Hybrid three-degree-of-freedom wearable wrist exoskeleton based on spherical six-axis linkage mechanism

Abstract

The present invention discloses a hybrid three-degree-of-freedom wearable wrist exoskeleton based on a spherical six-axis linkage mechanism, which is composed of nine assemblies, including a forearm variable diameter support ring, a support ring mounting plate, a forearm base, a rotary drive mechanism, a left linear drive mechanism, a right linear drive mechanism, a spherical six-axis linkage mechanism, a hand guard, and a handle. The joints are driven by motors, wherein the wrist's internal rotation / external rotation degrees of freedom are driven by a rotary motor in conjunction with a gear, and the palmar flexion / dorsiflexion and ulnar / radial deviation degrees of freedom are driven by two parallel push rod motors in conjunction with a stroke amplification mechanism and a spherical six-axis linkage mechanism. The present invention is designed to be lightweight, portable, and precise, and its key geometric dimensions use a stepless adjustment design. It supports left-right hand interchangeable training and fixed training, supports modular application, and can provide wrist exoskeleton solutions for other upper limb rehabilitation exoskeleton robot systems. It has strong practicality and scalability, and can meet the needs of individual users and medical institutions.

Description

Technical Field

[0001] The present invention belongs to the field of medical rehabilitation equipment, and in particular relates to a hybrid three-degree-of-freedom wearable wrist exoskeleton based on a spherical six-axis linkage mechanism. Background Art

[0002] The wrist joint is one of the most susceptible joints to stretching and damage in the human body because it is used extensively in daily life and bears enormous support, pressure, and gravity loads. It is also one of the more complex joints in the human body, with three degrees of freedom: internal and external rotation, ulnar and radial deviation, and palmar flexion and dorsiflexion. With the aging of the world, the number of elderly patients with hemiplegia has increased dramatically, and two-thirds of these patients suffer from hand or wrist dysfunction. Rehabilitation robots have significant advantages in promoting the recovery of wrist function, providing a means of numerically evaluating a patient's rehabilitation status and comprehensively improving the level of rehabilitation medicine. However, most current clinical research focuses on functional design for overall upper limb rehabilitation training, ignoring the need for detailed rehabilitation training for the wrist.

[0003] With the development of research, there are many existing designs of exoskeleton robots that include wrist rehabilitation training functions, but most of them are relatively bulky and fixed on a fixed base, which is not convenient to move. Therefore, they are only suitable for users in medical institutions and cannot meet the needs of individual users for home rehabilitation training. Patent application number 202010011771.6 discloses a wrist flexible exoskeleton upper limb rehabilitation training robot. The wrist exoskeleton is fixed on a cantilever bracket. The overall mechanism is inconvenient to move. It is driven by a rope, and its control accuracy is not as good as that of direct motor drive, and the maintenance of tightness is more difficult. In addition, the two degrees of freedom cannot fully meet the rehabilitation training needs of the wrist with three degrees of freedom. The parallel mechanism has the advantages of simple structure, strong load-bearing capacity, and high precision, which can meet the needs of fine rehabilitation training of the wrist, but has the disadvantage of a small range of motion. Patent application number 201110466407.3 discloses a wearable serial-parallel exoskeleton robot that uses a 3PRR parallel mechanism at its wrist. The exoskeleton's wrist range of motion cannot cover the patient's wrist's extreme motion trajectory, and the exoskeleton's wrist equivalent center of mass will deviate from the human wrist's center of mass during operation. The exoskeleton's geometric dimensions cannot be adjusted, and its human-machine compatibility is poor. Summary of the Invention

[0004] The purpose of the present invention is to provide a hybrid three-degree-of-freedom wearable wrist exoskeleton based on a spherical six-axis linkage mechanism, so as to provide patients who are individual users with a more lightweight, portable, precise and suitable home wrist rehabilitation training program.

[0005] The technical solutions for achieving the purpose of the present invention are:

[0006] A hybrid three-degree-of-freedom wearable wrist exoskeleton based on a spherical six-axis linkage mechanism, comprising:

[0007] A rotation drive mechanism, configured to drive the mechanism to rotate relative to a common axis with the forearm base, thereby driving internal and external rotation of the wrist joint;

[0008] A spherical six-axis linkage mechanism connected to the rotary drive mechanism,

[0009] The left and right sides of the spherical six-axis linkage mechanism are respectively connected in parallel with linear drive mechanisms for driving the spherical six-axis linkage mechanism to rotate. When the output torque is in the same direction, the wrist joint is driven to perform palmar flexion / dorsiflexion movement. When the output torque is in equal and opposite directions, the wrist joint is driven to perform ulnar deviation / radial deviation movement. In other cases, the wrist joint is driven to perform a combined movement of palmar flexion / dorsiflexion and ulnar deviation / radial deviation.

[0010] A hand guard fixedly connected to the end of the connecting rod of the spherical six-axis connecting rod mechanism;

[0011] The handles are connected to the hand guards at both ends through linear sliding grooves and are used for human hand holding.

[0012] Compared with the prior art, the present invention has the following significant advantages:

[0013] (1) The present invention takes advantage of the parallel mechanism's advantages of simple structure, strong load-bearing capacity, and high precision. At the same time, the use of a series mechanism and a stroke amplification mechanism alleviates the disadvantage of the parallel mechanism's small range of motion, thereby achieving a lightweight, portable, and sophisticated wrist exoskeleton design.

[0014] (2) The present invention applies a stepless adjustment design to geometric dimensions such as the forearm circumference, forearm length, and palm-wrist center of mass distance, which can better meet the wearing needs of patients with different body shapes and improve human-machine compatibility.

[0015] (3) The present invention has the function of training the left and right hands interchangeably without modification, which can help consumers reduce the cost of medical equipment.

[0016] (4) The present invention provides a grounding usage solution to reduce the muscle strength burden during use for patients in need.

[0017] (5) The present invention has strong scalability and can be used modularly, providing wrist exoskeleton solutions for other upper limb rehabilitation exoskeleton robot systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 These are three views of the present invention; (a) the main view, (b) the left view, (c) the top view, and (d) the stereoscopic view.

[0019] Figure 2It is an overall exploded view of the present invention; in the figure, 1. forearm variable diameter support ring, 2. support ring mounting plate, 3. forearm base, 4. rotary drive mechanism, 5. left linear drive mechanism, 6. right linear drive mechanism, 7. spherical six-axis connecting rod mechanism, 8. hand guard, 9. handle.

[0020] Figure 3 It is a partial exploded view of the forearm variable diameter support ring 1; in the figure, 1-1. First axial screw, 1-2. Spring pressure plate, 1-3. Rear annular housing, 1-4. T-type slider housing, 1-5. Spring, 1-6. T-type slider cover, 1-7. Front annular housing, 1-8. Limiting ring, 1-9. Guide ring, 1-10. Rotating ring cover.

[0021] Figure 4 It is a cross-sectional diagram of a T-type slider.

[0022] Figure 5 It is a schematic diagram of the principle of the forearm variable diameter support ring 1.

[0023] Figure 6 It is a partial exploded view of the forearm base 3; in the figure, 3-1 is an O-shaped tooth crown, 3-2 is a main frame, and 3-3 is a V-shaped circular slide rail.

[0024] Figure 7 This is a partial exploded view of the rotary drive mechanism 4. In the figure, 4-1. Rear end face plate, 4-2. Driving gear, 4-3. Driven gear, 4-4. Gear mounting plate, 4-5. Eccentric rivet, 4-6. Lower shield, 4-7. Speed ​​change gearbox, 4-8. Rotating motor, 4-9. Encoder, 4-10. Upper shield, 4-11. Linear slide rail, 4-12. Slide rail mounting plate, 4-13. Linear slider, 4-14. V-groove fixed pulley, 4-15. V-groove eccentric pulley, 4-16. Front end face plate, 4-17. Telescopic rod outer tube, 4-18. C-clip, 4-19. Telescopic rod inner rod.

[0025] Figure 8 It is a schematic diagram of the coordination between the forearm base 3 and the rotation drive mechanism 4.

[0026] Figure 9 It is a plan view of section AA.

[0027] Figure 10 It is a plan view of the BB section.

[0028] Figure 11 It is a planar schematic diagram of the left linear drive mechanism 5; in the figure, 5-1 is a push rod motor mounting block, 5-2 is a push rod motor, 5-3 is a left first plane straight connecting rod, 5-4 is a left second plane straight connecting rod, 5-5 is a left third plane straight connecting rod, and 5-6 is a left fourth plane straight connecting rod.

[0029] Figure 12 It is a planar geometric diagram of the left linear drive mechanism 5.

[0030] Figure 13 Schematic diagram of the endpoint trajectory of the left linear drive mechanism 5.

[0031] Figure 14 It is a partial exploded view of the spherical six-axis linkage mechanism 7; in the figure, 7-1. Mounting frame, 7-2. Left shaft screw cap, 7-3. Left first spherical connecting rod, 7-4. Left second spherical connecting rod, 7-5. Open wrist ring, 7-6. Right second spherical connecting rod, 7-7. Right first spherical connecting rod, 7-8. Right shaft screw cap, 7-9. Third spherical connecting rod, 7-10. Second axis screw.

[0032] Figure 15 (ab) are schematic diagrams showing the working of the present invention in performing palmar flexion / dorsiflexion movements.

[0033] Figure 16 (ab) are schematic diagrams showing the working of the present invention in performing ulnar deviation / radial deviation motion.

[0034] Figure 17 This is a schematic diagram of the present invention being installed on the right forearm of a human body.

[0035] Figure 18 It is the spare base of the present invention.

[0036] Figure 19 Schematic diagram of the grounding scheme of the present invention.

[0037] Figure 20 Schematic diagram of a scenario in which the present invention is used in series with an exemplary shoulder exoskeleton and a finger exoskeleton. DETAILED DESCRIPTION

[0038] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0039] Combine Figure 1 (ad), Figure 2 、 Figure 15 (ab), Figure 16 (ab) The present invention provides a hybrid three-degree-of-freedom wearable wrist exoskeleton based on a spherical six-axis linkage mechanism, which comprises: a forearm variable-diameter support ring 1, a support ring mounting plate 2, a forearm base 3, a rotary drive mechanism 4, a left linear drive mechanism 5, a right linear drive mechanism 6, a spherical six-axis linkage mechanism 7, a hand guard 8, and a handle 9.

[0040] The forearm variable diameter support ring 1, support ring mounting plate 2 and forearm base 3 are fixedly connected in sequence, and the rotation drive mechanism 4 is used to drive itself to rotate relative to the common axis with the forearm base 3, thereby driving the internal rotation / external rotation movement of the wrist joint; the spherical six-axis linkage mechanism 7 is connected to the upper and lower ends of the rotation drive mechanism 4, and the left linear drive mechanism 5 and the right linear drive mechanism 6 are connected in parallel on the left and right sides; the linear drive mechanism 5 and the right linear drive mechanism 6 are used to drive the spherical six-axis linkage mechanism 7 to rotate, and when the output torque is in the same direction, it drives the wrist joint to move in palmar flexion / dorsiflexion, and when the output torque is in the same direction, it drives the wrist joint to move in ulnar deviation / radial deviation, and in other cases of output torque, it drives the wrist joint to perform a composite movement of palmar flexion / dorsiflexion and ulnar deviation / radial deviation; the hand guard 8 is fixedly connected to the end of the connecting rod of the spherical six-axis linkage mechanism 7; the handle 9 is connected to the hand guard 8 through a linear sliding groove for human hand holding.

[0041] Furthermore, the handle 9 can move freely along the linear sliding groove of the hand guard 8, and can steplessly adjust the distance between the palm and wrist centers of mass and compensate for wrist joint dislocation.

[0042] Combine Figure 3-Figure 5The forearm variable diameter support ring 1 is composed of a first axial screw 1-1, a spring pressure plate 1-2, a rear annular housing 1-3, a T-slider housing 1-4, a spring 1-5, a T-slider cover 1-6, a front annular housing 1-7, a limiting ring 1-8, a guide ring 1-9, and a rotating ring cover 1-10. The T-slider housing 1-4, the corresponding spring 1-5, and the T-slider cover 1-6 form a total of six T-slider blocks; the first axial screw 1-1, the spring pressure plate 1-2, the rear annular housing 1-3, the front annular housing 1-7, and the limiting ring 1-8 form the main annular housing. Each T-slider shell 1-4 is fitted into the T-sliding groove on the surface of the rear annular shell 1-3 and can slide radially in the sliding groove; the spring pressure plate 1-2 is aligned with the three screw holes of the rear annular shell 1-3, and has six bent first spring guide holes 1-2-1, which pass through the six corresponding slots of the rear annular shell 1-3 and extend into the cavities 1-4-1 of the six T-slider shells 1-4; the inner side of the bent surface of the T-slider cover 1-6 has a second spring guide hole 1-6-1; the spring 1-5 is installed between the first guide hole 1-2-1 and the second guide hole 1-6-1, and its axis is parallel to the radial direction of the forearm variable diameter support ring 1; the T-slider cover 1-6 is fixedly connected to the T-slider shell 1-4 by screws; the rear annular shell 1-3 and the front annular shell 1-7 are aligned with their three screw holes and fit along the contact surface, thereby half-wrapping the T-slider; the limiting ring 1-8 has three threaded holes, 3 The first axial screw 1-1 passes through the corresponding screw holes of the spring pressure plate 1-2, the rear annular shell 1-3, and the front annular shell 1-7 and is fixedly connected to the limit ring 1-8. The spring pressure plate 1-2 and the limit ring 1-8 thus serve as front and rear pressure plates to fix the rear annular shell 1-3 and the front annular shell 1-7; the front surface of each T-shaped slider cover 1-6 has a cylindrical pile 1-6-2 which serves as a guide and passes through the radial limit grooves of the front annular shell 1-7 and the limit ring 1-8 respectively; the guide ring 1-9 has 6 equally spaced curved guide grooves 1-9-1 which cooperate with the cylindrical piles 1-6-2. It is placed above the limit ring 1-8 so that each cylindrical pile 1-6-2 enters the corresponding curved guide groove 1-9-1; the rotating ring cover 1-10 is fixedly connected to the guide ring 1-9 by screws, and the edge of the front annular shell 1-7 presses the rotating ring cover 1-10 to prevent it from falling out relative to the main annular shell. The spring pressure plate 1-2 has three mounting holes for fixed cooperation with the support ring mounting plate 2.

[0043] Further, combined Figure 5By rotating the ring cover 1-10 to drive the rotation of the guide ring 1-9, the cylindrical piles 1-6-2 of all T-shaped sliders can be synchronously slid centripetally or reversely along the radial limit slot under the action of the curved guide slot 1-9-1, thereby driving all T-shaped sliders to synchronously slide radially in the T-shaped slot. Rotating in the clockwise direction as shown in the figure can increase the effective inner diameter of the forearm variable diameter support ring 1 and compress the spring; rotating in the counterclockwise direction as shown in the figure can reduce the effective inner diameter of the forearm variable diameter support ring 1. Since the forearm variable diameter support ring 1 has a high degree of central symmetry, the amplitude of the displacement of all T-shaped sliders relative to the central axis remains consistent, so the forearm variable diameter support ring 1 can steplessly adjust the circumference of the forearm while ensuring that the axis of the wearer's forearm does not deviate. Loosen the rotating ring cover 1-10, and under the action of the spring, the T-shaped slider is in close contact with the human arm.

[0044] Combine Figure 6 The forearm base 3 consists of an O-shaped tooth crown 3-1, a main frame 3-2, and a V-shaped circumferential slide 3-3. The O-shaped tooth crown 3-1, main frame 3-2, and V-shaped circumferential slide 3-3 are all coaxial and fixed in place by screws. The O-shaped tooth crown 3-1 has three mounting holes for securely mating with the support ring mounting plate 2.

[0045] Combine Figure 7The rotary drive mechanism 4 is composed of a rear end face plate 4-1, a driving gear 4-2, a driven gear 4-3, a gear mounting plate 4-4, an eccentric rivet 4-5, a lower shield 4-6, a speed change gear box 4-7, a rotary motor 4-8, an encoder 4-9, an upper shield 4-10, a linear slide 4-11, a slide rail mounting plate 4-12, a linear slider 4-13, a V-groove fixed pulley 4-14, a V-groove eccentric pulley 4-15, a front end face plate 4-16, a telescopic rod outer tube 4-17, a C-type clamp 4-18, and a telescopic rod inner rod 4-19. The speed change gear box 4-7, the rotary motor 4-8, and the encoder 4-9 constitute the rotary drive; the telescopic rod outer tube 4-17, the C-type clamp 4-18, and the telescopic rod inner rod 4-19 constitute the telescopic rod. The lower guard 4-6 is fixedly connected to the gear mounting plate 4-4 by screws, and a mounting position for the rotary driver is provided below the lower guard 4-6; the rotary driver passes through the mounting position of the lower guard 4-6 and is fixedly connected to the gear mounting plate 4-4 by screws; the rotating rod of the speed change gear box 4-7 passes through the disk surface of the gear mounting plate 4-4 and is fixedly connected to the driving gear 4-2 by fasteners; two eccentric rivets 4-5 pass through the disk surface of the gear mounting plate 4-4 and are respectively connected to a driven gear 4-3 to form a rotating pair; the rear end face plate 4-1 is fixedly connected to the gear mounting plate 4-4 by screws; the eccentric rivets 4-5 are riveted to the rear end face plate 4-1; the upper guard 4-10 is respectively connected to the gear mounting plate 4-4, The lower guard 4-6 is fixedly connected; the slide rail mounting plate 4-12 is fixedly connected to the upper guard 4-10 by screws at the rear, and is fixedly connected to the linear slide rail 4-11 by screws at the top; the linear slider 4-13 is connected to the linear slide rail 4-11 to form a moving pair; the front end mask plate 4-16 is first installed with two V-groove fixed pulleys 4-14 and two V-groove eccentric pulleys 4-15 at the bottom and top of the back respectively by fasteners, and then fixedly connected to the lower guard 4-6 and the upper guard 4-10 by screws; the front end of the telescopic rod outer tube 4-17 is fixed with a C-type clamp 4-18, the rear end is fixedly connected to the front end mask plate 4-16 by screws, and the inner side is connected to the telescopic rod inner rod 4-19 to form a moving pair.

[0046] Further, combined Figures 8-10, explaining the assembly method of the forearm base 3 and the rotary drive mechanism 4 in this embodiment. The forearm base 3 and the rotary drive mechanism 4 are connected at the AA section and the BB section respectively; at the AA section, the O-shaped tooth crown 3-1 is in contact with the driving gear 4-2 and the two driven gears 4-3 respectively, wherein the driving gear 4-2 is engaged with the O-shaped tooth crown 3-1 to provide the power for the inward / outward rotation movement, and the driven gear 4-3 and the O-shaped tooth crown 3-1 are clearance-fitted to ensure the coaxiality of the forearm base 3 and the rotary drive mechanism 4; the driven gear 4-3 and the two driven gears 4-3 are arranged at equal intervals on the outer periphery of the O-shaped tooth crown 3-1; at the BB section, the V-shaped circumferential slide 3-3 is in contact with the two V-groove fixed pulleys 4-14 and the two V-groove eccentric pulleys 4-15 respectively, playing a role in positioning the rotary drive mechanism 4 in the axial direction. When connecting the rotary drive mechanism 4 to the forearm base 3, the eccentric distances of the eccentric rivet 4-5 and the V-groove eccentric pulley 4-15 are adjusted to coordinate with the O-shaped tooth crown 3-1 and the V-shaped circumferential slide 3-3. Two V-groove fixed pulleys 4-14 and two V-groove eccentric pulleys 4-15 are arranged at equal intervals on the periphery of the V-shaped circumferential slide 3-3.

[0047] Furthermore, by moving the linear slider 4-13 and the inner rod 4-19 of the telescopic rod along the axis of the forearm, the length of the forearm can be steplessly adjusted, and by fixing the inner rod 4-19 of the telescopic rod with the C-clamp 4-18, the length of the forearm can be fixed.

[0048] Combine Figure 11 The left linear drive mechanism 5 consists of a push rod motor mounting block 5-1, a push rod motor 5-2, a left first-plane straight link 5-3, a left second-plane straight link 5-4, a left third-plane straight link 5-5, and a left fourth-plane straight link 5-6. The left first-plane straight link 5-3, the left second-plane straight link 5-4, the left third-plane straight link 5-5, and the left fourth-plane straight link 5-6 form a stroke amplification mechanism. The push rod motor mounting block 5-1 is connected to the power input end of the push rod motor 5-2 to form a revolute pair; the power output end of the push rod motor 5-2 is connected to the upper rotating shaft of the left first-plane straight link 5-3 to form a revolute pair; the left first-plane straight link 5-3, the left second-plane straight link 5-4, the left third-plane straight link 5-5, and the left fourth-plane straight link 5-6 are all connected to each other in the form of revolute pairs. The right linear drive mechanism 6 is a mirror image of the left linear drive mechanism 5.

[0049] Combine Figure 14The spherical six-axis linkage mechanism 7 consists of a mounting frame 7-1, a left shaft screw cap 7-2, a left first spherical link 7-3, a left second spherical link 7-4, an open wrist ring 7-5, a right second spherical link 7-6, a right first spherical link 7-7, a right shaft screw cap 7-8, a third spherical link 7-9, and a second axial screw 7-10. The open wristband 7-5 is connected to the rear end of the third spherical connecting rod 7-9 via the second axial screw 7-10 to form a revolute pair. The left rotating shaft of the open wristband 7-5 passes through the lower left axial hole of the mounting frame 7-1 and the middle through hole of the left first spherical connecting rod 7-3 in sequence, and is fixedly connected to the left shaft screw cap 7-2. The middle through hole of the left first spherical connecting rod 7-3 is connected to the rear rotating shaft of the left second spherical connecting rod 7-4 to form a revolute pair. The front rotating shaft of the left second spherical connecting rod 7-4 is connected to the left through hole of the third spherical connecting rod 7-9 to form a revolute pair. The lower rotating shaft of the left first spherical connecting rod 7-3 is connected to the front through hole of the left fourth planar straight connecting rod 5-6 to form a revolute pair. The assembly of the right second spherical connecting rod 7-6, the right first spherical connecting rod 7-7, and the right shaft screw cap 7-8 is bilaterally symmetrical with the left shaft screw cap 7-2, the left first spherical connecting rod 7-3, and the left second spherical connecting rod 7-4. The folded surface at the end of the mounting bracket 7-1 has two mounting holes on the left and right sides for fixed connection with the push rod motor mounting block 5-1. The rear end plane has two mounting holes for fixed connection with the linear slider 4-13. The lower end arm ring has one mounting hole for fixed connection with the telescopic rod inner rod 4-19. The left and right extension rods at the upper front end each have a mounting hole for connection with the left linear drive mechanism 5 and the right linear drive mechanism 6 to form a revolute pair.

[0050] The working principle of the stroke amplification mechanism:

[0051] Combine Figure 12 、 Figure 13 The stroke amplification mechanism is essentially a planar parallelogram linkage mechanism. Each point in the figure is the center of rotation of the linkage. Since the left second plane straight link 5-4 and the left third plane straight link 5-5 form a revolute pair with the left extension rod above the front end of the mounting frame 7-1, point O is a fixed point and the other points are moving points; line segment ABC represents the left first plane straight link 5-3, line segment OB represents the left second plane straight link 5-4, line segment OD represents the left third plane straight link 5-5, and line segment CDE represents the left fourth plane straight link 5-6. Since all the linkages are rigid linkages, the line segments AB, BC, CD, DE, OB, and OD in the figure are all fixed lengths. If AE is connected, it is easy to get

[0052]

[0053] The constant K is the amplification factor of the stroke amplification mechanism. Because the lower rotational axis of the left first spherical connecting rod 7-3 is connected to the front through-hole of the left fourth planar straight connecting rod 5-6, forming a revolute pair, point E's motion is constrained, effectively sliding along a fixed arc centered at the central through-hole of the left first spherical connecting rod 7-3. From the equation AE:AO = K:1, it is easy to see that point A also slides along a fixed arc at the same angular velocity as point E, and the radius of this arc is 1 / K of the arc along which point E is traveling. In this embodiment, K = 3.

[0054] Combine Figure 1 The present invention provides a hybrid three-degree-of-freedom wearable wrist exoskeleton based on a spherical six-axis linkage mechanism, which has a high degree of bilateral symmetry and can be used for left-right hand interchange training without modification. Figure 17 Taking right-hand use as an example, the wearing method of the present invention is: the right hand is inserted into the wrist exoskeleton and sequentially passes through the forearm variable diameter support ring 1, the support ring mounting plate 2, the forearm base 3, the rotary drive mechanism 4, and the spherical six-axis linkage mechanism 7, and the geometric dimensions of the wrist exoskeleton are adjusted so that the various degrees of freedom of the exoskeleton are aligned with the human wrist, and the right hand holds the handle 9; the forearm variable diameter support ring 1 keeps the forearm base 3 and the human forearm relatively still during rehabilitation training.

[0055] Combine Figure 18 、 Figure 19 The present invention provides a hybrid three-degree-of-freedom wearable wrist exoskeleton based on a spherical six-axis linkage mechanism that can be used grounded. By removing the forearm reducer support ring 1 and support ring mounting plate 2 to create mounting holes, the spare base 10 is screwed to the O-shaped crown 3-1 to form a fixed wrist exoskeleton system. This system can compensate for system gravity and provide patients with a lighter-load fixed rehabilitation training program.

[0056] Combine Figure 20 The present invention can provide a modular wrist exoskeleton solution for patients' overall upper limb rehabilitation training needs. By removing the forearm variable diameter support ring 1, support ring mounting plate 2, hand guard 8, and handle 9 to leave mounting holes, the present invention can be combined with the exemplary shoulder and elbow exoskeleton 11 and finger exoskeleton 12 to form an integrated complete upper limb rehabilitation exoskeleton robot system. The exemplary shoulder and elbow exoskeleton 11 is fixedly connected to the O-shaped tooth crown 3-1 by screws, and the finger exoskeleton 12 is fixedly connected to the third spherical connecting rod 7-9 by screws.

Claims

1. A hybrid three-degree-of-freedom wearable wrist exoskeleton based on a spherical six-axis linkage mechanism, characterized in that: include: A rotation drive mechanism, configured to drive the mechanism to rotate relative to a common axis with the forearm base, thereby driving internal and external rotation of the wrist joint; A spherical six-axis linkage mechanism connected to the rotary drive mechanism, The left and right sides of the spherical six-axis linkage mechanism are respectively connected in parallel with linear drive mechanisms for driving the spherical six-axis linkage mechanism to rotate. When the output torques are in the same direction, the wrist joint is driven to perform palmar flexion / dorsiflexion movement. When the output torques are equal and opposite, the wrist joint is driven to perform ulnar deviation / radial deviation movement. In other cases, the wrist joint is driven to perform a combined movement of palmar flexion / dorsiflexion and ulnar deviation / radial deviation. A hand guard fixedly connected to the end of the connecting rod of the spherical six-axis connecting rod mechanism; The handles at both ends are connected to the hand guards through linear sliding grooves for human hand holding; The linear drive mechanism includes a push rod motor, a first planar straight connecting rod, a second planar straight connecting rod, a third planar straight connecting rod, and a fourth planar straight connecting rod; The output end of the push rod motor is connected to the upper rotating shaft of the first planar straight link to form a rotation pair; the front end of the fourth planar straight link is connected to the spherical six-axis linkage to form a rotation pair; The first planar straight link, the left second planar straight link, the left third planar straight link, and the left fourth planar straight link form a stroke amplification mechanism; The spherical six-axis linkage mechanism includes a mounting frame, a left axis screw cap, a left first spherical connecting rod, a left second spherical connecting rod, an open wrist ring, a right second spherical connecting rod, a right first spherical connecting rod, a right axis screw cap, and a third spherical connecting rod; The open wrist ring is connected to the third spherical connecting rod to form a revolving pair; the left side of the open wrist ring passes through the lower left shaft hole of the mounting frame and the middle part of the left first spherical connecting rod in sequence, and is fixedly connected to the left shaft screw cap; the middle part of the left first spherical connecting rod is connected to the rear end of the left second spherical connecting rod to form a revolving pair; the front end of the left second spherical connecting rod is connected to the left side of the third spherical connecting rod to form a revolving pair; the lower part of the left first spherical connecting rod is connected to the front part of the left fourth planar straight connecting rod to form a revolving pair; the assembly of the right second spherical connecting rod, the right first spherical connecting rod and the right shaft screw cap is left-right symmetrical with the left shaft screw cap, the left first spherical connecting rod and the left second spherical connecting rod.

2. The hybrid three-degree-of-freedom wearable wrist exoskeleton based on a spherical six-axis linkage mechanism according to claim 1, characterized in that: Also includes: Forearm variable diameter support ring, used to adjust the circumference of the forearm; The forearm base is connected to the forearm variable diameter support ring through a support ring mounting plate.

3. The hybrid three-degree-of-freedom wearable wrist exoskeleton based on a spherical six-axis linkage mechanism according to claim 1, characterized in that: The rear end of the forearm base is provided with an O-shaped tooth crown, and the front end is provided with a V-shaped circumferential slide rail; The rotary drive mechanism includes a shield fixed to the outside of the forearm base, a rotary drive fixed to the shield, a plurality of driven gears, a plurality of V-groove fixed pulleys and a plurality of V-groove eccentric pulleys, and a driving gear connected to the rotary drive; The driving gear is meshed with the O-shaped tooth crown, and the driven gear is clearance-matched with the O-shaped tooth crown; The V-groove fixed pulley and the V-groove eccentric pulley are both matched with the V-shaped circumferential slide rail.

4. The hybrid three-degree-of-freedom wearable wrist exoskeleton based on a spherical six-axis linkage mechanism according to claim 3, characterized in that: The rotary drive mechanism further includes a telescopic mechanism, which includes a telescopic rod and a linear sliding pair. The spherical six-axis connecting rod mechanism is connected to the rotary drive mechanism via the telescopic mechanism. The telescopic rod can be locked in position after being extended or retracted.

5. The hybrid three-degree-of-freedom wearable wrist exoskeleton based on a spherical six-axis linkage mechanism according to claim 3, characterized in that: The shield includes a rear end shield plate, a gear mounting plate, an upper shield, a lower shield, and a front end shield plate; The upper shield is fixedly connected to the gear mounting plate and the lower shield respectively; the lower shield is fixedly connected to the gear mounting plate; the rear end face shield is fixedly connected to the gear mounting plate; and the front end face shield is fixedly connected to the lower shield and the upper shield.

6. The hybrid three-degree-of-freedom wearable wrist exoskeleton based on a spherical six-axis linkage mechanism according to claim 1, characterized in that: The forearm variable diameter support ring includes an annular housing and a plurality of T-shaped sliders arranged in the annular housing. A reset spring is provided between the T-shaped sliders and the annular housing for resetting the T-shaped sliders. The T-shaped sliders can slide radially in the annular housing. The T-shaped slider is provided with a cylindrical pile, and the front end surface of the annular shell is provided with a plurality of limiting sliding grooves, which are arranged radially. A guide ring is provided at the front end of the annular shell, and a plurality of curved guide grooves are provided on the guide ring at equal intervals; the cylindrical pile slides through the limiting groove and the curved guide groove, and the guide ring rotates through the curved guide groove to enable the T-shaped slider to slide along the limiting groove and compress the reset spring to achieve adjustment of the circumference size.

7. The hybrid three-degree-of-freedom wearable wrist exoskeleton based on a spherical six-axis linkage mechanism according to claim 1, characterized in that: Can be used for left and right hand interchange training: Able to be used grounded, the exoskeleton is used grounded to fix the spare base with the O-shaped crown to form a fixed wrist exoskeleton system; It can be integrated with the shoulder and elbow exoskeleton and finger exoskeleton to form a complete upper limb rehabilitation exoskeleton robot system.

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