CN117901071B - An upper limb exoskeleton robot with active and passive collaborative assistance - Google Patents

Abstract

The present invention belongs to the technical field of exoskeleton robots, and specifically is an upper limb exoskeleton robot with active and passive collaborative assistance. In the upper limb structure, a parallelogram mechanism is used to actively match the shoulder rotation point, and the structural characteristics of the parallelogram mechanism itself are combined to achieve a lightweight design, effectively reducing the interference of the exoskeleton on the human body and the load that the human shoulder needs to bear; the upper arm part adopts an active assistance method of motor-driven flexible cable transmission to help operators achieve on-demand active assistance according to the assistance process, reduce the active force of the human shoulder, and delay fatigue. In the waist and leg structure, a waist four-bar linkage mechanism is used for passive assistance to avoid excessive strain on the waist. The drive motor is set to correspond to the position of the human waist. On the one hand, it ensures that the drive motor has the smallest displacement with the torso when the human body performs a carrying action; on the other hand, the waist can better bear the load and minimize the extra consumption caused by the exoskeleton.

Description

An upper limb exoskeleton robot with active and passive collaborative assistance

Technical Field

The present invention belongs to the technical field of exoskeleton robots, and particularly proposes an upper limb exoskeleton robot with active and passive collaborative assistance.

Background Art

Automation technology has developed rapidly in the manufacturing, construction, and healthcare industries, and has replaced physical labor in some scenarios, but there are still many scenarios that require human intervention, such as air transport baggage handling and warehouse palletizing. Such work scenarios often require the handling of items that are of moderate size and heavy weight, and the handling movements include bending over and standing upright, as well as raising and lowering the upper arms. Long-term work in such scenarios can easily cause muscle fatigue and rapid decline in physical fitness, which not only affects work efficiency, but also greatly increases the risk of occupational musculoskeletal injuries for workers.

With the development of robots and human-machine collaborative technology, the exoskeleton in the existing technology can effectively assist personnel in their work, but there are still problems that the power-assisting efficiency and power-assisting range cannot adapt well to the changing handling conditions:

For example, a lifting-type upper limb assisting exoskeleton disclosed in publication number CN115107004A mainly assists the upper limbs, with direct motor assistance at the shoulders and pneumatic assistance between the upper and lower arms. It can compensate for the change in the position of the rotation center of the human shoulder joint, reduce the labor intensity of workers, improve the workers' work comfort, improve work results, and improve the assisting effect of the exoskeleton. However, since the motor and other assisting structures of this exoskeleton are mainly concentrated in the shoulders, it will generate additional burden during the assisting process, which is not conducive to human operation and affects the assisting effect.

For example, an active pull-belt upper limb assist exoskeleton disclosed in publication number CN113894771A has a core component of a drive motor, a drive belt, and cantilevers on both sides, which provides assistance to the upper limbs of the human body through the drive motor on the back and the cantilevers on both sides in cooperation with the drive belt. However, due to the transmission structure, the exoskeleton can only assist the upper limbs of the human body in a fixed direction and cannot meet the assistance requirements under different arm spans, so its application range is relatively small.

Summary of the invention

In view of this, the present invention provides an upper limb exoskeleton robot with active and passive collaborative force. By analyzing the characteristics of the coordinated force of human muscles under different working conditions, active and passive power assistance are adopted for the shoulders and waist respectively in the structure, and the functional components are reasonably allocated in space, so that the operator's movement is smoother and more comfortable, and active and passive collaborative power assistance under different handling conditions is achieved.

The specific technical solutions of the present invention are as follows:

An upper limb exoskeleton robot with active and passive collaborative assistance, comprising: an upper limb structure, a back connection plate, a waist four-bar linkage mechanism, and a flexible cable assistance structure;

The upper limb structure is symmetrically arranged on both sides of the upper end of the back connecting plate; the upper limb mechanism includes a shoulder parallelogram mechanism and a large arm assisting device; the shoulder parallelogram mechanism includes a first parallelogram connecting rod group and a second parallelogram connecting rod group, one end of the first parallelogram connecting rod group is provided with a shoulder side fixed end block, and one end of the second parallelogram connecting rod group is provided with an arm side fixed end; the other end of the first parallelogram connecting rod group is rotationally connected with the other end of the second parallelogram connecting rod group, and the intersection of the plane of the shoulder side fixed end block and the plane of the arm side fixed end block after the connection is the rotation axis of the parallelogram mechanism; the shoulder side fixed end block is connected to the back connecting plate through a position-adjustable snap-on connector; the arm side fixed end is connected to the large arm assisting device; the large arm assisting device is provided with a twisted wire driving wheel and a large arm binding device, which is bound to the human body's large arm through the large arm binding device;

The waist four-bar linkage is arranged at the lower end of the back connecting plate, and the waist four-bar linkage includes a waist extension support rod, a waist swing rod, a tension spring, a leg adjustment support rod, a position adjustment device, and a leg binding; one end of the waist extension support rod is connected to the lower end of the back connecting plate through a position-adjustable snap-on connector, and the other end is connected to the leg adjustment support rod through the waist swing rod, and the waist extension support rod and the waist swing rod, as well as the waist swing rod and the leg adjustment support rod are all rotationally connected; the tension spring is connected to the waist extension support rod and the waist swing rod through a bolt with a hole at the end, and is used to provide a passive assist torque for the waist when bending over; the position adjustment device, the position adjustment device connects the leg adjustment support rod and the leg binding position, and the position adjustment device is used to adjust the size between the waist and legs of the exoskeleton, as well as the thigh size.

The back connection plate includes a support plate, a drive motor kit, a flexible cable limit block, and a flexible cable motor end guide device are arranged on the support plate; the drive motor kit is arranged corresponding to the waist position of the human body, and a flexible cable motor end guide device for determining the flexible cable routing position is installed on its shell; the flexible cable limit block is located near the shoulder position of the support plate, and is used to limit the flexible cable;

The flexible cable assist structure includes an external sleeve and a flexible cable for transmitting assist torque; the external sleeve is used to limit the movement trajectory of the flexible cable and reduce the number of sudden change points of the trajectory angle to improve work efficiency; the flexible cable is arranged in the external sleeve, and its two ends are exposed outside the external sleeve, one end of which is wound around the output winch drum of the driving motor, and the other end is successively passed through the flexible cable motor end guide device, the flexible cable limit block, the threading hole reserved in the parallelogram mechanism, the flexible cable arm side limit block, and the arm side fixed end block, and then introduced into the winch drive wheel.

Furthermore, the snap-on connector includes a snap-on male head and a snap-on female head. A V-shaped spring sheet is provided inside the snap-on male head, and a protruding structure is installed on the V-shaped spring sheet. The snap-on female head is a cylindrical structure, and a plurality of symmetrical slots are provided along the extension direction of the upper edge thereof. The protruding structure is popped up by the V-shaped spring sheet to achieve quick snap-on connection.

Furthermore, the boom assist device includes a boom assist base; the boom assist base is connected to the arm side fixed end block, a bearing assembly and a transmission assembly are installed on one side of the boom assist base, and a boom binding device is installed on the other side; the bearing assembly includes a bearing seat and a bearing, the bearing seat is fixed on the boom assist base, and the bearing is fixed on the bearing seat; the transmission assembly includes a transmission shaft and a stranded wire driving wheel, one end of the transmission shaft is connected to the stranded wire driving wheel, and the other end is fixed to the bearing seat through a bearing, and the boom binding device is connected to the transmission shaft through a set screw.

Furthermore, a single hinge is used to realize rotational connection between the waist extension support rod and the waist swing rod, and between the waist swing rod and the leg adjustment support rod.

Furthermore, the position adjustment device includes a toothed buckle and a toothed mechanism arranged on the leg adjustment support rod; the toothed buckle connects the leg adjustment support rod and the leg binding position, and is provided with a buckle adjustment end, which is a spring buckle device, and the spring buckle device is engaged with the toothed mechanism on the leg adjustment support rod to lock the relative position of the toothed buckle and the leg adjustment support rod, and the size adjustment between the exoskeleton waist and legs is achieved by changing the engaged position to adjust the coordination between the toothed buckle and the waist; a toothed adjustment device is provided on the leg binding, and the toothed adjustment device is engaged and locked with the toothed buckle, and the exoskeleton thigh size adjustment is achieved by adjusting the position between the toothed adjustment device and the leg binding.

The present invention provides an upper limb exoskeleton robot with active and passive coordination. By analyzing the coordination characteristics of human muscles under different working conditions, active and passive assistance modules are designed for the shoulder and waist in the structure respectively, and then the space allocation of functional components is carried out reasonably, so that the operator's movement is smoother and more comfortable, and active and passive coordinated assistance is achieved under different handling conditions. Specifically:

In the upper limb structure, a parallelogram mechanism is used to actively match the shoulder rotation point, and the structural characteristics of the parallelogram mechanism are used to achieve a lightweight design, which effectively reduces the interference of the exoskeleton on the human body and the load that the human shoulder needs to bear. The upper arm part of the upper limb structure adopts an active power-assisting method driven by a motor line, which helps the operator to achieve active power-assisting on demand according to the power-assisting process, reduces the active force of the human shoulder, and delays fatigue.

In the waist-leg structure, the four-bar linkage mechanism of the waist is used for passive assistance to reduce the work of waist muscles caused by bending during the handling process of operators, effectively avoiding excessive strain on the waist. In addition, the drive motor is set to correspond to the position of the human waist. On the one hand, it ensures that the displacement between the drive motor and the trunk is minimal when the human body is carrying. On the other hand, the waist can better bear the load and minimize the extra consumption caused by the exoskeleton.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is an overall structural diagram of an upper limb exoskeleton robot with active and passive coordination according to an embodiment of the present invention;

Fig. 2 is a structural diagram of the shoulder parallelogram mechanism of an embodiment;

FIG3 is a structural diagram of a back connection plate of an embodiment;

FIG4 is a structural diagram of a large arm assist device according to an embodiment;

FIG5 is a structural diagram of the waist four-bar linkage mechanism of an embodiment;

Figure numerals: 1 is a shoulder parallelogram mechanism, 101 is a shoulder snap-on connector male head, 102 is a shoulder side fixed end block, 103 is a parallelogram mechanism connecting rod group, 104 is an intermediate connecting block, 105 is an intermediate connecting rod, 106 is an arm side fixed end block, 107 is a parallelogram mechanism rotation point; 2 is a back connecting plate, 201 is a T-shaped connecting plate, 202 is a shoulder snap-on connector female head, 203 is a flexible cable limit block, 204 is a drive motor kit, 205 is a flexible cable motor end guide device, 206 is a waist guard plate, 207 is a waist 1 is the upper arm connecting block, 208 is the female head of the waist snap-on connector; 3 is the upper arm power assist device, 301 is the outer cover of the stranded wire driving wheel, 302 is the stranded wire driving wheel, 303 is the transmission shaft, 304 is the bearing seat and the bearing, 305 is the side limit block of the soft rope arm, 306 is the upper arm power assist base, 307 is the upper arm binding device; 4 is the waist four-bar linkage, 401 is the male head of the waist snap-on connector, 402 is the waist extension support rod, 403 is the tension spring, 404 is the waist swing rod, 405 is the leg adjustment support rod, 406 is the toothed buckle, and 407 is the leg binding.

DETAILED DESCRIPTION

The embodiments of the present invention are described in detail below. The following embodiments are implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operation processes are given, but the protection scope of the present invention is not limited to the following implementation examples.

As shown in FIG1 , an upper limb exoskeleton with active and passive collaborative assistance provided in this embodiment includes an upper limb structure, a back connecting plate 2 and a waist four-bar linkage 4. The upper limb structure is symmetrically arranged on both sides of the upper end of the back connecting plate 2, and is connected to the back connecting plate 2 through a position-adjustable snap-on connector. The waist four-bar linkage 4 is arranged at the lower end of the back connecting plate 2, and is also connected to the back connecting plate 2 through an adjustable snap-on connector. The adjustable snap-on connector includes a snap-on male head and a snap-on female head, and a V-shaped spring sheet is arranged in the snap-on male head; the snap-on female head is a cylindrical structure, and a plurality of protrusions are arranged on the upper edge in the extending direction, and the protrusions are clamped by the V-shaped spring sheet to achieve quick clamping. Among them, the adjustable snap-on connector between the upper limb structure and the back connecting plate 2 is used to adjust the shoulder size to match different operators, and the adjustable snap-on connector between the waist four-bar linkage 4 and the back connecting plate 2 is used to adjust the hip size.

The upper limb structure is composed of a shoulder parallelogram mechanism 1 and a large arm assist device 3. As shown in FIG2 , the shoulder parallelogram mechanism includes a shoulder snap-on connector male head 101, a shoulder side fixed end block 102, a parallelogram mechanism connecting rod group 103, an intermediate connecting block 104, an intermediate connecting rod 105, and an arm side fixed end block 106.

The shoulder parallelogram mechanism 1 is a four-bar linkage mechanism, including two parallelogram linkage groups 103. For the convenience of description, the two parallelogram linkage groups 103 are respectively referred to as the first parallelogram linkage group and the second parallelogram linkage group. One end of the first parallelogram linkage group is provided with a shoulder-side fixed end block 102, and one end of the second parallelogram linkage group is provided with an arm-side fixed end 106. The other end of the first parallelogram linkage group is rotatably connected to the other end of the second parallelogram linkage group, and after the connection, the intersection point of the extended lines of the plane axes parallel to the shoulder-side fixed end block 102 and the arm-side fixed end block 106 is the parallelogram mechanism rotation point 107. When in use, the structural dimensions of this part are adjusted by the shoulder snap-on connector to achieve the matching of the parallelogram mechanism rotation point with the human shoulder rotation point. That is, the distance between the two spaces in the structure is adjusted through the shoulder snap-on connector, so that the parallelogram mechanism and the shoulder-side fixed end block 102 can maintain a relatively fixed spatial position during movement. The position of the rotation point is designed to fit the rotation point of the human shoulder, which can make the movement of the exoskeleton and the upper limbs of the human body smoother, reducing the obstruction of the rigid structure to the human shoulder joint during movement.

In this embodiment, the end surface of the shoulder side fixed end block 102 is fixedly installed with a shoulder snap-on connector male head, and the shoulder snap-on connector male head is provided with a V-shaped spring sheet. Flexible cable routing holes are reserved on the intermediate connection block 104 and the arm side fixed end block 106 for line drive conduction. In order to ensure the stability of the intermediate structure of the four-bar linkage and the certainty of the motion trajectory, in this embodiment, an intermediate connection block 104 is provided at the other end of the first parallelogram linkage group, and an intermediate connection rod 105 is provided at the other end of the second parallelogram linkage group. The first parallelogram linkage group and the intermediate connection block 104, and the second parallelogram linkage group and the intermediate connection rod 105 are connected by bolts.

As shown in FIG. 4 , the boom assist device includes a strand drive wheel cover 301 , a strand drive wheel 302 , a transmission shaft 303 , a bearing seat and a bearing 304 , a cable arm side limit block 305 , a boom assist base 306 , and a boom binding device 307 .

The boom assist base 306 is connected to the arm side fixed end block 106. A bearing assembly and a transmission assembly are installed on one side of the boom assist base 306, and a boom binding device 307 is installed on the other side. The bearing assembly includes a bearing seat and a bearing 304. The bearing seat is fixed on the boom assist base 306, and the bearing is fixed on the bearing seat. The transmission assembly includes a transmission shaft 303 and a stranded wire driving wheel 302. One end of the transmission shaft 303 is connected to the stranded wire driving wheel 302; the other end is fixed to the bearing seat through a bearing. The flexible cable arm side limit block 305 is fixed to the boom assist base 306 through the arm side fixed end block 106, and is used to guide the flexible cable into the stranded wire driving wheel 302.

In this embodiment, the stranded wire driving wheel cover 301 is fixed to the arm side fixing block 106 by bolt connection to protect the stable working environment of the stranded wire driving wheel 302 inside. The stranded wire driving wheel 302 is used to convert the force transmitted by the flexible cable into a torque moment on the transmission shaft 303. The transmission shaft 303 is connected to the bearing seat in a manner to ensure the force transmission direction of the transmission shaft.

As shown in Figure 3, the back connecting plate includes a T-shaped connecting plate 201, a shoulder quick-clamp connector female head 202, a flexible cable limit block 203, a drive motor kit 204, a flexible cable motor end guide device 205, a waist guard plate 206, a waist connecting block 207, and a waist snap connector female head 208.

The T-shaped connecting plate 201 and the waist guard plate 206 are spliced to form an integral body, the T-shaped connecting plate 201 corresponds to the shoulder position of the human body, and the waist guard plate 206 corresponds to the waist position of the human body. The shoulder quick buckle connector female head 202 is fixedly connected to the upper end of the T-shaped connecting plate 201. The flexible cable limit block 203 is arranged at the position of the T-shaped connecting plate 201 close to the shoulder, and is used to limit the flexible cable. The drive motor kit 204 is arranged on the waist guard plate 206, and a flexible cable motor end guide device 205 is installed on its shell to determine the routing position of the flexible cable. The waist buckle connector female head 208 is fixed to the lower end of the back connecting plate through the waist connecting block 207. The drive motor kit is the heaviest part of the whole exoskeleton. When implemented, placing it on the waist and back can minimize the generation of additional torque and improve the operability and power efficiency of the exoskeleton.

As shown in FIG. 5 , the waist four-bar linkage 4 includes a waist snap-on connector male head 401 , a waist extension support rod 402 , a tension spring 403 , a waist swing rod 404 , a leg adjustment support rod 405 , a toothed buckle 406 and a leg binding 407 .

One end of the waist extension support rod 402 is connected to the waist snap-on connector female head 208 at the lower end of the back connection plate through the waist snap-on connector male head 401; the other end is connected to the waist swing rod 404 by a bolt with only a thread at the end, and forms a hinge that can rotate; the tension spring 403 is connected to the waist extension support rod 402 and the waist swing rod 404 by a screw with a hole at the end, providing a passive assist torque for the waist when bending over. The waist swing rod 404 is connected to the leg adjustment support rod 405 by a bolt with only a thread at the end, and forms a rotating pair. A toothed mechanism 406 is provided on the leg adjustment support rod 405, and a buckle adjustment end is provided on the toothed buckle 406. The adjustment end contains a spring buckle device, which is engaged with the toothed mechanism on the leg adjustment support rod 405 to lock the relative position of the toothed buckle 406 and the leg adjustment support rod 405, and the coordination between the toothed buckle 406 and the waist is adjusted by changing the engaged position; the toothed buckle 406 is fixedly connected to the leg binding 407 by bolts, and the leg binding 407 has a toothed adjustment device, which can adjust the binding position to adapt to the operator's thigh.

When in use, the human torso between the waist buckle connector and the toothed buckle 406 forms a fixed rod, and together with the waist extension support rod 402, the tension spring 403, the waist swing rod 404, and the leg adjustment support rod 405, forms a four-bar linkage. As the angle between the waist extension support rod 402 and the waist swing rod 404 changes, the elastic force changes, and the human waist is passively assisted. By selecting springs with different elastic moduli, a specific assistance characteristic curve can be achieved. The toothed buckle and the leg adjustment support rod can cooperate to adjust the size of the lower half of the exoskeleton to better fit the human body. The leg binding device is bound to the human thigh to ensure the stable operation of the waist four-bar linkage.

The present embodiment uses a flexible cable assist structure including an external sleeve and a flexible cable for transmitting assist torque; the external sleeve is used to limit the movement trajectory of the flexible cable and reduce the number of sudden angle change points of the trajectory to improve work efficiency; the flexible cable is arranged in the external sleeve, and its two ends are exposed outside the external sleeve, one end of which is wound around the output winch drum of the driving motor, and the other end passes through the flexible cable motor end guide device, the flexible cable limit block, the threading hole reserved in the parallelogram mechanism, the flexible cable arm side limit block, and the arm side fixed end block in sequence, and is then introduced into the winch drive wheel.

Finally, it should be noted that, except for the fixing method clearly stated, all components in this embodiment are connected by bolts.

It is to be understood that the present invention is described by some embodiments, and it is known to those skilled in the art that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the scope of protection of the present invention.

Claims (4)

1. An active-passive cooperative-assistance upper limb exoskeleton robot, comprising: upper limbs structure, back connecting plate, waist four-bar linkage, and flexible cable helping hand structure, its characterized in that:

The upper limb structures are symmetrically arranged on two sides of the upper end of the back connecting plate; the upper limb mechanism comprises a shoulder parallelogram mechanism and a large arm booster; the shoulder parallelogram mechanism comprises a first parallelogram connecting rod group and a second parallelogram connecting rod group, wherein one end part of the first parallelogram connecting rod group is provided with a shoulder side fixed end block, and one end part of the second parallelogram connecting rod group is provided with an arm side fixed end; the other end of the first parallelogram connecting rod group is rotationally connected with the other end of the second parallelogram connecting rod group, and the intersection line connecting the plane of the rear shoulder side fixed end block and the plane of the arm side fixed end block is a parallelogram mechanism rotating shaft; the shoulder fixed end block is connected with the back connecting plate through a position-adjustable buckle type connecting piece; the arm side fixed end is connected with the large arm booster device; the big arm booster device is provided with a stranded wire driving wheel and a big arm binding device, and is bound with a human big arm through the big arm binding device;

the back connecting plate comprises a supporting plate, wherein a driving motor sleeve member and a flexible cable limiting block and a flexible cable motor end guide device are arranged on the supporting plate; the driving motor suite is arranged corresponding to the waist position of the human body, and a flexible cable motor end guide device for determining the routing position of the flexible cable is arranged on the shell of the driving motor suite; the flexible cable limiting block is positioned at the position, close to the shoulder, of the supporting plate and used for limiting the flexible cable;

The waist four-bar mechanism is arranged at the lower end of the back connecting plate and comprises a waist extension supporting rod, a waist swinging rod, a tension spring, a leg adjusting supporting rod, a position adjusting device and leg binding; one end of the waist extension supporting rod is connected with the lower end of the back connecting plate through a position-adjustable buckle type connecting piece, and the other end of the waist extension supporting rod is connected with the leg adjusting supporting rod through a waist swinging rod; the waist extension support rod is rotationally connected with the waist swinging rod, and the waist swinging rod is rotationally connected with the leg adjusting support rod; the tension spring is connected to the waist extension supporting rod and the waist swinging rod through bolts with holes at the end parts; the position adjusting device is connected with the leg adjusting support rod and the leg binding position and is used for adjusting the relative position between the waist and the leg of the exoskeleton so as to adapt to wearers with different body sizes; the position adjusting device comprises a tooth-shaped buckle and a tooth-shaped mechanism arranged on the leg adjusting support rod; the tooth-shaped buckle is connected with the leg adjusting support rod and the leg binding position, the buckle adjusting end is arranged on the tooth-shaped buckle and comprises a spring buckle device, the spring buckle device is embedded with a tooth-shaped mechanism on the leg adjusting support rod, the relative position of the tooth-shaped buckle and the leg adjusting support rod is locked, and the size adjustment between the waist and the leg of the exoskeleton is realized by changing the fit of the tooth-shaped buckle and the waist of the embedding position; the leg binding is provided with a tooth-shaped adjusting device which is embedded and locked with the tooth-shaped buckle, and the matching between the exoskeleton and the thigh is realized by adjusting the position between the tooth-shaped adjusting device and the leg binding;

The flexible cable boosting structure comprises an external pipe sleeve and a flexible cable for transmitting boosting moment; the flexible cable is arranged in the outer pipe sleeve, two ends of the flexible cable are exposed out of the outer pipe sleeve, one end of the flexible cable is wound on an output stranding disc of the driving motor, and the other end of the flexible cable sequentially penetrates through threading holes reserved in the flexible cable motor end guide device, the flexible cable limiting block and the parallelogram mechanism, and is led into a stranded wire driving wheel of the large arm power assisting device after being fixed on the arm side limiting block and the arm side limiting block.

2. An active-passive cooperative assisting upper limb exoskeleton robot as claimed in claim 1, wherein: the buckle type connecting piece comprises a buckle male head and a buckle female head, a V-shaped spring piece is arranged in the buckle male head, and a protruding structure is arranged on the V-shaped spring piece; the female head of buckle is cylindrical structure, is equipped with a plurality of symmetrical slotted holes on its upper edge extension direction, and through V-arrangement spring leaf spring protruding structure, realization quick joint.

3. An active-passive cooperative assisting upper limb exoskeleton robot as claimed in claim 1, wherein: the large arm power assisting device comprises a large arm power assisting base; the large arm booster base is connected with the arm side fixed end block, one side of the large arm booster base is provided with a bearing assembly and a transmission assembly, and the other side of the large arm booster base is provided with a large arm binding device; the bearing assembly comprises a bearing seat and a bearing, the bearing seat is fixed on the large arm booster base, and the bearing is fixed on the bearing seat; the transmission assembly comprises a transmission shaft and a stranded wire driving wheel, one end of the transmission shaft is connected with the stranded wire driving wheel, the other end of the transmission shaft is fixed on the bearing seat through a bearing, and the large arm binding device is connected with the transmission shaft through a set screw.

4. An active-passive cooperative assisting upper limb exoskeleton robot as claimed in claim 1, wherein: the waist extension supporting rod and the waist swinging rod are connected in a rotating mode through single hinges.