Upper limb rehabilitation exoskeleton with shoulder-brachial linkage mechanism

Abstract

The invention discloses an upper limb rehabilitation exoskeleton with a shoulder-arm linkage mechanism, which belongs to the field of rehabilitation devices and comprises a supporting platform, the shoulder-arm linkage mechanism, a shoulder joint mechanism, a big arm and elbow joint mechanism and a front arm and hand mechanism. The shoulder-arm linkage mechanism is connected to the supporting platform in a sliding mode, the shoulder joint mechanism is connected to the free end of the shoulder-arm linkage mechanism, the large arm and elbow joint mechanism is connected to the free end of the shoulder joint, and the front arm and hand mechanism is connected to the free end of the large arm and elbow joint mechanism. A joint actuator is linked through parts such as a gear reduction box and a worm and gear reduction box, so that the rotation center of an exoskeleton shoulder joint can rotate around a set point on a frontal plane so as to shift along with the rotation center of the shoulder joint when the shoulder joint of the human body expands and contracts, and therefore, the dislocation of the upper limb of the human body when the upper limb of the human body moves along with the exoskeleton is reduced; and the wearing comfort of the exoskeleton is improved. The exoskeleton shoulder-arm linkage mechanism is simple in structure, reliable in movement and lower in cost compared with an active shoulder following mechanism driven by a motor.

Description

Technical Field

[0001] The present invention relates to the field of rehabilitation devices, and more specifically, to an upper limb rehabilitation exoskeleton with a shoulder-humerus linkage mechanism. Background Art

[0002] The human upper limb, especially the scapulohumeral joint, is complex in biokinesiology. The scapulohumeral rhythm (SR) phenomenon refers to the linkage phenomenon between the shoulder joint and the glenohumeral joint, which is manifested in the rotational offset of the shoulder joint rotation center at a certain point in the frontal plane and the cross section when the human drives the shoulder joint to abduct, adduct, extend, and flex (corresponding to the abduction and adduction and internal and external rotation of SR, respectively), which has a significant impact on the human-machine structure compatibility of the upper limb exoskeleton.

[0003] The structural design of the upper limb exoskeleton needs to balance the complexity of the mechanism, the compatibility of the human-machine structure and the cost. Invention patent CN 202211685801.7 discloses "a shoulder exoskeleton for upper limb assisted rehabilitation". Although they adapt to the offset of the shoulder joint motion center caused by the scapulohumeral joint to a certain extent, the complex structure will also increase the cost. The "a new upper limb rehabilitation exoskeleton structure design" disclosed in invention patent CN 202211679260.7 uses a guide slider to connect the shoulder joint connecting rod, and uses a straight line to approximate the arc offset trajectory of the shoulder joint rotation center on the frontal plane, which inevitably weakens the human-machine structure compatibility of the shoulder joint. The "a double-arm upper limb exoskeleton rehabilitation training device" disclosed in invention patent CN 202310070002.7 uses a motor to control the movement of the glenohumeral joint, which has a high human-machine structure compatibility, but the motor added before the shoulder joint requires the maximum load capacity and has a high specification, which will cause a significant increase in cost. The invention patent CN202310643861.0 discloses a "force feedback exoskeleton robot arm based on active and passive joints". The passive joint follows the displacement of the shoulder joint motion center in the cross section. The structure is simple, but the scheme is difficult to apply to the displacement of the frontal plane where the scapulohumeral rhythm is more obvious. In addition, due to the lack of symmetry of the exoskeleton structure, it is difficult to achieve dual-arm training at a low cost through a single exoskeleton robot arm. Summary of the invention

[0004] In order to overcome the defects of the prior art, the present invention provides an upper limb rehabilitation exoskeleton with a shoulder-humerus linkage mechanism, which can overcome the defects in the prior art that the exoskeleton and the user's upper limb shoulder joint are inconsistent in human-machine movement, causing relative movement, which can easily cause discomfort to the user and even cause secondary injuries.

[0005] To achieve this object, the present invention adopts the following technical solutions.

[0006] The present invention provides an upper limb rehabilitation exoskeleton with a shoulder-humerus linkage mechanism, comprising a support platform, a shoulder-humerus linkage mechanism, a shoulder joint mechanism, an upper arm and elbow joint mechanism, and a forearm and hand mechanism. The shoulder-humerus linkage mechanism is slidably connected to the support platform, the shoulder joint mechanism is connected to the free end of the shoulder-humerus linkage mechanism, the upper arm and elbow joint mechanism is connected to the free end of the shoulder joint, and the forearm and hand mechanism is connected to the free end of the upper arm and elbow joint mechanism.

[0007] In a preferred technical solution of the present invention, the support platform includes a lifting platform, an electrical cabinet, a first support plate, a second support plate and a first guide rail. The lifting platform is fixed on the second support plate, the electrical cabinet is fixed on the upper end of the lifting platform, the first support plate is fixed on the top of the electrical cabinet, the first guide rail is arranged on the top of the first support plate, and the shoulder-arm linkage mechanism is slidably connected to the first guide rail through a slider.

[0008] In a preferred technical solution of the present invention, the shoulder-arm linkage mechanism includes a third support plate, a first joint actuator, a first gear shaft, a second gear shaft, a gear reduction box, a coupling, a first joint actuator, and a worm gear reduction box. The slider is fixed to the bottom of the third support plate, the gear reduction box, the worm gear reduction box, and the first joint actuator are all fixed to the third support plate, the first gear shaft and the second gear shaft are both rotatably connected in the gear reduction box, and the first gear shaft is meshed with the second gear shaft, the first gear shaft is connected to the output shaft of the worm gear reduction box through a coupling, the first joint actuator is connected to the second gear shaft, and the second gear shaft is connected to the shoulder joint mechanism.

[0009] In a preferred technical solution of the present invention, the shoulder joint mechanism includes a first connecting rod, a second connecting rod, a second joint actuator, a third connecting rod, a fourth connecting rod and a third joint actuator. The first connecting rod is fixedly connected to the first gear shaft, the first connecting rod is connected to the second connecting rod, the second joint actuator is fixed to the second connecting rod, the third connecting rod is fixed to the free end of the second joint actuator, the fourth connecting rod is connected to the third connecting rod, and the third joint actuator is fixed to the fourth connecting rod.

[0010] In a preferred technical solution of the present invention, the boom and elbow joint mechanism includes a fifth connecting rod, a sixth connecting rod, a second guide rail, a motor, a screw rod, a nut, a boom fixing assembly and a fourth joint actuator. The end of the fifth connecting rod is connected to the free end of the third joint actuator, the second guide rail is fixed to the fifth connecting rod, the sixth connecting rod is slidably connected to the second guide rail, the motor is fixed to the fifth connecting rod, the screw rod is connected to the power output end of the motor, the nut is fixed to the sixth connecting rod, the screw rod passes through the nut and cooperates with the nut thread, the boom fixing assembly is fixed to one side of the fifth connecting rod, and the fourth joint actuator is fixed to the sixth connecting rod.

[0011] In a preferred technical solution of the present invention, the forearm and hand mechanism includes a seventh connecting rod, an eighth connecting rod, a forearm fixing assembly and a grip. The seventh connecting rod is fixed to the free end of the fourth joint actuator, a slot is provided on the seventh connecting rod, the eighth connecting rod is fixed to the slot by a bolt, the grip is rotatably connected to the eighth connecting rod, and the forearm fixing assembly is fixed to one side of the seventh connecting rod.

[0012] In a preferred technical solution of the present invention, the eighth connecting rod is arranged in a U shape, and the two ends of the handle are respectively hinged to the two ends of the eighth connecting rod.

[0013] In a preferred technical solution of the present invention, the motor is fixed to the fifth connecting rod via a first bracket, and the nut is fixed to the sixth connecting rod via a second bracket.

[0014] In a preferred technical solution of the present invention, a limit handle is connected to the bottom of the third support plate, a limit block is connected to the side of the electrical cabinet, and the limit block and the limit handle are both located on the same side of the third support plate.

[0015] In a preferred technical solution of the present invention, a plurality of pulleys are arranged at the bottom of the second support plate.

[0016] The beneficial effects of the present invention are:

[0017] The present invention provides an upper limb rehabilitation exoskeleton with a shoulder-humerus linkage mechanism, which can link the joint actuator through the gear reducer and worm gear reducer and other components, so that the rotation center of the exoskeleton shoulder joint can rotate around a set point on the frontal plane to follow the rotation center offset when the human shoulder joint is abducted and adducted, thereby reducing the dislocation of the human upper limb when moving with the exoskeleton and improving the wearing comfort of the exoskeleton. The exoskeleton shoulder-humerus linkage mechanism designed by the present invention has a simple structure, reliable movement, and lower cost than the active shoulder following mechanism driven by a motor.

[0018] This rehabilitation exoskeleton is equipped with a liftable platform with wheels, which is convenient for the exoskeleton device to be moved to another position. It also supports sitting and standing training, making it convenient for medical staff and patients to adjust the use according to their needs.

[0019] The joint links of this rehabilitation exoskeleton are symmetrical. By adjusting the exoskeleton joint angles through joint actuators, and manually adjusting the angle of the worm gear reducer output shaft and the position of the sliding support platform, the left and right hands of the exoskeleton can be interchanged. In addition, the length of the exoskeleton's upper arm and forearm links can be adjusted. A single exoskeleton mechanical arm can be used for rehabilitation training of either side of the upper limb of different patients, greatly reducing the application cost of the upper limb rehabilitation exoskeleton. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1It is a structural schematic diagram of an upper limb rehabilitation exoskeleton with a shoulder-humerus linkage mechanism provided by a specific embodiment of the present invention;

[0021] Figure 2 yes Figure 1 Structural diagram of the middle support platform;

[0022] Figure 3 yes Figure 1 Structural diagram of the middle shoulder-humerus linkage mechanism;

[0023] Figure 4 yes Figure 3 Left rear view;

[0024] Figure 5 yes Figure 3 A rear view structural diagram of ;

[0025] Figure 6 yes Figure 4 Schematic diagram of the cross-sectional structure in the AA direction;

[0026] Figure 7 yes Figure 1 Schematic diagram of the middle shoulder joint mechanism structure;

[0027] Figure 8 yes Figure 1 Schematic diagram of the structure of the middle and upper arm and elbow joints and mechanisms;

[0028] Fig. 9 yes Figure 1 Schematic diagram of the mid-forearm and hand mechanism structure.

[0029] In the figure:

[0030] 1. Support platform, 2. Shoulder-humerus linkage mechanism, 3. Shoulder joint mechanism, 4. Upper arm and elbow joint mechanism, 5. Forearm and hand mechanism, 101. Slider, 102. First guide rail, 103. First support plate, 104. Limit block, 105. Electrical cabinet, 106. Lifting platform, 107. Second support plate, 108. Pulley, 201. First reduction box bracket, 202. Third support plate, 203. Second reduction box bracket, 204. First joint actuator, 205. Joint actuator bracket, 206. Gear reduction box, 207. Coupling, 208. Worm gear reduction box, 209. Limit handle, 210. First flange, 211. The second gear shaft, 212. The first gear shaft, 213. The third reduction gearbox bracket, 301. The second flange, 302. The first connecting rod, 303. The second connecting rod, 304. The second joint actuator, 305. The third connecting rod, 306. The fourth connecting rod, 307. The third joint actuator, 401. The fifth connecting rod, 402. The motor, 403. The first bracket, 404. The second guide rail, 405. The nut, 406. The second bracket, 407. The sixth connecting rod, 408. The fourth joint actuator, 409. The upper arm fixing assembly, 501. The seventh connecting rod, 502. The forearm fixing assembly, 503. The eighth connecting rod, 504. The handle. DETAILED DESCRIPTION

[0031] The technical solution of the present invention is further described below with reference to the accompanying drawings and through specific implementation methods.

[0032] like Figure 1 As shown, the embodiment provides an upper limb rehabilitation exoskeleton with a shoulder-humerus linkage mechanism, comprising a support platform 1, a shoulder-humerus linkage mechanism 2, a shoulder joint mechanism 3, an upper arm and elbow joint mechanism 4, and a forearm and hand mechanism 5. The shoulder-humerus linkage mechanism 2 is slidably connected to the support platform 1, the shoulder joint mechanism 3 is connected to the free end of the shoulder-humerus linkage mechanism 2, the upper arm and elbow joint mechanism 4 is connected to the free end of the shoulder joint, and the forearm and hand mechanism 5 is connected to the free end of the upper arm and elbow joint mechanism 4.

[0033] The support platform 1 provides support for the exoskeleton so that the exoskeleton is suitable for the height of the corresponding patient. At the same time, the support platform 1 also makes it convenient for the exoskeleton to move. Through the rotational cooperation between the scapulohumeral structure and the shoulder joint mechanism 3, the scapulohumeral rhythm phenomenon of the offset of the shoulder joint movement center during abduction or adduction of the human shoulder joint is simulated, so as to improve the comfort of the patient when wearing the exoskeleton for rehabilitation training. The shoulder joint structure is provided with two active degrees of freedom. The distal active degree of freedom is used to realize the flexion or extension of the shoulder joint, and the proximal active degree of freedom cooperates with the active degree of freedom of the scapulohumeral linkage mechanism 2 to realize the internal rotation or external rotation of the shoulder joint. Through the cooperation between the upper arm and the elbow joint mechanism 4 and the forearm and the hand mechanism 5, the movement of the forearm is simulated. The upper arm and the elbow joint mechanism 4 have two active degrees of freedom. Among them, the distal active degree of freedom is used to realize the flexion and extension of the elbow joint, and the middle active degree of freedom is used to realize the adjustment of the length of the upper arm. The forearm and the hand mechanism 5 have a passive degree of freedom, which is used to realize the abduction or adduction of the wrist joint. Through the above settings, the active or passive activities of the shoulder joint, scapulohumeral, elbow joint and wrist joint are realized, and comprehensive rehabilitation training of the upper limb is carried out, which can improve the comfort of rehabilitation training and avoid discomfort to the patient.

[0034] Further, as Figure 2 shown, the support platform 1 includes a lifting platform 106, an electrical cabinet 105, a first support plate 103, a second support plate 107 and a first guide rail 102. The lifting platform 106 is fixed on the second support plate 107, the electrical cabinet 105 is fixed on the upper end of the lifting platform 106, the first support plate 103 is fixed on the top of the electrical cabinet 105, the first guide rail 102 is arranged on the top of the first support plate 103, and the scapulohumeral linkage mechanism 2 is slidably connected to the first guide rail 102 through a slider 101.

[0035] By using a remote control matching the lifting platform 106, the height of the top of the lifting platform 106 can be adjusted so that the rehabilitation exoskeleton can be adapted to patients of different heights. Through the adjustment of the lifting platform 106, the switching between sitting posture training and standing posture training can also be realized to meet the different rehabilitation training requirements of patients. The two first guide rails 102 provided can enable the exoskeleton to slide horizontally through the slider 101, which is convenient for adjusting the horizontal position according to actual use needs. There are 4 sliders 101 configured, and 2 sliders 101 are arranged on each first guide rail 102 to drive the scapulohumeral linkage mechanism 2 and other mechanisms to move horizontally.

[0036] Further, as Figure 3-6As shown, the shoulder-humerus linkage mechanism 2 includes a third support plate 202, a first joint actuator 204, a first gear shaft 212, a second gear shaft 211, a gear reduction box 206, a coupling 207, the first joint actuator 204, and a worm gear reduction box 208. The slider 101 is fixed to the bottom of the third support plate 202, the gear reduction box 206, the worm gear reduction box 208, and the first joint actuator 204 are all fixed on the third support plate 202, the first gear shaft 212 and the second gear shaft 211 are both rotatably connected in the gear reduction box 206, and the first gear shaft 212 is meshed with the second gear shaft 211, the first gear shaft 212 is connected to the output shaft of the worm gear reduction box 208 through the coupling 207, the first joint actuator 204 is connected to the second gear shaft 211, and the second gear shaft 211 is connected to the shoulder joint mechanism 3.

[0037] The first joint actuator 204 is fixedly connected to the second gear shaft 211 through the first flange 210. The output shaft of the first joint actuator 204 drives the second gear shaft 211 to rotate and the shoulder joint mechanism 3 to rotate relative to the gear reducer 206. At the same time, the first gear shaft 212 in the gear reducer 206 rotates. The gear module of the first gear shaft 212 is 2, the number of teeth is 53, the gear module of the second gear shaft 211 is 2, the number of teeth is 27, and the wheelbase of the two gears is 80 mm. The first gear shaft 212 and the second gear shaft 211 are installed in the gear reducer 206 through bearings. The first gear shaft 212 is fixed to the output shaft of the worm gear reducer 208 with a self-locking function through the coupling 207, and the fixed angle of the output shaft of the worm gear reducer 208 can be manually adjusted. The second gear shaft 211 is connected to the shoulder joint and fixed by bolts. The second gear shaft 211 meshes with the first gear shaft 212. When the first gear shaft 212 rotates relative to the gear reduction box 206, the second gear shaft 211 performs planetary motion around the first gear shaft 212. The worm gear reduction box 208 is fixed to the third support plate 202 through the first reduction box bracket 201, the first joint actuator 204 is fixed to one side of the gear reduction box 206 through the joint actuator bracket 205, and the first gear shaft 212 is rotatably connected to the second reduction box bracket 203 and the third reduction box bracket 213.

[0038] Furthermore, if Figure 7As shown, the shoulder joint mechanism 3 includes a first connecting rod 302, a second connecting rod 303, a second joint actuator 304, a third connecting rod 305, a fourth connecting rod 306 and a third joint actuator 307. The first connecting rod 302 is fixedly connected to the first gear shaft 212, the first connecting rod 302 is connected to the second connecting rod 303, the second joint actuator 304 is fixed to the second connecting rod 303, the third connecting rod 305 is fixed to the free end of the second joint actuator 304, the fourth connecting rod 306 is connected to the third connecting rod 305, and the third joint actuator 307 is fixed to the fourth connecting rod 306. The second gear shaft 211 is connected to the first connecting rod 302 through the second flange 301 and fixed by bolts.

[0039] Furthermore, if Figure 8 As shown, the boom and elbow joint mechanism 4 includes a fifth connecting rod 401, a sixth connecting rod 407, a second guide rail 404, a motor 402, a screw rod, a nut 405, a boom fixing assembly 409 and a fourth joint actuator 408. The end of the fifth connecting rod 401 is connected to the free end of the third joint actuator 307, and the third joint actuator 307 drives the fifth connecting rod 401 to rotate. The second guide rail 404 is fixed to the fifth connecting rod 401, the sixth connecting rod 407 is slidably connected to the second guide rail 404, and the second guide rail 404 is a cross roller guide rail. The motor 402 is fixed to the fifth connecting rod 401, the screw rod is connected to the power output end of the motor 402, the nut 405 is fixed to the sixth connecting rod 407, the screw rod passes through the nut 405 and is threadedly matched with the nut 405, the boom fixing assembly 409 is fixed to one side of the fifth connecting rod 401, and the fourth joint actuator 408 is fixed to the sixth connecting rod 407. The nut 405 is driven by a screw rod to perform linear motion and positioning, thereby driving the movement of the sixth connecting rod 407. The upper arm fixing assembly 409 is a C-shaped block opened according to the shape of the patient's arm. When the patient uses the device, the upper arm of the upper limb is tied to limit the upper arm to prevent displacement.

[0040] Furthermore, if Fig. 9 As shown, the forearm and hand mechanism 5 includes a seventh link 501, an eighth link 503, a forearm fixing assembly 502 and a handle 504. The seventh link 501 is fixed to the free end of the fourth joint actuator 408, and a slot is provided on the seventh link 501. The eighth link 503 is fixed to the slot by a bolt, and the handle 504 is rotatably connected to the eighth link 503. The forearm fixing assembly 502 is fixed to one side of the seventh link 501. The position of the eighth link 503 on the second link 303 can be adjusted by a vertically provided slot to move the handle 504 to a position suitable for the patient. The forearm fixing assembly 502 is a C-shaped block provided according to the shape of the patient's forearm. When the patient uses the device, the forearm of the upper limb of the human body is tied to limit the forearm to prevent displacement.

[0041] Furthermore, the eighth connecting rod 503 is arranged in a U shape, and the two ends of the handle 504 are respectively hinged to the two ends of the eighth connecting rod 503. The eighth connecting rod 503 is arranged in a U shape, which can bring certain constraints and limits to the wrist part, and avoid displacement of the wrist during use.

[0042] Furthermore, the motor 402 is fixed to the fifth connecting rod 401 through the first bracket 403 , and the nut 405 is fixed to the sixth connecting rod 407 through the second bracket 406 .

[0043] Furthermore, a limit handle 209 is connected to the bottom of the third support plate 202, and a limit block 104 is connected to the side of the electrical cabinet 105, and the limit block 104 and the limit handle 209 are both located on the same side of the third support plate 202. The movement limit and fixation of the third support plate 202 along the guide rail direction are achieved through the cooperation of the limit handle 209 and the limit block 104.

[0044] Furthermore, a plurality of pulleys 108 are provided at the bottom of the second support plate 107. The provided pulleys 108 make the overall movement of the device more convenient and labor-saving.

[0045] The upper limb rehabilitation exoskeleton provided in this embodiment can realize the exchange of left and right hands, and assist the rehabilitation training of the left arm or the right arm as needed. This function is achieved by the symmetrical design of the exoskeleton linkage mechanism.

[0046] Specifically, the motion linkage mechanism composed of the gear reduction box 206, the first gear shaft 212, the second gear shaft 211 and the first joint actuator 204 of the shoulder-humerus linkage mechanism 2; the motion linkage mechanism composed of the second flange 301, the first link 302, the second link 303 and the second joint actuator 304 in the shoulder joint mechanism 3; the motion linkage mechanism composed of the third link 305, the fourth link 306 and the third joint actuator 307 in the shoulder joint mechanism 3; the upper arm and elbow joint mechanism 4; the exoskeleton forearm and hand mechanism 5.

[0047] The output shaft angles of the four joint actuators of the exoskeleton shoulder joint and elbow joint are adjusted through the host computer or controller, the angle of the output shaft of the worm gear reducer 208 is manually adjusted, and then the exoskeleton shoulder-humerus linkage mechanism 2 is moved horizontally to the other end, and the limit handle 209 is inserted into the limit block 104 to complete the exchange of the left and right hands.

[0048] Other technologies of this embodiment adopt existing technologies.

[0049] The present invention is described by preferred embodiments, and those skilled in the art will appreciate 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. The present invention is not limited to the specific embodiments disclosed herein, and other embodiments falling within the claims of this application are within the scope of protection of the present invention.

Claims

1. An upper limb rehabilitation exoskeleton with a shoulder-humerus linkage mechanism, characterized in that: It comprises a support platform (1), a shoulder-humerus linkage mechanism (2), a shoulder joint mechanism (3), an upper arm and elbow joint mechanism (4), and a forearm and hand mechanism (5); The shoulder-humerus linkage mechanism (2) is slidably connected to the support platform (1), the shoulder joint mechanism (3) is connected to the free end of the shoulder-humerus linkage mechanism (2), the upper arm and elbow joint mechanism (4) is connected to the free end of the shoulder joint, and the forearm and hand mechanism (5) is connected to the free end of the upper arm and elbow joint mechanism (4).

2. An upper limb rehabilitation exoskeleton with a shoulder-humerus linkage mechanism according to claim 1, characterized in that: The support platform (1) comprises a lifting platform (106), an electrical cabinet (105), a first support plate (103), a second support plate (107) and a first guide rail (102); The lifting platform (106) is fixed on the second support plate (107), the electrical cabinet (105) is fixed on the upper end of the lifting platform (106), the first support plate (103) is fixed on the top of the electrical cabinet (105), the first guide rail (102) is arranged on the top of the first support plate (103), and the shoulder-arm linkage mechanism (2) is slidably connected to the first guide rail (102) through a slider (101).

3. The upper limb rehabilitation exoskeleton with shoulder-humerus linkage mechanism according to claim 2, characterized in that: The shoulder-humerus linkage mechanism (2) comprises a third support plate (202), a first joint actuator (204), a first gear shaft (212), a second gear shaft (211), a gear reduction box (206), a coupling (207), a first joint actuator (204) and a worm gear reduction box (208); The slider (101) is fixed to the bottom of the third support plate (202); the gear reduction box (206), the worm gear reduction box (208) and the first joint actuator (204) are all fixed to the third support plate (202); the first gear shaft (212) and the second gear shaft (211) are both rotatably connected in the gear reduction box (206); the first gear shaft (212) and the second gear shaft (211) are meshed; the first gear shaft (212) is connected to the output shaft of the worm gear reduction box (208) via a coupling (207); the first joint actuator (204) is connected to the second gear shaft (211); and the second gear shaft (211) is connected to the shoulder joint mechanism (3).

4. The upper limb rehabilitation exoskeleton with shoulder-humerus linkage mechanism according to claim 3, characterized in that: The shoulder joint mechanism (3) comprises a first connecting rod (302), a second connecting rod (303), a second joint actuator (304), a third connecting rod (305), a fourth connecting rod (306) and a third joint actuator (307); The first connecting rod (302) is fixedly connected to the first gear shaft (212), the first connecting rod (302) is connected to the second connecting rod (303), the second joint actuator (304) is fixed to the second connecting rod (303), the third connecting rod (305) is fixed to the free end of the second joint actuator (304), the fourth connecting rod (306) is connected to the third connecting rod (305), and the third joint actuator (307) is fixed to the fourth connecting rod (306).

5. The upper limb rehabilitation exoskeleton with shoulder-humerus linkage mechanism according to claim 4, characterized in that: The upper arm and elbow joint mechanism (4) comprises a fifth connecting rod (401), a sixth connecting rod (407), a second guide rail (404), a motor (402), a screw rod, a nut (405), an upper arm fixing assembly (409) and a fourth joint actuator (408); The end of the fifth connecting rod (401) is connected to the free end of the third joint actuator (307), the second guide rail (404) is fixed on the fifth connecting rod (401), the sixth connecting rod (407) is slidably connected to the second guide rail (404), the motor (402) is fixed on the fifth connecting rod (401), the screw rod is connected to the power output end of the motor (402), the nut (405) is fixed on the sixth connecting rod (407), the screw rod passes through the nut (405) and is threadedly matched with the nut (405), the upper arm fixing assembly (409) is fixed on one side of the fifth connecting rod (401), and the fourth joint actuator (408) is fixed on the sixth connecting rod (407).

6. The upper limb rehabilitation exoskeleton with shoulder-humerus linkage mechanism according to claim 5, characterized in that: The forearm and hand mechanism (5) comprises a seventh connecting rod (501), an eighth connecting rod (503), a forearm fixing assembly (502) and a grip (504); The seventh connecting rod (501) is fixed to the free end of the fourth joint actuator (408), a slot is provided on the seventh connecting rod (501), the eighth connecting rod (503) is fixed to the slot by bolts, the handle (504) is rotatably connected to the eighth connecting rod (503), and the forearm fixing assembly (502) is fixed to one side of the seventh connecting rod (501).

7. An upper limb rehabilitation exoskeleton with a shoulder-humerus linkage mechanism according to claim 6, characterized in that: The eighth connecting rod (503) is arranged in a U shape, and the two ends of the handle (504) are respectively hinged to the two ends of the eighth connecting rod (503).

8. The upper limb rehabilitation exoskeleton with shoulder-humerus linkage mechanism according to claim 5, characterized in that: The motor (402) is fixed to the fifth connecting rod (401) via a first bracket (403), and the nut (405) is fixed to the sixth connecting rod (407) via a second bracket (406).

9. The upper limb rehabilitation exoskeleton with shoulder-humerus linkage mechanism according to claim 3, characterized in that: The bottom of the third support plate (202) is connected to a limit handle (209), the side of the electrical cabinet (105) is connected to a limit block (104), and the limit block (104) and the limit handle (209) are both located on the same side of the third support plate (202).

10. The upper limb rehabilitation exoskeleton with shoulder-humerus linkage mechanism according to claim 2, characterized in that: A plurality of pulleys (108) are provided at the bottom of the second support plate (107).

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