Seven-degree-of-freedom upper-limb assistive exoskeleton

Abstract

The application relates to the field of rehabilitation medical devices and discloses a seven-degree-of-freedom upper limb assisting exoskeleton, which comprises a back plate, a shoulder part, an arm part and a palm part; the shoulder part comprises a shoulder rotating part, a shoulder-back connecting rotating part and a shoulder-back connecting sliding part; the arm part comprises an upper arm part and a lower arm part; the upper arm part comprises an upper arm first rotating part and an upper arm second rotating part; and the upper arm first rotating part is in variable-axis rotating connection with the shoulder rotating part. The variable-axis rotating connection mode conforms to the axis change in the flexion / extension process of the shoulder joint, solves the problem of the change of the rotating axis caused by the overall movement of the glenohumeral joint during large-scale rotation of the shoulder part, makes the movement process conform to the actual situation of human body movement, and makes the experience better during use. In addition, the application can realize symmetrical replacement of left and right upper limbs; a patient only needs to have components of a single upper limb, so that double upper limb rehabilitation training can be completed, and the expenditure of the patient is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of rehabilitation medical devices, in particular to a seven-degree-of-freedom upper limb assisting exoskeleton. BACKGROUND

[0002] With the development of society, the population is aging, and the incidence of diseases such as stroke and cerebral apoplexy is also increasing. Patients with upper limb motor dysfunction caused by stroke, cerebral apoplexy, and trauma need long-term assisted medical training. Rehabilitation medical devices are an important part of assisted medical training. Most of the current upper limb rehabilitation devices are fixed (trolleys), which are bulky and expensive. They are not suitable for patients to recover at home, and patients can only recover in medical institutions.

[0003] There are a few wearable upper limb assisting devices, for example: patent application No. CN201510103109.2 discloses a seven-degree-of-freedom upper limb assisting exoskeleton robot, which includes a wrist, a palm, and a finger. The wrist connects the palm, and the wrist includes a wrist ring gear and a wrist slider arranged on the wrist ring gear. The palm includes a palm guard plate, and the finger includes a thumb plate and a four-finger plate. It mainly assists the flexible movement of the human hand at multiple angles, but the freedom of the human shoulder and arm is greatly simplified, and there is no forearm rotation freedom. In addition, due to the structural design, the left and right limbs cannot be replaced, and the cost of purchase is high. Moreover, the shoulder joint rotates around a fixed axis during rotation, which does not conform to the change of the axis during the flexion / extension process of the human shoulder joint, resulting in a poor experience when the human body is used. SUMMARY

[0004] The present application overcomes the shortcomings of the prior art and provides a seven-degree-of-freedom upper limb assisting exoskeleton, which includes a back plate, a shoulder, an arm, and a palm. The upper arm first rotating member and the shoulder rotating member are connected by a variable-axis rotating connection, which conforms to the change of the axis during the flexion / extension process of the human shoulder joint and conforms to the ergonomic design. It is applied to the flexion / extension process of the shoulder joint, solves the problem of the change of the rotating axis caused by the overall movement of the glenohumeral joint during the large-scale rotation of the shoulder, and makes the movement process conform to the actual situation of human movement, resulting in a better experience when used. In addition, the upper limb composed of the shoulder, the arm, and the palm can be worn on the left upper limb of the human body or the right upper limb of the human body, realizing the replacement function and greatly reducing the cost.

[0005] The technical solution of the present application is as follows:

[0006] A seven-degree-of-freedom upper limb assisting exoskeleton, comprising:

[0007] a back plate, which provides ergonomic support for the back of the wearer;

[0008] Shoulder, the shoulder includes shoulder rotation piece, shoulder back connection rotation piece, shoulder back connection sliding piece; The shoulder back connection sliding piece is arranged in the left side or right side of back plate, and the shoulder back connection sliding piece is detachable sliding connection with back plate; The shoulder back connection rotation piece is rotation connection with the shoulder back connection sliding piece, and the shoulder rotation piece is rotation connection with the shoulder back connection rotation piece;

[0009] Arm, the arm includes upper arm and small arm, the upper arm includes upper arm first rotation piece and upper arm second rotation piece, the upper arm first rotation piece is variable-axis rotation connection with the shoulder rotation piece;The upper arm second rotation piece is rotation relative to the upper arm first rotation piece;The small arm includes small arm first rotation piece and small arm second rotation piece, the small arm first rotation piece is rotation connection with the upper arm second rotation piece, and the small arm second rotation piece is rotation relative to the small arm first rotation piece;

[0010] Palm, including palm first rotation piece and palm second rotation piece, the palm first rotation piece is connected with the small arm second rotation piece, and the palm second rotation piece is rotation relative to the palm first rotation piece;

[0011] Shoulder, arm and palm constitute upper limb, when the shoulder back connection sliding piece is arranged in the left side of back plate, the upper limb is worn in the left side upper limb of human body;When the shoulder back connection sliding piece is arranged in the right side of back plate, the upper limb is worn in the right side upper limb of human body.The upper limb can be worn in the right side upper limb of human body, and can also be worn in the left side upper limb of human body.By adjusting the position of shoulder back connection sliding piece, it is installed in one side of the left side or right side of back plate, and when specific use is replaced, only the shoulder back connection sliding piece is reinstalled in the other side.

[0012] As preferred, the upper arm first rotation piece and the shoulder rotation piece variable-axis rotation connection means that: the shoulder rotation piece is provided with a notch, one side of the shoulder rotation piece is provided with a sliding rail, and the other side is provided with a rack, the upper arm first rotation piece is provided with a boss passing through the notch;The sliding rail is provided with a sliding piece, the motor stator is fixedly arranged on the sliding piece, the upper part of the boss is connected with the motor rotor after passing through the notch, and the lower part of the boss is provided with a gear meshing with the rack.When the motor rotor rotates, the upper arm first rotation piece is driven to rotate along the shoulder rotation piece, the gear rotates along the rack, the upper part of the boss rotates in the notch, and the motor stator moves along the sliding rail with the sliding piece.

[0013] As preferred, the shoulder rotation piece and the shoulder back connection rotation piece are rotation connection along the fixed axis, the shoulder back connection rotation piece is provided with a motor, the rotor of the motor is connected with the shoulder rotation piece, and the stator of the motor is fixed on the shoulder back connection rotation piece.

[0014] As preferred, the shoulder rotating part is connected with the shoulder-back connecting rotating part through axis change, the shoulder-back connecting rotating part is provided with a notch, one side of the shoulder-back connecting rotating part is provided with a slide rail, and the other side is provided with a rack, the shoulder rotating part is provided with a boss passing through the notch; the slide rail is provided with a sliding part, the sliding part is fixedly provided with a motor stator, the boss upper part is connected with a motor rotor after passing through the notch, and the boss lower part is provided with a gear meshing with the rack. When the motor rotor rotates, the shoulder rotating part is driven to rotate along the shoulder-back connecting rotating part, the gear rotates along the rack, the boss upper part rotates in the notch, and the motor stator moves along the slide rail together with the sliding part.

[0015] As preferred, the back plate comprises a first back plate and a second back plate arranged in sequence, the positions of the first back plate and the second back plate are relatively fixed, the first back plate supports the upper back of the human body, and the second back plate supports the lower back of the human body; the first back plate comprises a first horizontal plate and a first vertical plate, the second back plate comprises a second horizontal plate and a second vertical plate, and the shoulder-back connecting sliding part is in sliding connection with the first horizontal plate; the first horizontal plate is provided with a limiting roller, and one end of the shoulder-back connecting sliding part is provided with a limiting assembly. The positions of the first back plate and the second back plate being relatively fixed means that a plurality of adjusting holes are vertically arranged on the first vertical plate and the second vertical plate, and a bolt is inserted into the adjusting hole to fix the positions of the first vertical plate and the second vertical plate.

[0016] As preferred, the upper arm first rotating part, the small arm first rotating part and the palm first rotating part are respectively provided with guide rails, the upper arm second rotating part, the small arm second rotating part and the palm second rotating part are respectively provided with sliding blocks corresponding to the guide rails, and the sliding blocks rotate around the guide rails; the guide rails are provided with a plurality of limiting balls, and the upper arm second rotating part, the small arm second rotating part and the palm second rotating part are respectively provided with limiting assemblies at two ends. The sliding blocks and the guide rails are matched, so that the upper arm second rotating part slides around the upper arm first rotating part, the small arm second rotating part slides around the small arm first rotating part, and the palm second rotating part slides around the palm first rotating part; and the limiting assemblies limit the sliding ranges of the upper arm second rotating part, the small arm second rotating part and the palm second rotating part.

[0017] Preferably, the upper arm second rotating member is provided with an upper arm adjusting member between the upper arm second rotating member and the small arm first rotating member, the upper arm adjusting member is provided with a plurality of adjusting holes, the upper arm second rotating member is correspondingly provided with a plurality of adjusting holes, and a plug pin is inserted into the adjusting holes to fix the position of the upper arm adjusting member and the upper arm second rotating member; the upper arm adjusting member is rotationally connected with the small arm first rotating member, and the upper arm adjusting member is provided with a motor, the stator of the motor is fixed on the upper arm adjusting member, and the rotor of the motor is connected with the small arm first rotating member; the small arm second rotating member is provided with a small arm adjusting member between the small arm second rotating member and the palm first rotating member, and the small arm adjusting member is rotationally connected with the palm first rotating member; the small arm adjusting member is provided with a plurality of adjusting holes, the upper arm second rotating member is correspondingly provided with a plurality of adjusting holes, and a plug pin is inserted into the adjusting holes to fix the position of the small arm adjusting member and the upper arm second rotating member.

[0018] Preferably, the shoulder and back connecting rotating member is rotationally connected with the shoulder and back connecting sliding member through a rotating structure, and the small arm adjusting member is rotationally connected with the palm first rotating member through a rotating structure.

[0019] Preferably, the back plate, the upper arm first rotating member, the small arm first rotating member and the palm second rotating member are all provided with a bandage hole for fixing a bandage.

[0020] Preferably, the rack is in the shape of a vertical line, an arc line or a parabolic line, and the corresponding shape of the slot is a vertical line, an arc line or a parabolic line.

[0021] Preferably, the limiting assembly comprises a limiting buckle and a limiting cover, and the limiting cover is inserted into the limiting buckle for limiting.

[0022] Preferably, the rotation angle of the upper arm second rotating member is plus or minus 35°, the rotation angle of the small arm second rotating member is plus or minus 90°, and the rotation angle of the palm second rotating member is plus or minus 50°.

[0023] The design starting point, concept and beneficial effects of the present application adopting the above technical scheme are as follows:

[0024] (1) The seven-degree-of-freedom upper limb assisting exoskeleton of the present application has a compact structure, is convenient to wear, occupies a small space, has a light weight, is attached to the body of a patient during movement, and does not invade external space.

[0025] (2) Secondly, the present application can realize symmetrical replacement of left and right upper limbs, and a patient only needs to have a single upper limb component to complete double upper limb rehabilitation training. The shoulder and back connecting sliding member only needs to be reinstalled on the other side. The product performance cost ratio is improved, and the patient's expenditure is reduced.

[0026] (3) More importantly, the axis of rotation of the glenohumeral joint can be moved during the flexion / extension of the shoulder joint, realizing the change of the axis during the flexion / extension of the shoulder joint. The movement process is closer to the actual situation of human movement, and the experience is better during use. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 Schematic diagram of the three-dimensional structure of a single arm in the embodiment of the present application Figure 1 ;

[0028] Figure 2 Schematic diagram of the three-dimensional structure of a single arm in the embodiment of the present application Figure 2 ;

[0029] Figure 3 Schematic diagram of the three-dimensional structure of a double arm in the embodiment of the present application Figure 1 ;

[0030] Figure 4 Schematic diagram of the three-dimensional structure of a double arm in the embodiment of the present application Figure 1 ;

[0031] Figure 5 Schematic diagram of the three-dimensional structure of an upper back plate in the embodiment of the present application Figure 1 ;

[0032] Figure 6 Schematic diagram of the three-dimensional structure of an upper back plate in the embodiment of the present application Figure 2 ;

[0033] Figure 7 Schematic diagram of the three-dimensional structure of a middle back plate in the embodiment of the present application Figure 1 ;

[0034] Figure 8 Schematic diagram of the three-dimensional structure of a middle back plate in the embodiment of the present application Figure 2 ;

[0035] Figure 9 Schematic diagram of the three-dimensional structure of a lower back plate in the embodiment of the present application Figure 1 ;

[0036] Figure 10 Schematic diagram of the three-dimensional structure of a lower back plate in the embodiment of the present application Figure 2 ;

[0037] Figure 11 Schematic diagram of the three-dimensional structure of a roller in the embodiment of the present application Figure 1 ;

[0038] Figure 12 Schematic diagram of the three-dimensional structure of a roller in the embodiment of the present application Figure 2 ;

[0039] Figure 13Fig. 1 is a perspective view of a shoulder and back connecting sliding member according to the present application; Figure 1 ;

[0040] Figure 14 Fig. 2 is a perspective view of a shoulder and back connecting rotating member according to the present application; Figure 2 ;

[0041] Figure 15 Fig. 3 is a perspective view of a first, second, third or fourth limiting cover according to the present application;

[0042] Figure 16 Fig. 4 is a perspective view of a shoulder rotating member according to the present application;

[0043] Figure 17 Fig. 5 is a perspective view of a shoulder rotating member according to the present application; Figure 1 ;

[0044] Figure 18 Fig. 6 is a perspective view of a shoulder rotating member according to the present application; Figure 2 ;

[0045] Figure 19 Fig. 7 is a perspective view of a sliding block according to the present application; Figure 1 ;

[0046] Figure 20 Fig. 8 is a perspective view of a sliding block according to the present application; Figure 2 ;

[0047] Figure 21 Fig. 9 is a perspective view of a first upper arm rotating member according to the present application; Figure 1 ;

[0048] Figure 22 Fig. 10 is a perspective view of a first upper arm rotating member according to the present application; Figure 2 ;

[0049] Figure 23 Fig. 11 is a perspective view of a second upper arm rotating member according to the present application; Figure 1 ;

[0050] Figure 24 Fig. 12 is a perspective view of a second upper arm rotating member according to the present application; Figure 2 ;

[0051] Figure 25 Fig. 13 is a perspective view of an upper arm adjusting member according to the present application; Figure 1 ;

[0052] Figure 26 Fig. 14 is a perspective view of an upper arm adjusting member according to the present application; Figure 2;

[0053] Figure 27 Schematic diagram of the three-dimensional structure of the first rotating member of the forearm in the embodiment of the present application Figure 1 ;

[0054] Figure 28 Schematic diagram of the three-dimensional structure of the first rotating member of the forearm in the embodiment of the present application Figure 2 ;

[0055] Figure 29 Schematic diagram of the three-dimensional structure of the second rotating member of the forearm in the embodiment of the present application Figure 1 ;

[0056] Figure 30 Schematic diagram of the three-dimensional structure of the second rotating member of the forearm in the embodiment of the present application Figure 2 ;

[0057] Figure 31 Schematic diagram of the three-dimensional structure of the adjusting member of the forearm in the embodiment of the present application Figure 1 ;

[0058] Figure 32 Schematic diagram of the three-dimensional structure of the adjusting member of the forearm in the embodiment of the present application Figure 2 ;

[0059] Figure 33 Schematic diagram of the three-dimensional structure of the first rotating member of the palm in the embodiment of the present application Figure 1 ;

[0060] Figure 34 Schematic diagram of the three-dimensional structure of the first rotating member of the palm in the embodiment of the present application Figure 2 ;

[0061] Figure 35 Schematic diagram of the three-dimensional structure of the second rotating member of the palm in the embodiment of the present application Figure 1 ;

[0062] Figure 36 Schematic diagram of the three-dimensional structure of the second rotating member of the palm in the embodiment of the present application Figure 2 ;

[0063] Figure 37 Schematic diagram of the three-dimensional structure of the shoulder rotating member and the first rotating member of the upper arm in the embodiment of the present application after the motor and the sliding block are installed

[0064] Figure 38 Schematic diagram of the three-dimensional structure of the shoulder rotating member and the boss in the embodiment of the present application

[0065] Figure 39 Schematic diagram of the three-dimensional structure of the shoulder joint when the axis is changed laterally in the embodiment of the present application Figure 1 ;

[0066] Figure 40 Schematic diagram of the three-dimensional structure of the shoulder joint in the embodiment when the axis of rotation is changed laterally Figure 2 ;

[0067] Figure 41 Schematic diagram of the three-dimensional structure of the shoulder joint in the embodiment when the axis of rotation is changed laterally Figure 3 .

[0068] The reference signs are: upper back plate 1; first horizontal plate 101; first vertical plate 102; roller 103; roller fixing hole 1011; first binding hole 1012; first adjusting hole 1021; middle back plate 2; second binding hole 201; second adjusting hole 202; lower back plate 3; second horizontal plate 301; second vertical plate 302; third binding hole 3011; third adjusting hole 3021; shoulder back connecting sliding piece 4; first limiting buckle 401; first limiting cover 402; first hinge 403; shoulder back connecting rotating piece 5; first motor 501; first motor stator fixing hole 502; shoulder rotating piece 6; first motor rotor fixing hole 601; notch 602; sliding rail 603; rack 604; shoulder side sliding piece 605; second motor stator fixing hole 6051; second motor 606; upper arm first rotating piece 7; boss 701; second motor rotor fixing hole 702; fourth binding hole 703; gear 704; first guide rail 705; first limiting ball fixing hole 706; upper arm second rotating piece 8; first sliding block 805; second limiting buckle 801; second limiting cover 802; fourth adjusting hole 803; upper arm adjusting piece 9; fifth adjusting hole 901; third motor stator fixing hole 902; third motor 903; small arm first rotating piece 10; fifth binding hole 1001; third motor rotor fixing hole 1002; second guide rail 1003; second limiting ball fixing hole 1004; small arm second rotating piece 11; second sliding block 1101; third limiting buckle 1102; third limiting cover 1103; sixth adjusting hole 1104; small arm adjusting piece 12; seventh adjusting hole 1201; second hinge 1202; palm first rotating piece 13; third guide rail 1301; third limiting ball fixing hole 1302; palm second rotating piece 14; third sliding block 1401; fourth limiting buckle 1402; fourth limiting cover 1403; sixth binding hole 1404. DETAILED DESCRIPTION

[0069] In order to enable the above-mentioned objects, features and advantages of the present application to be more clearly understood and appreciated, reference will be made, without limitation, to the following detailed description of specific embodiments of the present application that implemented the present application and the appended drawings. It is to be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0070] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, it will be apparent to one skilled in the art that the present application can be practiced without the specific details set forth in this description. In other instances, well-known methods have not been described in detail in order not to unnecessarily obscure aspects of the present application.

[0071] In the description of the present application, the term "at least one" means one or more than one, unless specifically defined otherwise. The terms "first", "second", "third", etc. are used only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0072] The specific embodiments of the present application are as follows:

[0073] Embodiment: The present application provides a seven-degree-of-freedom upper limb assistive exoskeleton, the main purpose of which is to assist patients in performing upper limb rehabilitation exercises. The patient fixes the exoskeleton to the patient's shoulder, chest, abdomen, upper arm, forearm and palm through the binding belt. Through the cooperation of each component, the patient can perform limb movement, which can achieve:

[0074] 1) flexion / extension of the shoulder joint (completed by the shoulder rotating member 6 and the upper arm first rotating member 7);

[0075] 2) adduction / abduction of the shoulder joint (completed by the shoulder back connecting rotating member 5 and the shoulder rotating member 6);

[0076] 3) internal rotation / external rotation of the upper arm (completed by the upper arm first rotating member 7 and the upper arm second rotating member 8);

[0077] 4) flexion / extension of the elbow joint (completed by the upper arm adjusting member 9 and the forearm first rotating member 10);

[0078] 5) pronation / supination of the forearm (completed by the forearm first rotating member 10 and the forearm second rotating member 11);

[0079] 6) palm / dorsal flexion of the wrist (completed by the forearm adjusting member 12 and the palm first rotating member 13);

[0080] 7) ulnar / radial flexion of the wrist (completed by the palm first rotating member 13 and the palm second rotating member 14);

[0081] Seven degrees of freedom movement, among which flexion / extension of the shoulder joint, adduction / abduction of the shoulder joint and flexion / extension of the elbow joint can be completed by motor assistance to assist patients in completing rehabilitation. The motor assistance can also be changed to resistance according to the rehabilitation situation to cooperate with the rehabilitation process.

[0082] The following will be described in detail by structure:

[0083] As Figures 1-4As shown, a seven-degree-of-freedom upper limb assisting exoskeleton includes: a back plate, a shoulder, an arm, a palm; and a first motor 501 for assisting shoulder joint movement, completing partial rotation movement of the shoulder joint, a second motor 606 completing flexion / extension movement of the shoulder joint, a third motor 903 for assisting elbow joint movement, completing flexion / extension movement of the elbow joint.

[0084] The back plate provides ergonomic support for the wearer's back; the back plate includes an upper back plate 1, a middle back plate 2, and a lower back plate 3; as shown in Figure 5 、 6 The upper back plate 1 is placed above the patient's back, and the upper back plate 1 includes a first horizontal plate 101 and a first vertical plate 102. The upper edge of the first horizontal plate 101 is horizontally placed, and a roller fixing hole 1011 is symmetrically arranged on the first horizontal plate 101 for fixing a roller 103. A first binding hole 1012 is horizontally arranged on the first horizontal plate 101 for fixing a binding. The first adjusting hole 1021 is arranged on the first vertical plate 102 to adjust the relative fixed position of the upper back plate 1 and the middle back plate 2, so as to adapt to patients of different heights.

[0085] As shown in Figure 7 、 8 The middle back plate 2 connects the upper back plate 1 and the lower back plate 3, and serves to adjust the length to adapt to patients of different heights. The two sides of the middle back plate 2 are provided with second binding holes 201. The binding starts from the upper back plate 1, winds around the patient's shoulder and is fixed on the middle back plate 2. The double-shoulder binding can be fixed again in front of the chest, similar to the chest buckle of a mountaineering backpack, to fix the exoskeleton on the patient's body. The middle back plate 2 is provided with a second adjusting hole 202 to cooperate with the upper back plate 1 and the lower back plate 3 to adjust the length of the back plate.

[0086] As shown in Figure 9 、 10 The lower back plate 3 is placed on the patient's back corresponding to the height of the abdomen. The lower back plate 3 includes a second horizontal plate 301 and a second vertical plate 302. The second horizontal plate 301 is provided with a third binding hole 3011 for fixing the abdominal binding to fix the exoskeleton on the patient's body. The second vertical plate 302 has a third adjusting hole 3021 to adjust the position corresponding to the middle back plate 2, so as to adapt to patients of different heights. The lower back plate 3 and the middle back plate 2 can also be designed as a whole.

[0087] The shoulder part includes a shoulder rotating part 6, a shoulder-back connecting rotating part 5, and a shoulder-back connecting sliding part 4. One end of the shoulder rotating part 6 is rotationally connected to one end of the shoulder-back connecting rotating part 5. The other end of the shoulder-back connecting rotating part 5 is rotationally connected to one end of the shoulder-back connecting sliding part 4 through a first hinge 403. The shoulder-back connecting sliding part 4 is slidingly connected to the back plate.

[0088] As shown in Figure 11 ,12 As shown, the rollers 103 are fixed to the first horizontal plate 101 of the upper back plate 1, and are arranged in groups of four on each side, and limit the position of the shoulder-back connecting sliding member 4, so that it can only move horizontally.

[0089] As shown in Figure 2 , 13 , 14, the shoulder-back connecting sliding member 4 is used to assist shoulder joint movement, and to complete horizontal decomposed movement. The shoulder-back connecting sliding member 4 moves horizontally relative to the first horizontal plate 101 of the upper back plate 1, and one end of the shoulder-back connecting sliding member 4 is provided with a first limiting buckle 401, and a first limiting cover 402 is inserted into the first limiting buckle 401 to limit the horizontal movement range of the shoulder-back connecting sliding member 4. The other end of the shoulder-back connecting sliding member 4 is provided with a first hinge 403. The first hinge 403 connects the shoulder-back connecting sliding member 4 and the shoulder-back connecting rotating member 5, and is used to ensure that the two can rotate relative to each other. It should be noted that the hinge is a specific embodiment of a rotating structure, and can also be replaced by holes on the two connecting members and an additional pin shaft. At this time, the two connecting members should have corresponding mounting holes for relative rotation. That is, if the shoulder-back connecting sliding member 4 and the shoulder-back connecting rotating member 5 have corresponding holes, a pin shaft can be used to connect the two. Similarly, the rotating structure used between the forearm adjusting member 12 and the palm first rotating member 13.

[0090] As shown in Figure 1 , 2 , 16, the shoulder-back connecting rotating member 5 is used to assist shoulder joint movement, and to complete partial rotation of the shoulder joint under the cooperation of the shoulder-back connecting sliding member 4 and the rollers 103 of the first horizontal plate 101, such as chest expansion / containment movement, etc. The shoulder-back connecting rotating member 5 is provided with a first motor stator fixing hole 502 for fixing the stator of the first motor 501.

[0091] As shown in Figure 1 , the stator of the first motor 501 is fixed to the shoulder-back connecting rotating member 5, and the rotor of the first motor 501 is fixed to the shoulder rotating member 6, so that the shoulder rotating member 6 rotates relative to the shoulder-back connecting rotating member 5, thereby completing partial rotation of the shoulder joint, such as abduction / adduction of the shoulder joint.

[0092] As shown in Figure 17 , 18 , one end of the shoulder rotating member 6 is provided with a first motor rotor fixing hole 601 for connecting the rotor of the first motor 501, so that the whole shoulder rotating member 6 rotates relative to the shoulder-back connecting rotating member 5. The other end of the shoulder rotating member 6 is provided with a notch 602, the outer surfaces on both sides of the notch 602 are provided with sliding rails 603, and the inner surfaces are provided with a rack 604 having a guiding effect. The rack 604 can be of other shapes (arc, parabola, etc.), and is used to accurately match the changes in the shoulder joint axis.

[0093] AsFigure 19 、 20 As shown in the figure, the shoulder side sliding part 605 is arranged on the sliding rail 603, the sliding rail 603 can support the shoulder side sliding part 605 to slide relative to the shoulder rotating part 6, and the second motor stator fixing hole 6051 is arranged on the shoulder side sliding part 605 for fixing the stator of the second motor 606.

[0094] The arm part includes an upper arm part and a small arm part. Figure 21 、 22 As shown in the figure, the upper arm part includes an upper arm first rotating part 7, an upper arm second rotating part 8, and an upper arm adjusting part 9, the upper arm first rotating part 7 is connected with the shoulder rotating part 6 in variable axis rotation, and the upper arm second rotating part 8 rotates relative to the upper arm first rotating part 7.

[0095] The upper arm first rotating part 7 is used for assisting shoulder joint movement, the boss 701 is arranged on the upper arm first rotating part 7 and partially passes through the slot 602, the second motor rotor fixing hole 702 is arranged on the upper part of the boss 701, the boss 701 is connected with the rotor of the second motor 606 after passing through the slot 602, and the gear 704 is arranged on the lower part of the boss 701 and engages with the rack 604; when the rotor of the second motor 606 rotates, the upper arm first rotating part 7 is driven to rotate, when the upper arm first rotating part 7 rotates, the gear 704 rotates relative to the rack 604 and starts to move, at this time, the axis of the second motor 606 moves relatively (coaxial with the gear 704), at this time, the shoulder side sliding part 605 moves synchronously, so as to ensure that the axis of the second motor 606 is coaxial with the axis of the gear 704 on the upper arm first rotating part 7. The sliding rail 603 can be of other shapes and complete the movement of the axis in cooperation with the rack 604.

[0096] Specifically, when the second motor 606 rotates, the flexion / extension movement of the shoulder joint can be completed. However, the rotation axis of the flexion / extension movement of the shoulder joint is non-fixed and changes with the rotation angle, so the upper arm first rotating part 7 can change the position of the axis according to the change of the rotation angle. The fourth binding belt hole 703 for fixing the upper arm is further arranged on the upper arm first rotating part 7, and the upper arm first rotating part 7 is bound to the upper arm by the fourth binding belt hole 703.

[0097] The first guide rail 705 is arranged on the lower part of the upper arm first rotating part 7, the first guide rail 705 is used for supporting the upper arm second rotating part 8 to rotate relative to the upper arm first rotating part 7, and the first limit ball fixing hole 706 is arranged on the first guide rail 705.

[0098] As shown in the figure, Figure 23 、 24As shown, the upper arm second rotating member 8 rotates relative to the upper arm first rotating member 7 to assist the upper arm to complete the internal rotation / external rotation action. The upper arm second rotating member 8 is provided with a first sliding block 805 cooperating with the first guide rail 705 of the upper arm first rotating member 7, so that the upper arm second rotating member 8 can rotate around the upper arm first rotating member 7. The two ends of the upper arm second rotating member 8 are provided with a second limiting buckle 801, and a second limiting cover 802 is inserted into the second limiting buckle 801 to cooperate with a limiting ball to limit the rotation angle of the upper arm second rotating member 8. In the embodiment, the rotation angle of the upper arm second rotating member 8 is plus or minus 35°. The upper arm second rotating member 8 is also provided with a fourth adjusting hole 803, which can cooperate with the upper arm adjusting member 9 to adjust the length of the upper arm for different patients.

[0099] As shown in Figure 25 , 26 As shown, the upper arm adjusting member 9 is provided with a fifth adjusting hole 901, which can cooperate with the fourth adjusting hole 803 of the upper arm second rotating member 8 to adjust the fitting length of the upper arm, suitable for different patients. The upper arm adjusting member 9 is provided with a third motor stator fixing hole 902.

[0100] As shown in Figure 27 , 28 As shown, the forearm part includes a forearm first rotating member 10, a forearm second rotating member 11, and a forearm adjusting member 12. The forearm first rotating member 10 rotates relative to the upper arm second rotating member 8, and the forearm second rotating member 11 rotates relative to the forearm first rotating member 10.

[0101] The forearm first rotating member 10 is used to assist the elbow joint movement. The forearm first rotating member 10 is provided with a fifth binding hole 1001, by which the forearm first rotating member 10 is bound to the patient's forearm. The upper part of the forearm first rotating member 10 corresponding to the elbow joint part is provided with a third motor rotor fixing hole 1002. The forearm first rotating member 10 is also provided with a second guide rail 1003 for supporting the forearm second rotating member 11 to rotate relative thereto. The second guide rail 1003 is provided with a second limiting ball fixing hole 1004.

[0102] The stator of the third motor 903 is fixed on the upper arm adjusting member 9, and the rotor of the third motor 903 is connected to the forearm first rotating member 10. When the third motor 903 rotates, the flexion / extension movement of the elbow joint can be completed.

[0103] As shown in Figure 29 , 30As shown, the forearm second rotating part 11 rotates relative to the forearm first rotating part 10 to assist the forearm to complete the pronation / supination action. The second sliding block 1101 on the forearm second rotating part 11 cooperates with the second guide rail 1003 of the forearm first rotating part 10 to enable the forearm second rotating part 11 to rotate around the forearm first rotating part 10. The two ends of the forearm second rotating part 11 are provided with third limiting buckles 1102, and the third limiting covers 1103 are inserted into the third limiting buckles 1102 to cooperate with the limiting ball to limit the rotation angle of the forearm second rotating part 11. In the embodiment, the rotation angle of the forearm second rotating part 11 is plus or minus 90°. The forearm second rotating part 11 is also provided with a sixth adjusting hole 1104 to cooperate with the forearm adjusting part 12 to adjust the forearm length for different patients.

[0104] As shown in Figure 31 , 32 The forearm adjusting part 12 is provided with a seventh adjusting hole 1201, and the seventh adjusting hole 1201 cooperates with the sixth adjusting hole 1104 of the forearm second rotating part 11 to adjust the forearm fitting length for different patients.

[0105] The forearm adjusting part 12 is provided with a second hinge 1202, and the forearm adjusting part 12 is connected with the palm first rotating part 13 through the second hinge 1202. The first hinge 403 and the second hinge 1202 are used to ensure that the two parts connected therewith can rotate relative to each other.

[0106] As shown in Figure 33 , 34 The palm includes a palm first rotating part 13 and a palm second rotating part 14, and the palm second rotating part 14 rotates relative to the palm first rotating part 13.

[0107] The palm first rotating part 13 is used to assist the wrist joint movement, and the forearm adjusting part 12, the palm first rotating part 13 and the second hinge 1202 can complete the palm / dorsal flexion movement of the wrist joint. The palm first rotating part 13 is also provided with a third guide rail 1301 for supporting the palm second rotating part 14 to rotate relative thereto, and the third guide rail 1301 is provided with a third limiting ball fixing hole 1302.

[0108] As shown in Figure 35 , 36As shown, the palm second rotating part 14 rotates relative to the palm first rotating part 13 to assist the wrist joint to complete the ulnar / radial flexion action. The third sliding block 1401 on the palm second rotating part 14 cooperates with the third guide rail 1301 of the palm first rotating part 13 to enable the palm second rotating part 14 to rotate around the wrist joint. The two ends of the palm second rotating part 14 are provided with fourth limiting buckles 1402, and the fourth limiting covers 1403 are inserted into the fourth limiting buckles 1402 to cooperate with the limiting ball to limit the rotation angle of the palm second rotating part 14. In the embodiment, the rotation angle of the palm second rotating part 14 is 50°. The sixth binding hole 1404 is further arranged on the palm second rotating part 14 to fix the palm second rotating part 14 at the palm of the patient.

[0109] As shown in the figure, Figure 5 As shown in the figure, it is a structural schematic diagram of the first limiting cover 402, the second limiting cover 802, the third limiting cover 1103 or the fourth limiting cover 1403. The cover cooperates with the buckle to limit the position, and other ways can also be used instead.

[0110] The variable-axis rotating device for an exoskeleton includes a first connecting piece, a second connecting piece and a motor. A notch is formed in the first connecting piece. A slide rail is arranged on one side of the first connecting piece, and a rack is arranged on the other side. The second connecting piece is provided with a boss penetrating through the notch. A sliding piece is arranged on the slide rail, and the sliding piece fixes a motor stator. The boss is connected with a motor rotor after penetrating through the notch. The lower part of the boss is provided with a gear meshing with the rack.

[0111] As shown in the figure, Figure 37 The first connecting piece is a shoulder rotating part 6 in the figure, and the second connecting piece is an upper arm first rotating part 7 in the figure. Figure 37 It is a three-dimensional structural schematic diagram of the shoulder rotating part 6 cooperating with the upper arm first rotating part 7 and the second motor 606 cooperating with the shoulder side sliding part 605 after the embodiment of the application. It is one of the embodiments of the variable-axis rotating device for an exoskeleton. In addition, the device can also be applied in the adduction / abduction movement of the shoulder and can also be applied in the ulnar / radial flexion movement of the wrist, and the principles are the same.

[0112] As shown in the figure, Figure 38 When the motor rotates, the gear 704 meshes with the rack 604 and moves along the notch 602.

[0113] As shown in the figure, Figure 39 It is a three-dimensional structural schematic diagram when the shoulder joint side variable-axis rotates. At this time, the upper arm of the human body is in the state of natural drooping, the boss 701 is at the bottom end of the notch 602, and the gear 704 is at the lower end of the rack 604. When the human arm is lifted to the side until it is lifted flat, the relationship between the shoulder rotating part 6 and the upper arm first rotating part 7 isFigure 40 As shown, at this time, the boss 701 is in the middle of the notch 602, and the gear 704 is in the middle of the rack 604; when the human arm continues to be raised to the side until it is perpendicular to the shoulder, at this time, the relationship between the shoulder rotating part 6 and the upper arm first rotating part 7 is Figure 41 As shown, at this time, the boss 701 is in the upper end of the notch 602, and the gear 704 is in the upper end of the rack 604.

[0114] In summary, the present application moves the rotating axis of the glenohumeral joint during the flexion / extension process of the shoulder joint, realizes the change of the axis during the flexion / extension process of the shoulder joint, and makes the movement process closer to the actual situation of human movement. This method can also be used in the adduction / abduction movement process of the shoulder joint, and can also be used in the ulnar / radial flexion movement process of the wrist. The movement axis trajectory can not be a straight line, but can be an arc, a curve, etc. The shape of the rack 604 and the notch 602 (shoulder rotating part 6) and the shape of the cooperating guide rail (shoulder rotating part 6 and shoulder side sliding part) can be changed, so as to change the cooperating axis change trajectory.

[0115] The shoulder, arm and palm form an upper limb, like Figures 1-4 As shown, the upper limb can be worn on the right upper limb of the human body, or can be worn on the left upper limb of the human body. In actual application, the position of the shoulder-back connecting sliding part 4 is changed so as to be installed on one side of the left side or the right side of the back plate; in order to realize symmetrical replacement, the rotation angle range of the first motor 501, the second motor 606 and the third motor 903 needs to be re-set according to the assembly position (left / right), but since the rotation range of each rotating part is central symmetrical, after the left and right upper limbs are replaced symmetrically, the movement range of each joint is completely consistent. And after the left and right upper limbs are replaced symmetrically, since the rack 604 on the shoulder rotating part 6 and the gear 704 on the upper arm first rotating part 7 are in a mirror image state with the original position, therefore, after replacement, they have the same axis change trajectory and function.

[0116] The specific operation mode is: (1) pull out the first limiting cover 402 from the first limiting buckle 401, move the shoulder-back connecting sliding part 4 horizontally so that it moves out from one end of the first horizontal plate 101; (2) slide the shoulder-back connecting sliding part 4 horizontally into the other end of the first horizontal plate 101, and then insert the first limiting cover 402 into the first limiting buckle 401; (3) re-set the rotation angle of the first motor 501, the second motor 606 and the third motor 903 according to the assembly position left / right.

Claims

1. A seven-degree-of-freedom upper-limb assistive exoskeleton, characterized by The utility model provides an upper limb support device, including: Back plate provides the ergonomic support of the back of the wearer; Shoulder, the shoulder includes shoulder rotation piece, shoulder back connection rotation piece, shoulder back connection sliding piece, the shoulder back connection sliding piece sets up left side or right side of back plate, shoulder back connection sliding piece with back plate detachable sliding connection, shoulder back connection rotation piece with shoulder back connection sliding piece rotation connection, shoulder rotation piece with shoulder back connection rotation piece rotation connection; Arm, the arm includes upper arm and small arm, the upper arm includes upper arm first rotation piece and upper arm second rotation piece, the upper arm first rotation piece with shoulder rotation piece variable axis rotation connection, the upper arm second rotation piece relative to upper arm first rotation piece rotates, the small arm includes small arm first rotation piece and small arm second rotation piece, the small arm first rotation piece with upper arm second rotation piece rotation connection, small arm second rotation piece relative to small arm first rotation piece rotates; Palm, including palm first rotation piece and palm second rotation piece, the palm first rotation piece is connected with the small arm second rotation piece, and the palm second rotation piece rotates relative to the palm first rotation piece; Shoulder, arm and palm constitute upper limb, when the shoulder back connection sliding piece sets up left side of back plate, the upper limb is worn in left upper limb of human body, when the shoulder back connection sliding piece sets up right side of back plate, the upper limb is worn in right upper limb of human body; The upper arm first rotation piece with shoulder rotation piece variable axis rotation connection means that the shoulder rotation piece is equipped with a notch, one side of the shoulder rotation piece is equipped with a slide rail, the other side is equipped with a rack, the upper arm first rotation piece is equipped with a boss passing through the notch, the slide rail is equipped with a sliding piece, the sliding piece is fixedly equipped with a motor stator, the upper part of the boss is connected with a motor rotor after passing through the notch, and the lower part of the boss is equipped with a gear meshing with the rack; The upper arm first rotation piece, the small arm first rotation piece and the palm first rotation piece are respectively equipped with guide rails, the upper arm second rotation piece, the small arm second rotation piece and the palm second rotation piece are respectively equipped with sliding blocks, the sliding blocks rotate around the guide rails, and a plurality of limiting balls are arranged on the guide rails.

2. The 7-DOF upper-limb assistive exoskeleton according to claim 1, characterized in that: The shoulder rotation piece and the shoulder back connection rotation piece are rotationally connected along a fixed axis, the shoulder back connection rotation piece is equipped with a motor, the rotor of the motor is connected with the shoulder rotation piece, and the stator of the motor is fixed on the shoulder back connection rotation piece.

3. The 7-DOF upper-limb assistive exoskeleton of claim 1, wherein: The shoulder rotation piece and the shoulder back connection rotation piece are rotationally connected along a fixed axis, the shoulder back connection rotation piece is equipped with a notch, one side of the shoulder back connection rotation piece is equipped with a slide rail, the other side is equipped with a rack, the shoulder rotation piece is equipped with a boss passing through the notch, the slide rail is equipped with a sliding piece, the sliding piece is fixedly equipped with a motor stator, the upper part of the boss is connected with a motor rotor after passing through the notch, and the lower part of the boss is equipped with a gear meshing with the rack.

4. The 7-DOF upper-limb assistive exoskeleton of claim 1, wherein: The back plate comprises a first back plate and a second back plate arranged in a top-bottom manner, the positions of the first back plate and the second back plate are fixed, the first back plate supports the upper back of the human body, and the second back plate supports the lower back of the human body; the first back plate comprises a first horizontal plate and a first vertical plate, the second back plate comprises a second horizontal plate and a second vertical plate, and the shoulder-back connecting sliding member is slidably connected with the first horizontal plate; the first horizontal plate is provided with a limiting roller, and one end of the shoulder-back connecting sliding member is provided with a limiting assembly.

5. The 7-DOF upper-limb assistive exoskeleton of claim 1, wherein: The upper arm adjusting member is provided between the upper arm second rotating member and the small arm first rotating member, a plurality of adjusting holes are arranged on the upper arm adjusting member and the upper arm second rotating member, and a pin is inserted into the adjusting holes to fix the positions of the upper arm adjusting member and the upper arm second rotating member; the upper arm adjusting member is rotatably connected with the small arm first rotating member, a motor is arranged on the upper arm adjusting member, a stator of the motor is fixed on the upper arm adjusting member, and a rotor of the motor is connected with the small arm first rotating member; the small arm adjusting member is rotatably connected with the palm first rotating member; a plurality of adjusting holes are arranged on the small arm adjusting member and the upper arm second rotating member, and a pin is inserted into the adjusting holes to fix the positions of the small arm adjusting member and the upper arm second rotating member.

6. The 7-DOF upper-limb assistive exoskeleton according to claim 5, characterized in that: The shoulder-back connecting rotating member and the shoulder-back connecting sliding member are rotatably connected through a rotating structure; the small arm adjusting member and the palm first rotating member are rotatably connected through a rotating structure.

7. The 7-DOF upper-limb assistive exoskeleton of claim 1, wherein: The back plate, the upper arm first rotating member, the small arm first rotating member and the palm second rotating member are all provided with a bandage hole for fixing a bandage.

8. The 7-DOF upper-limb assistive exoskeleton according to claim 1 or 3, characterized in that: The rack is in the shape of a vertical line, an arc line or a parabolic line; and the corresponding shape of the slot is a vertical line, an arc line or a parabolic line.

9. The 7-DOF upper-limb assistive exoskeleton according to claim 1 or 4, characterized in that: The limiting assembly comprises a limiting buckle and a limiting cover, and the limiting cover is inserted into the limiting buckle.

10. The 7-DOF upper-limb assistive exoskeleton of claim 1, wherein: The rotation angle of the upper arm second rotating member is plus or minus 35°, the rotation angle of the small arm second rotating member is plus or minus 90°, and the rotation angle of the palm second rotating member is plus or minus 50°.

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