An upper limb exoskeleton robot with co-linear human-machine shoulder rotation center lines

Abstract

The present invention belongs to the field of exoskeleton robots, and specifically discloses an upper limb exoskeleton robot with a human-machine shoulder rotation centerline in a colinear manner, comprising a back frame mechanism and two groups of upper limb mechanisms, the two groups of upper limb mechanisms being symmetrically arranged on both sides of the back frame mechanism, wherein the upper limb mechanisms include an elbow flexion / extension mechanism, a shoulder flexion / extension mechanism, a shoulder external swing / adduction mechanism, a shoulder internal rotation / external rotation mechanism, and a strap mechanism; the shoulder internal rotation / external rotation mechanism is respectively connected to the shoulder flexion / extension mechanism and the shoulder external swing / adduction mechanism, forming a double rocker mechanism so that the rotation centerlines of the three degrees of freedom of the exoskeleton robot shoulder intersect at the rotation center of the human shoulder joint, and the rotation centerlines of each degree of freedom are in a colinear manner with each rotation centerline of the human shoulder movement. The control method of the present invention is simple and efficient, and the rotation centerlines of the three degrees of freedom of the shoulder intersect at the rotation center of the human shoulder joint, which has better human-machine motion synergy and wearing comfort, and can effectively reduce human-machine motion interference.

Description

Technical Field

[0001] The invention belongs to the field of exoskeleton robots, and in particular relates to an upper limb exoskeleton robot with colinear rotation center lines of human and machine shoulders. Background Art

[0002] In the fields of industry and logistics, relevant workers often encounter scenarios where they need to lift heavy objects or hold tools for a long time to perform arm lifting operations. In these specific work scenarios, it is difficult for traditional work assistance tools to fully play their role and reduce the muscle fatigue of workers. With the rise of upper limb exoskeleton robots, this problem is being well solved. Upper limb exoskeleton robots are a type of robot mechanism that can be worn on the operator and connected to his upper limbs, and can perform coordinated movements and assist in work according to the operator's intentions. However, the human upper limb joints are very flexible, with many redundant degrees of freedom, and can complete a variety of complex movements. Among them, the upper limb shoulder joints are relatively complex, and the design of human-machine collaborative movement is difficult. The shoulder structure of traditional upper limb exoskeleton robots mostly adopts a two-degree-of-freedom or three-degree-of-freedom design, and the rotation center of the exoskeleton robot shoulder joint is difficult to be consistent with the rotation center of the human upper limb shoulder joint, which greatly reduces the comfort of the wearer, cannot achieve human-machine collaborative movement well, and interference is prone to occur during human-machine movement.

[0003] In the invention patent with patent number CN110497393A, an upper limb exoskeleton robot is disclosed, whose shoulder has only one degree of freedom of flexion / extension, and omits the degrees of freedom of shoulder swing / adduction and internal rotation / external rotation, so that the arm can only complete movements on the sagittal plane of the human body and cannot perform other complex movements.

[0004] In the invention patent with patent number CN111012627A, an active upper limb motion rehabilitation assisting exoskeleton is disclosed. The shoulder of the invention can achieve three degrees of freedom, but its shoulder joint is designed with a ball hinge, and there is no other mechanism to cooperate with each other. The position of the ball hinge is relatively fixed, and its rotation center is the ball joint center, not the rotation center of the human shoulder joint. This will reduce the comfort of the wearer and make it difficult to ensure human-machine coordinated movement.

[0005] In the above-mentioned invention patents and existing upper limb exoskeleton robot products, the rotation center lines of the exoskeleton shoulders cannot be colinear with the rotation center lines of the human shoulder movement, which will cause the following problems:

[0006] 1. When the human shoulder joint moves, the exoskeleton upper limb will move relative to the human upper limb, causing human-machine motion interference and reducing wearing comfort;

[0007] 2. When the exoskeleton robot is working, the shoulder joint drive motor needs to do additional work to eliminate the impact of the relative motion between man and machine.

[0008] Some upper limb exoskeleton robots have arm straps that can slide and rotate on the arm links to offset the effects of human-machine movement misalignment, but these problems cannot be avoided. Summary of the invention

[0009] The purpose of the present invention is to provide an upper limb exoskeleton robot with colinear human-machine shoulder rotation center lines, thereby solving the problem that the existing exoskeleton shoulder joint mechanism cannot well match the human shoulder joint movement.

[0010] The technical solution to achieve the purpose of the present invention is: an upper limb exoskeleton robot with a human-machine shoulder rotation center line in line, comprising a back frame mechanism and two sets of upper limb mechanisms symmetrically arranged on both sides of the back frame mechanism, wherein the upper limb mechanisms include an elbow flexion / extension mechanism, a shoulder flexion / extension mechanism, a shoulder external swing / adduction mechanism, a shoulder internal rotation / external rotation mechanism, and a strap mechanism;

[0011] The shoulder internal rotation / external rotation mechanism is respectively connected to the shoulder flexion / extension mechanism and the shoulder swing / adduction mechanism to form a double rocker mechanism so that the rotation center lines of the three degrees of freedom of the exoskeleton robot shoulder intersect with the rotation center of the human shoulder joint, and the rotation center lines of each degree of freedom are collinear with the rotation center lines of the human shoulder movement.

[0012] Furthermore, the shoulder internal rotation / external rotation mechanism includes a front end connecting rod, a first intermediate connecting rod, a second intermediate connecting rod and a rear end connecting rod in sequence, and the connecting rods are connected by hinges;

[0013] The front end connecting rod is hinged to the shoulder outward swing / inward adduction mechanism, the rear end connecting rod is designed to be U-shaped, the internal opening angle of the U-shape is 0-180 degrees, and the rear end connecting rod is hinged to the shoulder flexion / extension mechanism.

[0014] Furthermore, the elbow flexion / extension mechanism includes a first motor, a first reducer, a first coupling, a lower arm rod, a first deep groove ball bearing, a second deep groove ball bearing, a first rotating shaft, an upper arm rod, and a first bearing end cover;

[0015] The lower end of the boom lower rod is designed to be U-shaped, and the first deep groove ball bearing and the second deep groove ball bearing are located in the circular holes on both sides of the U-shape. The U-shaped opening shape allows the rotation angle of the forearm upper rod to be 0-120°. The first motor is connected to the first reducer and is fixedly connected to the outside of the boom lower rod. The output shaft of the first reducer is connected to the first rotating shaft through the first coupling, and the first rotating shaft is connected to the forearm upper rod through a spline.

[0016] Furthermore, the shoulder flexion / extension mechanism includes a second motor, a second reducer, a third deep groove ball bearing, a fourth deep groove ball bearing, a second rotating shaft, an upper arm rod and a second bearing end cover;

[0017] The upper rod of the upper arm is connected to the connecting rod at the rear end of the shoulder internal rotation / external rotation mechanism through a deep groove ball bearing and a rotating shaft. The U-shaped internal opening angle of the connecting rod at the rear end makes the movable angle of the upper rod of the upper arm 0-180°. The third deep groove ball bearing and the fourth deep groove ball bearing are located in the circular holes on both sides of the U-shaped connecting rod at the rear end of the shoulder internal rotation / external rotation mechanism. The second motor is connected to the second reducer and is fixedly connected to the outer side of the connecting rod at the rear end of the shoulder internal rotation / external rotation mechanism. The output shaft of the second reducer is connected to the second rotating shaft through a second coupling, and the second rotating shaft is connected to the upper rod of the upper arm through a spline.

[0018] Furthermore, the shoulder external swing / adduction mechanism is connected to the motor fixed on the back frame through a lasso, the driving torque is transmitted through the lasso, and the shoulder internal rotation / external rotation mechanism is a passive degree of freedom; the shoulder flexion / extension mechanism and the elbow flexion / extension mechanism are directly driven by a driving reduction motor system.

[0019] Further, the shoulder swing outward / inward mechanism includes a third motor, a third reducer, a driving pulley, a first lasso fixing frame, a shoulder fixing rod, a second lasso fixing frame, a Bowden cable, a driven pulley, a driven pulley fixing cover, a fifth deep groove ball bearing, a limit pin, a third rotating shaft, a sixth deep groove ball bearing and a third bearing end cover;

[0020] The end of the shoulder fixing rod is designed to be U-shaped, and is connected to the shoulder inward / outward rotation front end connecting rod through a deep groove ball bearing and a rotating shaft. The fifth deep groove ball bearing and the sixth deep groove ball bearing are located in the circular holes on both sides of the U-shape. One end of the limit pin is fixed in the hole on the shoulder fixing rod, and the other end cooperates with the arc groove on the driven pulley. The angle of the arc groove is 120°, ensuring that the shoulder outward swing / inward swing angle is 0-120°. The driven pulley is connected to the third rotating shaft through a spline and a driven pulley fixing cover.

[0021] Furthermore, it also includes an upper arm strap mechanism and a lower arm strap mechanism;

[0022] The upper arm strap mechanism comprises an upper arm strap, an inertial measurement unit, and an upper arm strap slider; the upper arm strap slider slides in a slide groove of the upper arm lower rod and is fixedly connected by screws.

[0023] Furthermore, the upper arm strap mechanism binds the upper arm of the exoskeleton to the upper limb of the human body. When the human shoulder performs internal rotation / external rotation movement, the rear end connecting rod of the shoulder internal rotation / external rotation mechanism is driven to move around the center line of the human shoulder internal rotation / external rotation, forming a virtual connecting rod, the fixed end of which is the rotation center of the human shoulder, and the movable end is the hinge connection between the rear end connecting rod and the second intermediate connecting rod;

[0024] The first intermediate link is connected to the front end link to form another connecting rod, the fixed end is the hinge connection between the first intermediate link and the front end link, and the movable end is the hinge connection between the first intermediate link and the second intermediate link;

[0025] The front end connecting rod is connected to the shoulder fixing rod of the shoulder swing-out / inward mechanism, which limits the movement of the front end connecting rod on the horizontal plane;

[0026] The above mechanisms together constitute a double rocker mechanism, so that the rotation center line of the internal rotation / external rotation of the exoskeleton robot shoulder is colinear with the rotation center line of the internal rotation / external rotation of the human shoulder.

[0027] Furthermore, an inertial measurement unit is provided outside the back frame mechanism and located at the back of the human body, an inertial measurement unit is provided outside the upper arm strap and located at the back of the upper arm of the human body, and an inertial measurement unit is provided outside the forearm strap of the forearm strap mechanism and located at the back of the forearm of the human body;

[0028] The lengths of the upper arms and lower arms of the two sets of upper limb mechanisms can be adjusted according to different wearers.

[0029] Furthermore, the elbow flexion / extension mechanism, shoulder flexion / extension mechanism, and shoulder swing / adduction mechanism rotation joints are all equipped with encoders, and the back frame mechanism is equipped with a microprocessor, a CAN communication module, a circuit board, and a power supply.

[0030] In the above-mentioned upper limb exoskeleton robot in which the human-machine shoulder rotation center lines are colinear, each active joint is equipped with a high-precision encoder, which can measure the kinematic parameters of each active joint of the exoskeleton in real time. Inertial measurement units are installed on the upper arm straps, the forearm straps and the outside of the back frame. The inertial measurement unit on the outside of the back frame is used as a fixed reference point to construct a mathematical model of the upper limb exoskeleton robot. Through coordinate transformation, the posture change of the inertial measurement unit installed on the upper limb straps relative to the reference point can be obtained, and then the movement information of the shoulder joint and elbow joint of the human upper limb can be obtained. After the wearer puts on the upper limb exoskeleton robot of the present invention, the wearer keeps a static state for a certain period of time, and collects the initial information of each active joint encoder and each inertial measurement unit. When the wearer's upper limb moves, the wearer's upper limb movement data is collected by the configured inertial measurement unit, and the data is transmitted to the microprocessor. The human joint movement information is obtained through data processing, and the drive mechanism of the corresponding exoskeleton joint is controlled to output to realize the movement of the upper limb exoskeleton. The movement of the exoskeleton will drive the joint encoder to start counting, and the kinematic information of the exoskeleton joint can be measured in real time. Monitor whether the movement of the upper limb exoskeleton mechanism is correct, and input it into the processor as feedback to complete the closed-loop control of the joint drive mechanism, and realize the movement matching of the present invention and the wearer. Among them, the communication method between each module is based on the CAN bus communication protocol.

[0031] Compared with the prior art, the present invention has the following significant advantages:

[0032] (1) The present invention uses a double rocker mechanism composed of a shoulder internal / external rotation mechanism and a mechanism connected thereto, so that the rotation center lines of the three degrees of freedom of the exoskeleton robot shoulder intersect with the rotation center of the human shoulder joint, and the rotation center lines of each degree of freedom are colinear with the rotation center lines of the human shoulder movement. When the human shoulder performs movement, the exoskeleton shoulder can achieve coordinated movement, improve the wearing comfort of the human body, reduce the movement resistance of the mechanism, and reduce the interference between human and machine movement; it can effectively avoid the relative movement between the exoskeleton upper limb and the human upper limb when the shoulder moves, and effectively reduce the output power of the joint drive motor.

[0033] (1) The shoulder swing / adduction mechanism of the present invention uses a lasso drive to separate the drive motor from the exoskeleton joint, effectively reducing the structural size of the shoulder swing / adduction joint and avoiding motion interference with the shoulder flexion / extension mechanism when the shoulder performs internal / external rotation.

[0034] (3) While achieving adjustable distances between joints of the upper limb exoskeleton, the present invention also adds a strap position adjustment device, so that the strap positions of the upper arm and forearm can be adjusted, further improving the comfort of human wear.

[0035] (4) Each active joint of the present invention is provided with a joint limiting device, which has a joint protection function and is safe and reliable when used, avoiding damage to human joints. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a schematic diagram of the structure of the upper limb exoskeleton robot of the present invention.

[0037] Figure 2 It is a schematic diagram of the shoulder internal rotation / external rotation mechanism of the present invention.

[0038] Figure 3 It is a schematic diagram of the shoulder outward swing / inward adduction mechanism of the present invention.

[0039] Figure 4 It is a schematic diagram of the upper arm strap mechanism of the present invention.

[0040] Figure 5 It is a schematic diagram of the shoulder flexion / extension effect of the upper limb exoskeleton of the present invention.

[0041] Figure 6 It is a schematic diagram of the outward swing / inward adduction effect of the shoulder of the upper limb exoskeleton of the present invention.

[0042] Figure 7 It is a schematic diagram of the internal rotation / external rotation effect of the shoulder of the upper limb exoskeleton of the present invention.

[0043] Figure 8 It is a flow chart of the control method of the present invention.

[0044] Description of reference numerals:

[0045] 1-forearm strap mechanism, 2-forearm, 3-elbow flexion / extension mechanism, 4-upper arm strap mechanism, 5-upper arm, 6-shoulder flexion / extension mechanism, 7-shoulder internal / external rotation mechanism, 8-shoulder external swing / adduction mechanism, 9-lasso, 10-back frame mechanism, 11-motor, 4-1-upper arm strap, 4-2-inertial measurement unit, 4-3-upper arm strap slider, 7-1-front end connecting rod, 7-2-first intermediate connecting rod, 7-3-second intermediate connecting rod, 7-4-rear end connecting rod, 8-1-shoulder fixing rod, 8-2-second lasso fixing frame, 8-3-Bowden cable, 8-4-driven pulley, 8-5-driven pulley fixing cover, 8-6-fifth deep groove ball bearing, 8-7-limiting pin, 8-8-third rotating shaft, 8-9-sixth deep groove ball bearing, 8-10-third bearing end cover. DETAILED DESCRIPTION

[0046] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0047] Combination Figure 1 An upper limb exoskeleton robot with a human-machine shoulder rotation centerline in a colinear manner comprises a back frame mechanism 10 and two groups of upper limb mechanisms, wherein the two groups of upper limb mechanisms are symmetrically arranged on both sides of the back frame mechanism, wherein the back frame mechanism is a vertically placed structure fixed to the back of a human body by a strap. The upper limb mechanism comprises an elbow flexion / extension mechanism 3, a shoulder flexion / extension mechanism 6, a shoulder external swing / adduction mechanism 8, a shoulder internal rotation / external rotation mechanism 7, and a strap mechanism 4, 1. The shoulder external swing / adduction mechanism 8 is connected to a motor 11 fixed to the back frame mechanism 10 by a lasso 9, and the driving torque is transmitted by the lasso. The shoulder flexion / extension mechanism 6 and the elbow flexion / extension mechanism 3 are directly driven by a driving reduction motor system 6, 3, and the shoulder internal rotation / external rotation mechanism 8 is a passive degree of freedom.

[0048] Among them, the lengths of the upper arms 5 and the lower arms 2 of the two sets of upper limb mechanisms can be adjusted to suit different wearers.

[0049] Among them, the elbow flexion / extension mechanism 3 includes a first motor, a first reducer, a first coupling, a lower arm rod, a first deep groove ball bearing, a second deep groove ball bearing, a first rotating shaft, an upper arm rod and a first bearing end cover. The lower end of the lower arm rod is designed to be U-shaped, and the first deep groove ball bearing and the second deep groove ball bearing are located in the circular holes on both sides of the U-shaped shape. The U-shaped opening shape allows the upper arm rod to rotate at an angle of 0-120°. The first motor is connected to the first reducer and fixed to the outside of the lower arm rod. The output shaft of the first reducer is connected to the first rotating shaft through the first coupling, and the first rotating shaft is connected to the upper arm rod through a spline. When the elbow joint of the upper limb of the human body performs flexion / extension movement, the output shafts of the first motor and the first reducer rotate to drive the first rotating shaft and the upper arm rod to rotate relative to the lower arm rod, so as to follow the movement of the human body and assist the human body in doing work.

[0050] Combination Figure 2 The shoulder internal rotation / external rotation mechanism 7 includes a front end connecting rod 7-1, a first intermediate connecting rod 7-2, a second intermediate connecting rod 7-3 and a rear end connecting rod 7-4. The connecting rods are connected by hinges. The rear end connecting rod 7-4 is designed to be U-shaped, and the internal opening angle of the U-shaped is 0-180°.

[0051] Combination Figure 1 , Figure 2 The shoulder flexion / extension mechanism 6 includes a second motor, a second reducer, a third deep groove ball bearing, a fourth deep groove ball bearing, a second rotating shaft, an upper arm rod and a second bearing end cover, wherein the upper arm rod is connected to the rear end connecting rod 7-4 of the shoulder internal rotation / external rotation mechanism through a deep groove ball bearing and a rotating shaft, and the U-shaped internal opening angle of the rear end connecting rod 7-4 makes the movable angle of the upper arm rod 0-180°, the third deep groove ball bearing and the fourth deep groove ball bearing are located in the U-shaped circular holes on both sides of the rear end connecting rod 7-4 of the shoulder internal rotation / external rotation mechanism, the second motor and the second reducer are connected and fixedly connected to the outer side of the rear end connecting rod 7-4 of the shoulder internal rotation / external rotation mechanism, the output shaft of the second reducer is connected to the second rotating shaft through a second coupling, and the second rotating shaft is connected to the upper arm rod through a spline. The output shaft of the second motor and the second reducer rotates to drive the upper arm rod to rotate relative to the rear end connecting rod 7-4 of the shoulder internal rotation / external rotation mechanism, thereby following the flexion / extension movement of the human shoulder joint and assisting the human body in doing work.

[0052] Combination Figure 1 , Figure 3The shoulder outward swing / inward retraction mechanism 8 includes a third motor, a third reducer, a driving pulley, a first lasso fixing frame, a shoulder fixing rod 8-1, a second lasso fixing frame 8-2, a Bowden cable 8-3, a driven pulley 8-4, a driven pulley fixing cover 8-5, a fifth deep groove ball bearing 8-6, a limit pin 8-7, a third rotating shaft 8-8, a sixth deep groove ball bearing 8-9 and a third bearing end cover 8-10. The end of the shoulder fixing rod 8-1 is designed to be U-shaped, and is connected to the connecting rod 7-1 at the front end of the shoulder inward / outward rotation mechanism through a deep groove ball bearing and a rotating shaft. The fifth deep groove ball bearing 8-6 and the sixth deep groove ball bearing 8-9 are located in the circular holes on both sides of the U-shape. One end of the limit pin 8-7 is fixed in the hole on the shoulder fixing rod 8-1, and the other end cooperates with the arc groove on the driven pulley 8-4. The angle of the arc groove is 120°, ensuring that the shoulder outward swing / inward swing angle is 0-120°. The driven pulley 8-4 is connected to the third rotating shaft 8-8 through a spline and a driven pulley fixing cover 8-5. The third motor and the third reducer can transmit the output torque to the driven pulley 8-4 connected to the third rotating shaft 8-8 through the Bowden cable 8-3 connected to the driving pulley, thereby driving the front end connecting rod 7-1 of the shoulder internal rotation / external rotation mechanism to rotate relative to the shoulder fixed rod 8-1. The rotation of the front end connecting rod 7-1 of the shoulder internal rotation / external rotation mechanism drives the exoskeleton upper limb to perform shoulder joint outward swing / inward movement, thereby achieving human body movement following and auxiliary work.

[0053] Combination Figure 1 , Figure 2 , Figure 3 The upper arm strap mechanism 4 binds the upper arm of the exoskeleton to the upper limb of the human body. When the human shoulder performs internal rotation / external rotation movement, it will drive the rear end connecting rod 7-4 of the shoulder internal rotation / external rotation mechanism 7 to move around the center line of the human shoulder internal rotation / external rotation, forming a virtual connecting rod, the fixed end of which is the rotation center of the human shoulder, and the movable end is the hinge connection between the rear end connecting rod 7-4 and the second intermediate connecting rod 7-3. The first intermediate connecting rod 7-2 is connected to the front end connecting rod 7-1 to form another connecting rod, the fixed end is the hinge connection between the first intermediate connecting rod 7-2 and the front end connecting rod 7-1, and the movable end is the hinge connection between the first intermediate connecting rod 7-2 and the second intermediate connecting rod 7-3. The front end connecting rod 7-1 is connected to the shoulder fixed rod of the shoulder swing / adduction mechanism 8, which limits the movement of the front end connecting rod 7-1 on the horizontal plane. The above mechanisms together constitute a double rocker mechanism, so that the rotation center line of the exoskeleton robot's shoulder internal rotation / external rotation is colinear with the rotation center line of the human shoulder's internal rotation / external rotation. The double rocker mechanism, in which the rotation center lines of each movable hinge are always perpendicular to the rotation center lines of the exoskeleton robot's shoulder external swing / adduction degree of freedom and flexion / extension degree of freedom, can transmit the torque of the exoskeleton robot's shoulder external swing / adduction and flexion / extension movements.

[0054] The shoulder fixing rod 8-1 of the shoulder swing / adduction mechanism 8 is fixedly connected to the back frame mechanism 10 and is located directly behind the human shoulder joint. The front end connecting rod 7-1 of the shoulder internal / external rotation mechanism 7 rotates relative to the shoulder fixing rod to ensure that the rotation center line of the exoskeleton robot's shoulder swing / adduction is colinear with the rotation center line of the swing / adduction freedom of the human shoulder joint.

[0055] When the human shoulder joint performs internal rotation / external rotation or outward swing / adduction movements, the above-mentioned double rocker mechanism allows the shoulder flexion / extension mechanism 6 to move with the human upper limb, ensuring that its rotation center line is colinear with the rotation center line of the flexion / extension of the human shoulder joint, so that the exoskeleton upper arm and the human upper arm maintain a fixed relative position, which can avoid the second motor from doing work due to the relative movement between the exoskeleton and the human upper limb, and can effectively reduce the output power of the second motor.

[0056] Combination Figure 1 , Figure 2 , Figure 5 , Figure 6 and Figure 7 As described above, the rotation center line of the exoskeleton robot's shoulder swing / adduction is J1, the rotation center line of the shoulder flexion / extension is J2, and the rotation center line of the shoulder internal rotation / external rotation is J3. The three rotation center lines are collinear with the corresponding rotation center lines of the human shoulder joint and intersect at the rotation center of the human shoulder joint.

[0057] Combination Figure 4 The upper arm band mechanism 4 includes an upper arm band 4-1, an inertial measurement unit 4-2, and an upper arm band slider 4-3. The upper arm band slider 4-3 can slide in the slide groove of the upper arm lower rod and is fixed by screws. By adjusting the position of the upper arm band slider 4-3, the upper arm band mechanism 4 can be located at different positions of the human arm, thereby improving the wearing comfort of the human body.

[0058] In order to obtain the movement information of the elbow and shoulder joints of the human upper limbs during movement, an inertial measurement unit needs to be installed. An inertial measurement unit is provided on the outside of the back frame mechanism 10 and located on the back of the human body, an inertial measurement unit is provided on the outside of the upper arm strap 4-1 and located on the back of the upper arm of the human body, and an inertial measurement unit is provided on the outside of the forearm strap of the forearm strap mechanism 1 and located on the back of the forearm of the human body. In order to accurately measure the angles of rotation of each active joint of the shoulder and elbow of the exoskeleton, it is necessary to install encoders at each active joint. Encoders are configured at the rotating joints of the elbow flexion / extension mechanism 3, the shoulder flexion / extension mechanism 6, and the shoulder swing / adduction 8 mechanism.

[0059] Combination Figure 8First, a mathematical model of the mechanism of the upper limb exoskeleton robot of the present invention is constructed. After the wearer puts on the upper limb exoskeleton robot of the present invention, the robot remains stationary for a certain period of time, and the initial information of each active joint encoder and each inertial measurement unit is collected. During the movement, the posture change of the inertial measurement unit installed at the upper limb strap relative to the reference point of the inertial measurement unit on the outside of the back frame is obtained through coordinate transformation, and then the movement information of the shoulder joint and elbow joint of the human upper limb is obtained. According to the information, the output of each active joint actuator of the exoskeleton is controlled, and the exoskeleton joint movement information obtained by the encoder is used as feedback to complete the closed-loop control, so as to realize the movement matching between the present invention and the wearer.

Claims

1. An upper limb exoskeleton robot with a human-machine shoulder rotation centerline in line, characterized in that: It comprises a back frame mechanism (10) and two groups of upper limb mechanisms symmetrically arranged on both sides of the back frame mechanism (10), wherein the upper limb mechanisms comprise an elbow flexion / extension mechanism (3), a shoulder flexion / extension mechanism (6), a shoulder external swing / adduction mechanism (8), a shoulder internal rotation / external rotation mechanism (7) and a strap mechanism; The shoulder internal rotation / external rotation mechanism (7) is respectively connected to the shoulder flexion / extension mechanism (6) and the shoulder external swing / adduction mechanism (8), forming a double rocker mechanism so that the rotation center lines of the three degrees of freedom of the shoulder of the exoskeleton robot intersect with the rotation center of the human shoulder joint, and the rotation center lines of each degree of freedom are collinear with each rotation center line of the human shoulder movement; The shoulder internal rotation / external rotation mechanism (7) comprises a front end connecting rod (7-1), a first intermediate connecting rod (7-2), a second intermediate connecting rod (7-3) and a rear end connecting rod (7-4) in sequence, and the connecting rods are connected by hinges; The front end connecting rod (7-1) is hinged to the shoulder swing-out / inward mechanism (8), the rear end connecting rod (7-4) is designed to be U-shaped, the internal opening angle of the U-shape is 0-180°, and the rear end connecting rod (7-4) is hinged to the shoulder flexion / extension mechanism (6); The shoulder flexion / extension mechanism (6) comprises a second motor, a second reducer, a third deep groove ball bearing, a fourth deep groove ball bearing, a second rotating shaft, a large arm upper rod and a second bearing end cover; The upper arm rod is connected to the rear end connecting rod (7-4) of the shoulder internal rotation / external rotation mechanism through a deep groove ball bearing and a rotating shaft, the U-shaped internal opening angle of the rear end connecting rod (7-4) makes the movable angle of the upper arm rod 0-180°, the third deep groove ball bearing and the fourth deep groove ball bearing are located in the circular holes on both sides of the U-shaped rear end connecting rod (7-4) of the shoulder internal rotation / external rotation mechanism, the second motor and the second reducer are connected and fixedly connected to the outer side of the rear end connecting rod (7-4) of the shoulder internal rotation / external rotation mechanism, the output shaft of the second reducer is connected to the second rotating shaft through a second coupling, and the second rotating shaft is connected to the upper arm rod through a spline; The shoulder external swing / adduction mechanism (8) is connected to a motor (11) fixed on a back frame mechanism (10) through a lasso (9), and the driving torque is transmitted through the lasso. The shoulder internal rotation / external rotation mechanism (7) is a passive degree of freedom; the shoulder flexion / extension mechanism (6) and the elbow flexion / extension mechanism (3) are directly driven by a driving reduction motor system; The shoulder swing-out / in mechanism (8) comprises a third motor, a third reducer, a driving pulley, a first lasso fixing frame, a shoulder fixing rod (8-1), a second lasso fixing frame (8-2), a Bowden cable (8-3), a driven pulley (8-4), a driven pulley fixing cover (8-5), a fifth deep groove ball bearing (8-6), a limiting pin (8-7), a third rotating shaft (8-8), a sixth deep groove ball bearing (8-9) and a third bearing end cover (8-10); The end of the shoulder fixing rod (8-1) is designed to be U-shaped and connected to the shoulder inward / outward rotation front end connecting rod (7-1) through a deep groove ball bearing and a rotating shaft. The fifth deep groove ball bearing (8-6) and the sixth deep groove ball bearing (8-9) are located in the circular holes on both sides of the U-shape. One end of the limiting pin (8-7) is fixed in the hole on the shoulder fixing rod (8-1), and the other end is matched with the arc groove on the driven pulley (8-4). The angle of the arc groove is 120 degrees, ensuring that the shoulder outward swing / inward angle is 0-120 degrees. The driven pulley (8-4) is connected to the third rotating shaft (8-8) through a spline and a driven pulley fixing cover (8-5).

2. The upper limb exoskeleton robot according to claim 1, characterized in that: The elbow flexion / extension mechanism (3) comprises a first motor, a first reducer, a first coupling, a lower arm rod, a first deep groove ball bearing, a second deep groove ball bearing, a first rotating shaft, an upper arm rod and a first bearing end cover; The lower end of the boom lower rod is designed to be U-shaped, and the first deep groove ball bearing and the second deep groove ball bearing are located in the circular holes on both sides of the U-shape. The U-shaped opening shape allows the rotation angle of the forearm upper rod to be 0-120°. The first motor is connected to the first reducer and is fixedly connected to the outside of the boom lower rod. The output shaft of the first reducer is connected to the first rotating shaft through the first coupling, and the first rotating shaft is connected to the forearm upper rod through a spline.

3. The upper limb exoskeleton robot according to claim 2, characterized in that: It also includes an upper arm strap mechanism (4) and a lower arm strap mechanism (1); The upper arm binding mechanism (4) comprises an upper arm binding (4-1), an inertial measurement unit (4-2), and an upper arm binding slider (4-3); the upper arm binding slider (4-3) slides in a sliding groove of the upper arm lower rod and is fixedly connected by screws.

4. The upper limb exoskeleton robot according to claim 3, characterized in that: The upper arm binding mechanism (4) binds the upper arm of the exoskeleton to the upper limb of the human body. When the human body's shoulder performs internal rotation / external rotation movement, it drives the rear end connecting rod (7-4) of the shoulder internal rotation / external rotation mechanism (7) to move around the center line of the human body's shoulder internal rotation / external rotation, forming a virtual connecting rod, the fixed end of which is the rotation center of the human body's shoulder, and the movable end is the hinge connection between the rear end connecting rod (7-4) and the second intermediate connecting rod (7-3); The first intermediate connecting rod (7-2) is connected to the front end connecting rod (7-1) to form another connecting rod, the fixed end is the hinge connection between the first intermediate connecting rod (7-2) and the front end connecting rod (7-1), and the movable end is the hinge connection between the first intermediate connecting rod (7-2) and the second intermediate connecting rod (7-3); The front end connecting rod (7-1) is connected to the shoulder fixing rod of the shoulder outward swing / inward retraction mechanism (8), thereby limiting the movement of the front end connecting rod (7-1) on the horizontal plane; The above mechanisms together constitute a double rocker mechanism, so that the rotation center line of the internal rotation / external rotation of the exoskeleton robot shoulder is colinear with the rotation center line of the internal rotation / external rotation of the human shoulder.

5. The upper limb exoskeleton robot according to claim 4, characterized in that: An inertial measurement unit is provided outside the back frame mechanism (10) and located at the back of the human body, an inertial measurement unit is provided outside the upper arm strap (4-1) and located at the back of the upper arm of the human body, and an inertial measurement unit is provided outside the forearm strap of the forearm strap mechanism (1) and located at the back of the forearm of the human body; The lengths of the upper arms (5) and lower arms (2) of the two sets of upper limb mechanisms can be adjusted according to different wearers.

6. The upper limb exoskeleton robot according to claim 5, characterized in that: The elbow flexion / extension mechanism (3), the shoulder flexion / extension mechanism (6), and the shoulder swing / adduction mechanism (8) are all provided with encoders at their rotational joints, and the back frame mechanism (10) is provided with a microprocessor, a CAN communication module, a circuit board, and a power supply.

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