319 results about "Exoskeleton Device" patented technology

The present invention discloses a dyskinesia rehabilitation training method and system based on electroencephalogram signal recognition; the method includes: the convolutional neural network is used to recognize the electroencephalogram signal, analyze the patient's motor intention, convert the motor intention into a control instruction for the exoskeleton device, drive the patient's limb movement by controlling the movement of the exoskeleton device, and assist the patient to complete the movement disorder rehabilitation training. In this method, the self-attention mechanism and self-distillation training were used to establish an electroencephalogram signal recognition model, analyzing the patient's motor intention to help motor nerve remodeling, which broke the passive and single problem of traditional rehabilitation methods, realized active rehabilitation of patients, and significantly improved the rehabilitation efficacy.

The invention provides a wearable exoskeleton device, an operation method and a robot teleoperation system. The wearable exoskeleton device comprises a backpack connecting piece and an arm exoskeleton. The bearing connecting piece is used for enabling a user to bear the exoskeleton device, and arm exoskeletons are arranged at the positions, corresponding to the left arm and / or the right arm of the user, of the bearing connecting piece. The information collector is arranged on the arm exoskeleton, so that the motion data of the arm in multiple dimensions when the user operates the arm exoskeleton can be collected. Compared with a traditional mechanical robot teaching system which is complex and high in cost, due to the fact that the structure is relatively simple, the production cost is greatly reduced, and meanwhile the mechanical robot teaching system has the advantages of being light, stable, convenient, wearable and the like. Through the arrangement of the information collector, accurate motion data can be rapidly obtained from all the human body joint components corresponding to the exoskeleton, the precision degree and efficiency of robot teleoperation can be rapidly improved, and the cost of training the robot is effectively reduced.

The invention discloses a self-adaptive exoskeleton robot which comprises a hand exoskeleton device used for capturing the degree of freedom of hand joints of 20 persons at the same time and conducting force feedback. The perception and force feedback system is used for data acquisition and master control driving and is matched with IO resources of a master control chip; the self-adaptive wearing module is used for sewing the finger exoskeleton to a light, thin and elastic fiber glove, the wearing mode is reinforced through a restraint ring, and meanwhile, an exoskeleton palm structure is designed to be a variable structure capable of being attached to the back of the hand in a self-adaptive mode; the man-machine interaction module is used for man-machine interaction; and the master-slave control system realizes master-slave control. According to the invention, the bionic flexible muscle optimization design, the force feedback technology and the touch force sensor integrated with force feedback are adopted, so that the force of a user can be acquired, and a foundation is laid for force closed-loop control.

The invention provides an exoskeleton gravity balance mechanism which is used for being matched with an exoskeleton device to improve the balance performance of the exoskeleton device and comprises a base, an output bearing is arranged in the middle of the base in a penetrating mode, a baffle, a spring and an auxiliary pulley are arranged on the base, one end of the spring is fixedly connected with the base, and the other end of the spring is connected with one side of the baffle; the X-type balance unit is installed on the base through an output bearing and comprises a driving rod module, an adjustable module and a plurality of pulleys, the driving rod module comprises an output shaft and a driving rod body, and the adjustable module is fixed to the base and can control the positions of the pulleys; the front cover is arranged above the X-shaped balance unit and fixedly connected with the base, and a hole for the output shaft to penetrate through is formed in the middle of the front cover; one end of the rope is fixed on the pulley of the X-shaped balance unit and bypasses other pulleys, and the other end of the rope is connected with the other side of the baffle, so that the elongation of the spring can be adjusted by adjusting the position of the pulley, and the balanced gravity is changed.

The invention relates to the technical field of exoskeletons, in particular to an exoskeleton device for assisting movement and a mounting method.The exoskeleton device for assisting movement comprises a supporting assembly, a lifting assembly and a bearing assembly.The supporting assembly comprises a base, a first motor, a lifting plate, a first screw rod, a guide rod and a moving assembly.The exoskeleton device for assisting movement and the mounting method have the advantages that the exoskeleton device can assist in movement; the first motor drives the first screw to rotate, so that the lifting plate moves up and down in the lifting cavity, and the guide rod and the moving assembly are driven to ascend and descend. Therefore, the equipment is convenient to move and fix; the bearing assembly with the supporting position and the supporting number capable of being adjusted ascends and descends, exoskeleton equipment can be fixed, the height of the exoskeleton can be adjusted in cooperation with the lifting assembly, and a worker can wear the exoskeleton conveniently; the installation method is simple and clear, and movement, fixation and hook installation of the equipment and lifting of the exoskeleton device can be completed through several steps. Operators can easily master the using method of the equipment, and the working efficiency is improved.

The invention discloses an exoskeleton device and a robot with the exoskeleton device, the exoskeleton device comprises a waist module and a plurality of limb modules, and at least one of the plurality of limb modules is connected to the waist module. The waist module is connected with at least one of the limb modules, so that when the exoskeleton device is arranged outside a user, the limb modules can be selectively connected for use according to requirements, when the exoskeleton device is arranged outside the user, the use requirements can be met, the exoskeleton device is simplified, and meanwhile the use efficiency of the exoskeleton device is improved. And the satisfaction degree of using the exoskeleton device by the user can be improved, and the use experience of the user is improved. In addition, in the specific using process, the thigh binding and the shank binding can also achieve modular design so as to be connected to different positions, and therefore the using requirements of different heights can be met.

The invention discloses double-arm heavy-load robot teleoperation exoskeleton equipment with a limiting protection function. The robot comprises a fixed base and exoskeletons installed on the left side and the right side, the exoskeleton on each side is provided with eight active degrees of freedom, and the eight active degrees of freedom comprise shoulder joint three degrees of freedom, elbow joint one degree of freedom, wrist joint three degrees of freedom and tail end clamping jaw one degree of freedom. According to the human engineering size, four passive adjustment freedom degrees of the shoulder height, the shoulder width, the large arm length and the small arm length are increased so as to adapt to the body types of different operators. The device has the following obvious advantages that the joint limiting device is arranged, so that joints are prevented from being damaged due to over-limit movement, and the operation safety is effectively improved; a passive degree-of-freedom design is introduced, so that the fitting degree of the equipment and a human body joint natural movement track is improved; an operator can conveniently and directly observe the state of the slave end mechanical arm clamping jaw through the tail end clamping jaw, the hand enabling holding rod is provided with a multi-stage button, adjustment in multiple mapping modes is supported, and the precise control requirement of a complex two-arm rescue task is met.

The invention discloses an active lower limb exoskeleton bearing device which comprises a trunk assembly, a left leg assembly and a right leg assembly. The left leg assembly and the right leg assembly are fixedly connected to the two sides of the trunk assembly, the width between the left leg assembly and the right leg assembly can be adjusted, and the left leg assembly and the right leg assembly comprise thigh structures, shank structures and foot assemblies which are in mirror symmetry; the trunk assembly comprises a back frame, a wearing binding mechanism and a waist supporting mechanism. The length of the shank function module is adjusted, the influence on the walking gait is reduced, and the practical value and the comfort degree are greatly improved.

The invention discloses an electric power inspection exoskeleton modular structure, and belongs to the technical field of human body exoskeleton machine assistance, the electric power inspection exoskeleton modular structure comprises a supporting system, the supporting system comprises a back supporting plate, a waist supporting frame and thigh supporting rods, and a main body supporting frame is formed; the modular interface system comprises at least one group of mechanical interfaces, electrical interfaces and data interfaces which are uniformly distributed on a force transmission path of the support system; the functional module comprises a plurality of interchangeable power assisting modules, operation modules and protection modules, and the functional module is detachably connected with the supporting system through the modular interface system; a hybrid drive system includes a rigid driver and a flexible driver for providing position control and compliance force control, respectively. By means of the modular interface system, plug-and-play of functional modules such as power assisting, operation and protection is achieved, needed exoskeleton configuration can be rapidly assembled, multiple sets of exoskeleton equipment do not need to be arranged, and the equipment utilization rate and task adaptability are greatly improved.

Disclosed in the present invention is a lower-limb-powered exoskeleton device for rehabilitation assistance, comprising ankle-joint sagittal-plane driving units, knee-joint sagittal-plane driving units, hip-joint sagittal-plane driving units, a hip-joint horizontal-plane driving unit, a joint driver connecting frame, a lower-limb fixing support, sensors, a controller and a power supply. Antagonistic-drive-type linear driving units are used in the sagittal plane of a hip joint so as to enable the bending and extension movements of the hip joint, and a linear driving unit having the function of self-locking when powered off is used in the horizontal plane of the hip joint so as to enable the turning movements of the exoskeleton; and a linear driving unit in cooperation with a magnetorheological brake is used in the sagittal plane of each knee joint, thereby significantly reducing the power consumption of a knee-joint driver while lowering the control difficulty. The powered exoskeleton device can help patients with an impaired lower-limb motor function to carry out walking rehabilitation training.

The hip joint exoskeleton device comprises a waist exoskeleton, a leg exoskeleton and a driving mechanism, the driving mechanism is used for driving the leg exoskeleton to move relative to the waist exoskeleton, and a protruding structure penetrating through a waist exoskeleton shell is arranged on the waist exoskeleton. The protruding structure is connected with a controller in the waist exoskeleton and used for displaying the electric quantity of the driving mechanism and / or controlling the driving mechanism, the protruding structure comprises a flexible layer and a supporting piece, and the flexible layer is arranged on the outer side of a waist exoskeleton shell and provided with a folded edge extending towards the inner side of the waist exoskeleton shell; the supporting piece and the shell are used for conducting extrusion sealing from the inner side and the outer side of the folded edge. When it rains, water is not prone to accumulating on the periphery of the protruding structure, the waterproof effect is good, during installation, the flexible layer is arranged on the periphery of the supporting piece in a sleeving mode, then the supporting piece with the flexible layer is clamped into the opening of the waist exoskeleton shell, installation of the protruding structure can be completed, and convenience and rapidness are achieved.

The invention relates to the technical field of knee joint exoskeleton devices, in particular to a clutch control type knee joint exoskeleton damping device and a control method. Comprising a pair of rotating assemblies which are rotationally connected; the pair of leg connecting assemblies are connected with the pair of rotating assemblies correspondingly, and the pair of leg connecting assemblies are used for being connected with the thighs and the shanks on the same side of the user correspondingly; the rotary damper is controllably coupled with the knee joint assembly; the clutch device is arranged between the rotary damper and the knee joint assembly, and the clutch device is used for switching the coupling state of the knee joint assembly and the rotary damper; and the control unit is used for judging a gait cycle phase and a motion mode according to the signal acquired by the detection unit, and controlling the clutch device to switch the coupling state of the knee joint assembly and the rotary damper according to a preset control rule. And the exoskeleton device can intelligently control the clutch device to dynamically adjust the damping state of the knee joint.

The invention discloses a brain-computer interface-based hand function rehabilitation auxiliary training method, which belongs to the technical field of rehabilitation training, and specifically comprises the following steps of: acquiring an original electroencephalogram signal of hand action of a patient, and synchronously recording an actual movement track of a healthy side hand; separating the original electroencephalogram signal into an action intention signal and an action control signal; activating a mirror image hand model in the virtual training scene based on the action intention signal, and mapping the action control signal into a three-dimensional motion parameter; dynamically correcting the joint movement range of the mirror image hand model according to the actual movement track of the uninjured side hand, and generating virtual hand actions matched with the physiological features of the patient; extracting track key point coordinates of the mirror image action and a joint angle change sequence, and converting the track key point coordinates and the joint angle change sequence into a driving instruction of affected side exoskeleton equipment; the exoskeleton resistance change is fed back to the virtual training scene in real time, and the motion damping of the mirror image hand model is adjusted; according to the invention, personalized precise assistance of hand function rehabilitation training is realized, and the adaptability and effectiveness of training are improved.

The utility model relates to the technical field of exoskeleton equipment, and discloses an exoskeleton knee joint assembly and exoskeleton equipment, which comprises a first leg assembly and a second leg assembly for connecting the exoskeleton equipment, and further comprises a first connecting seat, a second connecting seat and a rotating shaft seat, the first connecting base is used for being assembled with the first leg assembly. The second connecting seat is used for being assembled with the second leg assembly; the rotating shaft seat comprises a shaft part, a circumferential limiting piece and a clamping part, the circumferential limiting piece and the clamping part are arranged at the two ends of the shaft part respectively, the circumferential limiting piece is used for connecting the shaft part and the first connecting seat together, the shaft part is sleeved with the second connecting seat, and a clamping space is reserved between the second connecting seat and the clamping part; the stress position of the rotating shaft seat is increased, so that the stress of the rotating shaft seat is balanced, the overall structural stability of the rotating shaft seat is improved, the rotating shaft seat is not prone to abrasion and bending deformation, the service life is prolonged, and the using effect is ensured.

The invention provides an upper limb assisting exoskeleton device which comprises a large mechanical arm, a small mechanical arm, a rotary connecting module and a lubricating module, the rotary connecting module comprises a fixing rod and a rotating block, the fixing rod is fixed to the end, close to the small mechanical arm, of the large mechanical arm, the fixing rod is sleeved with the rotating block, and the rotating block can rotate around the fixing rod; the small mechanical arm is connected with the rotating block; the lubricating module comprises an oil tank and a baffle, the oil tank sleeves the fixed rod, an oil storage space is defined by the oil tank and the outer wall of the fixed rod, the oil tank is connected with the rotating block and can rotate around the fixed rod along with the rotating block, the oil tank comprises a first side wall facing the rotating block, and the plane where the first side wall is located is perpendicular to the axial direction of the fixed rod; an oil outlet penetrating through the first side wall is formed in the first side wall of the oil tank; the baffle is located in the oil storage space and makes contact with the first side wall to be used for sealing the oil outlet, and the baffle can move relative to the oil tank in the rotating process of the oil tank so that the oil outlet can be opened.

The invention belongs to the related technical field of rehabilitation medical assistance, and discloses an abnormal gait real-time detection system, a training method thereof and rehabilitation exoskeleton equipment, and the system comprises an acquisition data acquisition module which constructs a multi-dimensional time sequence based on acquisition data; the pathological data acquisition module is used for acquiring pathological characteristics of a patient; the hybrid standardization processing module is used for performing standardization processing according to the pathological feature guidance sequence; the low-pass filter bank design module is used for guiding the learning of the cut-off frequency of the corresponding low-pass filter according to the pathological characteristics; the self-adaptive filtering module is used for filtering by using a filter to obtain an enhanced sequence; and the recognition module enables the sequence to pass through a deep learning network to obtain a gait recognition result of the corresponding lower limb. According to the method, the pathological features of the patient are adopted to guide feature processing, learnable adaptive filtering is realized, the gait recognition precision can be effectively improved, and rehabilitation exoskeleton equipment can provide precise assistance for the patient.

A thigh connecting module is connected with a first connecting rod module and a second connecting rod module through pin shafts, a shank connecting module is connected with the first connecting rod module and the second connecting rod module through pin shafts, the thigh connecting module is connected with the thigh part of an external exoskeleton device, and the shank connecting module is connected with the thigh part of the external exoskeleton device. The shank connecting module is connected with the shank part of an external exoskeleton device, and all the modules jointly form a four-connecting-rod movement mechanism so as to be attached to the movement curve of the knee joint. According to the scheme, the movement curve of the knee joint of the human body is precisely fitted through the unique four-connecting-rod movement mechanism design, stress deviation in the movement process is reduced, simple rope driving and a built-in reset spring ball mechanism are adopted, use of a complex structure is avoided, an intelligent control system or a machine learning algorithm is combined, and the movement accuracy of the knee joint of the human body is improved. Equipment parameters are automatically adjusted, so that the equipment quality and cost are reduced on the premise of greatly improving the precision and naturalness of knee joint assistance.

The invention discloses a hybrid drive power-assisted exoskeleton device and method, and relates to the technical field of power-assisted robots, the hybrid drive power-assisted exoskeleton device comprises hip joint modules and a sensor assembly, the hip joint modules are rotatably connected to the two sides of a back body, the hip joint modules are connected with pneumatic artificial muscles and joint motors, and the pneumatic artificial muscles and the joint motors are connected with a control assembly; the sensor assembly comprises a pressure sensor, a tilt angle sensor and a gyroscope, the pressure sensor is used for acquiring the state of the pneumatic artificial muscle, and the tilt angle sensor and the gyroscope are used for detecting the tilt angle, so that the control assembly controls the pneumatic artificial muscle or the joint motor to work according to the tilt angle of the human body. Pneumatic driving is adopted when objects are taken out and put down, motor driving is adopted in the walking and object carrying moving process, the object carrying efficiency is improved, and the service life of the device is prolonged.

The invention provides an electrical stimulation and lower limb exoskeleton device fusion control method and system, and the method comprises the steps: driving an exoskeleton to move through bottom admittance control based on the actual human-computer interaction torque and expected torque of a knee joint and reference trajectory data of the knee joint in a gait cycle, and triggering ankle joint electrical stimulation through a fixed stimulation parameter group; after the gait cycle is finished, torque errors are calculated, and periodic iteration updating is conducted on the knee joint reference trajectory data through an iterative learning control algorithm till convergence is conducted to obtain target knee joint reference trajectory data; and then determining a target moment of a gait phase based on the target knee joint reference trajectory data, and obtaining a corresponding target stimulation parameter group from the set stimulation parameter time mapping library to replace the fixed stimulation parameter group for subsequent stimulation. According to the method, through single-cycle and cross-cycle trajectory iteration, the adaptation defect of a traditional fixed trajectory is avoided, the stimulation parameters are synchronously optimized, and the dorsiflexion assisting effect is indirectly improved.

The invention relates to a joint angle prediction method and device, wearable lower limb exoskeleton equipment and electronic equipment, and relates to the technical field of exoskeleton equipment control. The method comprises the following steps: acquiring an electromyographic signal when a user walks by wearing the wearable lower limb exoskeleton equipment; classifying the electromyographic signals according to an electromyographic signal classification model, and determining a first electromyographic signal associated with the knee joint and a second electromyographic signal associated with the ankle joint; inputting the first electromyographic signal and the second electromyographic signal into a joint angle prediction model, and determining a joint angle of a knee joint and a joint angle of an ankle joint; wherein the wearable lower limb exoskeleton equipment performs joint control according to the joint angle of the knee joint and the joint angle of the ankle joint. Therefore, the electromyographic signals are disassembled into the signals related to all the lower limb joints, then the joint angles of all the lower limb joints are predicted through the signals related to all the lower limb joints, and therefore the joint angle prediction accuracy is improved.

According to the ray protection suit passive mechanical exoskeleton device with high man-machine collaboration, through the degree-of-freedom isomorphism design of the hip joint piece, the knee joint piece, the ankle joint piece and the human body joints, the walking and normal action requirements of people can be effectively met, the man-machine collaboration of the exoskeleton is greatly improved, and the safety of the human body is improved. Meanwhile, a steel wire rope spring assistance mode is adopted to provide an assistance effect for walking actions of a human body, the load of the human body is further reduced, and in addition, through the design of a 3D flexible soft package material and a multi-joint adjusting mechanism, the comfort of a person in the wearing and using process can be effectively improved.

A wearable device may include an exoskeleton configured to attach to a hand of a user, wherein the exoskeleton comprises one or more finger linkages for respective fingers of the hand. A finger attachment may be configured to slide onto each finger and attached to the respective one or more finger linkages. The one or more finger linkages comprises a metacarpophalangeal (MCP) joint linkage and proximal interphalangeal (PIP) joint linkage, wherein the one or more finger linkages couples the metacarpophalangeal (MCP) joint linkage and proximal interphalangeal (PIP) joint linkage together so that movement is restricted to one degree of freedom (DOF).

The application discloses a hand rehabilitation training system and adaptive training method based on brain-muscle coupling and force feedback, comprising a force feedback exoskeleton device, a training task interaction module, an electroencephalogram-electromyogram acquisition module, a synchronous control module, a signal preprocessing and feature extraction module, a brain-muscle coupling analysis module, an adaptive training adjustment module, and a safety constraint and degradation control module. The system is based on a virtual environment, and the user wears the force feedback exoskeleton device to complete the grasping task, and the electroencephalogram and electromyogram signals are synchronously acquired, the brain-muscle coupling indexes of the trial and round are calculated, and the training task difficulty parameters and the force feedback intensity parameters are updated based on the indexes, and the parameter updating process is safety constrained, and the degradation control is executed in abnormal conditions. The application realizes the closed-loop adaptive adjustment of the hand rehabilitation training task difficulty and the force feedback intensity with controllable online calculation, and is helpful to improve the training adaptability and the central-peripheral collaborative training effect.

The utility model discloses a passive exoskeleton robot for health and emergency rescue escape of old people, which is detachable and comprises two protective arms, a robot body and a robot body. The back shell comprises two back supporting rods, a supporting column and two reinforcing plates, the two back supporting rods are detachably arranged on the two protective arms in the vertical direction, the supporting column is located between the two back supporting rods, and the two reinforcing plates are arranged at the upper ends and the lower ends of the two back supporting rods in the horizontal direction; the waist and back support comprises a back protection pad, a safety air bag and an equipment fixing device, the safety air bag is arranged between the back protection pad and the two back supporting rods, the equipment fixing device comprises two straps pulled to the lower portion of the equipment fixing device through the back shell, and a heat insulation part is arranged in the safety air bag; and each leg guard is provided with a heat absorption part and a hook. The passive exoskeleton device is convenient for old people to wear, has advanced functions of climbing stairs, escaping from fire disasters and the like, provides a comfortable passive exoskeleton device for the old people, and has a wide market prospect.

The invention discloses an exoskeleton device control method and system for ground wire hooking. Multi-modal features are extracted from surface electromyogram signals, kinematics data and mechanics data, and the motion intention of an operator is recognized in real time. And according to the identified motion intention, main motion and micro-jitter motion are extracted, and a stage reference trajectory of the exoskeleton is generated according to superposition of the task stage and the target state. Thirdly, a cost function is defined to optimize trajectory planning, and trajectory tracking precision, execution energy consumption and obstacle avoidance cost are considered; and on the basis of the collaborative motion trail and real-time feedback of an operator, the needed power-assisted torque is calculated, and impedance parameters are adjusted in a self-adaptive mode according to the power-assisted requirement, errors and confidence coefficients. And finally, according to the deviation between the contact force error and the target force, the total output torque of the exoskeleton joint is generated. By adjusting the control strategy and assisting power output in real time, the response precision and comfort of the exoskeleton device are improved, and motion control and energy efficiency are optimized.

1. Name of the design product: hip walking exoskeleton. 2. Use of the design product: for exoskeleton device (wearable robot). 3. Design points of the design product: in shape. 4. Picture or photograph best indicating the design points: perspective view.

An exoskeleton device that includes an artificial joint and a frame member extending from the artificial joint. The frame member is configured for extension over a limb of a user. The exoskeleton device also includes a self-aligning mechanism connected to the frame member. The self-aligning mechanism includes three passive degrees of freedom (pDOF) provided in a prismatic-revolute-revolute (PRR) configuration. The self-aligning mechanism also includes a limb attachment member configured for mechanically coupling to a portion of the limb of the user.

A fixing device is used for fixing exoskeleton equipment to a preset part and comprises a mounting seat used for being in butt joint with the preset part, and the mounting seat is configured to be capable of moving in the preset direction of the preset part; the bandage is mounted on the mounting seat, a wearing space for accommodating a preset part is formed between the bandage and the mounting seat, and the size of the wearing space is adjustable; the binding direction of the binding band is perpendicular to the preset direction. And the fixing piece is connected to the mounting seat, and the fixing piece is configured to be capable of fixing the mounting seat to a preset part after the position of the mounting seat is adjusted. According to the fixing device, the mounting base is fixed to the preset part through the binding band and the fixing piece together, and the stability of binding the mounting base to the preset part is not affected while the force applied to the preset part by the binding band is properly reduced; and the size of the wearing space is adjustable, and the mounting seat can move along the preset direction of the preset part, so that the fixing device can adapt to the preset parts with different sizes.

An exoskeleton system that includes one more actuator units that each include an actuator, the one or more actuator units configured to be worn by a user; an exoskeleton device; one or more cables, comprising a first cable extending from the exoskeleton device to a first actuator unit of the one or more actuator units; and a power pack in which the exoskeleton device is disposed.

The application relates to a shoulder rehabilitation auxiliary exoskeleton device which comprises a wearing assembly, an upper limb fixing assembly, an upper limb movement supporting assembly and a passive power output assembly; the upper limb fixing assembly comprises an upper arm fixing piece and a rocker arm; the upper limb movement supporting assembly comprises a connecting rod, a first mounting bracket and a first rotary disc; the passive power output assembly comprises a first shell, an elastic traction rope, a pull rope, a guide wheel and a second rotary disc; the connecting rod connects the wearing assembly and the first mounting bracket; the first rotary disc is rotationally connected to the first mounting bracket; the two ends of the rocker arm are respectively connected to the first rotary disc and the upper arm fixing piece; the guide wheel is arranged on the second rotary disc; the two ends of the elastic traction rope are fixedly connected, and the elastic traction rope passes through the guide wheel; one end of the pull rope is fixedly connected to the second rotary disc, and the other end of the pull rope is fixedly connected to the first rotary disc after passing out of the first shell. The elastic traction rope is adopted, metal parts are reduced, and adjustable auxiliary torque can be provided while reducing weight.