A forearm binding piece is connected to the inner side of the forearm rod via a second dual-degree-of-freedom rotation mechanism. Under the action of the second dual-degree-of-freedom rotation mechanism, the forearm binding piece can rotate relative to the forearm rod in the adduction / abduction and flexion / extension directions. The forearm binding piece is made of semi-circular hard plastic, carbon fiber, or metal, with a cushioning pad provided on its inner side. It is fastened to the human forearm via a strap to increase the binding comfort.

[0009] The inner side of the upper arm rod is connected to an upper arm binding piece through a third double-degree-of-freedom rotation mechanism. Under the action of the third double-degree-of-freedom rotation mechanism, the upper arm binding piece can rotate relative to the upper arm rod in the two directions of adduction / abduction and flexion / extension. The upper arm binding piece is also made of semicircular hard plastic, carbon fiber or metal, and a cushioning pad is also provided on its inner side. It is tightly tied to the human upper arm through a strap to increase the comfort of the binding.

[0010] Preferably, the first dual-freedom rotation mechanism comprises a first connecting member, an intermediate free block and a second connecting member;

[0011] One end of the first connecting member is hinged to the front and back surfaces of the intermediate free block, the other end of the first connecting member is fixedly connected to the adapter, one end of the second connecting member is hinged to the upper and lower surfaces of the intermediate free block, and the other end of the second connecting member is fixedly connected to the frame of the torso component. The first dual-freedom rotation mechanism has internal rotation / external rotation and adduction / abduction degrees of freedom. The rotation centers of the degrees of freedom of the two connecting members are made to coincide with each other through the intermediate free block, which is closer to the true rotation center position of the human shoulder joint, can increase the shoulder joint movement angle, obtain a larger working space, and can meet the needs of the human body to perform abduction movements with both hands naturally hanging down, and form a three-degree-of-freedom shoulder joint with the shoulder joint drive mechanism, which conforms to the laws of human kinematics.

[0012] Preferably, the second dual-degree-of-freedom rotation mechanism and the third dual-degree-of-freedom rotation mechanism each comprise a third connecting member, a rotating block and a rotating shaft, wherein the third connecting member is hinged to the upper and lower surfaces of the rotating block, and the rotating block is fixedly connected to one end of the rotating shaft;

[0013] The forearm binding member is fixedly connected to the third connecting member of the second dual-degree-of-freedom rotation mechanism, and the other end of the rotating shaft of the second dual-degree-of-freedom rotation mechanism is rotatably connected to the inner side surface of the forearm rod. Specifically, a rotating hole is opened on the inner side surface of the forearm rod, and the corresponding end of the rotating shaft is installed in the rotating hole through a bearing or a sleeve;

[0014] The upper arm binding member is fixedly connected to the third connecting member of the third dual-degree-of-freedom rotation mechanism, and the other end of the rotating shaft of the third dual-degree-of-freedom rotation mechanism is rotatably connected to the inner side surface of the upper arm rod. Specifically, a rotating hole is opened on the inner side surface of the upper arm rod, and the corresponding end of the rotating shaft is installed in the rotating hole through a bearing or a sleeve;

[0015] The degrees of freedom of the forearm and upper arm straps in the adduction / abduction direction can adapt to the angle between the upper limbs and the direction of gravity caused by differences in body shape, eliminating the binding stress caused by the angle. At the same time, the degrees of freedom in the flexion / extension direction can eliminate, within a certain range, the obstacles to human-machine collaborative movement caused by the misalignment of the rotation centers of the human and robot joints due to differences in body shape, thereby reducing the requirements for human wear and increasing the number of people who can adapt to the straps.

[0016] Preferably, the elbow joint driving mechanism and the shoulder joint driving mechanism each comprise a connecting rod, a driving motor, a base and a mounting seat;

[0017] One end of the connecting rod is fixedly connected to the output end of the driving motor, and the connecting rod is arranged perpendicular to the output end of the driving motor. A base is fixedly installed on the housing of the driving motor, and a mounting base is integrally connected to the side of the base;

[0018] The other end of the connecting rod of the elbow joint driving mechanism is fixedly connected to the corresponding end of the forearm rod, and the mounting seat of the elbow joint driving mechanism is fixedly connected to one end of the upper arm rod;

[0019] The other end of the connecting rod of the shoulder joint drive mechanism is fixedly connected to the adapter, and the mounting base of the shoulder joint drive mechanism is fixedly connected to the other end of the upper arm rod;

[0020] The drive motor is an inner rotor joint-driven servo motor that can rotate forward and reverse. Driven by the drive motor, it can provide stable assistance to the shoulder joints and elbow joints of the human upper limbs. Compared with a single shoulder joint-assisted exoskeleton, it can simultaneously meet the needs of upper limb joint assistance in various scenarios such as carrying and lifting. It has a wider range of applicable scenarios and a better assistance effect.

[0021] Preferably, the torso assembly comprises a frame, a box, a waist belt, a back plate, two waist side guards and two shoulder straps;

[0022] The backboard is fixedly connected to the frame, and two waist side guards are respectively provided on the left and right sides of the backboard and fixedly connected to the backboard respectively. 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. The two ends of the waist belt are respectively connected to the corresponding waist side guard. The waist belt and shoulder straps are used to tighten the waist belt to the human body.

[0023] The box is located behind the back plate and is fixedly connected to the frame. A control board and a battery are installed in the box.

[0024] The frame is a hollow circular tube structure, and the forearm rod and upper arm rod are also hollow structures. In addition to reducing the weight of the exoskeleton robot, cables for signal transmission and power supply are arranged inside the frame, forearm rod and upper arm rod, which have better concealment.

[0025] A system status display and control panel is also installed on the front of the upper arm rod, and is electrically connected to the control board in the box through wireless or wired means, which is used to display the system operating status and set the system operating mode in real time; the exoskeleton robot structure for upper limb assistance in this application also includes intelligent control gloves, and the back of each finger of the intelligent control gloves is installed with a bending sensor, the front of the fingertip is installed with a thin film pressure sensor, and the back of the palm is installed with a signal acquisition and communication control circuit. The fingertip movement state and the contact force between the finger and the object can be collected through the bending sensor and the thin film pressure sensor, and transmitted to the control board inside the box through wired or wireless communication, so as to control the robot to perform timely upper limb assistance; the control method and logic are existing technologies. Since this application aims to protect the structure of the exoskeleton robot, the specific control method and logic will not be repeated here.

[0026] Preferably, the second connecting member of the first dual-degree-of-freedom rotation mechanism is detachably connected to the frame of the torso assembly through a sleeve, and the sleeve is sleeved on the frame. The frame has a plurality of threaded hole arrays circumferentially at corresponding positions of the sleeve, and the sleeve has a plurality of mounting holes, which are connected to the corresponding threaded hole arrays of the frame through bolts. This connection method can adjust the installation position of the sleeve on the frame, and is used to adjust the relative position of the power arm assembly and the torso assembly to adapt to the body shapes of different people.

[0027] Furthermore, a limit block is fixedly connected to the driving motor housing of the elbow joint driving mechanism. The limit block is located on a side of the corresponding driving motor housing close to the connecting rod and below the corresponding connecting rod. The limit block can limit the swing angle of the connecting rod, that is, it is used to limit the rotation range of the elbow joint mechanism, avoid excessive extension of the elbow joint, and prevent damage to the human elbow joint.

[0028] Furthermore, the torso assembly also includes a shoulder rest, which is an arc-shaped structure that matches the shape of the human shoulder. The shoulder rest is located below the sleeve, and the middle part of the shoulder rest is hinged to the side of the sleeve, so that the shoulder rest can adapt to human shoulders with different inclinations, and can stably and reliably bear the load from the power-assisting arm assembly, ensuring the upper limb power-assisting effect, while reducing the pressure on the human shoulder and improving wearing comfort.

[0029] Furthermore, the torso assembly also includes a neck support, which is installed on the upper part of the frame through a bracket. The neck support is an arc-shaped structure that matches the shape of the human neck. The middle part of the neck support is hinged to the bracket, so that the neck support can adapt to the movement of the human neck, increase the comfort of neck support, reduce neck fatigue caused by long-term head-up work, and prevent cervical spine injuries.

[0030] Through the above technical solution, the utility model has at least the following beneficial effects:

[0031] The exoskeleton robot for upper limb assistance described in the present application can simultaneously assist the shoulder joint and elbow joint of the upper limb by providing joint drive mechanisms at both the shoulder joint and the elbow joint. Compared with a single shoulder joint assistance exoskeleton, it can simultaneously meet the needs of upper limb joint assistance in various scenarios such as carrying and lifting, with a wider range of applicable scenarios and better assistance effects.

[0032] What is important is that the exoskeleton robot structure for upper limb assistance is designed to connect and cooperate with motion mechanisms such as the first dual-degree-of-freedom rotation mechanism, the second dual-degree-of-freedom rotation mechanism and the third dual-degree-of-freedom rotation mechanism. When worn for assistance, it can simultaneously meet the free movement of the human upper limbs in the three directions of internal rotation / external rotation, adduction / abduction and flexion / extension. It has high flexibility and good user experience. Among them, the internal rotation / external rotation center of the shoulder joint coincides with the adduction / abduction rotation center, which is closer to the actual rotation center of the human shoulder joint, can increase the shoulder joint movement angle, obtain a larger working space, and meet the needs of the human body to perform abduction movements with both hands naturally hanging down, and form a three-degree-of-freedom shoulder joint with the shoulder joint drive mechanism, which conforms to the laws of human kinematics; the freedom of the adduction / abduction movement direction of the forearm strap and the upper arm strap can adapt to the angle between the upper limbs and the direction of gravity caused by body shape differences of the human body, eliminate the binding stress caused by the angle, and at the same time, the freedom of the flexion / extension movement direction can eliminate the obstacles to human-machine collaborative movement when the rotation centers of the human body and robot joints do not coincide due to body shape differences within a certain range, reduce the requirements for human wear, and increase the number of people who can adapt. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a schematic diagram of the overall structure of the exoskeleton robot for upper limb assistance described in an embodiment of the present application;

[0034] Figure 2This is a schematic diagram of the overall structure of the exoskeleton robot for upper limb assistance described in an embodiment of the present application from another perspective;

[0035] Figure 3 This is a schematic diagram of the partial structure of the shoulder joint of the exoskeleton robot for upper limb assistance described in an embodiment of the present application;

[0036] Figure 4 This is a schematic diagram of the partial structure of the elbow joint of the exoskeleton robot for upper limb assistance described in an embodiment of the present application;

[0037] Figure 5 This is a schematic structural diagram of the second dual-degree-of-freedom rotation mechanism or the third dual-degree-of-freedom rotation mechanism described in the embodiments of the present application. DETAILED DESCRIPTION

[0038] 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.

[0039] 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.

[0040] 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.

[0041] refer to Figures 1 to 5An exoskeleton robot structure for upper limb assistance, wherein two power-assisting arm assemblies are symmetrically arranged on both sides of a torso assembly, the power-assisting arm assemblies comprising a forearm rod 1, an elbow joint drive mechanism 2, an upper arm rod 3, a shoulder joint drive mechanism 4, an adapter 5, a first two-degree-of-freedom rotation mechanism 6, a second two-degree-of-freedom rotation mechanism 7, a forearm binding member 8, a third two-degree-of-freedom rotation mechanism 9, and an upper arm binding member 10;

[0042] One end of the forearm rod 1 is connected to one end of the upper arm rod 3 through an elbow joint drive mechanism 2, and the other end of the upper arm rod 3 is connected to an adapter 5 through a shoulder joint drive mechanism 4. The adapter 5 is connected to the frame 11 of the torso assembly through a first two-degree-of-freedom rotation mechanism 6. Under the action of the first two-degree-of-freedom rotation mechanism 6, the entire power arm assembly can rotate relative to the torso assembly in the directions of internal rotation / external rotation and adduction / abduction;

[0043] A forearm binding piece 8 is connected to the inner side of the forearm rod 1 via a second dual-degree-of-freedom rotation mechanism 7. Under the action of the second dual-degree-of-freedom rotation mechanism 7, the forearm binding piece 8 can rotate relative to the forearm rod 1 in the directions of adduction / abduction and flexion / extension. The forearm binding piece 8 is semicircular and made of hard plastic, carbon fiber, or metal. A cushion is provided on its inner side and it is tightly fastened to the human forearm via a strap to increase the comfort of the binding.

[0044] The inner side of the upper arm rod 3 is connected to an upper arm binding part 10 through a third double-degree-of-freedom rotation mechanism 9. Under the action of the third double-degree-of-freedom rotation mechanism 9, the upper arm binding part 10 can rotate relative to the upper arm rod 3 in the two directions of adduction / abduction and flexion / extension. The upper arm binding part 10 is also made of semicircular hard plastic, carbon fiber or metal, and a cushioning pad is also provided on its inner side. It is tied tightly to the human upper arm through a strap to increase the comfort of the binding.

[0045] refer to Figure 3 The first dual-freedom rotation mechanism 6 includes a first connecting member 601, an intermediate free block 602 and a second connecting member 603; one end of the first connecting member 601 is hinged to the front and back of the intermediate free block 602, and the other end of the first connecting member 601 is fixedly connected to the adapter 5, one end of the second connecting member 603 is hinged to the upper and lower surfaces of the intermediate free block 602, and the other end of the second connecting member 603 is fixedly connected to the frame 11 of the torso component through the sleeve 22. The first dual-freedom rotation mechanism 6 has internal rotation / external rotation and adduction / abduction degrees of freedom. The rotation centers of the two connecting members are coincident through the intermediate free block 602, which is closer to the true rotation center position of the human shoulder joint, can increase the shoulder joint movement angle, obtain a larger working space, and can meet the needs of the human body to perform abduction movements with both hands naturally hanging down, and form a three-degree-of-freedom shoulder joint with the shoulder joint drive mechanism 4, which conforms to the laws of human kinematics.

[0046] refer to Figure 5 The second dual-degree-of-freedom rotation mechanism 7 and the third dual-degree-of-freedom rotation mechanism 9 each include a third connecting member 7901, a rotating block 7902 and a rotating shaft 7903, wherein the third connecting member 7901 is hinged to the upper and lower surfaces of the rotating block 7902, and the rotating block 7902 is fixedly connected to one end of the rotating shaft 7903;

[0047] The forearm binding member 8 is fixedly connected to the third connecting member 7901 of the second dual-degree-of-freedom rotation mechanism 7. The other end of the rotating shaft 7903 of the second dual-degree-of-freedom rotation mechanism 7 is rotatably connected to the inner side surface of the forearm rod 1. Specifically, a rotating hole is opened on the inner side surface of the forearm rod 1, and the corresponding end of the rotating shaft 7903 is installed in the rotating hole through a bearing or a sleeve 7904.

[0048] The upper arm binding member 10 is fixedly connected to the third connecting member 7901 of the third dual-freedom rotation mechanism 9. The other end of the rotating shaft 7903 of the third dual-freedom rotation mechanism 9 is rotatably connected to the inner side surface of the upper arm rod 3. Specifically, a rotating hole is formed on the inner side surface of the upper arm rod 3, and the corresponding end of the rotating shaft 7903 is installed in the rotating hole via a bearing or a sleeve 7904.

[0049] The degrees of freedom of the forearm strap 8 and the upper arm strap 10 in the adduction / abduction direction can adapt to the angle between the upper limbs and the direction of gravity caused by differences in body shape of the human body, eliminating the binding stress caused by the angle. At the same time, the degrees of freedom in the flexion / extension direction can eliminate, within a certain range, the obstacles to human-machine collaborative movement caused by the misalignment of the rotation centers of the human body and the robot joints due to differences in body shape, thereby reducing the requirements for human wear and increasing the number of people who can adapt to it.

[0050] refer to Figure 3 and Figure 4 The elbow joint driving mechanism 2 and the shoulder joint driving mechanism 4 each include a connecting rod 2401, a driving motor 2402, a base 2403 and a mounting base 2404;

[0051] One end of the connecting rod 2401 is fixedly connected to the output end of the driving motor 2402. The connecting rod 2401 and the output end of the driving motor 2402 are arranged perpendicularly. A base 2403 is fixedly installed on the housing of the driving motor 2402. A mounting base 2404 is integrally connected to the side of the base 2403.

[0052] refer to Figure 4 , the other end of the connecting rod 2401 of the elbow joint driving mechanism 2 is fixedly connected to the corresponding end of the forearm rod 1, and the mounting seat 2404 of the elbow joint driving mechanism 2 is fixedly connected to one end of the upper arm rod 3;

[0053] refer to Figure 3, the other end of the connecting rod 2401 of the shoulder joint driving mechanism 4 is fixedly connected to the adapter 5, and the mounting seat 2404 of the shoulder joint driving mechanism 4 is fixedly connected to the other end of the upper arm rod 3;

[0054] The drive motor 2402 is an inner rotor joint-driven servo motor that can rotate forward and reverse. Driven by the drive motor 2402, it can provide stable assistance to the shoulder joint and elbow joint of the human upper limbs. Compared with a single shoulder joint-assisted exoskeleton, it can simultaneously meet the needs of upper limb joint assistance in various scenarios such as carrying and lifting. It has a wider range of applicable scenarios and a better assistance effect.

[0055] refer to Figure 1 and Figure 2 The torso assembly includes a frame 11, a box 20, a waist belt 12, a back panel 13, two waist side guards 14 and two shoulder straps 15; the back panel 13 is fixedly connected to the frame 11, and the two waist side guards 14 are respectively arranged on the left and right sides of the back panel 13 and are respectively fixedly connected to the back panel 13, one end of the shoulder strap 15 is fixedly connected to the back panel 13, and the other end is fixedly connected to the corresponding waist side guard 14, and the two ends of the waist belt 12 are respectively connected to the corresponding waist side guards 14, and are fastened to the human torso through the waist belt 12 and the shoulder straps 15; the box 20 is located behind the back panel 13 and is fixedly connected to the frame 11, and a control board and a battery are installed in the box 20.

[0056] The frame 11 is a hollow circular tube structure, and the forearm rod 1 and the upper arm rod 3 are also hollow structures. In addition to reducing the weight of the exoskeleton robot, cables for signal transmission and power supply are arranged inside the frame 11, the forearm rod 1 and the upper arm rod 3, which have better concealment.

[0057] A system status display and control panel 18 is also installed on the front of the upper arm rod 3, and is electrically connected to the control panel in the box 20 by wireless or wired means, which is used to display the system operating status and set the system operating mode in real time; the exoskeleton robot structure for upper limb assistance in this application also includes an intelligent control glove 19, and each finger back of the intelligent control glove 19 is installed with a bending sensor, a thin film pressure sensor is installed on the front of the fingertip, 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 fingertip movement state and the contact force between the finger and the object, and transmit them to the control panel inside the box 20 by wired or wireless communication, so as to control the robot to perform timely upper limb assistance; this control method and logic are existing technologies. Since this application aims to protect the structure of the exoskeleton robot, the specific control method and logic will not be repeated here.

[0058] In this specific embodiment:

[0059] refer to Figure 3The second connecting member 603 of the first dual-degree-of-freedom rotation mechanism 6 is detachably connected to the frame 11 of the torso assembly through a sleeve 22. The sleeve 22 is sleeved on the frame 11. The frame 11 has a plurality of threaded hole arrays circumferentially opened at corresponding positions of the sleeve 22. The sleeve 22 has a plurality of mounting holes and is connected to the corresponding threaded hole arrays of the frame 11 through bolts. This connection method can adjust the installation position of the sleeve 22 on the frame 11, and is used to adjust the relative position of the power arm assembly and the torso assembly to adapt to the body shapes of different people.

[0060] refer to Figure 4 A limit block 201 is fixedly connected to the housing of the drive motor 2402 of the elbow joint drive mechanism 2. The limit block 201 is located on a side of the corresponding drive motor 2402 housing close to the connecting rod 2401 and below the corresponding connecting rod 2401. The limit block 201 can limit the swing angle of the connecting rod 2401, that is, it is used to limit the rotation range of the elbow joint mechanism, avoid excessive extension of the elbow joint, and prevent damage to the human elbow joint.

[0061] refer to Figure 3 The torso assembly also includes a shoulder rest 16. The shoulder rest 16 is an arc-shaped structure that matches the shape of the human shoulder. The shoulder rest 16 is located below the sleeve 22. The middle part of the shoulder rest 16 is hinged to the side of the sleeve 22, so that the shoulder rest 16 can adapt to human shoulders with different inclinations, and can stably and reliably bear the load from the power-assisting arm assembly, ensuring the upper limb power-assisting effect, while reducing the pressure on the human shoulder and improving wearing comfort.

[0062] refer to Figure 2 The torso assembly also includes a neck support 17, which is installed on the upper part of the frame 11 through a bracket 21. The neck support 17 is an arc-shaped structure that matches the shape of the human neck. The middle part of the neck support 17 is hinged to the bracket 21, so that the neck support 17 can adapt to the movement of the human neck, increase the comfort of the neck support, reduce neck fatigue caused by long-term head-up work, and prevent cervical vertebrae injuries.

[0063] 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 for upper limb assistance, characterized by: Two power-assisting arm assemblies are respectively arranged on both sides of the trunk assembly, and the power-assisting arm assemblies include a forearm rod (1), an elbow joint driving mechanism (2), an upper arm rod (3), a shoulder joint driving mechanism (4), an adapter (5), a first double-degree-of-freedom rotation mechanism (6), a second double-degree-of-freedom rotation mechanism (7), a forearm binding member (8), a third double-degree-of-freedom rotation mechanism (9) and an upper arm binding member (10); One end of the forearm rod (1) is connected to one end of the upper arm rod (3) via an elbow joint drive mechanism (2), the other end of the upper arm rod (3) is connected to an adapter (5) via a shoulder joint drive mechanism (4), and the adapter (5) is connected to a frame (11) of the trunk assembly via a first two-degree-of-freedom rotation mechanism (6); A forearm binding piece (8) is connected to the forearm rod (1) via a second double-freedom rotation mechanism (7), and an upper arm binding piece (10) is connected to the upper arm rod (3) via a third double-freedom rotation mechanism (9).

2. The exoskeleton robot structure for upper limb assistance according to claim 1, characterized in that: The first dual-freedom rotation mechanism (6) comprises a first connecting member (601), an intermediate free block (602) and a second connecting member (603); One end of the first connecting member (601) is hinged to the front and back sides of the middle free block (602), and the other end of the first connecting member (601) is fixedly connected to the adapter (5). One end of the second connecting member (603) is hinged to the upper and lower sides of the middle free block (602), and the other end of the second connecting member (603) is fixedly connected to the frame (11) of the torso component.

3. The exoskeleton robot structure for upper limb assistance according to claim 1, characterized in that: The second dual-degree-of-freedom rotation mechanism (7) and the third dual-degree-of-freedom rotation mechanism (9) each comprise a third connecting member (7901), a rotating block (7902) and a rotating shaft (7903), wherein the third connecting member (7901) is hinged to the upper and lower surfaces of the rotating block (7902), and the rotating block (7902) is fixedly connected to one end of the rotating shaft (7903); The forearm binding member (8) is fixedly connected to the third connecting member (7901) of the second dual-freedom rotation mechanism (7), and the other end of the rotating shaft (7903) of the second dual-freedom rotation mechanism (7) is rotatably connected to the forearm rod (1); The upper arm binding member (10) is fixedly connected to the third connecting member (7901) of the third dual-freedom rotation mechanism (9), and the other end of the rotating shaft (7903) of the third dual-freedom rotation mechanism (9) is rotationally connected to the upper arm rod (3).

4. The exoskeleton robot structure for upper limb assistance according to claim 1, characterized in that: The elbow joint driving mechanism (2) and the shoulder joint driving mechanism (4) each comprise a connecting rod (2401), a driving motor (2402), a base (2403) and a mounting base (2404); One end of the connecting rod (2401) is fixedly connected to the output end of the driving motor (2402), the connecting rod (2401) and the output end of the driving motor (2402) are arranged perpendicularly, a base (2403) is fixedly mounted on the housing of the driving motor (2402), and a mounting base (2404) is integrally connected to the side of the base (2403); The other end of the connecting rod (2401) of the elbow joint driving mechanism (2) is fixedly connected to the corresponding end of the forearm rod (1), and the mounting seat (2404) of the elbow joint driving mechanism (2) is fixedly connected to one end of the upper arm rod (3); The other end of the connecting rod (2401) of the shoulder joint driving mechanism (4) is fixedly connected to the adapter (5), and the mounting seat (2404) of the shoulder joint driving mechanism (4) is fixedly connected to the other end of the upper arm rod (3).

5. The exoskeleton robot structure for upper limb assistance according to claim 1, characterized in that: The trunk assembly comprises a frame (11), a box (20), a waist belt (12), a back plate (13), two waist side guards (14) and two shoulder straps (15); The back panel (13) is fixedly connected to the frame (11); two waist side guard plates (14) are respectively arranged on the left and right sides of the back panel (13) and are respectively fixedly connected to the back panel (13); one end of the shoulder strap (15) is fixedly connected to the back panel (13) and the other end is fixedly connected to the corresponding waist side guard plate (14); the two ends of the waist belt (12) are respectively connected to the corresponding waist side guard plates (14); the box body (20) is located behind the back panel (13) and is fixedly connected to the frame (11).

6. The exoskeleton robot structure for upper limb assistance according to claim 2, characterized in that: The second connecting member (603) of the first dual-degree-of-freedom rotation mechanism (6) is detachably connected to the frame (11) of the trunk assembly through a sleeve (22), the sleeve (22) is sleeved on the frame (11), and the frame (11) is provided with a plurality of threaded hole arrays at corresponding positions of the sleeve (22). The sleeve (22) is provided with a plurality of mounting holes and is connected to the corresponding threaded hole arrays of the frame (11) through bolts.

7. The exoskeleton robot structure for upper limb assistance according to claim 4, characterized in that: A limiting block (201) is fixedly connected to the housing of the drive motor (2402) of the elbow joint drive mechanism (2), and the limiting block (201) is located on a side of the housing of the corresponding drive motor (2402) close to the connecting rod (2401) and below the corresponding connecting rod (2401).

8. The exoskeleton robot structure for upper limb assistance according to claim 6, characterized in that: The trunk component further comprises a shoulder support (16), which is an arc-shaped structure. The shoulder support (16) is located below the sleeve (22), and the middle part of the shoulder support (16) is hinged to the side of the sleeve (22).

9. The exoskeleton robot structure for upper limb assistance according to claim 5, characterized in that: The trunk assembly further comprises a neck support (17), which is mounted on the upper portion of the frame (11) via a bracket (21). The neck support (17) is an arc-shaped structure, and the middle portion of the neck support (17) is hinged to the bracket (21).

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