CN115648181A - Passive exoskeleton power-assisted robot - Google Patents

Abstract

The invention discloses a passive exoskeleton power-assisted robot. The passive exoskeleton-assisted robot is formed by sequentially connecting a back supporting device, a size adjusting device, a waist supporting device, an arm supporting and rotating device and a driving device, and has the main function of providing acting force for arms through the driving device. The back supporting device and the waist supporting device are designed according to the body shape of a human body and accord with the ergonomics; the size adjusting structure has a 2-step 12-step adjustable size. The arm supporting and rotating device is composed of two rotating pairs and one moving pair, and the structure can realize self-adaptation when the arm is folded inwards and unfolded outwards, so that the free movement of the arm after the device is worn is ensured.

Description

Passive exoskeleton power-assisted robot

Technical Field

The invention belongs to exoskeleton power-assisted robots used in the industrial field and the logistics carrying field, and particularly relates to a passive exoskeleton power-assisted robot without additional power.

Background

The exoskeleton power-assisted robot combines a biological correlation theory and mechanical engineering, and the power-assisted principle is consistent with the mechanism of a human skeletal muscle system. The exoskeleton power-assisted robot mainly comprises a mechanical support, a power source and a connecting piece, wherein the mechanical support corresponds to bones in skeletal muscles of a human body, the power source corresponds to muscles, and the connecting piece corresponds to tendons. Skeletal muscle is the power source of human movement, and muscle and skeleton are connected to muscle contraction, and muscle contraction produces joint movement through muscle traction skeleton. At present, the research on exoskeleton-assisted robots at home and abroad focuses more on active exoskeleton-assisted robots, which take electric power, hydraulic pressure and pneumatic power as power sources and are provided with control systems, so that the assisting range and the movement speed can be accurately controlled.

However, there are the heavy, with high costs, the inconvenient scheduling problem of use of quality in active ectoskeleton helping hand robot, and active ectoskeleton helping hand robot's energy and continuation of the journey problem are the important problem that is used for the research to be solved now. The active exoskeleton power-assisted robot is difficult to operate in some environments with working space limitation due to large volume and weight; and under the working environment that the assistance is needed to be small and the movement speed precision is low, the active exoskeleton assistance robot is not suitable to be used. Compared with the traditional active exoskeleton power-assisted robot, the passive exoskeleton power-assisted robot has the advantages that the volume and the mass are reduced by several or even dozens of orders of magnitude, and the problems of energy storage and endurance are avoided. The passive exoskeleton robot has the advantages of light weight and small size, and can be more suitable for working environments with limited working space, small assistance size and convenience in wearing.

Disclosure of Invention

In order to solve the problems in the background art, the invention provides a passive exoskeleton power-assisted robot which does not need additional power.

The technical scheme adopted by the invention is as follows:

1. passive exoskeleton power-assisted robot

Comprises a back supporting device, a size adjusting device, a driving device, an arm supporting and turning device and a waist supporting device; the back supporting device and the lumbar supporting device are arranged up and down and are connected through a size adjusting device, and the rear side surfaces of the back supporting device and the lumbar supporting device are respectively connected with the size adjusting device which is vertically arranged through an upper end supporting seat and a lower end supporting seat; the left side and the right side of the back supporting device are connected with two arm supporting and rotating devices through bearing seats, and the end part of each arm supporting and rotating device is connected with a driving device through a horizontal rod connecting head.

The arm supporting and rotating device comprises a horizontal rod, a sliding block pipe and a sliding rail pipe which are connected in sequence; a vertical rotating shaft is fixed at the bottom of one end of the horizontal rod, and a horizontal rotating shaft is fixed on the side surface of the other end of the horizontal rod; the slide block pipe and the slide rail pipe are both composed of a horizontal part and a vertical part

A vertical rotating shaft of the horizontal rod extends into the vertical part of the slider tube and is connected with the slider tube through an angular contact ball bearing I, and the vertical rotating shaft can rotate in the slider tube; a torsion spring III is sleeved on the vertical rotating shaft, one end of the torsion spring III is fixed on the vertical rotating shaft, and the other end of the torsion spring III is fixed in the sliding block pipe;

a linear bearing is arranged at the end part of the horizontal part of the sliding block pipe, and the outer end surface of the linear bearing is in interference fit with the inner end surface of the sliding block pipe; the horizontal part of the slide rail pipe penetrates through the linear bearing and extends into the slide block pipe, and the inner end face of the linear bearing can move along the slide rail pipe;

the bottom of the vertical part of the slide rail pipe is installed in the bearing seat through an angular contact ball bearing II, the slide rail pipe can rotate in the bearing seat, one end of a torsion spring IV sleeved at the bottom of the slide rail pipe is fixed on the slide rail pipe, the other end of the torsion spring IV is fixed in the bearing seat, and the bearing seat is fixed on the back supporting device.

A bearing transparent cover I is installed at the top of the vertical part of the sliding block pipe, and a vertical rotating shaft of the horizontal rod penetrates through the bearing transparent cover I and extends into the sliding block pipe; the upper end face and the lower end face of the bearing seat are connected with a top transparent cover and a bottom end cover through screws.

The driving device comprises a shell, a crank, a rocker, a switch rotating platform, an opening and closing control rod and a nitrogen spring;

the front part of the shell is provided with a shell end cover, a horizontal rotating shaft of the horizontal rod penetrates out of the shell from front to back, the end part of the horizontal rotating shaft penetrates out of the shell end cover and then is connected with a horizontal rod connector, and the horizontal rod connector is used for limiting the horizontal rotating shaft front and back to prevent the horizontal rod from falling off; a shaft sleeve I and a shaft sleeve II are respectively arranged between the horizontal rotating shaft and the back surface of the shell and between the horizontal rotating shaft and the shell end cover, and the shaft sleeves are used for reducing friction during rotation;

the crank, the rocker, the switch rotating platform and the opening and closing control rod are arranged in the shell; one end of the crank is hinged with the horizontal rotating shaft of the horizontal rod, and the other end of the crank is hinged with the top end of the rocker; one end of a torsion spring I sleeved on the horizontal rotating shaft is fixed on the horizontal rod, and the other end of the torsion spring I is fixed on the crank; a torsion spring II is connected between the rocker and the crank, and a shaft sleeve III is arranged between the crank and the rocker and used for reducing friction during rotation;

the bottom of the shell is provided with a nitrogen spring through a nitrogen spring connecting piece, a nitrogen spring piston rod extends into the shell through the nitrogen spring connecting piece, the end face of the nitrogen spring piston rod is always in contact with the bottom end of a rocker in the shell, and the area of the end face of the nitrogen spring piston rod is larger than that of the end face of the bottom end of the rocker; the opening and closing control rod is arranged in parallel with the bottom surface of the shell, one end of the opening and closing control rod is hinged with the switch rotating platform, the other end of the opening and closing control rod is provided with a boss which is contacted with the bottom surface of the shell, and the other end of the opening and closing control rod is provided with a push rod which extends out of the shell; the opening and closing control rod enables the boss to move to the end face of the nitrogen spring piston rod under the driving of the push rod, and the nitrogen spring piston rod is limited to move towards the direction of the rocker by abutting against the end face of the piston rod.

The size adjusting device comprises a size adjusting outer rod, an extension rod and a size adjusting inner rod which are sequentially connected from top to bottom, the top of the size adjusting outer rod is fixed on the back supporting device through an upper end supporting seat, and the bottom of the size adjusting inner rod is fixed on the waist supporting device through a lower end supporting seat;

a plurality of adjusting holes I are formed in the size adjusting outer rod at equal intervals along the vertical direction, and adjusting holes II are formed in the top of the size adjusting inner rod; the upper part and the lower part of the lengthening rod are respectively provided with an adjusting button I and an adjusting button II; the upper part of the extension rod extends into the size adjusting outer rod, and the size is adjusted by embedding an adjusting button I into different adjusting holes I; the lower part of the lengthening rod extends into the size adjusting inner rod, and the adjusting button II is embedded into the adjusting hole II to limit the lengthening rod; the size adjusting inner rod can drive the extension rod to stretch into the size adjusting outer rod, and the adjusting button II is embedded into different adjusting holes I to adjust the size.

The adjusting button I and the adjusting button II are telescopic spring buttons.

2. Working method of passive exoskeleton power-assisted robot

The method comprises the following steps:

the back supporting device and the waist supporting device are fixedly worn on the human body through the binding belts respectively, the back supporting device is attached to and supports the back of the human body, the waist supporting device is attached to and supports the waist of the human body, and then the two driving devices are respectively bound on the two arms of the human body through the binding belts;

the push rod of the opening and closing control rod is pulled outside the shell to drive the boss of the opening and closing control rod to leave the end face of the nitrogen spring piston rod, the nitrogen spring piston rod is not limited to move towards the rocker any longer, the compression amount of the nitrogen spring is released, the nitrogen spring piston rod pushes the rocker to move, and the rocker drives the crank to rotate; when the nitrogen spring piston rod applies force to the rocker, the reaction force of the rocker on the nitrogen spring piston rod acts on the shell through the nitrogen spring connecting piece, the reaction force is vertical to the piston rod and faces downwards, the piston rod of the nitrogen spring is eccentric relative to the horizontal rotating shaft of the horizontal rod, so that a torque acting on the shell is formed (the torque direction is anticlockwise by taking the view of figure 4 as an example), and the shell overcomes the gravity and rotates around the horizontal rotating shaft in the direction far away from the body under the torque action, so that the arm is driven to lift;

in the arm lifting process, the compression amount of the nitrogen spring is gradually reduced, so that the stress of the rocker is reduced; the working torsion angle of the torsion spring I is gradually increased, the torque of the torsion spring I which restores to the free state is gradually increased until the force of the nitrogen spring piston rod on the rocker, caused by the compression amount of the nitrogen spring, and the torque of the torsion spring I which restores to the free state are balanced, the arm stops lifting, and the arm lifting assistance is completed;

the two arms of the human body exert downward rotating acting force on the driving device, the rotating device rotates to an initial position under the action of the human body exerting force and the torque of the torsion springs I and II to be restored to the free state, the torsion springs I and II are restored to the initial position, the piston rods of the nitrogen springs are pushed to the original positions, and the arms droop to the two sides of the body; and pushing a push rod of the opening and closing control rod inwards from the outside of the shell to drive a boss of the opening and closing control rod to move to the end face of the nitrogen spring piston rod, and closing the driving device.

When the arms of the human body are naturally and vertically placed on two sides of the body, all parts in the passive exoskeleton power-assisted robot are in initial positions, and all torsion springs are in natural states.

When the arm is vertically placed on two sides of the body, namely the driving device is vertically placed: the center of gravity of the nitrogen spring is eccentrically arranged with the center of the horizontal rotating shaft of the horizontal rod, and the arrangement position of the nitrogen spring is closer to the body than the center of the horizontal rotating shaft of the horizontal rod.

In the arm lifting process, the torsion moment of the torsion spring I recovering the free state is transmitted to the back supporting device through the sliding block pipe, the sliding rail pipe and the bearing seat in sequence through the horizontal rod, and partial force is transmitted to the lumbar supporting device through the upper end supporting seat and the lower end supporting seat of the size adjusting device, so that the back supporting device and the lumbar supporting device bear reaction force simultaneously.

When the arm swings left and right, the horizontal rod and the slide rail pipe are driven to rotate simultaneously: when the arm is in an abduction posture, the horizontal rod and the slide rail pipe rotate towards the outer side of the body, the working torsion angles of the torsion springs III and IV become larger, and the slide block pipe is driven to move towards the direction close to the vertical part of the slide rail pipe through the linear bearing; when the arm takes the inward-closing posture, the horizontal rod rotates towards the inner side of the body, the working torsion angles of the torsion springs III and IV are reversely increased, and the slider pipe is driven to move towards the direction far away from the vertical part of the slide rail pipe through the linear bearing; when the arm is in a relaxed state, the horizontal rod, the sliding block pipe and the sliding rail pipe are restored to the positions before movement under the torque action that the torsion springs III and IV are restored to the free state.

The arm can swing up and down (lift) and swing left and right respectively through the driving device and the arm supporting and rotating device.

The invention has the beneficial effects that:

according to the passive exoskeleton power-assisted robot, the driving device is used for providing power for arm lifting, and compared with an active exoskeleton power-assisted robot, a power source with large volume and weight is omitted. On the one hand, the compression amount of the nitrogen spring is released to provide power, the problem of power source endurance is not needed to be considered, on the other hand, the weight of the whole device is reduced, the size is reduced, the protruding parts of the back and the arms of a human body can be well attached to the human body after the whole robot is worn, and the protruding parts of the back and the arms of the human body can be well attached to the human body and are all smaller than 20cm, so that the robot can be well adapted to the working environment with limited working space.

Drawings

Fig. 1 is an isometric view of a passive exoskeleton robot in an un-assisted state;

fig. 2 is an isometric view of the passive exoskeleton robot in a power-assisted state;

FIG. 3 is a schematic view of the arm support swing mechanism, (a) is an overall view of the arm support swing mechanism, (b) is a top view of the upper support base, and (c) is a schematic view of the connection between the upper support base and the size adjusting outer bar;

FIG. 4 is a schematic view of a drive device;

FIG. 5 is a schematic view of a size adjustment device;

FIG. 6 (a) is a slider tube schematic;

fig. 6 (b) is a schematic view of the slide rail tube.

In the figure: the device comprises a back supporting device (1), a size adjusting device (2), a driving device (3), an arm supporting and rotating device (4), a lumbar supporting device (5), an upper end supporting seat (201), a size adjusting outer rod (202), an adjusting button I (203), a growing rod (204), an adjusting button II (205), a size adjusting inner rod (206), a lower end supporting seat (207), a horizontal rod connecting head (301), a shell end cover (302), a shell (303), a torsion spring I (304), a torsion spring II (305), a shaft sleeve I (306), a crank (307), a shaft sleeve II (308), a shaft sleeve III (309), a rocker (310), a switch rotating platform (311), an opening and closing control rod (312), a nitrogen spring piston rod (313), a nitrogen spring connecting piece (314), a nitrogen spring (315), a horizontal rod (401) sealing ring I (402), a bearing transparent cover I (403), an angular contact ball bearing I (404), a torsion spring III (405), a slider pipe (406), a linear bearing (407), a sliding rail pipe (408), a bearing transparent cover II (409), an angular contact angle contact sealing ring II (410), a torsion spring II (411), a bearing (412) and a bearing end cover (414).

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

As shown in fig. 1, the passive exoskeleton assisting robot of the present invention is mainly composed of a back supporting device 1, a size adjusting device 2, a driving device 3, an arm supporting and swiveling device 4 and a lumbar supporting device 5 which are connected in sequence, wherein the back supporting device 1 and the size adjusting device 2 are connected through an upper end supporting seat 201, the size adjusting device 2 and the lumbar supporting device 5 are connected through a lower end supporting seat 207, the arm supporting and swiveling device 4 and the back supporting device 1 are connected through a bearing seat 414, and the driving device 3 and the arm supporting and swiveling device are connected through a horizontal rod connector 301.

The back supporting device and the waist supporting device are designed according to the body shape of a human body and accord with the ergonomics. The back supporting device comprises a supporting plate which is in accordance with the back structure of a human body and is provided with two slotted holes and three through holes. Wherein the two slotted holes are worn on the human body through textile shoulder straps and the like, the through holes at the two sides are used for connecting the back supporting device and the supporting seat of the arm supporting rotation device, and the through hole at the middle part is used for connecting the back supporting device and the upper end supporting seat of the size adjusting device. The waist support device comprises a support plate which is in accordance with the waist structure of a human body and is provided with two slotted holes and a through hole. Wherein the two slotted holes are used for being worn on a human body through a fabric waistband and the like, and one through hole is used for connecting the waist supporting device and the lower end supporting seat of the size adjusting device.

Fig. 1 is an isometric view of the passive exoskeleton robot in an un-assisted state with arms of the human body vertically on either side of the body. Fig. 2 is an isometric view of the passive exoskeleton robot in the assisted state, in which the upper arm of the human body is supported by the passive exoskeleton robot, the included angle between the upper arm and the front face of the human body is 135 ° when viewed from the side, and the included angle between the upper arm and the front face of the human body is about 90 ° when viewed from above, which is the most common working state in the working conditions to which the present invention is applied. Comparing fig. 1 and fig. 2, the horizontal rod 401 rotates a certain angle, the slider tube 406 and the linear bearing 407 move a certain distance away from the slide tube 408, and the lower end of the slide tube 408 rotates a certain angle. When the angle between the arm and the front of the human body is changed from the top view, the rotating angle of the horizontal rod 401, the distance between the slider tube 406 and the linear bearing 407 far away from or close to the slide rail tube 408 and the rotating angle of the lower end of the slide rail tube 408 are correspondingly changed so as to adapt to the left and right rotation of the arm. The driving device 3 is rotated around one end of the horizontal bar 401, which end of the horizontal bar 401 corresponds to a shoulder joint in the human body structure. When the angle of the arm and the front of the human body is changed when the angle of the arm is not changed in the plan view, the angle of the drive device 3 rotated with respect to the horizontal bar 401 is changed to accommodate the upward and downward rotation of the arm when viewed from the side.

As shown in fig. 3 (a), which is a schematic view of a size adjusting device, the size adjusting device of the passive exoskeleton robot of the present invention mainly comprises an upper end support base 201, a size adjusting outer rod 202, an adjusting button i 203, an increasing rod 204, an adjusting button ii 205, a size adjusting inner rod 206, and a lower end support base 207. The upper end support base 201 is coupled to the back support device 1 by means of four holes at the back surface through bolts, fig. 3 (b) is a bottom view of the upper end support base 201, fig. 3 (c) is a schematic view of the upper ends of the upper end support base 201 and the size adjusting outer rod 202, and the position is fixed by means of the projection of the upper end support base 201 and the groove of the size adjusting outer rod 202. Adjusting button I203 and adjusting button II 205 all install on the extension pole, and adjusting button I203 is arranged in carrying out size control in the regulation hole of size adjustment outer pole 202, and adjusting button II 205 is arranged in combination extension pole 204 and size adjustment inner pole 206. When the height of a user is 154cm-172cm, the adjusting button II 205 is pressed down to enter the size adjusting inner rod 206 by the extension rod 204; the adjustment button i 203 passes through the extension bar 204 and the size adjustment inner bar 206, and performs size adjustment in the adjustment hole of the size adjustment outer bar 202. When the height of the user is 172cm-190cm, the size adjusting outer rod 202 and the growing rod 204 are pulled upwards, the adjusting button II 205 is positioned as shown in figure 3, and the size is adjusted in the adjusting hole of the size adjusting outer rod 202 by using the adjusting button I203. The lower end of the inner dimension-adjusting rod 206 and the lower end support base 207 are fixed in a similar manner to the upper end support base 201 and the outer dimension-adjusting rod 202, and the lower end support base 207 is coupled to the lumbar support device 5 by means of four holes in the back surface thereof through bolts.

The size adjusting outer rod comprises 6 adjusting holes to realize 6-gear adjustment, the extension rod and the size adjusting inner rod can realize 2-order adjustment after being combined, the size adjusting inner rod can realize adjustment of 154cm-172cm when the extension rod and the size adjusting inner rod are not combined, and the size adjusting outer rod and the size adjusting inner rod can realize adjustment of 172cm-190cm after being combined. The size adjusting inner rod comprises a telescopic spring button, the button is pressed to be adjusted to a corresponding position, and the button is popped out to a corresponding adjusting hole, so that the size adjusting inner rod is fixed in position.

As shown in fig. 4, the driving device of the passive exoskeleton robot according to the present invention mainly comprises a horizontal rod connector 301, a housing end cap 302, a housing 303, a torsion spring i 304, a torsion spring ii 305, a shaft sleeve i 306, a crank 307, a shaft sleeve ii 308, a shaft sleeve iii 309, a rocker 310, a switch rotary table 311, an on-off control rod 312, a nitrogen spring piston rod 313, a nitrogen spring connector 314, and a nitrogen spring cylinder 315, when the driving device is not activated. The positions of the horizontal rod connector 301 and the housing end cover 302 are shown in fig. 1, the horizontal rod connector 301 and the horizontal rod 401 are fixed by screws, a shaft sleeve ii 308 is arranged between the housing end cover 302 and the horizontal rod 401 for reducing friction, and the housing end cover 302 and the housing 303 are fixedly connected by screws. One end of the torsion spring I304 is fixed on the horizontal rod 401, and the other end is fixed on the crank 307. One end of the torsion spring II 305 is fixed on the crank 307, and the other end is fixed on the rocker 310. Bushing i 306 is mounted between housing 303 and horizontal rod 401 to reduce friction during rotation. Bushing ii 308 is mounted between crank 307 housing cover 302 and horizontal rod 401 to reduce friction during rotation. Bushing iii 309 is mounted between crank 307 and rocker 310 for reducing friction during rotation.

As shown in FIG. 4, when the driving device is not activated, the torsion springs I304 and II 305 are both in a free state, and the lower end of the rocker 310 is parallel to and contacts with the upper end surface of the piston rod 313 of the nitrogen gas spring. The switch rotary table 311 is connected and installed at the bottom of the shell 303 through a bolt; an opening/closing lever 312 is attached to the opening/closing rotary table 311 and is rotatable on the opening/closing rotary table 311; as shown in fig. 4, the position of the open/close control lever 312 is at a position when the driving device is not activated, and the open/close control lever 312 restricts the outward movement of the nitrogen spring piston rod 313, and the nitrogen spring has a certain compression amount. The nitrogen spring connecting piece 314 is fixed on the shell through bolt connection, and the nitrogen spring cylinder 315 is matched and connected with the internal thread of the nitrogen spring connecting piece 314 through the thread on the surface.

When the driving device is started, the opening and closing control rod 312 rotates clockwise and leaves the surface of the nitrogen spring piston rod 313, the opening and closing control rod 312 does not limit the outward movement of the nitrogen spring piston rod 313 any more, the compression amount of the nitrogen spring is released, and the nitrogen spring piston rod 313 pushes the rocker 310 to move; meanwhile, under the action of the torsion spring II 305, the crank 307 rotates. While nitrogen spring piston rod 313 applies force to rocker 310, it is subject to the reaction force of rocker 310 against nitrogen spring piston rod 313, which acts on nitrogen spring cylinder 315, nitrogen spring connector 314, and housing 303. Since the position of the nitrogen spring is eccentric to the rotation axis of the horizontal rod 401, a torque is generated; and because the driving device is arranged on the upper arm of the human body, the arm is lifted by overcoming the gravity under the action of the torque. During the arm lifting process, the compression amount of the nitrogen spring and the force applied to the rocker 310 are reduced. In the arm lifting process of the torsion spring I304, the working torsion angle is increased, and the torque of the torsion spring I304 which returns to the free state is also increased; when the arm is lifted to about 135 degrees, the compression amount of the nitrogen spring and the torque of the torsion spring I304 which restores to the free state reach balance, and the arm is supported by the supporting force provided by the shell 303 of the driving device.

When the drive means is to be turned off at the end of the power assistance, a downward force is required to be applied by the wearer's arm. Under the three actions of the force provided by the wearer and the torque of the torsion springs I304 and II 305 to be restored to the free state, the nitrogen spring piston rod 313 is pushed to the position shown in FIG. 4; the torsion spring I304 and the torsion spring II 305 recover to the initial positions; the lower end of the rocker 310 is parallel to and in contact with the nitrogen spring piston rod 313, and the open/close lever 312 is rotated to the position shown in fig. 4, and the driving device 3 is closed.

As shown in fig. 5 and 6, the arm supporting and swiveling device of the passive exoskeleton robot is a schematic diagram of the arm supporting and swiveling device, and the arm supporting and swiveling device mainly comprises a horizontal rod 401, a sealing ring i 402, a bearing transparent cover i 403, an angular contact ball bearing 404, a torsion spring i 405, a slider tube 406, a linear bearing 407, a slide rail tube 408, a bearing transparent cover ii 409, a sealing ring ii 410, an angular contact ball bearing 411, a torsion spring iii 412, a bearing seat 413 and an end cover 414. The horizontal rod 401 is connected with the driving device 3 through a screw by utilizing the horizontal rod connector 301; one end of a torsion spring III is fixed at the lower end of the horizontal rod 401, and the other end of the torsion spring III 405 is fixed on the sliding block pipe 406. When the entire passive exoskeleton robot is in the un-assisted state as shown in fig. 1, the state of the torsion spring iii 405 is as shown in fig. 5, and the state is the free state of the torsion spring. Since the drive means 3 is fixed to the arm, the horizontal bar 401 is coupled to the drive means 3. When the arm is in a horizontal abduction posture, the working torsion angle of the torsion spring III 405 is increased; when the arm is in a horizontal inward-contraction posture, the working torsion angle of the torsion spring III 405 is reversely increased; when the arm is in a relaxed state, the horizontal rod returns to the original position without assistance under the action of the torsion spring III 405.

The seal ring 402 and the bearing transparent cover 403 are used for sealing and protecting the angular contact ball bearing 404, and the bearing transparent cover 403 is coupled with the upper end of the slider tube 406 through a screw. The outer end of the linear bearing 407 is in interference fit with the slider tube 406, and the inner end of the linear bearing 407 can move on the slide rail tube 408. When the arm is in the abduction posture, the linear bearing 407 moves towards the direction close to the boss of the slide rail tube 408; when the arm is in the retracted position, the linear bearing 407 moves away from the boss of the slide rail tube 408.

The bearing through cover II 409 and the sealing ring II 410 are used for sealing and protecting the angular contact ball bearing, and the bearing through cover II 409 is connected with the bearing seat 413 through screws; the bearing block 413 is bolted to the back support 1 by means of 4 holes in its side. One end of a torsion spring IV 412 is fixed on the sliding rail pipe 408, the other end of the torsion spring IV 412 is fixed on a bearing seat 413, when the whole passive exoskeleton robot is in an un-assisted state as shown in FIG. 1, the state of the torsion spring IV 412 is shown in FIG. 5, the state at this time is a free state of the torsion spring, and as the driving device 3 is fixed on an arm, the horizontal rod 401 is connected with the driving device 3; when the arm moves, the horizontal rod 401 and the slide rail tube 408 are driven to rotate at the same time. When the arm is in an abduction posture, the working torsion angle of the torsion spring IV 412 is increased; when the arm is in the inward-closing posture, the working torsion angle of the torsion spring IV 412 is reversely increased; when the arm is in a relaxed state, the horizontal rod returns to the original position without assistance under the action of the torsion spring IV 412.

Example (b):

when the passive exoskeleton robot works, the opening and closing control rod 312 in the driving device 3 is pulled to rotate outwards and leaves the surface of the nitrogen spring piston rod 313, the opening and closing control rod 312 does not limit the outward movement of the nitrogen spring piston rod 313 any more, the compression amount of the nitrogen spring is released, and the nitrogen spring piston rod 313 pushes the rocker 310 to move; meanwhile, under the action of the torsion spring II 305, the crank 309 rotates. While nitrogen spring piston rod 313 applies force to rocker 310, it is subject to the reaction force of rocker 310 against nitrogen spring piston rod 313, which acts on nitrogen spring cylinder 315, nitrogen spring connector 314, and housing 303. Since the position of the nitrogen spring is eccentric to the rotational axis of the horizontal rod 401, a torque is generated; and because the driving device is arranged on the upper arm of the human body, the arm is lifted under the action of the torque.

Torsion spring i 304 provides a torque to restore the free state. Meanwhile, the rotating shaft of the horizontal rod 401 is reacted by the torsion spring I304, and the reaction force is transmitted to a slider tube 406 in the arm support slewing device 4 through the horizontal rod 401, then transmitted to a slide rail tube 408 and transmitted to the back support device 1 through a bearing seat 413; part of the force is transmitted to the lumbar support device 5 through the upper end support seat 201 and the lower end support seat 207 of the size adjustment device 2, so that the back support device 1 and the lumbar support device 5 simultaneously bear the reaction force.

The working of the driving device is not considered, and when the up-and-down swinging position of the arm is not changed; when the arm swings left and right, the angle between the horizontal rod 401 and the sliding block pipe 406 changes, so that the sliding block pipe 406 and the linear bearing 407 are far away from or close to the boss of the sliding rail pipe 408; and the rotation angle of the lower end of the slide rail tube 408 is changed to adapt to the left-right swing of the arm. When the left-right swinging position of the arm is not changed, the up-down swinging of the arm is adapted through the rotating angle of the driving device 3 and the horizontal rod 401.

Under the normal working state, the arm swings up and down and left and right, at the moment, the rotation angle between the flat rod 401 and the slide block pipe 406, the distance between the slide block pipe 406 and the linear bearing 407 far away from or close to the boss of the slide rail pipe 408, the rotation angle of the lower end of the slide rail pipe 408 and the rotation angle of the driving device 3 and the horizontal rod 401 can be adjusted simultaneously, so that the swing motion of the arm is adapted.

Claims (9)

1. A passive exoskeleton power-assisted robot is characterized by comprising a back supporting device (1), a size adjusting device (2), a driving device (3), an arm supporting and rotating device (4) and a waist supporting device (5); the back supporting device (1) and the lumbar supporting device (5) are arranged up and down and are connected through a size adjusting device (2), and the back side surfaces of the back supporting device (1) and the lumbar supporting device (5) are respectively connected with the size adjusting device (2) which is vertically arranged through an upper end supporting seat (201) and a lower end supporting seat (207) up and down; the left side and the right side of the back supporting device (1) are connected with two arm supporting and rotating devices (4) through bearing seats (413), and the end part of each arm supporting and rotating device (4) is connected with a driving device (3) through a horizontal rod connector (301).

2. A passive exoskeleton assistance robot as claimed in claim 1 where the arm supported swing mechanism (4) comprises a horizontal bar (401), a slider tube (406) and a slide rail tube (408) connected in sequence; a vertical rotating shaft is fixed at the bottom of one end of the horizontal rod (401), and a horizontal rotating shaft is fixed on the side surface of the other end of the horizontal rod; the slider tube (406) and the slide rail tube (408) are each composed of a horizontal portion and a vertical portion

A vertical rotating shaft of the horizontal rod (401) extends into the vertical part of the sliding block pipe (406) and is connected with the sliding block pipe (406) through an angular contact ball bearing I (404), and the vertical rotating shaft can rotate in the sliding block pipe (406); a torsion spring III (405) is sleeved on the vertical rotating shaft, one end of the torsion spring III (405) is fixed on the vertical rotating shaft, and the other end of the torsion spring III (405) is fixed in the sliding block pipe (406);

a linear bearing (407) is mounted at the end part of the horizontal part of the sliding block pipe (406), and the outer end face of the linear bearing (407) is in interference fit with the inner end face of the sliding block pipe (406); the horizontal part of the slide rail pipe (408) penetrates through the linear bearing (407) and extends into the slide block pipe (406), and the inner end face of the linear bearing (407) can move along the slide rail pipe (408);

the bottom of the vertical portion of the sliding rail pipe (408) is installed in a bearing seat (413) through an angular contact ball bearing II (411), the sliding rail pipe (408) can rotate in the bearing seat (413), one end of a torsion spring IV (412) sleeved at the bottom of the sliding rail pipe (408) is fixed on the sliding rail pipe (408), the other end of the torsion spring IV is fixed in the bearing seat (413), and the bearing seat (413) is fixed on the back supporting device (1).

3. A passive exoskeleton assistance robot as claimed in claim 1 wherein the drive means (3) comprises a housing (303), a crank (307), a rocker 310, a switch rotating stage (311), an on/off control lever (312), a nitrogen spring (315);

a shell end cover (302) is arranged at the front part of the shell (303), a horizontal rotating shaft of the horizontal rod (401) penetrates out of the shell (303) from front to back, and the end part of the horizontal rotating shaft penetrates out of the shell end cover (302) and then is connected with the horizontal rod connector (301); a shaft sleeve I (306) and a shaft sleeve II (308) are respectively arranged between the horizontal rotating shaft and the back surface of the shell (303) and between the horizontal rotating shaft and the shell end cover (302);

a crank (307), a rocker (310), a switch rotating platform (311) and an opening and closing control rod (312) are arranged in the shell (303); one end of a crank (307) is rotationally connected with a horizontal rotating shaft of the horizontal rod (401), and the other end of the crank is rotationally connected with the top end of the rocker (310); one end of a torsion spring I (304) sleeved on the horizontal rotating shaft is fixed on the horizontal rod (401), and the other end of the torsion spring I is fixed on the crank (307); a torsion spring II (305) is connected between the rocker (310) and the crank (307);

a nitrogen spring (315) is arranged at the bottom of the shell through a nitrogen spring connecting piece (314), a nitrogen spring piston rod (313) extends into the shell (303) through the nitrogen spring connecting piece (314), and the end surface of the nitrogen spring piston rod (313) is always contacted with the bottom end of a rocker (310) in the shell; the opening and closing control rod (312) is arranged in parallel with the bottom surface of the shell (303), one end of the opening and closing control rod is hinged with the switch rotating platform (311), the other end of the opening and closing control rod is provided with a boss contacted with the bottom surface of the shell (303), and the other end of the opening and closing control rod is provided with a push rod extending out of the shell (303); the opening and closing control rod (312) enables the boss to move to the end face of the nitrogen spring piston rod (313) under the driving of the push rod, and the nitrogen spring piston rod (313) is limited to move towards the direction of the rocker (310) by abutting against the end face of the piston rod (313).

4. The passive exoskeleton power-assisted robot as claimed in claim 1, wherein the size adjustment device (2) comprises an outer size adjustment rod (202), an increase rod (204) and an inner size adjustment rod (206) which are sequentially connected from top to bottom, the top of the outer size adjustment rod (202) is fixed on the back support device (1) through an upper end support seat (201), and the bottom of the inner size adjustment rod (206) is fixed on the lumbar support device (5) through a lower end support seat (207);

a plurality of adjusting holes I are formed in the size adjusting outer rod (202) at equal intervals along the vertical direction, and adjusting holes II are formed in the top of the size adjusting inner rod (206); the upper part and the lower part of the lengthening rod (204) are respectively provided with an adjusting button I (203) and an adjusting button II (205); the upper part of the extension rod (204) extends into the size adjusting outer rod (202), and the size is adjusted by embedding an adjusting button I (203) into different adjusting holes I; the lower part of the lengthening rod (204) extends into the size adjusting inner rod (206), and the adjusting button II (205) is embedded into the adjusting hole II to limit the lengthening rod (204); the size adjusting inner rod (206) can drive the extension rod (204) to extend into the size adjusting outer rod (202), and the adjusting button II (205) is embedded into different adjusting holes I to adjust the size.

5. The method of operation of a passive exoskeleton robot as claimed in any one of claims 1 to 4, comprising the steps of:

the back supporting device (1) and the waist supporting device (5) are respectively fixedly worn on a human body through the binding belts, so that the back supporting device (1) is attached to support the back of the human body, the waist supporting device (5) is attached to support the waist of the human body, and then the two driving devices (3) are respectively bound on the two arms of the human body through the binding belts;

a push rod of the opening and closing control rod (312) is pulled outside the shell (303), a boss of the opening and closing control rod (312) is driven to leave the end face of the nitrogen spring piston rod (313), the nitrogen spring piston rod (313) is not limited to move towards the rocker (310), the compression amount of the nitrogen spring is released, the nitrogen spring piston rod (313) pushes the rocker (310) to move, and the rocker (310) drives the crank (307) to rotate; when a nitrogen spring piston rod (313) applies force to the rocker (310), the reaction force of the rocker (310) on the nitrogen spring piston rod (313) is applied to the shell (303) through a nitrogen spring connecting piece (314), as the position of the nitrogen spring piston rod is eccentric relative to the horizontal rotating shaft of the horizontal rod (401), a torque applied to the shell is formed, and the shell (303) overcomes the gravity to rotate around the horizontal rotating shaft in the direction away from the body under the action of the torque, so that the arm is driven to lift;

in the arm lifting process, the compression amount of the nitrogen spring is gradually reduced, so that the stress of the rocker (310) is reduced; the working torsion angle of the torsion spring I (304) is gradually increased, the torque of the torsion spring I (304) which is restored to the free state is gradually increased until the force of a nitrogen spring piston rod (313) caused by the compression amount of the nitrogen spring on the rocker (310) and the torque of the torsion spring I (304) which is restored to the free state reach balance, the arm stops lifting, and the arm lifting assistance is completed;

the two arms of the human body exert downward rotating acting force on the driving device (3), the rotating device rotates to the initial position under the action of the human body exerting force and the torque of the torsion springs I (304) and II (305) to be restored to the free state, the torsion springs I (304) and II (305) are restored to the initial position, the nitrogen spring piston rod (313) is pushed to the original position, and the arms droop to two sides of the human body; the push rod of the opening and closing control rod (312) is pushed inwards from the outside of the shell (303), the boss of the opening and closing control rod (312) is driven to move to the end face of the nitrogen spring piston rod (313), and the driving device (3) is closed.

6. A method of operation of a passive exoskeleton robot assisted by a power supply as claimed in claim 5, wherein when the arm is placed vertically on either side of the body, i.e. the drive means (3) is placed vertically: the center of gravity of the nitrogen spring is eccentrically arranged with respect to the center of the horizontal rotating shaft of the horizontal rod (401), and the nitrogen spring is arranged closer to the body than the center of the horizontal rotating shaft of the horizontal rod (401).

7. The working method of the passive exoskeleton assisting robot according to claim 5, wherein in the arm lifting process, the torque of the torsion spring I (304) which restores to the free state is transmitted to the back supporting device 1 through the horizontal rod (40) sequentially via the slider tube (406), the slide rail tube (408) and the bearing seat (413), and part of the force is transmitted to the lumbar supporting device 5 through the upper end supporting seat (201) and the lower end supporting seat (207) of the size adjusting device (2), so that the back supporting device 1 and the lumbar supporting device 5 bear the reaction force simultaneously.

8. The operating method according to claim 5,

when the arm left-right swinging, drive horizon bar 401 and slide rail pipe 408 rotation simultaneously:

when the arm is in an abduction posture, the horizontal rod (401) and the slide rail pipe (408) rotate towards the outer side of the body, the working torsion angles of the torsion spring III (405) and the torsion spring IV (412) are increased, and the slide block pipe (406) is driven to move towards the direction close to the vertical part of the slide rail pipe (408) through the linear bearing (407);

when the arm takes the inward-closing posture, the horizontal rod (401) rotates towards the inner side of the body, the working torsion angles of the torsion spring III (405) and the torsion spring IV (412) are reversely increased, and the linear bearing (407) drives the slider tube (406) to move towards the direction far away from the vertical part of the slide rail tube (408);

when the arm is in a relaxed state, under the action of the torque of the torsion springs III (405) and IV (412) restoring to a free state, the horizontal rod (401), the sliding block pipe (406) and the sliding rail pipe (408) restore to the positions before movement.

9. The operating method according to claim 8,

the driving device (3) and the arm supporting and rotating device (4) are used for respectively realizing the up-and-down swinging and the left-and-right swinging of the arm.

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