A passive exoskeleton assistive robot suitable for backpacking and carrying

Abstract

The utility model relates to mechanical exoskeleton technical field, concretely provides a kind of passive exoskeleton power-assisted robot suitable for carrying and carrying, comprising: shoulder and back module, hip joint module and lower limb exoskeleton, shoulder and back module is constituted by Y-shaped carbon fiber backplate and two circular arc carbon fiber shoulder plate, can be suitable for back carrying and chest carrying and other multiple work requirements, and the contact area of body and exoskeleton is improved when weight-bearing by circular arc carbon fiber shoulder plate, avoid local excessive compression;Hip joint module has multiple degrees of freedom, and it is convenient for wearer to bend, lean back and laterally twist body and other actions;The knee joint and ankle joint of lower limb exoskeleton adopt bearing with multiple degrees of freedom, improve the body flexibility of wearer, and rebound mechanism of auxiliary movement is designed between thigh support rod and calf support rod, store movement as elastic potential energy by spring, and it is convenient for the movement reset of knee joint.

Description

Technical Field

[0001] This utility model relates to the field of mechanical exoskeleton technology, specifically providing a passive exoskeleton assistive robot suitable for carrying and transporting. Background Technology

[0002] In recent years, with the rapid development and changes in society, many fields such as individual combat, emergency rescue, and medical rehabilitation have put forward new demands for assistive robots and carrying devices. Exoskeletons belong to wearable carrying devices and can transfer the load of the upper body to the ground through mechanical mechanisms, thereby indirectly enhancing the wearer's limb strength. They have been widely used in many industries such as agriculture, manufacturing, construction, logistics, medical rehabilitation, disaster relief, and individual combat.

[0003] Due to limitations in their physiological structure, the human body's ability to carry heavy loads for extended periods typically cannot exceed 20 kg. Using backpacks or carrying frames can increase this to 30-50 kg. However, because backpacks and carrying frames still rely on the shoulders and back to bear the weight and are supported by the lower limb muscles, their auxiliary load-bearing capacity is limited. Furthermore, people often carry goods by carrying them across their chest, on their shoulders, or by hand. When using these methods, fatigue is usually not caused by excessive exercise, but rather by prolonged localized pressure on the shoulders, arms, and fingers, leading to severe discomfort and reaching the limit of carrying fatigue. For example, carrying a 10 kg plastic bag for less than a few minutes can cause severe strain and ischemia in the fingers, requiring switching hands or rest before continuing. Additionally, because items are unsuitable for carrying, lifting, or holding, the upper limbs need to exert considerable sustained force to lift objects off the ground, which is also a significant reason for low carrying efficiency. For example, when a person is carrying a heavy box in front of them, the fingers experience localized pressure and show obvious ischemia. Simultaneously, because the fingers must remain bent to prevent the box from sliding down, the forearm muscles are constantly straining to keep the fingers bent, resulting in forearm soreness immediately after carrying a heavy box. An exoskeleton is a mechanical device worn on the outside of the human body. This device can adapt to the movement of the limbs, assist the body in bearing loads or its own weight, and efficiently transfer the load or the body's gravity to the ground through its mechanical structure. It can even assist the body in limb movement. Therefore, it has strong application prospects in disaster relief, individual soldier carrying, fire fighting, outdoor hiking, and logistics transportation. Most existing exoskeletons use a back-carrying method for carrying, which is insufficient for front-lifting requirements. Therefore, there is an urgent need for an exoskeleton-assisted robot that can simultaneously meet the requirements of both back-carrying and front-lifting load-bearing. Utility Model Content

[0004] To address the aforementioned problems, this invention provides a passive exoskeleton robot suitable for carrying and transporting, which improves the carrying and transporting efficiency of the wearer, reduces the impact of heavy objects on the human body, and can adapt to different task requirements.

[0005] The passive exoskeleton assistive robot for carrying and transport provided by this utility model includes: a shoulder and back module, a hip joint module and a lower limb exoskeleton. The shoulder and back module includes a Y-shaped carbon fiber back plate and two arc-shaped carbon fiber shoulder plates. The rear end of the carbon fiber shoulder plate is fixed to the upper end of the carbon fiber back plate, and the front end of the carbon fiber shoulder plate has a traction hole for fixing ropes.

[0006] The hip joint module includes a carbon fiber backplate and two carbon fiber connecting rods. The lower end of the carbon fiber backplate is connected to the carbon fiber backplate, and the upper end of the carbon fiber connecting rod is connected to the carbon fiber backplate through a pivot structure. The lower end of the carbon fiber connecting rod is connected to a rotary joint with forward and backward rotational freedom.

[0007] The lower limb exoskeleton includes a thigh support rod, a knee joint rotation bearing, a lower leg support rod, and an ankle joint module. The rotation joint is connected to the upper end of the thigh support rod, and the lower end of the thigh support rod is connected to the upper end of the lower leg support rod via the knee joint rotation bearing. The knee joint rotation bearing has flexion and extension degrees of freedom. The ankle joint module includes an ankle joint bearing and a foot pedal. The lower end of the lower leg support rod is connected to the foot pedal via the ankle joint bearing. The ankle joint bearing has lateral rotational freedom relative to the lower leg support rod, and the foot pedal has plantar flexion and dorsiflexion degrees of freedom relative to the ankle joint bearing.

[0008] Preferably, the upper end of the carbon fiber connecting rod is connected to the rear surface of the carbon fiber waist plate.

[0009] Preferably, the carbon fiber connecting rod is curved and extends along the rear surface of the carbon fiber waist plate to both sides of the wearer's body.

[0010] Preferably, the rear surface of the carbon fiber waist plate has a wedge-shaped groove extending to the lower edge of the carbon fiber waist plate, and the width of the wedge-shaped groove increases as it extends towards the lower edge of the carbon fiber waist plate; the carbon fiber connecting rod is installed in the wedge-shaped groove, and the carbon fiber connecting rod can rotate in the width direction within the wedge-shaped groove.

[0011] Preferably, the carbon fiber waist plate is provided with an adjustment mechanism, which can be used to adjust the connection position between the Y-shaped carbon fiber back plate and the carbon fiber waist plate.

[0012] Preferably, a spring groove is provided along the thigh support rod, and a spring and a pull rope are provided in the spring groove. One end of the pull rope is fixed in the calf support rod, and the other end of the pull rope can apply a pulling force to the upper end of the spring. During the process of bending the thigh support rod and the calf support rod, the spring is compressed downward by the pull rope. During the process of bending the thigh support rod and the calf support rod changing from the bent knee state to the extended state, the spring rebounds under the action of elastic potential energy.

[0013] Preferably, the inner sides of the shoulder and back module and the hip joint module are padded with Velcro.

[0014] Preferably, the rotary joint is provided with a rebound mechanism. During the rotation of the carbon fiber connecting rod relative to the thigh support rod, the rebound mechanism stores the kinetic energy as the potential energy for reset.

[0015] Preferably, the rebound mechanism is a torsion spring, which is sleeved on the rotation axis of the rotating joint, and the two force-bearing ends of the torsion spring abut against the thigh support rod and the carbon fiber connecting rod, respectively.

[0016] Preferably, the upper end of the ankle joint bearing is provided with a lateral rotating bearing, and the lower end of the ankle joint bearing is rotatably connected to the foot pedal through a pin.

[0017] Compared with the prior art, the present invention can achieve the following beneficial effects:

[0018] This invention can simultaneously meet the needs of carrying and transporting. Utilizing a Y-shaped carbon fiber backplate and an arc-shaped carbon fiber shoulder plate, it increases the area of ​​application of driving force during walking. During carrying, the front end of the carbon fiber shoulder plate can effectively increase the force-bearing area on the front of the body, thereby reducing pressure at a single point, avoiding excessive local compression, and improving the load-bearing capacity of both shoulders. The evenly distributed pressure helps reduce shoulder fatigue and discomfort when the wearer uses the exoskeleton for a long time, improving the wearer's comfort. In addition, a traction hole for fixing ropes is also provided at the front end of the carbon fiber shoulder plate, which can realize the need for forward lifting transport. During forward lifting transport, the carbon fiber shoulder plate assists the body in traction of the load, and the contact area between the carbon fiber backplate and the back of the body is significantly increased, improving the load-bearing capacity.

[0019] This invention features a specially designed hip joint module. The upper end of a carbon fiber connecting rod is rotatably connected to a carbon fiber waist plate, allowing the upper limb exoskeleton to rotate laterally. Simultaneously, the carbon fiber connecting rod is positioned within a wedge-shaped groove, limiting the lateral rotation angle and preventing excessive bending that could prevent the wearer from regaining their upright position or even fall and injury. The lower end of the carbon fiber connecting rod connects to the lower limb exoskeleton via a rotating joint, giving the upper limb exoskeleton freedom to rotate forward and backward. This allows the wearer to perform activities such as bending over, reducing interference with natural movement patterns caused by exoskeleton limitations. Furthermore, the rotation angle of the rotating joint is set according to the body's activity needs, limiting backward rotation to prevent excessive backward leaning that could cause the wearer to lose balance. The rotating joint also possesses damping and rebound properties, improving exoskeleton stability during walking and providing the wearer with restoring force to return from a bent or backward leaning position to an upright standing position.

[0020] Furthermore, this invention connects the thigh support rod and the calf support rod via a rotary bearing, facilitating knee flexion and standing. A spring is installed at the rotary bearing location; during knee flexion, the spring stores kinetic energy as elastic potential energy through torsion. This elastic potential energy assists the wearer in transitioning from a bent-knee to a standing position, reducing the physical exertion required for these movements. The ankle joint also employs a multi-degree-of-freedom installation method, meeting the human body's movement needs. All connecting joints in this invention are quick-release joints, making it easy for the wearer to put on and take off the exoskeleton robot. Attached Figure Description

[0021] Figure 1 This is an overall structural diagram of a passive exoskeleton-assisted robot suitable for carrying and transporting, provided according to an embodiment of the present utility model.

[0022] Figure 2 This is a front view of the upper limb structure of a passive exoskeleton-assisted robot according to an embodiment of the present invention;

[0023] Figure 3 This is a rear view of the upper limb structure of the passive exoskeleton-assisted robot provided according to an embodiment of the present invention;

[0024] Figure 4 This is a schematic diagram of the structure of the torsion spring in the rotary joint according to an embodiment of the present invention;

[0025] Figure 5 This is a structural schematic diagram of the thigh support rod provided according to an embodiment of the present utility model;

[0026] Figure 6 This is a schematic diagram of the motion assist structure inside the thigh support rod and the calf support rod according to an embodiment of the present utility model;

[0027] Figure 7 This is a connection structure diagram of the calf support rod and ankle joint module according to an embodiment of the present invention;

[0028] Figure 8 This is a structural diagram of the ankle joint module provided according to an embodiment of the present utility model.

[0029] The reference numerals in the figures include:

[0030] Shoulder and back module 1, carbon fiber back plate 11, carbon fiber shoulder plate 12, traction hole 13;

[0031] Hip joint module 2, carbon fiber waist plate 21, carbon fiber connecting rod 22, wedge groove 23, rotating shaft structure 24, rotary joint 25, torsion spring 26, adjustment mechanism 27;

[0032] 3. Padding layer; 4. Thigh support bar; 41. Thigh strap; 5. Knee joint rotation bearing; 6. Lower leg support bar;

[0033] Ankle joint module 7, ankle joint bearing 71, foot pedal 72;

[0034] Spring groove 8, spring 81, pull rope 82, fastener 83. Detailed Implementation

[0035] In the following description, embodiments of the present invention will be described with reference to the accompanying drawings. In the description below, the same modules are denoted by the same reference numerals. Where the same reference numerals are used, their names and functions are also the same. Therefore, their detailed description will not be repeated.

[0036] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and do not constitute a limitation thereof.

[0037] like Figure 1 As shown in the figure, this utility model embodiment proposes a passive exoskeleton assistive robot suitable for carrying and transporting, including: an upper limb exoskeleton and a lower limb exoskeleton, wherein the upper limb exoskeleton is mainly composed of a shoulder and back module 1 and a hip joint module 2, as shown in the figure. Figure 2 and Figure 3 As shown, compared to existing backpack exoskeletons, this embodiment of the invention features a specially designed carbon fiber backplate 11 and two additional carbon fiber shoulder plates 12. The carbon fiber backplate 11 is designed with a Y-shaped structure, and the carbon fiber shoulder plates 12 have an arc-shaped structure. The arc curve of the carbon fiber shoulder plates 12 is designed according to the physiological curve of the human shoulder. The rear end of the carbon fiber shoulder plates 12 is fixed to the upper end of the carbon fiber backplate 11, and the front end of the carbon fiber shoulder plates 12 has a traction hole 13. The number of traction holes 13 can be one or more. The carbon fiber backplate 11 and carbon fiber shoulder plates 12 can be manufactured separately and then fixed by an adjustable mechanism, or they can be manufactured as a single unit.

[0038] During forward lifting and transport, a rope can be connected through the traction hole 13 to assist in the lifting process. The object being transported is pulled forward by the rope along the carbon fiber shoulder plate 12, causing the carbon fiber back plate 11 to make large-area contact with the wearer's back. The wearer's back bears the horizontal load, while the vertical force is transmitted to the lower limb exoskeleton through the carbon fiber back plate 11 and the carbon fiber shoulder plate 12, ultimately being applied to the ground, thus reducing the pressure of the object being transported on the body. Furthermore, due to the large contact area between the carbon fiber back plate 11 and the wearer's back, the pressure exerted by the carbon fiber back plate 11 on the back is reduced, improving the wearer's load-bearing capacity. During the carrying process, the carbon fiber shoulder plate 12 can significantly increase the contact area with the wearer's shoulders. Furthermore, during walking, due to the fixed connection between the carbon fiber back plate 11 and the carbon fiber shoulder plate 12, part of the frontal pressure on the shoulders caused by the forward movement of the human body can be transferred to the back, increasing the body's contact area and thus reducing shoulder pressure. In other words, the carbon fiber back plate 11 and the carbon fiber shoulder plate 12 can counteract the horizontal force, improving stability during exercise. The vertical force can be transmitted to the ground through the hip joint module 2 and the lower limb exoskeleton, reducing pressure on the body.

[0039] The hip joint module 2 mainly includes a carbon fiber waist plate 21 and a carbon fiber connecting rod 22. The carbon fiber waist plate 21 is used for load transfer and to support the wearer's waist. An adjustment mechanism 27 is provided on the upper part of the hip joint module 2. The lower end of the carbon fiber shoulder plate 12 is connected to the carbon fiber waist plate 21 through the adjustment mechanism 27. The connection position between the carbon fiber shoulder plate 12 and the carbon fiber waist plate 21 can be adjusted by the adjustment mechanism 27. Optional adjustment mechanisms 27 include, but are not limited to, buckles, positioning shafts, screws, and other structures.

[0040] Two vertically symmetrical wedge-shaped grooves 23 are formed on the rear surface of the carbon fiber waist plate 21. The included angle of the wedge-shaped grooves 23 is obtuse. Both wedge-shaped grooves 23 extend downward from the middle of the carbon fiber waist plate 21 to its lower edge, making the downward-facing surface of the wedge-shaped grooves 23 open. As the wedge-shaped grooves 23 extend downward to their lower edges, their width continuously increases, meaning the wedge-shaped grooves 23 have an outwardly expanding opening angle. The depth of the wedge-shaped grooves 23 is close to the thickness of the carbon fiber connecting rods 22. Two carbon fiber connecting rods 22 are respectively installed in the two wedge-shaped grooves 23. The upper end of the carbon fiber connecting rods 22 is installed in the wedge-shaped grooves 23 via a horizontally oriented rotating shaft structure 24. The carbon fiber connecting rods 22 can rotate around the rotating shaft structure 24 within the wedge-shaped grooves 23, and the angle of rotation is limited by the opening angle of the wedge-shaped grooves 23. Optional rotating shaft structures 24 include, but are not limited to, pins, bearings, etc. The purpose of the aforementioned rotating connection is primarily to provide lateral rotational freedom, facilitating the wearer's waist to twist to both sides of the body. The wedge-shaped groove 23 effectively limits the twisting angle, preventing excessive twisting that could lead to imbalance, falls, or injuries. Therefore, the opening angle of the wedge-shaped groove 23 can be designed according to the actual needs of the human body for twisting. The carbon fiber connecting rod 22 is curved, extending downwards and forwards from the pivot structure 24 along the body's curve to both sides of the wearer's hip joint. The lower end of the carbon fiber connecting rod 22 is connected to a rotating joint 25. The rotating joint 25 uses a pivot structure, with the lower end of the carbon fiber connecting rod 22 fitted onto the pivot of the rotating joint 25 via a flange structure. The rotating joint 25 can rotate relative to the carbon fiber connecting rod 22, enabling relative rotation between the upper and lower limb exoskeletons, facilitating bending and backward movements. Furthermore, the pivot of the rotating joint 25 also has... Figure 4 The torsion spring 26 shown has two force-bearing ends that abut against the carbon fiber connecting rod 22 and the thigh support rod 4, respectively. When the wearer changes from an upright position to a bent-over or leaning-back position, the torsion spring 26 undergoes torsional deformation under force, converting kinetic energy into elastic potential energy for storage. This provides assistance in changing from a bent-over or leaning-back position back to an upright position, reducing the wearer's physical exertion while improving flexibility. Furthermore, the torsion spring 26 also reduces the risk of excessive leaning back, minimizing the risk of loss of balance due to leaning back. Additionally, the torsion spring 26 provides damping characteristics for the rotation joint 25, absorbing vibrations at the rotation joint 25 position during movement, thereby preventing excessive impact forces between the carbon fiber connecting rod 22 and the thigh support rod 4 during exercise.

[0041] To improve wearer comfort, a padding layer 3 conforming to the physiological curve of the human back can be attached to the inside of the shoulder and back module 1 and the hip joint module 2 via Velcro. The connection via Velcro makes it easy to remove and clean the padding layer 3.

[0042] The lower limb exoskeleton mainly consists of a thigh support rod 4, a knee joint rotary bearing 5, a lower leg support rod 6, and an ankle joint module 7. Among these components, such as... Figure 1 As shown, the upper end of the thigh support rod 4 is connected to the pivot of the rotary joint 25 via an upward flange. The rotary joint 25 allows for forward and backward rotation of the body, satisfying the human body's freedom of movement in the forward and backward directions during walking. The lower end of the thigh support rod 4 is connected to the upper end of the calf support rod 6 via a knee joint rotary bearing 5. Furthermore, as... Figure 5 As shown, the thigh support rod 4 is also equipped with a thigh strap 41. When wearing the passive exoskeleton assistive robot, the thigh support rod 4 is strapped to the wearer's thigh via the thigh strap 41, improving the coordination between the thigh support rod 4 and the human leg during movement. Figure 6 As shown, the knee joint rotary bearing 5 is a single-axis structure. The thigh support rod 4 and the lower leg support rod 6 can rotate forward and backward through the knee joint rotary bearing 5, thus having flexion and extension degrees of freedom. The knee joint rotary bearing 5 is similar to the rotary joint 25, both using quick-disassembly joint bearings, which facilitates the rapid disassembly of various components in the exoskeleton robot. This makes the exoskeleton robot not only easy to store but also achieves modularity of the exoskeleton, thereby facilitating quick donning by the wearer.

[0043] In addition, a rebound mechanism for assisting movement is provided at the position of the knee joint rotation bearing 5. The rebound mechanism mainly consists of a spring groove 8, a spring 81, a pull rope 82, and a fixator 83. In this embodiment of the utility model, a spring groove 8 is provided along the length direction inside the thigh support rod 4. The spring groove 8 contains a spring 81 and a pull rope 82. The bottom of the spring 81 abuts against the lower end face of the spring groove 8. An opening for the pull rope 82 to pass through is also provided on the lower end face of the spring groove 8. The upper end of the pull rope 82 is a movable end, used to pull the upper end of the spring 81 downward. The lower end of the pull rope 82 is a fixed end, and the lower end of the pull rope 82 is fixed inside the calf support rod 6 by the fixator 83. During the relative rotation of the thigh support rod 4 and the calf support rod 6 via the knee joint rotation bearing 5, if the wearer bends their knee while walking, the calf support rod 6 will stretch the pull rope 82. The pull rope 82 pulls the spring 81 downward, causing the spring 81 to compress and deform, converting the motion into elastic potential energy for storage. During the transition from a bent-knee to an extended state, the degree of stretching on the pull rope 82 gradually decreases, and the elastic potential energy of the spring 81 is gradually released, assisting the wearer in transitioning from a bent-knee to an extended state. This design not only reduces the impact force between the thigh support rod 4 and the calf support rod 6 during exercise but also assists walking and reduces energy loss during walking.

[0044] like Figure 7As shown, the ankle joint module 7 includes an ankle joint bearing 71 and a foot pedal 72. The lower end of the calf support rod 6 is connected to the upper end of the ankle joint bearing 71, and the lower end of the ankle joint bearing 71 is connected to the foot pedal 72. Figure 8 As shown, the upper end of the ankle joint bearing 71 is a vertically oriented rotary bearing, allowing it to rotate laterally relative to the calf support rod 6, thus providing lateral rotational freedom. The lower end of the ankle joint bearing 71 is rotatably connected to the foot pedal 72 via a pin, providing plantar flexion and dorsiflexion freedom. In this embodiment, the thigh support rod 4, calf support rod 6, and ankle joint module 7 are all made of carbon fiber, which reduces the overall weight.

[0045] This utility model embodiment enables the passive exoskeleton robot to be suitable for both back-carrying and front-lifting load-bearing through a special shoulder and back module 1. It can be applied to various load-bearing scenarios such as back carrying, shoulder carrying, and hand lifting. Furthermore, special designs have been made at each joint position to avoid the exoskeleton restricting the wearer's movement.

[0046] Although embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

[0047] The specific embodiments of this utility model described above do not constitute a limitation on the scope of protection of this utility model. Any other corresponding changes and modifications made based on the technical concept of this utility model should be included within the scope of protection of the claims of this utility model.

Claims

1. A passive exoskeleton-assisted robot suitable for carrying and transporting, characterized in that, include: The shoulder and back module, hip joint module, and lower limb exoskeleton are provided. The shoulder and back module includes a Y-shaped carbon fiber back plate and two arc-shaped carbon fiber shoulder plates. The rear end of the carbon fiber shoulder plate is fixed to the upper end of the carbon fiber back plate, and the front end of the carbon fiber shoulder plate has a traction hole for fixing ropes. The hip joint module includes a carbon fiber backplate and two carbon fiber connecting rods. The lower end of the carbon fiber backplate is connected to the carbon fiber backplate, and the upper end of the carbon fiber connecting rod is connected to the carbon fiber backplate through a pivot structure. The lower end of the carbon fiber connecting rod is connected to a rotary joint with forward and backward rotational freedom. The lower limb exoskeleton includes a thigh support rod, a knee joint rotation bearing, a calf support rod, and an ankle joint module. The rotation joint is connected to the upper end of the thigh support rod, and the lower end of the thigh support rod is connected to the upper end of the calf support rod via the knee joint rotation bearing. The knee joint rotation bearing has flexion and extension degrees of freedom. The ankle joint module includes an ankle joint bearing and a foot pedal. The lower end of the calf support rod is connected to the foot pedal via the ankle joint bearing. The ankle joint bearing has a lateral rotational degree of freedom relative to the calf support rod, and the foot pedal has plantar flexion and dorsiflexion degrees of freedom relative to the ankle joint bearing.

2. The passive exoskeleton-assisted robot for carrying and transporting as described in claim 1, characterized in that, The upper end of the carbon fiber connecting rod is connected to the rear surface of the carbon fiber waist plate.

3. The passive exoskeleton-assisted robot for carrying and transporting as described in claim 2, characterized in that, The carbon fiber connecting rod is curved and extends along the rear surface of the carbon fiber waist plate to both sides of the wearer's body.

4. The passive exoskeleton-assisted robot for carrying and transporting as described in claim 3, characterized in that, The rear surface of the carbon fiber waist plate has a wedge-shaped groove extending to the lower edge of the carbon fiber waist plate, and the width of the wedge-shaped groove increases as it extends toward the lower edge of the carbon fiber waist plate; the carbon fiber connecting rod is installed in the wedge-shaped groove, and the carbon fiber connecting rod can rotate in the width direction within the wedge-shaped groove.

5. The passive exoskeleton-assisted robot for carrying and transporting as described in claim 1, characterized in that, The carbon fiber waist plate is provided with an adjustment mechanism, which can be used to adjust the connection position between the Y-shaped carbon fiber back plate and the carbon fiber waist plate.

6. The passive exoskeleton-assisted robot for carrying and transporting as described in claim 1, characterized in that, A spring groove is provided along the thigh support rod, and a spring and a pull rope are provided in the spring groove. One end of the pull rope is fixed in the lower leg support rod, and the other end of the pull rope can apply a pulling force to the upper end of the spring. During the process of bending the thigh support rod and the lower leg support rod, the spring is compressed downward by the pull rope. During the process of bending the thigh support rod and the lower leg support rod changing from the bent knee state to the extended state, the spring rebounds under the action of elastic potential energy.

7. The passive exoskeleton-assisted robot for carrying and transporting as described in claim 1, characterized in that, The inner sides of the shoulder and back module and the hip joint module are padded with Velcro.

8. The passive exoskeleton-assisted robot for carrying and transporting as described in claim 1, characterized in that, The rotating joint is equipped with a rebound mechanism. During the rotation of the carbon fiber connecting rod relative to the thigh support rod, the rebound mechanism stores kinetic energy as potential energy for reset.

9. The passive exoskeleton-assisted robot for carrying and transporting as described in claim 8, characterized in that, The rebound mechanism is a torsion spring, which is sleeved on the rotation axis of the rotary joint. The two force-bearing ends of the torsion spring abut against the thigh support rod and the carbon fiber connecting rod, respectively.

10. The passive exoskeleton-assisted robot for carrying and transporting as described in claim 1, characterized in that, The upper end of the ankle joint bearing is provided with a lateral rotating bearing, and the lower end of the ankle joint bearing is rotatably connected to the foot pedal through a pin.

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