A rope-hauled joint rotation structure

Abstract

A rope traction joint rotation structure is provided in the embodiments of the present application, and a rope-driven shoulder joint active rotation assembly is provided. The shoulder joint active rotation assembly comprises a shoulder outer swing roller and a shoulder rotation rope assembly. The shoulder rotation rope assembly comprises a first shoulder rotation rope and a second shoulder rotation rope. The first shoulder rotation rope is wound around one side of the shoulder outer swing roller and fixed to the bottom of the shoulder outer swing roller. The second shoulder rotation rope is wound around the other side of the shoulder outer swing roller and fixed to the bottom of the shoulder outer swing roller. When the first shoulder rotation rope or the second shoulder rotation rope is tightened, the shoulder outer swing roller is driven to rotate. The technical problem of "the overall weight and inertia of the joint are large, and the flexibility of the driving mechanism is poor" is solved by driving the shoulder joint to rotate through the shoulder rotation rope assembly, so that the technical effect of reducing the overall weight and inertia of the robot motion joint and improving the interaction comfort is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of exoskeletons, in particular to a rope-pulling joint rotation structure. BACKGROUND

[0002] Stroke is the leading cause of death and disability in adults in China. It is due to acute cerebral vascular circulation disorder and causes persistent cerebral hemisphere or brainstem local neurological dysfunction, with high morbidity, high disability rate, high mortality and high recurrence rate. Stroke patients usually have upper limb dysfunction. Repeated stimulation training and specific task training of a certain intensity are important means of upper limb function rehabilitation treatment. Since upper limb rehabilitation robots have the advantages of no fatigue, quantification and individualization, on the one hand, they can provide high-dose and high-repetition movement training, and on the other hand, they can provide objective and immediate training data and evaluation data. Robot-assisted rehabilitation has become an effective solution for post-stroke limb function rehabilitation.

[0003] The existing joint transmission structure of the upper limb rehabilitation robot on the market has the forms of gear mesh transmission, motor direct drive transmission, screw synchronous wheel synchronous belt transmission, etc.

[0004] However, the current robot movement joint has large overall weight and inertia, and the flexibility of the driving mechanism is poor. SUMMARY

[0005] In view of the above problems, the present application is proposed to provide a rope-pulling joint rotation structure which overcomes the above problems or at least partially solves the above problems.

[0006] The present application discloses a rope-pulling joint rotation structure, which is used for the rotation of the shoulder joint of the upper limb exoskeleton and the rotation of the arm, comprising a shoulder joint active rotation assembly;

[0007] The shoulder joint active rotation assembly comprises a shoulder outer swing roller and a shoulder rotation rope assembly;

[0008] The shoulder rotation rope assembly comprises a first shoulder rotation rope and a second shoulder rotation rope, the first shoulder rotation rope is wound around one side of the shoulder outer swing roller and fixed at the bottom of the shoulder outer swing roller, and the second shoulder rotation rope is wound around the other side of the shoulder outer swing roller and fixed at the bottom of the shoulder outer swing roller;

[0009] When the first shoulder rotation rope or the second shoulder rotation rope is tightened, the shoulder outer swing roller is driven to rotate.

[0010] Preferably, it further comprises a passive rotation assembly for passive rotation of the arm;

[0011] One end of the passive rotation assembly is connected to the top end of the support frame of the upper limb exoskeleton, and the other end of the passive rotation assembly is connected with the shoulder joint active rotation assembly.

[0012] The passive rotation assembly comprises a passive bearing and a passive rotation fixing plate; the passive rotation fixing plate is arranged at the top end of the support frame of the upper limb exoskeleton through the passive bearing.

[0013] Preferably, the shoulder joint active rotation assembly further comprises a shoulder encoder for calculating the rotation angle.

[0014] The shoulder encoder is connected with the output end of the shoulder outer swing roller.

[0015] Preferably, the shoulder joint active rotation assembly comprises an outer fixing plate, the shoulder outer swing roller, an inner fixing plate, a shoulder bearing, a bearing fixing plate and the shoulder encoder arranged in sequence.

[0016] One side of the outer fixing plate close to the shoulder outer swing roller is provided with a groove for connecting the shoulder outer swing roller, one side of the inner fixing plate close to the shoulder outer swing roller is provided with a convex groove for connecting the shoulder outer swing roller, and one side of the inner fixing plate away from the shoulder outer swing roller is provided with a short shaft penetrating through the shoulder bearing; wherein the shape of the convex groove and the shape of the groove are matched with the shape of the protrusion of the shoulder outer swing roller.

[0017] Preferably, the protrusion is a closed figure, the closed figure has two equal-length parallel sides, and the two ends of the parallel sides are connected by two identical circular arcs to form a symmetrical runway structure.

[0018] Preferably, the inner fixing plate is provided with a roller limiting component.

[0019] The roller limiting component is arranged on one side of the inner fixing plate.

[0020] Preferably, the shoulder rotation rope assembly further comprises a roller bearing assembly.

[0021] The roller bearing assembly comprises a first shoulder roller bearing and a second shoulder roller bearing.

[0022] The first shoulder roller bearing is arranged at the entrance of the first shoulder rotation rope into the shoulder outer swing roller; and the second shoulder roller bearing is arranged at the entrance of the second shoulder rotation rope into the shoulder outer swing roller.

[0023] Preferably, the shoulder rotation rope assembly further comprises a guide bearing fixing plate for fixing the roller bearing assembly.

[0024] The guide bearing fixing plate is provided with a preset space for accommodating the first shoulder roller bearing and the second shoulder roller bearing.

[0025] Preferably, a shoulder joint connecting assembly is arranged between the shoulder joint active rotation assembly and the passive rotation assembly.

[0026] One end of the shoulder joint connecting assembly is provided with the shoulder joint active rotation assembly, and the other end of the shoulder joint connecting assembly is provided with the passive rotation assembly; wherein the shoulder joint active rotation assembly and the passive rotation assembly are arranged vertically.

[0027] Preferably, the shoulder joint connecting assembly is in L shape.

[0028] The shoulder joint connecting assembly comprises a first connecting plate, a second connecting plate and an intermediate plate; the intermediate plate is arranged between the first connecting plate and the second connecting plate, the first connecting plate and the second connecting plate are arranged in parallel, and the intermediate plate is arranged vertically with the first connecting plate and the second connecting plate; wherein the first connecting plate has the same shape as the second connecting plate.

[0029] The application specifically includes the following advantages:

[0030] In the embodiment of the application, compared with the prior art of "large overall weight and inertia of the joint, poor flexibility of the driving mechanism", the application provides a rope-driven shoulder joint active rotation assembly; the shoulder joint active rotation assembly comprises a shoulder outer swing roller and a shoulder rotation rope assembly; the shoulder rotation rope assembly comprises a first shoulder rotation rope and a second shoulder rotation rope, the first shoulder rotation rope is wound around one side of the shoulder outer swing roller and fixed at the bottom of the shoulder outer swing roller, and the second shoulder rotation rope is wound around the other side of the shoulder outer swing roller and fixed at the bottom of the shoulder outer swing roller; when the first shoulder rotation rope or the second shoulder rotation rope is tightened, the shoulder outer swing roller is driven to rotate. The technical problem of "large overall weight and inertia of the joint, poor flexibility of the driving mechanism" is solved by driving the shoulder joint to rotate through the shoulder rotation rope assembly, thereby achieving the technical effects of reducing the overall weight and inertia of the robot motion joint, improving the interaction comfort, improving the flexibility of the driving mechanism, and providing structural safety guarantee. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to more clearly illustrate the technical solutions of the application, the drawings needed to be used in the description of the application will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0032] Figure 1is a structural schematic diagram of a rope traction joint rotation structure of the present application;

[0033] Figure 2 is an exploded structural schematic diagram of a rope traction joint rotation structure of the present application;

[0034] Figure 3 is a bottom exploded structural schematic diagram of a rope traction joint rotation structure of the present application;

[0035] Figure 4 is a side exploded structural schematic diagram of a rope traction joint rotation structure of the present application;

[0036] Figure 5 is a front exploded structural schematic diagram of a rope traction joint rotation structure of the present application;

[0037] Figure 6 is a cross-sectional structural schematic diagram of a rope traction joint rotation structure of the present application;

[0038] Figure 7 is a shoulder outer swing roller structural schematic diagram of a rope traction joint rotation structure of the present application;

[0039] Figure 8 is a structural schematic diagram of a rope traction joint rotation structure of the present application;

[0040] 2, rope traction joint rotation structure; 21, shoulder joint active rotation assembly; 211, outer fixed plate; 212, shoulder outer swing roller; 213, inner fixed plate; 214, shoulder bearing; 215, bearing fixed plate; 216, shoulder encoder; 217, roller limiting component; 22, shoulder joint connecting assembly; 221, first connecting plate; 222, intermediate plate; 223, second connecting plate; 23, passive rotation assembly; 231, passive rotation fixed plate; 232, passive bearing; 24, roller bearing assembly; 241, first shoulder roller bearing; 242, second shoulder roller bearing; 243, guide bearing fixed plate; 25, first shoulder rotation rope; 26, second shoulder rotation rope. DETAILED DESCRIPTION

[0041] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below in combination with the drawings and specific embodiments. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0042] The inventor finds that the existing joint transmission structure on the market has gear meshing transmission, motor direct drive transmission, screw synchronous wheel synchronous belt transmission and the like. The existing market also has a spherical connecting rod type mechanical arm that applies a multi-coil steel wire rope winding, relies on a synchronous wheel synchronous belt to realize transmission, and a near-end motor directly drives the winding reel. However, the above schemes have the following disadvantages: the current robot motion joint has a large overall weight and inertia, resulting in poor interaction comfort; the driving mechanism has poor flexibility, cannot provide structural safety guarantee, has poor precision, and the rope will be elongated after long-term use.

[0043] The present application is based on the steel wire rope Bowden cable (Bowden cable) traction remote drive transmission system, which has the following advantages: the steel wire rope traction is used for remote drive, the driving motor can be away from the human-machine interaction part, the overall weight and inertia of the wearing part are reduced, the interaction comfort is improved, the low elastic stiffness is suitable for the passive scene of the robot, and the high elastic stiffness is suitable for the leading scene of the robot.

[0044] It should be noted that the present application is used for the rotation of the shoulder joint of the upper limb exoskeleton and the rotation of the arm.

[0045] Referring to Figures 1-8 , a structure diagram of a rope traction joint rotation structure 2 of the present application is shown, which can specifically include the following structures: a shoulder joint active rotation assembly 21; the shoulder joint active rotation assembly 21 includes a shoulder outer swing roller 212 and a shoulder rotation rope assembly; the shoulder rotation rope assembly includes a first shoulder rotation rope 25 and a second shoulder rotation rope 26, the first shoulder rotation rope 25 is wound around one side of the shoulder outer swing roller 212 and fixed at the bottom of the shoulder outer swing roller 212, and the second shoulder rotation rope 26 is wound around the other side of the shoulder outer swing roller 212 and fixed at the bottom of the shoulder outer swing roller 212; when the first shoulder rotation rope 25 or the second shoulder rotation rope 26 is tightened, the shoulder outer swing roller 212 is driven to rotate.

[0046] In the embodiment of the present application, compared with the prior art of "large overall weight and inertia of the joint, poor flexibility of the driving mechanism", the present application provides a rope-driven shoulder joint active rotation assembly 21; the shoulder joint active rotation assembly 21 comprises a shoulder outer swing roller 212 and a shoulder rotation rope assembly; the shoulder rotation rope assembly comprises a first shoulder rotation rope 25 and a second shoulder rotation rope 26, the first shoulder rotation rope 25 is wound around one side of the shoulder outer swing roller 212 and fixed at the bottom of the shoulder outer swing roller 212, and the second shoulder rotation rope 26 is wound around the other side of the shoulder outer swing roller 212 and fixed at the bottom of the shoulder outer swing roller 212; when the first shoulder rotation rope 25 or the second shoulder rotation rope 26 is tightened, the shoulder outer swing roller 212 is driven to rotate. The technical problem of "large overall weight and inertia of the joint, poor flexibility of the driving mechanism" is solved by driving the shoulder joint to rotate through the shoulder rotation rope assembly, and the technical effects of reducing the overall weight and inertia of the robot motion joint, improving the interaction comfort, improving the flexibility of the driving mechanism, and providing structural safety guarantee are achieved.

[0047] In the following, a rope-pulling joint rotation structure 2 in the present exemplary embodiment will be further described.

[0048] In an embodiment of the present application, the first shoulder rotation rope 25 and the second shoulder rotation rope 26 are both Bowden cables.

[0049] It should be noted that the steel wire rope-based Bowden cable (Bowden cable) pulling remote driving transmission system has many advantages: the steel wire rope is used for remote driving, the driving motor can be far away from the human-machine interaction part, the overall weight and inertia of the upper limb rehabilitation robot are reduced, and the interaction comfort is improved; low elastic stiffness is suitable for passive scenes of the robot, and high elastic stiffness is suitable for dominant scenes of the robot.

[0050] In an embodiment of the present application, the shoulder joint active rotation assembly 21 comprises an outer fixed plate 211, the shoulder outer swing roller 212, an inner fixed plate 213, a shoulder bearing 214, a bearing fixed plate 215 and the shoulder encoder 216 arranged in sequence; one side of the outer fixed plate 211 close to the shoulder outer swing roller 212 is provided with a groove for connecting the shoulder outer swing roller 212, one side of the inner fixed plate 213 close to the shoulder outer swing roller 212 is provided with a convex groove for connecting the shoulder outer swing roller 212, and one side of the inner fixed plate 213 away from the shoulder outer swing roller 212 is provided with a short shaft penetrating through the shoulder bearing 214; wherein the convex groove shape and the groove shape are both adapted to the protrusion shape of the shoulder outer swing roller 212.

[0051] As an example, the outer fixing plate 211 is circular in whole, and a recess is arranged in the middle of the outer fixing plate 211, the recess and the protrusion in the middle of the shoulder outer swing roller 212 are of the same shape, so that the outer fixing plate 211 can be driven to rotate when the shoulder outer swing roller 212 rotates.

[0052] In an embodiment of the present application, the protrusion is a closed figure, the closed figure has two parallel edges of equal length, and the two parallel edges are connected by two identical circular arcs to form a symmetric runway structure.

[0053] In a specific embodiment, the recess is in the shape of a lantern, which is composed of two circular arcs and two straight lines, and the two straight lines are arranged in parallel, so that the outer fixing plate 211 and the shoulder outer swing roller 212 can be driven to rotate in cooperation. The recess of the outer fixing plate 211 is provided with mounting holes and the like.

[0054] In an embodiment of the present application, the shoulder joint active rotation assembly 21 includes a shoulder outer swing roller 212 and a shoulder rotation rope assembly, the shoulder rotation rope assembly includes a first shoulder rotation rope 25 and a second shoulder rotation rope 26, the first shoulder rotation rope 25 is wound around one side of the shoulder outer swing roller 212 and fixed at the bottom of the shoulder outer swing roller 212, and the second shoulder rotation rope 26 is wound around the other side of the shoulder outer swing roller 212 and fixed at the bottom of the shoulder outer swing roller 212; when the first shoulder rotation rope 25 or the second shoulder rotation rope 26 is tightened, the shoulder outer swing roller 212 is driven to rotate.

[0055] In a specific embodiment, the shoulder rotation rope assembly drives the shoulder outer swing roller 212 to rotate, when the first shoulder rotation rope 25 is tightened or / and the second shoulder rotation rope 26 is loosened, the shoulder outer swing roller 212 rotates towards the direction of the first shoulder rotation rope 25; when the second shoulder rotation rope 26 is tightened or / and the first shoulder rotation rope 25 is loosened, the shoulder outer swing roller 212 rotates towards the direction of the second shoulder rotation rope 26.

[0056] As an example, the shoulder outer swing roller 212 includes an inner ring and an outer fixed end, the inner ring is circular in whole and linear at the bottom, and the bottom of the inner ring is used to fix the shoulder rotation rope assembly. The outer fixed end is used to fix the two rope heads of the first shoulder rotation rope 25 and the second shoulder rotation rope 26. The outer fixed end is arranged at the bottom of the inner ring.

[0057] In an embodiment of the present application, the shoulder rotating rope assembly further comprises a roller bearing assembly 24; the roller bearing assembly 24 comprises a first shoulder roller bearing 241 and a second shoulder roller bearing 242; the first shoulder roller bearing 241 is arranged at the entrance of the first shoulder rotating rope 25 winding into the shoulder outward swing roller 212; the second shoulder roller bearing 242 is arranged at the entrance of the second shoulder rotating rope 26 winding into the shoulder outward swing roller 212.

[0058] In a specific embodiment, the first shoulder roller bearing 241 and the second shoulder roller bearing 242 are of the same shape, the roller bearing assembly 24 is used to reduce friction and guide the shoulder rotating rope assembly, so as to guide the shoulder rotating rope assembly at the entrance of the shoulder rotating rope assembly.

[0059] As an example, the side of the first shoulder roller bearing 241 opposite to the second shoulder roller bearing 242 is provided with the first shoulder rotating rope 25, and the side of the second shoulder roller bearing 242 opposite to the first shoulder roller bearing 241 is provided with the second shoulder rotating rope 26, so as to guide the first shoulder rotating rope 25 and the second shoulder rotating rope 26.

[0060] In a specific embodiment, the present application is further provided with a first rope joint and a second rope joint, the first shoulder rotating rope 25 passes through the first rope joint, is guided by the first shoulder roller bearing 241, winds around one side of the shoulder outward swing roller 212 and is fixed at the bottom of the shoulder outward swing roller 212. The first shoulder rotating rope 25 passes through the second rope joint, is guided by the second shoulder roller bearing 242, winds around the other side of the shoulder outward swing roller 212 and is fixed at the bottom of the shoulder outward swing roller 212.

[0061] In an embodiment of the present application, the shoulder outward swing roller 212 is provided with an inner side fixing plate 213 away from one side of the outer side fixing plate 211. The inner side fixing plate 213 is provided with a convex groove for connecting the shoulder outward swing roller 212 on the side close to the shoulder outward swing roller 212, the shape of the convex groove is matched with the protrusion, and the convex groove also comprises two arcs and two straight lines which are arranged in parallel.

[0062] In a specific embodiment, the protrusion of the shoulder outward swing roller 212 is clamped into the groove of the outer side fixing plate 211, and the convex groove of the inner side fixing plate 213 is clamped into the protrusion of the shoulder outward swing roller 212, so that the shoulder outward swing roller 212 drives the outer side fixing plate 211 and the inner side fixing plate 213 to rotate.

[0063] In an embodiment of the present application, the inner fixed plate 213 is provided with a short shaft penetrating the shoulder bearing 214 on the side away from the shoulder swing roller 212. Specifically, the shoulder bearing 214 is a cross roller bearing.

[0064] In a specific embodiment, the roller limiting component 217 is arranged on one side of the inner fixed plate 213, and the roller limiting component 217 is in the shape of a circular arc. When the inner fixed plate 213 rotates with the shoulder swing roller 212, the roller limiting component 217 rotates upward, and the roller limiting component 217 abuts against the outer side of the guide bearing fixed plate 243, thereby limiting the rotation angle of the shoulder swing roller 212.

[0065] It should be noted that the cross roller bearing is a special type of bearing with split inner ring and rotating outer ring. Due to the split inner ring or outer ring, after the rollers and spacer retainers are installed, they are fixed together with the cross roller shaft ring to prevent separation. Therefore, the operation of installing the cross roller shaft ring is simple. Since the rollers are arranged in cross, only one set of cross roller shaft ring can bear the load in all directions, and the rigidity is increased by 3-4 times compared with the traditional type. At the same time, due to the split structure of the inner ring or outer ring of the cross roller bearing, the bearing clearance can be adjusted, and even under preloading, high-precision rotary motion can be obtained.

[0066] In a specific embodiment, the inner fixed plate 213 is connected to the front of the shoulder swing roller 212, and the inner fixed plate 213 is connected to the rear of the shoulder swing roller 212.

[0067] In an embodiment of the present application, the shoulder bearing 214 is provided with the bearing fixed plate 215 at the rear, the bearing fixed plate 215 is used to fix the shoulder bearing 214, the shoulder encoder 216 is arranged at the rear of the bearing fixed plate 215, and the shoulder encoder 216 is used to calculate the rotation angle of the shoulder swing roller 212 and upload the system. The side of the bearing fixed plate 215 away from the shoulder bearing 214 is matched with the shoulder encoder 216.

[0068] In a specific embodiment, the shoulder encoder 216 is further connected with a shoulder encoder fixed plate on one side of the middle plate 222.

[0069] In a specific embodiment of the present application, a shoulder joint connecting assembly 22 is arranged between the shoulder joint active rotation assembly 21 and the passive rotation assembly 23; one end of the shoulder joint connecting assembly 22 is provided with the shoulder joint active rotation assembly 21, and the other end of the shoulder joint connecting assembly 22 is provided with the passive rotation assembly 23; wherein the shoulder joint active rotation assembly 21 and the passive rotation assembly 23 are arranged vertically. The passive rotation assembly 23 is used for adjusting the angle by the user.

[0070] In an embodiment of the present application, the shoulder joint connecting assembly 22 is L-shaped; the shoulder joint connecting assembly 22 comprises a first connecting plate 221, a second connecting plate 223 and an intermediate plate 222; the intermediate plate 222 is arranged between the first connecting plate 221 and the second connecting plate 223, the first connecting plate 221 and the second connecting plate 223 are arranged in parallel, and the intermediate plate 222 is arranged perpendicularly to the first connecting plate 221 and the second connecting plate 223; wherein the first connecting plate 221 has the same shape as the second connecting plate 223.

[0071] As an example, the shoulder encoder 216 is provided with an intermediate plate 222 at the rear, and a first connecting plate 221 and a second connecting plate 223 are arranged at the rear on both sides respectively. The first connecting plate 221 is L-shaped, the long side of the first connecting plate 221 is connected to the shoulder joint active rotation assembly 21, the short side of the first connecting plate 221 is connected to the passive rotation assembly 23, and the long side of the first connecting plate 221 and the short side of the first connecting plate 221 are arranged perpendicularly; the second connecting plate 223 has the same shape as the first connecting plate 221, and the two are arranged in parallel.

[0072] In an embodiment of the present application, the passive rotation assembly 23 for passive rotation of the arm is further included; one end of the passive rotation assembly 23 is connected to the top end of the support frame of the upper limb exoskeleton, and the other end of the passive rotation assembly 23 is connected to the shoulder joint active rotation assembly 21; the passive rotation assembly 23 comprises a passive bearing 232 and a passive rotation fixed plate 231; the passive rotation fixed plate 231 is arranged at the top end of the support frame of the upper limb exoskeleton through the passive bearing 232.

[0073] In a specific embodiment, the passive rotation assembly 23 is used for adjusting the angle of the user's shoulder and belongs to passive freedom degree.

[0074] As an example, the passive bearing 232 is also a cross-roller bearing, the entire rope traction joint rotation structure 2 is rotated under the driving of the user's shoulder, and can rotate at the top end of the support frame of the upper limb exoskeleton through the passive rotation assembly 23.

[0075] In a specific embodiment, the whole structure is fixed to the top end of the support frame of the upper limb exoskeleton by the outer ring of the passive bearing 232, and the inner ring mounting hole of the passive bearing 232 is fixed to the whole rope traction joint rotation structure 2, so that one passive rotation degree of freedom of the shoulder joint can be realized. The whole structure is composed of the passive rotation fixing plate 231, the outer fixing plate 211, the shoulder outer swing roller 212, the inner fixing plate 213, the shoulder bearing 214, the bearing fixing plate 215, the shoulder encoder 216 and the like; one end of the first shoulder rotation rope 25 and one end of the second shoulder rotation rope 26 are respectively fixed to the two ends of the shoulder outer swing roller 212, and the clockwise and counterclockwise rotation actions of the shoulder outer swing roller 212 are controlled by the length elongation (or shortening) of one end of the steel wire rope and the length shortening (or elongation) of the other end of the steel wire rope; the movement angle of the structure is determined by the roller limiting part 217, and the roller bearing assembly 24 is also provided.

[0076] Although the preferred embodiments of the embodiments of the present application have been described, those skilled in the art can make further changes and modifications to the embodiments once they know the basic inventive concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the embodiments of the present application.

[0077] Finally, it should also be noted that, in this document, the relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or terminal device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or terminal device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of another identical element in the process, method, article or terminal device including the element.

[0078] The above describes in detail the rope traction joint rotation structure provided by the present application, and the principles and implementation modes of the present application are described by using specific examples in this document. The above embodiment description is only used to help understand the method of the present application and its core idea; at the same time, for those skilled in the art, according to the idea of the present application, the specific implementation mode and application range will be changed; in view of the above, the content of the present description should not be understood as a limitation of the present application.

Claims

1. A rope-hauled joint rotation structure for rotation of a shoulder joint of an upper extremity exoskeleton and turning of an arm, characterized by, The shoulder joint active rotation assembly comprises a shoulder swing roller and a shoulder rotation rope assembly. The shoulder rotation rope assembly comprises a first shoulder rotation rope and a second shoulder rotation rope. The first shoulder rotation rope is fixed on one side of the shoulder swing roller and the bottom of the shoulder swing roller. The passive rotation assembly is connected to the top end of the support frame of the upper limb exoskeleton. The passive rotation assembly comprises a passive bearing and a passive rotation fixing plate. The passive rotation fixing plate is arranged on the top end of the support frame of the upper limb exoskeleton through the passive bearing. When the first shoulder rotation rope or the second shoulder rotation rope is tightened, the shoulder swing roller is driven to rotate. The shoulder joint active rotation assembly further comprises a shoulder encoder for calculating the rotation angle.

2. The rope-towed joint rotation structure according to claim 1, characterized by, The shoulder encoder is connected to the output end of the shoulder swing roller. The shoulder joint active rotation assembly comprises an outer fixing plate, the shoulder swing roller, an inner fixing plate, a shoulder bearing, a bearing fixing plate and the shoulder encoder arranged in sequence.

3. The rope-towed articulating rotation structure according to claim 2, wherein, The inner fixing plate is provided with a short shaft penetrating through the shoulder bearing on the side away from the shoulder swing roller. The protrusion is a closed figure, which has two equal-length parallel sides connected by two identical arcs to form a symmetrical runway structure.

4. The rope-towed articulating rotation structure according to claim 3, wherein The inner fixing plate is provided with a roller limiting component.

5. The rope-towed articulating rotation structure according to claim 3, wherein, The roller limiting component is arranged on one side of the inner fixing plate. The shoulder rotation rope assembly further comprises a roller bearing assembly.

6. The rope-towed articulating rotation structure of claim 1, wherein, The roller bearing assembly comprises a first shoulder roller bearing and a second shoulder roller bearing. The first shoulder roller bearing is arranged at the entrance of the first shoulder rotation rope into the shoulder swing roller, and the second shoulder roller bearing is arranged at the entrance of the second shoulder rotation rope into the shoulder swing roller. The shoulder joint active rotation assembly and the passive rotation assembly are provided with a shoulder joint connecting assembly.

7. The rope-towed articulating rotation structure according to claim 6, wherein, One end of the shoulder joint connecting assembly is provided with the shoulder joint active rotation assembly, and the other end of the shoulder joint connecting assembly is provided with the passive rotation assembly. The shoulder joint connecting assembly is L-shaped.

8. The rope-towed articulating rotation structure of claim 1, wherein, ​ ​ 9. The rope-towed articulating rotation structure of claim 8, wherein, ​ The shoulder joint connecting assembly comprises a first connecting plate, a second connecting plate and an intermediate plate; the intermediate plate is arranged between the first connecting plate and the second connecting plate, the first connecting plate and the second connecting plate are arranged in parallel, and the intermediate plate is arranged perpendicularly to the first connecting plate and the second connecting plate; wherein the first connecting plate has the same shape as the second connecting plate.

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