Upper limb exoskeleton power-assisted robot simulating muscle contraction movement and control method

Abstract

The invention belongs to the technical field of robots, and particularly relates to an upper limb exoskeleton power-assisted robot simulating muscle contraction movement and a control method.The upper limb exoskeleton power-assisted robot simulating muscle contraction movement comprises a muscle contraction mechanism used for simulating biceps brachii and triceps brachii; the muscle contraction mechanism comprises a rotating wheel coaxially installed with the forearm mechanism, a sliding assembly installed on the inner side of the first fixing bottom plate, a sliding frame installed on the sliding assembly and an electric push rod installed on the outer side of the first fixing bottom plate. The first brachial biceps muscle imitating driving rope is used for driving the rotating wheel to rotate forwards; and the second brachial triceps muscle imitating driving rope is used for driving the rotating wheel to rotate backwards. The electric push rod drives the sliding frame to slide on the sliding assembly, so that the first driving rope and the second driving rope alternately contract and extend, the movement law of human joints is simulated, the contraction law of human biceps brachii and triceps brachii is also simulated, and high-quality and flexible assistance to the human body is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to an upper limb exoskeleton assist robot that imitates muscle contraction movement and a control method thereof. Background Art

[0002] As a power source for assisting upper limb movement, the upper limb assist robot plays a role in assisting the normal use of the upper limbs for the elderly or those with weak upper limbs due to some diseases.

[0003] Most of the existing upper limb assist robots are structures related to the movement laws of the shoulder joint, elbow joint, and wrist joint of the human body. When the upper limb of the human body moves, not only the joints drive the movement, but also the mutual forces between the muscles are needed to support the movement. The structures of the existing technologies only consider the movement relationship between the joints and do not consider the stretching and contraction of the muscles, so they cannot adapt to the human body flexibly and cannot assist the human body better. Summary of the Invention

[0004] In view of the problem that the existing technologies cannot adapt to the muscle contraction law of the human body flexibly, the present invention provides an upper limb assist robot and a control method that not only conform to the movement law of the human joints but also the muscle stretching or contraction, and can provide assistance for the human body more flexibly and better.

[0005] The present invention provides an upper limb exoskeleton assist robot that imitates muscle contraction movement, including a wearable back plate, a shoulder mechanism installed at the top of the back plate, a large arm mechanism rotatably installed with the shoulder mechanism, a small arm mechanism rotatably installed at the bottom end of the large arm mechanism, and a muscle contraction mechanism coaxially installed at the head end of the small arm mechanism for imitating the biceps brachii and triceps brachii.

[0006] The muscle contraction mechanism includes: a rotating wheel coaxially installed with the small arm mechanism, a first fixed bottom plate installed at the end of the rotating wheel and parallel to the small arm mechanism, a sliding component installed inside the first fixed bottom plate, a sliding frame installed on the sliding component, an electric push rod installed outside the first fixed bottom plate, a first driving rope for imitating the biceps brachii to drive the rotating wheel to rotate forward, and a second driving rope for imitating the triceps brachii to drive the rotating wheel to rotate backward.

[0007] Furthermore, a plurality of through holes are formed on the sliding frame, a guide wheel for guiding the first driving rope is installed at the tail end of the first fixed bottom plate, one end of the first driving rope is fixedly installed in the through hole, the other end passes through the through hole after passing around the guide wheel and is fixedly installed with the rotating wheel, both ends of the second driving rope are fixedly installed with the rotating wheel, and the middle section of the second driving rope is installed in the through hole.

[0008] Drive the electric push rod to extend, drive the sliding frame to slide forward on the sliding assembly. At this time, the second driving rope extends forward accordingly, pulling the rotating wheel to rotate in the reverse direction, driving the small arm mechanism to move upward in a lifting motion.

[0009] Further, the large arm mechanism includes: a first large arm support plate rotatably installed on the shoulder mechanism, a large arm fastening sleeve installed inside the first large arm support plate for fastening the large arm, a second large arm support plate rotatably installed with the small arm mechanism, and a connection assembly installed at the end of the first large arm support plate and slidably installed with the second large arm support plate.

[0010] By adjusting the connection assembly, adjust the overlapping length of the first large arm support plate and the second large arm support plate, so that the length of the large arm mechanism can be adjusted adaptively.

[0011] Further, the connection assembly includes: a connection sleeve fixedly installed at the bottom end of the first large arm support plate, a first slider fixedly installed with the connection sleeve, a first sliding groove slidably installed with the first slider through a plurality of first sliding wheels, and a first control bolt for controlling the sliding of the first sliding groove.

[0012] The first sliding groove is fixedly installed with the second large arm support plate. By adjusting the first control bolt, the first sliding groove can slide on the first slider, and the overlapping length of the first large arm support plate and the second large arm support plate can be adjusted.

[0013] Further, the shoulder mechanism includes: a rope drive assembly coaxially installed with the large arm mechanism, a second fixed base plate rotatably installed with the large arm mechanism, a second sliding groove installed on the second fixed base plate, a second slider slidably installed with the second sliding groove through a plurality of second sliding wheels, a second control bolt for adjusting the sliding of the second sliding groove, an arc-shaped connecting piece fixedly installed on the second slider, and a glenohumeral joint adjustment assembly installed on the second slider.

[0014] Adjust the second control bolt so that the second sliding groove can slide on the second slider, and it can be adjusted adaptively.

[0015] Further, the rope drive assembly includes: a first motor installed on the second fixed base plate, a first driving rope wheel coaxially installed with the output shaft of the first motor, a first driven rope wheel coaxially rotating with the first driving rope wheel through a third driving rope assembly, and a first tensioning wheel installed on the side of the first motor for tensioning the third driving rope assembly.

[0016] The first driven rope pulley is coaxially installed with the boom mechanism. The first motor drives the first driving rope pulley to rotate, and the first driven rope pulley rotates accordingly, driving the boom mechanism to rotate synchronously.

[0017] Further, the glenohumeral joint adjustment assembly includes: a second motor installed on the top of the wearable backplate through a second motor mount, a second driving rope pulley coaxially installed with the output shaft of the second motor, a second driven rope pulley that rotates synchronously with the second driving rope pulley through a fourth driving rope assembly, and a third fixed bottom plate coaxially installed with the output shaft of the second motor.

[0018] The second driven rope pulley is installed at the end of the arc-shaped connecting piece. A third fixed bottom plate for maintaining stability is installed between the second driving rope pulley and the second driven rope pulley, and a second tension pulley for guiding the fourth driving rope assembly is installed on the third fixed bottom plate.

[0019] Further, the third driving rope assembly includes at least one forward driving rope and at least one reverse driving rope; when the first motor rotates forward, the first driving rope pulley rotates forward accordingly, driving the forward driving rope to retract, and pulling the first driven rope pulley to rotate forward synchronously, and the reverse driving rope extends accordingly.

[0020] Further, spiral wire grooves suitable for driving ropes are provided on the rotating wheel, the first driving rope pulley, and the first driven rope pulley, and wire fixing holes for fixing the driving ropes are provided on the spiral wire grooves.

[0021] The present invention also provides a control method for an upper limb exoskeleton assist robot that mimics muscle contraction movement, including the following steps:

[0022] S1. The wearer wears the wearable backplate on the back and maintains a static and stable state.

[0023] S2. After wearing, perform an assistive movement on the wearer's upper limb, that is, start the shoulder mechanism, the boom mechanism, the forearm mechanism, and the muscle contraction mechanism, and cooperate with each other to make the wearer's upper limb flex and extend.

[0024] When the wearer needs to lift the arm, control the telescopic end of the electric push rod to move forward, driving the sliding frame to slide forward on the sliding assembly, pulling the second driving rope to extend, making the rotating wheel rotate forward, and at the same time driving the first driving rope to retract;

[0025] When the wearer needs to lift the arm, control the telescopic end of the electric push rod to move backward, driving the sliding frame to slide backward on the sliding assembly, pulling the first driving rope to extend, making the rotating wheel rotate backward, and at the same time driving the second driving rope to retract.

[0026] S3. After the assist is over, return to the initial state and wait for the next assist.

[0027] Advantages of the present invention over the prior art are as follows:

[0028] 1. By providing a muscle contraction mechanism in this invention patent for an electric push rod to drive a sliding frame to slide on a sliding component, the first drive rope and the second drive rope alternately contract and extend. This movement conforms to the movement laws of the biceps brachii and triceps brachii of the human body, and in combination with the imitation of the human joint movement by the forearm mechanism, upper arm mechanism, and shoulder mechanism, it realizes flexible assistance for human movement. This structure enables the robot not only to be similar to the movement laws of human joints but also to imitate the muscle contraction laws of the biceps brachii and triceps brachii of the human body, achieving more excellent and flexible assistance for the human body.

[0029] 2. By providing a drive rope assembly to drive the driving pulley and the driven pulley in this invention patent, this driving method is more flexible and stable, and the forward and reverse rotation of the driving pulley and the driven pulley is realized by the winding in opposite directions of the forward driving wheel and the reverse driving wheel.

[0030] 3. By providing a connection component in this invention patent, the overlapping length between the first upper arm support plate and the second upper arm support plate can be flexibly controlled, and then the length of the upper arm mechanism can be adaptively adjusted, making the robot more flexible. Moreover, the setting of the connection component facilitates the installation, disassembly, and cleaning of the upper arm mechanism.

[0031] It should be understood that the content described in the section of the invention content is not intended to limit the key or important features of the embodiments of the present invention, nor to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The present invention will be further described in detail below in conjunction with the drawings and specific embodiments.

[0033] Figure 1 It is the overall structure diagram of an upper limb assistive robot imitating the biceps brachii and triceps brachii.

[0034] Figure 2 It is the overall structure diagram of the muscle contraction mechanism.

[0035] Figure 3 It is the overall structure diagram of the upper arm mechanism.

[0036] Figure 4 It is the overall structure diagram of the shoulder mechanism.

[0037] Figure 5 It is the overall structure diagram of the rope drive assembly.

[0038] Figure 6 It is the overall structure diagram of the glenohumeral joint adjustment component.

[0039] Figure 7 It is the overall structure diagram of the forearm mechanism.

[0040] Reference numerals in the figure: 1. Wearable backplate; 11. Double shoulder straps;

[0041] 2. Shoulder mechanism; 21. Rope drive assembly; 211. First motor; 212. First driving rope pulley; 213. Third driving rope assembly; 2131. Forward driving rope; 2132. Reverse driving rope; 214. First driven rope pulley; 215. First tensioning pulley; 216. Second tension sensor; 22. Second fixed bottom plate; 23. Second chute; 24. Second slider; 25. Second sliding wheel; 26. Second control bolt; 27. Arc-shaped connecting piece; 28. Glenohumeral joint adjustment assembly; 281. Second motor; 282. Second driving rope pulley; 283. Fourth driving rope assembly; 284. Second driven rope pulley; 285. Third fixed bottom plate; 286. Second tensioning pulley; 287. Third tension sensor; 288. Second motor mounting seat;

[0042] 3. Upper arm mechanism; 31. First upper arm support plate; 32. Upper arm fastening sleeve; 33. Second upper arm support plate; 34. Connecting assembly; 341. Connecting sleeve; 342. First slider; 343. First chute; 344. First sliding wheel; 345. First control bolt;

[0043] 4. Forearm mechanism; 41. Forearm support plate; 42. Mounting hole; 43. Bandage; 44. Hand grip; 45. Thumb hole;

[0044] 5. Muscle contraction mechanism; 51. Rotating wheel; 52. First fixed bottom plate; 53. Sliding assembly; 531. Guide rail; 532. Sliding block; 54. Sliding frame; 55. Electric push rod; 56. First driving rope; 57. Second driving rope; 58. Through hole; 59. Guide pulley; 60. First tension sensor;

[0045] 6. Spiral wire groove; 7. Wire fixing hole. Detailed implementation manners

[0046] Now, the present invention will be further described in detail with reference to the accompanying drawings. These drawings are all simplified schematic diagrams, only illustrating the basic structure of the present invention in a schematic way, so they only show the components related to the present invention.

[0047] It should be noted that when an element is referred to as "fixed to" or "disposed on" another component, it can be directly on the other component or indirectly disposed on the other component; when a component is referred to as "connected to" another component, it can be directly connected to the other component or indirectly connected to the other component.

[0048] It should be understood that the orientation or positional relationship indicated by terms such as "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. This is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present application.

[0049] Please refer to Figures 1 to 7 , the present invention provides a specific embodiment of an upper limb exoskeleton assist robot that mimics muscle contraction movement. For the convenience of description, taking Figure 1 as a reference, the extension direction of the electric push rod 55 is set as the front in this patent; for the forearm mechanism 4 and the muscle contraction mechanism 5, the end of the human hand is the tail end, and the end of the elbow is the head end.

[0050] Please refer to Figures 1 to 7 , the present invention provides an upper limb exoskeleton assist robot that mimics muscle contraction movement, including a wearable back plate 1, a shoulder mechanism 2 installed on the top of the wearable back plate 1, a large arm mechanism 3 rotatably installed with the shoulder mechanism 2, a forearm mechanism 4 rotatably installed at the bottom end of the large arm mechanism 3, and a muscle contraction mechanism 5 coaxially installed at the head end of the forearm mechanism 4 for mimicking the biceps brachii and triceps brachii.

[0051] The muscle contraction mechanism 5 includes: a rotating wheel 51 coaxially installed with the forearm mechanism 4, a first fixed bottom plate 52 installed at the end of the rotating wheel 51 and parallel to the forearm mechanism 4, a sliding component 53 installed inside the first fixed bottom plate 52, a sliding frame 54 installed on the sliding component 53, an electric push rod 55 installed outside the first fixed bottom plate 52, a first driving rope 56 for mimicking the biceps brachii to drive the rotating wheel 51 to rotate forward, and a second driving rope 57 for mimicking the triceps brachii to drive the rotating wheel 51 to rotate reversely.

[0052] A number of through holes 58 are formed on the sliding frame 54. A guide wheel 59 for guiding the first driving rope 56 is installed at the tail end of the first fixed bottom plate 52. One end of the first driving rope 56 is fixedly installed in the through hole 58, and the other end passes around the guide wheel 59 and then passes through the through hole 58 to be fixedly installed with the rotating wheel 51. Both ends of the second driving rope 57 are fixedly installed with the rotating wheel 51, and the middle section of the second driving rope 57 is installed in the through hole 58; when the electric push rod 55 is driven to extend, the sliding frame 54 is driven to slide forward on the sliding component 53. At this time, the second driving rope 57 extends forward accordingly, pulling the rotating wheel 51 to rotate reversely, driving the forearm mechanism 4 to move upward.

[0053] In this embodiment, the sliding assembly 53 includes a guide rail 531 fixedly installed on the first fixed base plate 52 and a sliding block 532 slidably installed on the guide rail 531. The sliding block 532 is fixedly installed with the sliding frame 54.

[0054] Furthermore, when the electric push rod 55 extends forward, it drives the sliding frame 54 to slide forward on the guide rail 531. At this time, the second drive rope 57 is stretched and extends forward, pulling the rotating wheel 51 to rotate in the reverse direction, driving the first drive rope 56 to retract, realizing the contraction of the first drive rope 56 and the extension of the second drive rope 57. At the same time, the forearm mechanism 4 coaxially installed with the rotating wheel 51 realizes an upward lifting movement.

[0055] When the electric push rod 55 retracts backward, it drives the sliding frame 54 to slide backward on the guide rail 531, driving the first drive rope 56 to start extending. At this time, the rotating wheel 51 rotates forward due to the pulling force of the first drive rope 56, driving the second drive rope 57 to retract, realizing the extension of the first drive rope 56 and the contraction of the second drive rope 57. At the same time, the forearm mechanism 4 coaxially installed with the rotating wheel 51 realizes a downward lowering movement. Further, the setting of the first drive rope 56 mimics the muscle extension and contraction of the human biceps brachii, and the setting of the second drive rope 57 mimics the muscle extension and contraction of the human triceps brachii.

[0056] Furthermore, a first tension sensor 60 coaxially installed with the guide wheel 59 is installed at the end of the first fixed base plate 52. The first tension sensor 60 can detect the tension of the first drive rope 56 through the rotation of the guide wheel 59, which is used to ensure the smoother movement of the muscle contraction mechanism 5.

[0057] Furthermore, an adjustable-length double strap 11 for human wearing is provided on the front side of the wearable back plate 1. By carrying the double strap 11 on the back, more convenient assistance for the movement of the human upper limb can be realized.

[0058] As Figure 3 shown, the upper arm mechanism 3 includes: a first upper arm support plate 31 rotatably installed with the shoulder mechanism 2, an upper arm fastening sleeve 32 installed inside the first upper arm support plate 31 for fastening the upper arm, a second upper arm support plate 33 rotatably installed with the forearm mechanism 4, and a connection assembly 34 installed at the end of the first upper arm support plate 31 and slidably installed with the second upper arm support plate 33. By adjusting the connection assembly 34, the overlapping length of the first upper arm support plate 31 and the second upper arm support plate 33 is adjusted, so that the length of the upper arm mechanism 3 can be adjusted adaptively.

[0059] The connecting component 34 includes: a connecting sleeve 341 fixedly installed at the bottom end of the first boom support plate 31, a first slider 342 fixedly installed with the connecting sleeve 341, a first chute 343 slidably installed with the first slider 342 through a number of first sliding wheels 344, and a first control bolt 345 for controlling the sliding of the first chute 343. The first chute 343 is fixedly installed with the second boom support plate 33. By adjusting the first control bolt 345, the first chute 343 slides on the first slider 342, and the overlapping length of the first boom support plate 31 and the second boom support plate 33 can be adjusted.

[0060] In this embodiment, the boom is fastened by the boom fastening sleeve 32. The first control bolt 345 is loosened so that the first chute 343 can slide on the first slider 342. At this time, the second boom support plate 33 fixedly installed with the first chute 343 can be pulled downward to a distance suitable for the length of the human boom, and then the first control bolt 345 is tightened. This structure can make adaptive adjustments for people with different body types.

[0061] Furthermore, by adjusting the first control bolt 345 and through the sliding of the first chute 343 and the first slider 342, the second boom support plate 33 can be flexibly removed, which is convenient for cleaning, maintenance and replacement of the second boom support plate 33.

[0062] Furthermore, the setting of the connecting sleeve 341 facilitates the installation and removal of the second boom support plate 33.

[0063] Furthermore, after the first control bolt 345 is tightened, the first boom support plate 31 and the second boom support plate 33 are in a parallel structure. When the first boom support plate 31 is driven to rotate, the second boom support plate 33 rotates simultaneously with it.

[0064] As Figure 4 shown, the shoulder mechanism 2 includes: a rope drive assembly 21 coaxially installed with the boom mechanism 3, a second fixed base plate 22 rotatably installed with the boom mechanism 3, a second chute 23 installed on the second fixed base plate 22, a second slider 24 slidably installed with the second chute 23 through a number of second sliding wheels 25, a second control bolt 26 for adjusting the sliding of the second chute 23, an arc-shaped connecting member 27 fixedly installed on the second slider 24, and a glenohumeral joint adjustment assembly 28 installed on the second slider 24. Adjust the second control bolt 26 so that the second chute 23 can slide on the second slider 24. When adjusted to a position suitable for the human body, tighten the second control bolt 26.

[0065] As Figure 5As shown in the figure, the rope drive assembly 21 includes: a first motor 211 mounted on the second fixed base plate 22, a first driving rope pulley 212 coaxially mounted on the output shaft of the first motor 211, a first driven rope pulley 214 that rotates coaxially with the first driving rope pulley 212 through a third driving rope assembly 213, and a first tensioning pulley 251 mounted on the side of the first motor 211 for tensioning the third driving rope assembly 213. The first driven rope pulley 214 is coaxially mounted with the boom mechanism 3. The first motor 211 drives the first driving rope pulley 212 to rotate, and the first driven rope pulley 214 rotates accordingly, driving the boom mechanism 3 to rotate synchronously.

[0066] In this embodiment, when the first motor 211 rotates forward to drive the first driving rope pulley 212 to rotate forward, the third driving rope assembly 213 rotates accordingly, and drives the first driven rope pulley 214 to rotate forward, so that the first boom support plate 31 coaxially mounted with the first driven rope pulley 214 rotates forward accordingly, realizing the upward and forward movement of the boom mechanism 3, and further realizing the upward and forward movement of the boom connected to the boom mechanism 3 through the boom fastening sleeve 32.

[0067] When the first motor 211 rotates reversely to drive the first driving rope pulley 212 to rotate reversely, the third driving rope assembly 213 rotates accordingly, and drives the first driven rope pulley 214 to rotate reversely, so that the first boom support plate 31 coaxially mounted with the first driven rope pulley 214 rotates reversely accordingly, realizing the downward and backward movement of the boom mechanism 3, and further realizing the downward and backward movement of the boom connected to the boom mechanism 3 through the boom fastening sleeve 32.

[0068] Furthermore, loosen the second control bolt 26 so that the second chute 23 can slide on the second slider 24. After sliding the second chute 23 to a position suitable for the human shoulder and then tightening the second control bolt 26, it can make adaptive adjustments for people with different shoulder thicknesses.

[0069] Furthermore, a second tension sensor 216 is coaxially mounted at the end of the first tensioning pulley 251. The second tension sensor 216 can detect the tension of the third driving rope assembly 213 through the rotation of the first tensioning pulley 251. The setting of the second tension sensor 216 can ensure the normal movement of the rope drive assembly 21.

[0070] Furthermore, the radian of the arc-shaped connecting piece 27 is adapted to the radian of the shoulder. By adjusting the angle of the second control bolt 26 and the second fixed base plate 22, the arc-shaped part of the arc-shaped connecting piece 27 can be adjusted to match the radian of the human shoulder.

[0071] Furthermore, when the rope drive assembly 21 drives the boom mechanism 3 to perform the movement of lifting or lowering, it also makes the human shoulder rotate passively under the drive of the boom.

[0072] Such asFigure 6 As shown, the glenohumeral joint adjustment assembly 28 includes: a second motor 281 mounted on the wearable backplate 1 through a second motor mount 288, a second driving pulley 282 coaxially mounted on the output shaft of the second motor 281, a second driven pulley 284 synchronously rotated with the second driving pulley 282 through a fourth driving rope assembly 283, and a third fixed base plate 285 coaxially mounted on the output shaft of the second motor 281. The second driven pulley 284 is mounted at the end of the arc-shaped connecting member 27. A third fixed base plate 285 for maintaining stability is mounted between the second driving pulley 282 and the second driven pulley 284. A second tension pulley 286 for guiding the fourth driving rope assembly 283 is mounted on the third fixed base plate 285.

[0073] Further, the second motor 281 drives the second driving pulley 282 to rotate, causing the fourth driving rope assembly 283 to move accordingly, driving the second driven pulley 284 to rotate synchronously, and enabling the arc-shaped connecting member 27 fixedly mounted with the second driven pulley 284 to move synchronously, and driving the shoulder mechanism 2, the upper arm mechanism 3, and the forearm mechanism 4 to move synchronously.

[0074] Further, the transmission ratio between the second driving pulley 282 and the second driven pulley 284 is 1:2. Therefore, when the second motor 281 drives the second driving pulley 282 and the second driving pulley 282 to rotate, when the second driving pulley 282 moves 1 degree, the second driven pulley 284 moves 2 degrees accordingly. This movement mode is the same as the movement law of the human glenohumeral joint. Therefore, this structure realizes the imitation of the human glenohumeral joint, and also makes the structure more adaptable to the movement structure of the human upper limb, and can provide better assistance to the human upper limb.

[0075] Further, when the second motor 281 rotates forward to drive the second driving pulley 282 to rotate forward, the fourth driving rope assembly 283 drives the second driven pulley 284 to rotate forward, and at the same time drives the shoulder mechanism 2, the upper arm mechanism 3, and the forearm mechanism 4 to move upward synchronously.

[0076] When the second motor 281 rotates in reverse to drive the second driving pulley 282 to rotate in reverse, the fourth driving rope assembly 283 drives the second driven pulley 284 to rotate in reverse, and at the same time drives the shoulder mechanism 2, the upper arm mechanism 3, and the forearm mechanism 4 to move downward synchronously.

[0077] Further, a third tension sensor 287 is coaxially mounted with the second tension pulley 286. The third tension sensor 287 can detect the tension of the fourth driving rope assembly 283 through the rotation of the second tension pulley 286. The setting of the third tension sensor 287 can ensure the normal movement of the glenohumeral joint adjustment assembly 28.

[0078] Further, the third fixed base plate 285 can be adaptively adjusted in angle to accommodate people with different shoulder widths.

[0079] As Figure 7 shown, the forearm mechanism 4 includes: a forearm support plate 41 rotatably installed on the upper arm mechanism 3, a mounting hole 42 opened at the end of the forearm support plate 41, a bandage 43 that can be adjusted in length and passes through the mounting hole 42, and a hand grip 44 installed at the end of the bandage 43 and adapted to the human hand structure. A thumb hole 45 adapted for the thumb to penetrate is opened on the hand grip 44.

[0080] Further, the hand can be inserted into the hand grip 44, and the thumb can pass through the thumb hole 45, which is convenient for better gripping the hand grip 44. The forearm support plate 41 supports the human forearm, and when the forearm needs to be lifted upward, it assists the forearm and the hand in moving.

[0081] As Figure 5 shown, the third drive rope assembly 213 includes at least one forward drive rope 2131 and at least one reverse drive rope 2132; when the first motor 211 rotates forward, the first driving rope pulley 212 rotates forward accordingly, driving the forward drive rope 2131 to retract, and pulling the first driven rope pulley 214 to rotate forward synchronously, and the reverse drive rope 2132 elongates accordingly.

[0082] In this embodiment, the present invention adopts a structure of one forward drive rope 2131 and two reverse drive ropes 2132, and multiple forward drive ropes 2131 and reverse drive ropes 2132 can also be used for driving, with the same effect.

[0083] Further, the forward drive rope 2131 is located on the lower side of the first driving rope pulley 212 and the first driven rope pulley 214, and the reverse drive rope 2132 is located on the upper side of the first driving rope pulley 212 and the first driven rope pulley 214. The forward drive rope 2131 is tensioned by the first tensioning pulley 251 to prevent the forward drive rope 2131 from knotting and affecting rotation.

[0084] Further, the structure and driving method of the fourth drive rope assembly 283 are the same as those of the third drive rope assembly 213, and will not be elaborated here too much.

[0085] As Figures 1 to 7 shown, spiral wire grooves 6 suitable for drive ropes are provided on the rotating wheel 51, the first driving rope pulley 212, and the first driven rope pulley 214, and wire fixing holes 7 for fixing the drive ropes are opened on the spiral wire grooves 6.

[0086] Further, the first drive rope 56 and the second drive rope 57 are respectively fixedly installed in the spiral wire grooves 6 through the wire fixing holes 7.

[0087] Further, the forward driving rope 2131 and the reverse driving rope 2132 are both arranged in the spiral wire groove 6, and both ends of the forward driving rope 2131 and the reverse driving rope 2132 are fixedly arranged in the wire fixing holes 7.

[0088] Further, protective shells for protecting the internal structures are installed outside the muscle contraction mechanism 5, the rope transmission assembly 21, the connection assembly 34, and the glenohumeral joint adjustment assembly 28.

[0089] As Figures 1 to 7 shown, the present patent also provides a control method for an upper limb exoskeleton assist robot that imitates muscle contraction movement, including the following steps:

[0090] S1. The wearer wears the wearable back plate 1 on the back and maintains a static and stable state.

[0091] S2. After wearing, perform an assist movement on the upper limb of the wearer, that is, start the shoulder mechanism 2, the upper arm mechanism 3, the forearm mechanism 4, and the muscle contraction mechanism 5, and cooperate with each other to make the upper limb of the user flex and extend.

[0092] When the wearer needs to raise the arm, control the telescopic end of the electric push rod 55 to move forward, drive the sliding frame 54 to slide forward on the sliding assembly 53, pull the second driving rope 57 to stretch, make the rotating wheel 51 rotate forward, and at the same time drive the first driving rope 56 to retract.

[0093] When the wearer needs to raise the arm, control the telescopic end of the electric push rod 55 to move backward, drive the sliding frame 54 to slide backward on the sliding assembly 53, pull the first driving rope 56 to stretch, make the rotating wheel 51 rotate in the reverse direction, and at the same time drive the second driving rope 57 to retract.

[0094] S3. After the assist is over, restore to the initial state and wait for the next assist.

[0095] The control method of the upper limb exoskeleton assist robot that imitates muscle contraction movement is as follows:

[0096] The wearer carries the robot on the back through double straps, adjusts the second control bolt 26, makes the second sliding groove 23 slide on the second slider 24 to adjust the overall positions of the upper arm mechanism 3, the forearm mechanism 4, and the shoulder mechanism 2 to a position suitable for the wearer; fasten the upper arm to the side of the first upper arm support plate 31 through the upper arm fastening sleeve 32, and by adjusting the first control bolt 345, make the first sliding groove 343 slide on the first slider 342 to pull out the second upper arm support plate 33 and adjust it to a position suitable for the length of the wearer's upper arm; after adjusting the length of the bandage 43 to be suitable for the wearer's forearm, insert the hand into the hand grip 44, let the thumb extend from the thumb hole 45 and firmly hold the hand grip 44. At this time, the wearing of the robot is completed, and a static and stable state is maintained.

[0097] Control the telescopic end of the electric push rod 55 to move forward, driving the sliding frame 54 to slide forward on the sliding assembly 53, pulling the second driving rope 57 to stretch, causing the rotating wheel 51 to rotate forward, and at the same time driving the first driving rope 56 to retract, so that the wearer's forearm performs a lifting action; control the first motor 211 to rotate forward to drive the first driving pulley 212 to rotate forward, and through the third driving rope assembly 213, the first driven pulley 214 rotates forward accordingly, thereby controlling the first upper arm support plate 31 and the second upper arm support plate 33 to move upward simultaneously, causing the wearer's upper arm to move upward, thus driving the forward rotation of the shoulder joint; control the second motor 281 to rotate forward to drive the second driving pulley 282 to rotate forward, and through the fourth driving rope assembly 283, the second driven pulley 284 rotates forward accordingly, thereby controlling the rotation of the wearer's glenohumeral joint.

[0098] It should be understood that the specific embodiments described above are only used to explain the present invention and are not used to limit the present invention. Obvious changes or variations derived from the spirit of the present invention are still within the protection scope of the present invention.

Claims

1. An upper limb exoskeleton power-assisting robot that simulates muscle contraction movement, characterized in that: The invention comprises a wearable back plate (1), a shoulder mechanism (2) mounted on the top of the wearable back plate (1), an upper arm mechanism (3) rotatably mounted on the shoulder mechanism (2), a lower arm mechanism (4) rotatably mounted on the bottom end of the upper arm mechanism (3), and a muscle contraction mechanism (5) for simulating the biceps and triceps brachii and coaxially mounted on the head end of the lower arm mechanism (4); The muscle contraction mechanism (5) comprises: a rotating wheel (51) coaxially mounted with the forearm mechanism (4), a first fixed base plate (52) mounted on the end of the rotating wheel (51) and parallel to the forearm mechanism (4), a sliding assembly (53) mounted on the inner side of the first fixed base plate (52), a sliding frame (54) mounted on the sliding assembly (53), an electric push rod (55) mounted on the outer side of the first fixed base plate (52), a first biceps brachii-simulated driving rope (56) for driving the rotating wheel (51) to rotate forward, and a second triceps brachii-simulated driving rope (57) for driving the rotating wheel (51) to rotate reversely.

2. The upper limb exoskeleton power-assisting robot that simulates muscle contraction movement according to claim 1, characterized in that: The sliding frame (54) is provided with a plurality of through holes (58); a guide wheel (59) for guiding the first driving rope (56) is installed at the tail end of the first fixed bottom plate (52); one end of the first driving rope (56) is fixedly installed in the through hole (58); the other end of the first driving rope (56) passes through the through hole (58) after passing around the guide wheel (59) and is fixedly installed with the rotating wheel (51); both ends of the second driving rope (57) are respectively fixedly installed with the rotating wheel (51); and the middle section of the second driving rope (57) is installed in the through hole (58); The electric push rod (55) is driven to extend, driving the sliding frame (54) to slide forward on the sliding assembly (53). At this time, the second driving rope (57) is extended forward, pulling the rotating wheel (51) to rotate in the opposite direction, driving the small arm mechanism (4) to move upward.

3. The upper limb exoskeleton power-assisting robot that simulates muscle contraction movement according to claim 1, characterized in that: The upper arm mechanism (3) comprises: a first upper arm support plate (31) rotatably mounted with the shoulder mechanism (2), an upper arm fastening sleeve (32) mounted on the inner side of the first upper arm support plate (31) for fastening the upper arm, a second upper arm support plate (33) rotatably mounted with the lower arm mechanism (4), and a connecting assembly (34) mounted at the end of the first upper arm support plate (31) and slidably mounted with the second upper arm support plate (33); By adjusting the connecting assembly (34), the overlapping length of the first boom support plate (31) and the second boom support plate (33) is adjusted, so that the length of the boom mechanism (3) can be adaptively adjusted.

4. The upper limb exoskeleton power-assisting robot that simulates muscle contraction movement according to claim 3, characterized in that: The connecting assembly (34) comprises: a connecting sleeve (341) fixedly mounted on the bottom end of the first large arm support plate (31), a first sliding block (342) fixedly mounted on the connecting sleeve (341), a first sliding groove (343) slidably mounted on the first sliding block (342) via a plurality of first sliding wheels (344), and a first control bolt (345) for controlling the sliding of the first sliding groove (343); The first slide groove (343) and the second arm support plate (33) are fixedly installed, and the first control bolt (345) is adjusted so that the first slide groove (343) slides on the first slider (342), thereby adjusting the overlapping length of the first arm support plate (31) and the second arm support plate (33).

5. The upper limb exoskeleton power-assisting robot that simulates muscle contraction movement according to claim 1, characterized in that: The shoulder mechanism (2) comprises: a rope transmission component (21) coaxially mounted with the upper arm mechanism (3), a second fixed base plate (22) rotatably mounted with the upper arm mechanism (3), a second slide groove (23) mounted on the second fixed base plate (22), a second slider (24) slidably mounted with the second slide groove (23) via a plurality of second sliding wheels (25), a second control bolt (26) for adjusting the sliding of the second slide groove (23), an arc-shaped connecting member (27) fixedly mounted on the second slider (24), and a glenohumeral joint adjustment component (28) mounted on the second slider (24); The second control bolt (26) is adjusted so that the second slide groove (23) can slide on the second slide block (24) and can be adaptively adjusted.

6. The upper limb exoskeleton power-assisting robot that simulates muscle contraction movement according to claim 5, characterized in that: The rope transmission assembly (21) comprises: a first motor (211) mounted on the second fixed base plate (22), a first driving rope wheel (212) mounted coaxially with the output shaft of the first motor (211), a first driven rope wheel (214) coaxially rotating with the first driving rope wheel (212) via a third driving rope assembly (213), and a first tensioning wheel (215) mounted on the side of the first motor (211) and used for tensioning the third driving rope assembly (213); The first driven rope wheel (214) is coaxially mounted with the large arm mechanism (3); the first motor (211) drives the first driving rope wheel (212) to rotate, and the first driven rope wheel (214) rotates accordingly, driving the large arm mechanism (3) to rotate synchronously.

7. The upper limb exoskeleton power-assisting robot that simulates muscle contraction movement according to claim 5, characterized in that: The glenohumeral joint adjustment assembly (28) comprises: a second motor (281) mounted on the top of the wearing back plate (1) via a second motor mounting seat (288), a second active rope pulley (282) mounted coaxially with the output shaft of the second motor (281), a second driven rope pulley (284) rotating synchronously with the second active rope pulley (282) via a fourth driving rope assembly (283), and a third fixed base plate (285) mounted coaxially with the output shaft of the second motor (281); The second driven rope pulley (284) is installed at the end of the arc-shaped connecting member (27), and a third fixed base plate (285) for maintaining stability is installed between the second active rope pulley (282) and the second driven rope pulley (284), and a second tensioning wheel (286) for guiding the fourth driving rope assembly (283) is installed on the third fixed base plate (285).

8. The upper limb exoskeleton power-assisting robot that simulates muscle contraction movement according to claim 6, characterized in that: The third drive rope assembly (213) includes at least one forward drive rope (2131) and at least one reverse drive rope (2132); when the first motor (211) rotates forward, the first active rope wheel (212) rotates forward accordingly, driving the forward drive rope (2131) to retract, and pulling the first driven rope wheel (214) to rotate forward synchronously, and the reverse drive rope (2132) extends accordingly.

9. The upper limb exoskeleton power-assisting robot that simulates muscle contraction movement according to claim 6, characterized in that: The rotating wheel (51), the first driving rope wheel (212) and the first driven rope wheel (214) are all provided with a spiral groove (6) suitable for the driving rope, and the spiral groove (6) is provided with a fixing hole (7) for fixing the driving rope.

10. The control method of the upper limb exoskeleton power-assisting robot that simulates muscle contraction movement according to claim 2, characterized in that: The following steps are involved: S1. The wearer puts the wearable back plate (1) on the back and keeps it in a static and stable state; S2. After the wearing is completed, the upper limbs of the wearer are assisted to move, that is, the shoulder mechanism (2), the upper arm mechanism (3), the lower arm mechanism (4) and the muscle contraction mechanism (5) are activated to cooperate with each other to make the upper limbs of the user flex and extend; When the wearer needs to raise his arm, the telescopic end of the electric push rod (55) is controlled to move forward to drive the sliding frame (54) to slide forward on the sliding assembly (53), pull the second driving rope (57) to extend, make the rotating wheel (51) rotate forward, and drive the first driving rope (56) to retract; When the wearer needs to raise his arm, the telescopic end of the electric push rod (55) is controlled to move backward to drive the sliding frame (54) to slide backward on the sliding assembly (53), pull the first driving rope (56) to extend, make the rotating wheel (51) rotate in the opposite direction, and drive the second driving rope (57) to retract at the same time; S3. After the power assist is completed, the system returns to the initial state and waits for the next power assist.

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