CN116810762A - Bionic vertebra waist carrying exoskeleton based on paper folding mechanism and control method thereof - Google Patents

Abstract

The invention discloses a bionic vertebra waist carrying exoskeleton based on a paper folding mechanism and a control method thereof, wherein the carrying exoskeleton mainly comprises three parts, namely: the bionic spine unit, the rope driving unit and the man-machine contact unit. The human-computer contact unit is used for carrying the exoskeleton to be connected and fixed on a human body, the rope driving unit is used for providing auxiliary power for the bionic spinal unit which is recovered to a vertical state from a bending state, and the bionic spinal unit is formed by sequentially, adjacently and serially connecting a plurality of bionic vertebra paper folding mechanisms. The bionic exoskeleton is driven by the rope to carry out tension control, so that the exoskeleton can effectively carry out back assistance, reduce the spine load of a porter, reduce waist injury and protect lumbar vertebra health; the exoskeleton has multiple degrees of freedom, does not limit the natural movement of a wearer, can support various carrying postures, and can improve the flexibility, comfort and versatility of the exoskeleton; the exoskeleton has the advantages of light weight, simple structure and convenient use.

Description

Bionic vertebra waist carrying exoskeleton based on paper folding mechanism and control method thereof

Technical Field

The invention relates to the technical field of exoskeleton robots, in particular to a bionic vertebra waist conveying exoskeleton based on a paper folding mechanism and a control method thereof.

Background

Manual handling tasks are very common in industrial environments. For example: aerospace manufacturing, logistics, medical care, food, remote areas, construction sites, agriculture, material transportation and the like. In such an environment, the carrier has to repeatedly lift, bend and twist the back. However, frequent and high-load manual handling work may cause great compression and shearing forces to be generated in the lumbar vertebrae of the worker, particularly in the region of L5/S1, thereby causing lumbago to occur in the handling worker, and serious disability to occur. Therefore, the handling motion has been one of the most prominent influencing factors causing the back pain (LBP). With the rapid development of industry 4.0 and intelligent manufacturing, a large number of tools such as industrial robots, mechanical arms, forklifts and the like are introduced in an industrial environment. Many human problems are solved by the machine. Although the long-distance transportation problem in the open environment is solved by introducing equipment such as forklift cranes and the like, the equipment cannot play a good role under the transportation conditions of narrow space and close distance. Because manual movement is mainly used for damaging the waist of a person, in order to reduce the incidence rate of musculoskeletal diseases of a carrier, a device needs to be designed to reduce the pressure and shearing force applied to the waist of the person in the carrying process, so that the problem of damage to the waist of the person can be effectively solved. The wearable carrying exoskeleton can solve the problems.

Currently, wearable exoskeletons can be divided into two types, passive and active. The main principle of passive exoskeleton transportation is that the gravitational potential energy of a person when bending down is stored through the elastic element, and the elastic potential energy is released in the standing process, so that the exoskeleton transportation has the effect of helping. This type of research is mainly directed to exoskeleton design through different energy storage elements. Although these exoskeletons have bulk and mass advantages, the disadvantages are also apparent: the torque assistance provided by the device is mainly influenced by materials, the control of the assistance force is difficult to adjust, and the assistance force is also influenced by the carrying posture. In addition, most passive exoskeletons limit movement of the waist of the human body, and above these exoskeletons only achieve 1 degree of rotational freedom of the waist (i.e., flexion and extension of the torso), the elastic elements cause additional loads to limit the range of movement, and thus the normal movement of the wearer. The other is to actively carry the exoskeleton. The exoskeleton provides auxiliary force/torque mainly through active electronic components. Wherein the main power source is direct drive of a direct current motor. These active exoskeletons are primarily rigid, and while providing a controllable assist force/moment, the self-weight of these exoskeletons tends to be large. In addition, the exoskeletons provide active assistance in 1 degree of rotational freedom of the human waist, limiting other degrees of freedom of the waist. The human spine is composed of 26 spines in total, and the designed exoskeleton cannot have only one degree of freedom. Excessive restriction of body freedom during lifting may result in additional lateral forces and body distortion, increasing lumbar compression. These above exoskeletons provide only one degree of assistance freedom to the waist of the wearer, namely: flexion and extension. Only satisfies simple transport and walking action to do not accomplish and carry out fine laminating with human waist motion, not solve the travelling comfort and the flexibility of dress.

Disclosure of Invention

The technical problems to be solved by the invention are as follows: in order to solve the comprehensive problems of flexibility, comfort, multifunction, quality, carrying weight and the like of the exoskeleton on a human body and influenced by bionic products, the invention designs the bionic vertebra waist carrying exoskeleton based on a paper folding mechanism. The bionic skeleton can be used for carrying out tension control through rope driving, so that the exoskeleton can effectively carry out back assistance, reduce spine load of a carrier, reduce lumbar injury and protect lumbar vertebra health, and meanwhile, the exoskeleton is free from limiting natural movement of a wearer due to multiple degrees of freedom, so that various carrying postures are supported, and flexibility, comfort and versatility of the exoskeleton can be improved. The exoskeleton has the advantages of light weight, simple structure, light weight and the like through the paper folding mechanism.

In order to solve the technical problems, the invention adopts a technical scheme that:

the bionic vertebra waist carrying exoskeleton comprises a back supporting plate fixed at the back of a human body through shoulder straps, a waist supporting plate fixed at the waist of the human body through waist straps, and a back strap fixed at the back of the human body and positioned between the back supporting plate and the waist supporting plate, wherein the surface of the back strap is provided with a bionic vertebra unit formed by sequentially abutting a plurality of bionic vertebra paper folding mechanisms, the top of the bionic vertebra paper folding mechanism positioned at the uppermost end is fixedly connected with the bottom end of the surface of the back supporting plate, the top of the bionic vertebra paper folding mechanism is fixedly provided with a tension sensor, and the bottom of the bionic vertebra paper folding mechanism positioned at the lowermost end is fixedly connected with the top of the surface of the waist supporting plate;

The surface of the back supporting plate is fixedly provided with an inertial measurement unit, the surface of the shoulder binding belt is fixedly provided with a shoulder anchor block, and the shoulder anchor block is connected with the top input end of the tension sensor through a tension rope;

the surface of the waist supporting plate is fixedly provided with a rope driving pulley block, a driving motor positioned at one side of the rope driving pulley block and a battery pack positioned at the other side of the rope driving pulley block respectively, the output end of the driving motor is fixedly connected with a take-up reel, a steel wire rope is wound on the take-up reel, and the other end of the steel wire rope sequentially passes through each bionic vertebra paper folding mechanism after being wound and guided by the rope driving pulley block and is connected with the bottom input end of the tension sensor;

the intelligent glove is characterized by further comprising a controller and an intelligent glove, wherein the controller is respectively and electrically connected with the tension sensor, the inertia measuring unit, the driving motor and the battery pack, and is in wireless connection with the intelligent glove.

Further, the bionic vertebra paper folding mechanism comprises a top plate and a bottom plate, a passive spring is connected between the front side end of the top plate and the front side end of the bottom plate, and the left end and the right end of the top plate are respectively and rotatably connected with a first arc plate and a second arc plate;

the front end and the rear end of the inner wall of the first arc plate are respectively integrally provided with an upper left front extension rod and an upper left rear extension rod which are all obliquely arranged downwards, the upper left front extension rod is rotationally connected with an upper left front paper folding connecting rod which is obliquely arranged downwards backwards, the upper left rear extension rod is rotationally connected with an upper left rear paper folding connecting rod which is obliquely arranged downwards forwards, the front end and the rear end of the inner wall of the second arc plate are respectively integrally provided with an upper right front extension rod and an upper right rear extension rod which are all obliquely arranged downwards, the upper right front extension rod is rotationally connected with an upper right front paper folding connecting rod which is obliquely arranged downwards backwards, and the upper right rear extension rod is rotationally connected with an upper right rear paper folding connecting rod which is obliquely arranged downwards forwards;

The left end and the right end of the bottom plate are respectively and rotatably connected with a third arc plate and a fourth arc plate, the front end and the rear end of the inner wall of the third arc plate are respectively and integrally provided with a left lower front extension rod and a left lower rear extension rod which are obliquely arranged right upwards, a left lower front paper folding connecting rod which is obliquely arranged backward upwards is rotatably connected to the left lower front extension rod, a left lower rear paper folding connecting rod which is obliquely arranged forward upwards is rotatably connected to the left lower rear extension rod, a right lower front extension rod and a right lower rear extension rod which are obliquely arranged left upwards are integrally arranged at the front end and the rear end of the inner wall of the fourth arc plate, a right lower front paper folding connecting rod which is obliquely arranged backward upwards is rotatably connected to the right lower front extension rod, and a right lower rear paper folding connecting rod which is obliquely arranged forward upwards is rotatably connected to the right lower rear extension rod;

the rod end of the left upper front paper folding connecting rod is rotationally connected with the rod end of the left lower front paper folding connecting rod through a left front constraint bolt shaft, the rod end of the left upper rear paper folding connecting rod is rotationally connected with the rod end of the left lower rear paper folding connecting rod through a left rear constraint bolt shaft, and the end part of the left front constraint bolt shaft is connected with the end part of the left rear constraint bolt shaft through a constraint spring;

The rod end of the upper right front paper folding connecting rod is rotationally connected with the rod end of the lower right front paper folding connecting rod through a right front constraint bolt shaft, the rod end of the upper right rear paper folding connecting rod is rotationally connected with the rod end of the lower right rear paper folding connecting rod through a right rear constraint bolt shaft, and the end part of the right front constraint bolt shaft is connected with the end part of the right rear constraint bolt shaft through another constraint spring.

Further, the bottom surface of the first circular arc plate and the front half side of the bottom surface of the third circular arc plate are both planes, the back half side is an arc surface inclined to the rear upper side, and the bottom surface of the second circular arc plate and the front half side of the top surface of the fourth circular arc plate are both planes, and the back half side is an arc surface inclined to the rear lower side.

Further, the bottom surface of the first circular arc plate, the bottom surface of the third circular arc plate, the top surface of the second circular arc plate and the top surface of the fourth circular arc plate are all fixedly provided with silica gel cushions.

Further, the square silica gel cushions which are in corresponding movable contact with the top end of the first circular arc plate and the top end of the third circular arc plate are respectively and fixedly arranged on two sides of the bottom surface of the top plate, and the square silica gel cushions which are in corresponding movable contact with the bottom ends of the second circular arc plate and the fourth circular arc plate are respectively and fixedly arranged on two sides of the top surface of the bottom plate.

Further, the passive spring and the constraint spring are both in a stretched state.

Further, a strip-shaped film pressure sensor is arranged on the palm center side of at least one finger part of the intelligent glove, a strip-shaped bending sensor is arranged on the palm back side of at least one finger part of the intelligent glove, a microcontroller and a small lithium battery electrically connected with the microcontroller are respectively arranged on the back hand position of the intelligent glove, the microcontroller is respectively electrically connected with the strip-shaped film pressure sensor and the strip-shaped bending sensor, and the microcontroller is in wireless connection with the controller.

The bionic vertebra waist carrying exoskeleton control method based on the paper folding mechanism is applied to the bionic vertebra waist carrying exoskeleton based on the paper folding mechanism, and comprises the following steps of:

s10, electrifying a system, initializing a working state of a controller, and enabling a driving motor to be in a standby state;

s11, the controller receives a starting signal, controls the driving motor to start and initializes;

s12, applying initial pressure to the tension sensor by the driving motor through the steel wire rope, feeding back a control instruction to the controller if the tension value detected by the tension sensor reaches 5N, controlling the driving motor to stop running through the controller, and setting the state of the driving motor to be a 0-point position state;

S13, if the bionic vertebra unit starts to bend from an upright state, the passive spring is stretched to store energy, the inertia measurement unit detects a component angle theta_t of a sagittal plane, a trunk bending angular speed alpha_t and a height h_t, the strip bending sensor detects a bending value r_t, the strip film pressure sensor detects a stress value f_t, and the tension sensor detects a stress value F_t and respectively transmits the stress value F_t to the controller;

s14, after receiving the detection values transmitted by the sensors, the controller respectively compares the component angle theta_t with a minimum standing angle theta_s preset by the system and compares the bending value r_t with a minimum bending value r_s preset by the system for making fist bending;

if theta_t is more than or equal to theta_s, returning to the execution step S12; if theta_t is less than theta_s, and r_t is more than or equal to r_s, the controller controls the driving motor to dynamically rotate according to the detection feedback value of the tension sensor, so that the stress of the tension rope is kept to be 0N by winding or releasing the steel wire rope, and the step S13 is executed in a return manner; if theta_t is less than theta_s and r_t is less than r_s, continuing to execute the next step;

s15, the controller delays for t seconds, the stress value f_t of the strip-shaped film pressure sensor is read, the controller controls the driving motor to dynamically rotate according to the detection feedback value of the tension sensor, and the stress of the tension rope is kept to be 5N through winding or releasing the steel wire rope;

S16, the controller takes a component angle theta_t, a trunk bending angular speed alpha_t and a height h_t provided by the inertia measurement unit as parameters, obtains a target tension value f '_t according to a target tension function f (t) preset by the system, and performs speed closed-loop control on the driving motor according to an actual tension value f_t and the target tension value f' _t so as to enable the driving motor to perform corresponding rope collecting movement, and the steel wire rope and the passive spring assist bionic vertebra unit recover an upright state;

s17, if theta_t is more than or equal to theta_s and the system is not powered off, returning to the step S12; if the system is powered off, the control process is ended.

The auxiliary conveying method of the bionic vertebra waist conveying exoskeleton based on the paper folding mechanism is applied to the bionic vertebra waist conveying exoskeleton based on the paper folding mechanism, and comprises the following steps of:

s20, fixing the carrying exoskeleton on the body of a wearer through each binding band on the carrying exoskeleton, and adjusting the bionic vertebra units to enable each bionic vertebra paper folding mechanism to be in an original position;

s21, powering on and initializing a system, and enabling a driving motor to be in a standby state;

s22, when the wearer is in a standing state, the start button is pressed, and the driving motor is initialized at first: the controller carries out feedback adjustment on the driving motor through the tension sensor, when the tension on the rope reaches 5N, the driving motor stops running immediately, and the state of the driving motor is set as a 0 point position state;

S23, when the trunk of a wearer bends to perform bending action and the strip-shaped bending sensors on the intelligent gloves do not reach the preset fist making bending degree of the hands, carrying the exoskeleton into a transparent mode, and controlling the driving motor to dynamically rotate by the controller according to the detection feedback value of the tension sensor, so that the stress of the tension rope is kept to be 0N by winding or releasing the steel wire rope; in the mode, a wearer can normally bend down, the bionic vertebra unit synchronously bends, and the passive spring at the back stores energy;

s24, when the strip-shaped bending sensors on the intelligent glove are bent to a preset bending degree, the controller delays for a preset time period and reads the detection value of the pressure sensor, and the controller feeds back and adjusts the driving motor through the tension sensor again to keep the tension on the tension rope to be 5N;

s25, when a wearer operates the intelligent glove to carry out heavy object lifting, the controller receives detection data of the strip-shaped film pressure sensor on the intelligent glove, provides a corresponding target tension function according to a corresponding actual tension value, obtains a target tension value, and performs speed closed-loop control on the driving motor according to the actual tension value and the target tension value, so that the driving motor performs corresponding rope collecting movement, and the steel wire rope and the passive spring assist bionic vertebra unit recover to an upright state;

S26, after the lifting operation of a wearer is finished, the bionic vertebra unit is in an upright state, and the controller controls the driving motor to stop running and enables the driving motor to be in a 0 point position state;

s27, after a wearer bends down to put down a weight, carrying the exoskeleton to enter a transparent mode again, and controlling the driving motor to dynamically rotate by the controller according to a detection feedback value of the tension sensor, so that the stress of the tension rope is kept to be 0N by winding or releasing the steel wire rope, and the wearer stretches the hand again and then makes a fist, carrying the exoskeleton to execute the step S24 and the step S25, and completing auxiliary lifting of the wearer;

s28, repeating the step S23 and the step S27 to perform repeated conveying actions;

and S29, after the carrying action is finished, the wearer turns off the power supply and takes off the carrying exoskeleton.

Compared with the prior art, the invention has the following beneficial effects:

1. the bionic vertebra paper folding mechanism is designed by adopting the paper folding principle, has 5 degrees of freedom, has good versatility and flexibility, can be well attached to the waist of a human body for movement and simulate the vertebra movement of the human body, and meets the daily carrying action of a wearer.

2. The carrying exoskeleton disclosed by the invention has the advantages that the whole structure is exquisite, the weight is lighter, the movement of the bionic vertebra unit is driven by the rope to assist the waist, the assistance effect of the motor can be well applied to the waist of a human body, the load of the waist of a wearer is reduced, the waist is protected, and therefore, the assistance effect and the using comfort are improved.

3. The bionic vertebra unit provided by the invention has an active power assisting mode driven by a motor and a passive power assisting mode provided by a passive spring, can realize the combination of the active power assisting mode and the passive power assisting mode, and can independently perform passive power assisting through the passive spring under the condition that a battery is not powered, so that the bionic vertebra unit is flexible and convenient to use.

4. The invention adopts a control method based on tension feedback, so that the carrying exoskeleton can identify human body movement and carry out corresponding control flow according to the identified human body movement, thereby realizing the self-adaption of the exoskeleton and having the advantages of high flexibility and multifunction.

Drawings

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a schematic perspective view of a bionic vertebra paper folding mechanism according to the present invention;

FIG. 3 is a schematic diagram of the front view of the bionic vertebra paper folding mechanism according to the invention;

FIG. 4 is a schematic rear view of a bionic vertebra paper folding mechanism according to the present invention;

FIG. 5 is a schematic view of the motion freedom of the bionic vertebra paper folding mechanism according to the invention;

FIG. 6 is a schematic view of a bionic vertebral unit according to the present invention;

FIG. 7 is a schematic view of the three-dimensional structure of the palm back side of the intelligent glove and its components according to the present invention;

FIG. 8 is a schematic perspective view of the palm side of the intelligent glove and its components according to the present invention;

FIG. 9 is a schematic diagram of a motion control module frame for handling exoskeletons in accordance with the present invention;

fig. 10 is a flow chart of an auxiliary conveying method for conveying an exoskeleton according to the present invention.

In the figure: a shoulder strap, a 2 back support plate, a 3 waist strap, a 4 waist support plate, a 5 back strap, a 6 bionic vertebra paper folding mechanism, a 601 first circular arc plate, a 602 second circular arc plate, a 603 third circular arc plate, a 604 fourth circular arc plate, a 605 top plate, a 606 bottom plate, a 607 upper left front paper folding link, a 608 upper left rear paper folding link, a 609 right front paper folding link, a 610 upper right rear paper folding link, a 611 left lower front paper folding link, a 612 left lower rear paper folding link, a 613 lower right rear paper folding link, a 615 left front constraint bolt shaft, a 616 left rear constraint bolt shaft, a 617 constraint spring, a 618 right front constraint bolt shaft, a 619 right rear constraint bolt shaft, a 620 passive spring, a 621 silica gel cushion, a 622 square silica gel, a 7 tension sensor, an 8 inertial measurement unit, a 9 shoulder anchor block, a 10 tension rope, an 11 rope drive pulley block, a 12 drive motor, a 13 battery pack, a 14 wire winding drum, a 15 rope, a 16 controller, a 17 intelligent glove, an 18 strip film pressure sensor, a 19 micro controller, a 20 strip-shaped battery, and a 21 lithium battery.

Detailed Description

The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making clear and defining the scope of the present invention.

Referring to fig. 1, a bionic vertebra waist carrying exoskeleton based on a paper folding mechanism mainly comprises three parts, namely: the bionic spine unit, the rope driving unit and the man-machine contact unit. The human-computer contact unit is used for carrying the connection and fixation of the exoskeleton on the human body, and the rope driving unit is used for providing auxiliary power for the bionic spinal unit, wherein the auxiliary power is recovered to a vertical state (corresponding to a human body standing state) from a bending state (corresponding to a human body bending state).

The man-machine contact unit includes a back support plate 2 fixed to the back of the human body through shoulder straps 1, a waist support plate 4 fixed to the waist of the human body through waist straps 3, and a back strap 5 fixed to the back of the human body and located between the back support plate 2 and the waist support plate 4. The back support plate 2 is a metal plate or a plastic plate with an approximately inverted triangle shape, the shape and the size of the back support plate are matched with the space between the shoulder blades on two sides of the back of a human body, the normal movement of bones of the human body is not adversely affected, and the human body is not uncomfortable after being worn. The shoulder strap 1 is composed of an annular strap fixed at the bottom of the back support plate 2 and two shoulder straps fixed at two sides of the top of the back support plate 2, the annular strap can be enclosed outside the chest of a human body, the middle part of the front side (corresponding to the chest position of the human body) is connected by a velcro or a buckle, and the bottom end of the front part of the shoulder strap is connected with the front side of the annular strap by the velcro or the buckle, so that the back support plate 2 can be reliably fixed at the back of the human body. The waist supporting plate 2 is an arc-shaped plate matched with the back of the human waist, the waist binding band 3 can be wrapped on the outer side of the human waist, and the middle part of the front side (corresponding to the front side position of the human waist) is connected by adopting a magic tape or a buckle, so that the waist supporting plate 2 can be reliably fixed on the human waist. The back binding band 5 can be wrapped on the back and the outer side of the abdomen of the human body, and the middle part of the front side (corresponding to the abdomen position of the human body) is connected by using a magic tape or a buckle. Therefore, the quick installation and disassembly of the carrying exoskeleton on a human body can be conveniently realized.

The bionic vertebra unit is formed by sequentially connecting a plurality of (7 in the embodiment) bionic vertebra paper folding mechanisms 6 in series (as shown in fig. 6) so as to simulate the vertebra structure of a human body. The bionic vertebra unit activity sets up the surface at back bandage 5, and the top fixed connection of the bionic vertebra paper folding mechanism 6 that is located the top is in the surface bottom of back backup pad 2, and the top at the top of this bionic vertebra paper folding mechanism 6 is fixed to be provided with tension sensor 7, and the bottom fixed connection of the bionic vertebra paper folding mechanism 6 that is located the lower extreme is in the surface top of waist backup pad 4. Each bionic vertebra paper folding mechanism 6 is arranged on one steel wire rope 15 in a penetrating way, and each bionic vertebra paper folding mechanism 6 has 5 degrees of freedom and can synchronously simulate the bending and stretching movements of the human spine.

Threaded holes are formed in the top end and the bottom end of the tension sensor 7, and each threaded hole is internally and respectively connected with an eye bolt in a threaded mode. The bottom input end of the tension sensor is fixedly connected with the top plate of the uppermost Fang Chuigu paper folding mechanism 6 through an eye bolt. The surface mounting of back backup pad 2 is provided with Inertial Measurement Unit (IMU) 8, and the rear side surface mounting of shoulder bandage 1 (specifically is baldric) is provided with shoulder anchor block 9 (be provided with one on every baldric), fixedly is provided with shoulder bolt on the shoulder anchor block 9, and the middle part of shoulder bolt passes through the pulling force rope 10 with the eye bolt of the top input of tension sensor 7 to be connected. In this way, the tension applied to the shoulder anchor point block 9 can be detected in real time through the tension sensor 7 so as to represent the bending degree of the shoulders of the human body in the process of carrying the heavy objects. The inertial measurement unit 8 characterizes the degree of curvature of the spine of the person during handling of the weight by means of a component angle θ_t of its sagittal plane, which should be close to 90 ° when the person is in an upright position. Meanwhile, the inertia detection unit 8 may detect the torso bending angular velocity α_t and the height h_t in real time, and transmit the real-time detection values to the controller.

As shown in fig. 2 to 4, the bionic vertebra paper folding mechanism 6 includes a top plate 605 and a bottom plate 606, and a passive spring 620 is connected between the front end of the top plate 605 and the front end of the bottom plate 606. The passive spring 620 passes through the foremost holes of the top plate 605 and the bottom plate 606, thereby connecting the top plate 605 and the bottom plate 606; the passive springs 620 in each bionic vertebra paper folding mechanism 6 are sequentially connected in an ending mode. The passive spring 620 is always in a stretched state, that is, the passive spring 620 has a small constraint force at the initial position of the bionic vertebra unit (corresponding to the standing state of the human body), and the main function is to keep the structure of the whole bionic vertebra unit compact and stable. When a wearer bends down, the passive spring 620 on the back is stretched, so that the bionic vertebra unit on the back is kept stable, and meanwhile, gravitational potential energy generated when the human body bends down is collected, and energy is stored; during the return of the wearer to upright, the passive spring 620 releases energy for auxiliary assistance to reduce the energy consumption of the power components of the cord drive unit. The carrying exoskeleton can combine active power assistance and passive power assistance, and when the power component of the rope driving unit does not work, independent passive power assistance can be realized.

The bionic vertebra paper folding mechanism 6 is of an up-down symmetrical, left-right symmetrical and front-back symmetrical structure, is a main component part of the bionic vertebra unit and is designed according to the paper folding principle. The left and right ends of the top plate 605 are respectively connected with a first arc plate 601 and a second arc plate 602 which are oppositely arranged through bolt shafts in a rotating way, and miniature bearings are arranged in the revolute pair, so that the first arc plate 601 and the second arc plate 602 can rotate relative to the top plate 605. Similarly, the left and right ends of the bottom plate 606 are respectively connected with a third circular arc plate 603 and a fourth circular arc plate 604 which are oppositely arranged through bolt shafts in a rotating way, and miniature bearings are arranged in the revolute pair, so that the third circular arc plate 603 and the fourth circular arc plate 604 can rotate relative to the bottom plate 606. And the third arc plate 603 is oppositely arranged below the first arc plate 601, and the fourth arc plate 604 is oppositely arranged below the second arc plate 602.

The inner wall front end and the rear end of the first circular arc plate 601 are respectively integrally provided with an upper left front extension rod and an upper left rear extension rod which are all obliquely arranged downwards, an upper left front paper folding connecting rod 607 which is obliquely arranged downwards is rotationally connected to the upper left front extension rod, an upper left rear paper folding connecting rod 608 which is obliquely arranged downwards is rotationally connected to the upper left rear extension rod through a bolt shaft, an upper right front extension rod and an upper right rear extension rod which are all obliquely arranged downwards are respectively integrally provided with the inner wall front end and the rear end of the second circular arc plate 602, an upper right front paper folding connecting rod 609 which is obliquely arranged downwards is rotationally connected to the upper right front extension rod through a bolt shaft, and an upper right rear paper folding connecting rod 610 which is obliquely arranged downwards is rotationally connected to the upper right rear extension rod. Similarly, the front end and the rear end of the inner wall of the third circular arc plate 603 are respectively integrally provided with a lower left front extension rod and a lower left rear extension rod which are all obliquely arranged above the right, the lower left front extension rod is rotatably connected with a lower left front paper folding connecting rod 611 which is obliquely arranged above the rear through a bolt shaft, the lower left rear extension rod is rotatably connected with a lower left rear paper folding connecting rod 612 which is obliquely arranged above the front, the front end and the rear end of the inner wall of the fourth circular arc plate 604 are respectively integrally provided with a lower right front extension rod and a lower right rear extension rod which are all obliquely arranged above the left, the lower right front extension rod is rotatably connected with a lower right front paper folding connecting rod 613 which is obliquely arranged above the rear through a bolt shaft, and the lower right rear extension rod is rotatably connected with a lower right rear paper folding connecting rod 614 which is obliquely arranged above the front through a bolt shaft.

The rod end of the left upper front paper folding connecting rod 607 is rotationally connected with the rod end of the left lower front paper folding connecting rod 611 through a left front constraint bolt shaft 615, the rod end of the left upper rear paper folding connecting rod 608 is rotationally connected with the rod end of the left lower rear paper folding connecting rod 612 through a left rear constraint bolt shaft 616, and the end of the left front constraint bolt shaft 615 is connected with the end of the left rear constraint bolt shaft 616 through a constraint spring 617; the rod end of the upper right front paper folding link 609 is rotatably connected with the rod end of the lower right front paper folding link 613 through a front right constraint bolt shaft 618, the rod end of the upper right rear paper folding link 610 is rotatably connected with the rod end of the lower right rear paper folding link 614 through a rear right constraint bolt shaft 619, and the end of the front right constraint bolt shaft 618 is connected with the end of the rear right constraint bolt shaft 619 through another constraint spring 617. Miniature bearings are arranged in each revolute pair so as to realize the relative rotation between each paper folding connecting rod and the corresponding connected arc plate. The left front constraint bolt shaft 615 on the same side (left side as shown in fig. 2) is parallel to the axis of the left rear constraint bolt shaft 616, the right front constraint bolt shaft 618 on the same side (right side as shown in fig. 2) is parallel to the axis of the right rear constraint bolt shaft 619, and in the initial state, the left front constraint bolt shaft 615 coincides with the axis of the right front constraint bolt shaft 618, the left rear constraint bolt shaft 616 coincides with the axis of the right rear constraint bolt shaft 619, and the axes of the four constraint bolt shafts are parallel to the surface of the uniform ceiling 605. Thus, the upper arc plate and the lower arc plate on the same side are connected through the paper folding connecting rod connected on the same side and the constraint bolt shaft correspondingly connected on the paper folding connecting rod.

Under the above-described structure, in the initial state, the four paper folding links on the same side are in a "<" structure, and as seen from the left side in the angle shown in fig. 2, the rod ends of the upper left front paper folding link 607 and the lower left front paper folding link 611 are rotationally connected by the front left constraint bolt shaft 615 to be in a "<" shape, while the rod ends of the upper left rear paper folding link 608 and the lower left rear paper folding link 612 are rotationally connected by the rear left constraint bolt shaft 616 to be in a ">" shape. After the shaft ends of the front left constraint bolt shaft 615 and the rear left constraint bolt shaft 616 are connected through the constraint springs 617, two ends of the constraint springs 617 are respectively limited and fixed through constraint nuts, so that the constraint springs 617 are in a stretched state, and the constraint springs 617 can constrain relative movement between two paper folding connecting rods connected with the same side, so that the two connecting rods hinged with each other are always in an adduction state, for example: "> <", thereby can solve the problem of many solutions of connecting rod spatial position.

As shown in fig. 5, the bionic vertebra paper folding mechanism 6 with the above structure can realize 5 degrees of freedom motion, which are respectively: y-axis displacement, z-axis displacement, x-axis rotation, y-axis rotation, and z-axis rotation. Human lumbar movements are typically flexion and extension movements (in the sagittal plane), lateral bending movements (in the coronal plane), and axial rotations (in the horizontal plane). To achieve these movements, at least 4 degrees of freedom of the lumbar vertebral biomimetic unit are required, namely: the z-axis displacement, x-axis rotation, y-axis rotation and z-axis rotation, and thus the designed bionic vertebra paper folding mechanism 6 can achieve the above requirements. As shown in fig. 6, the entire bionic spinal unit presents a redundant mechanism. In order to be able to control the unit very well, little freedom of use is required. For this purpose, the top end of the circular arc body portion of the first circular arc plate 601, the top end of the circular arc body portion of the third circular arc plate 603, the bottom end of the circular arc body portion of the second circular arc plate 602, and the bottom end of the circular arc body portion of the fourth circular arc plate 604 are all fixedly provided with stoppers, and the two sides of the bottom surface of the top plate 605 and the two sides of the top surface of the bottom plate 606 are respectively fixedly provided with square silica gel cushions 622 corresponding to the respective stoppers. Through the contact of stopper and square silica gel cushion 622, the motion of circular arc board has been restricted, can absorb the motion impact simultaneously to the y-axis displacement of bionical vertebra paper folding mechanism 6 is spacing. The degree of freedom does not affect the auxiliary effect of the whole bionic vertebra unit, and the redundant structure can be conveniently controlled. The arc main body parts of the four arc plates are mainly used for limiting the minimum displacement of the z-axis of the bionic vertebra paper folding mechanism 6 (the upper arc plate and the lower arc plate on the same side are propped against each other at the moment), namely the initial position of the bionic vertebra paper folding mechanism 6 in a human standing state. The bottom surface of the first circular arc plate 601, the bottom surface of the third circular arc plate 603, the top surface of the second circular arc plate 602 and the top surface of the fourth circular arc plate 604 are all fixedly provided with a silica gel cushion 621. The silica gel cushion 621 is similar to the intervertebral disc of a human body, is used for absorbing motion impact and limiting the displacement of the bionic vertebra paper folding mechanism 6 in the z-axis direction.

Preferably, the bottom surface of the first circular arc plate 601 and the front half side of the bottom surface of the third circular arc plate 603 are both planes, and the rear half side is an arc surface inclined backward and upward, and the bottom surface of the second circular arc plate 602 and the front half side of the top surface of the fourth circular arc plate 604 are both planes, and the rear half side is an arc surface inclined backward and downward. Therefore, the y-axis rotation of the bionic vertebra paper folding mechanism 6 can be partially limited, so that the bionic vertebra paper folding mechanism can only rotate unidirectionally, the whole bionic vertebra unit can synchronously bend unidirectionally along with the bending motion of a human body, and the control of the whole bionic vertebra unit to recover the initial position is facilitated.

The structure composition and connection relation of the rope driving unit are as follows: the surface of the waist supporting plate 4 is fixedly provided with a rope driving pulley block 11, a driving motor 12 positioned on one side of the rope driving pulley block 11 and a battery pack 13 positioned on the other side of the rope driving pulley block 11 respectively, the output end of the driving motor 12 is fixedly connected with a take-up reel 14, a steel wire rope 15 is wound on the take-up reel 14, and the other end of the steel wire rope 15 sequentially passes through each bionic vertebra paper folding mechanism 6 after being wound and guided by the rope driving pulley block 11 and is connected with an eye bolt at the bottom input end of the tension sensor 7. Wherein, the driving motor 12 adopts a main flow brushless motor, and the shaft end of the driving motor is provided with an encoder to accurately control the rotation of the direct current brushless motor; the battery pack 13 includes a battery case fixedly mounted on the left side portion of the surface of the lumbar support plate 4 by bolts and a lithium battery detachably provided in the battery case, the lithium battery supplying power to the driving motor 12. The rope driving pulley block 11 comprises a pulley bracket and a plurality of guide pulleys rotatably mounted on the pulley bracket, the pulley bracket is fixedly mounted at the center of the surface of the waist supporting plate 4, one end of the steel wire rope 15 is fixedly connected to the take-up reel 14 through bolts, the other end sequentially bypasses the guide pulleys and sequentially passes through corresponding perforations in the bottom plate 606 and the top plate 605 of each bionic vertebra paper folding mechanism 6, and then is connected with the lower end of the tension sensor 7. The winding or releasing of the wire rope 15 on the winding drum 14 can be realized by controlling the rotation of the driving motor 12, and when the driving motor 12 is in a non-working state, the winding drum 14 is in a free rotation state, and the wire rope 15 is in a free winding state. When the steel wire rope 15 is wound on the winding drum 14, the steel wire rope 15 is in a tension state, and tension is applied to the back support plate 2, so that the bionic vertebra unit in a bending state is restored to an initial vertical state, an active power assisting function is realized, the tension sensor 7 detects the tension of the steel wire rope 15 in real time, the detection result is transmitted to the controller 16, and the controller 16 compares the detection result with a preset target value, and adjusts the rotation angle of the driving motor 12, so that feedback type adjusting control is realized. When the steel wire rope 15 is released on the take-up reel 14, the steel wire rope 15 is in a loose state, and the bionic vertebra unit can synchronously bend along with the bending process of a human body.

The control system of the rope driving unit for carrying the exoskeleton, as shown in fig. 9, comprises a controller 16 and an intelligent glove 17 for detecting the bending state of the human body and the carrying state of the hands and controlling the movement state of the rope driving unit. The controller 16 adopts the existing single-chip microcomputer development board (including a serial port communication module, an I2C communication module, a CAN communication module, a WIFI module, a voltage reduction module and the like), and the specific structural composition and the working principle are not repeated here. The DC brushless motor internally comprises a driver, an encoder and a speed reducer. The singlechip and the direct current brushless motor are communicated through the CAN bus, and the singlechip is used for reading the analog quantity of the tension sensor. The IMU is communicated with the singlechip through a serial port and is used for acquiring the bending angle, the angular speed and the height of the trunk of a wearer and for motion recognition and feedback control. The battery directly supplies power to the 48V direct current brushless motor, a power switch is arranged on the power supply line, and the power switch is positioned in front of the waist of a human body. The battery supplies power to the transmitter of the tension sensor 7 with 24V working voltage through the voltage reduction module and supplies power to the singlechip with 5V working voltage. The WIFI module of the singlechip is a server, so that a computer client can be accessed to reflect each parameter value acquired by the singlechip in real time.

As shown in fig. 7 and 8, a strip-shaped film pressure sensor 18 is disposed on the palm center side of at least one finger portion of the intelligent glove 17, a strip-shaped bending sensor 19 is disposed on the palm back side of at least one finger portion of the intelligent glove 17, a microcontroller 20 and a small lithium battery 21 electrically connected with the microcontroller 20 are disposed on the back of the hand of the intelligent glove 17, the microcontroller 20 is electrically connected with the strip-shaped film pressure sensor 18 and the strip-shaped bending sensor 19, and the microcontroller 20 is wirelessly connected with the controller 16. In this embodiment, the number of strip-shaped bending sensors 19 is one and is disposed on the palm back side of the index finger portion of the intelligent glove 17, and the number of strip-shaped film pressure sensors 18 is also one and is disposed on the palm center side of the index finger portion of the intelligent glove 17. The microcontroller 20 employs a development board of an existing ESP-12F WIFI module, and a small lithium battery 21 supplies power to the microcontroller 20. The WIFI module on the intelligent glove 17 is in wireless communication with the singlechip, the strip-shaped film pressure sensor 18 is used for collecting the weight of the carried heavy object, and the strip-shaped bending sensor 19 is used for controlling the ADC module of the ESP-12F to conduct pressure signal collection control.

A bionic vertebra waist handling exoskeleton control method based on a paper folding mechanism is applied to the bionic vertebra waist handling exoskeleton based on the paper folding mechanism, and comprises the following steps:

S10, electrifying a system, initializing a working state of a controller, and enabling a driving motor to be in a standby state;

s11, the controller receives a starting signal, controls the driving motor to start and initializes;

s12, applying initial pressure to the tension sensor by the driving motor through the steel wire rope, feeding back a control instruction to the controller if the tension value detected by the tension sensor reaches 5N, controlling the driving motor to stop running through the controller, and setting the state of the driving motor to be a 0-point position state; at this point a component θ—t of the sagittal plane of the IMU should be close to 90 °. This state is a standing rope pre-tensioned state. The system sets the minimum standing angle theta_s, and when a person walks or stands, the system meets the conditions: and theta_t is more than or equal to theta_s, and the system recognizes that the carrying exoskeleton is in a standing state.

S13, if the bionic vertebra unit starts to bend from an upright state, the passive spring is stretched to store energy, the inertia measurement unit detects a component angle theta_t of a sagittal plane, a trunk bending angular speed alpha_t and a height h_t, the strip bending sensor detects a bending value r_t, the strip film pressure sensor detects a stress value f_t, and the tension sensor detects a stress value F_t and respectively transmits the stress value F_t to the controller;

S14, after receiving the detection values transmitted by the sensors, the controller respectively compares the component angle theta_t with a minimum standing angle theta_s preset by the system and compares the bending value r_t with a minimum bending value R_s preset by the system for making fist bending;

if theta_t is more than or equal to theta_s, indicating that the bending degree of the human body is smaller and is not in a state of preparing to carry the object or in a state of completing active assistance, returning to the execution step S12;

if θ_t < θ_s, r_t is greater than or equal to R_s, then the body has fallen below the minimum standing angle θ_s, indicating that the wearer's torso has flexed and is performing a bowing motion. The strip bending sensor 19 on the smart glove 17 does not reach the bending degree of the fist, and this state is a bending state. When the exoskeleton is required to enter a transparent mode in the state, the controller controls the driving motor to dynamically rotate according to the detection feedback value of the tension sensor, so that the stress of the tension rope is kept to be 0N by winding or releasing the steel wire rope, and the step S13 is executed in a return mode; meanwhile, the passive spring at the back stores energy.

If θ_t < θ_s and r_t < r_s indicate that the strip bending sensor 19 on the intelligent glove 17 has been bent to a certain extent, the hand is in a state of grabbing the object, and the system recognizes that the carrying exoskeleton is in a state that the wearer starts to carry the object, then the next step is continued;

S15, the controller delays for t seconds, the stress value f_t of the strip-shaped film is read, the stress value f_t is transmitted by the pressure sensor 18, the controller controls the driving motor to dynamically rotate according to the detection feedback value of the tension sensor, the driving motor enters a pre-tightening mode again, and the stress of the tension rope is kept to be 5N through winding or releasing the steel wire rope; this state is a conveyance preparation state.

S16, the controller takes a component angle theta_t, a trunk bending angular speed alpha_t and a height h_t provided by the inertia measurement unit as parameters, obtains a target tension value f '_t according to a target tension function f (t) preset by the system, and performs speed closed-loop control on the driving motor according to an actual tension value f_t and the target tension value f' _t so as to enable the driving motor to perform corresponding rope collecting movement, and the steel wire rope and the passive spring assist bionic vertebra unit recover an upright state; this state is a lifting assist state.

S17, if theta_t is more than or equal to theta_s and the system is not powered off, the human body is in a standing walking state, the carrying exoskeleton is in a carrying ending state, and the next carrying operation is possible, returning to the execution step S12; if the system is powered off, the control process is ended.

Referring to fig. 10, an auxiliary conveying method for a bionic vertebra waist conveying exoskeleton based on a paper folding mechanism is applied to the bionic vertebra waist conveying exoskeleton based on the paper folding mechanism, and is characterized by comprising the following steps:

S20, fixing the carrying exoskeleton on the body of a wearer through each binding band on the carrying exoskeleton, and adjusting the bionic vertebra units to enable each bionic vertebra paper folding mechanism to be in an original position;

s21, powering on and initializing a system, and enabling a driving motor to be in a standby state;

s22, when the wearer is in a standing state, the start button is pressed, and the driving motor is initialized at first: the controller carries out feedback adjustment on the driving motor through the tension sensor, when the tension on the rope reaches 5N, the driving motor stops running immediately, and the state of the driving motor is set as a 0 point position state; at this point a component θ—t of the sagittal plane of the IMU should be close to 90 °. This condition is a standing cord pre-tensioned condition, and the system recognizes that the transport exoskeleton is standing.

S23, when the trunk of the wearer bends to perform bending action and the strip-shaped bending sensor 19 on the intelligent glove 17 does not reach the degree that the hand reaches the preset bending degree of the fist, the following is satisfied: θ_t < θ_s, r_t is larger than or equal to r_s, the conveying exoskeleton is in a bending state, the conveying exoskeleton enters a transparent mode, and the controller controls the driving motor to dynamically rotate according to the detection feedback value of the tension sensor, so that the stress of the tension rope is kept to be 0N through winding or releasing the steel wire rope; in the mode, a wearer can normally bend down, the bionic vertebra unit synchronously bends, and the passive spring at the back stores energy;

S24, when the strip-shaped bending sensor 19 on the intelligent glove 17 is bent to a preset bending degree, the following conditions are satisfied: θ_t < θ_s and r_t < r_s, the carrying exoskeleton is in a state that a wearer starts to carry an object, the controller delays for a preset time period (such as 3 seconds, the hands are ensured to firmly grasp the object) and reads the detection value of the pressure sensor, and the controller feeds back and adjusts the driving motor through the tension sensor again, so that the driving motor enters a pre-tightening mode again, and the tension on the tension rope is kept to be 5N;

s25, when a wearer operates the intelligent glove 17 to carry out heavy object lifting, the controller receives detection data of the strip-shaped film pressure sensor 18 on the intelligent glove 17, provides a corresponding target tension function according to a corresponding actual tension value, obtains a target tension value, and performs speed closed-loop control on the driving motor according to the actual tension value and the target tension value, so that the driving motor performs corresponding rope collecting movement, and the steel wire rope and the passive spring assist bionic vertebra unit recover to an upright state, wherein the state is a lifting assisting state;

s26, after the lifting operation of the wearer is finished, the bionic vertebra unit is in an upright state, and the following conditions are satisfied again: the theta_t is more than or equal to theta_s, the controller controls the driving motor to stop running, and the driving motor is in a 0 point position state; this state is a conveyance end state. The wearer can bend over in this state to complete the release of the object.

S27, after a wearer bends down to put down the weight, carrying the exoskeleton into a transparent mode again, wherein the transparent mode is different from the transparent mode: the strip bending sensor 19 is always kept in a bent state. The controller controls the driving motor to dynamically rotate according to the detection feedback value of the tension sensor, so that the stress of the tension rope is kept to be 0N by winding or releasing the steel wire rope, a wearer stretches his or her hand again and then makes a fist, and then the exoskeleton is carried to execute the active power assisting process in the step S24 and the step S25, so that the auxiliary lifting of the wearer is completed;

s28, repeating the step S23 and the step S27 to perform repeated carrying actions, so that the waist load of a wearer is reduced, and the waist of the wearer is protected;

and S29, after the carrying action is finished, the wearer turns off the power supply and takes off the carrying exoskeleton.

The back bionic vertebra unit of the exoskeleton is formed by connecting 7 bionic vertebra paper folding mechanisms 6 in series, each bionic vertebra paper folding mechanism 6 has 5 degrees of freedom, and the whole mass is within 100 g. The back bionic spine unit is controlled through rope driving, so that the whole bionic spine can be well attached to human body movement, multiple carrying postures are supported, back assistance is provided, spine load is reduced, a wearer is helped to carry out carrying operation, and the waist of the wearer is protected. Meanwhile, the exoskeleton uses the bionic spine, so that the overall weight is more exquisite in structure and simpler to install compared with the existing active exoskeleton. The overall mass of the exoskeleton is lighter and only 3.15kg, so that the exoskeleton has better flexibility, comfort and versatility while the overall boosting effect is improved.

The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes or direct or indirect application in other related technical fields are included in the scope of the present invention.

Claims (9)

1. Bionic vertebra waist transport exoskeleton based on paper folding mechanism, include back backup pad (2) that are fixed in human back department through shoulder bandage (1), be fixed in waist backup pad (4) of human waist through waist bandage (3), be fixed in human back and be located back bandage (5) between back backup pad (2) and waist backup pad (4), its characterized in that: the surface of the back binding band (5) is provided with a bionic vertebra unit formed by sequentially abutting a plurality of bionic vertebra paper folding mechanisms (6), the top of the bionic vertebra paper folding mechanism (6) at the uppermost end is fixedly connected to the bottom end of the surface of the back supporting plate (2), the top end of the top of the bionic vertebra paper folding mechanism (6) is fixedly provided with a tension sensor (7), and the bottom of the bionic vertebra paper folding mechanism (6) at the lowermost end is fixedly connected to the top end of the surface of the waist supporting plate (4);

an inertial measurement unit (8) is fixedly arranged on the surface of the back supporting plate (2), a shoulder anchor block (9) is fixedly arranged on the surface of the shoulder binding belt (1), and the shoulder anchor block (9) is connected with the top input end of the tension sensor (7) through a tension rope (10);

The surface of the waist supporting plate (4) is fixedly provided with a rope driving pulley block (11), a driving motor (12) positioned at one side of the rope driving pulley block (11) and a battery pack (13) positioned at the other side of the rope driving pulley block (11), the output end of the driving motor (12) is fixedly connected with a take-up reel (14), a steel wire rope (15) is wound on the take-up reel (14), and the other end of the steel wire rope (15) sequentially passes through each bionic vertebra paper folding mechanism (6) after being wound and guided by the rope driving pulley block (11) and is connected with the bottom input end of the tension sensor (7);

the intelligent glove type electric power generation device is characterized by further comprising a controller (16) and an intelligent glove (17), wherein the controller (16) is respectively electrically connected with the tension sensor (7), the inertia measurement unit (8), the driving motor (12) and the battery pack (13) and is in wireless connection with the intelligent glove (17).

2. The bionic vertebra waist handling exoskeleton based on the paper folding mechanism of claim 1, wherein: the bionic vertebra paper folding mechanism (6) comprises a top plate (605) and a bottom plate (606), a passive spring (620) is connected between the front side end of the top plate (605) and the front side end of the bottom plate (606), and the left end and the right end of the top plate (605) are respectively connected with a first arc plate (601) and a second arc plate (602) in a rotating mode;

The front end and the rear end of the inner wall of the first circular arc plate (601) are respectively and integrally provided with an upper left front extension rod and an upper left rear extension rod which are all obliquely arranged downwards to the right, an upper left front paper folding connecting rod (607) which is obliquely arranged downwards to the rear is rotationally connected to the upper left front extension rod, an upper left rear paper folding connecting rod (608) which is obliquely arranged downwards to the front is rotationally connected to the upper left rear extension rod, an upper right front extension rod and an upper right rear extension rod which are all obliquely arranged downwards to the left are respectively and integrally arranged at the front end and the rear end of the inner wall of the second circular arc plate (602), an upper right front paper folding connecting rod (609) which is obliquely arranged downwards to the rear is rotationally connected to the upper right front extension rod, and an upper right rear paper folding connecting rod (610) which is obliquely arranged downwards to the front is rotationally connected to the upper right rear extension rod;

the left and right ends of the bottom plate (606) are respectively and rotatably connected with a third circular arc plate (603) and a fourth circular arc plate (604), the front end and the rear end of the inner wall of the third circular arc plate (603) are respectively and integrally provided with a left lower front extension rod and a left lower rear extension rod which are obliquely arranged right upwards, a left lower front paper folding connecting rod (611) which is obliquely arranged backward upwards is rotatably connected to the left lower front extension rod, a left lower rear paper folding connecting rod (612) which is obliquely arranged forward upwards is rotatably connected to the left lower rear extension rod, a right lower front extension rod and a right lower rear extension rod which are obliquely arranged left upwards are respectively and integrally arranged at the front end and the rear end of the inner wall of the fourth circular arc plate (604), a right lower front paper folding connecting rod (613) which is obliquely arranged backward upwards is rotatably connected to the right lower front extension rod, and a right lower rear paper folding connecting rod (614) which is obliquely arranged forward upwards is rotatably connected to the right lower rear extension rod;

The rod end of the left upper front paper folding connecting rod (607) is rotationally connected with the rod end of the left lower front paper folding connecting rod (611) through a left front constraint bolt shaft (615), the rod end of the left upper rear paper folding connecting rod (608) is rotationally connected with the rod end of the left lower rear paper folding connecting rod (612) through a left rear constraint bolt shaft (616), and the end of the left front constraint bolt shaft (615) is connected with the end of the left rear constraint bolt shaft (616) through a constraint spring (617);

the rod end of the upper right front paper folding connecting rod (609) is rotationally connected with the rod end of the lower right front paper folding connecting rod (613) through a right front constraint bolt shaft (618), the rod end of the upper right rear paper folding connecting rod (610) is rotationally connected with the rod end of the lower right rear paper folding connecting rod (614) through a right rear constraint bolt shaft (619), and the end of the right front constraint bolt shaft (618) is connected with the end of the right rear constraint bolt shaft (619) through another constraint spring (617).

3. The bionic vertebra waist handling exoskeleton based on the paper folding mechanism of claim 2, wherein: the bottom surface of first circular arc board (601) and the bottom surface first half side of third circular arc board (603) are the plane, the back half side is the arc surface that upwards inclines backward and sets up, the bottom surface of second circular arc board (602) and the top surface first half side of fourth circular arc board (604) are the plane, the back half side is the arc surface that downwards inclines backward and sets up.

4. A simulated lumbar spine handling exoskeleton based on a paper folding mechanism as claimed in claim 3, wherein: the bottom surface of first circular arc board (601), the top surface of third circular arc board (603), the bottom surface of second circular arc board (602) and the top surface of fourth circular arc board (604) are all fixed be provided with silica gel cushion (621).

5. The bionic vertebra waist handling exoskeleton based on the paper folding mechanism of claim 2, wherein: square silica gel cushions (622) which are in corresponding movable contact with the top end of the first circular arc plate (601) and the top end of the third circular arc plate (603) are respectively and fixedly arranged on two sides of the bottom surface of the top plate (605), and square silica gel cushions (622) which are in corresponding movable contact with the bottom ends of the second circular arc plate (602) and the fourth circular arc plate (604) are respectively and fixedly arranged on two sides of the top surface of the bottom plate (606).

6. The bionic vertebra lumbar handling exoskeleton based on the paper folding mechanism according to any one of claims 2 to 5, wherein: the passive spring (620) and the restraining spring (617) are both in tension.

7. The bionic vertebra waist handling exoskeleton based on the paper folding mechanism of claim 1, wherein: the intelligent glove is characterized in that a strip-shaped film pressure sensor (18) is arranged on the palm center side of at least one finger part of the intelligent glove (17), a strip-shaped bending sensor (19) is arranged on the palm back side of at least one finger part of the intelligent glove (17), a microcontroller (20) and a small lithium battery (21) electrically connected with the microcontroller (20) are respectively arranged on the hand back position of the intelligent glove (17), the microcontroller (20) is electrically connected with the strip-shaped film pressure sensor (18) and the strip-shaped bending sensor (19) respectively, and the microcontroller (20) is in wireless connection with the controller (16).

8. The bionic vertebra waist carrying exoskeleton control method based on the paper folding mechanism is applied to the bionic vertebra waist carrying exoskeleton based on the paper folding mechanism, and is characterized by comprising the following steps:

s10, electrifying a system, initializing a working state of a controller, and enabling a driving motor to be in a standby state;

s11, the controller receives a starting signal, controls the driving motor to start and initializes;

s12, applying initial pressure to the tension sensor by the driving motor through the steel wire rope, feeding back a control instruction to the controller if the tension value detected by the tension sensor reaches 5N, controlling the driving motor to stop running through the controller, and setting the state of the driving motor to be a 0-point position state;

s13, if the bionic vertebra unit starts to bend from an upright state, the passive spring is stretched to store energy, the inertia measurement unit detects a component angle theta_t of a sagittal plane, a trunk bending angular speed alpha_t and a height h_t, the strip bending sensor detects a bending value r_t, the strip film pressure sensor detects a stress value f_t, and the tension sensor detects a stress value F_t and respectively transmits the stress value F_t to the controller;

s14, after receiving the detection values transmitted by the sensors, the controller respectively compares the component angle theta_t with a minimum standing angle theta_s preset by the system and compares the bending value r_t with a minimum bending value r_s preset by the system for making fist bending;

If theta_t is more than or equal to theta_s, returning to the execution step S12; if theta_t is smaller than theta_s, r_t is larger than or equal to r_s, the controller controls the driving motor to dynamically rotate according to the detection feedback value of the tension sensor, and further the stress of the tension rope is kept to be 0N by winding or releasing the steel wire rope, and the step S13 is executed in a return manner; if theta_t is less than theta_s and r_t is less than r_s, continuing to execute the next step;

s15, the controller delays for t seconds, the stress value f_t of the strip-shaped film pressure sensor is read, the controller controls the driving motor to dynamically rotate according to the detection feedback value of the tension sensor, and the stress of the tension rope is kept to be 5N through winding or releasing the steel wire rope;

s16, the controller takes a component angle theta_t, a trunk bending angular speed alpha_t and a height h_t provided by the inertia measurement unit as parameters, obtains a target tension value f '_t according to a target tension function f (t) preset by the system, and performs speed closed-loop control on the driving motor according to an actual tension value f_t and the target tension value f' _t so as to enable the driving motor to perform corresponding rope collecting movement, and the steel wire rope and the passive spring assist bionic vertebra unit recover an upright state;

s17, if theta_t is more than or equal to theta_s and the system is not powered off, returning to the step S12; if the system is powered off, the control process is ended.

9. The auxiliary carrying method of the bionic vertebra waist carrying exoskeleton based on the paper folding mechanism is applied to the bionic vertebra waist carrying exoskeleton based on the paper folding mechanism, and is characterized by comprising the following steps:

s20, fixing the carrying exoskeleton on the body of a wearer through each binding band on the carrying exoskeleton, and adjusting the bionic vertebra units to enable each bionic vertebra paper folding mechanism to be in an original position;

s21, powering on and initializing a system, and enabling a driving motor to be in a standby state;

s22, when the wearer is in a standing state, the start button is pressed, and the driving motor is initialized at first: the controller carries out feedback adjustment on the driving motor through the tension sensor, when the tension on the rope reaches 5N, the driving motor stops running immediately, and the state of the driving motor is set as a 0 point position state;

s23, when the trunk of a wearer bends to perform bending action and the strip-shaped bending sensors on the intelligent gloves do not reach the preset fist making bending degree of the hands, carrying the exoskeleton into a transparent mode, and controlling the driving motor to dynamically rotate by the controller according to the detection feedback value of the tension sensor, so that the stress of the tension rope is kept to be 0N by winding or releasing the steel wire rope; in the mode, a wearer can normally bend down, the bionic vertebra unit synchronously bends, and the passive spring at the back stores energy;

S24, when the strip-shaped bending sensors on the intelligent glove are bent to a preset bending degree, the controller delays for a preset time period and reads the detection value of the pressure sensor, and the controller feeds back and adjusts the driving motor through the tension sensor again to keep the tension on the tension rope to be 5N;

s25, when a wearer operates the intelligent glove to carry out heavy object lifting, the controller receives detection data of the strip-shaped film pressure sensor on the intelligent glove, provides a corresponding target tension function according to a corresponding actual tension value, obtains a target tension value, and performs speed closed-loop control on the driving motor according to the actual tension value and the target tension value, so that the driving motor performs corresponding rope collecting movement, and the steel wire rope and the passive spring assist bionic vertebra unit recover to an upright state;

s26, after the lifting operation of a wearer is finished, the bionic vertebra unit is in an upright state, and the controller controls the driving motor to stop running and enables the driving motor to be in a 0 point position state;

s27, after a wearer bends down to put down a weight, carrying the exoskeleton to enter a transparent mode again, and controlling the driving motor to dynamically rotate by the controller according to a detection feedback value of the tension sensor, so that the stress of the tension rope is kept to be 0N by winding or releasing the steel wire rope, and the wearer stretches the hand again and then makes a fist, carrying the exoskeleton to execute the step S24 and the step S25, and completing auxiliary lifting of the wearer;

S28, repeating the step S23 and the step S27 to perform repeated conveying actions;

and S29, after the carrying action is finished, the wearer turns off the power supply and takes off the carrying exoskeleton.