Logistics carrying exoskeleton assisting robot

Abstract

The utility model relates to the field of logistics carrying technique especially relates to a logistics carrying exoskeleton power assisting robot, including small arm subassembly, big arm subassembly, back subassembly, spine subassembly and waist support subassembly, back subassembly, spine subassembly and waist support subassembly are from top to bottom vertical distribution, and both sides of back subassembly are connected with big arm subassembly, and the lower extreme of big arm subassembly is connected with small arm subassembly through elbow movable joint subassembly. The utility model adopts shoulder dual stage transmission mechanism and hinged design, solves the problem that the existing rigid exoskeleton shoulder joint activity is limited, reduces the shoulder elbow linkage error, improves the flexibility and range of motion of shoulder joint, and adopts the waist multi -module dynamic support to form the bionic pelvic stress ring, effectively disperses the lumbar stress, avoids the lumbar stress concentration problem caused by the waist integral type support, reduces the strain risk caused by long -term use, improves the adaptability and use comfort degree simultaneously.

Description

Technical Field

[0001] This utility model relates to the field of logistics handling technology, and more specifically, to a logistics handling exoskeleton-assisted robot. Background Technology

[0002] In large-scale warehousing, handling, sorting, and unloading scenarios within the logistics industry, workers often need to perform a large number of repetitive lifting and carrying actions, resulting in high labor intensity and a high risk of muscle strain. Exoskeleton assistive devices, as mechanical devices that can assist human movement, can effectively reduce the burden on workers.

[0003] In existing technologies, rigid exoskeletons (such as Ekso Bionics) have the problem of limited shoulder joint mobility, which affects the flexibility of workers' movements; while lumbar integrated support exoskeletons (such as HAL exo) have the defect of lumbar spine stress concentration, which can easily lead to lumbar strain with long-term use, and poor shoulder width adaptability, making it difficult to meet the needs of equipment portability, structural strength and adaptability to users of different body types at the same time.

[0004] In view of this, this application discloses a logistics handling exoskeleton-assisted robot. Utility Model Content

[0005] (I) Purpose of the utility model

[0006] To address the shortcomings of existing systems, the purpose of this invention is to provide a logistics handling exoskeleton assistive robot that solves the problems of limited shoulder joint movement and lumbar stress concentration in existing rigid exoskeletons, which can easily lead to lumbar strain with long-term use. This assistive robot can effectively improve the problems of limited shoulder joint movement and lumbar stress concentration, while improving adaptability and user comfort.

[0007] (II) Technical Solution

[0008] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0009] A logistics handling exoskeleton assistive robot includes a forearm assembly, an upper arm assembly, a back assembly, a spine assembly, and a lumbar support assembly. The back assembly, spine assembly, and lumbar support assembly are vertically distributed from top to bottom. The upper arm assembly is connected to both sides of the back assembly. The lower end of the upper arm assembly is connected to the forearm assembly through an elbow movable connection assembly.

[0010] The forearm assembly includes a forearm guard and a forearm connector. The forearm guard is made of elastic plastic. The inner side of the forearm connector has two sets of arc-shaped forearm guards. The forearm guards are connected to the human forearm via Velcro.

[0011] The upper arm assembly includes an upper arm extension, an upper arm guard, and an upper arm support. The lower end of the upper arm support has an adjustment groove, into which an adjustable upper arm extension is inserted. The end of the upper arm extension is rotatably connected to a snap-fit ​​shaft on an elbow movable connection assembly via a shaft head cover. An arc-shaped upper arm guard is fixed to the inner side of the upper arm support. An electromyography (EMG) sensor is embedded on the inner side of the upper arm guard. An installation groove is provided on the inner side of the upper arm support, into which a sensor processor electrically connected to the EMG sensor is installed. A shoulder hinge is rotatably connected to the upper end of the inner side of the upper arm support.

[0012] The back assembly includes a shoulder connector and a back plate. The upper left and right sides of the back plate are provided with movable connecting grooves. The shoulder connector is hinged to the inside of the movable connecting groove by a pin. The shoulder connector is hinged to the shoulder hinge by a pin. The main controller is installed inside the back plate. A cover plate is installed on the front side of the back plate.

[0013] The spinal assembly includes a plug-in block, a spinal connector, a spinal module A, a spinal module B, a spinal module C, a spinal extension shaft, an extension shaft movable chamber, and a bending movable component. The upper side of the movable chamber is connected to a retractable spinal extension shaft, and the lower side of the movable chamber is fixedly connected to a bending movable component for connection with a lumbar support assembly. The upper side of the spinal extension shaft is connected to the spinal module C, and the upper side of the spinal module C is provided with a spinal connector. Multiple sets of spinal modules A and B are provided between the spinal connector and the spinal module C.

[0014] The lumbar support assembly includes a lumbar support plate, lumbar support module A, lumbar support module B, and lumbar support module C. The lumbar support plate is rotatably connected to the bending movement component. Lumbar support modules A, B, and C are provided on both the left and right sides of the lumbar support plate. Lumbar support module A is fixedly connected to the lumbar support plate. The lumbar support modules A, B, and C are rotatably connected by pins. The two sets of lumbar support modules C on both sides are connected by a buckle-type adjustable waist belt.

[0015] Preferably, the elbow movable connection assembly includes a connecting arm, an inner elbow fixing seat, an outer elbow fixing seat, an elbow servo, and an elbow rotating connector. The left side of the elbow rotating connector is engaged and rotatably connected to the outer elbow fixing seat, and the right side of the elbow rotating connector is engaged and rotatably connected to the inner elbow fixing seat. The inner elbow fixing seat and the outer elbow fixing seat are fixedly connected by screws. The left side of the elbow rotating connector has a connecting arm, which is connected to the forearm connector by bolts. The outer elbow fixing seat has an elbow servo installed inside, and an elbow drive gear is mounted on the output shaft of the elbow servo. The elbow rotating connector has an elbow driven gear that meshes with the elbow drive gear inside. The inner elbow fixing seat has a snap-fit ​​shaft head fixed on its annular surface for connection with the upper arm assembly.

[0016] Preferably, one set of the forearm guards is located at the end of the forearm connector, and another set of the forearm connectors is located on the connecting arm of the elbow movable connecting assembly. A screw is provided through the connection between the forearm guards, the forearm connectors, and the connecting arm.

[0017] Preferably, the forearm guard has a positioning slot at the bottom that matches the forearm connector, and a magnet is embedded at the bottom of the positioning slot. Magnetic metal blocks are embedded on the forearm connector and the connecting arm at positions corresponding to the positioning slot, and the forearm guard is connected to the magnetic metal blocks by magnetic attraction.

[0018] Preferably, the forearm connector has multiple sets of positioning holes A at the connection point with the connecting arm, and the connecting arm has multiple sets of positioning holes B that are the same as the positioning holes A at the corresponding positions, and the positioning holes A and positioning holes B are connected by bolts.

[0019] Preferably, the boom extension has multiple sets of through holes evenly distributed inside, and the outer side of the boom arm has multiple sets of positioning holes C that are adapted to the through holes. The positioning holes C are connected to the through holes on the boom extension by bolts.

[0020] A protective cover is installed on the outside of the mounting slot, and a heat dissipation mesh is provided on the protective cover.

[0021] Preferably, a shoulder servo is installed inside the shoulder hinge, a shoulder drive gear is mounted on the output shaft of the shoulder servo, a shoulder transmission gear is meshed with the left side of the shoulder drive gear, a shoulder driven gear is mounted inside the upper arm support, and the shoulder driven gear is meshed with the shoulder transmission gear.

[0022] Preferably, the bottom of the back plate is provided with a plug groove for connecting to the spinal assembly, and two sets of plug blocks adapted to the plug groove are fixed on the upper side of the spinal connector. The plug blocks are inserted into the plug groove and fixedly connected to it by a pin.

[0023] Preferably, the multiple sets of spinal modules A and B are hinged together end to end, and there is a gap between the spinal modules A and B that allows for left and right movement. The uppermost spinal module A is hinged to the left and right ends of the spinal connector, and the lowermost spinal module A is hinged to the spinal module C.

[0024] Preferably, two sets of support springs are symmetrically fixed on the left and right sides of the bottom of the spinal module A, and a spring groove adapted to the support spring is opened on the spinal module B, with the lower end of the support spring inserted into the spring groove.

[0025] (III) Beneficial Effects

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] 1. This utility model adopts a shoulder dual-stage transmission mechanism and hinge design, which solves the problem of limited shoulder joint movement in existing rigid exoskeletons, reduces shoulder-elbow linkage error, and improves the flexibility and range of motion of the shoulder joint.

[0028] 2. This utility model adopts a multi-module dynamic support for the waist to form a biomimetic pelvic stress ring, which effectively disperses the stress of the lumbar spine, avoids the stress concentration problem of the lumbar spine caused by the one-piece lumbar support, and reduces the risk of strain caused by long-term use.

[0029] 3. The forearm guard and the forearm connector adopt a magnetic quick-release structure, which enables quick tool switching and improves work efficiency.

[0030] 4. The motor mounting key helps dissipate heat from the motor and extends its service life.

[0031] 5. The main structural components are made using additive manufacturing technology, resulting in a lighter overall weight and improved comfort when wearing the equipment.

[0032] 6. After trial use at a certain express delivery training base, the robot can improve the efficiency of handling work by 30%, effectively reduce the fatigue of workers, and reduce the accumulation of lactic acid in the lifting direction. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0034] Figure 2 This is a front view of the present invention.

[0035] Figure 3 This is an exploded view of the present invention.

[0036] Figure 4 This is a schematic diagram of the forearm assembly in this utility model.

[0037] Figure 5 This is a schematic diagram of the disassembled structure of the forearm assembly in this utility model.

[0038] Figure 6 This is a schematic diagram of the elbow movable connection component in this utility model.

[0039] Figure 7 This is a disassembled structural diagram of the elbow movable connection component in this utility model.

[0040] Figure 8 This is a structural diagram showing another angle of disassembly of the elbow movable connection component in this utility model.

[0041] Figure 9 This is a schematic diagram of the structure of the boom assembly in this utility model.

[0042] Figure 10 This is a schematic diagram of the boom assembly from another angle in this utility model.

[0043] Figure 11 This is a partial cross-sectional view of the boom assembly in this utility model.

[0044] Figure 12 This is a schematic diagram of the back assembly in this utility model.

[0045] Figure 13 This is a schematic diagram of the structure of the back assembly after the cover plate is removed in this utility model.

[0046] Figure 14 This is a schematic diagram of the spinal component in this utility model.

[0047] Figure 15 This is a partial disassembly diagram of the spinal component in this utility model.

[0048] Figure 16 This is a schematic diagram of the waist support component of this utility model.

[0049] In the diagram: 1. Forearm assembly; 11. Forearm hand guard; 12. Forearm connector; 13. Positioning slot; 14. Positioning hole A; 2. Elbow movable connection assembly; 21. Connecting arm; 22. Positioning hole B; 23. Elbow inner fixation seat; 24. Snap-fit ​​shaft head; 25. Elbow outer fixation seat; 26. Elbow servo; 27. Elbow drive gear; 28. Elbow rotation connector; 29. ​​Elbow driven gear; 3. Upper arm assembly; 31. Upper arm extension; 32. Upper arm hand guard; 33. Upper arm support arm; 34. Protective cover; 35. Shoulder hinge; 36. Positioning hole C; 37. Shaft head cover; 38. Adjustment slot; 39. Electromyography sensor; 310. Shoulder servo; 311. Shoulder drive gear; 312. Shoulder driven gear. 313. Drive gear; 314. Shoulder drive gear; 315. Mounting slot; 316. Sensor processor; 4. Back assembly; 41. Shoulder connector; 42. Cover plate; 43. Back plate; 44. Movable connection slot; 45. Plug slot; 46. Main controller; 5. Spine assembly; 51. Plug block; 52. Spine connector; 53. Spine module A; 531. Support spring; 54. Spine module B; 541. Spring slot; 55. Spine module C; 56. Spine extension shaft; 57. Extension shaft movable compartment; 58. Bending movement component; 6. Lumbar support assembly; 61. Lumbar support plate; 62. Lumbar support module A; 63. Lumbar support module B; 64. Lumbar support module C; 65. Buckle adjustable waist belt. Detailed Implementation

[0050] The technical solutions of this utility model will be clearly and completely described below with reference to the embodiments of this utility model. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this utility model.

[0051] Example:

[0052] like Figures 1 to 16 As shown, a logistics handling exoskeleton assistive robot includes a forearm assembly 1, an upper arm assembly 3, a back assembly 4, a spine assembly 5, and a waist support assembly 6. The back assembly 4, the spine assembly 5, and the waist support assembly 6 are vertically distributed from top to bottom. The upper arm assembly 3 is connected to both sides of the back assembly 4. The lower end of the upper arm assembly 3 is connected to the forearm assembly 1 through an elbow movable connecting assembly 2.

[0053] Forearm component 1 includes forearm hand guard 11 and forearm connector 12. The forearm hand guard 11 is made of elastic plastic to adapt to different arm circumferences and improve fit and comfort. The inner side of the forearm connector 12 is provided with two sets of arc-shaped forearm hand guards 11. The forearm hand guards 11 are connected to the human forearm by Velcro, which facilitates quick wear and allows for tightness adjustment.

[0054] The upper arm assembly 3 includes an upper arm extension 31, an upper arm hand guard 32, and an upper arm support 33. The lower end of the upper arm support 33 has an adjustment groove 38, into which the adjustable upper arm extension 31 is inserted, supporting length adjustment to accommodate different arm lengths. The end of the upper arm extension 31 is rotatably connected to the snap-fit ​​shaft head 24 on the elbow movable connection assembly 2 via a shaft head cover 37. An arc-shaped upper arm hand guard 32 is fixed to the inner side of the upper arm support 33. The upper arm hand guard 32 is connected to the human arm via Velcro for easy wear. An electromyography (EMG) sensor 39 is embedded on the inner side of the handguard 32, which can monitor muscle electrical signals in real time and feed back the movement intention to the main controller 46. An installation groove 314 is provided on the inner side of the upper arm support 33. A sensor processor 315 electrically connected to the EMG sensor 39 is installed inside the installation groove 314, which processes the EMG signals and feeds them back to the main controller 46 to drive the servo motor, thereby achieving precise power assist control. A shoulder hinge 35 is rotatably connected to the upper end of the inner side of the upper arm support 33, so that the upper arm can be rotatably connected to the back component 4.

[0055] The back assembly 4 includes a shoulder connector 41 and a back plate 43. The back plate 43 has movable connecting grooves 44 on both the left and right sides of its upper end. The shoulder connector 41 is hinged inside the movable connecting groove 44 by a pin, allowing the upper arm to swing in the lateral plane and further enhancing shoulder flexibility. The shoulder connector 41 is hinged to the shoulder hinge 35 by a pin. The back plate 43 has a main controller 46 installed inside, which is used to coordinate various sensors and servos to achieve overall motion control. A cover plate 42 is installed on the front side of the back plate 43.

[0056] The spinal component 5 includes a plug-in block 51, a spinal connector 52, a spinal module A 53, a spinal module B 54, a spinal module C 55, a spinal extension shaft 56, an extension shaft movable chamber 57, and a bending motion component 58. The upper part of the movable chamber 57 is connected to a retractable spinal extension shaft 56, which assists in upright movements and reduces the load on the lumbar muscles. The lower part of the movable chamber 57 is fixedly connected to a bending motion component 58 for connection with the lumbar support component 6. The bending motion component 58 is rotatably connected to the lumbar support component 6 to achieve lumbar bending. The upper part of the spinal extension shaft 56 is connected to the spinal module C 55, and the upper part of the spinal module C 55 is provided with the spinal connector 52. Multiple sets of spinal modules A 53 and B 54 are arranged between the spinal connector 52 and the spinal module C 55. By adopting a biomimetic spinal structure and elastic support, the lumbar load is evenly distributed throughout the entire spine, solving the strain problem of traditional integrated lumbar supports.

[0057] The lumbar support component 6 includes a lumbar support plate 61, lumbar support modules A62, B63, and C64. The lumbar support plate 61 is rotatably connected to the bending motion component 58. Lumbar support modules A62, B63, and C64 are located on both sides of the lumbar support plate 61. Lumbar support module A62 is fixedly connected to the lumbar support plate 61. Lumbar support modules A62, B63, and C64 are rotatably connected via pins. The two sets of lumbar support modules C64 on each side are connected by a buckle-type adjustable waist belt 65. The lumbar support modules A62, B63, and C64 achieve multi-module dynamic lumbar support, forming a biomimetic pelvic stress ring, effectively dispersing lumbar spine stress. They are also adjustable to accommodate different waist sizes, providing personalized support. Furthermore, the buckle-type waist belt allows for quick adjustment of tightness, ensuring a close fit between the lumbar component and the user's body for easy wear. The modular design of the lumbar support component 6 enhances adaptability, prevents lumbar stiffness, and reduces the risk of strain.

[0058] In this embodiment, the elbow movable connection assembly 2 includes a connecting arm 21, an inner elbow fixing seat 23, an outer elbow fixing seat 25, an elbow servo motor 26, and an elbow rotating connector 28. The left side of the elbow rotating connector 28 is engaged and rotatably connected to the outer elbow fixing seat 25, and the right side of the elbow rotating connector 28 is engaged and rotatably connected to the inner elbow fixing seat 23. The inner elbow fixing seat 23 and the outer elbow fixing seat 25 are fixedly connected by screws. The left side of the elbow rotating connector 28 is provided with a connecting arm 21, which is connected via... The elbow is connected to the forearm connector 12 via bolts. An elbow servo motor 26 is installed inside the outer elbow mounting base 25. An elbow drive gear 27 is mounted on the output shaft of the elbow servo motor 26. An elbow driven gear 29, meshing with the elbow drive gear 27, is installed inside the elbow rotation connector 28. The elbow servo motor 26 and the gear set drive the elbow rotation connector 28, assisting in bending / extending movements and reducing forearm load. A snap-fit ​​shaft head 24 for connection with the upper arm assembly 3 is fixed on the annular surface of the inner elbow mounting base 23. Precise power assistance is achieved through servo motor drive, and the dual mounting base design improves transmission efficiency and safety.

[0059] In this embodiment, a set of forearm guards 11 is located at the end of the forearm connector 12, and another set of forearm connectors 12 is located on the connecting arm 21 on the elbow movable connecting assembly 2. A screw is provided through the connection between the forearm guards 11, the forearm connectors 12, and the connecting arm 21.

[0060] In this embodiment, the forearm guard 11 has a positioning slot 13 at its bottom that matches the forearm connector 12, and a magnet is embedded in the bottom of the positioning slot 13. Magnetic metal blocks are embedded in the forearm connector 12 and the connecting arm 21 at positions corresponding to the positioning slot 13. The forearm guard 11 is connected to the magnetic metal blocks by magnetic attraction. This magnetic connection allows for quick assembly and disassembly, facilitating rapid adaptation for different users.

[0061] In this embodiment, multiple sets of positioning holes A14 are provided on the forearm connector 12 at the connection point with the connecting arm 21, and multiple sets of positioning holes B22 identical to the positioning holes A14 are provided at corresponding positions on the connecting arm 21. The positioning holes A14 and B22 are connected by bolts. The multiple sets of positioning holes A14 and B22 can support the length adjustment of the forearm connector 12 to accommodate different user arm lengths.

[0062] In this embodiment, the boom extension 31 has multiple sets of through holes evenly distributed inside, and the boom arm 33 has multiple sets of positioning holes C36 that are adapted to the through holes on the outside. The positioning holes C36 are connected to the through holes on the boom extension 31 by bolts. The multiple sets of positioning holes C36 make it easy to fix the boom extension 31 from different positions, realize the extension and retraction adjustment of the boom extension 31, and adapt to the boom length requirements of different users.

[0063] A cover 34 is installed on the outside of the mounting slot 314, and a heat dissipation mesh is provided on the cover 34.

[0064] In this embodiment, a shoulder servo motor 310 is installed inside the shoulder hinge 35. A shoulder drive gear 311 is mounted on the output shaft of the shoulder servo motor 310. A shoulder transmission gear 313 is meshed with the left side of the shoulder drive gear 311. A shoulder driven gear 312 is installed inside the upper arm support 33, and the shoulder driven gear 312 is meshed with the shoulder transmission gear 313. Through the meshing of the shoulder drive gear 311, the transmission gear, and the driven gear, power is transmitted to the upper arm to assist in the shoulder lifting action. At the same time, the shoulder hinge 35 is hinged to the shoulder connector 41 of the back assembly 4, allowing the upper arm to move naturally in three-dimensional space, solving the problem of limited shoulder joint movement in rigid exoskeletons.

[0065] In this embodiment, the bottom of the back plate 43 is provided with a plug groove 45 for connecting to the spinal assembly 5, and two sets of plug blocks 51 adapted to the plug groove 45 are fixed on the upper side of the spinal connector 52. The plug blocks 51 are inserted into the plug groove 45 and fixedly connected to it by a pin.

[0066] In this embodiment, multiple sets of spinal modules A53 and B54 are hinged together to form a biomimetic spinal structure, which allows for natural bending when bending over. There is a gap between spinal modules A53 and B54 that can move left and right, enabling bending in the left and right directions. The left and right ends of the uppermost spinal module A53 are hinged to the spinal connector 52, and the lowermost spinal module A53 is hinged to the spinal module C55.

[0067] In this embodiment, two sets of support springs 531 are symmetrically fixed on the left and right sides of the bottom of the spinal module A53. The spinal module B54 has a spring groove 541 that matches the support springs 531. The lower end of the support spring 531 is inserted into the spring groove 541. The support spring 531 can provide elastic support when bending over and disperse the pressure on the lumbar spine.

[0068] It should be noted that the robot's main structural components are made using additive manufacturing, resulting in a lighter overall weight and improved comfort when worn.

[0069] The working principle of this logistics handling exoskeleton-assisted robot:

[0070] In actual use, the user stands up, places the lumbar support plate 61 of the lumbar support component 6 against the waist, adjusts the angle of the lumbar support modules A / B / C by rotating them through the pins to make them fit the waist curve; fastens the buckle waist belt between the two lumbar support modules C and adjusts the tightness.

[0071] Fit the backplate 43 against your back, ensuring that the bending movement part 58 of the spinal component 5 and the lumbar support plate 61 are rotatably connected in place. Adjust the length of the upper arm extension by using the adjustment groove 38 and through hole of the upper arm support 33 according to your arm length and fixing it with bolts. Fit the upper arm hand guard 32 against the inside of the upper arm and fix it with Velcro, ensuring that the electromyography sensor 39 is in close contact with the skin. Adjust the length of the forearm component 1 by using the positioning holes A / B of the forearm connector 12 and connecting support 21 according to the forearm length and fix it with bolts. Fit the two sets of curved forearm hand guards 11 against the forearm and fix them with Velcro to complete the wearing process.

[0072] When a user lifts their arm to carry heavy objects, the upper arm muscles contract, generating electromyographic (EMG) signals. The EMG sensor 39 captures these signals, which are then analyzed by the sensor processor 315. The main controller 46 then drives the shoulder servo motor 310 to rotate, providing upward auxiliary force through the upper arm support 33 and reducing the strain on the shoulder muscles. When bending or extending the forearm, changes in the EMG signals at the elbow trigger the elbow servo motor 26 to rotate, assisting the forearm movement and reducing the load on the arm muscles. When bending over to carry heavy objects, the bending motion component 58 allows the waist to bend naturally, and the spine modules A / B distribute the lumbar stress through hinges and support springs 531. When standing upright, the spinal extension axis 56 actively extends and retracts, providing upward support and assisting in straightening the waist, reducing the load on the erector spinae muscles.

[0073] Based on the above principles and processes, this exoskeleton robot can accurately respond to human movement intentions and provide targeted assistance. It can also distribute the load through a biomimetic structure, effectively reducing the risk of muscle strain during logistics and handling, while taking into account the body shape adaptability and ease of operation for different users.

[0074] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating this utility model, and are not intended to limit the implementation of this utility model. For those skilled in the art, other variations or modifications can be made based on the above description. It is impossible to exhaustively list all the implementation methods here. Any obvious variations or modifications derived from the technical solutions of this utility model are still within the protection scope of this utility model.

Claims

1. A logistics handling exoskeleton-assisted robot, characterized in that: It includes a forearm assembly (1), an upper arm assembly (3), a back assembly (4), a spine assembly (5), and a lumbar support assembly (6). The back assembly (4), the spine assembly (5), and the lumbar support assembly (6) are vertically distributed from top to bottom. The upper arm assembly (3) is connected to both sides of the back assembly (4). The lower end of the upper arm assembly (3) is connected to the forearm assembly (1) through an elbow movable connection assembly (2). The forearm assembly (1) includes a forearm guard (11) and a forearm connector (12). The forearm guard (11) is made of elastic plastic. The inner side of the forearm connector (12) is provided with two sets of arc-shaped forearm guards (11). The forearm guards (11) are connected to the human forearm by Velcro. The upper arm assembly (3) includes an upper arm extension (31), an upper arm guard (32), and an upper arm support (33). The lower end of the upper arm support (33) is provided with an adjustment groove (38). An adjustable upper arm extension (31) is inserted into the adjustment groove (38). The end of the upper arm extension (31) is rotatably connected to the snap-fit ​​shaft head (24) on the elbow movable connection assembly (2) through a shaft head cover (37). An arc-shaped upper arm guard (32) is fixedly provided on the inner side of the upper arm support (33). An electromyography sensor (39) is embedded on the inner side of the upper arm guard (32). An installation groove (314) is provided on the inner side of the upper arm support (33). A sensor processor (315) electrically connected to the electromyography sensor (39) is installed inside the installation groove (314). A shoulder hinge (35) is rotatably connected to the upper end of the inner side of the upper arm support (33). The back assembly (4) includes a shoulder connector (41) and a back plate (43). The back plate (43) has movable connecting grooves (44) on both the left and right sides of its upper end. The shoulder connector (41) is hinged inside the movable connecting groove (44) by a pin. The shoulder connector (41) is hinged to the shoulder hinge (35) by a pin. The back plate (43) has a main controller (46) installed inside. The back plate (43) has a cover plate (42) installed on the front side. The spinal assembly (5) includes a plug block (51), a spinal connector (52), a spinal module A (53), a spinal module B (54), a spinal module C (55), a spinal extension shaft (56), an extension shaft movable chamber (57), and a bending movable component (58). The upper side of the extension shaft movable chamber (57) is connected to a retractable spinal extension shaft (56), and the lower side of the extension shaft movable chamber (57) is fixedly connected to a bending movable component (58) for connecting with the lumbar support assembly (6). The upper side of the spinal extension shaft (56) is connected to the spinal module C (55), and the upper side of the spinal module C (55) is provided with a spinal connector (52). Multiple sets of spinal modules A (53) and spinal modules B (54) are provided between the spinal connector (52) and the spinal module C (55). The waist support assembly (6) includes a waist support plate (61), a waist support module A (62), a waist support module B (63), and a waist support module C (64). The waist support plate (61) is rotatably connected to the bending motion component (58). The waist support plate (61) is provided with waist support modules A (62), B (63), and C (64) on both the left and right sides. The waist support module A (62) is fixedly connected to the waist support plate (61). The waist support modules A (62), B (63), and C (64) are rotatably connected by pins. The two sets of waist support modules C (64) on both sides are connected by buckle-type adjustable waist belts (65).

2. The logistics handling exoskeleton-assisted robot according to claim 1, characterized in that: The elbow movable connection assembly (2) includes a connecting arm (21), an inner elbow fixing seat (23), an outer elbow fixing seat (25), an elbow servo (26), and an elbow rotating connector (28). The left side of the elbow rotating connector (28) is engaged and rotatably connected to the outer elbow fixing seat (25), and the right side of the elbow rotating connector (28) is engaged and rotatably connected to the inner elbow fixing seat (23). The inner elbow fixing seat (23) and the outer elbow fixing seat (25) are fixedly connected by screws. The elbow rotating connector (28) A connecting arm (21) is provided on the left side. The connecting arm (21) is connected to the forearm connector (12) by bolts. An elbow servo (26) is installed inside the elbow outer fixing seat (25). An elbow drive gear (27) is mounted on the output shaft of the elbow servo (26). An elbow driven gear (29) that meshes with the elbow drive gear (27) is installed inside the elbow rotation connector (28). A snap-fit ​​shaft head (24) for connecting with the upper arm assembly (3) is fixed on the ring surface of the elbow inner fixing seat (23).

3. The logistics handling exoskeleton-assisted robot according to claim 2, characterized in that: One set of forearm guards (11) is located at the end of the forearm connector (12), and another set of forearm connectors (12) is located on the connecting arm (21) of the elbow movable connecting assembly (2). A screw is provided through the connection between the forearm guards (11), the forearm connectors (12), and the connecting arm (21).

4. The logistics handling exoskeleton-assisted robot according to claim 3, characterized in that: The forearm hand guard (11) has a positioning slot (13) at the bottom that is compatible with the forearm connector (12), and a magnet is embedded at the bottom of the positioning slot (13). Magnetic metal blocks are embedded on the forearm connector (12) and the connecting arm (21) at positions corresponding to the positioning slot (13). The forearm hand guard (11) is connected to the magnetic metal block by the magnet.

5. The logistics handling exoskeleton-assisted robot according to claim 1, characterized in that: Multiple sets of positioning holes A (14) are provided on the forearm connector (12) at the connection point with the connecting arm (21). Multiple sets of positioning holes B (22) with the same positioning holes A (14) are provided on the corresponding position of the connecting arm (21). The positioning holes A (14) and B (22) are connected by bolts.

6. The logistics handling exoskeleton-assisted robot according to claim 1, characterized in that: The boom extension (31) has multiple sets of through holes evenly distributed inside, and the boom support (33) has multiple sets of positioning holes C (36) that are adapted to the through holes on the outside. The positioning holes C (36) are connected to the through holes on the boom extension (31) by bolts. A cover (34) is installed on the outside of the mounting slot (314), and a heat dissipation mesh is provided on the cover (34).

7. The logistics handling exoskeleton-assisted robot according to claim 1, characterized in that: The shoulder hinge (35) is equipped with a shoulder servo motor (310), and a shoulder drive gear (311) is mounted on the output shaft of the shoulder servo motor (310). The shoulder drive gear (311) is meshed with a shoulder transmission gear (313) on its left side. The upper arm support (33) is equipped with a shoulder driven gear (312), and the shoulder driven gear (312) is meshed with the shoulder transmission gear (313).

8. The logistics handling exoskeleton-assisted robot according to claim 1, characterized in that: The bottom of the back plate (43) is provided with a plug groove (45) for connecting to the spinal assembly (5). Two sets of plug blocks (51) adapted to the plug groove (45) are fixed on the upper side of the spinal connector (52). The plug blocks (51) are inserted into the plug groove (45) and fixedly connected to it by a pin.

9. The logistics handling exoskeleton-assisted robot according to claim 1, characterized in that: Multiple sets of spinal modules A (53) and B (54) are connected end to end by hinges, and there is a gap between the spinal modules A (53) and B (54) that can move left and right. The uppermost spinal module A (53) is hinged to the spinal connector (52) at both ends, and the lowermost spinal module A (53) is hinged to the spinal module C (55).

10. The logistics handling exoskeleton-assisted robot according to claim 9, characterized in that: Two sets of support springs (531) are symmetrically fixed on the left and right sides of the bottom of the spinal module A (53). The spinal module B (54) has a spring groove (541) that matches the support spring (531). The lower end of the support spring (531) is inserted into the spring groove (541).

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