A rope-traction upper limb exoskeleton complete device

Abstract

In an embodiment of the present application, a rope-traction upper limb exoskeleton device is provided, which includes a driving device, a frame, a rope assembly and an upper limb exoskeleton; one end of the rope assembly is connected to the driving device, and the other end is connected to the upper limb exoskeleton; wherein the active degrees of freedom of the upper limb exoskeleton are respectively provided with the driving devices corresponding thereto; the active degrees of freedom of the upper limb exoskeleton are respectively provided with the rope assemblies corresponding thereto; the frame is provided with the driving device, and the upper limb exoskeleton is connected to the top of the frame; the driving device drives the rope assembly to tighten or loosen, thereby driving the upper limb exoskeleton to move. The present application achieves the technical effects of reducing the overall weight and inertia of the robot's motion joints, improving the interaction comfort; improving the flexibility of the driving mechanism, and providing structural safety guarantees.

Description

Technical Field

[0001] The invention relates to the field of exoskeletons, and in particular to a rope-drawn upper limb exoskeleton complete device. Background Art

[0002] Stroke is the leading cause of death and disability among adults in my country. It is caused by acute cerebrovascular circulation disorders, resulting in persistent local neurological deficits in the cerebral hemisphere or brainstem, and is characterized by high morbidity, high disability, high mortality, and high recurrence rates. Stroke patients usually experience upper limb dysfunction. Repeated stimulation training and specific task training of a certain intensity are important means of upper limb functional rehabilitation. As upper limb rehabilitation robots have the advantages of being fatigue-free, quantitative, and individualized, they can provide large-dose, high-repetition exercise training on the one hand, and objective and immediate training data and evaluation data on the other. Robot-assisted rehabilitation therapy has become an effective solution for limb functional rehabilitation after stroke.

[0003] The joint transmission structures of upper limb rehabilitation robots currently available on the market include gear meshing transmission, motor direct drive transmission, screw synchronous wheel synchronous belt transmission and other forms.

[0004] However, the overall weight and inertia of current robot motion joints are large, and the flexibility of the drive mechanism is poor. Summary of the invention

[0005] In view of the above problems, embodiments of the present invention are proposed to provide a rope-traction upper limb exoskeleton device that overcomes the above problems or at least partially solves the above problems.

[0006] The embodiment of the present invention discloses a rope-driven upper limb exoskeleton device, the structure of which is used for the rotation of the upper limb exoskeleton joints, and includes a driving device, a frame, a rope assembly, and an upper limb exoskeleton;

[0007] One end of the rope assembly is connected to the driving device, and the other end is connected to the upper limb exoskeleton; wherein the active degrees of freedom of the upper limb exoskeleton are respectively provided with the driving devices corresponding thereto; and the active degrees of freedom of the upper limb exoskeleton are respectively provided with the rope assemblies corresponding thereto;

[0008] The frame is provided with the driving device, and the upper limb exoskeleton is connected to the top of the frame; the rope assembly includes a joint rotation rope assembly, an arm rope assembly and a shoulder rotation rope assembly provided with the upper limb exoskeleton, and a rotation rope assembly provided with the driving device;

[0009] The driving device drives the rope assembly to tighten or loosen, thereby driving the upper limb exoskeleton to move.

[0010] Preferably, the driving device comprises a device body, and a motor and a rotating rope winding wheel arranged on the device body;

[0011] The driving end of the motor is connected to the rotating rope winding wheel; the rotating rope winding wheel comprises a first side and a second side, and the first side and the second side are arranged opposite to each other;

[0012] The rotating rope assembly includes a first rotating rope and a second rotating rope, wherein the first rotating rope is fixed to a first side of the rotating rope sheave and is wound from the bottom to a second side of the rotating rope sheave, and the second rotating rope is fixed to a second side of the rotating rope sheave and is wound from the bottom to the first side of the rotating rope sheave;

[0013] When the motor is driven, the rotating rope wheel is driven to rotate clockwise, and the first rotating rope is tightened while the second rotating rope is loosened;

[0014] or;

[0015] When the motor is driven, the rotating rope sheave is driven to rotate counterclockwise, and the second rotating rope is tightened while the first rotating rope is loosened.

[0016] Preferably, the device body comprises a fixed bottom plate and a flexible component for relieving the tension of the rotating rope assembly;

[0017] The first rotating rope and the second rotating rope are respectively provided with a set of the flexible components;

[0018] The motor is provided on one side of the fixed base plate, and the rotating rope winding wheel and two groups of flexible components are provided on the other side of the fixed base plate; wherein the motor and the rotating rope winding turntable are arranged at corresponding positions, and the flexible component is connected to the rope output end of the rotating rope winding turntable.

[0019] Preferably, the upper limb exoskeleton comprises a passive rotation component, a shoulder abduction and adduction component, a shoulder flexion and extension component, an upper arm internal and external rotation component, an elbow flexion and extension component and a forearm internal and external rotation component which are arranged in sequence; wherein the shoulder abduction and adduction component, the shoulder flexion and extension component, the upper arm internal and external rotation component, the elbow flexion and extension component and the forearm internal and external rotation component are active degrees of freedom;

[0020] The passive rotation component is arranged at the top of the frame, the shoulder joint abduction and adduction component and the shoulder joint flexion and extension component are arranged at the position of the user's shoulder, the upper arm internal and external rotation component is arranged at the position of the user's upper arm, the elbow joint flexion and extension component is arranged at the position of the user's elbow joint, and the forearm internal and external rotation component is arranged at the position of the user's forearm;

[0021] The shoulder joint abduction and adduction component, the shoulder joint flexion and extension component, the upper arm internal and external rotation component, the elbow joint flexion and extension component and the forearm internal and external rotation component are all connected to the motor through ropes so as to rotate.

[0022] Preferably, the shoulder joint flexion and extension assembly and the elbow joint flexion and extension assembly are each provided with a set of rope traction joint rotation assemblies;

[0023] The rope traction joint rotation assembly includes the joint rotation rope assembly and the joint rotation roller;

[0024] The joint rotation cable assembly includes a first joint rotation cable and a second joint rotation cable, wherein the first joint rotation cable is wound around one side of the joint rotation roller and fixed to the bottom of the joint rotation roller, and the second joint rotation cable is wound around the other side of the joint rotation roller and fixed to the bottom of the joint rotation roller;

[0025] When the first joint rotation rope or the second joint rotation rope is tightened, the joint rotation roller is driven to rotate.

[0026] Preferably, the joint rotation cable assembly further comprises a guide bearing assembly;

[0027] The guide bearing assembly includes a first guide roller bearing and a second guide roller bearing;

[0028] The first guide roller bearing and the second guide roller bearing are arranged at the entrance of the joint rotation rope; the first joint rotation rope is wound around one side of the first guide roller bearing and is wound around the other side of the first guide roller bearing; the second joint rotation rope is wound around one side of the second guide roller bearing and is wound around the other side of the second guide roller bearing.

[0029] Preferably, the upper arm internal and external rotation assembly and the forearm internal and external rotation assembly are both provided with a set of rope-pulling arm rotation structures;

[0030] The rope-pulling arm rotation structure comprises a rotation holder, a rotation fixing plate and the arm rotation rope assembly;

[0031] The rotating fixing plate is arranged in the middle of the rotating retaining frame, and the rotating retaining frame is in an arc shape;

[0032] The arm rope assembly includes a first arm rotating rope and a second arm rotating rope, the first arm rotating rope is passed around the rotating fixed plate and fixed to one end of the rotating holder, and the second arm rotating rope is passed around the rotating fixed plate and fixed to the other end of the rotating holder;

[0033] When the first arm rotating rope is tightened or the second arm rotating rope is tightened, the rotating retaining frame rotates around the rotating fixing plate.

[0034] Preferably, the shoulder abduction and adduction assembly comprises a shoulder external swing roller and the shoulder rotation cable assembly;

[0035] The shoulder rotation rope assembly includes a first shoulder rotation rope and a second shoulder rotation rope, wherein 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, and 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;

[0036] When the first shoulder rotating rope or the second shoulder rotating rope is tightened, the shoulder outward swing roller is driven to rotate.

[0037] Preferably, the shoulder joint abduction and adduction assembly comprises an outer fixing plate, the shoulder outward swing roller, an inner fixing plate, a shoulder bearing, a bearing fixing plate and a shoulder encoder which are arranged in sequence;

[0038] A groove for connecting to the shoulder outward swing roller is provided on one side of the outer fixing plate close to the shoulder outward swing roller, a convex groove for connecting to the shoulder outward swing roller is provided on one side of the inner fixing plate close to the shoulder outward swing roller, and a short shaft passing through the shoulder bearing is provided on one side of the inner fixing plate away from the shoulder outward swing roller; wherein the shape of the convex groove and the shape of the groove are both adapted to the protrusion shape of the shoulder outward swing roller.

[0039] Preferably, the frame comprises a sliding base, a driving frame and a bench;

[0040] The driving frame and the bench are arranged above the sliding bottom plate; the bench is arranged on one side of the driving frame;

[0041] The driving device is fixedly arranged inside the driving frame, and the bench is arranged below the upper limb exoskeleton.

[0042] The present application specifically includes the following advantages:

[0043] In the embodiments of the present application, compared with the prior art in which "the overall weight and inertia of the joint are large, and the flexibility of the driving mechanism is poor", the present application provides five active degrees of freedom and one passive degree of freedom. The five active degrees of freedom are the shoulder abduction and adduction component, the shoulder flexion and extension component, the upper arm internal and external rotation component, the elbow flexion and extension component, and the forearm internal and external rotation component. The one passive degree of freedom is the passive rotation component, which can effectively reduce the weight of the upper limb exoskeleton. Specifically: a driving device, a frame, a rope assembly and an upper limb exoskeleton; one end of the rope assembly is connected to the driving device, and the other end is connected to the upper limb exoskeleton; wherein the active degrees of freedom of the upper limb exoskeleton are respectively provided with the driving devices corresponding thereto; the active degrees of freedom of the upper limb exoskeleton are respectively provided with the rope assemblies corresponding thereto; the frame is provided with the driving device, and the upper limb exoskeleton is connected to the top of the frame; the rope assembly includes a joint rotation rope assembly, an arm rope assembly and a shoulder rotation rope assembly provided for the upper limb exoskeleton, and a rotation rope assembly provided for the driving device; the driving device drives the rope assembly to tighten or loosen, thereby driving the upper limb exoskeleton to move. The technical problem of "large overall weight and inertia of the joints and poor flexibility of the driving mechanism" is solved by rotating with six degrees of freedom, achieving the technical effect of reducing the overall weight and inertia of the robot's motion joints and improving the interaction comfort; improving the flexibility of the driving mechanism and providing structural safety guarantees. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the description of the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0045] Figure 1 It is a schematic diagram of the overall structure of a rope-traction upper limb exoskeleton device of the present invention;

[0046] Figure 2 It is a schematic diagram of the overall structure of an upper limb exoskeleton of the present invention;

[0047] Figure 3 It is a schematic structural diagram of the forearm portion of an upper limb exoskeleton of the present invention;

[0048] Figure 4 It is a schematic structural diagram of the upper arm portion of an upper limb exoskeleton of the present invention;

[0049] Figure 5 It is a perspective structural schematic diagram of the rope traction joint rotation assembly of the present invention;

[0050] Figure 6 It is a structural schematic diagram of the rope traction arm rotation structure of the present invention;

[0051] Figure 7 It is a side structural schematic diagram of the rope traction arm rotation structure of the present invention;

[0052] Figure 8 It is a schematic diagram of the front view of the rope traction arm rotation structure of the present invention;

[0053] Fig. 9 It is a schematic diagram of the top view of the rope traction arm rotation structure of the present invention;

[0054] Fig.10 It is a structural schematic diagram of the rope traction arm rotation structure of the present invention;

[0055] Fig.11 It is a structural schematic diagram of the rope traction joint rotation structure of the present invention;

[0056] Fig.12 It is a schematic diagram of the exploded structure of the rope traction joint rotation structure of the present invention;

[0057] Fig.13 It is a schematic diagram of the framework structure of the present invention;

[0058] Fig.14 It is a schematic diagram of an exploded structure of the rope traction joint rotation structure of the present invention when viewed from above;

[0059] Fig.15 It is a schematic diagram of the exploded structure of the rope traction joint rotation structure of the present invention from a side view;

[0060] Fig.16 It is a schematic diagram of the exploded structure of the rope traction joint rotation structure of the present invention;

[0061] Fig.17 It is a schematic cross-sectional structure diagram of the rope traction joint rotation structure of the present invention;

[0062] Fig.18 It is a schematic diagram of the shoulder outward swing roller structure of the rope traction joint rotation structure of the present invention;

[0063] Fig.19 It is a structural schematic diagram of the rope traction joint rotation structure of the present invention;

[0064] Fig. 20 It is a structural schematic diagram of a rope-traction exoskeleton driving device of the present invention;

[0065] Fig.21 It is a structural schematic diagram of a rope-traction exoskeleton driving device of the present invention;

[0066] Fig. 22It is a schematic diagram of the structure of components of a rope-traction exoskeleton drive device of the present invention;

[0067] Fig.23 It is a schematic structural diagram of a movable rope head fixing block of a driving device of the present invention;

[0068] Fig.24 It is a side view structural schematic diagram of a rope-traction exoskeleton driving device of the present invention;

[0069] Fig.25 It is a structural schematic diagram of a spring assembly of a rope-traction exoskeleton drive device of the present invention;

[0070] Fig.26 It is a physical schematic diagram of the present invention;

[0071] 1. Rope traction arm rotation structure; 11. Rotation fixing plate; 111. Front fixing plate; 112. Front and rear fixed connecting plates; 113. Rear fixing plate; 114. Rope joint; 115. Bearing spacer; 116. Potentiometer; 12. Rotation retainer; 121. First rotation limit block; 122. Second rotation limit block; 123. First rope fixing block; 124. Second rope fixing block; 125. End bearing; 126. Synchronous belt; 127. Third rotation limit block; 128. Fourth rotation limit block; 13. Upper arm forearm Connection structure; 14, first arm rotation rope; 15, second arm rotation rope; 16, forearm palm connection plate; 21, shoulder joint abduction and adduction assembly; 211, lateral fixing plate; 212, shoulder swing roller; 213, medial fixing plate; 214, shoulder bearing; 215, bearing fixing plate; 216, shoulder encoder; 217, roller limiter; 22, shoulder joint connection assembly; 221, first connection plate; 222, middle plate; 223, second connection plate; 23, passive rotation assembly; 231, passive rotation fixing Plate; 232, passive bearing; 24, roller bearing assembly; 241, first shoulder roller bearing; 242, second shoulder roller bearing; 243, guide bearing fixing plate; 25, first shoulder rotating rope; 26, second shoulder rotating rope; 3, driving device; 31, fixed bottom plate; 32, rotating rope reel; 33, guide rail assembly; 331, slide rail bottom plate; 332, linear slide rail; 34, spring assembly; 341, guide column fixing block; 342, displacement sensor; 343, guide column; 344, compression spring; 34 5. Fixed rope end fixing block; 346. Mobile rope end fixing block; 35. Tensioning assembly; 351. First pulley; 352. Second pulley; 353. Third pulley; 36. Motor; 37. First rotating rope; 38. Second rotating rope; 4. Rope traction joint rotation assembly; 41. Joint rotating roller; 42. First joint rotating rope; 43. Second joint rotating rope; 44. First guide roller bearing; 45. Second guide roller bearing; 46. Joint rotation limit block; 47. Shoulder joint flexion and extension encoder; 5. Frame. DETAILED DESCRIPTION

[0072] In order to make the objects, features and advantages of the present application more obvious and understandable, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0073] The inventors have found through analyzing the existing technologies that the existing joint transmission structures on the market include gear meshing transmission, motor direct drive transmission, screw synchronous wheel synchronous belt transmission and other forms. The existing market also has spherical connecting rod type robotic arms that use multi-turn wire rope windings, rely on synchronous wheels and synchronous belts to achieve transmission, and the proximal motor directly drives the rope winding drum. However, the above solutions all have disadvantages: the overall weight and inertia of the current robot motion joints are large, resulting in poor interaction comfort; the flexibility of the drive mechanism is poor, it cannot provide structural safety guarantees, the accuracy is poor, and the rope will be stretched after long-term use.

[0074] This application is based on a remote drive transmission system using Bowden cable traction, which has many advantages: using wire rope traction for remote driving, the drive motor can be far away from the human-machine interaction site, reducing the overall weight and inertia of the wearable part and improving the interaction comfort; low elastic stiffness is suitable for robot passive scenarios, and high elastic stiffness is suitable for robot dominant scenarios.

[0075] It should be noted that this application is used for the rotation of the upper limb exoskeleton shoulder joint and the rotation of the arm. This application uses rope traction for remote driving, and the motor can be far away from the human-machine interaction part, reducing the overall weight and inertia of the robot and improving the interaction comfort; the exoskeleton multi-degree-of-freedom design can better adapt to the user's movement needs and improve the effect of exoskeleton assistance. The length of the upper limb exoskeleton can be adjusted according to the user's actual situation, improving the versatility of exoskeleton assistance.

[0076] It should be noted that the rope assembly of the present application includes a rotating rope assembly arranged in a driving device, a joint rotating rope assembly arranged in a rope traction joint rotating assembly, an arm rope assembly arranged in an arm rotating structure, and a shoulder rotating rope assembly arranged in the shoulder joint abduction and adduction assembly.

[0077] The rotating rope assembly is provided with five groups. To facilitate the distinction, the rope assembly is a rotating rope assembly at one end of the driving device, and an arm rotating rope assembly, a joint rotating rope assembly, and a shoulder rotating rope assembly at one end of each degree of freedom; wherein the arm rotating rope assembly and the joint rotating rope assembly are provided with two groups respectively.

[0078] Reference Figure 1-26, showing a schematic structural diagram of a rope-traction upper limb exoskeleton device of the present invention, which may specifically include the following structures: a driving device 3, a frame, a rope assembly and an upper limb exoskeleton; one end of the rope assembly is connected to the driving device 3, and the other end is connected to the upper limb exoskeleton; wherein, the active degrees of freedom of the upper limb exoskeleton are respectively provided with the driving devices 3 corresponding thereto; the active degrees of freedom of the upper limb exoskeleton are respectively provided with the rope assemblies corresponding thereto; the frame is provided with the driving device 3, and the upper limb exoskeleton is connected to the top of the frame; the rope assembly includes a joint rotation rope assembly, an arm rope assembly and a shoulder rotation rope assembly of the upper limb exoskeleton, and a rotation rope assembly arranged on the driving device 3; the driving device 3 drives the rope assembly to tighten or loosen, thereby driving the upper limb exoskeleton to move.

[0079] In the embodiments of the present application, compared with the prior art in which "the overall weight and inertia of the joint are large, and the flexibility of the driving mechanism is poor", the present application provides five active degrees of freedom and one passive degree of freedom. The five active degrees of freedom are the shoulder abduction and adduction component, the shoulder flexion and extension component, the upper arm internal and external rotation component, the elbow flexion and extension component, and the forearm internal and external rotation component. The one passive degree of freedom is the passive rotation component, which can effectively reduce the weight of the upper limb exoskeleton. Specifically: a driving device 3, a frame, a rope assembly and an upper limb exoskeleton; one end of the rope assembly is connected to the driving device 3, and the other end is connected to the upper limb exoskeleton; wherein the active degrees of freedom of the upper limb exoskeleton are respectively provided with the driving device 3 corresponding thereto; the active degrees of freedom of the upper limb exoskeleton are respectively provided with the rope assembly corresponding thereto; the frame is provided with the driving device 3, and the upper limb exoskeleton is connected to the top of the frame; the rope assembly includes a joint rotation rope assembly, an arm rope assembly and a shoulder rotation rope assembly provided with the upper limb exoskeleton, and a rotation rope assembly provided with the driving device 3; the driving device 3 drives the rope assembly to tighten or loosen, thereby driving the upper limb exoskeleton to move. The technical problem of "large overall weight and inertia of the joint and poor flexibility of the driving mechanism" is solved by rotating with six degrees of freedom, so as to reduce the overall weight and inertia of the robot motion joint, improve the interaction comfort; improve the flexibility of the driving mechanism, and provide the technical effect of structural safety guarantee. Below, a rope traction joint rotation assembly 4 in this exemplary embodiment will be further described.

[0080] In one embodiment of the present application, the rope traction joint rotation assembly 4 includes a joint rotation rope assembly and a joint rotation roller 41; the joint rotation rope assembly includes a first joint rotation rope 42 and a second joint rotation rope 43, the first joint rotation rope 42 is wrapped around one side of the joint rotation roller 41 and fixed at the bottom of the joint rotation roller 41, and the second joint rotation rope 43 is wrapped around the other side of the joint rotation roller 41 and fixed at the bottom of the joint rotation roller 41; when the first joint rotation rope 42 or the second joint rotation rope 43 is tightened, the joint rotation roller 41 is driven to rotate.

[0081] In a specific embodiment, the first joint rotation rope 42 and the second joint rotation rope 43 are both Bowden cables, a first joint rotation rope 42 fixing block for fixing the first joint rotation rope 42 is provided at the bottom of the joint rotation roller 41, and a second joint rotation rope 43 fixing block for fixing the second joint rotation rope 43 is provided at the bottom of the joint rotation roller 41, and the first joint rotation rope 42 fixing block and the second joint rotation rope 43 fixing block are adjacent to each other.

[0082] In a specific embodiment, the bottom of the joint rotating roller 41 is a straight line, which is convenient for fixing the first joint rotating rope 42 and the second joint rotating rope 43 .

[0083] In one embodiment of the present application, the joint rotation rope assembly also includes a guide bearing assembly; the guide bearing assembly includes a first guide roller bearing 44 and a second guide roller bearing 45; the first guide roller bearing 44 and the second guide roller bearing 45 are arranged at the entrance of the joint rotation rope; the first joint rotation rope 42 is wound around one side of the first guide roller bearing 44 and out from the other side of the first guide roller bearing 44; the second joint rotation rope 43 is wound around one side of the second guide roller bearing 45 and out from the other side of the second guide roller bearing 45.

[0084] In a specific embodiment, the guide bearing assembly makes two sides of the joint rotation cable assembly parallel, and the guide bearing assembly is wound half a circle, so that the direction of the joint rotation cable assembly can be changed.

[0085] In an embodiment of the present application, the joint rotation roller 41 is further provided with a joint rotation limit block 46 , and the joint rotation limit block 46 is arranged at a fixed position of the joint rotation rope assembly.

[0086] In one embodiment of the present application, a shoulder joint flexion and extension encoder 47 is also provided on the outside of the joint rotation roller 41. The shoulder joint flexion and extension encoder 47 is arranged at the middle through hole of the joint rotation roller 41, so that the rotation angle of the joint rotation roller 41 can be calculated.

[0087] Next, a rope-pulled arm rotating structure 1 in this exemplary embodiment will be further described. The first arm rotating rope 14 and the second arm rotating rope 15 are both Bowden cables.

[0088] It should be noted that the Bowden cable traction remote drive transmission system based on wire rope has many advantages: by using wire rope traction for remote drive, the drive motor can be far away from the human-machine interaction site, reducing the overall weight and inertia of the upper limb rehabilitation robot and improving the interaction comfort; low elastic stiffness is suitable for robot passive scenarios, and high elastic stiffness is suitable for robot dominant scenarios.

[0089] In one embodiment of the present application, the rotating fixed plate 11 is disposed in the middle of the rotating retaining frame 12; the rotating fixed plate 11 includes a front fixed plate 111 and a rear fixed plate 113 fixedly connected to the front fixed plate 111; the rotating retaining frame 12 is disposed between the front fixed plate 111 and the rear fixed plate 113. A potentiometer 116 is disposed on one side of the rotating fixed plate 11.

[0090] As an example, the front fixing plate 111 and the rear fixing plate 113 are connected by a bolt assembly, and the bolt assembly includes a left bolt and a right bolt. The front fixing plate 111 and the rear fixing plate 113 are fixedly connected by the left bolt and the right bolt.

[0091] In a specific embodiment, the left bolt includes a nut, a screw and an eccentric nut; the right bolt includes a nut, a screw and an eccentric nut; the screw cooperates with the nut and the eccentric nut. The screw passes through the front fixing plate 111 and the rear fixing plate 113, and passes through the nut and the eccentric nut, so as to fix the front fixing plate 111 and the rear fixing plate 113 together.

[0092] As an example, a front and rear fixed connecting plate 112 is further provided between the front fixed plate 111 and the rear fixed plate 113. The front and rear fixed connecting plate 112 forms a U-shaped structure with the front fixed plate 111 and the rear fixed plate 113, and the rotating retaining frame 12 is clamped in the middle. The front and rear fixed connecting plates 112 are also used to fix the first arm rotating rope 14 and the second arm rotating rope 15. The first arm rotating rope 14 passes through the rope joint 114 on the front and rear fixed connecting plates 112, and the rotating fixing plate 11 is fixed to one end of the rotating retaining frame 12. The second arm rotating rope 15 passes through the rope joint 114 on the front and rear fixed connecting plates 112, and the rotating fixing plate 11 is fixed to the other end of the rotating retaining frame 12.

[0093] In one embodiment of the present application, the rotating cage 12 is provided with a bearing assembly for reducing friction. The bearing assembly includes a bearing spacer 115 and an end bearing 125; the bearing spacer 115 is arranged between the rotating cage 12 and the rotating fixed plate 11; and the end bearing 125 is arranged at both ends of the rotating cage 12.

[0094] In a specific embodiment, the bearing spacer 115 is arranged on one side of the arm rotating rope assembly through the screw, so that the friction can be effectively reduced when the arm rotating rope assembly is tightened or loosened. The screw passes through the bearing, so that the bearing spacer 115 is arranged between the rotating retainer 12 and the rotating fixed plate 11. The bearing spacer 115 includes a deep groove ball bearing, a thrust needle roller bearing, a bearing spacer and a shaft, and the shaft passes through the screw, and the thrust needle roller bearing, the bearing spacer, the deep groove ball bearing, the shaft, the deep groove ball bearing, the bearing spacer and the thrust needle roller bearing are arranged on the screw in sequence. The first arm rotating rope 14 and the second arm rotating rope 15 are respectively provided with a group of bearing spacers 115, so that when the first arm rotating rope 14 or the second arm rotating rope 15 is contracted or loosened, the friction can be reduced and the rotation is smooth.

[0095] In an embodiment of the present application, a potentiometer 116 is provided on one side of the rotating fixed plate 11 . Specifically, the potentiometer 116 is provided on a side close to the upper arm forearm connecting structure 13 .

[0096] It should be noted that the potentiometer 116 is a resistor element having three lead terminals and whose resistance value can be adjusted according to a certain change rule. The potentiometer 116 is usually composed of a resistor body and a movable brush. When the brush moves along the resistor body, a resistance value or voltage that is in a certain relationship with the displacement amount is obtained at the output end. The potentiometer 116 can be used as a three-terminal element or a two-terminal element. The latter can be regarded as a variable resistor. Since its function in the circuit is to obtain an output voltage that is in a certain relationship with the input voltage (applied voltage), it is called a potentiometer 116.

[0097] In one embodiment of the present application, the rotating fixed plate 11 is arranged in the middle of the rotating retaining frame 12, and the rotating retaining frame 12 is arc-shaped; when the first arm rotating rope 14 is tightened or the second arm rotating rope 15 is tightened, the rotating retaining frame 12 rotates around the rotating fixed plate 11.

[0098] As an example, the rotating holder 12 is in an arc shape. The first arm rotating rope 14 passes through the rotating fixing plate 11, bypasses one semicircle of the rotating holder 12, and is connected to the first rope fixing block 123; the second arm rotating rope 15 passes through the rotating fixing plate 11, bypasses the other semicircle of the rotating holder 12, and is connected to the second rope fixing block 124.

[0099] As an example, grooves for placing the arm rotation rope assembly are respectively provided on both sides of the rotation holder 12. Limiting structures are respectively provided at both ends of the rotation holder 12; the limiting structures include a first rotation limiting block 121 and a second rotation limiting block 122, the first rotation limiting block 121 is arranged at one end of the rotation holder 12, the second rotation limiting block 122 is arranged at the other end of the rotation holder 12, and the first rotation limiting block 121 and the second rotation limiting block 122 are arranged on the same surface.

[0100] In a specific embodiment, the limiting structure can effectively prevent the rotating holder 12 from rotating excessively and prevent one end of the rotating holder 12 from flipping to the other end. When the first arm rotating rope 14 is tightened, the rotating holder 12 moves upward under the belt of the first arm rotating rope 14 and rotates a certain angle toward the other end. When one end of the rotating holder 12 rotates to almost approach the rotating fixed plate 11, the first rotating limiting block 121 abuts against the front fixed plate 111, thereby limiting the rotation of the rotating holder 12. The third rotating limiting block 127 and the fourth rotating limiting block 128 are provided at corresponding positions on the other side of the rotating holder 12, and the third rotating limiting block 127 abuts against the rear fixed plate 113.

[0101] When the second arm rotating rope 15 is tightened, the rotating retaining frame 12 moves upward under the belt of the second arm rotating rope 15 and rotates a certain angle toward the other end. When one end of the rotating retaining frame 12 rotates to almost approach the rotating fixed plate 11, the second rotating limit block 122 abuts against the front fixed plate 111, thereby limiting the rotation of the rotating retaining frame 12.

[0102] In one embodiment of the present application, a first rope fixing block 123 is provided at one end of the rotating holder 12, and a second rope fixing block 124 is provided at the other end of the rotating holder 12; the first arm rotating rope 14 is fixed to one end of the rotating holder 12 through the first rope fixing block 123; and the second arm rotating rope 15 is fixed to the other end of the rotating holder 12 through the second rope fixing block 124. The first rope fixing block 123 fixes the first arm rotating rope 14 to one end of the rotating holder 12, and the second rope fixing block 124 fixes the second arm rotating rope 15 to the other end of the rotating holder 12.

[0103] In one embodiment of the present application, the end bearings 125 are arranged at both ends of the rotating retainer 12; specifically, the end bearings 125 are arranged above the first rope fixing block 123, and the end bearings 125 are roller bearings; the end bearings 125 are also arranged above the second rope fixing block 124, and the end bearings 125 are roller bearings. The end bearings 125 are used to reduce the friction of the arm rotating rope assembly. The end bearings 125 are arranged at the position of the first arm rotating rope 14 close to the first rope fixing block 123; the end bearings 125 are arranged at the position of the second arm rotating rope 15 close to the second rope fixing block 124.

[0104] In one embodiment of the present application, a synchronous belt 126 is provided at a position corresponding to the arm rotation rope assembly. Specifically, the synchronous belt 126 is provided at a position corresponding to the arm rotation rope assembly on the rotation holder 12, that is, the synchronous belt 126 is provided on the same side of the arm rotation rope assembly.

[0105] In one embodiment of the present application, both ends of the rotating holder 12 are fixedly connected to the upper arm forearm connection structure 13; the shape of the upper arm forearm connection structure 13 is the same as that of the rotating holder 12. The upper arm forearm connection structure 13 includes a connecting cross plate and a forearm connection piece for connecting the forearm; the rotating holder 12 is connected to the forearm connection piece through the connecting cross plate. A third rotation limit block 127 and a fourth rotation limit block 128 are provided at the position where the upper forearm connection structure 13 is connected to the rotating holder 12.

[0106] In a specific embodiment, when the rope-pulled arm rotating structure 1 is set on the upper arm, the rotating holder 12 is connected to the upper arm forearm connecting structure 13; when the rope-pulled arm rotating structure 1 is set on the forearm, the rotating holder 12 is not set with the upper arm forearm connecting structure 13.

[0107] In a specific embodiment, the motor end tightens the first arm rotating rope 14, and the corresponding second arm rotating rope 15 is in a relaxed state. Since the end of the first arm rotating rope 14 is fixed to the left end of the rotating holder 12, when the first arm rotating rope 14 is tightened, the rotating holder 12 moves upward by a certain angle, and at the same time, the left side of the rotating holder 12 moves upward by the same angle. This rotation direction is defined as clockwise rotation; when the first arm rotating rope 14 is in a relaxed state, the corresponding other end of the second arm rotating rope 15 is in a tightened state, and the rotating holder 12 rotates counterclockwise.

[0108] In a specific embodiment, one end of the first arm rotating rope 14 and the second arm rotating rope 15 are respectively fixed to the two ends of the rotating holder 12, and the clockwise and counterclockwise rotation movements of the rotating holder 12 are controlled by the length extension and reduction changes of the first arm rotating rope 14 and the second arm rotating rope 15; the rotation is guided by the bearing on the rotating holder 12, and the side surface and the rotating holder 12 are tightly attached to the plane needle bearing to realize rolling friction; the applicable motion angle of this structure is limited by the first rotation limit block 121, the second rotation limit block 122, the third rotation limit block 127 and the fourth rotation limit block 128; a guide roller bearing is also provided at the joint end.

[0109] In a specific embodiment, when the upper arm internal and external rotation components are provided with the rope-pulling arm rotation structure 1, the upper arm forearm connection structure 13 is provided, which can connect the forearm internal and external rotation components.

[0110] In a specific embodiment, when the forearm internal and external rotation components are provided with the rope-pulled arm rotation structure 1, a long hole groove is provided at the front end of the forearm palm connecting plate 16, which can be matched and fixed in the required position according to the user's arm length and is suitable for different lengths.

[0111] In one embodiment of the present application, the first shoulder rotation rope 25 and the second shoulder rotation rope 26 are both Bowden cables.

[0112] It should be noted that the Bowden cable traction remote drive transmission system based on wire rope has many advantages: by using wire rope traction for remote drive, the drive motor can be far away from the human-machine interaction site, reducing the overall weight and inertia of the upper limb rehabilitation robot and improving the interaction comfort; low elastic stiffness is suitable for robot passive scenarios, and high elastic stiffness is suitable for robot dominant scenarios.

[0113] In one embodiment of the present application, the shoulder joint abduction and adduction component 21 includes an outer fixing plate 211, the shoulder outward swing roller 212, an inner fixing plate 213, a shoulder bearing 214, a bearing fixing plate 215 and the shoulder encoder 216 which are arranged in sequence; a side of the outer fixing plate 211 close to the shoulder outward swing roller 212 is provided with a groove for connecting the shoulder outward swing roller 212, a side of the inner fixing plate 213 close to the shoulder outward swing roller 212 is provided with a convex groove for connecting the shoulder outward swing roller 212, and a side of the inner fixing plate 213 away from the shoulder outward swing roller 212 is provided with a short shaft passing through the shoulder bearing 214; wherein the shape of the convex groove and the shape of the groove are both adapted to the protruding shape of the shoulder outward swing roller 212.

[0114] As an example, the outer fixing plate 211 is circular in shape as a whole, and a groove is provided in the middle of the outer fixing plate 211, and the groove has the same shape as the protrusion in the middle of the shoulder outer swing roller 212, so that the outer fixing plate 211 can be driven to rotate when the shoulder outer swing roller 212 rotates. The protrusion is a circle with two parallel sides.

[0115] In a specific embodiment, the groove is in the shape of a lantern, consisting of two arcs and two straight lines, the two straight lines are arranged in parallel, so that the outer fixing plate 211 and the shoulder outer swing roller 212 can be rotated in coordination with each other. The circumference of the groove of the outer fixing plate 211 is provided with mounting holes, etc.

[0116] In one embodiment of the present application, the shoulder abduction and adduction assembly 21 includes a shoulder outward swing roller 212 and a shoulder rotation rope assembly, and 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 wrapped around one side of the shoulder outward swing roller 212 and fixed at the bottom of the shoulder outward swing roller 212, and the second shoulder rotation rope 26 is wrapped around the other side of the shoulder outward swing roller 212 and fixed at the bottom of the shoulder outward swing roller 212; when the first shoulder rotation rope 25 or the second shoulder rotation rope 26 is tightened, the shoulder outward swing roller 212 is driven to rotate.

[0117] In a specific embodiment, the shoulder rotation rope assembly drives the shoulder outward swing roller 212 to rotate, and when the first shoulder rotation rope 25 is tightened and / or the second shoulder rotation rope 26 is relaxed, the shoulder outward swing roller 212 rotates toward the direction of the first shoulder rotation rope 25; when the second shoulder rotation rope 26 is tightened and / or the first shoulder rotation rope 25 is relaxed, the shoulder outward swing roller 212 rotates toward the direction of the second shoulder rotation rope 26.

[0118] As an example, the shoulder outer swing roller 212 includes an inner ring wheel and an external fixed end, the inner ring wheel is circular as a whole, and the bottom is set to be linear, and the bottom of the inner ring wheel is used to fix the shoulder rotation rope assembly. The external fixed end is used to fix the two rope ends of the first shoulder rotation rope 25 and the second shoulder rotation rope 26. The external fixed end is set at the bottom of the inner ring wheel.

[0119] In one embodiment of the present application, the shoulder rotation rope assembly also includes a roller bearing assembly 24; the roller bearing assembly 24 includes a first shoulder roller bearing 241 and a second shoulder roller bearing 242; the first shoulder roller bearing 241 is arranged at the entrance where the first shoulder rotation rope 25 is wound around the shoulder outward swing roller 212; the second shoulder roller bearing 242 is arranged at the entrance where the second shoulder rotation rope 26 is wound around the shoulder outward swing roller 212.

[0120] In a specific embodiment, the first shoulder roller bearing 241 and the second shoulder roller bearing 242 have the same shape, and the roller bearing assembly 24 is used to reduce friction and to guide the shoulder rotation rope assembly, so that the shoulder rotation rope assembly can be guided to the entrance of the shoulder rotation rope assembly.

[0121] As an example, the first shoulder rotation rope 25 is provided on the side of the first shoulder roller bearing 241 opposite to the second shoulder roller bearing 242, and the second shoulder rotation rope 26 is provided on the side of the second shoulder roller bearing 242 opposite to the first shoulder roller bearing 241, so as to guide the first shoulder rotation rope 25 and the second shoulder rotation rope 26.

[0122] In a specific embodiment, the present application further has a first rope joint and a second rope joint, the first shoulder rotation rope 25 passes through the first rope joint, is guided by the first shoulder roller bearing 241, then goes around one side of the shoulder outer swing roller 212 and is fixed at the bottom of the shoulder outer swing roller 212. The first shoulder rotation rope 25 passes through the second rope joint, is guided by the second shoulder roller bearing 242, then goes around the other side of the shoulder outer swing roller 212 and is fixed at the bottom of the shoulder outer swing roller 212.

[0123] In one embodiment of the present application, the shoulder outer swing roller 212 is provided with an inner fixing plate 213 on the side away from the outer fixing plate 211. The inner fixing plate 213 is provided with a convex groove for connecting the shoulder outer swing roller 212 on the side close to the shoulder outer swing roller 212. The shape of the convex groove is adapted to the protrusion. The convex groove is also composed of two arcs and two straight lines, and the two straight lines are arranged in parallel. The protrusion of the shoulder outer swing roller 212 is inserted into the groove of the outer fixing plate 211, and the convex groove of the inner fixing plate 213 is inserted into the protrusion of the shoulder outer swing roller 212, so that the shoulder outer swing roller 212 drives the outer fixing plate 211 and the inner fixing plate 213 to rotate.

[0124] In one embodiment of the present application, a short shaft penetrating the shoulder bearing 214 is provided on one side of the inner fixing plate 213 away from the shoulder outer swing roller 212. Specifically, the shoulder bearing 214 is a cross roller bearing. The roller limiting component 217 is arranged on one side of the inner fixing plate 213, and the roller limiting component 217 is arc-shaped. When the inner fixing plate 213 rotates with the shoulder outer swing roller 212, the roller limiting component 217 rotates upward, and the roller limiting component 217 contacts the outer side of the guide bearing fixing plate 243, so that the rotation angle of the shoulder outer swing roller 212 can be limited.

[0125] In a specific embodiment, the front of the inner fixing plate 213 is connected to the shoulder outer swing roller 212, and the rear of the inner fixing plate 213 is connected.

[0126] In one embodiment of the present application, the bearing fixing plate 215 is disposed behind the shoulder bearing 214, and the bearing fixing plate 215 is used to fix the shoulder bearing 214. A shoulder encoder 216 is disposed behind the bearing fixing plate 215, and the shoulder encoder 216 is used to calculate the rotation angle of the shoulder outer swing roller 212 and upload it to the system. The side of the bearing fixing plate 215 away from the shoulder bearing 214 is adapted to the shoulder encoder 216.

[0127] In a specific embodiment, the shoulder encoder 216 is further connected to a shoulder encoder fixing plate on one side of the intermediate plate 222. A shoulder joint connecting component 22 is provided between the shoulder joint abduction and adduction component 21 and the passive rotation component 23; the shoulder joint abduction and adduction component 21 is provided at one end of the shoulder joint connecting component 22, and the passive rotation component 23 is provided at the other end of the shoulder joint connecting component 22; wherein, the shoulder joint abduction and adduction component 21 and the passive rotation component 23 are vertically arranged.

[0128] In one embodiment of the present application, the shoulder joint connection component 22 is L-shaped; the shoulder joint connection component 22 includes 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 perpendicular to the first connecting plate 221 and the second connecting plate 223; wherein, the shape of the first connecting plate 221 is the same as that of the second connecting plate 223.

[0129] As an example, a middle plate 222 is provided at the rear of the shoulder encoder 216, and a first connecting plate 221 and a second connecting plate 223 are provided at both sides of the rear. The first connecting plate 221 is in an "L" shape, the long side of the first connecting plate 221 is connected to the shoulder joint abduction and adduction component 21, the short side of the first connecting plate 221 is connected to the passive rotation component 23, and the long side of the first connecting plate 221 and the short side of the first connecting plate 221 are arranged vertically; the second connecting plate 223 and the first connecting plate 221 have the same shape, and the two are arranged in parallel.

[0130] In one embodiment of the present application, it also includes a passive rotation component 23 for passive rotation of the arm; one end of the passive rotation component 23 is connected to the top of the frame of the upper limb exoskeleton, and the other end of the passive rotation component 23 is connected to the shoulder joint abduction and adduction component 21; the passive rotation component 23 includes a passive bearing 232 and a passive rotation fixing plate 231; the rotation fixing plate is arranged on the top of the frame of the upper limb exoskeleton through the passive bearing 232.

[0131] In a specific embodiment, the passive rotation component 23 is fixed after adjusting the width according to the user's shoulder width, which belongs to the passive degree of freedom. The passive bearing 232 is also a cross roller bearing.

[0132] In a specific embodiment, the entire structure is fixed to the top of the 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 fixes the entire rope traction joint rotation structure 2, thereby realizing a passive rotation degree of freedom of the shoulder joint. The entire structure is composed of a passive rotation fixing plate 231, an outer fixing plate 211, the shoulder outer swing roller 212, an inner fixing plate 213, a shoulder bearing 214, a bearing fixing plate 215, and the shoulder encoder 216 and other parts; one end of the first shoulder rotation rope 25 and 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 of the shoulder outer swing roller 212 is controlled by the length extension (or shortening) of the wire rope at one end and the shortening (or lengthening) of the wire rope at the other end; the applicable motion angle of this structure is determined by the roller limit component 217, and a roller bearing assembly 24 is also provided.

[0133] In a specific embodiment, the forearm internal rotation and external rotation component is also provided with a forearm palm connecting plate, so that it can adapt to arms of different lengths. An upper limb rope-driven exoskeleton robot with five active degrees of freedom and one passive degree of freedom structure. The motion joint and the motor are connected by abalone wires, the steel wire rope is wrapped by the abalone wire, one end of the steel wire rope is connected to the motor, and the other end is connected to the motion joint. All the movements of the active degrees of freedom are driven by the motor to drive the steel wire rope, and the steel wire rope drives the joint to move according to the desired trajectory. The shoulder joint pulley is connected to the sensor and is used to collect the joint motion angle value. The position of the upper arm and the forearm connecting plate can be adjusted to adapt to the arm length of different users. The rope joint is connected to the abalone wire, the steel wire rope is wrapped by the abalone wire, one end of the steel wire rope is connected to the motor, and the other end is connected to the motion joint. When the motor rotates, the steel wire rope is driven to move, and the steel wire rope drives the joint to move accordingly. The length of the forearm palm connecting plate 16 is adjustable to adapt to the arm length of different users.

[0134] In a specific embodiment, the movement of the forearm internal and external rotation assembly is taken as an example: the motor and the forearm internal and external rotation assembly are connected by abalone wire, and the wire rope is wrapped by the abalone wire. One end of the wire rope is connected to the motor, and the other end is connected to the forearm internal and external rotation assembly. The motor is controlled to rotate, and the motor drives the wire rope to move. The wire rope pulls the forearm internal and external rotation assembly to perform corresponding rotational movement around the forearm rotating cage. The function of the abalone wire is mainly to maintain the position of the wire rope in space.

[0135] The driving device is described below. The driving device 3 includes a device body, a motor 36 and a rotating rope winding wheel 32 arranged on the device body.

[0136] In one embodiment of the present application, the driving end of the motor 36 is connected to the rotating rope winding wheel 32; when the motor 36 is driven, the rotating rope winding wheel 32 is driven to rotate, and the first rotating rope 37 is tightened while the second rotating rope 38 is loosened, or the second rotating rope 38 is tightened while the first rotating rope 37 is loosened.

[0137] As an example, the motor 36 is connected to the fixed base plate 31 via a fixed flange.

[0138] It should be noted that flange is called flange flange or flange. Flange is used to connect pipe ends; there are also flanges used on equipment inlets and outlets, used to connect two devices, such as reducer flanges. Flange connection or flange joint refers to a detachable connection in which flanges, gaskets and bolts are connected to each other as a combined sealing structure.

[0139] In a specific embodiment, the output end of the motor 36 is connected to the rotating rope winding wheel 32, so as to drive the rotating rope winding wheel 32 to rotate, so that the first rotating rope 37 is tightened while the second rotating rope 38 is loosened, or the second rotating rope 38 is tightened while the first rotating rope 37 is loosened. The back side of the fixed bottom plate 31 is only provided with the motor 36 and the fixed flange.

[0140] In one embodiment of the present application, the rotating rope winding wheel 32 includes a first side and a second side, and the first side and the second side are arranged opposite to each other; the rotating rope assembly includes a first rotating rope 37 and a second rotating rope 38, the first rotating rope 37 is fixed to the first side of the rotating rope winding wheel 32 and is wound from the bottom to the second side of the rotating rope winding wheel 32, and the second rotating rope is fixed to the second side of the rotating rope winding wheel 32 and is wound from the bottom to the first side of the rotating rope winding wheel 32; when the motor 36 is driven, the rotating rope winding wheel 32 is driven to rotate, and the first rotating rope 37 is tightened while the second rotating rope 38 is loosened, or the second rotating rope 38 is tightened while the first rotating rope 37 is loosened.

[0141] In a specific embodiment, the rotating rope reel 32 is provided with two circles of grooves stacked up and down, namely a first rope groove and a second rope groove, the first rope groove is arranged above the second rope groove, and the first rope groove and the second rope groove are both arranged along the circumference of the rotating rope reel 32 and arranged on the side of the rotating rope reel 32. The first rope groove is used to embed the first rotating rope 37, and the second rope groove is used to embed the second rotating rope 38.

[0142] In a specific embodiment, the first side and the second side are arranged in parallel, and the first side and the second side are respectively on the diagonal line of the rotating rope winding wheel 32. The first rotating rope 37 is wound around the rotating rope winding wheel for half a circle and fixed, and the second rotating rope 38 is wound around the rotating rope winding wheel for half a circle and fixed.

[0143] As an example, the rotating rope reel 32 is also provided with a rope end fixing block at the end of the motor 36, and the rope end fixing block at the end of the motor 36 includes a first motor 36 rope end fixing and a second motor 36 rope end fixing, the first motor 36 rope end fixing is used to fix the first rotating rope 37, and the second motor 36 rope end fixing is used to fix the second rotating rope 38. The first rotating rope 37 and the second rotating rope 38 are respectively provided with a group of the flexible components; the device body includes a fixed bottom plate 31 and a flexible component for reducing the tension of the rotating rope component. The fixed bottom plate 31 is provided with the motor 36 on one side, and the rotating rope reel 32 and two groups of the flexible components on the other side; wherein, the motor 36 and the rotating rope reel are arranged at corresponding positions, and the flexible component is connected to the rope output end of the rotating rope reel.

[0144] In a specific embodiment, the first rotating rope 37 is wound around the second side of the rotating rope winding wheel 32 and enters the flexible component; the second rotating rope 38 is wound around the first side of the rotating rope winding wheel 32 and enters the flexible component; the first rotating rope 37 and the second rotating rope 38 are respectively provided with a group of flexible components.

[0145] In one embodiment of the present application, the flexible component includes a tensioning component 35, a spring component 34 and a guide rail component 33 for moving the spring component 34; the spring component 34 is connected to the fixed base plate 31 through the guide rail component 33; one end of the spring component 34 is provided with the rotating rope winding wheel 32, and the other end of the spring component 34 is provided with the tensioning component 35; the rotating rope component starts from the rotating rope winding wheel 32, bypasses the spring component 34 arranged on the guide rail component 33, and then wraps around the tensioning component 35.

[0146] In a specific embodiment, the first rotating rope 37 passes through the spring assembly 34 and then bypasses the tensioning assembly 35; the second rotating rope 38 passes through the spring assembly 34 and then bypasses the tensioning assembly 35. The guide rail assembly 33 includes a guide rail base plate 331 and a linear guide rail 332 disposed on the guide rail base plate 331; the spring assembly 34 is disposed on the linear guide rail 332, and the linear guide rail 332 protrudes from the guide rail base plate 331; the guide fixing block and the fixed rope end fixing block 345 are fixedly connected to the linear guide rail 332, and the movable rope end fixing block 346 is movably connected to the linear guide rail 332.

[0147] In one embodiment of the present application, the rail bottom plate 331 is disposed on the fixed bottom plate 31 and is fixedly connected to the fixed bottom plate 31. The rail bottom plate 331 is in the shape of a straight strip. The rail bottom plate 331 is disposed above the fixed bottom plate 31. A rail groove is disposed in the middle of the rail bottom plate 331 for connecting the linear rail 332. The length of the linear rail 332 is the same as that of the rail bottom plate 331. The width of the linear rail 332 is smaller than that of the rail bottom plate 331. The thickness of the linear rail 332 is greater than that of the rail groove. The linear rail 332 is engaged in the rail groove and protrudes from the rail bottom plate 331. Thus, the spring assembly 34 can move on the linear rail 332. The two rail bottom plates 331 are disposed in parallel.

[0148] In one embodiment of the present application, the spring assembly 34 includes a guide column fixing block 341, a displacement sensor 342, a guide column 343, a compression spring 344, a fixed rope end fixing block 345 and a movable rope end fixing block 346; the guide column fixing block 341 is provided with the displacement sensor 342 for measuring the displacement of the compression spring 344 in the middle, the guide column fixing block 341 is connected to the fixed rope end fixing block 345 through the guide column 343, and the movable rope end fixing block 346 is provided between the fixed rope end fixing block 345 and the guide column fixing block 341; the rotating rope assembly passes through the displacement sensor 342, the compression spring 344, the movable rope end fixing block 346 and the fixed rope end fixing block 345 in sequence; wherein the movable rope end fixing block 346 moves up and down with the movement of the rotating rope assembly, and the compression spring 344 is compressed or relaxed with the movable rope end fixing block 346.

[0149] It should be noted that the spring constant (K value) stiffness can be between about 17.03 N / mm and 64.6 N / mm. In the example, the spring constant is 34.5 N / mm. Of course, it should be understood that the spring can have any suitable compression stiffness range, and the compression of the spring is recorded by the displacement sensor 342. The spring load calculation formula is: load (N) = constant (K value N / mm) × compression.

[0150] In a specific embodiment, the spring assembly 34 is disposed on the linear guide rail, and the movable rope head fixing block 346 and the guide column 343 are disposed between the guide column fixing block 341 and the fixed rope head fixing block 345, and the guide column 343 is used to guide the moving direction of the movable rope head fixing block 346. The guide column fixing block 341 is T-shaped, and the displacement sensor 342 is accommodated in the middle of the guide column fixing block 341.

[0151] In a specific embodiment, the guide column fixing block 341 includes a horizontal axis and a vertical axis, the horizontal axis and the vertical axis are vertically arranged, the vertical axis is provided with the displacement sensor 342, and the displacement sensor 342 is used to measure the compression amount of the spring. The upper part of the horizontal axis abuts against the guide column 343.

[0152] In one embodiment of the present application, the guide column 343 includes a first guide column 343 and a second guide column 343; the first guide column 343 and the second guide column 343 are respectively arranged on both sides of the rotating rope assembly.

[0153] In a specific embodiment, the first guide column 343 and the second guide column 343 have the same shape and are respectively arranged on both sides of the compression spring 344. One end of the first guide column 343 and the second guide column 343 abut against the guide column fixing block 341, and the other end is suspended in the air. Fig.25 , so that the positions of the first guide column 343 and the second guide column 343 are fixed to the fixing block 341 .

[0154] In one embodiment of the present application, the movable rope end fixing block 346 is provided with a rope groove and a through hole of the guide column 343; the through holes of the guide column 343 are arranged on both sides of the rope groove. The through holes of the guide column 343 are arranged on both sides of the movable rope end fixing block 346, so that the guide column 343 can pass through, so that the movable rope end fixing block 346 can slide on the guide column 343, so that when the first rotating rope 37 or the second rotating rope 38 is tightened, the movable rope end fixing block 346 moves downward, so that the compression spring 344 is compressed; when the first rotating rope 37 or the second rotating rope 38 is relaxed, the movable rope end fixing block 346 moves upward, so that the compression spring 344 is relaxed.

[0155] In one embodiment of the present application, the rope end fixing block 345 includes a fixing block base and a fixing block panel; the fixing block base and the fixing block panel cooperate to form a space for fixing the position of the rope end.

[0156] In one embodiment of the present application, the tensioning assembly 35 includes a first pulley 351, a second pulley 352 and a third pulley 353 which are arranged in sequence; the rotating rope assembly passes through the first pulley 351, the second pulley 352 and the third pulley 353 in sequence. The bottom power source is a motor 36. When the motor 36 rotates counterclockwise to drive the rotating rope winding wheel 32 to put the first rotating rope 37 on the wheel, the first rotating rope 37 is loosened from the wheel, and the winding angle can be less than or equal to 120°. The angles required to rotate for each joint are different. The present application can output the rigid torque of the motor 36 to the torque of the joint through the SEA flexible structure, and the torque is offset by the force reaction torque applied to the joint end by the compression spring 344. One end of the first rotating rope 37 and the second rotating rope 38 is fixed on the rotating rope reel 32, and the other end is fixed on the linear slide rail 332. The motor 36 rope and the rope at the joint end are connected to the slide rail through a spring to slide up and down. A tensioning structure pulley is also provided, and the pulley is adjusted to control the tension and relaxation of the wire rope. The SEA structures on the left and right sides are parallel to each other, but not on the same plane. There is a height difference between the upper and lower parts. The height difference is the width value of the double-layer V-groove of the rotating rope reel 32. Fig.24 .

[0157] In a specific embodiment, the robot system driven by rope traction and spring series connection has many advantages: rope traction is used for remote driving, and the driving motor 36 can be far away from the human-machine interaction part, reducing the overall weight and inertia of the robot and improving the interaction comfort; the spring series connection method is used to improve the flexibility of the driving mechanism, avoid the injury of human limbs caused by the rigid torque generated unexpectedly during training, and provide structural safety guarantee; encoders are installed on both sides of the spring, and the force / torque information (used to build an impedance model) can be accurately sensed by measuring the spring deformation, without the need to install additional torque sensors, saving manufacturing costs. In actual deployment, a variable stiffness spring design can be used to provide hardware support for different interaction modes: low elastic stiffness is suitable for robot passive scenes, and high elastic stiffness is suitable for robot dominant scenes. The frame 5 includes a sliding bottom plate, a driving frame and a bench; the driving frame and the bench are arranged above the sliding bottom plate; the bench is arranged on one side of the driving frame; the driving device is fixedly arranged inside the driving frame, and the bench is arranged below the upper limb exoskeleton. Three sets of driving devices 3 are arranged on one side of the frame, and one set of driving devices 3 is arranged on the other two sides.

[0158] Finally, it should be noted that, in this article, relational terms such as first and second, etc. 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 these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0159] The above is a detailed introduction to a rope-traction upper limb exoskeleton device provided by the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for general technical personnel in this field, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A rope-driven upper limb exoskeleton device, which is used for rotating the joints of the upper limb exoskeleton, characterized in that: including a drive unit, a frame, a cable assembly, and an upper limb exoskeleton; One end of the rope assembly is connected to the driving device, and the other end is connected to the upper limb exoskeleton; wherein the active degrees of freedom of the upper limb exoskeleton are respectively provided with the driving devices corresponding thereto; the active degrees of freedom of the upper limb exoskeleton are respectively provided with the rope assemblies corresponding thereto; The frame is provided with the driving device, and the upper limb exoskeleton is connected to the top of the frame; the rope assembly includes a joint rotation rope assembly, an arm rope assembly and a shoulder rotation rope assembly provided with the upper limb exoskeleton, and a rotation rope assembly provided with the driving device; The upper limb exoskeleton comprises a passive rotation component, a shoulder abduction and adduction component, a shoulder flexion and extension component, an upper arm internal and external rotation component, an elbow flexion and extension component and a forearm internal and external rotation component which are arranged in sequence; wherein the shoulder abduction and adduction component, the shoulder flexion and extension component, the upper arm internal and external rotation component, the elbow flexion and extension component and the forearm internal and external rotation component are active degrees of freedom; The passive rotation component is arranged at the top of the frame, the shoulder joint abduction and adduction component and the shoulder joint flexion and extension component are arranged at the position of the user's shoulder, the upper arm internal and external rotation component is arranged at the position of the user's upper arm, the elbow joint flexion and extension component is arranged at the position of the user's elbow joint, and the forearm internal and external rotation component is arranged at the position of the user's forearm; The shoulder joint abduction and adduction component, the shoulder joint flexion and extension component, the upper arm internal and external rotation component, the elbow joint flexion and extension component and the forearm internal and external rotation component are all connected to the motor through ropes so as to rotate; The driving device drives the rope assembly to tighten or loosen, thereby driving the upper limb exoskeleton to move; the driving device includes a device body, and a motor and a rotating rope reel arranged on the device body; The driving end of the motor is connected to the rotating rope winding wheel; the rotating rope winding wheel comprises a first side and a second side, and the first side and the second side are arranged opposite to each other; The rotating rope assembly includes a first rotating rope and a second rotating rope, wherein the first rotating rope is fixed to a first side of the rotating rope sheave and is wound from the bottom to a second side of the rotating rope sheave, and the second rotating rope is fixed to a second side of the rotating rope sheave and is wound from the bottom to the first side of the rotating rope sheave; When the motor is driven, the rotating rope wheel is driven to rotate clockwise, and the first rotating rope is tightened while the second rotating rope is loosened; or; When the motor is driven, the rotating rope sheave is driven to rotate counterclockwise, and the second rotating rope is tightened while the first rotating rope is loosened.

2. The rope-traction upper limb exoskeleton device according to claim 1, characterized in that: The device body includes a fixed bottom plate and a flexible component for reducing the tension of the rotating rope component; The first rotating rope and the second rotating rope are respectively provided with a set of the flexible components; The motor is provided on one side of the fixed base plate, and the rotating rope winding wheel and two groups of flexible components are provided on the other side of the fixed base plate; wherein the motor and the rotating rope winding turntable are arranged at corresponding positions, and the flexible component is connected to the rope output end of the rotating rope winding turntable.

3. The rope-traction upper limb exoskeleton device according to claim 1, characterized in that: The shoulder joint flexion and extension assembly and the elbow joint flexion and extension assembly are both provided with a set of rope traction joint rotation assemblies; The rope traction joint rotation assembly includes the joint rotation rope assembly and the joint rotation roller; The joint rotation cable assembly includes a first joint rotation cable and a second joint rotation cable, wherein the first joint rotation cable is wound around one side of the joint rotation roller and fixed to the bottom of the joint rotation roller, and the second joint rotation cable is wound around the other side of the joint rotation roller and fixed to the bottom of the joint rotation roller; When the first joint rotation rope or the second joint rotation rope is tightened, the joint rotation roller is driven to rotate.

4. The rope-traction upper limb exoskeleton device according to claim 3 is characterized in that: The joint rotation cable assembly also includes a guide bearing assembly; The guide bearing assembly includes a first guide roller bearing and a second guide roller bearing; The first guide roller bearing and the second guide roller bearing are arranged at the entrance of the joint rotation rope; the first joint rotation rope is wound around one side of the first guide roller bearing and is wound around the other side of the first guide roller bearing; the second joint rotation rope is wound around one side of the second guide roller bearing and is wound around the other side of the second guide roller bearing.

5. The rope-traction upper limb exoskeleton device according to claim 1, characterized in that: The upper arm internal and external rotation components and the forearm internal and external rotation components are both provided with a group of rope-pulling arm rotation structures; The rope-traction arm rotation structure comprises a rotation holder, a rotation fixing plate and the arm rope assembly; The rotating fixing plate is arranged in the middle of the rotating retaining frame, and the rotating retaining frame is in an arc shape; The arm rope assembly includes a first arm rotating rope and a second arm rotating rope, the first arm rotating rope is passed around the rotating fixed plate and fixed to one end of the rotating holder, and the second arm rotating rope is passed around the rotating fixed plate and fixed to the other end of the rotating holder; When the first arm rotating rope is tightened or the second arm rotating rope is tightened, the rotating retaining frame rotates around the rotating fixing plate.

6. The rope-traction upper limb exoskeleton device according to claim 5, characterized in that: The shoulder joint abduction and adduction assembly includes a shoulder external swing roller and a shoulder rotation rope assembly; The shoulder rotation rope assembly includes a first shoulder rotation rope and a second shoulder rotation rope, wherein 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, and 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 rotating rope or the second shoulder rotating rope is tightened, the shoulder outward swing roller is driven to rotate.

7. The rope-traction upper limb exoskeleton device according to claim 6, characterized in that: The shoulder joint abduction and adduction assembly comprises an outer fixing plate, the shoulder outward swing roller, an inner fixing plate, a shoulder bearing, a bearing fixing plate and a shoulder encoder which are arranged in sequence; A groove for connecting to the shoulder outward swing roller is provided on one side of the outer fixing plate close to the shoulder outward swing roller, a convex groove for connecting to the shoulder outward swing roller is provided on one side of the inner fixing plate close to the shoulder outward swing roller, and a short shaft passing through the shoulder bearing is provided on one side of the inner fixing plate away from the shoulder outward swing roller; wherein the shape of the convex groove and the shape of the groove are both adapted to the protrusion shape of the shoulder outward swing roller.

8. The rope-traction upper limb exoskeleton device according to claim 1, characterized in that: The frame includes a sliding bottom plate, a driving frame and a bench; The driving frame and the bench are arranged above the sliding bottom plate; the bench is arranged on one side of the driving frame; The driving device is fixedly arranged inside the driving frame, and the bench is arranged under the upper limb exoskeleton.

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