An upper limb assisting exoskeleton with upper limb movement assisting function

Abstract

The present invention discloses an upper limb power-assisting exoskeleton with a human upper limb motion-assisting function, wherein the back drive mechanism includes a backboard, a shoulder strap, and a drive assembly, the drive assembly being connected to the shoulder joint and elbow joint motion-assisting mechanisms respectively; an axis vertical position adjustment mechanism being connected to the shoulder joint motion-assisting mechanism; the shoulder joint motion-assisting mechanism including a shoulder joint adduction and abduction motion component, a shoulder joint internal rotation and external rotation motion component, and a shoulder joint flexion and extension motion component; an upper arm mechanism being rotationally connected to the shoulder joint flexion and extension motion component and the elbow joint motion-assisting mechanism respectively; the elbow joint motion-assisting mechanism including the elbow joint flexion and extension motion component and a forearm connecting rod; the forearm motion-assisting mechanism being connected to the forearm connecting rod; and a hand grasping assisting mechanism being connected to the forearm motion-assisting mechanism for driving the human hand to move. The present invention can achieve both free motion of the entire upper limb and hand grasping action at the same time.

Description

Technical Field

[0001] The present invention relates to the technical field of wearable devices, and in particular to an upper limb assisting exoskeleton with a function of assisting human upper limb movements. Background Art

[0002] Parkinson's disease is a common neurodegenerative disease that is common in the elderly. The prevalence of Parkinson's disease in my country's elderly population over 65 years old has reached 1.7%, with a total number of over 3 million people. Parkinson's patients often experience symptoms such as upper limb tremors and clumsy movements. Stroke is an acute cerebrovascular disease. In recent years, the incidence of stroke has increased year by year and has become the leading cause of disability in my country. Approximately 70%-80% of surviving patients will have varying degrees of limb motor dysfunction, the most common sequelae of which is mild paralysis of the upper limbs. Causes such as the above types of diseases lead to upper limb motor dysfunction, causing patients to lose the ability to take care of themselves and work, relying on society and others for assistance, and spending a lot of manpower and material resources every year to take care of their daily lives.

[0003] An upper limb assist exoskeleton is a device worn on the outside of the human upper limbs that coordinates the movement of the upper limbs and provides assistance. It can be used to assist patients with upper limb motor dysfunction and help them complete daily life activities independently.

[0004] Currently, most upper limb assistive exoskeletons are designed only for the human upper limb shoulder, elbow, and wrist joints, or only for the hands. They are primarily used to assist patients with upper limb motor dysfunction, helping them complete daily activities independently. For daily activities, exoskeletons that only assist with the shoulder, elbow, forearm, and wrist joints can achieve free movement of the upper limbs, but cannot achieve hand grasping. Exoskeletons that only assist with hand movements can assist with hand movements, but cannot achieve free movement of the entire upper limb. Summary of the Invention

[0005] In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is: how to provide an upper limb assisting exoskeleton with the function of assisting human upper limb movements, which can realize the free movement of the entire upper limb and the grasping action of the hand at the same time.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0007] An upper limb assisting exoskeleton with the function of assisting human upper limb movements, comprising a back drive mechanism, an axis vertical position adjustment mechanism, a shoulder joint movement assisting mechanism, an upper arm mechanism, an elbow joint movement assisting mechanism, a forearm movement assisting mechanism, and a hand grasping assisting mechanism;

[0008] The back driving mechanism includes a back plate, a shoulder strap and a driving assembly, wherein the driving assembly is respectively connected to the shoulder joint motion assisting mechanism and the elbow joint motion assisting mechanism to respectively drive the shoulder joint motion assisting mechanism and the elbow joint motion assisting mechanism to move;

[0009] The shaft vertical position adjustment mechanism is mounted on the back plate, and the shaft vertical position adjustment mechanism is connected to the shoulder joint motion assisting mechanism to adjust the axial and vertical positions of the shoulder joint motion assisting mechanism;

[0010] The shoulder joint motion auxiliary mechanism includes a shoulder joint adduction and abduction motion component, a shoulder joint internal rotation and external rotation motion component, and a shoulder joint flexion and extension motion component. The shoulder joint adduction and abduction motion component is used to drive the human shoulder joint to perform adduction and abduction motion, the shoulder joint internal rotation and external rotation motion component is used to drive the human shoulder joint to perform internal rotation and external rotation motion, and the shoulder joint flexion and extension motion component is used to drive the human shoulder joint to perform flexion and extension motion;

[0011] One end of the upper arm mechanism is fixedly connected to the shoulder joint flexion and extension movement component, and the other end of the upper arm mechanism is rotatably connected to the elbow joint movement auxiliary mechanism. An upper arm binding mechanism is also provided on the upper arm mechanism so as to be worn on the upper arm of a human body through the upper arm binding mechanism.

[0012] The elbow joint motion assisting mechanism comprises an elbow joint flexion and extension motion component and a forearm connecting rod, wherein the elbow joint flexion and extension motion component is used to drive the human elbow joint to perform flexion and extension motion;

[0013] The forearm movement auxiliary mechanism is connected to the forearm connecting rod and is used to be worn on the human forearm and adapt to the internal and external rotation movements of the human forearm;

[0014] The hand grasping auxiliary mechanism is connected to the forearm movement auxiliary mechanism and is used to drive the human hand to move.

[0015] In this scheme, the human body's orientation is used as the reference direction. The terms "front," "back," "left," "right," "up," and "down" correspond to the front, back, left, right, up, and down of the human body, respectively. The axial direction in this scheme refers to the left-right direction, the vertical direction refers to the up-down direction, and the longitudinal direction refers to the front-back direction. The initial state in this scheme is when the human body is standing upright and the shoulder joint's motion angle is 0°.

[0016] The working principle of the present invention is: when in use, the power-assisted exoskeleton of the present invention is worn on the upper limbs of the human body through a shoulder strap, an upper arm binding mechanism and a forearm movement assisting mechanism. When worn, the position of the shoulder joint movement assisting mechanism can also be adjusted through the axial vertical position adjustment mechanism to adapt to the wearing needs of different wearers and improve wearing comfort.

[0017] When performing auxiliary movements of the human upper limbs, the back driving mechanism drives the shoulder joint adduction and abduction movement component to move, so as to realize the adduction and abduction movement of the human shoulder joint; the back driving mechanism drives the shoulder joint internal rotation and external rotation movement component to move, so as to realize the internal rotation and external rotation movement of the human shoulder joint; the back driving mechanism drives the shoulder joint flexion and extension movement component to move, so as to realize the flexion and extension movement of the human shoulder joint; the back driving mechanism drives the elbow joint flexion and extension movement component to move, so as to realize the flexion and extension movement of the human elbow joint; at the same time, the hand grasping auxiliary mechanism can drive the human hand to move, so as to realize the grasping action of the human hand. Therefore, the power-assisted exoskeleton of this scheme can realize both the free movement of the entire upper limb and the hand grasping action.

[0018] Preferably, the driving assembly includes a power component, a connecting component, a first sleeve component, a second sleeve component, a third sleeve component and a fourth sleeve component, the power component is mounted on the back plate, the power component includes a first steering gear, a second steering gear, a third steering gear and a fourth steering gear, and the connecting component includes a first steel rope, a second steel rope, a third steel rope and a fourth steel rope;

[0019] A first driving wheel is connected to the rotating shaft of the first servo, and two ends of the first sleeve component are respectively fixed to the back plate and the shaft vertical position adjustment mechanism, and the first sleeve component includes two first sleeves. One end of the first steel wire rope is wound around the first driving wheel, and the other end of the first steel wire rope passes through one of the first sleeves and is connected to the shoulder joint adduction and abduction movement component, and then passes through the other first sleeve and is wound around the first driving wheel, so that when the first servo rotates, the shoulder joint adduction and abduction movement component can be driven to move through the first steel wire rope;

[0020] A second driving wheel is connected to the rotating shaft of the second servo, and two ends of the second sleeve component are respectively fixed to the back plate and the shoulder joint adduction and abduction motion component, and the second sleeve component includes two second sleeves. One end of the second steel wire rope is wound around the second driving wheel, and the other end of the second steel wire rope passes through one of the second sleeves and is connected to the shoulder joint internal and external rotation motion component, and then passes through the other second sleeve and is wound around the second driving wheel, so that when the second servo rotates, the shoulder joint internal and external rotation motion component can be driven to move through the second steel wire rope;

[0021] A third driving wheel is connected to the rotating shaft of the third servo, and two ends of the third sleeve component are respectively fixed to the back plate and the shoulder joint internal and external rotation motion component, and the third sleeve component includes two third sleeves. One end of the third steel wire rope is wound around the third driving wheel, and the other end of the third steel wire rope passes through one of the third sleeves and is connected to the shoulder joint flexion and extension motion component, and then passes through the other third sleeve and is wound around the third driving wheel, so that when the third servo rotates, the shoulder joint flexion and extension motion component can be driven to move through the third steel wire rope;

[0022] A fourth driving wheel is connected to the rotating shaft of the fourth servo, and both ends of the fourth sleeve component are respectively fixed to the back plate and the upper arm mechanism, and the fourth sleeve component includes two fourth sleeves. One end of the fourth steel wire rope is wound around the fourth driving wheel, and the other end of the fourth steel wire rope passes through one of the fourth sleeves and is connected to the elbow joint flexion and extension movement component, and then passes through the other fourth sleeve and is wound around the fourth driving wheel, so that when the fourth servo rotates, the elbow joint flexion and extension movement component can be driven to move through the fourth steel wire rope.

[0023] Preferably, the shaft vertical position adjustment mechanism includes an axial position adjustment component and a vertical position adjustment component, the vertical position adjustment component includes a vertical slide rail arranged vertically, and a vertical slider slidably connected to the vertical slide rail, the axial position adjustment component includes an axial slide rail arranged axially, and an axial slider slidably connected to the axial slide rail, an adjustment base is fixedly connected to the vertical slider, the axial slide rail is mounted on the adjustment base, an axial slide rod is further provided on the axial slider, and the axial slide rod is connected to the shoulder joint motion assisting mechanism;

[0024] A vertical limit piece is provided at both ends of the vertical slide rail, and the vertical slider is slidably connected between the two vertical limit pieces. An axial limit piece is provided at both ends of the axial slide rail, and the axial slider is slidably connected between the two axial limit pieces.

[0025] The vertical slide rail includes a first vertical slide rail and a second vertical slide rail distributed along the axial direction, a first vertical slider is slidably connected to the first vertical slide rail, and a second vertical slider is slidably connected to the second vertical slide rail, and the axial ends of the adjustment base are respectively fixed to the first vertical slider and the second vertical slider;

[0026] A gap baffle is further provided between the first vertical slide rail and the second vertical slide rail, the gap baffle is fixed to the back plate, and a plurality of vertical adjustment holes are opened on the gap baffle along the vertical direction, and vertical fastening holes are provided on the adjustment base, the vertical fastening holes can correspond to the vertical adjustment holes at different positions, and the vertical fastening holes are connected to the vertical adjustment holes at corresponding positions by vertical butterfly screws;

[0027] An axial reinforcement piece is further provided between the axial sliding rod and the gap baffle, and two longitudinal end surfaces of the axial reinforcement piece are respectively in contact with the axial sliding rod and the gap baffle, and an axial fastening hole is opened on the axial sliding rod, and an axial butterfly screw is provided at the axial fastening hole, and the axial butterfly screw can be in contact with the axial reinforcement piece;

[0028] A first vertical aluminum profile is provided at the first vertical slide rail, the first vertical aluminum profile is fixedly connected to the back plate, the first vertical slide rail is fixedly connected to the first vertical aluminum profile, a second vertical aluminum profile is provided at the second vertical slide rail, the second vertical aluminum profile is fixedly connected to the back plate, the second vertical slide rail is fixedly connected to the second vertical aluminum profile, an axial aluminum profile is provided at the axial slide rail, the axial aluminum profile is fixedly connected to the adjustment base, and the axial slide rail is fixedly connected to the axial aluminum profile.

[0029] Preferably, the shoulder joint adduction and abduction movement assembly includes a first shoulder joint connecting rod, a first shoulder joint rotating shaft, a first shoulder joint transmission wheel and a first shoulder joint encoder, the axial sliding rod is movably sleeved on the first shoulder joint rotating shaft, the first shoulder joint connecting rod is fixedly connected to the first shoulder joint rotating shaft, and the first shoulder joint connecting rod is at a set angle to the vertical direction in an initial state, the first shoulder joint rotating shaft is fixedly connected to the first shoulder joint transmission wheel, the first steel wire rope is wound around the first shoulder joint transmission wheel so that the first steel wire rope can drive the first shoulder joint connecting rod to move through the first shoulder joint transmission wheel, and a first fixed plate is also provided at the first shoulder joint transmission wheel, the first fixed plate is fixedly connected to the first shoulder joint transmission wheel, and the first fixed plate is fixedly connected to the first shoulder joint rotating shaft, the first shoulder joint encoder is fixedly connected to the axial sliding rod, and the rotating shaft of the first shoulder joint encoder is connected to the first fixed plate, so as to measure the angle of the shoulder joint adduction and abduction through the first fixed plate.

[0030] Preferably, the shoulder joint internal and external rotation motion assembly includes a shoulder joint second connecting rod, a shoulder joint second transmission wheel, a shoulder joint second rotating shaft and a shoulder joint second encoder, the shoulder joint first connecting rod movably mounted on the shoulder joint second rotating shaft, the shoulder joint second connecting rod is fixedly connected to the shoulder joint second rotating shaft, the shoulder joint second rotating shaft is fixedly connected to the shoulder joint second transmission wheel, the second steel wire rope is wound around the second transmission wheel so that the second steel wire rope can drive the shoulder joint second connecting rod to move through the shoulder joint second transmission wheel, and a second fixed plate is also provided at the shoulder joint second transmission wheel, the second fixed plate is fixedly connected to the shoulder joint second transmission wheel, and the second fixed plate is fixedly connected to the shoulder joint second rotating shaft, the shoulder joint second encoder is fixedly connected to the shoulder joint first connecting rod, and the rotating shaft of the shoulder joint second encoder is connected to the second fixed plate, so as to measure the angle of the shoulder joint internal and external rotation through the second fixed plate.

[0031] Preferably, the shoulder joint flexion and extension movement component includes a third rotation axis of the shoulder joint, a third transmission wheel of the shoulder joint and a third encoder of the shoulder joint. The second connecting rod of the shoulder joint is movably mounted on the third rotation axis of the shoulder joint. The upper arm mechanism is fixedly connected to the third rotation axis of the shoulder joint. The third rotation axis of the shoulder joint is fixedly connected to the third transmission wheel of the shoulder joint. The third steel wire rope is wound around the third transmission wheel of the shoulder joint so that the third steel wire rope can drive the upper arm mechanism to move through the third transmission wheel of the shoulder joint. A third fixed plate is also provided at the third transmission wheel of the shoulder joint. The third fixed plate is fixedly connected to the third transmission wheel of the shoulder joint, and the third fixed plate is fixedly connected to the third rotation axis of the shoulder joint. The third encoder of the shoulder joint is fixedly connected to the second connecting rod of the shoulder joint, and the rotating shaft of the third encoder of the shoulder joint is connected to the third fixed plate, so as to measure the angle of flexion and extension of the shoulder joint through the third fixed plate.

[0032] Preferably, the upper arm mechanism includes a first upper arm link and a second upper arm link, the first upper arm link is fixedly connected to the third rotation axis of the shoulder joint, a sliding groove is provided at one end of the first upper arm link close to the second upper arm link, the second upper arm link slides into the sliding groove at one end close to the first upper arm link, and a slot hole is provided at one end of the second upper arm link for extending into the sliding groove, and an upper arm fastener is also provided at the sliding groove, and the upper arm fastener is connected to the upper arm binding mechanism after passing through the sliding groove and the slot hole to realize a fixed connection between the first upper arm link, the second upper arm link and the upper arm binding mechanism.

[0033] Preferably, the elbow joint flexion and extension movement component includes an elbow joint rotation shaft, an elbow joint transmission wheel and an elbow joint encoder, the second upper arm connecting rod is movably mounted on the elbow joint rotation shaft, the forearm connecting rod is fixedly connected to the elbow joint rotation shaft, the elbow joint rotation shaft is fixedly connected to the elbow joint transmission wheel, the fourth steel wire is wound around the elbow joint transmission wheel, so that the fourth steel wire rope can drive the forearm connecting rod to move through the elbow joint transmission wheel, and a fourth fixed plate is also provided at the elbow joint transmission wheel, the fourth fixed plate is fixedly connected to the elbow joint transmission wheel, and the fourth fixed plate is fixedly connected to the elbow joint rotation shaft, the elbow joint encoder is fixedly connected to the second upper arm connecting rod, and the rotating shaft of the elbow joint encoder is connected to the fourth fixed plate, so as to measure the angle of elbow flexion and extension through the fourth fixed plate.

[0034] Preferably, the forearm movement assisting mechanism includes a first circular arc slide rail and a second circular arc slide rail, the forearm connecting rod slides through the first circular arc slide rail and the second circular arc slide rail in sequence, a strip hole is further provided on the forearm connecting rod, the first circular arc slide rail and the second circular arc slide rail can be moved to different positions of the strip hole, and the first circular arc slide rail, the second circular arc slide rail and the forearm connecting rod are fixedly connected by a forearm fastener;

[0035] The forearm movement assisting mechanism further includes a first bearing connector, a second bearing connector and a forearm strap, wherein both ends of the first bearing connector are respectively provided with a first rolling bearing, and the first rolling bearings at both ends are respectively slidably connected to the first arc slide rail and the second arc slide rail, and both ends of the second bearing connector are respectively provided with a second rolling bearing, and the second rolling bearings at both ends are respectively slidably connected to the first arc slide rail and the second arc slide rail, and the forearm strap is fixedly connected to the first bearing connector and the second bearing connector, so as to drive the forearm strap to rotate by sliding the first rolling bearing and the second rolling bearing on the first arc slide rail and the second arc slide rail;

[0036] A first stopper and a second stopper are respectively provided on the first arc slide rail and the second arc slide rail to limit the movement of the first rolling bearing and the second rolling bearing.

[0037] Preferably, the hand grasping assist mechanism is connected to the forearm motion assist mechanism through a carbon fiber tube, the hand grasping assist mechanism includes a pneumatic finger, a flexible glove and a pneumatic drive assembly, the flexible glove is used to be worn on the human hand, the pneumatic finger is fixed on the flexible glove, and the pneumatic finger includes a pneumatic thumb, a pneumatic index finger, a pneumatic middle finger, a pneumatic ring finger and a pneumatic little finger, the pneumatic thumb, pneumatic index finger, pneumatic middle finger, pneumatic ring finger and pneumatic little finger respectively correspond to the fingers of the human hand, and the pneumatic thumb A plurality of air chambers are provided on the pneumatic thumb, pneumatic index finger, pneumatic middle finger, pneumatic ring finger and pneumatic little finger, and the air chambers expand when inflated and contract when deflated, so as to drive the movement of the corresponding pneumatic fingers by inflating and deflation of the air chambers; the pneumatic drive assembly includes an air pump and a plurality of air supply pipes, and the plurality of air supply pipes are respectively connected to the air chambers on the pneumatic thumb, pneumatic index finger, pneumatic middle finger, pneumatic ring finger and pneumatic little finger, so as to realize independent air supply to the air chambers on the pneumatic thumb, pneumatic index finger, pneumatic middle finger, pneumatic ring finger and pneumatic little finger;

[0038] The air supply pipeline includes a first air pipe and five second air pipes, one end of the first air pipe is connected to the air outlet end of the air pump, the other end of the first air pipe is connected to a gas diverter valve, and the first air pipe is connected to the air inlet end of the gas diverter valve, the gas diverter valve has five air outlet ends, and the five air outlet ends of the gas diverter valve are respectively connected to the five second air pipes, and the five second air pipes are respectively connected to the pneumatic thumb, pneumatic index finger, pneumatic middle finger, pneumatic ring finger and pneumatic little finger, so as to supply air to the five fingers of the pneumatic fingers through the five second air pipes respectively;

[0039] The multiple air chambers on the pneumatic thumb, pneumatic index finger, pneumatic middle finger, pneumatic ring finger and pneumatic little finger are evenly divided into two groups, and the two groups of air chambers are respectively arranged at positions corresponding to the metacarpophalangeal joints and proximal interphalangeal joints of the human hand;

[0040] The flexible glove is fixedly connected to the carbon fiber tube via a glove fixing ring, and the air pump is fixedly connected to the carbon fiber tube via an air pump fixing ring;

[0041] The pneumatic finger is fixedly connected to the flexible glove through hot melt adhesive, and the glove fixing ring is fixedly connected to the flexible glove through hot melt adhesive.

[0042] Compared with the prior art, the present invention has the following advantages:

[0043] 1. The power-assisted exoskeleton of this scheme has three degrees of freedom: adduction / abduction, internal rotation / external rotation, and flexion / extension at the shoulder joint; one degree of freedom: flexion / extension at the elbow joint; and one degree of freedom: internal rotation / external rotation at the forearm. Since the human finger joints consist of five metacarpophalangeal joints and nine interphalangeal joints, for a total of 14 degrees of freedom, the proximal interphalangeal joints of the thumb, the metacarpophalangeal joint of the thumb, the proximal second interphalangeal joint of the index finger, the metacarpophalangeal joint of the index finger, the proximal interphalangeal joint of the middle finger, the metacarpophalangeal joint of the middle finger, the proximal interphalangeal joint of the ring finger, the metacarpophalangeal joint of the ring finger, the proximal interphalangeal joint of the little finger, and the metacarpophalangeal joint of the little finger have the largest ranges of motion. Therefore, the design focuses on the 10 degrees of freedom with the largest ranges of motion. This fully meets the demands of upper limb movement and hand grasping.

[0044] 2. In the present invention, the shoulder joint adduction and abduction motion component is used to realize the active freedom of shoulder joint adduction / abduction, the shoulder joint internal rotation and external rotation motion component is used to realize the active freedom of shoulder joint internal rotation / external rotation, and the shoulder joint flexion and extension motion component is used to realize the active freedom of shoulder joint flexion / extension; the elbow joint flexion and extension motion component is used to realize the active freedom of elbow joint flexion / extension; the forearm motion auxiliary mechanism is used to realize the passive freedom of forearm internal rotation and external rotation; the hand grasping auxiliary mechanism is used to realize the active freedom of the five metacarpophalangeal joints and five interphalangeal joints of the finger part of the hand.

[0045] 3. In the present invention, the first link of the shoulder joint in the shoulder joint adduction / abduction freedom realization mechanism is not parallel to the sagittal plane when viewed from the front view in the initial position. Instead, it has a 20° deviation angle with the sagittal plane. This ensures that the shoulder joint does not interfere with the human body during abduction, while increasing the range of motion and further meeting the range of motion of the human body. At the same time, the rotation axes of the adduction / abduction, internal rotation / external rotation and flexion / extension degrees of freedom of the shoulder joint intersect at one point, and the intersection is located on the axis of the upper arm mechanism. At the same time, the intersection of the axis of the upper arm mechanism and the rotation axis of the elbow joint motion assisting mechanism and the intersection of the axis of the forearm motion assisting mechanism and the rotation axis of the elbow joint motion assisting mechanism coincide with each other, so that the axis of the upper arm mechanism and the axis of the forearm motion assisting mechanism are in the same plane and coupled with the upper arm rotation axis and the forearm rotation axis of the human body, thereby ensuring human-machine motion compatibility and meeting good wearing comfort.

[0046] 4. Each pneumatic finger in the present invention adopts a single-joint-multiple air chamber matching method to achieve human-machine adaptive compatibility. The pneumatic fingers of the present invention are made of rubber material and are actuated by air pressure. The present invention mainly actively assists 10 finger joints with a larger range of motion. Among them, each driving joint of the pneumatic thumb, pneumatic index finger, pneumatic middle finger, pneumatic ring finger, and pneumatic little finger adopts 4-5 air chambers to correspond to each joint of the human finger. Different from the traditional one-to-one alignment of the rotation axis of the human-machine finger joints, the present invention adopts a single-joint-multiple air chamber matching method to drive the finger bending, which can achieve human-machine adaptive compatibility, adapt to different human hand sizes, and reduce structural complexity.

[0047] 5. The present invention first assists the shoulder joint, elbow joint and forearm of the human upper limbs in movement through the shoulder joint movement assisting mechanism, the elbow joint movement assisting mechanism and the forearm movement assisting mechanism to achieve free upper limb movement, and then assists the human fingers in movement through the hand grasping assisting mechanism to complete the grasping action.

[0048] The present invention is connected to the human upper arm through an upper arm binding mechanism; the forearm movement auxiliary mechanism is connected to the human forearm; by driving the corresponding steering gear, the output shaft of the steering gear further drives the corresponding driving wheel to rotate, and the driving wheel further drives the corresponding steel wire rope to shuttle through the casing, thereby correspondingly driving the first shoulder joint transmission wheel for shoulder adduction and abduction, the second shoulder joint transmission wheel for shoulder internal rotation / external rotation, the third shoulder joint transmission wheel for shoulder flexion / extension, and the elbow joint transmission wheel for elbow flexion / extension to rotate, and further driving the first shoulder joint rotation axis for shoulder adduction / abduction, the shoulder joint internal rotation / external rotation, and the elbow joint transmission wheel for shoulder joint internal rotation / external rotation. The second rotation axis of the shoulder joint, the third rotation axis of the shoulder joint for internal rotation / external rotation of the shoulder joint, and the elbow joint rotation axis for flexion / extension of the elbow joint rotate, and further drive the first connecting rod of the shoulder joint, the second connecting rod of the shoulder joint, the first upper arm connecting rod and the forearm connecting rod to rotate respectively around the axis of the first rotation axis of the shoulder joint for adduction and abduction of the shoulder joint, the axis of the second rotation axis of the shoulder joint for internal rotation / external rotation of the shoulder joint, the axis of the third rotation axis of the shoulder joint for internal rotation / external rotation of the shoulder joint, and the axis of the elbow joint rotation axis for flexion / extension of the elbow joint, thereby realizing active assistance to the adduction / abduction, internal rotation / external rotation and flexion / extension of the human shoulder joint and the elbow joint.

[0049] In addition, the rolling bearings at both ends of the first bearing connector and the second bearing connector in the forearm movement assisting mechanism slide in the arc slide grooves of the first arc rail and the second arc respectively, thereby driving the forearm binding to rotate, thereby achieving passive assistance to the internal and external rotation of the human forearm.

[0050] In the hand grasping assistance mechanism, the flexible gloves are worn on the human hand. After the above-mentioned shoulder joint, elbow joint and forearm movement assistance realize free upper limb movement, so that the human hand reaches the desired position, the air pump is driven to output high-pressure gas, and the high-pressure gas is further inflated through the five second air pipes through the gas diverter valve to the pneumatic thumb, pneumatic index finger, pneumatic middle finger, pneumatic ring finger and pneumatic little finger respectively, so that the air chambers at the joints of the pneumatic thumb, pneumatic index finger, pneumatic middle finger, pneumatic ring finger and pneumatic little finger expand, so that the pneumatic fingers bend, further driving the corresponding fingers of the human body to bend, thereby realizing active assistance to the human hand grasping.

[0051] 6. The present invention adopts a modular design and can be specifically divided into a back drive mechanism, an axis vertical position adjustment mechanism, a shoulder joint motion assisting mechanism, an upper arm mechanism, an elbow joint motion assisting mechanism, a forearm motion assisting mechanism, and a hand grasping assisting mechanism. The shoulder joint motion assisting mechanism is connected to the axis vertical position adjustment mechanism via the first rotation axis of the shoulder joint, the upper arm mechanism is connected to the shoulder joint motion assisting mechanism via the third rotation axis of the shoulder joint, the elbow joint motion assisting mechanism is connected to the upper arm mechanism via the elbow joint rotation axis, and the forearm motion assisting mechanism is connected to the elbow joint motion assisting mechanism via the elbow joint rotation axis and the forearm connecting rod; the hand grasping assisting mechanism and the forearm motion assisting mechanism are connected via a carbon fiber tube. This modular design facilitates subsequent optimization design and parts disassembly and assembly.

[0052] 7. The present invention can achieve size adjustment of the power-assisted exoskeleton to better adapt to the wearing needs of different wearers. The vertical position adjustment mechanism of the central axis of the present invention can adjust the position of the vertical butterfly screw in the vertical adjustment hole to adjust the height of the base, thereby adjusting the height of the shoulder joint motion assisting mechanism; further, the position of the axial slide bar can be adjusted and the position can be fixed with the axial butterfly screw to adjust the axial position of the shoulder joint motion assisting mechanism; further, the height and axial position of the shoulder joint motion assisting mechanism can be matched with the position of the human shoulder joint. By adjusting the position of the second upper arm connecting rod in the upper arm mechanism in the first upper arm connecting rod, matching with the size of the human upper arm is achieved. Then, the position of the upper arm binding mechanism is fixed and the first upper arm connecting rod and the second upper arm connecting rod are locked by the extrusion force of the upper arm fastener in the upper arm mechanism. Similarly, by adjusting the position of the forearm motion assisting mechanism in the forearm connecting rod, matching with the size of the human forearm is achieved. The above method of adjusting the size of the exoskeleton is simple and convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 This is a schematic structural diagram of an upper limb assisting exoskeleton with the function of assisting upper limb movements of a human body according to the present invention;

[0054] Figure 2 This is a front view of the upper limb assisting exoskeleton with the function of assisting human upper limb movements according to the present invention;

[0055] Figure 3 This is a rear view of the upper limb assisting exoskeleton with the function of assisting human upper limb movements according to the present invention;

[0056] Figure 4 This is a schematic structural diagram of the back drive mechanism of the upper limb assisting exoskeleton with the function of assisting human upper limb movements according to the present invention;

[0057] Figure 5 This is a schematic structural diagram of the vertical position adjustment mechanism of the upper limb assisting exoskeleton with the function of assisting upper limb movement of the human body according to the present invention;

[0058] Figure 6 for Figure 5 A partial exploded view of the middle vertical position adjustment assembly;

[0059] Figure 7 for Figure 5 Schematic diagram of a partial explosion at the mid-axial position adjustment component;

[0060] Figure 8 This is a schematic structural diagram of the shoulder joint motion assisting mechanism in the upper limb assisting exoskeleton with the human upper limb motion assisting function of the present invention;

[0061] Figure 9 This is a schematic structural diagram of the connection between the shoulder joint motion assisting mechanism and the back drive mechanism in the upper limb assisting exoskeleton with the function of assisting human upper limb motion of the present invention;

[0062] Figure 10 An exploded schematic diagram of the upper arm mechanism of the upper limb assisting exoskeleton with the function of assisting human upper limb movements according to the present invention;

[0063] Figure 11 This is an exploded view of the elbow joint motion assisting mechanism in the upper limb assisting exoskeleton with the human upper limb motion assisting function of the present invention;

[0064] Figure 12 This is an exploded view of the forearm motion assisting mechanism in the upper limb assisting exoskeleton with the human upper limb motion assisting function of the present invention;

[0065] Figure 13 This is a front schematic diagram of a hand grasping assist mechanism in an upper limb assisting exoskeleton having the function of assisting human upper limb movements according to the present invention;

[0066] Figure 14 This is a schematic diagram of the rear side of the hand grasping assist mechanism in the upper limb power-assisting exoskeleton with the function of assisting human upper limb movements according to the present invention;

[0067] Figure 15This is a schematic diagram of an explosion at the hand grasping assist mechanism in the upper limb assisting exoskeleton of the present invention that has the function of assisting human upper limb movements.

[0068] Explanation of reference numerals: back driving mechanism 1, back plate 101, first steering gear 102, second steering gear 103, third steering gear 104, fourth steering gear 105, first driving wheel 106, second driving wheel 107, third driving wheel 108, fourth driving wheel 109, first steel wire rope 110, second steel wire rope 111, third steel wire rope 112, fourth steel wire rope 113, first sleeve component 114, second sleeve component 115, third sleeve component 116, fourth sleeve component 117, shaft vertical position adjustment mechanism 2, first vertical aluminum profile 201, second vertical aluminum profile 202, first vertical slide rail 203, second vertical slide rail 204 , vertical limiter 205, gap baffle 206, vertical adjustment hole 2061, adjustment base 207, axial slide bar 208, axial butterfly screw 209, vertical butterfly screw 210, first vertical slider 211, second vertical slider 212, axial aluminum profile 213, axial slide rail 214, axial slider 215, axial reinforcement 216, axial limiter 217, shoulder joint motion auxiliary mechanism 3, shoulder joint first transmission wheel 301, first fixed plate 302, shoulder joint first connecting rod 303, shoulder joint first rotating shaft 304, shoulder joint first encoder 305, shoulder joint second encoder 306, second fixed plate 307, shoulder joint The second transmission wheel 308 of the shoulder joint, the second rotation axis 309 of the shoulder joint, the second connecting rod 310 of the shoulder joint, the third transmission wheel 311 of the shoulder joint, the third fixed plate 312, the third rotation axis 313 of the shoulder joint, the third encoder 314 of the shoulder joint, the upper arm mechanism 4, the first upper arm connecting rod 401, the second upper arm connecting rod 402, the sliding groove 403, the upper arm binding mechanism 404, the upper arm fastener 405, the elbow joint motion auxiliary mechanism 5, the elbow joint transmission wheel 501, the fourth fixed plate 502, the elbow joint encoder 503, the forearm connecting rod 504, the bar hole 5041, the elbow joint rotation axis 505, the forearm motion auxiliary mechanism 6, the first arc slide rail 601, the second Arc slide rail 602, forearm fastener 603, first bearing connector 604, second bearing connector 605, forearm binding 606, first rolling bearing 607, second rolling bearing 608, first stopper 609, carbon fiber tube 610, hand grasping auxiliary mechanism 7, flexible glove 701, pneumatic finger 702, pneumatic thumb 7021, pneumatic index finger 7022, pneumatic middle finger 7023, pneumatic ring finger 7024, pneumatic little finger 7025, air chamber 7026, glove fixing ring 703, air pump 704, air pump fixing ring 705, first air pipe 706, gas diverter valve 707, second air pipe 708, regulating valve 709. DETAILED DESCRIPTION

[0069] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings of the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the described embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Unless otherwise defined, the technical terms or scientific terms used herein should be the common meanings understood by people with ordinary skills in the field to which the present invention belongs.

[0070] The words “first”, “second” and similar words used in the patent application specification and claims of the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, unless the context clearly indicates otherwise, the singular forms of “a”, “an” or “the” and similar words do not indicate a quantity limitation, but rather indicate the presence of at least one. Words such as “include” or “comprise” mean that the elements or objects appearing before “include” or “comprises” cover the features, wholes, steps, operations, elements and / or components listed after “include” or “comprises”, and do not exclude the existence or addition of one or more other features, wholes, steps, operations, elements, components and / or their collections. “Up”, “down”, “left”, “right” and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0071] As attached Figure 1 To the attached Figure 15 As shown, an upper limb assisting exoskeleton with the function of assisting human upper limb movements comprises a back driving mechanism 1, an axis vertical position adjustment mechanism 2, a shoulder joint movement assisting mechanism 3, an upper arm mechanism 4, an elbow joint movement assisting mechanism 5, a forearm movement assisting mechanism 6 and a hand grasping assisting mechanism 7;

[0072] The back driving mechanism 1 includes a back plate 101, a shoulder strap and a driving assembly, which is connected to the shoulder joint motion assisting mechanism 3 and the elbow joint motion assisting mechanism 5 respectively to drive the shoulder joint motion assisting mechanism 3 and the elbow joint motion assisting mechanism 5 to move respectively;

[0073] The axis vertical position adjustment mechanism 2 is mounted on the back plate 101 and is connected to the shoulder joint motion assisting mechanism 3 to adjust the axial and vertical positions of the shoulder joint motion assisting mechanism 3;

[0074] The shoulder joint motion assisting mechanism 3 includes a shoulder joint adduction and abduction motion component, a shoulder joint internal rotation and external rotation motion component, and a shoulder joint flexion and extension motion component. The shoulder joint adduction and abduction motion component is used to drive the human shoulder joint to perform adduction and abduction motion, the shoulder joint internal rotation and external rotation motion component is used to drive the human shoulder joint to perform internal rotation and external rotation motion, and the shoulder joint flexion and extension motion component is used to drive the human shoulder joint to perform flexion and extension motion;

[0075] One end of the upper arm mechanism 4 is fixedly connected to the shoulder joint flexion and extension movement component, and the other end of the upper arm mechanism 4 is rotatably connected to the elbow joint movement auxiliary mechanism 5. An upper arm binding mechanism 404 is also provided on the upper arm mechanism 4 so as to be worn on the upper arm of the human body through the upper arm binding mechanism 404;

[0076] The elbow joint motion assisting mechanism 5 includes an elbow joint flexion and extension motion component and a forearm connecting rod 504. The elbow joint flexion and extension motion component is used to drive the human elbow joint to perform flexion and extension motion;

[0077] The forearm movement assisting mechanism 6 is connected to the forearm connecting rod 504 and is used to be worn on the human forearm and adapt to the internal and external rotation movements of the human forearm;

[0078] The hand grasping auxiliary mechanism 7 is connected to the forearm movement auxiliary mechanism 6 and is used to drive the human hand to move.

[0079] In this scheme, the human body's orientation is used as the reference direction. The terms "front," "back," "left," "right," "up," and "down" correspond to the front, back, left, right, up, and down of the human body, respectively. The axial direction in this scheme refers to the left-right direction, the vertical direction refers to the up-down direction, and the longitudinal direction refers to the front-back direction. The initial state in this scheme is when the human body is standing upright and the shoulder joint's motion angle is 0°.

[0080] The working principle of the present invention is: when the power-assisted exoskeleton of the present invention is used, it is worn on the upper limbs of the human body through the shoulder strap, the upper arm binding mechanism 404 and the forearm movement auxiliary mechanism 6. When worn, the position of the shoulder joint movement auxiliary mechanism 3 can also be adjusted through the axial vertical position adjustment mechanism 2 to adapt to the wearing needs of different wearers and improve wearing comfort.

[0081] When performing auxiliary movements of the human upper limbs, the back driving mechanism 1 drives the shoulder joint adduction and abduction movement component to move, so as to realize the adduction and abduction movement of the human shoulder joint; the back driving mechanism 1 drives the shoulder joint internal rotation and external rotation movement component to move, so as to realize the internal rotation and external rotation movement of the human shoulder joint; the back driving mechanism 1 drives the shoulder joint flexion and extension movement component to move, so as to realize the flexion and extension movement of the human shoulder joint; the back driving mechanism 1 drives the elbow joint flexion and extension movement component to move, so as to realize the flexion and extension movement of the human elbow joint; at the same time, the hand grasping auxiliary mechanism 7 can drive the human hand to move, so as to realize the grasping action of the human hand. Therefore, the power-assisted exoskeleton of this scheme can realize the free movement of the entire upper limb and the hand grasping action at the same time.

[0082] In this embodiment, the drive assembly includes a power component, a connecting component, a first sleeve component, a second sleeve component, a third sleeve component, and a fourth sleeve component. The power component is mounted on the back plate 101. The power component includes a first steering gear 102, a second steering gear 103, a third steering gear 104, and a fourth steering gear 105. The connecting component includes a first steel wire rope 110, a second steel wire rope 111, a third steel wire rope 112, and a fourth steel wire rope 113.

[0083] A first driving wheel 106 is connected to the rotating shaft of the first servo 102. The two ends of the first sleeve component are respectively fixed to the back plate 101 and the shaft vertical position adjustment mechanism 2, and the first sleeve component includes two first sleeves 114. One end of the first steel wire rope 110 is wound around the first driving wheel 106. The other end of the first steel wire rope 110 passes through one of the first sleeves 114 and is connected to the shoulder joint adduction and abduction movement component, and then passes through the other first sleeve 114 and is wound around the first driving wheel 106. This allows the shoulder joint adduction and abduction movement component to move through the first steel wire rope 110 when the first servo 102 rotates.

[0084] A second driving wheel 107 is connected to the rotating shaft of the second servo 103. The two ends of the second sleeve component are respectively fixed to the back plate 101 and the shoulder joint adduction and abduction movement assembly, and the second sleeve component includes two second sleeves 115. One end of the second steel wire rope 111 is wound around the second driving wheel 107. The other end of the second steel wire rope 111 passes through one of the second sleeves 115 and is connected to the shoulder joint internal rotation and external rotation movement assembly, and then passes through the other second sleeve 115 and is wound around the second driving wheel 107. When the second servo 103 rotates, the shoulder joint internal rotation and external rotation movement assembly can be driven to move through the second steel wire rope 111.

[0085] A third driving wheel 108 is connected to the rotating shaft of the third servo 104. The two ends of the third sleeve component are respectively fixed to the back plate 101 and the shoulder joint internal and external rotation movement component, and the third sleeve component includes two third sleeves 116. One end of the third steel wire rope 112 is wound around the third driving wheel 108, and the other end of the third steel wire rope 112 passes through one of the third sleeves 116 and is connected to the shoulder joint flexion and extension movement component, and then passes through the other third sleeve 116 and is wound around the third driving wheel 108, so that when the third servo 104 rotates, the shoulder joint flexion and extension movement component can be driven to move through the third steel wire rope 112;

[0086] A fourth driving wheel 109 is connected to the rotating shaft of the fourth servo 105, and both ends of the fourth sleeve component are respectively fixed on the back plate 101 and the upper arm mechanism 4, and the fourth sleeve component includes two fourth sleeves 117. One end of the fourth steel wire rope 113 is wound around the fourth driving wheel 109, and the other end of the fourth steel wire rope 113 passes through one of the fourth sleeves 117 and is connected to the elbow joint flexion and extension movement component, and then passes through the other fourth sleeve 117 and is wound around the fourth driving wheel 109, so that when the fourth servo 105 rotates, the elbow joint flexion and extension movement component can be driven to move through the fourth steel wire rope 113.

[0087] In this embodiment, the axial vertical position adjustment mechanism 2 includes an axial position adjustment component and a vertical position adjustment component. The vertical position adjustment component includes a vertical slide rail arranged vertically and a vertical slider slidably connected to the vertical slide rail. The axial position adjustment component includes an axial slide rail 214 arranged axially and an axial slider 215 slidably connected to the axial slide rail 214. An adjustment base 207 is also fixedly connected to the vertical slider. The axial slide rail 214 is installed on the adjustment base 207. An axial slide rod 208 is also provided on the axial slider 215, and the axial slide rod 208 is connected to the shoulder joint motion auxiliary mechanism 3.

[0088] In this way, when different wearers wear the power-assisted exoskeleton, on the one hand, the vertical slider is moved on the vertical slide rail to synchronously drive the adjustment base 207 to move in the vertical direction. When the adjustment base 207 moves in the vertical direction, it drives the axial slide bar 208 to move vertically, and then the shoulder joint motion assisting mechanism 3 is driven to move vertically through the axial slide bar 208 until the axial slide bar 208 drives the shoulder assembly to move in the vertical direction to a suitable position, thereby realizing the vertical adjustment of the shoulder joint motion assisting mechanism 3; on the other hand, the axial slider 215 is moved on the axial slide rail 214 to synchronously drive the axial slide bar 208 to move in the axial direction, and then the shoulder joint motion assisting mechanism 3 is driven to move axially through the axial slide bar 208 until the axial slide bar 208 drives the shoulder joint motion assisting mechanism 3 to move in the axial direction to a suitable position, thereby realizing the axial adjustment of the shoulder joint motion assisting mechanism 3. Through the above-mentioned adjustment of the shoulder joint motion assisting mechanism 3 in the axial and vertical directions relative to the back plate 101, when different wearers wear it, the position adjustment mechanism of this scheme can adjust the shoulder joint motion assisting mechanism 3 to a suitable position, thereby meeting the wearing needs of different wearers and improving the wearing comfort and versatility.

[0089] In this embodiment, vertical limit members 205 are provided at both ends of the vertical slide rail, and the vertical slider is slidably connected between the two vertical limit members 205. Axial limit members 217 are provided at both ends of the axial slide rail 214, and the axial slider 215 is slidably connected between the two axial limit members 217.

[0090] In this way, by setting vertical limit members 205 at both vertical ends of the vertical slide rail, the vertical slider always slides between the two vertical limit members 205, thereby preventing the vertical slider from sliding beyond the sliding range on the vertical slide rail; similarly, by setting axial limit members 217 at both axial ends of the axial slide rail 214, the axial slider 215 always slides between the two axial limit members 217, thereby preventing the axial slider 215 from sliding beyond the sliding range on the axial slide rail 214.

[0091] In this embodiment, the vertical slide rail includes a first vertical slide rail 203 and a second vertical slide rail 204 distributed along the axial direction. A first vertical slider 211 is slidably connected to the first vertical slide rail 203, and a second vertical slider 212 is slidably connected to the second vertical slide rail 204. The axial ends of the adjustment base 207 are respectively fixed on the first vertical slider 211 and the second vertical slider 212.

[0092] In this way, by arranging the first vertical slide rail 203 and the second vertical slide rail 204 along the axial direction, and slidingly connecting the first vertical slider 211 and the second vertical slider 212 on the first vertical slide rail 203 and the second vertical slide rail 204 respectively, and then fixing the two ends of the adjustment base 207 on the first vertical slider 211 and the second vertical slider 212 respectively, the stability of the adjustment base 207 when moving vertically can be improved.

[0093] In this embodiment, a gap baffle 206 is further provided between the first vertical slide rail 203 and the second vertical slide rail 204. The gap baffle 206 is fixed on the back plate 101, and a plurality of vertical adjustment holes 2061 are opened on the gap baffle 206 along the vertical direction. Vertical fastening holes are provided on the adjustment base 207. The vertical fastening holes can correspond to the vertical adjustment holes 2061 at different positions, and the vertical fastening holes are connected to the vertical adjustment holes 2061 at corresponding positions through vertical butterfly screws 210.

[0094] In this way, by setting the gap baffle 206, when vertical adjustment is required, the vertical butterfly screw 210 and the hexagonal nut are loosened, and the vertical slider can drive the adjustment base 207 to move in the vertical direction for position adjustment. When the adjustment base 207 is moved into place, the vertical fastening hole on the adjustment base 207 will correspond to the vertical adjustment hole 2061 at that position, and then the vertical fastening hole and the vertical adjustment hole 2061 can be connected by installing the vertical butterfly screw 210 and the hexagonal nut, thereby achieving the vertical position adjustment of the adjustment base 207 and the fixation after adjustment into place.

[0095] In this embodiment, an axial reinforcement 216 is further provided between the axial slide rod 208 and the gap baffle 206. The two longitudinal end faces of the axial reinforcement 216 are respectively abutted against the axial slide rod 208 and the gap baffle 206. An axial fastening hole is opened on the axial slide rod 208, and an axial butterfly screw 209 is provided at the axial fastening hole, and the axial butterfly screw 209 can abut against the axial reinforcement 216.

[0096] In this way, the axial slide rod 208 is reinforced by setting the axial reinforcement 216. When the axial position of the axial slide rod 208 needs to be adjusted, the axial butterfly screw 209 is loosened to separate the axial butterfly screw 209 from the axial reinforcement 216. At this time, the axial slider 215 can drive the axial slide rod 208 to move axially. When the axial slide rod 208 is adjusted into position axially, the axial butterfly screw 209 is tightened so that the axial butterfly screw 209 and the axial reinforcement 216 are offset and an extrusion force is generated. The axial slide rod 208 is fixed in the required axial position by using this extrusion force.

[0097] A first vertical aluminum profile 201 is provided at the first vertical slide rail 203, and the first vertical aluminum profile 201 is fixedly connected to the back plate 101. The first vertical slide rail 203 is fixedly connected to the first vertical aluminum profile 201. A second vertical aluminum profile 202 is provided at the second vertical slide rail 204, and the second vertical aluminum profile 202 is fixedly connected to the back plate 101. The second vertical slide rail 204 is fixedly connected to the second vertical aluminum profile 202. An axial aluminum profile 213 is provided at the axial slide rail 214, and the axial aluminum profile 213 is fixedly connected to the adjustment base 207. The axial slide rail 214 is fixedly connected to the axial aluminum profile 213.

[0098] In this embodiment, the shoulder joint adduction and abduction movement assembly includes a shoulder joint first connecting rod 303, a shoulder joint first rotating shaft 304, a shoulder joint first transmission wheel 301 and a shoulder joint first encoder 305. The axial slide bar 208 is movably sleeved on the shoulder joint first rotating shaft 304. The shoulder joint first connecting rod 303 is fixedly connected to the shoulder joint first rotating shaft 304. In the initial state, the shoulder joint first connecting rod 303 is at a set angle to the vertical direction. The shoulder joint first rotating shaft 304 is fixedly connected to the shoulder joint first transmission wheel 301. The first steel wire rope 110 is wound around the shoulder joint first transmission wheel 30 1, so that the first steel wire rope 110 can drive the first connecting rod 303 of the shoulder joint to move through the first transmission wheel 301 of the shoulder joint, and a first fixed plate 302 is also provided at the first transmission wheel 301 of the shoulder joint, and the first fixed plate 302 is fixedly connected to the first transmission wheel 301 of the shoulder joint, and the first fixed plate 302 is fixedly connected to the first rotating shaft 304 of the shoulder joint, and the first encoder 305 of the shoulder joint is fixedly connected to the axial slide bar 208, and the rotating shaft of the first encoder 305 of the shoulder joint is connected to the first fixed plate 302, so as to measure the angle of adduction and abduction of the shoulder joint through the first fixed plate 302.

[0099] In this embodiment, the shoulder joint internal and external rotation motion assembly includes a shoulder joint second connecting rod 310, a shoulder joint second transmission wheel 308, a shoulder joint second rotation axis 309 and a shoulder joint second encoder 306. The shoulder joint first connecting rod 303 is movably sleeved on the shoulder joint second rotation axis 309. The shoulder joint second connecting rod 310 is fixedly connected to the shoulder joint second rotation axis 309. The shoulder joint second rotation axis 309 is fixedly connected to the shoulder joint second transmission wheel 308. The second steel wire rope 111 is wound around the second transmission wheel so that the second steel wire rope 111 can pass through the shoulder joint. The second transmission wheel 308 of the shoulder joint drives the second connecting rod 310 of the shoulder joint to move. A second fixed plate 307 is also provided at the second transmission wheel 308 of the shoulder joint. The second fixed plate 307 is fixedly connected to the second transmission wheel 308 of the shoulder joint, and the second fixed plate 307 is fixedly connected to the second rotating shaft 309 of the shoulder joint. The second encoder 306 of the shoulder joint is fixedly connected to the first connecting rod 303 of the shoulder joint, and the rotating shaft of the second encoder 306 of the shoulder joint is connected to the second fixed plate 307 to measure the angles of internal and external rotation of the shoulder joint through the second fixed plate 307.

[0100] In this embodiment, the shoulder joint flexion and extension movement component includes a shoulder joint third rotation axis 313, a shoulder joint third transmission wheel 311 and a shoulder joint third encoder 314, the shoulder joint second connecting rod 310 is movably mounted on the shoulder joint third rotation axis 313, the upper arm mechanism 4 is fixedly connected to the shoulder joint third rotation axis 313, the shoulder joint third rotation axis 313 is fixedly connected to the shoulder joint third transmission wheel 311, the third steel wire rope 112 is wound around the shoulder joint third transmission wheel 311, so that the third steel wire rope 112 can pass through the shoulder joint. The third transmission wheel 311 of the joint drives the upper arm mechanism 4 to move. A third fixed plate 312 is also provided at the third transmission wheel 311 of the shoulder joint. The third fixed plate 312 is fixedly connected to the third transmission wheel 311 of the shoulder joint, and the third fixed plate 312 is fixedly connected to the third rotating shaft 313 of the shoulder joint. The third encoder 314 of the shoulder joint is fixedly connected to the second connecting rod 310 of the shoulder joint, and the rotating shaft of the third encoder 314 of the shoulder joint is connected to the third fixed plate 312 to measure the flexion and extension angle of the shoulder joint through the third fixed plate 312.

[0101] In this embodiment, the upper arm mechanism 4 includes a first upper arm link 401 and a second upper arm link 402. The first upper arm link 401 is fixedly connected to the third rotation axis 313 of the shoulder joint. A sliding groove 403 is provided at one end of the first upper arm link 401 close to the second upper arm link 402. The second upper arm link 402 slides into the sliding groove 403 at one end close to the first upper arm link 401, and a slot hole is provided at one end of the second upper arm link 402 for extending into the sliding groove 403. An upper arm fastener 405 is also provided at the sliding groove 403. The upper arm fastener 405 passes through the sliding groove 403 and the slot hole and is connected to the upper arm binding mechanism 404 to realize a fixed connection between the first upper arm link 401, the second upper arm link 402 and the upper arm binding mechanism 404.

[0102] In this embodiment, the elbow flexion and extension movement component includes an elbow joint rotation shaft 505, an elbow joint transmission wheel 501 and an elbow joint encoder 503. The second upper arm link 402 is movably mounted on the elbow joint rotation shaft 505. The forearm link 504 is fixedly connected to the elbow joint rotation shaft 505. The elbow joint rotation shaft 505 is fixedly connected to the elbow joint transmission wheel 501. The fourth steel wire is wound around the elbow joint transmission wheel 501 so that the fourth steel wire rope 113 can drive the forearm link 504 to move through the elbow joint transmission wheel 501. A fourth fixed plate 502 is also provided at the elbow joint transmission wheel 501. The fourth fixed plate 502 is fixedly connected to the elbow joint transmission wheel 501, and the fourth fixed plate 502 is fixedly connected to the elbow joint rotation shaft 505. The elbow joint encoder 503 is fixedly connected to the second upper arm link 402, and the rotating shaft of the elbow joint encoder 503 is connected to the fourth fixed plate 502 to measure the angle of elbow flexion and extension through the fourth fixed plate 502.

[0103] In this embodiment, the forearm movement assisting mechanism 6 includes a first arc slide rail 601 and a second arc slide rail 602. The forearm connecting rod 504 slides through the first arc slide rail 601 and the second arc slide rail 602 in sequence. A strip hole 5041 is also provided on the forearm connecting rod 504. The first arc slide rail 601 and the second arc slide rail 602 can be moved to different positions of the strip hole 5041. The first arc slide rail 601, the second arc slide rail 602 and the forearm connecting rod 504 are fixedly connected by a forearm fastener 603.

[0104] The forearm movement assisting mechanism 6 further includes a first bearing connector 604, a second bearing connector 605, and a forearm tie 606. First rolling bearings 607 are provided at both ends of the first bearing connector 604, and the first rolling bearings 607 at both ends are slidably connected to the first arc slide rail 601 and the second arc slide rail 602, respectively. Second rolling bearings 608 are provided at both ends of the second bearing connector 605, and the second rolling bearings 608 at both ends are slidably connected to the first arc slide rail 601 and the second arc slide rail 602, respectively. The forearm tie 606 is fixedly connected to the first bearing connector 604 and the second bearing connector 605, so that the forearm tie 606 is driven to rotate by the sliding of the first rolling bearings 607 and the second rolling bearings 608 on the first arc slide rail 601 and the second arc slide rail 602.

[0105] A first stopper 609 and a second stopper are respectively provided on the first arc slide rail 601 and the second arc slide rail 602 to limit the movement of the first rolling bearing 607 and the second rolling bearing 608 .

[0106] In this embodiment, the hand grasping assist mechanism 7 is connected to the forearm motion assist mechanism 6 through a carbon fiber tube 610. The hand grasping assist mechanism 7 includes a pneumatic finger 702, a flexible glove 701 and a pneumatic drive assembly. The flexible glove 701 is used to be worn on the human hand. The pneumatic finger 702 is fixed on the flexible glove 701, and the pneumatic finger 702 includes a pneumatic thumb 7021, a pneumatic index finger 7022, a pneumatic middle finger 7023, a pneumatic ring finger 7024 and a pneumatic little finger 7025. The pneumatic thumb 7021, the pneumatic index finger 7022, the pneumatic middle finger 7023, the pneumatic ring finger 7024 and the pneumatic little finger 7025 correspond to the fingers of the human hand respectively. 2. Multiple air chambers 7026 are provided on the pneumatic middle finger 7023, the pneumatic ring finger 7024 and the pneumatic little finger 7025, and the air chambers 7026 expand when inflated and contract when deflated, so as to drive the movement of the corresponding pneumatic fingers 702 by inflating and deflating the air chambers 7026; the pneumatic drive assembly includes an air pump 704 and multiple air supply pipes, and the multiple air supply pipes are respectively connected to the air chambers 7026 on the pneumatic thumb 7021, the pneumatic index finger 7022, the pneumatic middle finger 7023, the pneumatic ring finger 7024 and the pneumatic little finger 7025, so as to realize independent air supply to the air chambers 7026 on the pneumatic thumb 7021, the pneumatic index finger 7022, the pneumatic middle finger 7023, the pneumatic ring finger 7024 and the pneumatic little finger 7025.

[0107] In this way, when it is necessary to grasp an object, the air pump 704 supplies air to each air supply pipe, and each air supply pipe then supplies air to the air chambers 7026 on the pneumatic thumb 7021, the pneumatic index finger 7022, the pneumatic middle finger 7023, the pneumatic ring finger 7024 and the pneumatic little finger 7025, respectively. After the air chambers 7026 on the pneumatic thumb 7021, the pneumatic index finger 7022, the pneumatic middle finger 7023, the pneumatic ring finger 7024 and the pneumatic little finger 7025 are ventilated, the pneumatic thumb 7021, the pneumatic index finger 7022, the pneumatic middle finger 7023, the pneumatic ring finger 7024 and the pneumatic little finger 7025 are stretched. The pneumatic thumb 7021, pneumatic index finger 7022, pneumatic middle finger 7023, pneumatic ring finger 7024, and pneumatic pinky finger 7025 will bend to varying degrees, thereby driving the corresponding fingers of the human hand to bend, thereby assisting the human hand in grasping and grasping the object. When the grasping is completed, the air supply channel stops supplying air to each air chamber 7026, and each air chamber 7026 deflates and contracts. At this time, the pneumatic thumb 7021, pneumatic index finger 7022, pneumatic middle finger 7023, pneumatic ring finger 7024, and pneumatic pinky finger 7025 will return to their original position and extend, thereby driving the corresponding fingers of the human hand to extend, thereby completing the grasping process. At the same time, in this solution, the air supply pipes and air chambers 7026 of the pneumatic thumb 7021, pneumatic index finger 7022, pneumatic middle finger 7023, pneumatic ring finger 7024, and pneumatic pinky finger 7025 are all independent of each other, so that each finger can be independently controlled to better achieve the effect of grasping the object. Therefore, this solution can help patients better complete daily life activities and pick up items independently.

[0108] In this embodiment, the air supply pipeline includes a first air pipe 706 and five second air pipes 708. One end of the first air pipe 706 is connected to the air outlet of the air pump 704. The other end of the first air pipe 706 is connected to a gas diverter valve 707. The first air pipe 706 is connected to the air inlet of the gas diverter valve 707. The gas diverter valve 707 has five air outlets, and the five air outlets of the gas diverter valve 707 are respectively connected to the five second air pipes 708. The five second air pipes 708 are respectively connected to the pneumatic thumb 7021, the pneumatic index finger 7022, the pneumatic middle finger 7023, the pneumatic ring finger 7024 and the pneumatic little finger 7025, so as to supply air to the five fingers of the pneumatic fingers 702 through the five second air pipes 708.

[0109] In this embodiment, the multiple air chambers 7026 on the pneumatic thumb 7021, the pneumatic index finger 7022, the pneumatic middle finger 7023, the pneumatic ring finger 7024, and the pneumatic little finger 7025 are evenly divided into two groups, and the two groups of air chambers 7026 are respectively arranged at positions corresponding to the metacarpophalangeal joints and the proximal interphalangeal joints of the human hand;

[0110] In this embodiment, the flexible glove 701 is fixedly connected to the carbon fiber tube 610 via a glove fixing ring 703, and the air pump 704 is fixedly connected to the carbon fiber tube 610 via an air pump fixing ring 705;

[0111] In this embodiment, the pneumatic finger 702 is fixedly connected to the flexible glove 701 by hot melt adhesive, and the glove fixing ring 703 is fixedly connected to the flexible glove 701 by hot melt adhesive.

[0112] In this embodiment, each of the five gas outlet ends of the gas diverter valve 707 is provided with a regulating valve 709 for regulating the flow rate of the gas outlet end.

[0113] Each regulating valve 709 can respectively adjust the flow rate of each air outlet to independently adjust the power supply to each finger, so as to better assist the human fingers in grasping.

[0114] Compared with existing technologies, the power-assisted exoskeleton in this scheme has three degrees of freedom: adduction / abduction, internal rotation / external rotation, and flexion / extension at the shoulder joint; one degree of freedom: flexion / extension at the elbow joint; and one degree of freedom: internal rotation / external rotation at the forearm. Since the human finger joints consist of five metacarpophalangeal joints and nine interphalangeal joints, for a total of 14 degrees of freedom, the first interphalangeal joint of the thumb, the metacarpophalangeal joint of the thumb, the second interphalangeal joint of the index finger, the metacarpophalangeal joint of the index finger, the second interphalangeal joint of the middle finger, the metacarpophalangeal joint of the middle finger, the second interphalangeal joint of the ring finger, the metacarpophalangeal joint of the ring finger, the second interphalangeal joint of the little finger, and the metacarpophalangeal joint of the little finger have the largest ranges of motion. Therefore, the design focuses on the 10 degrees of freedom with the largest ranges of motion. This fully meets the requirements of the human upper limb's freedom of movement and hand grasping movements.

[0115] In the present invention, the shoulder joint adduction and abduction movement component is used to realize the active freedom of shoulder joint adduction / abduction, the shoulder joint internal rotation and external rotation movement component is used to realize the active freedom of shoulder joint internal rotation / external rotation, and the shoulder joint flexion and extension movement component is used to realize the active freedom of shoulder joint flexion / extension; the elbow joint flexion and extension movement component is used to realize the active freedom of elbow joint flexion / extension; the forearm movement auxiliary mechanism 6 is used to realize the passive freedom of forearm internal rotation and external rotation; the hand grasping auxiliary mechanism 7 is used to realize the active freedom of 5 metacarpophalangeal joints and 5 interphalangeal joints of the finger part of the hand.

[0116] In the present invention, the shoulder joint first link 303 in the shoulder joint adduction / abduction freedom realization mechanism is in the initial position. When viewed from the front view, the side surface of the shoulder joint first link 303 is not parallel to the sagittal plane, but has a 20° deviation angle with the sagittal plane. This ensures that the shoulder joint does not interfere with the human body during abduction, while increasing the range of motion and further meeting the range of motion of the human body. At the same time, the rotation axes of the adduction / abduction, internal rotation / external rotation and flexion / extension degrees of freedom of the shoulder joint intersect at one point, and the intersection is located on the axis of the upper arm mechanism 4. At the same time, the intersection of the axis of the upper arm mechanism 4 and the rotation axis of the elbow joint motion auxiliary mechanism 5 and the intersection of the axis of the forearm motion auxiliary mechanism 6 and the rotation axis of the elbow joint motion auxiliary mechanism 5 coincide with each other, so that the axis of the upper arm mechanism 4 and the axis of the forearm motion auxiliary mechanism 6 are in the same plane and coupled with the upper arm rotation axis and the forearm rotation axis of the human body, thereby ensuring human-machine motion compatibility and meeting good wearing comfort.

[0117] Each pneumatic finger 702 in the present invention adopts a single-joint-multiple air chamber matching method to achieve human-machine adaptive compatibility. The pneumatic finger 702 of the present invention is made of rubber material and is actuated by air pressure. The present invention mainly actively assists 10 finger joints with a larger range of motion. Among them, each driving joint of the pneumatic thumb 7021, the pneumatic index finger 7022, the pneumatic middle finger 7023, the pneumatic ring finger 7024, and the pneumatic little finger 7025 adopts 4-5 air chambers 7026 to correspond to each joint of the human finger. Different from the traditional one-to-one alignment of the rotation axis of the human-machine finger joints, the present invention adopts a single-joint-multiple air chamber matching method to drive the finger bending, which can achieve human-machine adaptive compatibility, adapt to different human hand sizes, and reduce structural complexity.

[0118] The present invention first assists the movement of the shoulder joint, elbow joint and forearm of the human upper limb through the shoulder joint movement assisting mechanism 3, the elbow joint movement assisting mechanism 5 and the forearm movement assisting mechanism 6 to achieve free upper limb movement, and then assists the movement of the human fingers through the hand grasping assisting mechanism 7 to complete the grasping action.

[0119] The present invention is connected to the human upper arm through the upper arm binding mechanism 404; the forearm movement auxiliary mechanism 6 is connected to the human forearm; by driving the corresponding steering gear, the output shaft of the steering gear further drives the corresponding driving wheel to rotate, and the driving wheel further drives the corresponding steel wire rope to shuttle through the casing, thereby correspondingly driving the shoulder joint first transmission wheel 301 for adduction and abduction of the shoulder joint, the shoulder joint second transmission wheel 308 for internal rotation / external rotation of the shoulder joint, the shoulder joint third transmission wheel 311 for flexion / extension of the shoulder joint and the elbow joint flexion / extension of the elbow joint to rotate, and further driving the shoulder joint first rotation axis 304 for adduction / abduction of the shoulder joint, the shoulder joint second rotation axis 308 for internal rotation / external rotation of the shoulder joint The axis 309, the third rotation axis 313 of the shoulder joint for internal rotation / external rotation of the shoulder joint, and the elbow joint rotation axis 505 for flexion / extension of the elbow joint rotate, and further drive the first link 303 of the shoulder joint, the second link 310 of the shoulder joint, the first upper arm link 401 and the forearm link 504 to rotate respectively around the axis of the first rotation axis 304 of the shoulder joint for internal rotation / external rotation of the shoulder joint, the axis of the second rotation axis 309 of the shoulder joint for internal rotation / external rotation of the shoulder joint, the axis of the third rotation axis 313 of the shoulder joint for internal rotation / external rotation of the shoulder joint, and the axis of the elbow joint rotation axis 505 for flexion / extension of the elbow joint, thereby realizing active assistance to the adduction / abduction, internal rotation / external rotation and flexion / extension of the human shoulder joint and the elbow joint.

[0120] In addition, the rolling bearings at both ends of the first bearing connector 604 and the second bearing connector 605 in the forearm movement assisting mechanism 6 slide in the first arc slide rail 601 and the second arc slide groove 403 respectively, thereby driving the forearm binding 606 to rotate, thereby realizing passive assistance to the internal and external rotation of the human forearm.

[0121] In the hand grasping assist mechanism 7, the flexible glove 701 is worn on the human hand. After the above-mentioned shoulder joint, elbow joint and forearm movement assistance realizes free upper limb movement, so that the human hand reaches the desired position, the air pump 704 is driven to output high-pressure gas, and the high-pressure gas is further inflated through the five second air pipes 708 through the gas diverter valve 707 to the pneumatic thumb 7021, pneumatic index finger 7022, pneumatic middle finger 7023, pneumatic ring finger 7024, and pneumatic little finger 7025, so that the air chambers 7026 at each joint of the pneumatic thumb 7021, pneumatic index finger 7022, pneumatic middle finger 7023, pneumatic ring finger 7024, and pneumatic little finger 7025 expand, so that the pneumatic finger 702 bends, further driving the corresponding fingers of the human body to bend, thereby realizing active assistance to the grasping of the human hand.

[0122] The present invention adopts a modular design and can be specifically divided into a back drive mechanism 1, an axis vertical position adjustment mechanism 2, a shoulder joint motion assisting mechanism 3, an upper arm mechanism 4, an elbow joint motion assisting mechanism 5, a forearm motion assisting mechanism 6 and a hand grasping assisting mechanism 7. The shoulder joint motion assisting mechanism 3 is connected to the axis vertical position adjustment mechanism 2 via the shoulder joint first rotation axis 304, the upper arm mechanism 4 is connected to the shoulder joint motion assisting mechanism 3 via the shoulder joint third rotation axis 313, the elbow joint motion assisting mechanism 5 is connected to the upper arm mechanism 4 via the elbow joint rotation axis 505, and the forearm motion assisting mechanism 6 is connected to the elbow joint motion assisting mechanism 5 via the elbow joint rotation axis 505 and the forearm connecting rod 504; the hand grasping assisting mechanism 7 and the forearm motion assisting mechanism 6 are connected via a carbon fiber tube 610. This modular design facilitates subsequent optimization design and parts disassembly and assembly.

[0123] The present invention can achieve size adjustment of the power-assisted exoskeleton to better adapt to the wearing needs of different wearers. In the present invention, the horizontal and vertical position adjustment mechanism can adjust the height of the adjustment base 207 by adjusting the position of the vertical butterfly screw 210 in the vertical adjustment hole 2061, thereby adjusting the height of the shoulder joint motion auxiliary mechanism 3; further, the axial position of the shoulder joint motion auxiliary mechanism 3 can be adjusted by adjusting the position of the axial slide bar 208 and fixing the position with the axial butterfly screw 209; further meeting the height and axial position of the shoulder joint motion auxiliary mechanism 3 to match the position of the human shoulder joint. By adjusting the position of the second upper arm link 402 in the upper arm mechanism 4 in the first upper arm link 401, matching with the size of the human upper arm is achieved. Then, the position of the upper arm binding mechanism 404 is fixed and the first upper arm link 401 and the second upper arm link 402 are locked by the squeezing force of the upper arm fastener 405 in the upper arm mechanism 4. Similarly, by adjusting the position of the forearm motion auxiliary mechanism 6 in the forearm link 504, matching with the size of the human forearm is achieved. The above method for adjusting the size of the exoskeleton is simple and convenient.

[0124] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit the technical solutions. Those skilled in the art should understand that modifications or equivalent replacements of the technical solutions of the present invention that do not depart from the purpose and scope of the technical solutions of the present invention should be included in the scope of the claims of the present invention.

Claims

1. An upper limb assisting exoskeleton with the function of assisting human upper limb movements, characterized in that: It includes a back driving mechanism, an axis vertical position adjustment mechanism, a shoulder joint motion assisting mechanism, an upper arm mechanism, an elbow joint motion assisting mechanism, a forearm motion assisting mechanism and a hand grasping assisting mechanism; The back driving mechanism includes a back plate, a shoulder strap and a driving assembly, wherein the driving assembly is respectively connected to the shoulder joint motion assisting mechanism and the elbow joint motion assisting mechanism to respectively drive the shoulder joint motion assisting mechanism and the elbow joint motion assisting mechanism to move; The shaft vertical position adjustment mechanism is mounted on the back plate, and the shaft vertical position adjustment mechanism is connected to the shoulder joint motion assisting mechanism to adjust the axial and vertical positions of the shoulder joint motion assisting mechanism; The shoulder joint motion auxiliary mechanism includes a shoulder joint adduction and abduction motion component, a shoulder joint internal rotation and external rotation motion component, and a shoulder joint flexion and extension motion component. The shoulder joint adduction and abduction motion component is used to drive the human shoulder joint to perform adduction and abduction motion, the shoulder joint internal rotation and external rotation motion component is used to drive the human shoulder joint to perform internal rotation and external rotation motion, and the shoulder joint flexion and extension motion component is used to drive the human shoulder joint to perform flexion and extension motion; One end of the upper arm mechanism is fixedly connected to the shoulder joint flexion and extension movement component, and the other end of the upper arm mechanism is rotatably connected to the elbow joint movement auxiliary mechanism. An upper arm binding mechanism is also provided on the upper arm mechanism so as to be worn on the upper arm of a human body through the upper arm binding mechanism. The elbow joint motion assisting mechanism comprises an elbow joint flexion and extension motion component and a forearm connecting rod, wherein the elbow joint flexion and extension motion component is used to drive the human elbow joint to perform flexion and extension motion; The forearm movement auxiliary mechanism is connected to the forearm connecting rod and is used to be worn on the human forearm and adapt to the internal and external rotation movements of the human forearm; The forearm movement assisting mechanism includes a first arc slide rail and a second arc slide rail, the forearm connecting rod slides through the first arc slide rail and the second arc slide rail in sequence, and a strip hole is also provided on the forearm connecting rod, the first arc slide rail and the second arc slide rail can be moved to different positions of the strip hole, and the first arc slide rail, the second arc slide rail and the forearm connecting rod are fixedly connected by a forearm fastener; the forearm movement assisting mechanism also includes a first bearing connecting member, a second bearing connecting member and a forearm binding, and the first rolling bearings are respectively provided at both ends of the first bearing connecting member, and the first rolling bearings at both ends are respectively slidably connected to On the first arc slide rail and the second arc slide rail, two ends of the second bearing connector are respectively provided with second rolling bearings, and the second rolling bearings at both ends are respectively slidably connected to the first arc slide rail and the second arc slide rail, and the forearm binding is fixedly connected to the first bearing connector and the second bearing connector, so that the forearm binding is driven to rotate by the sliding of the first rolling bearing and the second rolling bearing on the first arc slide rail and the second arc slide rail; the first arc slide rail and the second arc slide rail are further provided with a first stopper and a second stopper, respectively, to limit the movement of the first rolling bearing and the second rolling bearing; The hand grasping auxiliary mechanism is connected to the forearm movement auxiliary mechanism and is used to drive the human hand to move.

2. The upper limb assisting exoskeleton with the function of assisting upper limb movement of the human body according to claim 1, characterized in that: The drive assembly includes a power component, a connecting component, a first sleeve component, a second sleeve component, a third sleeve component, and a fourth sleeve component. The power component is mounted on the back plate. The power component includes a first steering gear, a second steering gear, a third steering gear, and a fourth steering gear. The connecting component includes a first steel wire rope, a second steel wire rope, a third steel wire rope, and a fourth steel wire rope. A first driving wheel is connected to the rotating shaft of the first servo, and two ends of the first sleeve component are respectively fixed to the back plate and the shaft vertical position adjustment mechanism, and the first sleeve component includes two first sleeves. One end of the first steel wire rope is wound around the first driving wheel, and the other end of the first steel wire rope passes through one of the first sleeves and is connected to the shoulder joint adduction and abduction movement component, and then passes through the other first sleeve and is wound around the first driving wheel, so that when the first servo rotates, the shoulder joint adduction and abduction movement component can be driven to move through the first steel wire rope; A second driving wheel is connected to the rotating shaft of the second servo, and two ends of the second sleeve component are respectively fixed to the back plate and the shoulder joint adduction and abduction motion component, and the second sleeve component includes two second sleeves. One end of the second steel wire rope is wound around the second driving wheel, and the other end of the second steel wire rope passes through one of the second sleeves and is connected to the shoulder joint internal and external rotation motion component, and then passes through the other second sleeve and is wound around the second driving wheel, so that when the second servo rotates, the shoulder joint internal and external rotation motion component can be driven to move through the second steel wire rope; A third driving wheel is connected to the rotating shaft of the third servo, and two ends of the third sleeve component are respectively fixed to the back plate and the shoulder joint internal and external rotation motion component, and the third sleeve component includes two third sleeves. One end of the third steel wire rope is wound around the third driving wheel, and the other end of the third steel wire rope passes through one of the third sleeves and is connected to the shoulder joint flexion and extension motion component, and then passes through the other third sleeve and is wound around the third driving wheel, so that when the third servo rotates, the shoulder joint flexion and extension motion component can be driven to move through the third steel wire rope; A fourth driving wheel is connected to the rotating shaft of the fourth servo, and both ends of the fourth sleeve component are respectively fixed to the back plate and the upper arm mechanism, and the fourth sleeve component includes two fourth sleeves. One end of the fourth steel wire rope is wound around the fourth driving wheel, and the other end of the fourth steel wire rope passes through one of the fourth sleeves and is connected to the elbow joint flexion and extension movement component, and then passes through the other fourth sleeve and is wound around the fourth driving wheel, so that when the fourth servo rotates, the elbow joint flexion and extension movement component can be driven to move through the fourth steel wire rope.

3. The upper limb assisting exoskeleton with the function of assisting upper limb movement of human body according to claim 2, characterized in that: The axial vertical position adjustment mechanism includes an axial position adjustment component and a vertical position adjustment component. The vertical position adjustment component includes a vertical slide rail arranged vertically and a vertical slider slidably connected to the vertical slide rail. The axial position adjustment component includes an axial slide rail arranged axially and an axial slider slidably connected to the axial slide rail. An adjustment base is also fixedly connected to the vertical slider. The axial slide rail is installed on the adjustment base. An axial slide rod is also provided on the axial slider, and the axial slide rod is connected to the shoulder joint motion auxiliary mechanism.

4. The upper limb assisting exoskeleton with the function of assisting upper limb movement of human body according to claim 3, characterized in that: The shoulder joint adduction and abduction movement assembly includes a shoulder joint first connecting rod, a shoulder joint first rotating shaft, a shoulder joint first transmission wheel and a shoulder joint first encoder, the axial sliding rod movably sleeved on the shoulder joint first rotating shaft, the shoulder joint first connecting rod is fixedly connected to the shoulder joint first rotating shaft, and the shoulder joint first connecting rod forms a set angle with the vertical direction in an initial state, the shoulder joint first rotating shaft is fixedly connected to the shoulder joint first transmission wheel, the first steel wire rope is wound around the shoulder joint first transmission wheel so that the first steel wire rope can drive the shoulder joint first connecting rod to move through the shoulder joint first transmission wheel, and a first fixed plate is also provided at the shoulder joint first transmission wheel, the first fixed plate is fixedly connected to the shoulder joint first transmission wheel, and the first fixed plate is fixedly connected to the shoulder joint first rotating shaft, the shoulder joint first encoder is fixedly connected to the axial sliding rod, and the rotating shaft of the shoulder joint first encoder is connected to the first fixed plate, so as to measure the angle of shoulder joint adduction and abduction through the first fixed plate.

5. The upper limb assisting exoskeleton with the function of assisting upper limb movement of human body according to claim 4, characterized in that: The shoulder joint internal and external rotation motion assembly includes a shoulder joint second connecting rod, a shoulder joint second transmission wheel, a shoulder joint second rotating shaft and a shoulder joint second encoder, the shoulder joint first connecting rod movably sleeved on the shoulder joint second rotating shaft, the shoulder joint second connecting rod is fixedly connected to the shoulder joint second rotating shaft, the shoulder joint second rotating shaft is fixedly connected to the shoulder joint second transmission wheel, the second steel wire rope is wound around the second transmission wheel so that the second steel wire rope can drive the shoulder joint second connecting rod to move through the shoulder joint second transmission wheel, a second fixed plate is also provided at the shoulder joint second transmission wheel, the second fixed plate is fixedly connected to the shoulder joint second transmission wheel, and the second fixed plate is fixedly connected to the shoulder joint second rotating shaft, the shoulder joint second encoder is fixedly connected to the shoulder joint first connecting rod, and the rotating shaft of the shoulder joint second encoder is connected to the second fixed plate, so as to measure the angle of the shoulder joint internal and external rotation through the second fixed plate.

6. The upper limb assisting exoskeleton with the function of assisting upper limb movement of human body according to claim 5, characterized in that: The shoulder joint flexion and extension movement component includes a third rotation axis of the shoulder joint, a third transmission wheel of the shoulder joint and a third encoder of the shoulder joint. The second connecting rod of the shoulder joint is movably mounted on the third rotation axis of the shoulder joint. The upper arm mechanism is fixedly connected to the third rotation axis of the shoulder joint. The third rotation axis of the shoulder joint is fixedly connected to the third transmission wheel of the shoulder joint. The third steel wire rope is wound around the third transmission wheel of the shoulder joint so that the third steel wire rope can drive the upper arm mechanism to move through the third transmission wheel of the shoulder joint. A third fixed plate is also provided at the third transmission wheel of the shoulder joint. The third fixed plate is fixedly connected to the third transmission wheel of the shoulder joint, and the third fixed plate is fixedly connected to the third rotation axis of the shoulder joint. The third encoder of the shoulder joint is fixedly connected to the second connecting rod of the shoulder joint, and the rotating shaft of the third encoder of the shoulder joint is connected to the third fixed plate, so as to measure the angle of flexion and extension of the shoulder joint through the third fixed plate.

7. The upper limb assisting exoskeleton with the function of assisting upper limb movement of human body according to claim 6, characterized in that: The upper arm mechanism includes a first upper arm link and a second upper arm link, the first upper arm link is fixedly connected to the third rotation axis of the shoulder joint, a sliding groove is provided at one end of the first upper arm link close to the second upper arm link, the second upper arm link slides into the sliding groove at one end close to the first upper arm link, and a slot hole is provided at one end of the second upper arm link for extending into the sliding groove, and an upper arm fastener is also provided at the sliding groove, and the upper arm fastener is connected to the upper arm binding mechanism after passing through the sliding groove and the slot hole to realize a fixed connection between the first upper arm link, the second upper arm link and the upper arm binding mechanism.

8. The upper limb assisting exoskeleton with the function of assisting upper limb movement of human body according to claim 7, characterized in that: The elbow joint flexion and extension movement component includes an elbow joint rotation shaft, an elbow joint transmission wheel and an elbow joint encoder. The second upper arm connecting rod is movably mounted on the elbow joint rotation shaft. The forearm connecting rod is fixedly connected to the elbow joint rotation shaft. The elbow joint rotation shaft is fixedly connected to the elbow joint transmission wheel. The fourth steel wire is wound around the elbow joint transmission wheel so that the fourth steel wire rope can drive the forearm connecting rod to move through the elbow joint transmission wheel. A fourth fixed plate is also provided at the elbow joint transmission wheel. The fourth fixed plate is fixedly connected to the elbow joint transmission wheel, and the fourth fixed plate is fixedly connected to the elbow joint rotation shaft. The elbow joint encoder is fixedly connected to the second upper arm connecting rod, and the rotating shaft of the elbow joint encoder is connected to the fourth fixed plate to measure the angle of elbow flexion and extension through the fourth fixed plate.

9. The upper limb assisting exoskeleton with the function of assisting upper limb movement of human body according to claim 1, characterized in that: The hand grasping auxiliary mechanism is connected to the forearm motion auxiliary mechanism through a carbon fiber tube. The hand grasping auxiliary mechanism includes pneumatic fingers, a flexible glove and a pneumatic drive assembly. The flexible glove is used to be worn on the human hand. The pneumatic fingers are fixed on the flexible glove, and the pneumatic fingers include a pneumatic thumb, a pneumatic index finger, a pneumatic middle finger, a pneumatic ring finger and a pneumatic little finger. The pneumatic thumb, pneumatic index finger, pneumatic middle finger, pneumatic ring finger and pneumatic little finger respectively correspond to the fingers of the human hand. A plurality of air chambers are provided on the pneumatic index finger, pneumatic middle finger, pneumatic ring finger and pneumatic little finger, and the air chambers expand when inflated and contract when deflated, so as to drive the movement of the corresponding pneumatic fingers by inflating and deflating the air chambers; the pneumatic drive assembly includes an air pump and a plurality of air supply pipes, and the plurality of air supply pipes are respectively connected to the air chambers on the pneumatic thumb, pneumatic index finger, pneumatic middle finger, pneumatic ring finger and pneumatic little finger, so as to realize independent air supply to the air chambers on the pneumatic thumb, pneumatic index finger, pneumatic middle finger, pneumatic ring finger and pneumatic little finger.

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