CN213828960U - Rope-pulling type upper limb power-assisted robot - Google Patents

Abstract

The utility model discloses a rope draws formula upper limbs helping hand robot, relate to human supplementary robot field, including width adjustment mechanism, a control mechanism, fixed braces and two assist drive device, assist drive device includes drive assembly, receive and release subassembly and overhanging subassembly, overhanging subassembly includes the outrigger and connects the rope, width adjustment mechanism includes adjusting part and two connecting plates, each connecting plate rear end is fixed with a drive assembly and one and receives and releases the subassembly, each connecting plate front end is fixed with an outrigger, connect rope one end and install on receiving and releasing the subassembly, connect the rope other end and pass the outrigger and stretch out by the outrigger end, drive assembly is used for the drive to receive and release the subassembly and realize receiving and releasing of connecting the rope, control mechanism one end is installed on adjusting part, the control mechanism other end is installed on fixed braces. The device makes the upper limbs only play the additional action, has improved work efficiency, adopts two power supplies to realize the helping hand function simultaneously, simple structure, and the control degree of difficulty is low, changes and uses.

Description

Rope-pulling type upper limb power-assisted robot

Technical Field

The utility model relates to a human auxiliary robot field especially relates to a rope draws formula upper limbs helping hand robot.

Background

With the rapid development of the transportation industry in recent years, the transportation amount of goods is continuously increased. The cargo is continuously loaded and unloaded in the process of transferring and is usually operated in a manual mode. During the long-time loading, unloading and carrying or upper limb loading process, the physical ability of the human body is reduced, and the working efficiency is reduced; meanwhile, the human body is seriously injured and potential safety hazards exist. The upper limb booster person can provide assistance for the human body, assist the work of the upper limbs of the human body, reduce the burden of the upper limbs of the human body, improve the working efficiency and further avoid safety accidents.

In the upper limb exoskeleton robot provided by the patent with the publication number of CN 109129443 a, a forearm, a big arm and an elbow joint are sequentially connected in series, and a driving motor is installed at the joint connection position of each position, so that the overall quality of the robot is increased, and meanwhile, the coupling and following performance of a human body and the robot are reduced by the connection mode of the series connection, so that the control difficulty is increased. The upper limb exoskeleton power-assisted robot provided by the patent with the publication number of CN108839000A adopts a parallel structure, so that the load capacity is improved to a certain extent, but the movement range of the upper limb of a human body is limited, and the flexibility of the upper limb movement is reduced.

Therefore, the existing upper limb exoskeleton robot has the advantages that the motion mode of the upper limb exoskeleton robot is that the motion of the upper limb of a human body is active mostly, the exoskeleton robot is matched with the motion of the upper limb exoskeleton robot, the control is complex, the following performance is poor, the uncoordinated motion of the limbs of the human body is easy to cause, and the jerking feeling is easy to generate. Meanwhile, most of the existing upper limb exoskeleton power-assisted robots adopt a multi-degree-of-freedom structure to match with the movement of human joints, so that the driving quantity is increased, the control difficulty and cost are improved, and the application and popularization are not easy.

SUMMERY OF THE UTILITY MODEL

For solving above technical problem, the utility model provides a rope draws formula upper limbs helping hand robot, the upper limbs only play the additional action, have improved work efficiency, adopt two power supplies to realize the helping hand function simultaneously, simple structure, the control degree of difficulty is low, changes the application.

In order to achieve the above object, the utility model provides a following scheme:

the utility model provides a rope-pulling type upper limb power-assisted robot, which comprises a width adjusting mechanism, a control mechanism, a fixed strap and two power-assisted mechanisms, wherein each power-assisted mechanism comprises a driving assembly, a retracting assembly and an overhanging assembly, each overhanging assembly comprises an overhanging arm and a connecting rope, each width adjusting mechanism comprises an adjusting assembly and two connecting plates, the two connecting plates are respectively arranged at two sides of the upper end of the rear part of the fixed strap, each adjusting assembly is arranged between the two connecting plates, and each adjusting assembly is used for adjusting the distance between the two connecting plates; the rear end of each connecting plate is fixedly provided with one driving assembly and one retracting assembly, the front end of each connecting plate is fixedly provided with one extending arm, one end of each connecting rope is arranged on the retracting assembly, the other end of each connecting rope penetrates through the extending arm and extends out from the tail end of the extending arm, the driving assembly is used for driving the retracting assembly to retract the connecting rope, the driving assembly is connected with the control mechanism, one end of the control mechanism is arranged on the adjusting assembly, and the other end of the control mechanism is arranged on the fixed back belt.

Preferably, the fixing device further comprises a plurality of fixing pieces, each connecting plate is provided with a connecting groove extending along the horizontal direction, and the fixing pieces penetrate through the connecting grooves to fix the connecting plates on the fixing straps.

Preferably, the adjusting assembly comprises a bidirectional screw, a first screw nut, a second screw nut, a handle, an installing plate, two chute plates and two adjusting plates, one chute plate is fixed on each connecting plate, a vertical chute is arranged on each chute plate, the first screw nut and the second screw nut are respectively fixed at the upper ends of the two chute plates, the bidirectional screw is installed in the first screw nut and the second screw nut, and the handle is fixedly sleeved in the middle of the bidirectional screw; the two adjusting plates are hinged in a crossed mode, the upper end of each adjusting plate is slidably mounted in the vertical sliding groove of one sliding groove plate, the lower end of each adjusting plate is hinged to the bottom of the other sliding groove plate, the upper end of the mounting plate is mounted at the hinged position of the two adjusting plates, and the control mechanism is mounted at the lower end of the mounting plate.

Preferably, overhanging subassembly still includes connecting block, heavy object connecting piece, fender shell and three pulley, the overhanging arm includes upper arm and underarm, the connecting block is fixed in on the connecting plate, upper arm one end is fixed in on the connecting block, the upper arm other end with underarm connection, install on the underarm the fender shell, be provided with one on the connecting block the pulley, the upper and lower both ends of underarm are provided with one respectively the pulley, the pulley is used for right connect the rope and support and lead, it installs to connect the rope lower extreme the heavy object connecting piece.

Preferably, the upper arm comprises two upper arm plates which are symmetrically arranged, each lower arm plate comprises two lower arm plates which are symmetrically arranged, the two pulleys are respectively installed at the upper end and the lower end between the two lower arm plates, the two upper arm plates are fixed on the connecting block, the upper end of each lower arm plate is hinged to the inner side of one upper arm plate, a positioning hole is formed in the upper end of each lower arm plate, a plurality of angle adjusting holes are formed in the lower end of each upper arm plate, and one locking bolt penetrates through one angle adjusting hole and one positioning hole and is fixed by one locking nut.

Preferably, the winding and unwinding assembly comprises a winding drum, a winding drum support and a pressing plate, the winding drum support is fixed at the upper end of the connecting plate, the winding drum is rotatably installed in the winding drum support, the connecting rope is wound on the winding drum, and the end part of the connecting rope is fixed on the winding drum through the pressing plate.

Preferably, the driving assembly comprises a motor, a U-shaped support, a coupler, a first bevel gear and a second bevel gear, the U-shaped support is fixed at the upper end of the connecting plate, the motor is mounted on the U-shaped support, the motor is connected with the control mechanism, the direction of an output shaft of the motor is perpendicular to the connecting plate, the first bevel gear is fixed on the output shaft of the motor, the second bevel gear is meshed with the first bevel gear, and an output end of the second bevel gear penetrates through the U-shaped support to extend to the outside and is connected with an input end of the winding drum through the coupler.

Preferably, the control mechanism includes a control board, a battery, an IMU sensor, a first support plate, a second support plate, a connection belt, and two pressure sensors, the first support plate is hinged to an upper portion of one side of the battery close to the fixed strap, the first support plate and the second support plate are both fixed to the mounting plate, the first support plate is located above the second support plate, the connection belt is hinged to a lower end of the second support plate, a lower end of the connection belt is connected to the fixed strap, the control board is fixed to an upper portion of the battery, the pressure sensors, the IMU sensor, and the motor are all connected to the control board, a lower end of each connection rope is connected to one of the pressure sensors, and a lower end of each pressure sensor is connected to one of the weight connectors.

Preferably, a recessed portion is formed in the lower portion of one side, close to the fixed strap, of the battery, two vertical plates are arranged in the recessed portion, a connecting shaft is installed between the two vertical plates, and the lower end of the connecting belt penetrates through a gap between the connecting shaft and the battery and is connected with the fixed strap.

The utility model discloses for prior art gain following technological effect:

the utility model provides a rope draws formula upper limbs helping hand robot, including width adjustment mechanism, control mechanism, fixed braces and two assist drive device, assist drive device includes drive assembly, receive and releases subassembly and overhanging subassembly, and overhanging subassembly includes the overhanging arm and connects the rope, and the overhanging arm is used for providing the support for connecting the rope, and width adjustment mechanism includes adjusting part and two connecting plates, and adjusting part is used for adjusting the distance between two connecting plates, and then adjusts the distance between two overhanging arms to satisfy different heights, the crowd's of shoulder width demand. The robot is fixed on the back of a human body through the fixed straps, the control mechanism controls the driving assembly to output power to drive the retraction assembly to move to retract and release the connecting rope, and then the heavy object is lifted; meanwhile, the flexible pulling-up mode is adopted, so that the coupling performance and the control difficulty of the power-assisted robot and the human body are reduced, and the working efficiency is further improved. The utility model discloses well adopt two drive assembly, compare driven ectoskeleton robot and reduced the quantity of power source, not only alleviateed self weight, whole volume reduces simultaneously, more does benefit to the installation. The utility model discloses with robot integral mounting on fixed braces, because the whole quality of robot is light, small, guaranteed the travelling comfort, dress and carry more easily simultaneously.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic perspective view of a rope-pulling type upper limb assistance robot provided by the present invention;

fig. 2 is a side view of the rope-pulling type upper limb power-assisted robot provided by the present invention;

fig. 3 is a rear view of the rope-pulling type upper limb power-assisted robot provided by the present invention;

fig. 4 is a schematic structural view of a width adjusting mechanism and a fixed strap in the rope-pulling type upper limb power-assisted robot provided by the present invention;

fig. 5 is a schematic structural view of an overhanging assembly in the rope-pulling type upper limb power-assisted robot provided by the present invention;

fig. 6 is a schematic structural view of a driving assembly and a retracting assembly in the rope-pulling type upper limb power-assisted robot provided by the present invention;

fig. 7 is a schematic structural view of a control mechanism in the rope-pulling type upper limb power-assisted robot provided by the present invention.

Description of reference numerals: 100. rope-pulling type upper limb power-assisted robot; 1. a width adjustment mechanism; 101. a connecting plate; 102. connecting grooves; 103. a chute plate; 104. a bidirectional lead screw; 105. a first lead screw nut; 106. a second lead screw nut; 107. a handle; 108. a vertical chute; 109. an adjusting plate; 1010. mounting a plate; 2. a drive assembly; 201. a motor; 202. a U-shaped bracket; 203. a first bevel gear; 204. a second bevel gear; 205. a coupling; 3. a retraction assembly; 301. a reel; 302. a spool support; 303. pressing a plate; 4. a control mechanism; 401. a battery; 402. a control panel; 403. a first support plate; 404. a second support plate; 405. a connecting belt; 406. a vertical plate; 407. a connecting shaft; 408. a pressure sensor; 5. an overhang assembly; 501. connecting blocks; 502. an upper arm; 503. a lower arm; 504. connecting ropes; 505. a weight connecting member; 506. a pulley; 507. a blocking shell; 508. a shield; 509. an angle adjusting hole; 5010. locking the bolt; 6. and (6) fixing the braces.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

The utility model aims at providing a rope draws formula upper limbs helping hand robot, the upper limbs only play the additional action, have improved work efficiency, adopt two power supplies to realize the helping hand function simultaneously, simple structure, the control degree of difficulty is low, changes the application.

In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description.

As shown in fig. 1-3, this embodiment provides a rope-pulling type upper limb power-assisted robot 100, including width adjustment mechanism 1, control mechanism 4, fixed braces 6 and two power-assisted mechanisms, power-assisted mechanism includes drive assembly 2, receive and release subassembly 3 and overhanging subassembly 5, overhanging subassembly 5 includes overhanging arm and connection rope 504, width adjustment mechanism 1 includes adjusting part and two connecting plates 101, two connecting plates 101 are installed respectively in the both sides of fixed braces 6 rear portion upper end, adjusting part installs between two connecting plates 101, adjusting part is used for adjusting the distance between two connecting plates 101, and then adjust the distance between two overhanging arms, in order to satisfy the demand of the crowd of different heights, shoulder width. Each connecting plate 101 rear end is fixed with a drive assembly 2 and one and receive and releases subassembly 3, each connecting plate 101 front end is fixed with an overhanging arm, connect rope 504 one end and install on receiving and releasing subassembly 3, connect the rope 504 other end and pass overhanging arm and stretch out by overhanging arm end, overhanging arm is used for providing the support for connecting rope 504, drive assembly 2 is used for the drive to receive and release subassembly 3 and realizes receiving and releasing of connecting rope 504, drive assembly 2 is connected with control mechanism 4, 4 one end of control mechanism is installed on adjusting part, the 4 other end of control mechanism is installed on fixed braces 6.

When the robot is used, the robot is fixed on the back of a human body through the fixing straps 6, the control mechanism 4 controls the driving assembly 2 to output power, the winding and unwinding assembly 3 is driven to move, the connecting rope 504 is wound and unwound, and then a heavy object is lifted, so that the rope-pulling type upper limb power-assisted robot 100 in the embodiment adopts the connecting rope 504 to lift the heavy object, and the upper limbs of the human body assist in carrying the heavy object, so that the mode that the upper limbs of the human body in the traditional upper limb exoskeleton robot are taken as a main body and the exoskeleton robot moves along with the upper limbs is changed, the hands of the human body are released, the load of the upper limbs is reduced, and the working efficiency is improved; meanwhile, the flexible pulling-up mode is adopted, so that the coupling performance and the control difficulty of the power-assisted robot and the human body are reduced, and the working efficiency is further improved. In the embodiment, two driving assemblies 2 are adopted, so that the number of power sources is reduced compared with that of a transmission exoskeleton robot, the self weight is reduced, the whole size is reduced, and the installation is facilitated. In this embodiment, the robot is integrally installed on the fixed straps 6, and the comfort is ensured due to the light overall mass and small volume of the robot, and meanwhile, the robot is easier to wear and carry and is easier to apply to practical applications.

As shown in fig. 4, in this embodiment, the fixing device further includes a plurality of fixing elements, each connecting plate 101 is provided with a connecting groove 102 extending in the horizontal direction, the fixing element passes through the connecting groove 102 to fix the connecting plate 101 on the fixing strap 6, the fixing element includes a fixing bolt and a fixing nut, the fixing bolt passes through the connecting groove 102 and the fixing strap 6 and is fastened by the fixing nut, and thus the connecting plate 101 and the fixing strap 6 are fixed, when the distance between the connecting plates 101 needs to be adjusted, the fixing nut is unscrewed, at this time, the connecting plate 101 can translate left and right relative to the fixing bolt, the distance between the connecting plates 101 can be adjusted by the adjusting assembly, and after the adjustment is completed, the fixing nut is screwed again to fix the connecting plate 101 on the fixing strap 6. In this embodiment, each connecting plate 101 is provided with two connecting slots 102, so that the connecting plate 101 and the fixing strap 6 can be connected more firmly through two connections.

The adjusting assembly comprises a bidirectional screw 104, a first screw nut 105, a second screw nut 106, a handle 107, an installing plate 1010, two chute plates 103 and two adjusting plates 109, wherein one chute plate 103 is fixed on each connecting plate 101, a vertical chute 108 is arranged on each chute plate 103, the first screw nut 105 and the second screw nut 106 are respectively fixed at the upper ends of the two chute plates 103, reverse threads are arranged at the two ends of the bidirectional screw 104, the bidirectional screw 104 is installed in the first screw nut 105 and the second screw nut 106, the handle 107 is fixedly sleeved in the middle of the bidirectional screw 104, and the bidirectional screw 104 can realize self-locking while adjusting the width; the two adjusting plates 109 are hinged in a crossed manner, the upper end of each adjusting plate 109 is slidably mounted in the vertical sliding groove 108 of one sliding groove plate 103, the lower end of each adjusting plate 109 is hinged to the bottom of the other sliding groove plate 103, and the two adjusting plates 109 play a supporting role at the same time. The upper end of the mounting plate 1010 is mounted at the hinged position of the two adjusting plates 109, the control mechanism 4 is mounted at the lower end of the mounting plate 1010, and specifically, the upper end of the mounting plate 1010 and the middle parts of the two adjusting plates 109 are hinged through a hinge, so that the mounting plate 1010 is always in the center of the device.

When it is desired to adjust the distance between the connection plates 101, the fixing nuts are loosened so that the connection plates 101 can be translated relative to the fixed harness 6, and the handle 107 is turned so that the first and second lead screw nuts 105, 106 move towards and away from each other. Specifically, when the first lead screw nut 105 and the second lead screw nut 106 move toward each other, the upper ends of the adjusting plates 109 move upward relative to the vertical sliding grooves 108, and the distance between the upper ends and the distance between the lower ends of the two adjusting plates 109 are both reduced, thereby achieving a reduction in the distance between the two connecting plates 101; when first lead screw nut 105 and second lead screw nut 106 move apart from each other, the upper end of regulating plate 109 moves down for vertical spout 108, and the distance between two regulating plates 109 upper ends and the distance between the lower extreme are all grow, have realized the distance grow between two connecting plates 101 from this, and then have realized the regulation of the distance between two outriggers to satisfy the crowd's of different heights, shoulder width's demand, improved the application scope of device.

As shown in fig. 5, the overhanging assembly 5 further includes a connecting block 501, a weight connecting member 505, a blocking housing 507 and three pulleys 506, the overhanging arm includes an upper arm 502 and a lower arm 503, the connecting block 501 is fixed on the connecting plate 101, one end of the upper arm 502 is fixed on the connecting block 501, the other end of the upper arm 502 is connected with the lower arm 503, the blocking housing 507 is installed on the lower arm 503, one pulley 506 is installed on the connecting block 501, a blocking cover 508 is installed on the connecting block 501, the blocking cover 508 is located above the pulley 506, two pulleys 506 are respectively installed at the upper end and the lower end of the lower arm 503, the pulleys 506 are used for supporting and guiding the connecting rope 504, and the weight connecting member 505 is installed at the lower end of the connecting rope 504. The movement of the connecting rope 504 is prevented from being disengaged from the pulley 506 by the provision of the retaining case 507 and the retaining cap 508.

In this embodiment, the fixing straps 6 are shoulder straps, and the connecting rope 504 is a steel wire rope. The weight connection 505 is a hook, and different hand grips, such as a suction cup, a hand-held clamp, etc., can be designed according to different weight forms in different working conditions.

In this embodiment, the locking device further comprises two locking bolts 5010 and two locking nuts, the upper arm 502 comprises two upper arm plates which are symmetrically arranged, the lower arm 503 comprises two lower arm plates which are symmetrically arranged, a pulley 506 is respectively installed at the upper end and the lower end between the two lower arm plates, the two upper arm plates are both fixed on the connecting block 501, the upper end of each lower arm plate is hinged to the inner side of one upper arm plate, a positioning hole is formed in the upper end of each lower arm plate, a plurality of angle adjusting holes 509 are formed in the lower end of each upper arm plate, and one locking bolt 5010 penetrates through one angle adjusting hole 509 and one positioning hole and is fixed by one locking nut. Specifically, the lower arm plate and the upper arm plate are hinged by means of a hinge shaft, and the distances between the respective angle adjusting holes 509 and the hinge shaft are the same. The relative angles of the upper arm 502 and the lower arm 503 can be adjusted by mounting the locking bolt 5010 in different angle adjusting holes 509, and thus the adjustment of different lengths of the extending arms can be realized.

Particularly, all be equipped with a plurality of through-holes on last arm board and the lower arm board, guarantee holistic lightweight under the circumstances of guaranteeing the atress.

As shown in fig. 6, the winding and unwinding assembly 3 includes a winding drum 301, a winding drum support 302 and a pressing plate 303, the winding drum support 302 is fixed to the upper end of the connecting plate 101, the winding drum 301 is rotatably installed in the winding drum support 302, the connecting rope 504 is wound on the winding drum 301, and the end of the connecting rope 504 is fixed to the winding drum 301 through the pressing plate 303. The driving assembly 2 comprises a motor 201, a U-shaped support 202, a coupler 205, a first bevel gear 203 and a second bevel gear 204, the U-shaped support 202 is fixed at the upper end of the connecting plate 101, the motor 201 is installed on the U-shaped support 202, the motor 201 is connected with the control mechanism 4, the direction of an output shaft of the motor 201 is perpendicular to the connecting plate 101, the first bevel gear 203 is fixed on the output shaft of the motor 201, the second bevel gear 204 is meshed with the first bevel gear 203, and an output end of the second bevel gear 204 penetrates through the U-shaped support 202 to extend to the outside and is connected with an input end of the winding drum 301 through the coupler 205. The control mechanism 4 controls the motor 201 to work, the motor 201 transmits power to the winding drum 301 through the first bevel gear 203, the second bevel gear 204 and the coupler 205, and the winding and unwinding of the connecting rope 504 are driven through the movement of the winding drum 301, so that the lifting of the heavy object is realized. In the embodiment, the lifting of the heavy object is realized by only using two motors 201, so that the light weight and the simple structure are realized. Specifically, the motor 201 in the present embodiment is a dc servo motor.

As shown in fig. 7, the control mechanism 4 includes a control board 402, a battery 401, an IMU sensor, a first support plate 403, a second support plate 404, a connection belt 405, and two pressure sensors 408, the upper portion of the battery 401 near one side of the fixed shoulder belt 6 is hinged with the first support plate 403, the first support plate 403 and the second support plate 404 are both fixed on the mounting plate 1010, the first support plate 403 is located above the second support plate 404, the lower end of the second support plate 404 is hinged with the connection belt 405, the lower end of the connection belt 405 is connected with the fixed shoulder belt 6, the control board 402 is fixed on the upper portion of the battery 401, the pressure sensors 408, the IMU sensor, and the motor 201 are all connected with the control board 402, the lower ends of the connection ropes 504 are connected with one pressure sensor 408, and the lower ends of the pressure sensors 408 are connected with one weight connector 505. The battery 401 provides a power source for the whole device, the human body posture and the heavy object state are collected through the IMU sensor and the pressure sensor 408, signal input is completed, and the control panel 402 performs signal processing and motor 201 control. Specifically, the battery 401 in the present embodiment is a lithium battery.

Specifically, a recessed portion is formed in the lower portion of one side, close to the fixed shoulder strap 6, of the battery 401, two vertical plates 406 are arranged in the recessed portion, a connecting shaft 407 is mounted between the two vertical plates 406, and the lower end of the connecting belt 405 penetrates through a gap between the connecting shaft 407 and the battery 401 and is connected with the fixed shoulder strap 6, so that the battery 401 is attached to a human body, and swinging caused by movement of the human body is avoided.

The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for the general technical personnel in the field, according to the idea of the present invention, there are changes in the concrete implementation and the application scope. In summary, the content of the present specification should not be construed as a limitation of the present invention.

Claims (9)

1. The rope-pulling type upper limb power-assisted robot is characterized by comprising a width adjusting mechanism, a control mechanism, a fixed strap and two power-assisted mechanisms, wherein each power-assisted mechanism comprises a driving assembly, a retracting assembly and an extending assembly, each extending assembly comprises an extending arm and a connecting rope, each width adjusting mechanism comprises an adjusting assembly and two connecting plates, the two connecting plates are respectively installed on two sides of the upper end of the rear part of the fixed strap, each adjusting assembly is installed between the two connecting plates, and each adjusting assembly is used for adjusting the distance between the two connecting plates; the rear end of each connecting plate is fixedly provided with one driving assembly and one retracting assembly, the front end of each connecting plate is fixedly provided with one extending arm, one end of each connecting rope is arranged on the retracting assembly, the other end of each connecting rope penetrates through the extending arm and extends out from the tail end of the extending arm, the driving assembly is used for driving the retracting assembly to retract the connecting rope, the driving assembly is connected with the control mechanism, one end of the control mechanism is arranged on the adjusting assembly, and the other end of the control mechanism is arranged on the fixed back belt.

2. The rope-pulling type upper limb assisting robot as claimed in claim 1, further comprising a plurality of fixing pieces, wherein each connecting plate is provided with a connecting groove extending in a horizontal direction, and the fixing pieces penetrate through the connecting grooves to fix the connecting plates to the fixing straps.

3. The rope-pulling type upper limb power-assisted robot according to claim 1, wherein the adjusting assembly comprises a bidirectional screw, a first screw nut, a second screw nut, a handle, an installing plate, two chute plates and two adjusting plates, one chute plate is fixed on each connecting plate, a vertical chute is arranged on each chute plate, the first screw nut and the second screw nut are respectively fixed at the upper ends of the two chute plates, the bidirectional screw is installed in the first screw nut and the second screw nut, and the handle is fixedly sleeved in the middle of the bidirectional screw; the two adjusting plates are hinged in a crossed mode, the upper end of each adjusting plate is slidably mounted in the vertical sliding groove of one sliding groove plate, the lower end of each adjusting plate is hinged to the bottom of the other sliding groove plate, the upper end of the mounting plate is mounted at the hinged position of the two adjusting plates, and the control mechanism is mounted at the lower end of the mounting plate.

4. The rope-pulling type upper limb power-assisted robot according to claim 3, wherein the overhanging assembly further comprises a connecting block, a weight connecting piece, a blocking shell and three pulleys, the overhanging arm comprises an upper arm and a lower arm, the connecting block is fixed on the connecting block, one end of the upper arm is fixed on the connecting block, the other end of the upper arm is connected with the lower arm, the blocking shell is installed on the lower arm, one pulley is arranged on the connecting block, one pulley is respectively arranged at the upper end and the lower end of the lower arm, the pulleys are used for supporting and guiding the connecting rope, and the weight connecting piece is installed at the lower end of the connecting rope.

5. The rope-pulling type upper limb power-assisted robot as claimed in claim 4, further comprising two locking bolts and two locking nuts, wherein the upper arm comprises two upper arm plates which are symmetrically arranged, the lower arm comprises two lower arm plates which are symmetrically arranged, one pulley is respectively mounted at each of the upper end and the lower end between the two lower arm plates, the two upper arm plates are both fixed on the connecting block, the upper end of each lower arm plate is hinged to the inner side of one upper arm plate, the upper end of each lower arm plate is provided with one positioning hole, the lower end of each upper arm plate is provided with a plurality of angle adjusting holes, and one locking bolt passes through one angle adjusting hole and one positioning hole and is fixed by one locking nut.

6. The rope-pulling type upper limb power-assisted robot as claimed in claim 4, wherein the winding and unwinding assembly comprises a winding drum, a winding drum support and a pressing plate, the winding drum support is fixed at the upper end of the connecting plate, the winding drum is rotatably mounted in the winding drum support, the connecting rope is wound on the winding drum, and the end part of the connecting rope is fixed on the winding drum through the pressing plate.

7. The rope-pulling upper limb assisting robot according to claim 6, wherein the driving assembly comprises a motor, a U-shaped bracket, a coupler, a first bevel gear and a second bevel gear, the U-shaped bracket is fixed at the upper end of the connecting plate, the motor is mounted on the U-shaped bracket, the motor is connected with the control mechanism, the direction of an output shaft of the motor is perpendicular to the connecting plate, the first bevel gear is fixed on the output shaft of the motor, the second bevel gear is meshed with the first bevel gear, and an output end of the second bevel gear penetrates through the U-shaped bracket to extend to the outside and is connected with an input end of the winding drum through the coupler.

8. The rope-pull type upper limb power-assisted robot as claimed in claim 7, wherein the control mechanism comprises a control board, a battery, an IMU sensor, a first support plate, a second support plate, a connecting belt and two pressure sensors, the upper part of one side of the battery close to the fixed strap is hinged with the first support plate, the first support plate and the second support plate are both fixed on the mounting plate, the first support plate is positioned above the second support plate, the lower end of the second support plate is hinged with the connecting belt, the lower end of the connecting belt is connected with the fixed braces, the control panel is fixed on the upper part of the battery, the battery, the pressure sensors, the IMU sensor and the motor are all connected with the control panel, the lower end of each connecting rope is connected with one pressure sensor, and the lower end of each pressure sensor is connected with one weight connecting piece.

9. The rope-pulling type upper limb power-assisted robot as claimed in claim 8, wherein a recess is formed in a lower portion of one side of the battery close to the fixed shoulder strap, two vertical plates are arranged in the recess, a connecting shaft is installed between the two vertical plates, and a lower end of the connecting belt penetrates through a gap between the connecting shaft and the battery and is connected with the fixed shoulder strap.

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