An exoskeleton robot for rehabilitation training

Abstract

The present invention relates to the technical field of medical auxiliary devices, and discloses an exoskeleton robot for rehabilitation training, which includes a frame and at least one set of robotic arms arranged on the frame. The robotic arm includes a large arm assembly and a small arm assembly. The upper end of the large arm assembly is sequentially connected to the frame through a first clutch joint, a second clutch joint, and a third clutch joint. The lower end of the large arm assembly is connected to the inner end of the small arm assembly through a fourth clutch joint. A motor and a power separator are provided on the frame. The power separator is provided with a power input shaft connected to the motor and at least four power output shafts. The power input shaft drives the power output shafts to rotate synchronously. The drive shafts in the first clutch joint, the second clutch joint, the third clutch joint, and the fourth clutch joint are respectively connected to the power output shafts through independent flexible shafts. The present invention has the beneficial effects of light weight, low failure rate, and more stable performance.

Description

Technical Field

[0001] The present invention relates to the technical field of medical auxiliary devices, and particularly relates to an exoskeleton robot for rehabilitation training. Background Art

[0002] After some patients' upper limbs are injured or diseased, muscle atrophy occurs, and rehabilitation training for the upper limbs is required. The existing common method is for a rehabilitation therapist to manually assist the patient in rehabilitation training. On the one hand, the labor intensity of the therapist is high. On the other hand, it is difficult to precisely control the different postural movements of the patient's arm. At the same time, the patient also needs to actively control the upper limb to cooperate with the therapist's training, making the rehabilitation training difficult.

[0003] In order to make upper limb rehabilitation training more convenient, an existing exoskeleton robot is used to replace the rehabilitation therapist to conduct rehabilitation training on the patient's upper limb. Since the connection mode of the human shoulder joint is a ball joint connection mode, some existing exoskeleton robots have three degrees of freedom at the shoulder joint and one degree of freedom at the elbow joint. An independent motor is provided at each joint to control the rotation of the joint, so as to realize the training of multiple groups of different movements of the upper limb. Therefore, at least four motors need to be provided on the unilateral exoskeleton of the exoskeleton robot to control the movement of the four joints. However, in the actual training process, each group of movements corresponds to the training of a group of muscle groups. Usually, only one joint is moving in a group of movements, while the other joints are in a static state. Different joints are switched to realize multiple groups of movements, so as to achieve rehabilitation training for the upper limb. Setting four motors on the unilateral exoskeleton will, on the one hand, significantly increase the weight. The exoskeleton is usually cantilevered, which will increase the overall load, posing higher requirements for the material strength of the exoskeleton. On the other hand, the motor itself has a certain failure rate. The more motors there are, the higher the failure rate. Any motor failure will cause the whole to be unable to be used normally. At the same time, the more motors there are, the higher the control requirements for the motors. Summary of the Invention

[0004] The present invention provides an exoskeleton robot for rehabilitation training that is light in weight, low in failure rate, and more stable in performance to solve the above problems existing in the prior art.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] An exoskeleton robot for rehabilitation training, comprising a frame and at least one set of robotic arms provided on the frame. The robotic arm includes a large arm assembly and a small arm assembly. The upper end of the large arm assembly is sequentially connected to the frame through a first clutch joint, a second clutch joint, and a third clutch joint. The lower end of the large arm assembly is connected to the inner end of the small arm assembly through a fourth clutch joint;

[0007] The structures of the first clutch joint, the second clutch joint, the third clutch joint, and the fourth clutch joint are the same. The first clutch joint includes a joint base, a joint rotating body, and a drive shaft. A rotating shaft rotatably connected to the joint base is fixed inside the joint rotating body. A positioning mechanism is provided between the joint rotating body and the joint base. A power clutch mechanism is provided between the drive shaft and the rotating shaft.

[0008] Among them, the axial directions of the rotating shafts in the first clutch joint, the second clutch joint, and the third clutch joint are distributed along the X direction, the Y direction, and the Z direction in the three-dimensional rectangular coordinate system respectively. The axial direction of the rotating shaft in the fourth clutch joint is parallel to the axial direction of the rotating shaft in the first clutch joint.

[0009] A motor and a power separator are provided on the frame. The power separator is provided with a power input shaft connected to the motor and at least four power output shafts. The power input shaft drives the power output shafts to rotate synchronously. The drive shafts in the first clutch joint, the second clutch joint, the third clutch joint, and the fourth clutch joint are respectively connected to the power output shafts in a one-to-one correspondence through independent flexible shafts.

[0010] One motor drives four power output shafts to rotate through the power input shaft. The four power output shafts are respectively power-connected to the first clutch joint, the second clutch joint, the third clutch joint, and the fourth clutch joint through four flexible shafts. Set several groups of actions for the rehabilitation training of the robotic arm. Each group of actions corresponds to the movement of a clutch joint. When the movement of a certain clutch joint is required, the drive shaft and the rotating shaft in this clutch joint are in a power transmission state, and the drive shafts and the rotating shafts in the other three clutch joints are in a power separation state, and the joint base and the joint rotating body are in a positioning state, so that this exoskeleton robot can perform rehabilitation training for various different joints and actions. Three motors are omitted in this structure, and only one motor provides active power for all joints. The weight of the entire robotic arm is significantly reduced and the stability is significantly improved.

[0011] Preferably, the upper arm assembly includes an upper arm link and a sleeve. The upper end of the upper arm link is provided with an upper connecting seat connected to the first clutch joint. The sleeve is sleeved on the upper arm link to form a sliding connection. The lower end of the sleeve is provided with a lower connecting seat connected to the fourth clutch joint. A binding strap for binding the human upper arm is provided on the inner side surface of the sleeve. A locking mechanism is provided between the upper arm link and the sleeve.

[0012] Preferably, a long slot hole is provided on the outer side surface of the sleeve. A locking wheel threadedly connected to the upper arm link is provided in the long slot hole. The long slot hole and the locking wheel constitute the locking mechanism.

[0013] Preferably, the forearm assembly includes a forearm body and a sleeve disposed inside the forearm body for limiting the insertion of the human forearm. The inner end of the forearm body is connected to the fourth clutch joint.

[0014] Preferably, the outer wall of the sleeve is provided with connecting columns fixed to the forearm body. The inner wall of the sleeve is provided with a plurality of air bags distributed circumferentially. An air inlet passage communicating with each air bag is provided inside the sleeve. The end of the connecting column is provided with an inflation nozzle communicating with the air inlet passage.

[0015] Preferably, a first connecting seat is provided on the side of the joint base, and a second connecting seat is provided on the side of the joint rotating body. The first clutch joint and the second clutch joint are connected by a first connecting member, and the second clutch joint and the third clutch joint are connected by a second connecting member.

[0016] Preferably, the positioning mechanism includes a sliding plate slidably sleeved outside the rotating shaft and synchronously rotating with the rotating shaft, and a plurality of electromagnets A uniformly fixed on the side of the sliding plate in the circumferential direction. An avoidance cavity for avoiding the sliding plate is provided inside the joint rotating body. Through holes corresponding to the electromagnets A one by one are provided at the bottom of the avoidance cavity on the joint rotating body. The side of the joint base corresponding to the electromagnet A is made of ferromagnetic material; when the electromagnet A is energized, the electromagnet A passes through the through hole and adsorbs to the side of the joint base, so that the joint rotating body is completely positioned inside the joint base. When the electromagnet A is powered off, the joint rotating body rotates relative to the joint base under the action of the driving shaft.

[0017] Preferably, an elastic ring is sleeved on the outer side of the rotating shaft at a position between the sliding plate and the bottom surface of the avoidance cavity, and a limiting ring is fixed at a position of the rotating shaft at the other end of the sliding plate; when the electromagnet A is in a power-off state, the sliding plate is acted on by the elastic ring, so that a gap is formed between the end surface of the electromagnet A and the side of the joint base; when the electromagnet A is energized, the sliding plate presses the elastic ring to deform the elastic ring, and the end surface of the electromagnet A abuts and adsorbs against the side of the joint base.

[0018] Preferably, the power clutch mechanism includes a clutch disc disposed outside the joint base and rotatably connected to the drive shaft, an electromagnet B fixed to the side surface of the clutch disc, several sliding rods disposed outside the joint base, the sliding rods passing through the clutch disc to form a sliding connection, a central hole provided in the center of the rotating shaft, a tapered gear ring provided on the inner wall of the central hole, the inner end of the drive shaft extending into the central hole and a bevel gear adapted to the tapered gear ring being fixed at the end, a sliding sleeve being provided between the drive shaft and the central hole, a compression spring being provided at the large diameter end of the bevel gear, a protective cover being provided outside the clutch disc, and one end of the flexible shaft passing through the protective cover and connecting to the drive shaft; when the electromagnet B is powered off, under the action of the compression spring, the bevel gear and the tapered gear ring are engaged with each other; when the electromagnet B is powered on, the electromagnet B moves outward and adsorbs to the joint base, thereby driving the clutch disc and the drive shaft to axially displace a certain distance so that the bevel gear and the tapered gear ring are separated.

[0019] Preferably, an end cover is provided at the opposite end of the rotating shaft to the drive shaft, a bearing and a rotating seat rotatably connected to the bearing are provided at the center of the large diameter end of the bevel gear, one end of the compression spring abuts against the rotating seat, and the other end of the compression spring abuts against the end cover.

[0020] Preferably, the power separator includes a housing, there are four power output shafts, the four power output shafts are distributed around the power input shaft, a driving gear is provided on the power input shaft, and a driven gear engaged with the driving gear is provided on each power output shaft.

[0021] Preferably, there are two groups of robotic arms, and the two groups of robotic arms are symmetrically arranged on both sides of the frame; the frame includes a base and a lifting plate slidably connected to the base, connection arms extending outward from both sides of the upper end of the lifting plate, the two groups of robotic arms being respectively fixedly connected to the connection arms, a mounting seat being provided at the lower end of the base, and a locking member being provided between the lifting plate and the base.

[0022] Therefore, the present invention has the beneficial effects of light weight, low failure rate, and more stable performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a schematic structural view of the present invention.

[0024] Figure 2 is Figure 1 a schematic view from another perspective of

[0025] Figure 3 is a schematic structural view of the robotic arm.

[0026] Figure 4 is an exploded view of the robotic arm.

[0027] Figure 5 is a schematic structural view of the small arm assembly.

[0028] Figure 6 It is a structural schematic diagram of the first clutch joint (the second clutch joint, the third clutch joint, the fourth clutch joint).

[0029] Figure 7 It is Figure 6 an exploded view of

[0030] Figure 8 an exploded schematic diagram of the rotating shaft and the driving shaft.

[0031] Figure 9 It is a schematic diagram of the internal structure of the rotating shaft.

[0032] Figure 10 It is a schematic diagram of the positioning mechanism in the first clutch joint in the positioning state and the clutch mechanism in the power separation state.

[0033] Figure 11 It is a schematic diagram of the positioning mechanism in the first clutch joint in the non-positioning state and the clutch mechanism in the power engagement state.

[0034] Figure 12 It is a structural schematic diagram of the power separator.

[0035] Figure 13 It is an exploded view of the power separator.

[0036] In the figure: frame 1, base 100, lifting plate 101, connecting arm 102, mounting seat 103, locking member 104, robotic arm 2, boom assembly 20, boom link 200, sleeve 201, upper connecting seat 202, lower connecting seat 203, tie strap 204, long slot hole 2010, locking wheel 2011,

[0037] forearm assembly 21, forearm body 210, sleeve 211, connecting column 212, airbag 213, inflation nozzle 214, first clutch joint 3, joint base 30, first connecting seat 300, sliding rod 301, joint rotating body 31, second connecting seat 310, avoidance cavity 311, through hole 312, driving shaft 32, rotating shaft 34, central hole 340, bevel gear ring 341, end cover 342, bearing 343, rotating seat 344, positioning mechanism 35, sliding plate 350, electromagnet A 351, elastic ring 352, limit ring 353, power clutch mechanism 36, clutch disc 360, electromagnet B 361, bevel gear 362, sliding sleeve 363, compression spring 364, protective cover 37, second clutch joint 4, third clutch joint 5, fourth clutch joint 6, motor 7, power separator 8, housing 80, power input shaft 81, power output shaft 82, driving gear 83, driven gear 84, flexible shaft 9, first connecting member 10, second connecting member 11. Specific embodiments

[0038] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments:

[0039] As Figure 1 , Figure 2 , Figure 6 , Figure 7 and Figure 10 shown, an exoskeleton robot for rehabilitation training includes a frame 1 and at least one set of robotic arms 2 provided on the frame. The frame 1 includes a base 100 and a lifting plate 101 slidably connected to the base. The upper ends of both sides of the lifting plate extend outward to form connecting arms 102. In this embodiment, there are two sets of robotic arms, which are symmetrically arranged on both sides of the frame. The two sets of robotic arms 2 are respectively fixedly connected to the connecting arms 102. An installation seat 103 is provided at the lower end of the base 100, and a locking member 104 is provided between the lifting plate and the base. In this embodiment, the locking member 104 is selected as a locking bolt.

[0040] As Figure 3 and Figure 4 shown, the robotic arm 2 includes a large arm assembly 20 and a small arm assembly 21. The upper end of the large arm assembly 20 is sequentially connected to the frame through a first clutch joint 3, a second clutch joint 4, and a third clutch joint 5. The lower end of the large arm assembly 20 is connected to the inner end of the small arm assembly 21 through a fourth clutch joint 6;

[0041] The structures of the first clutch joint 3, the second clutch joint 4, the third clutch joint 5, and the fourth clutch joint 6 are all the same. An implementation manner of the first clutch joint 3, the second clutch joint 4, the third clutch joint 5, and the fourth clutch joint 6 is as Figures 6 - 11 shown;

[0042] The first clutch joint 3 includes a joint base 30, a joint rotating body 31, and a drive shaft 32. A rotating shaft 34 rotatably connected to the joint base is fixed inside the joint rotating body. A positioning mechanism 35 is provided between the joint rotating body 31 and the joint base 30, and a power clutch mechanism 36 is provided between the drive shaft 32 and the rotating shaft 34;

[0043] Among them, the axial directions of the rotating shafts in the first clutch joint 3, the second clutch joint 4, and the third clutch joint 5 are respectively distributed along the X direction, the Y direction, and the Z direction in a three-dimensional rectangular coordinate system. Among them, the axial direction of the rotating shaft in the fourth clutch joint 6 is parallel to the axial direction of the rotating shaft in the first clutch joint.

[0044] As Figure 2 , Figure 12 and Figure 13As shown in the figure, a motor 7 and a power separator 8 are provided on a frame 1. The power separator 8 includes a housing 80, a power input shaft 81, and at least four power output shafts 82. In this embodiment, four power output shafts 82 are used, corresponding to four clutch joints respectively; the four power output shafts 82 are distributed around the power input shaft 81. A driving gear 83 is provided on the power input shaft, and a driven gear 84 meshing with the driving gear is provided on each power output shaft. The power input shaft is connected to the motor, and the motor drives the four power output shafts to rotate synchronously through a power input shaft. The drive shafts in the first clutch joint, the second clutch joint, the third clutch joint, and the fourth clutch joint are respectively connected to the power output shafts in one-to-one correspondence through independent flexible shafts 9.

[0045] As Figure 2 and Figure 4 shown, the boom assembly 20 includes a boom link 200 and a sleeve 201. An upper connecting seat 202 connected to the first clutch joint is provided at the upper end of the boom link. The sleeve is sleeved on the boom link to form a sliding connection. A lower connecting seat 203 connected to the fourth clutch joint is provided at the lower end of the sleeve. A bundling strap 204 for bundling the human upper arm is provided on the inner side surface of the sleeve; a locking mechanism is provided between the boom link and the sleeve. A long slot hole 2010 is provided on the outer side surface of the sleeve 201, and a locking wheel 2011 threadedly connected to the boom link is provided in the long slot hole. The long slot hole and the locking wheel constitute the locking mechanism.

[0046] As Figure 4 and Figure 5 shown, the forearm assembly 21 includes a forearm body 210 and a sleeve 211 provided inside the forearm body for the human forearm to extend into for limiting. The inner end of the forearm body is connected to the fourth clutch joint; a connecting column 212 fixed to the forearm body is provided on the outer wall of the sleeve 211, and a plurality of air bags 213 distributed circumferentially are provided on the inner wall of the sleeve. An air inlet channel communicating with each air bag is provided inside the sleeve, and an inflation nozzle 214 communicating with the air inlet channel is provided at the end of the connecting column. During use, the forearm passes through the sleeve, and then the air bags are inflated through the inflation nozzle. The air bags expand to tightly hold the forearm and position the forearm, so as to adapt to the positioning of forearms of different sizes; at the same time, during the use process, the air bags will continuously perform actions such as squeezing and resetting, thereby playing a certain massage role on the muscles of the forearm and playing an auxiliary and promoting role in rehabilitation training.

[0047] As Figures 6 - 11 shown, a first connecting seat 300 is provided on the side surface of the joint base 30, a second connecting seat 310 is provided on the side surface of the joint rotating body 31, and connecting holes are provided on both the first connecting seat 300 and the second connecting seat 310. The first clutch joint 3 and the second clutch joint 4 are connected through a first connecting member 10, and the second clutch joint 4 and the third clutch joint 5 are connected through a second connecting member 11.

[0048] The positioning mechanism 35 includes a sliding plate 350 sleeved outside the rotating shaft 34 and rotating synchronously with the rotating shaft, and a plurality of electromagnets A 351 fixedly arranged on the side surface of the sliding plate along the circumferential direction. An avoidance cavity 311 for avoiding the sliding plate is arranged in the joint rotating body 31. Through holes 312 corresponding to the electromagnets A one by one are arranged at the bottom of the avoidance cavity on the joint rotating body 31. One side of the joint base 30 corresponding to the electromagnet A is made of ferromagnetic material; an elastic ring 352 is sleeved at a position between the sliding plate and the bottom surface of the avoidance cavity on the outside of the rotating shaft 34, and a limiting ring 353 is fixed at a position at the other end of the sliding plate on the rotating shaft; when the electromagnet A is powered on, the sliding plate displaces and squeezes the elastic ring, causing the elastic ring to deform. The electromagnet A passes through the through hole and abuts and adsorbs against the side surface of the joint base, so that the joint rotating body is completely positioned in the joint base. At this time, the state of the sliding plate is as shown in Figure 10 shown; when the electromagnet A is powered off, the sliding plate is affected by the elastic ring, and a gap is formed between the end surface of the electromagnet A and the side surface of the joint base. The joint rotating body rotates relative to the joint base under the action of the drive shaft. At this time, the state of the sliding plate is as shown in Figure 11 shown.

[0049] The power clutch mechanism 36 includes a clutch disc 360 arranged outside the joint base and rotatably connected to the drive shaft, and an electromagnet B 361 fixed on the side surface of the clutch disc. A plurality of sliding rods 301 are arranged outside the joint base 30. The sliding rods pass through the clutch disc to form a sliding connection. A central hole 340 is arranged at the center of the rotating shaft 34. A tapered gear ring 341 is arranged on the inner wall of the central hole. The inner end of the drive shaft 32 extends into the central hole and a bevel gear 362 adapted to the tapered gear ring is fixed at the end. A sliding sleeve 363 is arranged between the drive shaft and the central hole. A compression spring 364 is arranged at the large diameter end of the bevel gear. A protective cover �7 is arranged outside the clutch disc. One end of the flexible shaft passes through the protective cover and is connected to the drive shaft; when the electromagnet B is powered off, under the action of the compression spring, the bevel gear and the tapered gear ring are engaged with each other. At this time, the state is as shown in Figure 11 shown; when the electromagnet B is powered on, the electromagnet B moves outward and adsorbs together towards the joint base, thereby driving the clutch disc and the drive shaft to axially displace a certain distance so that the bevel gear and the tapered gear ring are separated. At this time, the state is as shown in Figure 10 shown.

[0050] As shown in Figure 9 shown, an end cover 342 is arranged at the opposite end of the rotating shaft 34 to the drive shaft. A bearing 343 and a rotating seat 344 rotatably connected to the bearing are arranged at the center of the large diameter end of the bevel gear. One end of the compression spring 364 abuts against the rotating seat, and the other end of the compression spring abuts against the end cover.

[0051] Combined with the accompanying drawings, the principle of the present invention is as follows: A motor drives the rotation of four power output shafts through a power input shaft. The four power output shafts are respectively and correspondingly connected to a first clutch joint, a second clutch joint, a third clutch joint, and a fourth clutch joint through four flexible shafts. Set several groups of actions for the rehabilitation training of the robotic arm. Each group of actions corresponds to the movement of a clutch joint. When a certain clutch joint needs to move, the driving shaft and the rotating shaft in this clutch joint are in a power transmission state, and the driving shaft and the rotating shaft in the other three clutch joints are in a power separation state, and the joint base and the joint rotating body are in a positioning state. Thus, this exoskeleton robot can perform rehabilitation training for various joints and actions.

[0052] For example, when the manipulator of the bone robot drives the upper arm of the human body to perform a swinging arm movement (the swinging arm movement in a walking or running state), only the first clutch joint needs to rotate during the swinging arm movement, and the other clutch joints do not need to rotate. The angle between the upper arm assembly and the lower arm assembly is approximately 90°. First, energize the electromagnet A and electromagnet B in the first clutch joint, the second clutch joint, and the third clutch joint, and de-energize the electromagnet A and electromagnet B in the fourth clutch joint. At this time, the first clutch joint, the second clutch joint, and the third clutch joint are locked, and the fourth clutch joint can rotate. Drive the driving shaft and the rotating shaft in the fourth clutch joint to rotate through the flexible shaft, so that the angle between the lower arm assembly and the upper arm assembly is approximately 90° (the specific angle is set according to needs). Then, energize the electromagnet A and electromagnet B in the fourth clutch joint. At this time, the fourth clutch joint is locked and cannot rotate. At the same time, de-energize the electromagnet A and electromagnet B in the first clutch joint, and the first clutch joint is unlocked. Then drive the rotating shaft in the first joint to rotate reciprocally through the flexible shaft, thereby driving the human arm to perform the rehabilitation training of the swinging arm movement. By analogy, through one motor, any single clutch joint can be driven to move to achieve rehabilitation training in different postures. Three motors are omitted in this structure, and only one motor provides active power for all joints. The weight of the entire robotic arm is significantly reduced and the stability is significantly improved.

[0053] The above are only specific embodiments of the present invention, but the technical features of the present invention are not limited thereto. Any simple changes, equivalent substitutions, or modifications made based on the present invention to solve basically the same technical problems and achieve basically the same technical effects are all covered by the protection scope of the present invention.

Claims

1. An exoskeleton robot for rehabilitation training, comprising a frame and at least one set of robotic arms arranged on the frame, characterized in that, The robotic arm includes a large arm assembly and a small arm assembly. The upper end of the large arm assembly is sequentially connected to the machine frame through a first clutch joint, a second clutch joint, and a third clutch joint, and the lower end of the large arm assembly is connected to the inner end of the small arm assembly through a fourth clutch joint; The structures of the first clutch joint, the second clutch joint, the third clutch joint, and the fourth clutch joint are the same. The first clutch joint includes a joint base, a joint rotating body, and a drive shaft. A rotating shaft rotatably connected to the joint base is fixed inside the joint rotating body. A positioning mechanism is provided between the joint rotating body and the joint base, and a power clutch mechanism is provided between the drive shaft and the rotating shaft; Among them, the axial directions of the rotating shafts in the first clutch joint, the second clutch joint, and the third clutch joint are distributed along the X direction, the Y direction, and the Z direction in the three-dimensional rectangular coordinate system respectively, and the axial direction of the rotating shaft in the fourth clutch joint is parallel to the axial direction of the rotating shaft in the first clutch joint; A motor and a power separator are provided on the machine frame. The power separator is provided with a power input shaft connected to the motor and at least four power output shafts. The power input shaft drives the power output shafts to rotate synchronously. The drive shafts in the first clutch joint, the second clutch joint, the third clutch joint, and the fourth clutch joint are respectively connected to the power output shafts in one-to-one correspondence through independent flexible shafts; The power separator includes a housing. The power output shafts are four, and the four power output shafts are distributed around the power input shaft. A driving gear is provided on the power input shaft, and a driven gear meshing with the driving gear is provided on each power output shaft.

2. The exoskeleton robot for rehabilitation training according to claim 1, wherein The large arm assembly includes a large arm link and a sleeve. The upper end of the large arm link is provided with an upper connecting seat connected to the first clutch joint. The sleeve is sleeved on the large arm link to form a sliding connection. The lower end of the sleeve is provided with a lower connecting seat connected to the fourth clutch joint. A bundling strap for bundling the human large arm is provided on the inner side surface of the sleeve; A locking mechanism is provided between the large arm link and the sleeve.

3. The exoskeleton robot for rehabilitation training according to claim 2, characterized in that, A long slot hole is provided on the outer side surface of the sleeve, and a locking wheel threadedly connected to the large arm link is provided in the long slot hole. The long slot hole and the locking wheel constitute the locking mechanism.

4. An exoskeleton robot for rehabilitation training according to claim 1 or 2, characterized in that, The small arm assembly includes a small arm body and a sleeve provided inside the small arm body for limiting the insertion of the human small arm. The inner end of the small arm body is connected to the fourth clutch joint.

5. The exoskeleton robot for rehabilitation training according to claim 4, wherein, The outer wall of the sleeve is provided with a connecting column fixed to the small arm body. A plurality of air bags are provided on the inner wall of the sleeve along the circumferential direction. An air inlet channel communicating with each air bag is provided inside the sleeve, and an inflation nozzle communicating with the air inlet channel is provided at the end of the connecting column.

6. The exoskeleton robot for rehabilitation training according to claim 1, characterized in that, A first connecting seat is provided on the side surface of the joint base, a second connecting seat is provided on the side surface of the joint rotating body, and the first clutch joint and the second clutch joint are connected through a first connecting member, and the second clutch joint and the third clutch joint are connected through a second connecting member.

7. The exoskeleton robot for rehabilitation training according to claim 1, wherein The positioning mechanism includes a sliding plate sleeved outside the rotating shaft and rotating synchronously with the rotating shaft, and a plurality of electromagnets A fixedly arranged on the side surface of the sliding plate along the circumferential direction. An avoidance cavity for avoiding the sliding plate is arranged in the joint rotating body. Through holes corresponding to the electromagnets A one by one are arranged at the bottom of the avoidance cavity on the joint rotating body. One side of the joint base corresponding to the electromagnet A is made of ferromagnetic material. When the electromagnet A is energized, the electromagnet A passes through the through hole and adsorbs to the side surface of the joint base, so that the joint rotating body is completely positioned in the joint base. When the electromagnet A is powered off, the joint rotating body rotates relative to the joint base under the action of the driving shaft.

8. The exoskeleton robot for rehabilitation training according to claim 7, characterized in that, An elastic ring is sleeved at a position between the sliding plate and the bottom surface of the avoidance cavity on the outside of the rotating shaft, and a limiting ring is fixed at a position on the other end of the rotating shaft where the sliding plate is located. When the electromagnet A is in the powered-off state, the sliding plate is affected by the elastic ring, so that a gap is formed between the end surface of the electromagnet A and the side surface of the joint base. When the electromagnet A is energized, the sliding plate presses the elastic ring to deform the elastic ring, and the end surface of the electromagnet A abuts and adsorbs against the side surface of the joint base.

9. An exoskeleton robot for rehabilitation training according to claim 1 or 7 or 8, characterized in that, The power clutch mechanism includes a clutch disc arranged outside the joint base and rotatably connected to the driving shaft, and an electromagnet B fixed on the side surface of the clutch disc. A plurality of sliding rods are arranged outside the joint base. The sliding rods pass through the clutch disc to form a sliding connection. A central hole is arranged at the center of the rotating shaft. A bevel gear ring is arranged on the inner wall of the central hole. The inner end of the driving shaft extends into the central hole and a bevel gear adapted to the bevel gear ring is fixed at the end. A sliding sleeve is arranged between the driving shaft and the central hole. A compression spring is arranged at the large-diameter end of the bevel gear. A protective cover is arranged outside the clutch disc. One end of a flexible shaft passes through the protective cover and is connected to the driving shaft. When the electromagnet B is powered off, the bevel gear and the bevel gear ring are meshed with each other under the action of the compression spring. When the electromagnet B is energized, the electromagnet B moves outward and adsorbs to the joint base, and then drives the clutch disc and the driving shaft to axially displace a certain distance so that the bevel gear and the bevel gear ring are separated.

10. The exoskeleton robot for rehabilitation training according to claim 9, characterized in that, An end cover is arranged at the relative end of the rotating shaft and the driving shaft. A bearing and a rotating seat rotatably connected to the bearing are arranged at the center of the large-diameter end of the bevel gear. One end of the compression spring abuts against the rotating seat, and the other end of the compression spring abuts against the end cover.

11. The exoskeleton robot for rehabilitation training according to claim 1, characterized in that, There are two groups of robotic arms, and the two groups of robotic arms are symmetrically arranged on both sides of the frame. The frame includes a base and a lifting plate slidably connected to the base. The upper ends of both sides of the lifting plate extend outward to form connecting arms, and the two groups of robotic arms are respectively fixedly connected to the connecting arms. An installation seat is arranged at the lower end of the base. A locking member is arranged between the lifting plate and the base.

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