An active upper limb exoskeleton robot

Abstract

The present invention discloses an active upper limb exoskeleton robot, belonging to the field of exoskeleton robot technology, comprising: a back exoskeleton, a left arm exoskeleton, and a right arm exoskeleton. The back exoskeleton is a flexible structure, the front surface of which contacts the human back, and can bend and deform along with the human spine when the human body bends. The left arm exoskeleton and the right arm exoskeleton are symmetrically arranged on either side of the back exoskeleton and are respectively rotatably mounted on the top of the back exoskeleton via shoulder joints. The shoulder joints have three degrees of freedom: flexion / extension, internal rotation / external rotation, and adduction / abduction, and the rotation axes of the three degrees of freedom are respectively consistent with the rotation axes of the corresponding degrees of freedom of the human shoulder joint. The robot realizes flexion / extension, internal rotation / external rotation, and adduction / abduction movements, and the robot's degrees of freedom of movement are consistent with the human joint's degrees of freedom. The elbow joint has one degree of freedom. The elastic lumbar vertebra can adapt to the bending and deformation of the human lumbar vertebra, increase the bending range, and improve wearer comfort.

Description

Technical Field

[0001] The present invention belongs to the technical field of exoskeleton robots, and in particular relates to an active upper limb exoskeleton robot. Background Art

[0002] The primary function of a wearable upper-limb exoskeleton robot is to restore, assist, or enhance the wearer's upper-limb motor skills. This includes upper-limb rehabilitation training and enhancing the ability to carry or lift heavy objects. It has broad application prospects in medical rehabilitation, logistics and transportation, equipment maintenance and repair, military firefighting, and other fields. Upper-limb exoskeleton robots integrate technologies from multiple disciplines, including mechanics, electronics, sensors, and motion control algorithms. They are human-machine integrated systems that can perform functions and tasks such as assisted walking under the operator's unconscious control. Current upper-limb exoskeleton robots still face numerous challenges, particularly in ergonomics, specifically whether the degrees of freedom of each joint conform to the laws of human motion when the robot moves with the human body.

[0003] The main joints of the human upper limb are the shoulder, elbow, wrist, and knuckles of the hand, and the shoulder and elbow joints are the ones that bear the greatest force. Therefore, actively assisting the shoulder and elbow joints can greatly reduce the load-bearing capacity and fatigue limit of the human upper limb and enhance the movement ability of the human upper limb. The human shoulder joint can be approximated as a ball joint, with three rotational degrees of freedom: flexion / extension, internal rotation / external rotation, and abduction / adduction. The lack of any one degree of freedom will result in loss of movement in that direction. The three rotational axes of these three rotational degrees of freedom all pass through the center of the ball joint and are perpendicular to each other. If the rotational axis does not pass through the center of the ball during movement, the position of the human joint and the robot joint will deviate, resulting in a poor user experience at best and injury to the human limb joints at worst.

[0004] The human spine has a certain degree of curvature when bending, so the back of an upper limb exoskeleton robot needs to conform to the human body and have appropriate flexibility. If the back of the exoskeleton is a rigid structure, when bending to pick up or carry heavy objects, the exoskeleton will prevent the person from bending, or the torso straps will exert a large pulling force on the waist or shoulders, not only hindering the person's bending movement but also reducing wearer comfort.

[0005] Currently, most upper-limb exoskeletons are designed with a single shoulder joint for assistance. The shoulder joint has two degrees of freedom: flexion / extension and internal / external rotation. The lack of elbow assistance and shoulder abduction / adduction reduces both the upper limb's load capacity and shoulder flexibility. The back structure of upper-limb exoskeletons is also generally designed as a rigid, integrated structure, which hinders the adaptability of the robot to the human spine when bending, hindering bending movements and reducing wearer comfort.

[0006] The Chinese invention patent applied for by Shanghai Aosha Intelligent Technology Co., Ltd. is named: A power-assisted upper limb exoskeleton, with publication number: CN112847313A, publication date: 2021.05.28, which specifically discloses a power-assisted upper limb exoskeleton, mainly composed of a backboard, a left arm and a right arm. The back of the patent is a rigid structure, with a waist binding device on the lower part of the back and a shoulder strap on the upper part of the back. The human torso is bound to the human torso through the waist binding and shoulder straps, forming a relatively firm and reliable binding mechanism. However, because its back is a rigid structure, the human body cannot bend and deform along with the human spine when bending over, which will affect the amplitude of the human body's bending, and when bending over, the waist belt and shoulder straps will pull on the human waist and shoulders, affecting the wearing comfort. The shoulder joint of this patent has only two degrees of freedom, namely flexion / extension freedom and internal rotation / external rotation freedom, lacking abduction / adduction freedom, which reduces the flexibility of the shoulder joint. This patented active power assist unit only provides assistance to the shoulder joint and lacks assistance to the elbow joint, which reduces the robot's power assist efficiency and reduces the human body's load capacity and operation duration. Summary of the Invention

[0007] In order to at least solve the problem that the back of the upper limb exoskeleton in the prior art cannot bend and deform along with the human spine, the present invention provides the following technical solution: an active upper limb exoskeleton robot, the active upper limb exoskeleton robot comprising: a back exoskeleton, a left arm exoskeleton, and a right arm exoskeleton;

[0008] The back exoskeleton is a flexible structure, the front surface of which contacts the back of the human body and can bend and deform along with the human spine when the human body bends;

[0009] The left arm exoskeleton and the right arm exoskeleton are symmetrically arranged on both sides of the back exoskeleton and are respectively mounted on the top of the back exoskeleton through shoulder joint rotation. The shoulder joint has three degrees of freedom: flexion / extension, internal rotation / external rotation, and adduction / abduction, and the rotation axes of the three degrees of freedom are respectively consistent with the rotation axes of the corresponding degrees of freedom of the human shoulder joint.

[0010] Preferably, the back exoskeleton comprises: a back plate and a flexible lumbar vertebra;

[0011] The backboard is vertically arranged and matches the back of the human body;

[0012] The top of the flexible lumbar vertebra is fixedly connected to the bottom of the back plate, and is an elastic unidirectionally flexible lumbar vertebra, and the bending direction is the same as the forward leaning direction of the human body trunk.

[0013] Preferably, the flexible lumbar vertebrae include: a return spring, a waist belt fixing plate and a chain;

[0014] The chain is composed of several links connected in rotation in sequence, the top of the chain is fixedly connected to the bottom of the back plate, the bottom of the chain is fixedly connected to the top of the belt fixing plate, and the reset spring is vertically fixed on the rear side of the chain to elastically reset the chain.

[0015] Preferably, the right arm exoskeleton comprises: the shoulder joint, upper arm bar, elbow joint reduction motor and forearm bar arranged in sequence from top to bottom;

[0016] One end of the shoulder joint is rotatably connected to the top of the back exoskeleton, and the other end is fixedly connected to the upper end of the upper arm rod. The lower end of the upper arm rod is fixedly connected to the housing of the elbow joint reduction motor, and the output end of the elbow joint reduction motor is fixedly connected to the upper end of the forearm rod.

[0017] The elbow joint reduction motor is an integrated motor with an integrated reducer, and the output end and the housing of the elbow joint reduction motor can rotate relative to each other.

[0018] Preferably, the shoulder joint includes a shoulder joint reduction motor and a four-bar linkage;

[0019] The four-bar linkage is fixedly connected to the output end of the shoulder joint reduction motor, and the housing of the shoulder joint reduction motor is fixedly connected to the upper end of the upper arm rod;

[0020] The shoulder joint reduction motor is an integrated motor with an integrated reducer, and the output end and the housing of the shoulder joint reduction motor can rotate relative to each other.

[0021] Preferably, the four-bar linkage comprises: a back plate link, a rear link, a side link and a reduction motor link;

[0022] The rear connecting rod and the side connecting rod are both arranged perpendicular to the back plate connecting rod, and the reduction motor connecting rod is arranged parallel to the back plate connecting rod;

[0023] A first connecting portion and a second connecting portion are provided at intervals on one side of the side link, and the first connecting portion, the second connecting portion and both ends of the rear link are arc-shaped. The center of the first connecting portion, the upper portion of the backplate link and the upper portion of the reduction motor link are all provided with grooves that are in the same straight line and have matching shapes with the second connecting portion, and the lower portion of the backplate link is provided with a groove that matches the upper portion of the backplate. The second connecting portion and the rear link are located in the same horizontal plane and are located in the groove on the upper portion of the reduction motor link. One end of the rear link is located in the groove on the upper portion of the backplate link, and the other end is located in the groove on the first connecting portion. The upper portion of the backplate is located in the groove on the lower portion of the backplate link.

[0024] Preferably, the lower portion of the back plate connecting rod is rotationally connected to the back plate via a horizontally arranged first rotating pair, the upper portion is rotationally connected to one end of the horizontally arranged rear connecting rod via a vertically arranged second rotating pair, the other end of the rear connecting rod is rotationally connected to one end of the horizontally arranged side connecting rod via a vertically arranged third rotating pair, the other end of the side connecting rod is rotationally connected to the upper portion of the reduction motor connecting rod via a vertically arranged fourth rotating pair, and the lower portion of the reduction motor connecting rod is fixedly connected to the output end of the shoulder joint reduction motor;

[0025] The shoulder joint realizes internal rotation / external rotation freedom through the four-bar linkage mechanism, and realizes adduction / abduction freedom through the first revolute pair.

[0026] Preferably, a motor driver is installed on the outer side of the middle part of the upper arm rod, and an upper arm gyroscope is installed on the inner side; a forearm gyroscope is installed on the outer side of the forearm rod, and a multi-dimensional force sensor is fixedly installed on the lower part of the inner side; a joint mechanical limit device is installed on the inner side of the elbow joint reduction motor to prevent the elbow joint from exceeding the joint range during extension movement and causing damage;

[0027] The shoulder joint reduction motor and the elbow joint reduction motor of the left arm exoskeleton and the right arm exoskeleton are both electrically connected to the motor driver;

[0028] The upper arm gyroscope is used to detect the angle of the upper arm rod relative to the ground, the forearm gyroscope is used to detect the angle of the forearm rod relative to the ground, and the multi-dimensional force sensor is used to detect the load weight and human-machine interaction force.

[0029] Preferably, the active upper limb exoskeleton robot further comprises: a control box and a battery;

[0030] The control box is fixedly mounted on the rear surface of the back exoskeleton and is electrically connected to the multi-dimensional force sensor, the upper arm gyroscope, the forearm gyroscope, and the motor driver. The control box performs fusion calculation based on the signals generated by the multi-dimensional force sensor, the upper arm gyroscope, and the forearm gyroscope, and generates control signals for multiple motor movements according to rules. The control box sends the control signals to the motor driver, and the motor driver drives the shoulder joint reduction motor and the elbow joint reduction motor to move according to the signal requirements of the control box.

[0031] The battery is electrically connected to the control box and is fixedly arranged on the rear surface of the back exoskeleton for power supply.

[0032] Preferably, the active upper limb exoskeleton robot further includes: a fixing belt for realizing a wearable function and a binding device for binding the arms.

[0033] The technical solution provided by the embodiment of the present invention has the following beneficial effects:

[0034] 1. The active upper limb exoskeleton robot proposed in this invention consists of a back exoskeleton, a left arm exoskeleton, and a right arm exoskeleton. The shoulder joints of the two-arm exoskeleton have three bionic degrees of freedom, which can realize flexion / extension, internal rotation / external rotation, and adduction / abduction movements. The robot's degrees of freedom of movement are consistent with those of human joints, and the elbow joint has one degree of freedom.

[0035] 2. In the active upper limb exoskeleton robot proposed in this invention, motors provide joint-assisted flexion / extension at the shoulder and elbow joints, representing active degrees of freedom. The remaining degrees of freedom are passive. Internal and external rotation of the shoulder joint is achieved through a four-bar linkage. By installing this mechanism behind the shoulder joint, the robot can move from the side of the arm to the back, achieving a wide range of motion. This not only enables internal and external rotation of the shoulder joint, but also reduces interference between the robot's shoulder joint and the human neck during adduction / abduction, increasing the range of motion and improving the robot's adaptability to various application scenarios.

[0036] 3. The active upper limb exoskeleton robot proposed in this invention has arm binding devices at the forearm and upper arm. These forearm binding devices are secured to the forearm via multi-dimensional force sensors, which can be used to detect load weight and human-machine interaction forces. Gyroscopes are installed on the forearm, upper arm, and back to detect the relative motion angles of various parts of the upper limb. Data fusion between the multi-dimensional force sensor and the gyroscope is used to calculate the output parameters of the power assist motor.

[0037] 4. The active upper limb exoskeleton robot proposed in this invention has a back panel and a flexible, elastic lumbar vertebrae. The human torso is secured by the back panel's shoulder straps and the waist belt of the flexible, elastic lumbar vertebrae. When the user bends, the elastic lumbar vertebrae adapt to the bending deformation of the lumbar vertebrae, increasing the bending range and enhancing wearer comfort. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A back view of the overall structure of an active upper limb exoskeleton robot provided by an embodiment of the present invention;

[0039] Figure 2 A front view of the overall structure of an active upper limb exoskeleton robot provided by an embodiment of the present invention;

[0040] Figure 3 A schematic structural diagram of a four-bar linkage in an active upper limb exoskeleton robot provided by an embodiment of the present invention;

[0041] Figure 4 A schematic structural diagram of a flexible lumbar vertebra of an active upper limb exoskeleton robot provided by an embodiment of the present invention;

[0042] In the figure: 1. back plate; 2. control box; 3. battery; 4. flexible lumbar vertebra; 5. waist belt; 6. shoulder strap; 7. shoulder joint; 8. shoulder joint reduction motor; 9. upper arm rod; 10. elbow joint reduction motor; 11. forearm rod; 12. upper arm binding; 13. forearm binding; 14. multi-dimensional force sensor; 15. upper arm gyroscope; 16. forearm gyroscope; 17. motor driver; 18. joint mechanical limit device; 19. first revolving pair; 20. back plate connecting rod; 21. rear connecting rod; 22. side connecting rod; 2201, first connecting part; 2202, second connecting part; 23. reduction motor connecting rod; 24. second revolving pair; 25. third revolving pair; 26. fourth revolving pair; 27. four-bar linkage; 28. return spring; 29. chain; 30. waist belt fixing plate. DETAILED DESCRIPTION

[0043] To make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0044] In the description of the present invention, the terms "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and do not require that the present invention must be constructed and operated in a specific orientation. Therefore, they should not be understood as limitations on the present invention. The terms "connected", "connected", and "set" used in the present invention should be understood in a broad sense. For example, they can be fixed connections or detachable connections; they can be directly connected or indirectly connected through intermediate components; they can be wired electrical connections, radio connections, or wireless communication signal connections. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0045] See also Figure 1-4 The present invention provides an active upper limb exoskeleton robot, which includes: a back exoskeleton, a left arm exoskeleton, a right arm exoskeleton, a control box, a battery, a fixing belt and a binding device.

[0046] The back exoskeleton is a flexible structure, similar to the human spine, with appropriate bendability. Its front surface contacts the human back, and when the person bends, it bends and deforms along with the spine, increasing the range of bending. The left and right arm exoskeletons have the same structural components and are symmetrically located on either side of the back exoskeleton. The left arm exoskeleton is pivotally mounted on the top left side of the back exoskeleton via a shoulder joint 7, while the right arm exoskeleton is pivotally mounted on the top right side of the back exoskeleton via a shoulder joint 7. The shoulder joint 7 is designed based on bionics, giving the robot's shoulder joint 7 three degrees of freedom of movement: flexion / extension, internal rotation / external rotation, and adduction / abduction. The rotation axes of these three degrees of freedom are aligned with the corresponding rotation axes of the human shoulder joint, ensuring the flexibility of the shoulder joint 7 and improving movement comfort.

[0047] The back exoskeleton comprises a back plate 1 and a flexible lumbar vertebra 4 .

[0048] The backboard 1 is vertically arranged, and its size and shape are consistent with the back of the human body, which can improve the comfort of the back of the human body.

[0049] The top of the flexible lumbar vertebra 4 is fixedly connected to the bottom of the back plate 1. It is an elastic one-way bending lumbar vertebra, and its bending direction is the same as the forward leaning direction of the human body. When the human body bends over, it can adapt to the bending deformation of the human lumbar vertebra, increase the bending angle of the waist, reduce the restraint of the waist and shoulder straps on the human body, and improve the comfort when bending over.

[0050] Furthermore, the flexible lumbar vertebra 4 includes a return spring 28 , a waist belt fixing plate 30 and a chain 29 .

[0051] In order to realize the bending and deformation function together with the human lumbar spine, the chain 29 is composed of several chain links connected in sequence by rollers. The top of the chain 29 is fixedly connected to the bottom of the back plate 1, and the bottom is fixedly connected to the top center of the waist belt fixing plate 30. In this way, several chain links 29 and the waist belt fixing plate 30 form a one-way bending lumbar spine. The waist belt fixing plate 30 supports the chain 29 to bend along the forward leaning direction of the human torso. The return spring 28 is vertically fixed to the rear side of the chain 29, that is, the return spring 28 is vertically installed in the opposite direction of the bending of the chain 29. Figure 1 In the direction facing the reader, the reset spring 28 can elastically reset the chain 29, which is beneficial to the stability of the lumbar spine when bending over and has a certain power-assisting effect on the waist when standing up, thereby relieving waist fatigue.

[0052] Since the right arm exoskeleton and the left arm exoskeleton are exactly the same in structure and connection relationship except for the different positions, the following text takes the right arm exoskeleton as an example and only introduces the right arm exoskeleton in detail.

[0053] The right arm exoskeleton includes: a shoulder joint 7, an upper arm rod 9, an elbow joint reduction motor 10 and a forearm rod 11 arranged in sequence from top to bottom.

[0054] One end of the shoulder joint 7 is rotationally connected to the top of the back exoskeleton, and the other end is fixedly connected to the upper end of the upper arm rod 9. The lower end of the upper arm rod 9 is fixedly connected to the housing of the elbow joint reduction motor 10, and the output end of the elbow joint reduction motor 10 is fixedly connected to the upper end of the forearm rod 11.

[0055] The elbow joint reduction motor 10 is an integrated motor with an integrated reducer, and its housing and output end can rotate relative to each other. The elbow joint of the robot system realizes the flexion / extension degree of freedom and the elbow joint power assistance function through the drive of the elbow joint reduction motor 10, while reducing the fatigue damage of the elbow joint. The shoulder joint 7 includes a shoulder joint reduction motor 8 and a four-bar linkage 27. The four-bar linkage 27 is fixedly connected to the output end of the shoulder joint reduction motor 8. The housing of the shoulder joint reduction motor 8 is fixedly connected to the upper end of the upper arm 9. The shoulder joint reduction motor 8 is an integrated motor with an integrated reducer, and its housing and output end can rotate relative to each other. The shoulder joint 7 realizes the flexion / extension degree of freedom through the drive of the shoulder joint reduction motor 8. The reducer integrated with the shoulder joint reduction motor 8 and the elbow joint reduction motor 10 can be a harmonic reducer or a planetary reducer. This embodiment does not limit the specific type of reducer.

[0056] The shoulder four-link mechanism 27 includes a back plate link 20 , a rear link 21 , a side link 22 and a reduction motor link 23 .

[0057] The rear connecting rod 21 and the side connecting rod 22 are both arranged perpendicular to the back plate connecting rod 20 , and the reduction motor connecting rod 23 is arranged parallel to the back plate connecting rod 20 . A first connecting part 2201 and a second connecting part 2202 are arranged at intervals on one side of the side link 22. The first connecting part 2201, the second connecting part 2202 and both ends of the rear link 21 are all arc-shaped. The center of the first connecting part 2201, the upper part of the back plate link 20 and the upper part of the reduction motor link 23 are all provided with grooves that are in the same straight line with the second connecting part 2202 and have matching shapes. The lower part of the back plate link 20 is provided with a groove that matches the upper part of the back plate 1. The second connecting part 2202 and the rear link 21 are located in the same horizontal plane and are located in the groove of the upper part of the reduction motor link 23. One end of the rear link 21 is located in the groove of the upper part of the back plate link 20, and the other end is located in the groove of the first connecting part 2201. The upper part of the back plate 1 is located in the groove of the lower part of the back plate link 20.

[0058] In order to increase the flexibility of the shoulder joint 7, the lower part of the back plate link 20 is rotationally connected to the back plate 1 through a horizontally arranged first rotational pair 19, and the upper part is rotationally connected to one end of a horizontally arranged rear link 21 through a second rotational pair 24. The other end of the rear link 21 is rotationally connected to one end of a horizontally arranged side link 22 through a vertically arranged third rotational pair 25. The other end of the side link 22 is rotationally connected to the upper part of the reduction motor link 23 through a vertically arranged fourth rotational pair 26. The lower part of the reduction motor link 23 is fixedly connected to the output end of the shoulder joint reduction motor 8. The specific dimensions of the second rotational pair 24, the third rotational pair 25 and the fourth rotational pair 26 are determined according to the size of the human body joints. In this way, the back plate link 20, the rear link 21, the side link 22 and the reduction motor link 23 can be artificially and passively rotated within a certain range between each other, and the shoulder joint 7 realizes the internal rotation / external rotation freedom through the four-bar linkage 27, and realizes the adduction / abduction freedom through the first rotation pair 19, and the right arm exoskeleton can be connected to the back exoskeleton, which increases the range of motion of the adduction / abduction freedom of the shoulder joint 7, making the shoulder joint 7 more flexible and having a wider range of activities, thereby increasing the application scenario range of the exoskeleton robot. The rotation axis of the first rotation pair 19 is consistent with the rotation axis of the adduction / abduction freedom of the human shoulder joint. The rotation axis of the second rotation pair 24, the third rotation pair 25 and the fourth rotation pair 26 are all consistent with the rotation axis of the internal rotation / external rotation freedom of the human shoulder joint. The rotation axis of the shoulder joint reduction motor is consistent with the rotation axis of the flexion / extension freedom of the human shoulder joint.

[0059] To accurately detect the robot's joint angles and drive its motion, as well as to prevent human joint damage, a motor driver 17 is installed on the outer side of the middle portion of the upper arm bar 9, an upper arm gyroscope 15 is installed on the inner side, a forearm gyroscope 16 is installed on the outer side of the forearm bar 11, and a multi-dimensional force sensor 14 is fixedly installed on the lower inner side. A joint mechanical limiter 18 is installed on the inner side of the elbow joint reduction motor 10 to prevent the elbow joint from exceeding the joint range during extension and causing damage. The shoulder joint reduction motor 8 and elbow joint reduction motor 10 of the left and right arm exoskeletons are both electrically connected to the motor driver 17. The upper arm gyroscope 15 is used to detect the angle of the upper arm bar 9 relative to the ground, the forearm gyroscope 16 is used to detect the angle of the forearm bar 11 relative to the ground, and the multi-dimensional force sensor 14 is used to detect the load weight and human-machine interaction force.

[0060] The control box 2 is fixedly arranged on the back surface of the back exoskeleton and is electrically connected to the multi-dimensional force sensor 14, the upper arm gyroscope 15, the forearm gyroscope 16, and the motor driver 17 respectively. In order to calculate the output parameters of the power-assisting motor, the upper arm gyroscope 15, the forearm gyroscope 16 and the multi-dimensional force sensor 14 respectively send the collected signals to the control box 2. The control box 2 judges the human body posture and human body movement intention based on the signals, and then generates multiple motor movement control signals according to the rules. These control signals are then sent to the motor drivers 17 at the left arm exoskeleton and the right arm exoskeleton respectively. The motor driver 17 drives the shoulder joint reduction motor 8 and the elbow joint reduction motor 10 to perform their respective corresponding movements according to the signal requirements of the control box 2.

[0061] The battery 3 is fixed to the lower portion of the rear surface of the back plate 1 and is located below the control box 2. The battery 3 is electrically connected to the control box 2 for supplying power to the robot system.

[0062] In order to better realize the integration of man and machine and realize the wearing function and binding function at the same time, the fixing belt and the binding device cooperate with each other to fix the exoskeleton robot to the human torso.

[0063] The fixing belt includes: a waist belt 5 and two shoulder straps 6. The waist belt 5 is located at the lower part of the flexible lumbar vertebra 4 and is specifically installed on the outside of the waist belt fixing plate 30. The waist belt 5 can be fixed to the waist of the human body. The two shoulder straps 6 are both installed on the front side of the back plate 1 and are symmetrically arranged about the center line of the back plate 1. The upper end of the shoulder strap 6 is connected to the upper part of the back plate 1, and the lower end is connected to the lower part of the back plate 1. The two shoulder straps 6 are respectively fixed on the left and right shoulder joints 7 of the human body.

[0064] The binding device includes: an upper arm binding piece 12 and a forearm binding piece 13. The upper arm binding piece 12 is fixedly arranged on the inner side of the upper arm rod 9 and is located below the upper arm gyroscope 15, and is used to bind the upper arm. The forearm binding piece 13 is fixedly arranged on the inner side of the forearm rod 11 through a multi-dimensional force sensor 14, and is used to bind the forearm. The upper arm binding piece 12 and the forearm binding piece 13 cooperate with each other to achieve the binding of the human arm. The interior of the upper arm binding piece 12 and the forearm binding piece 13 are both wrapped with sponge lining, which has adaptability to the thickness of the arm within a certain range. The thicker the arm, the greater the deformation of the sponge, and the tighter it feels. Conversely, the smaller the deformation of the sponge, the looser it feels. Since different people have different body shapes, the diameters of the upper arm binding piece 12 and the forearm binding piece 13 can be made into multiple sizes according to actual conditions to meet the needs of different people.

[0065] It is understood from common technical knowledge that the present invention may be implemented by other embodiments that do not depart from its spirit or essential features. Therefore, the embodiments disclosed above are, in all respects, merely illustrative and not exclusive. All modifications within the scope of the present invention or equivalent to the scope of the present invention are intended to be encompassed by the present invention.

Claims

1. An active upper limb exoskeleton robot, characterized in that: The active upper limb exoskeleton robot includes: a back exoskeleton, a left arm exoskeleton and a right arm exoskeleton; The back exoskeleton is a flexible structure, the front surface of which contacts the back of the human body and can bend and deform along with the human spine when the human body bends; The left arm exoskeleton and the right arm exoskeleton are symmetrically arranged on both sides of the back exoskeleton and are respectively rotatably mounted on the top of the back exoskeleton via shoulder joints. The shoulder joints have three degrees of freedom: flexion / extension, internal rotation / external rotation, and adduction / abduction. The rotation axes of the three degrees of freedom are respectively consistent with the rotation axes of the corresponding degrees of freedom of the human shoulder joint. The flexion / extension degree of freedom of the shoulder joint is an active degree of freedom, and the internal rotation / external rotation degree of freedom and the adduction / abduction degree of freedom of the shoulder joint are both passive degrees of freedom. The right arm exoskeleton comprises: the shoulder joint, the upper arm rod, the elbow joint reduction motor and the forearm rod arranged in sequence from top to bottom; One end of the shoulder joint is rotatably connected to the top of the back exoskeleton, and the other end is fixedly connected to the upper end of the upper arm rod. The lower end of the upper arm rod is fixedly connected to the housing of the elbow joint reduction motor, and the output end of the elbow joint reduction motor is fixedly connected to the upper end of the forearm rod. The elbow joint reduction motor is an integrated motor with an integrated reducer, and the output end and the housing of the elbow joint reduction motor can rotate relative to each other; The shoulder joint includes a shoulder joint reduction motor and a four-bar linkage; The four-bar linkage is fixedly connected to the output end of the shoulder joint reduction motor, and the housing of the shoulder joint reduction motor is fixedly connected to the upper end of the upper arm rod; The shoulder joint reduction motor is an integrated motor with an integrated reducer, and the output end and the housing of the shoulder joint reduction motor can rotate relative to each other; The four-bar linkage includes: a back plate link, a rear link, a side link and a reduction motor link; The rear connecting rod and the side connecting rod are both arranged perpendicular to the back plate connecting rod, and the reduction motor connecting rod is arranged parallel to the back plate connecting rod; A first connecting portion and a second connecting portion are provided at intervals on one side of the side link, and both ends of the first connecting portion, the second connecting portion and the rear connecting portion are all arc-shaped, and the center of the first connecting portion, the upper portion of the back plate connecting rod and the upper portion of the reduction motor connecting rod are all provided with a groove that is in the same straight line and matches the shape of the second connecting portion, and the lower portion of the back plate connecting rod is provided with a groove that matches the upper portion of the back plate, the second connecting portion and the rear connecting rod are located in the same horizontal plane and are located in the groove of the upper portion of the reduction motor connecting rod, one end of the rear connecting rod is located in the groove of the upper portion of the back plate connecting rod, and the other end is located in the groove of the first connecting portion, and the upper portion of the back plate is located in the groove of the lower portion of the back plate connecting rod; The lower part of the back plate connecting rod is rotatably connected to the back plate through a horizontally arranged first rotating pair, and the upper part is rotatably connected to one end of the horizontally arranged rear connecting rod through a vertically arranged second rotating pair. The other end of the rear connecting rod is rotatably connected to one end of the horizontally arranged side connecting rod through a vertically arranged third rotating pair. The other end of the side connecting rod is rotatably connected to the upper part of the reduction motor connecting rod through a vertically arranged fourth rotating pair. The lower part of the reduction motor connecting rod is fixedly connected to the output end of the shoulder joint reduction motor; The shoulder joint realizes internal rotation / external rotation freedom through the four-bar linkage mechanism, and realizes adduction / abduction freedom through the first revolute pair.

2. The active upper limb exoskeleton robot according to claim 1, characterized in that: The back exoskeleton comprises: the back plate and a flexible lumbar vertebra; The backboard is vertically arranged and matches the back of the human body; The top of the flexible lumbar vertebra is fixedly connected to the bottom of the back plate, and is an elastic unidirectionally flexible lumbar vertebra, and the bending direction is the same as the forward leaning direction of the human body trunk.

3. The active upper limb exoskeleton robot according to claim 2, characterized in that: The flexible lumbar vertebrae include: a return spring, a waist belt fixing plate and a chain; The chain is composed of several links connected in rotation in sequence, the top of the chain is fixedly connected to the bottom of the back plate, the bottom of the chain is fixedly connected to the top of the belt fixing plate, and the reset spring is vertically fixed on the rear side of the chain to elastically reset the chain.

4. The active upper limb exoskeleton robot according to claim 1, characterized in that: A motor driver is installed on the outer side of the middle part of the upper arm rod, and an upper arm gyroscope is installed on the inner side. A forearm gyroscope is installed on the outer side of the forearm rod, and a multi-dimensional force sensor is fixedly installed on the lower part of the inner side. A joint mechanical limit device is installed on the inner side of the elbow joint reduction motor to prevent the elbow joint from exceeding the joint range during extension movement and causing damage; The shoulder joint reduction motor and the elbow joint reduction motor of the left arm exoskeleton and the right arm exoskeleton are both electrically connected to the motor driver; The upper arm gyroscope is used to detect the angle of the upper arm rod relative to the ground, the forearm gyroscope is used to detect the angle of the forearm rod relative to the ground, and the multi-dimensional force sensor is used to detect the load weight and human-machine interaction force.

5. The active upper limb exoskeleton robot according to claim 4, characterized in that: The active upper limb exoskeleton robot further includes: a control box and a battery; The control box is fixedly mounted on the rear surface of the back exoskeleton and is electrically connected to the multi-dimensional force sensor, the upper arm gyroscope, the forearm gyroscope, and the motor driver. The control box performs fusion calculation based on the signals generated by the multi-dimensional force sensor, the upper arm gyroscope, and the forearm gyroscope, and generates control signals for multiple motor movements according to rules. The control box sends the control signals to the motor driver, and the motor driver drives the shoulder joint reduction motor and the elbow joint reduction motor to move according to the signal requirements of the control box. The battery is electrically connected to the control box and is fixedly arranged on the rear surface of the back exoskeleton for power supply.

6. The active upper limb exoskeleton robot according to claim 1, characterized in that: The active upper limb exoskeleton robot also includes: a fixing belt for realizing a wearable function and a binding device for binding the arms.

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