A Rope-Driven Modular Shoulder Exoskeleton Rehabilitation Robot

Abstract

A modular shoulder exoskeleton rehabilitation robot based on cable drive, which comprises a base, a shoulder strap module and a shoulder joint module; both the shoulder strap module and the shoulder joint module are mirror-exchangeable structures. The shoulder joint module is connected to the shoulder strap module, and the shoulder strap module is connected to the base. The shoulder joint module includes an upper shoulder joint mechanism and a lower shoulder joint mechanism that are rotationally connected. The upper shoulder joint mechanism is used to achieve the compensation displacement of the lower shoulder joint mechanism in two horizontal directions, and the lower shoulder joint mechanism is used to achieve the compensation displacement in the vertical direction. The base transmits power to the shoulder joint module through an antagonistic cable pair to achieve the flexion and extension, abduction and adduction, and internal and external rotation of the shoulder joint module. The rehabilitation robot of the present invention adopts a passive skeleton support method to achieve the compensation of the offset of the mechanism joint relative to the human joint axis. The mechanism conforms to the movement characteristics of the human shoulder and can meet the usage requirements of patients with shoulder movement function disorders on different sides.

Description

Technical Field

[0001] The present invention relates to an exoskeleton, in particular to a modular shoulder exoskeleton rehabilitation robot based on cable drive, belonging to the field of robots. Background Art

[0002] At present, among the newly added stroke patients in China every year, more than half of the stroke survivors will have sequelae of upper limb motor dysfunction. As the transition connection between the upper limb and the trunk of the human body, the shoulder is a part that stroke patients urgently need to rehabilitate. Task-oriented rehabilitation training helps the limb function recovery of patients with upper limb motor dysfunction. Currently, the mainstream rehabilitation treatment methods are divided into two types: manual physical therapy and mechanical physical therapy. Manual physical therapy is that professional rehabilitation trainers relieve the muscle stiffness of patients and promote the recovery of nerve circuits by means of massage, guiding movement, etc. However, this method has deficiencies such as high work intensity, low efficiency, and high cost. When using a rehabilitation robot to replace manual for mechanical physical therapy, it can save manpower and reduce costs, and can make up for the defects of manual physical therapy.

[0003] Modern medical research shows that task-oriented rehabilitation training helps the limb function recovery of patients with upper limb motor dysfunction. Its principle is mainly to form nerve circuit memory through repeated and purposeful muscle movements, and then assist the brain to reconstruct nerve pathways.

[0004] There are many bones in the human shoulder and the muscle tissue connection is complex. Therefore, when studying the shoulder movement characteristics, the single glenohumeral joint (shoulder joint part) connecting the upper limb and the trunk cannot be viewed in isolation, but the scapulothoracic joint (shoulder girdle part) connected to it needs to be considered at the same time. Research shows that the shoulder girdle part is the superior joint of the shoulder glenohumeral joint. Therefore, the movement of the shoulder girdle part will cause the overall movement of the glenohumeral joint, and this movement is manifested as spatial translation. In the shoulder joint part, since the glenohumeral joint is not a standard spherical pair, in addition to the three main movement degrees of freedom of flexion / extension, abduction / adduction, and internal / external rotation, there is also spatial translation movement. How to use a lightweight structure to simulate the complex movement form of the whole shoulder, improve the wearing comfort and improve the rehabilitation effect has become the current research topic.

[0005] At present, most of the domestic shoulder rehabilitation exoskeleton drive devices only simulate some of the shoulder movement characteristics, that is, only consider the shoulder girdle movement and the main movement of the shoulder joint, ignoring the spatial translation of the glenohumeral joint. The mechanism does not conform to the actual movement characteristics of the human shoulder, and the joint rotation axes of the two do not coincide, resulting in poor wearing comfort and unsatisfactory rehabilitation effect.

[0006] In addition, these driving devices have complex power transmission mechanisms at the joints, resulting in a relatively large overall mass and a bulky volume of the exoskeleton, restricting the operating space of the wearer and making the device not easy to load, unload and carry. Moreover, at present, the vast majority of shoulder rehabilitation robots can only be applied to the rehabilitation of one limb, resulting in the need for users with bilateral limb rehabilitation needs to be equipped with an additional set of symmetric mechanisms, limiting the use requirements of patients with shoulder movement dysfunction on different sides and increasing the rehabilitation cost of users.

[0007] In summary, the existing shoulder rehabilitation robots have joints that do not conform to the human movement characteristics, poor wearing comfort, overly complex device structures, and do not have a mirror interchange function. Summary of the Invention

[0008] In order to overcome the deficiencies of the prior art, the present invention provides a modular shoulder exoskeleton rehabilitation robot based on cable drive. The rehabilitation robot adopts a passive skeleton support method to achieve compensation for the offset of the mechanism joint relative to the human joint axis. The mechanism conforms to the movement characteristics of the human shoulder. It adopts a cable-pulling drive method to simplify the structure of the driving device to meet the lightweight requirements and has a mirror interchange function, which can meet the use requirements of patients with shoulder movement dysfunction on different sides.

[0009] A modular shoulder exoskeleton rehabilitation robot based on cable drive includes a base, a shoulder strap module, and a shoulder joint module; both the shoulder strap module and the shoulder joint module are mirror interchange structures. The starting connection end of the shoulder joint module is connected to the ending connection end of the shoulder strap module. The shoulder strap module is connected to the base. The shoulder strap module has translational degrees of freedom in three spatial directions and a rotational degree of freedom with a vertical axis. The shoulder joint module includes a rotatably connected upper shoulder joint mechanism and a lower shoulder joint mechanism. The upper shoulder joint mechanism is used to achieve the compensation displacement of the lower shoulder joint mechanism in two horizontal directions, and the lower shoulder joint mechanism is used to achieve the compensation displacement in the vertical direction. The base transmits power to the shoulder joint module through an antagonistic cable pair to achieve flexion and extension, abduction and adduction, and internal and external rotation of the shoulder joint module.

[0010] Furthermore, the shoulder strap module includes a first upper vertical joint mechanism, a first lower vertical joint mechanism, an elastic translational support mechanism, a second vertical joint mechanism, a horizontal joint mechanism, and a third vertical joint mechanism; the first upper vertical joint mechanism and the first lower vertical joint mechanism are detachably installed on the base with a common rotation axis. The two sides of the elastic translational support mechanism are rotatably connected to the first lower vertical joint mechanism and the second vertical joint mechanism. The two sides of the horizontal joint mechanism are respectively rotatably connected to the first upper vertical joint mechanism and the second vertical joint mechanism. The second vertical joint mechanism is detachably connected to the third vertical joint mechanism and the distance between them is adjustable. The shoulder joint module is installed at the output end of the third vertical joint mechanism.

[0011] Furthermore, the elastic translational support mechanism includes a left connecting member, a right connecting member, a support base, a support rod, a spring, a linear bearing of the elastic translational support mechanism, a sleeve of the elastic translational support mechanism, and two sleeve connecting members. The left connecting member and the right connecting member are located on both sides of the support base. One ends of the left connecting member and the right connecting member are respectively connected to the left and right output ends of the cross bearing of the lower mechanism of the first vertical joint. The other ends of the left connecting member and the right connecting member are connected to the support base. The support rod is inserted into the support base and fixed together with it. The spring is sleeved on the support rod. The linear bearing of the elastic translational support mechanism is sleeved inside the lower part of the sleeve of the elastic translational support mechanism and passes through the support rod. Both ends of the spring are abutted against the support base and the linear bearing of the elastic translational support mechanism respectively. The upper part of the sleeve of the elastic translational support mechanism is fixedly connected to the sleeve connecting member, and the sleeve connecting member is rotationally connected to the second vertical joint mechanism.

[0012] Furthermore, the base includes a base plate, a central axis, a motor module, a first base lead wire device, a second base lead wire device, and a base wire platform; the central axis is fixed in the middle of the rear edge of the base plate, six motor modules are fixed on the rear side of the base plate, and are used to control the antagonistic rope pair to transmit power to the shoulder joint module to realize the flexion and extension, abduction and adduction, and internal and external rotation of the shoulder joint module. The first base lead wire device is fixed on the rear side of the lower part of the central axis, the second base lead wire device is fixed on the front side of the lower part of the central axis, and the base wire platform is fixed on the top of the central axis.

[0013] The beneficial effects of the present invention compared with the prior art are as follows:

[0014] The shoulder exoskeleton rehabilitation robot designed by the present invention designs a passive skeleton support mechanism in the shoulder exoskeleton according to the physiological structure of the human shoulder joint, realizes the compensation of the joint axis offset, avoids the generation of ineffective interaction forces between the human and the shoulder, and realizes the human-machine compatibility design of the shoulder exoskeleton.

[0015] The shoulder rehabilitation exoskeleton robot designed by the present invention innovatively uses a wire-driven cooperation with a passive skeleton support mechanism, and has the following characteristics: First, it can realize long-distance power transmission, and simplifies the transmission mechanism of the exoskeleton wearing part to the greatest extent, further reducing the motion inertia of the device and improving the driving efficiency; Second, it solves the problem that the existing wire-driven exoskeleton will cause a binding force burden on the human shoulder, avoids the generation of ineffective interaction forces on the human body by the skeleton support mechanism, and improves the wearing comfort.

[0016] The shoulder exoskeleton designed by the present invention has the function of compensating for the approximate spherical center space drift of the glenohumeral joint of the human shoulder, which can ensure that the motion center of the exoskeleton shoulder joint always coincides with the approximate spherical center of the glenohumeral joint of the human shoulder, avoid the problem of motion mismatch between the exoskeleton mechanism and the human body, and improve the wearing comfort.

[0017] The shoulder exoskeleton designed in the present invention is symmetrical left and right, has a mirror interchange function, can be interchanged left and right, and is suitable for upper limb dysfunction patients on different sides at the same time. The cost is controlled within the acceptable range of patients, and the cost can be reduced as much as possible while improving the convenience and utilization rate of use.

[0018] The shoulder exoskeleton mechanism designed in the present invention has a modular structure design that is easy to install and disassemble. When some components are damaged, they can be replaced quickly and conveniently. In addition, the modular structure design facilitates putting on and taking off, loading and unloading, and also makes the mirror interchange of the mechanism faster and more convenient.

[0019] The technical solution of the present invention will be further described below in conjunction with the drawings and embodiments: Description of the Drawings

[0020] Figure 1 is a perspective view of a modular shoulder exoskeleton rehabilitation robot based on cable drive of the present invention;

[0021] Figure 2 is an assembly drawing of the shoulder strap module;

[0022] Figure 3 is Figure 4 an exploded schematic diagram of;

[0023] Figure 4 is an assembly drawing of the shoulder joint module;

[0024] Figure 5 is an exploded view of the upper part mechanism of the shoulder joint;

[0025] Figure 6 is an exploded view of the lower part mechanism of the shoulder joint;

[0026] Figure 7 is an assembly drawing of the base;

[0027] Figure 8 is an exploded schematic diagram of the base wire platform;

[0028] Figure 9 is a schematic diagram of cable arrangement;

[0029] Figure 10 is a state diagram of a patient wearing the modular shoulder exoskeleton rehabilitation robot based on cable drive of the present invention. Detailed Embodiments

[0030] Embodiments of the technical solution of the present invention will be described in detail below in conjunction with the drawings. Unless otherwise specified, the technical terms or scientific terms used in this application should have the ordinary meaning understood by those skilled in the art to which the present invention belongs.

[0031] Combined with Figure 1Description: A cable-driven modular shoulder exoskeleton rehabilitation robot includes a base 1, a shoulder strap module 2, and a shoulder joint module 3. The shoulder strap module 2 and the shoulder joint module 3 are both mirror-exchangeable structures. The starting connection end of the shoulder joint module 3 is connected to the ending connection end of the shoulder strap module 2. The shoulder strap module 2 is connected to the base 1. The shoulder strap module 2 has translational degrees of freedom in three spatial directions and a rotational degree of freedom with a vertical axis. The shoulder joint module 3 includes a rotatably connected upper shoulder joint mechanism 3-1 and a lower shoulder joint mechanism 3-2. The upper shoulder joint mechanism 3-1 is used to achieve the compensatory displacement of the lower shoulder joint mechanism 3-2 in two horizontal directions, and the lower shoulder joint mechanism 3-2 is used to achieve the compensatory displacement in the vertical direction. The base 1 transmits power to the shoulder joint module 3 through an antagonistic cable pair to achieve flexion and extension, abduction and adduction, and internal and external rotation of the shoulder joint module 3.

[0032] Based on the above inventive concept, the following further explanations are made in combination with embodiments:

[0033] Embodiment 1: As Figure 2 shown, the shoulder strap module 2 includes a first vertical joint upper mechanism 2-1, a first vertical joint lower mechanism 2-2, an elastic translational support mechanism 2-3, a second vertical joint mechanism 2-4, a horizontal joint mechanism 2-5, and a third vertical joint mechanism 2-6. The first vertical joint upper mechanism 2-1 and the first vertical joint lower mechanism 2-2 are detachably mounted on the base 1 with a common rotation axis. The two sides of the elastic translational support mechanism 2-3 are rotatably connected to the first vertical joint lower mechanism 2-2 and the second vertical joint mechanism 2-4. The two sides of the horizontal joint mechanism 2-5 are respectively rotatably connected to the first vertical joint upper mechanism 2-1 and the second vertical joint mechanism 2-4. The second vertical joint mechanism 2-4 is detachably connected to the third vertical joint mechanism 2-6 and the distance between them is adjustable. The shoulder joint module 3 is mounted on the output end of the third vertical joint mechanism 2-6. The elastic translational support mechanism 2-3 is connected to the cross bearing of the first vertical joint lower mechanism 2-2 through the lower end fitting. One end of the horizontal joint mechanism 2-5 is connected to the first vertical joint upper mechanism 2-1 through bearing fitting, and the other end is connected to the second vertical joint mechanism 2-4 through bearing fitting. At the same time, its lower part is connected to the upper end of the elastic translational support mechanism 2-3 through bearing fitting. The second vertical joint mechanism 2-4 and the third vertical joint mechanism 2-6 are fixedly connected by a rod bolt.

[0034] In this embodiment, the upper mechanism 2-1 and the lower mechanism 2-2 of the first vertical joint can be adjusted up and down in the base 1 to adapt to wearers of different heights, and have a rotational degree of freedom of rotating around the vertical axis. These two mechanisms act together with the second vertical joint mechanism 2-4 and the third vertical joint mechanism 2-6 to realize the rotational movement of the shoulder joint module 3 rotating around the vertical axis and the translational movement in two directions on the horizontal plane. The horizontal joint mechanism 2-5 realizes the translational movement in the vertical direction.

[0035] Further define the upper mechanism 2-1 of the first vertical joint, as Figure 3 shown, the upper mechanism 2-1 of the first vertical joint includes a fixed slider 2-11 of the upper mechanism of the first vertical joint, a base 2-12 of the upper mechanism of the first vertical joint, a rotating part 2-17 of the upper mechanism of the first vertical joint, a central axis 2-18 of the upper mechanism of the first vertical joint, two end caps 2-13 of the central axis of the upper mechanism of the first vertical joint, two cup-shaped bushings 2-14 of the central axis of the upper mechanism of the first vertical joint, two thrust ball bearings 2-15 of the upper mechanism of the first vertical joint and two deep groove ball bearings 2-16 of the upper mechanism of the first vertical joint; the fixed slider 2-11 of the upper mechanism of the first vertical joint is detachably installed on the base 1 and its position is adjustable. The fixed slider 2-11 of the upper mechanism of the first vertical joint is fixedly connected to the base 2-12 of the upper mechanism of the first vertical joint. The two cup-shaped bushings 2-14 of the central axis of the upper mechanism of the first vertical joint are respectively connected to the upper and lower inner surfaces of the base 2-12 of the upper mechanism of the first vertical joint. The two cup-shaped bushings 2-14 are both equipped with thrust ball bearings 2-15 of the upper mechanism of the first vertical joint. The thrust ball bearings are used to bear the large load overturning moment of the rotating part 2-17 of the upper mechanism of the first vertical joint. Deep groove ball bearings 2-16 are respectively installed in the upper and lower depressions of the rotating part 2-17 of the upper mechanism of the first vertical joint. The central axis 2-18 of the upper mechanism of the first vertical joint passes through the middle of the deep groove ball bearings 2-16. The deep groove ball bearings form a rotating joint between the central axis and the rotating part. End caps 2-13 of the central axis of the upper mechanism of the first vertical joint are respectively installed on the upper and lower outer surfaces of the base 2-12 of the upper mechanism of the first vertical joint, and are fixedly connected to the central axis 2-18 of the upper mechanism of the first vertical joint by bolt cooperation to prevent the central axis 2-18 of the upper mechanism of the first vertical joint from accidentally coming out during operation.

[0036] Further define the lower mechanism 2-2 of the first vertical joint, as Figure 3As shown in the figure, the lower part of the first vertical joint mechanism 2-2 includes a fixed slider 2-21 of the lower part of the first vertical joint mechanism, a base 2-22 of the lower part of the first vertical joint mechanism, a top cover 2-23 of the lower part of the first vertical joint mechanism, a cross bearing 2-24 of the lower part of the first vertical joint mechanism, and two middle bushing cups 2-25 of the lower part of the first vertical joint mechanism; the fixed slider 2-21 of the lower part of the first vertical joint mechanism is installed on the base 1 by bolts, the fixed slider 2-21 of the lower part of the first vertical joint mechanism is fixedly connected with the base 2-22 of the lower part of the first vertical joint mechanism by bolts, the top cover 2-23 of the lower part of the first vertical joint mechanism is fixedly connected with the base 2-22 of the lower part of the first vertical joint mechanism by bolts, the two middle bushing cups 2-25 of the lower part of the first vertical joint mechanism are respectively connected to the upper and lower output ends of the cross bearing 2-24 of the lower part of the first vertical joint mechanism, the middle bushing cup 2-25 of the lower part of the first vertical joint mechanism at the lower end is arranged in the middle depression of the base 2-22 of the lower part of the first vertical joint mechanism, and the middle bushing cup 2-25 of the lower part of the first vertical joint mechanism at the upper end is arranged in the middle depression of the top cover 2-23 of the lower part of the first vertical joint mechanism.

[0037] Embodiment 2: Based on the above-mentioned upper part of the first vertical joint mechanism 2-1 and the lower part of the first vertical joint mechanism 2-2, the elastic translational support mechanism 2-3 is further defined. As Figure 3 shown in the figure, the elastic translational support mechanism 2-3 includes a left connecting member 2-31, a right connecting member 2-32, a support base 2-33, a support rod 2-34, a spring 2-35, a linear bearing 2-36 of the elastic translational support mechanism, a sleeve 2-37 of the elastic translational support mechanism, and two sleeve connecting members 2-38. The left connecting member 2-31 and the right connecting member 2-32 are located on both sides of the support base 2-33. One ends of the left connecting member 2-31 and the right connecting member 2-32 are respectively connected to the left and right output ends of the cross bearing 2-24 of the lower part of the first vertical joint mechanism. The other ends of the left connecting member 2-31 and the right connecting member 2-32 are connected to the support base 2-33. The support rod 2-34 is inserted into the support base 2-33 and the two are fixed together. The spring 2-35 is sleeved on the support rod 2-34. The linear bearing 2-36 of the elastic translational support mechanism is sleeved in the lower part of the sleeve 2-37 of the elastic translational support mechanism and passes through the support rod 2-34 to form a translational joint. The two ends of the spring 2-35 are respectively abutted against the support base 2-33 and the linear bearing 2-36 of the elastic translational support mechanism. The upper part of the sleeve 2-37 of the elastic translational support mechanism is fixedly connected to the sleeve connecting member 2-38, and the sleeve connecting member 2-38 is rotatably connected to the second vertical joint mechanism 2-4. This elastic translational support mechanism 2-3 is used to support the weight of the exoskeleton itself and bear a part of the weight of the wearer's body. The rest is the same as in Embodiment 1.

[0038] Embodiment 3. In this embodiment, the second vertical joint mechanism 2-4 is defined. The second vertical joint mechanism 2-4 includes a second vertical joint mechanism rotating member 2-41, a second vertical joint mechanism front rod 2-46, two second vertical joint mechanism central shaft end caps 2-42, a second vertical joint mechanism central shaft 2-43, two second vertical joint mechanism thrust ball bearings 2-44 and two second vertical joint mechanism deep groove ball bearings 2-45. The two second vertical joint mechanism thrust ball bearings 2-44 are respectively installed in the grooves on the upper and lower inner surfaces of the second vertical joint mechanism rotating member 2-41. The two second vertical joint mechanism deep groove ball bearings 2-45 are respectively installed in the upper and lower grooves of the second vertical joint mechanism front rod 2-46. The second vertical joint mechanism central shaft 2-43 passes through these four bearings. The upper and lower outer surfaces of the second vertical joint mechanism rotating member 2-41 and the upper and lower end faces of the second vertical joint mechanism central shaft 2-43 are respectively fixedly connected by bolts with the second vertical joint mechanism central shaft end caps 2-42. The second vertical joint mechanism rotating member 2-41 is respectively rotatably connected with the elastic translation support mechanism 2-3 and the horizontal joint mechanism 2-5. The second vertical joint mechanism front rod 2-46 is detachably connected with the third vertical joint mechanism 2-6 and the distance therebetween is adjustable.

[0039] Embodiment 4. Further, the third vertical joint mechanism 2-6 includes a shoulder joint support base 2-61, a third vertical joint mechanism thrust ball bearing 2-62, a third vertical joint mechanism deep groove ball bearing 2-63, a third vertical joint mechanism central shaft end cap 2-64 and a third vertical joint mechanism rear rod 2-65. The third vertical joint mechanism thrust ball bearing 2-62 and the third vertical joint mechanism deep groove ball bearing 2-63 are respectively installed in the grooves at the upper and lower ends of the third vertical joint mechanism rear rod 2-65. The central shaft of the shoulder joint support base 2-61 passes through these two bearings. The lower end face of the central shaft of the shoulder joint support base 2-61 is fixedly connected with the third vertical joint mechanism central shaft end cap 2-64 by bolts. The docking surface between the third vertical joint mechanism rear rod 2-65 and the second vertical joint mechanism front rod 2-46 is in a serrated fit, and the two are detachably connected and the distance therebetween is adjustable. Long strip holes are formed on the docking surface of the third vertical joint mechanism rear rod 2-65, and screw holes are formed on the docking surface of the second vertical joint mechanism front rod 2-46. The third vertical joint mechanism rear rod 2-65 and the second vertical joint mechanism front rod 2-46 are fixed by bolts passing through the screw holes and the long strip holes. By moving the position of the third vertical joint mechanism rear rod 2-65 and then fixing it with bolts, the relative position change between the third vertical joint mechanism rear rod 2-65 and the second vertical joint mechanism front rod 2-46 can be realized, so as to achieve the purpose of adjusting the distance between the second vertical joint and the third vertical joint, and further adapt to wearers with different shoulder widths.

[0040] For the horizontal joint mechanism 2-5, it includes four horizontal joint mechanism connecting rods 2-51, ten deep groove ball bearings for horizontal joint mechanism 2-52, ten end covers for horizontal joint mechanism 2-53, and five central shafts for horizontal joint mechanism 2-54. First, a total of four deep groove ball bearings for horizontal joint mechanism 2-52 are installed in the vertical surface grooves on the left side of the rotating part 2-17 of the upper mechanism of the first vertical joint, and six deep groove ball bearings for horizontal joint mechanism 2-52 are installed in the recesses on the right side of the rotating part 2-41 of the second vertical joint mechanism. For each group of recess positions, a central shaft 2-54 for horizontal joint mechanism passes through. Among them, the two groups of recesses on the rotating part 2-17 of the upper mechanism of the first vertical joint correspond to the two groups of recesses on the rotating part 2-41 of the second vertical joint mechanism according to the upper and lower positions, forming two pairs of recesses. Each pair of recesses is passed through by two horizontal joint mechanism connecting rods 2-51 on the left and right through the central shaft 2-54 for horizontal joint mechanism. Then, end covers 2-53 for horizontal joint mechanism are installed on the left and right outer sides of the horizontal connecting rod respectively, and are fixed to the central shaft through bolt cooperation; in addition, for the lowest group of recesses on the right side of the rotating part 2-41 of the second vertical joint mechanism, the connecting object is the sleeve connecting piece 2-38, and the installation and fixing methods of other parts are the same as the above. The rest is the same as any one of Embodiment 1 - Embodiment 3.

[0041] The shoulder strap module 2 defined in Embodiment 1 - Embodiment 4 simulates the movement characteristics of the human shoulder strap part. As a whole, it has translational degrees of freedom in three independent directions in space and a rotational degree of freedom with the axis in the vertical direction. This module is composed of passive joints and can freely follow the movement of the human shoulder to adjust the positions of its respective joints. In the shoulder strap module 2, there are 3 design considerations for wearers of different body types, which are: (1) When the fixed slider 2-11 of the upper mechanism of the first vertical joint and the fixed slider 2-21 of the lower mechanism of the first vertical joint are connected to the central axis 1-2 of the base 1, their installation positions can be adjusted up and down along the central axis 1-2 to adapt to wearers of different heights; (2) The spring 2-35 in the elastic translational support mechanism 2-3 can adjust its original length to change the initial position of the shoulder strap module 2, which is used to adapt to wearers of different body sizes; (3) There is a serrated mating surface between the front rod 2-46 of the second vertical joint mechanism and the rear rod 2-65 of the third vertical joint mechanism. The distance between the second vertical joint and the third vertical joint can be adjusted by changing the mating position of the serrated surface, so as to adapt to wearers with different shoulder widths.

[0042] Embodiment 5. This embodiment defines the upper mechanism 3-1 of the shoulder joint. The upper mechanism 3-1 of the shoulder joint forms a rotating joint with the central axis of the upper part of the lower mechanism 3-2 of the shoulder joint through an angular contact ball bearing at the end of the arc structure and is connected together through bolt cooperation. Specifically, as shown in Figure 4 and Figure 5As shown, the upper shoulder joint mechanism 3-1 includes a shoulder joint support platform 3-11, a right shoulder joint bracket 3-12, a left shoulder joint bracket 3-13, a shoulder joint compensation positioning bracket 3-14, a shoulder joint compensation sleeve 3-15, an arc chute roller 3-16 and an arc chute 3-17; two angular contact ball bearings 3-18 are installed in two circular holes at the lower part of the arc chute 3-17. Since the force application directions of the joints are the same, the two bearings here adopt a special co-directional installation method to realize the rotational connection between the lower part of the arc chute 3-17 and the lower shoulder joint mechanism 3-2. Arc chute rollers 3-16 are provided on both the inner and outer surfaces of the arc chute 3-17. Among them, the arc chute roller 3-16 includes a sleeve 3-161, a bearing 3-162, a roller housing 3-163 and a roller central shaft 3-164 connected together; both ends of the roller central shaft of the arc chute roller 3-16 pass through the waist-shaped slot holes of the right shoulder joint bracket 3-12 and the left shoulder joint bracket 3-13 of the shoulder joint. The shoulder joint compensation sleeve 3-15 is sleeved on the roller central shaft of the arc chute roller 3-16 and contacts the waist-shaped slot holes. The length direction of the waist-shaped slot holes is perpendicular to the axial direction of the roller central shaft of the arc chute roller 3-16. Both ends of the roller central shaft of the arc chute roller 3-16 are fixedly connected to the shoulder joint compensation positioning bracket 3-14 to realize compensation displacement constraint and limit the circular center displacement area of the arc chute. On this basis, the right shoulder joint bracket 3-12 and the left shoulder joint bracket 3-13 are respectively fixedly connected to the shoulder joint support platform 3-11, and the shoulder joint support platform 3-11 is connected to the third vertical joint mechanism 2-6. The shoulder joint support platform 3-11 is connected to the shoulder joint support base 2-61 by bolts, and the relative rotation of the shoulder joint support platform 3-11 around the shoulder joint support base 2-61 as the axis with respect to the shoulder strap module 2 can be realized. The rest is the same as any one of Embodiments 1-4.

[0043] Embodiment 6. As Figure 6As shown in the figure, the following introduces the lower shoulder joint mechanism 3-2. The lower shoulder joint mechanism 3-2 includes an inner and outer swing belt shaft end cover 3-21, a rear swing support member 3-22 of the shoulder joint, a front swing support member 3-23 of the shoulder joint, a shoulder joint rope end fixing platform 3-25, and an inner and outer rotation transmission mechanism 3-26 of the shoulder joint; every two outer swing belt shaft end covers 3-21 are connected together as a group. The lower parts of the two groups of outer swing belt shaft end covers 3-21 are respectively connected to the rear swing support member 3-22 and the front swing support member 3-23 of the shoulder joint. The upper parts of the two groups of outer swing belt shaft end covers 3-21 are respectively connected to the lower end of the arc chute 3-17 through angular contact ball bearings 3-18. The front swing support member 3-23 and the rear swing support member 3-22 of the shoulder joint are respectively fixed to the shoulder joint rope end fixing platform 3-25. The rear swing support member 3-22 of the shoulder joint is fixedly connected to the shoulder joint rope end fixing platform 3-25 through a rear upper fixing member 3-24 of the rear swing of the shoulder joint, two upper left and right fixing members 3-27 of the rear swing of the shoulder joint, a rear lower fixing member 3-28 of the rear swing of the shoulder joint, and two lower left and right fixing members 3-29 of the rear swing of the shoulder joint by bolts. The above-mentioned fixing members play a role in connection and reinforcement. The front swing support member 3-23 of the shoulder joint is also fixed to the shoulder joint rope end fixing platform 3-25 by bolts. The inner and outer rotation transmission mechanism 3-26 of the shoulder joint is fixedly connected to the rear swing support member 3-22 of the shoulder joint. The inner and outer rotation transmission mechanism 3-26 of the shoulder joint is used to achieve a compensation displacement in the vertical direction.

[0044] For the shoulder joint rope end fixing platform 3-25, it is integrally composed of a connecting member one 3-251, two connecting members two 3-252, and a connecting member three 3-256 to form an annular structure. The four connecting members are connected end to end, and each connection position is fixed by two upper and lower connecting members three 3-253 and bolts. Two rope end fixing members 2-255 are installed on each connecting member. There are five baffles 3-254 on the annular structure for pasting flexible structures to improve wearing comfort.

[0045] Based on the above, the inner and outer rotation transmission mechanism 3-26 of the shoulder joint is also defined. As Figure 6As shown in the figure, the internal and external rotation transmission mechanism 3-26 of the shoulder joint includes a rear support 3-261 of the wire wheel ring, a roller gasket 3-262 of the rear support of the wire wheel ring, a roller 3-263 of the rear support of the wire wheel ring, an end cover 3-264 of the middle shaft of the rear support of the wire wheel ring, a middle shaft 3-265 of the rear support of the wire wheel ring, a base 3-266 of the wire wheel ring, a bearing roller 3-267 of the wire wheel ring, a middle shaft 3-268 of the wire wheel ring, a half wire wheel ring 3-269, a compensation sleeve 3-2610 of the wire wheel ring, a compensation ring 3-2611 of the wire wheel ring, a compensation middle shaft 3-2612 of the wire wheel ring, and a limit plate 3-2613 of the wire wheel ring; two rear gaskets 3-262 of the wire wheel ring are located on both sides of the roller 3-263 of the rear support of the wire wheel ring. The three are installed on the rear support 3-261 of the wire wheel ring through the middle shaft 3-265 of the rear support of the wire wheel ring. The middle shaft 3-265 of the rear support of the wire wheel ring and the rear support 3-261 of the wire wheel ring are fixed by the end cover 3-264 of the middle shaft of the rear support of the wire wheel ring and bolts. These mechanisms are all located at the rear of the lower platform of the rear swing support 3-22 of the shoulder joint. Multiple bearing rollers 3-267 of the wire wheel ring (such as twenty) and the rear support 3-261 of the wire wheel ring are installed inside the base 3-266 of the wire wheel ring through the middle shaft 3-268 of the wire wheel ring and mating bolts to restrict the rotation axis of the half wire wheel ring 3-269. Limit plates 3-2613 are installed on both sides of the half wire wheel ring 3-269 to limit the rotation angle. These mechanisms are all located at the front of the lower platform of the rear swing support 3-22 of the shoulder joint.

[0046] They are fixed in sequence according to the order of "base of the wire wheel ring - rear swing support of the shoulder joint - rear support of the wire wheel ring" by bolt connection. The base 3-266 of the wire wheel ring and the rear support 3-261 of the wire wheel ring are respectively fixed on both sides of the lower part of the rear swing support 3-22 of the shoulder joint. The compensation ring 3-2611 of the wire wheel ring is arranged inside the half wire wheel ring 3-269. The compensation middle shaft 3-2612 of the wire wheel ring passes through the compensation ring 3-2611 of the wire wheel ring and is fixed on the half wire wheel ring 3-269 through the compensation sleeve 3-2610 of the wire wheel ring. The compensation ring 3-2611 of the wire wheel ring can slide up and down along the compensation middle shaft 3-2612 of the wire wheel ring.

[0047] In this embodiment, the shoulder joint module 3 has the function of compensating for the approximate spherical center space drift of the glenohumeral joint of the human shoulder, which can ensure that the movement spherical centers of the three joints of the shoulder joint module always coincide with the approximate spherical center of the glenohumeral joint of the human shoulder, improving the wearing comfort. The specific function implementation process is as follows: (1) The upper mechanism 3-1 of the shoulder joint realizes the compensation displacement of the lower mechanism of the shoulder joint in two independent horizontal directions through the slot holes on the left and right brackets and the roller mechanism that can float left and right; (2) The lower structure 3-2 of the shoulder joint realizes the compensation displacement in the vertical direction through the compensation ring 3-2611 on the half wire wheel ring 3-269. The rest is the same as any one of Embodiments 1-5.

[0048] Embodiment 7. In this embodiment, the base 1 is further defined. The base 1 includes a base 1-1, a central axis 1-2, a motor module 1-3, a first base wire lead 1-4, a second base wire lead 1-5, and a base wire platform 1-6. The central axis 1-2 is fixedly installed at the middle of the rear edge of the base 1-1 through an aluminum profile slider. Six motor modules 1-3 are fixed to the rear side of the base 1-1 and are used to control the antagonistic cable pair to transmit power to the shoulder joint module 3, so as to realize the flexion and extension, abduction and adduction, and internal rotation and external rotation of the shoulder joint module 3. The first base wire lead 1-4 is fixed to the rear side of the lower part of the central axis 1-2 (for example, the first base wire lead 1-4 is fixedly installed at the rear side of the lower part of the central axis 1-2 through an aluminum profile slider). The second base wire lead 1-5 is fixed to the front side of the lower part of the central axis 1-2. The base wire platform 1-6 is fixed to the top of the central axis 1-2. For example, the second base wire lead 1-5 is fixedly installed at the front side of the lower part of the central axis 1-2 through an aluminum profile slider, and the base wire platform 1-6 is fixedly installed at the top of the central axis 1-2 through an aluminum profile slider.

[0049] Embodiment 8. The base wire platform 1-6 is further defined as follows: The base wire platform 1-6 includes a platform bracket 1-61, a platform 1-62, a right output wire seat 1-63, a left output wire seat 1-64, an input wire fixed pulley set 1-66, a direction-changing fixed pulley set 1-68, two front output wire seats 1-65, two lateral wire fixed pulleys 1-67, and two output wire fixed pulley sets 1-69. The platform 1-62 is connected to the platform bracket 1-61. The right output wire seat 1-63, the left output wire seat 1-64, and the two front output wire seats 1-65 are all fixed to the side of the platform 1-62. The input wire fixed pulley set 1-66, the direction-changing fixed pulley set 1-68, the two lateral wire fixed pulleys 1-67, and the two output wire fixed pulley sets 1-69 are installed in the corresponding installation grooves on the platform 1-62.

[0050] The routing of the four cables for driving the flexion and extension, abduction and adduction of the shoulder joint module 3 is as follows: First, they sequentially pass through the annular structure in the rear non-uniform slot hole of the platform 1-62, and then are sequentially placed on the corresponding input wire fixed pulley set 1-66, lateral wire fixed pulley 1-67, direction-changing fixed pulley set 1-68, and output wire fixed pulley set 1-69, and then pass through the corresponding output wire seats and the corresponding holes on the shoulder joint support platform 3-11. The ends of the cables are fixed at the corresponding positions on the shoulder joint cable end fixing platform 3-25. This design can prevent the cables from detaching from the fixed pulley mechanism while ensuring the cable load-bearing function.

[0051] The following further limitations are imposed on the input wire pulley block 1-66, the lateral wire pulley 1-67, the direction-changing pulley block 1-68, and the output wire pulley block 1-69. First, the input wire pulley block 1-66 includes: three wire pulleys 1-661 and three first wire pulley supports 1-662. The three wire pulleys 1-661 are respectively installed on the corresponding first wire pulley supports 1-662 through a long screw. The lateral wire pulley 1-67 includes: one wire pulley 1-661 and one first wire pulley support 1-662, and the installation method is similar to that of the input wire pulley block 1-66. The direction-changing pulley block 1-68 includes: a direction-changing pulley support 1-681 and three direction-changing rollers 1-682. The three direction-changing rollers 1-682 are all fixed on the upper surface of the direction-changing pulley support 1-681 through bolts. The output wire pulley 1-69 includes: three wire pulleys 1-661 and three second wire pulley supports 1-691. The three wire pulleys 1-661 are respectively installed on the corresponding second wire pulley supports 1-691 through a long screw.

[0052] As Figure 1 , Figure 9 and Figure 10 shown, the 6 active ropes in the rope drive module are divided into three groups. Each group of ropes contains two active ropes, and the two are in an antagonistic relationship to achieve complete motion control of one active degree of freedom. The definitions of the three groups of ropes are as follows: The first group of ropes (such as the ropes B1 and B2 in Figure 9 ) achieve the active degree of freedom of flexion / extension of the shoulder joint module. The second group of ropes (such as the ropes C2 and C1 in Figure 9 ) achieve the active degree of freedom of abduction / adduction of the shoulder joint module. The third group of ropes (such as the ropes A2 and A1 in Figure 9 ) achieve the active degree of freedom of internal / external rotation of the shoulder joint module. The 6 ropes are all driven by being placed on the motor module 1-3 of the base 1. The motor output rotating shaft connects to the wire wheel ring. One end of the rope is fixed on the wire wheel ring and winds around the wire wheel ring starting from this point. The rotation of the motor drives the wire wheel ring to rotate, converting the motor rotation into the linear motion of the rope.

[0053] The distribution mode of each group of ropes is specifically described as follows: After the three groups of ropes are output from the motor module, they are all first guided to the base lead wire device through the Bowden cable sheath. Among them, the first group and the second group of ropes are guided to the first base lead wire device 1-4, and the third group of ropes are guided to the second base lead wire device 1-5. For the first group and the second group of ropes, after passing through the first base lead wire device 1-4, the ropes change the conduction direction through the base wire platform 1-6 and provide power to the shoulder joint module from an oblique upward angle. After being led out from the base wire platform 1-6, the end of each rope is fixed on a wire splitting pulley i, and the wire splitting pulley i constitutes a movable pulley mechanism to drive the ropes led out below. The two ends of the led-out ropes respectively pass through the corresponding wire holes on the shoulder joint module, and finally the module is fixed at the rope fixing point of the shoulder joint module 3. For the third group of ropes, after passing through the second base lead wire device 1-5, the ropes continue to be directly connected to the internal / external rotation transmission mechanism on the shoulder joint module 3 through the Bowden cable sheath. Above, a complete shoulder movement is achieved through 3 groups of antagonistic rope pairs.

[0054] The shoulder exoskeleton designed by the present invention has the function of left-right mirror interchange. Figure 9 and Figure 10 As shown in the right-side mode of the exoskeleton, if you want to switch to the left-side mode, the switching steps are as follows: (1) Rotate the joints of the mechanism according to the left-side mode to adjust the posture; (2) Take out the active rope in the extension direction of the flexion / extension active degree of freedom that controls the shoulder joint module on the base wire platform 1-6 from the rightmost fixed pulley, and then adjust it to the leftmost fixed pulley; (3) Adjust the output ends of the remaining three groups of ropes on the platform from the right side to the left side; (4) Adjust the drive mode of the motor module 1-3 to the left-side mode. When the shoulder joint exoskeleton mechanism is interchanged left and right, no parts need to be disassembled or replaced, and the whole mechanism does not need to be equipped with additional mirror-symmetrical parts, effectively reducing the use cost. The replacement process only needs to adjust the mechanism posture and the position of the rope wires, and the operation is simple.

[0055] Most of the components of the exoskeleton designed by the present invention can be made by the selective sintering technology (SLS) of 3D printing, and the materials can be selected from nylon and resin; parts can be quickly manufactured through the 3D printing SLS process, reducing the development time of the prototype. The key parts can be completed by later polishing for the assembly of the whole machine. Only part of the central axis that bears a large load in the exoskeleton is machined, significantly reducing the processing cost. The exoskeleton robot designed by the present invention is divided into a base, a shoulder strap and a shoulder joint module, and is equipped with a rope drive module. The whole robot has mirror symmetry, can adapt to the shoulder rehabilitation work of both the left and right arms at the same time, and each module is easy to load and unload, convenient for transportation. If a certain part is damaged, only the corresponding module needs to be replaced, reducing the installation and maintenance costs.

[0056] The present invention has been disclosed above in a preferred embodiment. However, it is not intended to limit the present invention. Any person skilled in the art, without departing from the scope of the technical solution of the present invention, may make some modifications or variations using the structures and technical contents disclosed above to obtain equivalent embodiments, and all of them still fall within the scope of the technical solution of the present invention.

Claims

1. A modular shoulder exoskeleton rehabilitation robot based on cable drive, characterized in that: It includes a base (1), a shoulder strap module (2) and a shoulder joint module (3); both the shoulder strap module (2) and the shoulder joint module (3) are mirror-exchangeable structures. The starting connection end of the shoulder joint module (3) is connected to the ending connection end of the shoulder strap module (2). The shoulder strap module (2) is connected to the base (1). The shoulder strap module (2) has translational degrees of freedom in three spatial directions and a rotational degree of freedom with a vertical axis. The shoulder strap module (2) includes a first upper vertical joint mechanism (2-1), a first lower vertical joint mechanism (2-2), an elastic translational support mechanism (2-3), a second vertical joint mechanism (2-4), a horizontal joint mechanism (2-5) and a third vertical joint mechanism (2-6); the first upper vertical joint mechanism (2-1) and the first lower vertical joint mechanism (2-2) are detachably mounted on the base (1) with a common rotation axis. Both sides of the elastic translational support mechanism (2-3) are rotationally connected to the first lower vertical joint mechanism (2-2) and the second vertical joint mechanism (2-4). Both sides of the horizontal joint mechanism (2-5) are respectively rotationally connected to the first upper vertical joint mechanism (2-1) and the second vertical joint mechanism (2-4). The second vertical joint mechanism (2-4) is detachably connected to the third vertical joint mechanism (2-6) and the distance between them is adjustable. The shoulder joint module (3) is mounted on the output end of the third vertical joint mechanism (2-6). The shoulder joint module (3) includes a rotatably connected upper shoulder joint mechanism (3-1) and a lower shoulder joint mechanism (3-2). The upper shoulder joint mechanism (3-1) is used to achieve the compensation displacement of the lower shoulder joint mechanism (3-2) in two horizontal directions. The lower shoulder joint mechanism (3-2) is used to achieve the compensation displacement in the vertical direction. The base (1) transmits power to the shoulder joint module (3) through an antagonistic rope pair to achieve the flexion and extension, abduction and adduction, and internal and external rotation of the shoulder joint module (3).

2. The modular shoulder exoskeleton rehabilitation robot based on cable drive according to claim 1, wherein: The elastic translational support mechanism (2-3) includes a left connecting member (2-31), a right connecting member (2-32), a support base (2-33), a support rod (2-34), a spring (2-35), a linear bearing of the elastic translational support mechanism (2-36), a sleeve of the elastic translational support mechanism (2-37), and two sleeve connecting members (2-38). The left connecting member (2-31) and the right connecting member (2-32) are located on both sides of the support base (2-33). One end of the left connecting member (2-31) and the right connecting member (2-32) are respectively connected to the left and right output ends of the cross bearing at the lower part of the first vertical joint mechanism (2-24). The other ends of the left connecting member (2-31) and the right connecting member (2-32) are connected to the support base (2-33). The support rod (2-34) is inserted into the support base (2-33) and the two are fixed together. The spring (2-35) is sleeved on the support rod (2-34). The linear bearing of the elastic translational support mechanism (2-36) is sleeved inside the lower part of the sleeve of the elastic translational support mechanism (2-37) and passes through the support rod (2-34). The two ends of the spring (2-35) are respectively abutted against the support base (2-33) and the linear bearing of the elastic translational support mechanism (2-36). The upper part of the sleeve of the elastic translational support mechanism (2-37) is fixedly connected to the sleeve connecting member (2-38), and the sleeve connecting member (2-38) is rotatably connected to the second vertical joint mechanism (2-4).

3. The modular shoulder exoskeleton rehabilitation robot based on cable drive according to claim 1, wherein: The second vertical joint mechanism (2-4) includes a rotating member of the second vertical joint mechanism (2-41), a front rod of the second vertical joint mechanism (2-46), two end covers of the middle shaft of the second vertical joint mechanism (2-42), a middle shaft of the second vertical joint mechanism (2-43), two thrust ball bearings of the second vertical joint mechanism (2-44), and two deep groove ball bearings of the second vertical joint mechanism (2-45). The two thrust ball bearings of the second vertical joint mechanism (2-44) are respectively installed in the grooves on the upper and lower inner surfaces of the rotating member of the second vertical joint mechanism (2-41). The two deep groove ball bearings of the second vertical joint mechanism (2-45) are respectively installed in the upper and lower grooves of the front rod of the second vertical joint mechanism (2-46). The middle shaft of the second vertical joint mechanism (2-43) passes through the two thrust ball bearings of the second vertical joint mechanism (2-44) and the two deep groove ball bearings of the second vertical joint mechanism (2-45). The upper and lower outer surfaces of the rotating member of the second vertical joint mechanism (2-41) and the upper and lower end faces of the middle shaft of the second vertical joint mechanism (2-43) are respectively fixedly connected by bolts through the end covers of the middle shaft of the second vertical joint mechanism (2-42). The rotating member of the second vertical joint mechanism (2-41) is respectively rotatably connected to the elastic translational support mechanism (2-3) and the horizontal joint mechanism (2-5). The front rod of the second vertical joint mechanism (2-46) is detachably connected to the third vertical joint mechanism (2-6) and the distance between the two is adjustable.

4. The modular shoulder exoskeleton rehabilitation robot based on cable drive according to claim 3, wherein: The third vertical joint mechanism (2-6) includes a shoulder joint support base (2-61), a thrust ball bearing of the third vertical joint mechanism (2-62), a deep groove ball bearing of the third vertical joint mechanism (2-63), an end cover of the middle shaft of the third vertical joint mechanism (2-64), and a rear rod of the third vertical joint mechanism (2-65); the thrust ball bearing (2-62) and the deep groove ball bearing (2-63) of the third vertical joint mechanism are respectively installed in the grooves at the upper and lower ends of the rear rod (2-65) of the third vertical joint mechanism. The middle shaft of the shoulder joint support base (2-61) passes through these two bearings. The lower end face of the middle shaft of the shoulder joint support base (2-61) is fixedly connected with the end cover (2-64) of the middle shaft of the third vertical joint mechanism by bolts. The butt joint surface between the rear rod (2-65) of the third vertical joint mechanism and the front rod (2-46) of the second vertical joint mechanism is in a serrated fit, and the two are detachably connected and the distance therebetween is adjustable.

5. The modular shoulder exoskeleton rehabilitation robot based on cable drive according to claim 1 or 4, characterized in that: The upper part mechanism of the shoulder joint (3-1) includes a shoulder joint support platform (3-11), a right support of the shoulder joint (3-12), a left support of the shoulder joint (3-13), a compensation positioning frame of the shoulder joint (3-14), a compensation sleeve of the shoulder joint (3-15), an arc chute roller (3-16), and an arc chute (3-17); the lower part of the arc chute (3-17) is rotationally connected with the lower part mechanism of the shoulder joint (3-2). Arc chute rollers (3-16) are respectively arranged on the inner and outer surfaces of the arc chute (3-17). The two ends of the roller middle shaft of the arc chute roller (3-16) respectively pass through the kidney-shaped slot holes of the right support of the shoulder joint (3-12) and the left support of the shoulder joint (3-13). The compensation sleeve (3-15) of the shoulder joint is sleeved on the roller middle shaft of the arc chute roller (3-16) and contacts the kidney-shaped slot holes. The length direction of the kidney-shaped slot holes is perpendicular to the axial direction of the roller middle shaft of the arc chute roller (3-16). The two ends of the roller middle shaft of the arc chute roller (3-16) are fixedly connected with the compensation positioning frame (3-14) of the shoulder joint respectively. The right support of the shoulder joint (3-12) and the left support of the shoulder joint (3-13) are respectively fixedly connected with the shoulder joint support platform (3-11). The shoulder joint support platform (3-11) is connected with the third vertical joint mechanism (2-6).

6. The modular shoulder exoskeleton rehabilitation robot based on cable drive according to claim 5, wherein: The lower mechanism of the shoulder joint (3-2) includes an inner and outer swing belt shaft end cover (3-21), a rear swing support member of the shoulder joint (3-22), a front swing support member of the shoulder joint (3-23), a fixed platform for the end of the shoulder joint rope (3-25), and an inner and outer rotation transmission mechanism of the shoulder joint (3-26); every two outer swing belt shaft end covers (3-21) are connected together as a group, and the lower parts of the two groups of outer swing belt shaft end covers (3-21) are respectively connected to the rear swing support member of the shoulder joint (3-22) and the front swing support member of the shoulder joint (3-23), and the upper parts of the two groups of outer swing belt shaft end covers (3-21) are respectively connected to the lower end of the arc chute (3-17) through angular contact ball bearings (3-18). The front swing support member of the shoulder joint (3-23) and the rear swing support member of the shoulder joint (3-22) are respectively fixed to the fixed platform for the end of the shoulder joint rope (3-25). The inner and outer rotation transmission mechanism of the shoulder joint (3-26) is fixedly connected to the rear swing support member of the shoulder joint (3-22), and the inner and outer rotation transmission mechanism of the shoulder joint (3-26) is used to achieve a compensation displacement in the vertical direction.

7. The modular shoulder exoskeleton rehabilitation robot based on cable drive according to claim 6, wherein: The internal and external rotation transmission mechanism (3-26) of the shoulder joint includes a rear support of the wire wheel ring (3-261), a roller gasket of the rear support of the wire wheel ring (3-262), a roller of the rear support of the wire wheel ring (3-263), an end cover of the middle shaft of the rear support of the wire wheel ring (3-264), a middle shaft of the rear support of the wire wheel ring (3-265), a base of the wire wheel ring (3-266), a bearing roller of the wire wheel ring (3-267), a middle shaft of the wire wheel ring (3-268), a half wire wheel ring (3-269), a compensation sleeve of the wire wheel ring (3-2610), a compensation ring of the wire wheel ring (3-2611), a compensation middle shaft of the wire wheel ring (3-2612), and a limit plate of the wire wheel ring (3-2613); two roller gaskets of the rear support of the wire wheel ring (3-262) are located on both sides of the roller of the rear support of the wire wheel ring (3-263), and the three are installed on the rear support of the wire wheel ring (3-261) through the middle shaft of the rear support of the wire wheel ring (3-265). The middle shaft of the rear support of the wire wheel ring (3-265) and the rear support of the wire wheel ring (3-261) are fixed by cooperation of the end cover of the middle shaft of the rear support of the wire wheel ring (3-264) and bolts. A plurality of bearing rollers of the wire wheel ring (3-267) and the rear support of the wire wheel ring (3-261) are installed inside the base of the wire wheel ring (3-266) through the middle shaft of the wire wheel ring (3-268) and matching bolts to restrict the rotation axis of the half wire wheel ring (3-269). Limit plates of the wire wheel ring (3-2613) are installed on both sides of the half wire wheel ring (3-269). The base of the wire wheel ring (3-266) and the rear support of the wire wheel ring (3-261) are respectively fixed on both sides of the lower part of the rear swing support of the shoulder joint (3-22). The compensation ring of the wire wheel ring (3-2611) is arranged inside the half wire wheel ring (3-269). The compensation middle shaft of the wire wheel ring (3-2612) passes through the compensation ring of the wire wheel ring (3-2611) and is fixed on the half wire wheel ring (3-269) through the compensation sleeve of the wire wheel ring (3-2610). The compensation ring of the wire wheel ring (3-2611) can slide up and down along the compensation middle shaft of the wire wheel ring (3-2612).

8. The modular shoulder exoskeleton rehabilitation robot based on cable drive according to claim 6, wherein: The base (1) includes a base (1-1), a middle shaft (1-2), a motor module (1-3), a first base wire lead (1-4), a second base wire lead (1-5), and a base wire platform (1-6); the middle shaft (1-2) is fixed in the middle of the rear edge of the base (1-1), and six motor modules (1-3) are fixed on the rear side of the base (1-1) for controlling the antagonistic ropes to transmit power to the shoulder joint module (3) to realize the flexion and extension, abduction and adduction, and internal and external rotation of the shoulder joint module (3). The first base wire lead (1-4) is fixed on the lower rear side of the middle shaft (1-2), the second base wire lead (1-5) is fixed on the lower front side of the middle shaft (1-2), and the base wire platform (1-6) is fixed on the top of the middle shaft (1-2).

9. The modular shoulder exoskeleton rehabilitation robot based on cable drive according to claim 8, characterized in that: The base wire platform (1-6) includes a platform bracket (1-61), a platform (1-62), a right output wire seat (1-63), a left output wire seat (1-64), an input wire pulley group (1-66), a direction-changing pulley group (1-68), two front output wire seats (1-65), two lateral wire pulleys (1-67), and two output wire pulley groups (1-69); the platform (1-62) is connected to the platform bracket (1-61), and the right output wire seat (1-63), the left output wire seat (1-64), and the two front output wire seats (1-65) are all fixed on the side of the platform (1-62), and the input wire pulley group (1-66), the direction-changing pulley group (1-68), the two lateral wire pulleys (1-67), and the two output wire pulley groups (1-69) are installed on the corresponding installation grooves on the platform (1-62); The four ropes for driving the flexion / extension and abduction / adduction of the shoulder joint module (3) are as follows: First, they sequentially pass through the annular structure in the rear anisotropic slot hole of the platform (1-62), and then are sequentially placed on the corresponding input wire pulley group (1-66), lateral wire pulley (1-67), direction-changing pulley group (1-68), and output wire pulley group (1-69), and then pass through the corresponding output wire seat and the corresponding holes on the shoulder joint support platform (3-11), and the ends of the ropes are fixed at the corresponding positions on the shoulder joint rope end fixing platform (3-25).

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