CN115070727A

CN115070727A - Waist and arm linkage assistance exoskeleton

Info

Publication number: CN115070727A
Application number: CN202210686116.XA
Authority: CN
Inventors: 袁博; 陈国�; 廖大伟; 罗方
Original assignee: Chongqing Niudi Innovation Technology Co ltd
Current assignee: Chongqing Niudi Innovation Technology Co ltd
Priority date: 2022-02-24
Filing date: 2022-06-16
Publication date: 2022-09-20
Also published as: CN115070729A

Abstract

The invention discloses a waist and arm linkage assistance exoskeleton which comprises a waist assistance exoskeleton and an arm assistance exoskeleton; the arm power assisting exoskeleton comprises at least one driving device and an arm force transmission part, wherein the driving device is worn on a human body and can drive the arm force transmission part to assist arms; the waist assisting exoskeleton comprises a waist force transmission part worn on a human body; but still including wearing the link gear of reciprocating motion on the human body, arm power transmission part, waist power transmission part all are connected with link gear for when drive arrangement drove arm power transmission part for the arm helping hand, link gear can drive waist power transmission part for waist helping hand. The arm power-assisted exoskeleton is active, the waist power-assisted exoskeleton is passive, and the power assistance provided by the driving device is transmitted to the waist power-assisted exoskeleton through the linkage mechanism, so that the arm power-assisted exoskeleton and the waist power-assisted exoskeleton can coordinately work in a linkage manner.

Description

Waist and arm linkage assistance exoskeleton

Priority application

The priority of the Chinese patent application (CN202210173211. X) filed 24.2.2022 and the priority of the Chinese patent application (CN 2022101839615) filed 28.2.2.2022 and the priority patent application is incorporated by reference in its entirety.

Technical Field

The invention belongs to the technical field of wearable equipment, and particularly relates to a waist-arm linkage assistance exoskeleton.

Background

Scenes of carrying heavy materials in a reciprocating mode, such as logistics carrying, loading and unloading of parts in a production workshop and the like, are frequently encountered in social production life. The long-time reciprocating movement of the waist and the arms of the human body can easily cause sports fatigue, and further cause lumbar muscle strain or arm muscle strain in severe cases.

One existing solution is to transport the exoskeleton by wearing and to assist the waist or arms of the human body. However, current solutions either use passive, power assisted exoskeletons, which provide a relatively weak degree of assistance to the body. Or an active power assisting scheme is carried out on the waist or the arms independently, although the power assisting scheme can be stronger, the power assisting of the waist and the arms are independent from each other, no linkage effect exists, and actually when a heavy object is carried by a human body, the arms and the waist are completed by cooperatively exerting force. Therefore, the existing waist and arm assistance exoskeleton which are independent of each other cannot completely simulate the force application mode of a human body, so that the assistance mode is not coordinated, and the assistance effect is not good.

Disclosure of Invention

In view of the above, the invention provides a waist and arm linkage assistance exoskeleton, which drives a waist assistance by an arm assistance to enable two assistance exoskeletons to work in a coordinated manner.

In order to solve the technical problems, the technical scheme of the invention is that a waist-arm linkage assistance exoskeleton is adopted and comprises a waist assistance exoskeleton, an arm assistance exoskeleton and a wearing part for wearing the waist assistance exoskeleton and the arm assistance exoskeleton on a human body; the arm power assisting exoskeleton comprises at least one driving device and an arm power transmission part, and the driving device can drive the arm power transmission part to assist the arm; the lumbar assist exoskeleton comprises a lumbar force transmission component; but still including wearing the link gear of reciprocating motion on the human body, arm power transmission part, waist power transmission part all are connected with link gear for when drive arrangement drove arm power transmission part for the arm helping hand, link gear can drive waist power transmission part for waist helping hand.

As an improvement, the linkage mechanism comprises an anchoring seat which can do linear reciprocating motion, and the arm force transmission part and the waist force transmission part are connected to the anchoring seat; the arm force transmission part is connected to the arm force transmission part anchoring seat, the waist force transmission part is connected to the waist force transmission part anchoring seat, and a linear energy storage mechanism is arranged between the arm force transmission part anchoring seat and the waist force transmission part anchoring seat. The arm power assisting exoskeleton and the waist power assisting exoskeleton are connected in series through the linear energy storage mechanism to realize linkage, and the arm power transmission part anchoring seat drives the waist power transmission part anchoring seat to transmit the assistance force on the arm to the waist power assisting exoskeleton for assisting the waist, so that the aim of coordinating the two power assisting mechanisms is fulfilled.

As a further improvement, the linkage mechanism is arranged on the human body trunk; the arm force transmission part and the waist force transmission part are both rope-shaped objects; one end of the arm force transmission component is connected with the arm, the other end of the arm force transmission component is connected with the driving device, and the middle part of the arm force transmission component is connected with the arm force transmission component anchoring seat; the two ends of the waist force transmission part are respectively connected with the two lower limbs of the human body and are connected with the waist force transmission part anchoring seat by the middle part. The arm force transmission part pulls the arms to assist, and the waist force transmission part pulls the trunk and the lower limbs to assist the waist.

As another further improvement, an arm movable pulley block is mounted on the arm force transmission part anchoring seat, and the arm force transmission part bypasses the arm movable pulley block; the waist force transmission part is arranged on the waist force transmission part anchoring seat and bypasses the waist movable pulley block. The smaller power assistance released by the driving device is amplified into larger power assistance through the movable pulley block.

As an improvement, an arm fixed pulley group and a waist fixed pulley group are arranged in the movement direction of the arm force transmission part anchoring seat and the waist force transmission part anchoring seat, and the arm force transmission part anchoring seat and the waist force transmission part anchoring seat are arranged between the arm fixed pulley group and the waist fixed pulley group; the waist force transmission part anchoring seat is arranged on one side far away from the waist fixed pulley, and the arm force transmission part anchoring seat is arranged on one side far away from the arm fixed pulley group; the arm force transmission part bypasses a movable pulley on the arm movable pulley block and a fixed pulley on the arm fixed pulley block, and the waist force transmission part bypasses a movable pulley on the waist movable pulley block and a fixed pulley on the waist fixed pulley block.

As an improvement, the arm fixed pulley block, the waist force transmission part anchoring seat, the arm force transmission part anchoring seat and the waist fixed pulley block are sequentially arranged on the back of the human body from top to bottom.

As an improvement, the waist fixed pulley group comprises two waist fixed pulleys, and the waist movable pulley group comprises two waist movable pulleys; one end of the waist force transmission part is connected with the lower limbs of the human body, and the other end of the waist force transmission part firstly rounds one movable pulley of the waist movable pulley block and then successively rounds two fixed pulleys, and then rounds one movable pulley and then is connected with the other lower limb.

As an improvement, a guide rod is arranged between the arm fixed pulley block and the waist fixed pulley block, and the waist force transmission part anchoring seat and the arm force transmission part anchoring seat can move along the guide rod.

As an improvement, the linkage mechanism comprises an anchoring seat capable of making linear reciprocating motion, and the arm force transmission part and the waist force transmission part are connected to the anchoring seat. The arm assisting exoskeleton and the waist assisting exoskeleton are directly connected through the anchoring seat, so that the arm assisting exoskeleton and the waist assisting exoskeleton are in linkage assistance.

As an improvement, the linkage mechanism further comprises a linear energy storage mechanism for providing pretightening force for the anchoring seat, and the pretightening force provided by the linear energy storage mechanism and the movement direction of the anchoring seat are on the same straight line. The assistance force is further amplified through the linear energy storage mechanism.

As an improvement, the linkage mechanism is arranged on the human body trunk; the arm force transmission part and the waist force transmission part are both rope-shaped objects; one end of the arm force transmission component is connected with the arm, and the other end of the arm force transmission component is connected with the driving device; the two ends of the waist force transmission part are respectively connected with the two lower limbs of the human body; the arm force transfer means and the waist force transfer means are each connected to the anchor pad by an intermediate portion.

As an improvement, an arm movable pulley block and a waist movable pulley block are arranged on the anchoring seat; the arm force transmission part bypasses the arm movable pulley block, and the waist force transmission part bypasses the waist movable pulley block.

As an improvement, an arm fixed pulley block and a waist fixed pulley block are arranged in the moving direction of the anchoring seat, and the anchoring seat is arranged between the arm fixed pulley block and the waist fixed pulley block; the arm force transmission part bypasses a movable pulley on the arm movable pulley block and a fixed pulley on the arm fixed pulley block, and the waist force transmission part bypasses a movable pulley on the waist movable pulley block and a fixed pulley on the waist fixed pulley block.

As an improvement, the arm fixed pulley block, the anchoring seat and the waist fixed pulley block are sequentially arranged on the back of the human body from top to bottom.

As an improvement, a guide rod is arranged between the arm fixed pulley block and the waist fixed pulley block, and the anchoring seat can move along the guide rod.

As an improvement, the number of the movable pulleys in the arm movable pulley block is more than that of the movable pulleys in the waist movable pulley block. The arm power-assisted exoskeleton can drive the waist power-assisted exoskeleton to realize larger power assistance on the waist through smaller force.

As an improvement, the hand force transmission component is connected with the human arm by an arm actuating mechanism, and the waist force transmission mechanism is connected with the lower limb of the human body by a waist actuating mechanism.

As an improvement, the arm execution mechanism is one or more of a glove, a steel claw which are worn in cooperation with a hand part or a rigid exoskeleton which is worn in cooperation with an arm.

As an improvement, the rigid exoskeleton comprises a large arm connecting rod and an abduction joint, wherein the front end of the large arm connecting rod is fixed on a large arm of a human body, and the rear end of the large arm connecting rod is connected with the abduction joint by a pin shaft arranged transversely to realize the vertical movement of the large arm; the abduction joint is connected with a mounting bracket of the linkage mechanism by utilizing a vertically arranged pin shaft to realize the transverse opening and closing movement of the abduction joint; the arm force transmission component is connected with the large arm connecting rod.

As an improvement, a pulley is arranged at the joint of the large arm connecting rod and the abduction joint, and the arm force transmission part is connected with the large arm connecting rod by bypassing the pulley.

As an improvement, the big arm connecting rod is connected with the big arm of the human body by using a big arm binding belt.

As an improvement, the human body forearm nursing device further comprises a forearm connecting rod, wherein the front end of the forearm connecting rod is connected with the forearm of a human body, and the rear end of the forearm connecting rod is connected with the front end of the large arm connecting rod through a pin shaft.

As an improvement, a pulley is arranged at the joint of the small arm connecting rod and the large arm connecting rod, and the arm force transmission part is connected with the small arm connecting rod by bypassing the pulley.

As an improvement, bosses are arranged on the abduction joint and the two sides of the joint of the big arm connecting rod and the big arm of the human body, and holes for the arm force transmission part to pass through are arranged on the bosses.

As an improvement, a wire pipe for the arm force transmission part to penetrate through is arranged between the bosses.

As an improvement, the small arm connecting rod is connected with the small arm of the human body by using a small arm binding belt.

As an improvement, the waist actuating mechanism is a thigh binding belt connected with the thigh of the human body.

As an improvement, the driving device comprises a rolling component for rolling the arm force transmission component and a motor for driving the rolling component.

As an improvement, the winding part is a winch and further comprises a coil spring for pre-tightening the winch.

As an improvement, the number of the driving devices is two, and the number of the arm force transmission parts is two, and the two arm force transmission parts are respectively matched with two upper limbs of a human body for use.

As an improvement, the driving device is one, the arm force transmission parts are two parts which respectively assist the left and right arms, one end of each of the two arm force transmission parts is connected with the same driving device, the middle part of each of the two arm force transmission parts acts on the arms, and the other end of each of the two arm force transmission parts is connected with each other, so that when the two arms are alternately folded and unfolded, one side of the arm force transmission part needs to be stretched, and the other side of the arm force transmission part needs to be retracted to obtain the arm force transmission part of the stretched part.

As an improvement, the arm force transmission member is a tensile cord and the lumbar force transmission member is a flat braided strap.

As an improvement, an arm fixed pulley block and a waist movable pulley block are respectively arranged on an arm fixed pulley block mounting seat and a waist fixed pulley block mounting seat; a position adjusting line pipe is arranged between the driving device and the arm fixed pulley block, and a shoulder transmission line pipe which bypasses the shoulders of the human body is arranged between the arm fixed pulley block and the wearing part of the arm assisting exoskeleton; the arm force transmission member passes through the position adjustment conduit and the shoulder transmission conduit.

As an improvement, a shoulder bearing platform is arranged on the wearing part and positioned at the shoulder of the human body, and the shoulder transmission line pipe is fixed on the shoulder bearing platform.

As an improvement, the ends of the two arm force transmission parts are connected by a damping rebound adjusting device; the damping rebound adjusting device comprises a left differential capstan, a right differential capstan and a capstan gear coaxially mounted with the differential capstan; a third wheel which is respectively meshed with the two winch gears is arranged between the two winch gears; the damping piece or the elastic component is used for providing damping or pretightening force for the idler wheel; the ends of the two arm force transmission parts are respectively connected with the two differential winches, and the winding directions of the two arm force transmission parts are opposite.

As an improvement, the damping rebound adjusting device further comprises a shell, and the differential capstan, the capstan gear, the idler wheel and the damping piece or the elastic component are all arranged in the shell; and the shell is provided with a line pipe for the arm force transmission part to pass through.

As an improvement, the damping rebound adjusting device further comprises a shell, and the differential capstan, the capstan gear, the third wheel and the damping piece or the elastic component are all arranged in the shell; and the shell is provided with a line pipe for the arm force transmission part to pass through.

As an improvement, the linear energy storage mechanism is a spring or an air push rod.

As an improvement, the linear energy storage mechanism is an even number which is arranged in bilateral symmetry.

As an improvement, the device further comprises an arm power switch for controlling the driving device to be turned on or off.

As an improvement, the wearing part comprises a shoulder belt, a waist belt and a back plate, and the linkage mechanism is installed on the back plate.

The invention has the advantages that: when the human body carries heavier materials, the strength of the arms is deficient at first, and a stronger power is often needed, and meanwhile, when the heavier materials are arranged on the front side of the abdomen of the human body, the whole gravity center of the upper limbs and the materials of the human body moves forwards, so that the waist needs a higher-strength force to maintain the balance of the gravity center no matter the human body bends to carry or put down or stands straight to hold the object to move.

Therefore, the invention provides the active carrying assisting exoskeleton with the linkage of the arms and the waist. The so-called linkage, namely the arm power-assisted exoskeleton and the waist power-assisted exoskeleton adopt the same driving device to simultaneously assist, and the waist and the arms are allowed to have independent motion freedom degrees through a differential pulley system and a linear energy storage mechanism.

Compared with the mode that the arm power assisting exoskeleton is independently driven and the waist power assisting exoskeleton is independently driven (particularly, the single-side arm is independently driven and the single-side lower limb is independently driven), the invention uses less driving devices, completes the strong power assistance of the arm and the waist in the carrying process on the premise of conforming to the human motion mechanics, thereby having lower cost and more advantages, and the reduction of the driving devices reduces the volume and the dead weight of the whole exoskeleton machine, so that the whole exoskeleton machine has simpler structure and is lighter, and the user experience is improved.

The waist-arm linkage assistance exoskeleton can adopt two power sources, namely two driving devices to provide assistance for the arm assistance exoskeleton and the waist assistance exoskeleton simultaneously; and only a single power source, namely one driving device, can be used for providing assistance for the arm assistance exoskeleton and the waist assistance exoskeleton simultaneously, so that the repeated arrangement of equipment is greatly reduced, the device is simplified, and the cost is reduced.

On the other hand, the arm power assisting exoskeleton is provided with a differential mechanism, so that the driving device is prevented from assisting the two arms differently due to different lengths of arm force transmission parts caused by asynchronous movement of the two arms; the waist assisting exoskeleton is provided with a differential mechanism, so that the phenomenon that the waist assisting force is different due to the fact that two lower limbs move asynchronously is avoided.

Drawings

Fig. 1 is a schematic perspective structure of the present invention.

Fig. 2 is a schematic perspective view of embodiment 1.

Fig. 3 is a schematic structural view of embodiment 1.

Fig. 4-1 and 4-2 are schematic structural views of embodiment 2.

Fig. 4-3 are schematic structural views of embodiment 3.

Fig. 5 is a schematic view of an arm actuator being a steel hook.

Fig. 6 is a schematic view of a rigid exoskeleton.

Figure 7 is a schematic view of a rigid exoskeleton.

Fig. 8 to 11 are schematic diagrams illustrating the corresponding situation of the human body posture and the working state of the power-assisted exoskeleton when carrying heavy objects.

FIG. 12 is a schematic structural view of example 4.

Fig. 13 is a schematic structural diagram of the damping rebound adjusting device.

FIG. 14 is a schematic structural view of example 4.

FIG. 15 is a schematic structural view of example 5.

FIG. 16 is a schematic structural view of example 6.

FIG. 17 is a schematic structural view of example 7.

The labels in the figure are: 101 arm force transmission parts, 102 arm execution parts, 104 shoulder belts, 105 shoulder bearing platforms, 106 back plates, 107 outer shells, 108 shoulder force transmission pipelines, 109 position adjustment pipelines, 110 driving devices, 111 fixed pulleys and 112 pipelines;

1021 big arm connecting rod, 1022 big arm binding belt, 1023 pulley, 1024 pin shaft, 1025 boss, 1026 small arm connecting rod, 1027 small arm binding belt, 1028 line pipe, 1029 pin shaft and 1030 abduction joint;

201 a lumbar force transmission member, 202 a lumbar actuator, 203 a belt;

301 arm force transmission part anchor seat, 302 arm movable pulley block, 303 waist force transmission part anchor seat, 304 waist movable pulley block, 305 arm fixed pulley block mounting seat, 306 arm fixed pulley block, 307 waist fixed pulley block mounting seat, 308 linear energy storage mechanism, 309 anchor seat, 310 guide rod, 311 waist fixed pulley block;

4 damping rebound adjustment, 401 housing, 402 differential capstan, 403 capstan gear, 404 idler, 405 damping member or elastic member, 406 conduit.

Detailed Description

In order that those skilled in the art will better understand the technical solutions of the present invention, the present invention will be further described in detail with reference to the following embodiments.

The arm 'assisting force' in the invention means that the arm force transmission part 101 pulls the arm joint of the wearer to bend, thereby assisting the upper limb of the wearer to bend to achieve the effect of assisting in lifting heavy objects. When a wearer wants to lift the weight through the arm, the conventional action is to straighten the arm joint to take the weight, and then lift the weight through the bent arm joint. And the arm force transmission part 101 can assist in pulling the joint to bend so as to achieve the aim of assisting the arm.

The waist portion "assisting force" in the present invention means that the waist force transmission member 201 stretches the waist portion of the wearer to straighten the waist portion. When a wearer needs to pick up a heavy object, the waist is usually required to be tilted forward or bent, and when the wearer picks up a heavy object, and this is important, the waist of the wearer may tilt forward or backward to some extent during transport. And the lumbar force transfer member can assist in straightening the lumbar region.

The "human body" as referred to in the present invention means the body of the wearer of the present invention, including the trunk and the limbs.

The term "linkage" as used herein means that the waist assistance exoskeleton and the arm assistance exoskeleton of the present invention employ the same driving device to provide assistance. For example, while the drive or drives provide assistance to the arm assist, they also provide assistance to the lumbar assist exoskeleton.

The waist assisting exoskeleton and the arm assisting exoskeleton are worn on a human body; the arm power assisting exoskeleton comprises a driving device 110 and an arm power transmission part 101, wherein the driving device 110 can drive the arm power transmission part 101 to assist arms; the lumbar assist exoskeleton comprises a lumbar force transmission member 201; the waist assisting device is characterized by further comprising a linkage mechanism which is worn on a human body and can do reciprocating motion, the arm force transmission part 101 and the waist force transmission part 201 are connected with the linkage mechanism, so that when the driving device 110 drives the arm force transmission part 101 to do arm assisting, the linkage mechanism can drive the waist force transmission part 201 to do waist assisting. The wearing unit of the present invention mainly includes shoulder straps 104, a waist belt 203, and a back plate 106, and the link mechanism is mounted on the back plate 106 and covered with a cover 107. The wearer wears the entire exoskeleton on his body through shoulder straps 104, waist belt 203, and back plate 106.

The arm assistance exoskeleton and the waist assistance exoskeleton respectively transmit assistance provided by the driving device 110 to the arm assistance exoskeleton and the waist assistance exoskeleton through the linkage mechanism.

The linkage mechanism comprises two forms, and the embodiment 1 is shown in figures 1-3 and is a waist-arm tandem type, specifically comprising:

the linkage mechanism comprises an arm force transmission member anchor seat 301 and a waist force transmission member anchor seat 303, wherein the arm force transmission member anchor seat 301 and the waist force transmission member anchor seat 303 can move back to back or move towards each other; the arm force transmission member 101 is connected to the arm force transmission member anchor base 301, the waist force transmission member 201 is connected to the waist force transmission member anchor base 303, and a linear energy accumulating mechanism 308 is provided between the arm force transmission member anchor base 301 and the waist force transmission member anchor base 303.

The arm power-assisted exoskeleton and the waist power-assisted exoskeleton in the waist-arm series connection type are relatively independent, and are connected in series through the linear energy storage mechanism 308, namely the upward pulling force of the arm force transmission part anchoring seat 301 is flexibly transmitted to the waist force transmission part anchoring seat 303 through the linear energy storage mechanism 308, so that the power assistance in linkage is more flexible and has certain time lag, and the step of generating force by a human body is better met.

The linkage mechanism is arranged on the trunk of the human body, and the arm force transmission part 101 and the waist force transmission part 201 are preferably rope-shaped objects; specifically, the arm force transmitting member 101 is a tensile cord (e.g., a wire such as a steel wire), and the lumbar force transmitting member 201 is a flat braid.

The arm fixed pulley block 306 and the waist fixed pulley block 311 are respectively arranged on the arm fixed pulley block mounting seat 305 and the waist fixed pulley block mounting seat 307; a position adjusting line pipe 109 is arranged between the driving device 110 and the arm fixed pulley block 306, and a shoulder transmission line pipe 108 which bypasses the shoulders of the human body is arranged between the arm fixed pulley block 306 and the wearing part of the arm assisting exoskeleton; the arm force transmission member 101 passes through the position adjustment conduit 109 and the shoulder transmission conduit 108. The wearing part is provided with a shoulder bearing platform 105 at the shoulder of the human body, and a shoulder transmission line pipe 108 is fixed on the shoulder bearing platform 105. The purpose of the shoulder power transmission conduit 108 is primarily to guide the arm force transmission member 101 and to avoid friction against the shoulder when pulling the arm force transmission member 101. The position adjustment conduit 109 can also cancel a part of the reaction force of the arm force transmission member 101 to the driving device 110.

One end of the arm force transmission component 101 is connected with an arm, the other end is connected with the driving device 110, and is connected with the arm force transmission component anchoring seat 301 by using the middle part; the two ends of the waist force transmission member 201 are connected to the two lower limbs of the human body, respectively, and are connected to the waist force transmission member anchoring base 303 by the middle portion. The arm power transmission member 101 pulls the arm to assist the waist, and the waist power transmission member 201 pulls the trunk and the lower limb to assist the waist.

In order to obtain better assistance effect, so that the smaller assistance provided by the driving device 110 is amplified, the arm force transmission member anchoring seat 301 is provided with an arm movable pulley block 302, and the arm force transmission member 101 bypasses the arm movable pulley block 302; the waist force transmission part anchoring seat 303 is provided with a waist movable pulley block 304, and the waist force transmission part 201 bypasses the waist movable pulley block 304.

In addition, for convenience of arrangement, an arm fixed pulley block 306 (mounted on the arm fixed pulley block mounting seat 305) and a lumbar fixed pulley block 311 (mounted on the lumbar fixed pulley block mounting seat 307) are disposed in the moving direction of the arm force transmission member anchor seat 301 and the lumbar force transmission member anchor seat 303, and the arm force transmission member anchor seat 301 and the lumbar force transmission member anchor seat 303 are disposed between the arm fixed pulley block 306 and the lumbar fixed pulley block 311; the waist force transmission member anchor base 303 is arranged on the side far from the waist fixed pulley 311, and the arm force transmission member anchor base 301 is arranged on the side far from the arm fixed pulley group 306; the arm force transmission part 101 bypasses a movable pulley on the arm movable pulley block 302 and a fixed pulley on the arm fixed pulley block 306, and the waist force transmission part 201 bypasses a movable pulley on the waist movable pulley block 304 and a fixed pulley on the waist fixed pulley block 311. More specifically, the arm fixed pulley block 306, the lumbar force transmission member anchor seat 303, the arm force transmission member anchor seat 301, and the lumbar fixed pulley block 311 are sequentially disposed on the back of the human body from top to bottom. That is, an arm differential pulley mechanism is formed by an arm movable pulley block and an arm fixed pulley block, the force output end of an arm force transmission part is connected with the arm/hand actuating mechanism of a wearer, and the force input end is connected with the output end of a driving device after passing through the arm differential pulley mechanism; correspondingly, a waist differential pulley mechanism is formed by a waist arm fixed pulley block and a waist movable pulley block, one end of a waist force transmission part is connected with the lower limb at one side of the wearer, and the other end of the waist force transmission part is connected with the lower limb at the other side after bypassing the waist differential pulley mechanism formed by the waist movable pulley block and the waist fixed pulley block; and a linear energy storage mechanism is arranged between the movable pulley blocks (namely the arm movable pulley block and the waist movable pulley block) between the two differential mechanisms.

In addition, in order to ensure the moving direction and stability of the lumbar force transmission member anchor base 303 and the arm force transmission member anchor base 301, a guide rod is provided between the arm crown block 306 and the lumbar crown block 311, and the lumbar force transmission member anchor base 303 and the arm force transmission member anchor base 301 are movable along the guide rod. In this embodiment, the arm crown block mounting seat 305 and the lumbar crown block mounting seat 307 also serve as a stopper for the lumbar force transmission member anchor seat 303 and the arm force transmission member anchor seat 301, thereby preventing the lumbar force transmission member anchor seat from slipping off.

In this embodiment, there are two driving devices 110, and there are two arm strength transmission components 101, which are respectively used in cooperation with two upper limbs of the human body. The driving device 110 specifically includes a winding member for winding the arm force transmission member 101 and a motor for driving the winding member. The winding member is preferably a capstan, and further includes a coil spring for pre-tensioning the capstan, so that the capstan can automatically pull up the arm force transmission member 101. The arm power switch is connected with the motor, and can be turned on when arm power is needed, so that the motor is started to work. It is anticipated that the arm assist switch should be mounted in a location where it is easy to touch, so that it can be opened and closed at any time when carrying heavy objects.

In this embodiment, the arm movable pulley block 302 includes 4 movable pulleys, and two or two of the 4 movable pulleys correspond to the left and right arm force transmission members 101, respectively. And the waist movable pulley block 304 comprises 2 movable pulleys. Taking an arm force transmission component 101 as an example, one end of the arm force transmission component is fixed with a winch, and the other end of the arm force transmission component bypasses a movable pulley of an arm movable pulley block 302, then bypasses a fixed pulley of an arm fixed pulley block 306, and then bypasses the shoulder of a human body to be connected with an arm/hand actuating mechanism. One end of the waist force transmission part 201 is connected with the lower limbs of the human body, and the other end of the waist force transmission part firstly rounds the movable pulley of the waist movable pulley group 304 and then successively rounds the two fixed pulleys, and then rounds one movable pulley and then is connected with the other lower limb.

The waist force transmission component is combined by the movable pulley and the fixed pulley to realize a waist assisting differential mechanism. When the human body is upright and walks forwards, the swinging legs always swing forwards, and the supporting legs step backwards, so that the left and right waist force transmission parts always go in and out in the walking process, the movement mode basically cannot cause the up and down sliding of the waist force transmission part anchoring seat 303, and the forward and backward rotation of the movable pulley and the fixed pulley allows the rope coming in from one side to supplement the rope pulled out from the other side. However, when the human body is changed from the standing state to the stooping state, the lumbar force transmission member anchor base 303 is forced to compress the linear energy storage mechanism 308 because the left and right lumbar force transmission members 201 are pulled out of the linkage mechanism. The lumbar force transfer member anchor base 303 also moves gradually downward. At this time, the length of the arm force transmission member 101 wound between the fixed pulley and the movable pulley is also elongated. This pulling out either pulls out more of the excess arm force transmission member 101 wound in the drive device 110 or shortens the length of the arm force transmission member 101 between the hand actuator 102 and the arm force transmission member anchor base 301. By properly adjusting the force of the coil spring in the driver 110, which is responsible for tensioning and recovering the arm force transmission component 101, it can be ensured that the redundant arm force transmission component 101 is satisfied mainly by the wound part in the driving device 110 when the human body bends, and the arm force transmission component 101 cannot be driven to lift the arm.

In this embodiment, the number of the movable pulleys in the arm movable pulley block 302 is greater than that in the waist movable pulley block 304, considering that the assistance required by the waist of the human body is greater than the arm assistance requirement. The waist assisting device aims to enable the arm assisting exoskeleton to drive the waist assisting exoskeleton to achieve large assisting force on the waist through small force. For example, when the arm force transmission member 101 generates the pulling forces FL and FR under the assistance of the motor (FL represents the left arm force transmission member pulling force generated by the left motor, and FR represents the right side), the arm movable pulley block 302 is pulled upward by FT-4 FL +4 FR. The arm movable pulley block 302 can receive the resultant force of 4 times of the pulling force of the arm force transmission parts 101 at the left and right sides. If the control algorithm of the exoskeleton is to keep the same power provided by the motors on the left and right sides (FL ═ FR) all the time, the upward pulling force applied to the arm movable pulley block 302 is FT ═ 8 × FL.

Of course, the number of the movable pulleys of the arm movable pulley block and the number of the movable pulleys of the waist movable pulley block can be proportionally adjusted according to needs, and then different arm and waist power-assisted ratios can be obtained.

In this embodiment, the linear energy storage mechanism 308 is preferably a spring or an air push rod, which is preferably an even number, such as 4 in this embodiment, arranged in bilateral symmetry. In this embodiment, the linear energy storage mechanism 308 needs to generate elastic potential energy when being compressed.

The hand force transmission member 101 is connected to the arm of the human body by an arm actuator 102, and the lumbar force transmission mechanism 201 is connected to the lower limb of the human body by a lumbar actuator 202. In this embodiment, the arm actuator 201 is one or more of a glove, a steel claw worn in cooperation with a hand, or a rigid exoskeleton worn in cooperation with an arm. The waist actuator 201 is a thigh binding band connected to a thigh of a human body.

Wherein, the arm execution mechanism shown in fig. 1 is a glove, and the arm execution mechanism shown in fig. 5 is a steel claw.

Fig. 6 shows the structure of the rigid exoskeleton, which specifically includes a large arm link 1021 and an abduction joint 1030, where the front end of the large arm link 1021 is fixed on the large arm of the human body, and the rear end of the large arm link 1021 is connected with the abduction joint 1030 by a pin 1029 arranged transversely to realize the up-and-down movement of the large arm; the abduction joint 1030 is connected with a mounting bracket (such as a back plate 106) of a linkage mechanism by utilizing a vertically arranged pin shaft 1024 to realize the transverse opening and closing movement of the abduction joint 1030; the horizontal installation and the vertical installation are mainly convenient for description, and the pin shaft is not limited to be installed horizontally or vertically and can be changed according to different poses of wearers. In practice, the pin shaft is installed to be perpendicular to the moving direction of the connected components. The arm force transmission member 101 is connected to the large arm link 1021. The joint between the large arm link 1021 and the abduction joint 1030 is provided with a pulley 1023, and the arm force transmission member 101 is connected to the large arm link 1021 by passing around the pulley 1023. The upper arm link 1021 is connected to the upper arm of the human body by an upper arm binding band 1022.

Fig. 7 shows a further improvement of the rigid exoskeleton, which comprises, in addition to the above structure, a small arm link 1026, the front end of the small arm link 1026 is connected with the small arm of the human body, and the rear end thereof is connected with the front end of the large arm link 1021 by a pin (not shown). A pulley 1023 is arranged at the joint of the small arm connecting rod 1026 and the large arm connecting rod 1021, and the arm force transmission part 101 is connected with the small arm connecting rod 1026 by bypassing the pulley 1023 (at this time, the pulley 1023 is not required at the joint of the large arm connecting rod 1021 and the abduction joint 1030). The abduction joint 1030 and the large arm connecting rod 1021 are provided with bosses 1025 at two sides of the joint of the large arm connecting rod 1021 and the large arm of the human body, and the bosses 1025 are provided with holes for the arm force transmission part 101 to pass through for guiding. A conduit 1028 for the arm force transmission part 101 to pass through is arranged between the

lug bosses

1025 and 1025. The forearm link 1026 is connected to the human forearm by means of a forearm binding strap 1027.

Example 2 as shown in fig. 4-1, is a waist-arm direct-connected type, which is different from example 1 in that:

the linkage mechanism includes an anchor base 309 that can reciprocate linearly, and the arm force transmission member 101 and the lumbar force transmission member 201 are connected to the anchor base 309.

In this embodiment, the arm force transmission part 101 and the waist force transmission part 201 are both connected to the anchoring seat 309, and the arm assistance exoskeleton and the waist assistance exoskeleton are directly connected through the anchoring seat 309, so that the arm assistance exoskeleton and the waist assistance exoskeleton can perform linkage assistance. Compared with the series connection type, the direct connection type structure is simpler.

In this embodiment, the driving device adopts a parallel elastic driving device, that is, an elastic recovery component (for example, a spring connected in parallel with a motor) for recovering the anchoring seat is arranged in the driving device, so that the driving device can automatically recover the anchoring seat without being affected by external force. For example, when the end of the waist block-pulley block mounting seat 307 is not pulled by external force, the anchoring seat 309 will gradually move upward under the pulling force of the arm force transmission member 101 to retract the anchoring seat 309.

The linkage mechanism is arranged on the human body trunk; the arm force transmission part 101 and the waist force transmission part 201 are both rope-shaped objects; one end of the arm force transmission part 101 is connected with an arm, and the other end is connected with a driving device 110; two ends of the waist force transmission part 201 are respectively connected with two lower limbs of a human body; both the arm force transmission member 101 and the lumbar force transmission member 201 are connected with the anchor base 309 with an intermediate portion.

An arm movable pulley block 302 and a waist movable pulley block 304 are arranged on the anchoring seat 309; the arm force transmission member 101 bypasses the arm movable pulley block 302, and the lumbar force transmission member 201 bypasses the lumbar movable pulley block 304. An arm fixed pulley block 306 (mounted on the arm fixed pulley block mounting seat 305) and a waist fixed pulley block 311 (mounted on the waist fixed pulley block mounting seat 307) are arranged in the moving direction of the anchor seat 301, and the anchor seat 309 is arranged between the arm fixed pulley block 306 and the waist fixed pulley block 311; the arm force transmission part 101 bypasses a movable pulley on the arm movable pulley block 302 and a fixed pulley on the arm fixed pulley block 306, and the waist force transmission part 201 bypasses a movable pulley on the waist movable pulley block 304 and a fixed pulley on the waist fixed pulley block 311. The arm movable pulley block in the arm differential mechanism and the waist movable pulley block in the waist differential mechanism are arranged on the same anchoring seat, so that the arm movable pulley block and the waist movable pulley block synchronously reciprocate between the arm fixed pulley block and the waist arm fixed pulley block. Of course, other structures can be arranged to synchronously reciprocate the two groups of movable pulleys.

Specifically, the arm fixed pulley block 306, the anchoring seat 309 and the waist fixed pulley block 311 are sequentially arranged on the back of the human body from top to bottom.

Further, referring to fig. 4-2, to further ensure the direction of movement and stability of anchor block 309, a guide bar 310 is provided between arm and lumbar

tackle block mount

305 and 307.

Example 3 is also a waist-arm direct-connected type as shown in fig. 4-3, and is different from example 2 in that:

further, in order to increase the power assisting force of the waist from a mechanical angle to adapt to an application scenario with higher requirements on the waist power assisting force, the linkage mechanism further comprises a linear energy storage mechanism 308 for providing a pre-tightening force for the anchoring seat 309, and the pre-tightening force provided by the linear energy storage mechanism 308 is on the same straight line with the movement direction of the anchoring seat 309. Specifically, the linear energy storage mechanism 308 is disposed between the waist movable pulley block 304 and the waist fixed pulley block 311.

A guide rod 310 is arranged between the arm fixed pulley block 306 and the waist fixed pulley block 311, and the anchoring seat 309 can move along the guide rod 310. Also, in this embodiment, the arm crown block mounting seat 305 and the lumbar crown block mounting seat 307 serve as a stop means for the anchor seat 309.

The rest of the direct connection type is the same as the series connection type, and the details are not described in this embodiment.

Embodiment 4 referring to fig. 12-14, a single power source waist-arm linked assist exoskeleton comprises a waist assist exoskeleton and an arm assist exoskeleton, and wearing parts for wearing the waist assist exoskeleton and the arm assist exoskeleton on a human body; the arm power assisting exoskeleton comprises a driving device 110 and a flexible arm power transmission part 101, wherein the driving device 110 can drive the arm power transmission part 101 to assist arms; the waist assist exoskeleton comprises a flexible waist force transmission member 201; the waist strength transmission device is characterized by further comprising a linkage mechanism which is worn on a human body and can do reciprocating motion, wherein the arm force transmission part 101 and the waist force transmission part 201 are both connected with the linkage mechanism, so that when the driving device 110 drives the arm force transmission part 101 to do arm assistance, the linkage mechanism can drive the waist force transmission part 201 to do waist assistance; the arm force transmission parts 101 are two parts for respectively assisting the left arm and the right arm, one end of each of the two arm force transmission parts 101 is connected with the same driving device 110, the middle part of each of the two arm force transmission parts is acted on the arm, and the other end of each of the two arm force transmission parts is connected with each other, so that when the two arms are alternately folded and unfolded, one side of the arm force transmission part 101 needs to be stretched, and the arm force transmission part 101 of the stretched part is obtained from the side of the arm force transmission part 101 needing to be retracted. The arm force transmission members 101 on both sides are connected to form a differential mechanism, and even if the two sides do not operate synchronously, the side that needs to be stretched can obtain the redundant length from the shortened side, so that the arm force transmission members 101 on both sides are always in a tight state, and the assistance force on both sides is the same when the driving device 110 performs assistance.

In this embodiment, the driving device 110 includes a winding mechanism and a motor for driving the winding mechanism to rotate. The winding mechanism is a double-layer winch, and the two arm force transmission parts 101 are respectively wound on one layer of winch; and the coil spring is used for pre-tightening the double-layer winch.

Specifically, the ends of the two arm force transmission members 101 are connected by the damping rebound adjusting device 4; the damping rebound adjusting device 4 comprises a left differential capstan 402 and a right differential capstan 402, and a capstan gear 403 coaxially mounted with the differential capstan 402; a third wheel 404 which is respectively meshed with the two winch gears 403 is arranged between the two winch gears 403; a damping piece or an elastic component 405 for providing damping or pretightening force for the idler wheel 404; the ends of the two arm force transmission members 101 are connected to two differential capstans 402, respectively, and the winding directions of the two arm force transmission members 101 are opposite.

The damping rebound adjusting device 4 further comprises a housing 401, and the differential capstan 402, the capstan gear 403, the idle gear 404 and the damping member or elastic member 405 are all arranged in the housing 401; the housing 401 is provided with a conduit 406 through which the arm force transmission member 101 passes.

In this embodiment, the damping member is preferably damping oil, and the elastic member is a coil spring.

In addition, the shoulder force bearing platforms 105 are arranged on the shoulders of the human body, and a conduit 112 through which the arm force transmission part 101 passes is arranged between the two shoulder force bearing platforms 105.

The arm force transmission part 101 acts on a human hand to assist the arm by utilizing the arm execution mechanism 102, and further comprises a fixed pulley 111 arranged on the arm execution mechanism 102, and the arm force transmission part 101 is connected with the other arm force transmission part 101 after bypassing the fixed pulley 111.

The arm assist exoskeleton is active and has a driving device 110 to provide assistance. The waist assisting exoskeleton is passive, and the assisting force provided by the driving device 110 needs to be transmitted to the waist assisting exoskeleton through a linkage mechanism.

The linkage mechanism comprises two forms, the embodiment is a waist arm tandem type, and specifically comprises the following steps:

the linkage mechanism comprises an arm force transmission part anchor seat 301 and a waist force transmission part anchor seat 303, wherein the arm force transmission part anchor seat 301 and the waist force transmission part anchor seat 303 can move back to back or move towards each other; the arm force transmission member 101 is connected to the arm force transmission member anchor base 301, the waist force transmission member 201 is connected to the waist force transmission member anchor base 303, and a linear energy accumulating mechanism 308 is provided between the arm force transmission member anchor base 301 and the waist force transmission member anchor base 303.

The arm power-assisted exoskeleton and the waist power-assisted exoskeleton in the waist-arm serial connection type are relatively independent and are connected in series through the linear energy storage mechanism 308, so that the power assistance in linkage is more flexible and has certain time lag, and the steps of applying force to a human body are more met.

The linkage mechanism is arranged on the trunk of the human body, the arm force transmission part 101 is preferably a pull wire, and the waist force transmission part 201 is preferably a woven belt; specifically, the arm force transmitting member 101 is a tensile cord (e.g., a wire such as a steel wire), and the lumbar force transmitting member 201 is a flat braid. The arm force transmission means 101 is connected with an arm force transmission means anchor base 301 by an intermediate portion; the two ends of the waist force transmission member 201 are connected to the two lower limbs of the human body, respectively, and are connected to the waist force transmission member anchoring base 303 by the middle portion. The arm power transmission member 101 pulls the arm to assist the waist, and the waist power transmission member 201 pulls the trunk and the lower limb to assist the waist.

In addition, for convenience of arrangement, an arm fixed pulley block 306 (mounted on the arm fixed pulley block mounting seat 305) and a waist fixed pulley block 311 (mounted on the waist fixed pulley block mounting seat 307) are arranged in the moving direction of the arm force transmission member anchor seat 301 and the waist force transmission member anchor seat 303, and the arm force transmission member anchor seat 301 and the waist force transmission member anchor seat 303 are arranged between the arm fixed pulley block 306 and the waist fixed pulley block 311; the waist force transmission member anchor base 303 is arranged on the side far from the waist fixed pulley 311, and the arm force transmission member anchor base 301 is arranged on the side far from the arm fixed pulley group 306; the arm force transmission part 101 is wound around the movable pulley on the arm movable pulley block 302 and the fixed pulley on the arm fixed pulley block 306, and the waist force transmission part 201 is wound around the movable pulley on the waist movable pulley block 304 and the fixed pulley on the waist fixed pulley block 311. More specifically, the arm fixed pulley block 306, the lumbar force transmission member anchor seat 303, the arm force transmission member anchor seat 301, and the lumbar fixed pulley block 311 are sequentially disposed on the back of the human body from top to bottom. That is, an arm differential pulley mechanism is formed by an arm movable pulley block and an arm fixed pulley block, the force output end of an arm force transmission part is connected with the arm/hand actuating mechanism of a wearer, and the force input end is connected with the output end of a driving device after passing through the arm differential pulley mechanism; correspondingly, a waist differential pulley mechanism is formed by a waist arm fixed pulley block and a waist movable pulley block, one end of the waist force transmission part is connected with the lower limb at one side of the wearer, and the other end of the waist force transmission part is connected with the lower limb at the other side after bypassing the waist differential pulley mechanism; and a linear energy storage mechanism is arranged between the movable pulley blocks (namely the arm movable pulley block and the waist movable pulley block) between the two differential mechanisms.

Of course, the arm fixed pulley group may not be provided, and the arrangement manner is as shown in fig. 3, specifically, the linkage mechanism includes: a waist fixed pulley block and a waist movable pulley block; and an arm movable pulley block which can reciprocate between the waist arm movable pulley block and the waist fixed pulley block; and the linear energy storage mechanism is arranged between the waist movable pulley block and the arm movable pulley block, wherein the force output end of the arm force transmission part is connected with an arm/hand actuating mechanism (such as gloves, manipulators and the like) of a wearer, and the force input end of the arm force transmission part is connected with the output end of the driving device after bypassing the arm movable pulley block.

In addition, in order to ensure the moving direction of the lumbar force transmission member anchor base 303 and the arm force transmission member anchor base 301, a guide rod 310 is provided between the arm pulley set 306 and the lumbar pulley set 311, and the lumbar force transmission member anchor base 303 and the arm force transmission member anchor base 301 are movable along the guide rod 310. In this embodiment, the arm crown block mounting seat 305 and the lumbar crown block mounting seat 307 also serve as a stopper for the lumbar force transmission member anchor seat 303 and the arm force transmission member anchor seat 301, thereby preventing the lumbar force transmission member anchor seat from slipping off.

In this embodiment, the arm movable pulley block 302 includes 4 movable pulleys, and two or two of the 4 movable pulleys correspond to the left and right arm force transmission members 101, respectively. And the waist movable pulley block 304 comprises 2 movable pulleys. Taking an arm force transmission component 101 as an example, one end of the arm force transmission component is fixed with a winch, and the other end of the arm force transmission component bypasses a movable pulley of an arm movable pulley block 302, then bypasses a fixed pulley of an arm fixed pulley block 306, and then bypasses the shoulder of a human body to be connected with an arm/hand actuator (such as a glove, a manipulator and the like). One end of the waist force transmission part 201 is connected with the lower limbs of the human body, and the other end of the waist force transmission part firstly rounds the movable pulley of the waist movable pulley block 304 and then successively rounds the two fixed pulleys, and then rounds one movable pulley and then is connected with the other lower limb.

The waist force transmission component is combined by the movable pulley and the fixed pulley to realize a waist assisting differential mechanism. When the human body is upright and walks forwards, because the swinging legs always swing forwards and the supporting legs step backwards, the left and right waist force transmission parts always go in and out in the walking process, the movement mode basically does not cause the up-and-down sliding of the waist force transmission part anchoring seat 303, but the forward and reverse rotation of the movable pulley and the fixed pulley allows the rope coming from one side to supplement the rope pulled from the other side. However, when the human body is changed from the standing state to the stooping state, the lumbar force transmission member anchor base 303 is forced to compress the linear energy storage mechanism 308 because both the left and right lumbar force transmission members 201 are pulled out of the linkage mechanism. The lumbar force transfer member anchor base 303 also moves gradually downward. At this time, the length of the arm force transmission member 101 wound between the fixed pulley and the movable pulley is also elongated. This pulling out either pulls out more of the excess arm force transmission member 101 wound in the drive device 110 or shortens the length of the arm force transmission member 101 between the hand actuator 102 and the arm force transmission member anchor base 301. By properly adjusting the force of the coil spring in the driver 110, which is responsible for tensioning and recovering the arm force transmission component 101, it can be ensured that the redundant arm force transmission component 101 is satisfied mainly by the wound part in the driving device 110 when the human body bends, and the arm force transmission component 101 cannot be driven to lift the arm.

In this embodiment, the number of movable pulleys in the arm movable pulley block 302 is greater than the number of movable pulleys in the waist movable pulley block 304. The waist assisting exoskeleton can be driven by the arm assisting exoskeleton through small force to realize large assistance to the waist. For example, when the arm force transmission member 101 generates the pulling forces FL and FR under the assistance of the motor (FL represents the left arm force transmission member pulling force generated by the left motor, and FR represents the right side), the arm movable pulley block 302 is pulled upward by FT-4 FL +4 FR. The arm movable pulley block 302 can receive the resultant force of 4 times of the pulling force of the arm force transmission parts 101 at the left and right sides. If the control algorithm of the exoskeleton is to keep the same power provided by the motors on the left and right sides (FL ═ FR) all the time, the upward pulling force applied to the arm movable pulley block 302 is FT ═ 8 × FL.

In this embodiment, the linear energy storage mechanism 308 is preferably a spring or an air push rod, which is preferably an even number, such as 4 in this embodiment, arranged in bilateral symmetry. In this embodiment, the linear energy storage mechanism 308 needs to generate elastic potential energy when compressed.

Example 5 is a waist-arm direct-connected type as shown in fig. 15, and is different from example 4 in that:

the linkage mechanism is the direct-coupled linkage mechanism in embodiment 2 or 3, and the rest of the direct-coupled linkage mechanism is the same as the direct-coupled linkage mechanism, which is not described in detail in this embodiment.

The working conditions of the waist-arm linkage assistance exoskeleton are described step by taking serial connection as an example.

Fig. 8-1 shows the situation that the waist of the human body is upright, the arms naturally droop and no power is provided. Fig. 8-2 shows the operation state of the linkage at this moment, in which the lumbar force transmission member anchor base 303 and the arm force transmission member anchor base 301 are respectively located at the uppermost and lowermost positions under the pre-load (tension) force of the linear energy storage mechanism 308.

FIG. 9-1 shows the situation where the human body has a curved waist, naturally drooping arms, and no power assistance. Fig. 9-2 shows the working state of the linkage mechanism at this moment, when a human body bends down, the waist force transmission part 201 is pulled downwards, so as to drive the waist force transmission part anchoring seat 303 to move downwards to compress the linear energy storage mechanism 308.

FIG. 10-1 shows the situation where the waist of the human body is bent and the arm is lifted, and the arm power is turned on. Fig. 10-2 shows the operation of the linkage mechanism at this moment, and the driving device 110 is operated to tighten the arm force transmission member 101, so as to drive the arm force transmission member anchor base 301 to move upwards to further compress the linear energy storage mechanism 308. The arm executing mechanism 102 drives the hand of the human body to move towards the direction of the shoulder under the action of the pulling force of the arm force transmission part 101, so as to help the arm of the human body to lift up heavy materials and play a role of assisting the arm. On the other hand, since the driving device 110 retracts the arm force transmission component 101, and at the same time, the heavy material on the hand of the human body acts as a reaction force under the action of gravitational potential energy to resist the arm force transmission component 101 from being retracted, the tension applied to the arm force transmission component 101 is significantly increased, which causes the arm movable pulley block 302 to be subjected to 4 times of the component force of the tension of the arm force transmission component 101, and the component force directions are all upward. And if the system control algorithm sets that the torque of the two-side driving devices 110 is the same, the arm movable pulley block 302 receives the upward resultant force which is 8 times of the pulling force of the single-side arm force transmission part 101.

FIG. 11-1 shows a situation where the waist of the human body is upright and the arm is lifted, and the arm power is turned on. Fig. 11-2 shows the operation of the linkage at this moment, and the driving device 110 continues to tighten the arm force transmission member 101, and at this moment, the linear energy storage mechanism 308 cannot be compressed any more, so that it drives the waist force transmission member anchor base 303 to move upward together, and the waist force transmission member anchor base 303 moves upward to pull the waist force transmission member 201 to contract, thereby assisting the waist. The driving device 110 applies a constant assisting torque, so that the arm force transmission part 101 can always have a constant pulling force to be transmitted to the arm actuating mechanism 102, and further the human arm is assisted to lift heavy objects. Meanwhile, the arm force transmission part 101 drives the arm force transmission part anchoring seat 301 to compress the linear energy storage mechanism 308 in the transmission process. The linear energy storage mechanism 308 gradually increases the upward pressure applied to the waist force transmission member anchoring seat 303 along with the increase of the compression degree, so that the waist force transmission member anchoring seat 303 is pushed to the uppermost end of the stroke of the human body in the upright state, and the serial elastic system formed by the waist force transmission member anchoring seat 303 and the linear energy storage mechanism 308 has high equivalent rigidity, which is reflected in that the thigh force transmission rope tightly pulls the thigh and the waist on the human body wearing feeling, the exoskeleton feels that the exoskeleton helps the human body to erect the waist, and the force generated by the waist vertical spine muscle as the gravity center of the balance weight can be obviously reduced.

Finally, when the driving device stops working and releases force, the waist force transmission component anchoring seat 303 and the arm force transmission component anchoring seat 301 return to the uppermost position and the lowermost position again under the pre-tightening force of the linear energy storage mechanism 308.

The direct-connected working mode is similar to the serial-connected working mode, when the waist of a human body is upright, the arms naturally droop and no assistance exists, the anchoring seat 309 is positioned at the top under the action of the pretightening force (tension) of the linear energy storage mechanism 308.

When the waist of the human body is bent, the arms naturally droop and no power is provided, the waist force transmission part is pulled downwards when the human body bends, so that the anchoring seat 309 is driven to move downwards to compress the linear energy storage mechanism 308. At this time, the arm force transmission member 101 wound in the driving device is pulled out partially, and the arm feels some pulling force.

When the waist of the human body is bent and the arms are lifted, the arm power is turned on, the driving device 110 works to tighten the arm power transmission part 101, so that the anchoring seat 309 is driven to move upwards, and the waist power is started at the moment.

When the waist of a human body is upright and the arms are lifted, the arm power assistance is started at the moment, the driving device 110 continuously tightens the arm power transmission part 101 to drive the anchoring seat 309 to continuously move upwards, and the anchoring seat 309 moves upwards to pull the waist power transmission part 201 to contract, so that the waist power is assisted by the waist power.

Finally, when the driving device 110 stops working and is discharged, the anchor seat 309 is returned to the top under the pre-tightening force of the linear energy storage mechanism 308.

Embodiment 6 as shown in fig. 16, is a single power source arm assist exoskeleton comprising wearing parts for wearing the arm assist exoskeleton on a human body, the arm assist exoskeleton comprising a driving device 110 and a flexible arm force transmission part 101, wherein the driving device 110 can drive the arm force transmission part 101 to assist the arm; the arm force transmission parts 101 are two parts for respectively assisting the left arm and the right arm, one end of each of the two arm force transmission parts 101 is connected with the same driving device 110, the middle part of each of the two arm force transmission parts is acted on the arm, and the other end of each of the two arm force transmission parts is connected with each other, so that when the two arms are alternately folded and unfolded, one side of the arm force transmission part 101 needs to be stretched, and the arm force transmission part 101 of the stretched part is obtained from the side of the arm force transmission part 101 needing to be retracted.

One end of the arm force transmission member 101 is connected to the driving device 110 by passing around the arm fixed pulley 306, and in this embodiment, the arm fixed pulleys 306 are disposed in a staggered manner in the up-down direction.

Embodiment 7 is different from embodiment 6 in that arm fixed pulleys 306 are arranged side by side, as shown in fig. 17.

The above is only a preferred embodiment of the present invention, and it should be noted that the above preferred embodiment should not be considered as limiting the present invention, and the protection scope of the present invention should be subject to the scope defined by the claims. It will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the spirit and scope of the invention, and these modifications and adaptations should be considered within the scope of the invention.

Claims

1. A waist and arm linkage assistance exoskeleton comprises a waist assistance exoskeleton, an arm assistance exoskeleton and a wearing part for wearing the waist assistance exoskeleton and the arm assistance exoskeleton on a human body; the method is characterized in that: the arm power assisting exoskeleton comprises at least one driving device and an arm power transmission part, and the driving device can drive the arm power transmission part to assist the arm; the lumbar assist exoskeleton comprises a lumbar force transmission component; the waist assisting device is characterized by also comprising a linkage mechanism which is worn on a human body and can do reciprocating motion, wherein the arm force transmission part and the waist force transmission part are both connected with the linkage mechanism, so that when the driving device drives the arm force transmission part to assist arms, the linkage mechanism can drive the waist force transmission part to assist the waist; the linkage mechanism comprises an anchoring seat capable of performing linear reciprocating motion, and the arm force transmission part and the waist force transmission part are connected to the anchoring seat.

2. The waist-arm linkage assistance exoskeleton of claim 1, wherein: the device also comprises a linear energy storage mechanism for providing pretightening force for the anchoring seat, wherein the pretightening force provided by the linear energy storage mechanism and the movement direction of the anchoring seat are on the same straight line; and/or the presence of a gas in the gas,

the linkage mechanism is arranged on the human body trunk; the arm force transmission part and the waist force transmission part are both rope-shaped objects; one end of the arm force transmission component is connected with the arm, and the other end of the arm force transmission component is connected with the driving device; the two ends of the waist force transmission part are respectively connected with the two lower limbs of the human body; both the arm force transmitting means and the waist force transmitting means are connected with the anchor base by means of an intermediate portion.

3. The waist-arm linkage assistance exoskeleton of claim 2, wherein: an arm movable pulley block and a waist movable pulley block are arranged on the anchoring seat; the arm force transmission part bypasses the arm movable pulley block, and the waist force transmission part bypasses the waist movable pulley block.

4. The waist-arm linkage assisted exoskeleton of claim 3, wherein: an arm fixed pulley block and a waist fixed pulley block are arranged in the movement direction of the anchoring seat, and the anchoring seat is arranged between the arm fixed pulley block and the waist fixed pulley block; the arm force transmission part bypasses a movable pulley on the arm movable pulley block and a fixed pulley on the arm fixed pulley block, and the waist force transmission part bypasses a movable pulley on the waist movable pulley block and a fixed pulley on the waist fixed pulley block.

5. The waist-arm linkage assisted exoskeleton of claim 4, wherein: the arm fixed pulley block, the anchoring seat and the waist fixed pulley block are sequentially arranged on the back of the human body from top to bottom, wherein the waist fixed pulley block comprises two waist fixed pulleys, and the waist movable pulley block comprises two waist movable pulleys; one end of the waist force transmission part is connected with the lower limbs of the human body, and the other end of the waist force transmission part firstly rounds one movable pulley of the waist movable pulley block and then successively rounds two fixed pulleys, and then rounds one movable pulley and then is connected with the other lower limb; and/or the number of the movable pulleys in the arm movable pulley block is more than that of the movable pulleys in the waist movable pulley block.

6. The waist-arm linkage assisted exoskeleton of claim 4, wherein: a guide rod is arranged between the arm fixed pulley block and the waist fixed pulley block, and the anchoring seat can move along the guide rod.

7. The waist-arm linked power-assisted exoskeleton of claim 2, wherein: the hand force transmission component is connected with the arms of the human body by an arm execution mechanism, and the waist force transmission mechanism is connected with the lower limbs of the human body by a waist execution mechanism; and/or the presence of a gas in the gas,

the driving device comprises a winding part for winding the arm force transmission part and a motor for driving the winding part; the winding part is a winch and also comprises a coil spring for pre-tightening the winch.

8. The waist-arm linkage assistance exoskeleton of claim 2, wherein: the two driving devices are provided, and the two arm force transmission parts are respectively matched with the two upper limbs of the human body for use; alternatively, the first and second electrodes may be,

the arm force transmission component comprises a left arm force transmission component and a right arm force transmission component, wherein the left arm force transmission component and the right arm force transmission component are respectively connected with the left arm and the right arm, one end of each of the two arm force transmission components is connected with the same driving device, the middle part of each of the two arm force transmission components acts on the arm, and the other ends of the two arm force transmission components are connected with each other, so that when the two arms are alternately folded and unfolded, one side of the arm force transmission component needs to be stretched, and the arm force transmission component of the stretched part is obtained from the side of the arm force transmission component needing to be retracted.

9. The waist-arm linked power-assisted exoskeleton of claim 8, wherein: the arm fixed pulley block and the waist movable pulley block are respectively arranged on the arm fixed pulley block mounting seat and the waist fixed pulley block mounting seat; a position adjusting line pipe is arranged between the driving device and the arm fixed pulley block, and a shoulder transmission line pipe which bypasses the shoulders of the human body is arranged between the arm fixed pulley block and the wearing part of the arm assisting exoskeleton; the arm force transmission member passes through the position adjustment conduit and the shoulder transmission conduit.

10. The waist-arm linked power-assisted exoskeleton of claim 8, wherein: the ends of the two arm force transmission components are connected by a damping rebound adjusting device; the damping rebound adjusting device comprises a left differential capstan, a right differential capstan and a capstan gear coaxially mounted with the differential capstan; a third wheel which is respectively meshed with the two winch gears is arranged between the two winch gears; the damping piece or the elastic component is used for providing damping or pretightening force for the idler wheel; the ends of the two arm force transmission parts are respectively connected with the two differential winches, and the winding directions of the two arm force transmission parts are opposite.