A full-scale chain upper limb rehabilitation exoskeleton with matrix sensors

Abstract

The present invention discloses a full-scale chain upper limb rehabilitation exoskeleton with a matrix sensor, comprising a movable base, a three-axis mobile platform, a back reversing mechanism, a shoulder three-axis mechanism, a retractable upper arm mechanism, an upper arm cuff, a retractable lower arm mechanism, a lower arm cuff, and a wrist three-axis mechanism. The three-axis mobile platform is arranged on the movable base, the back reversing mechanism is arranged on the three-axis mobile platform, the shoulder three-axis mechanism is arranged on the back reversing mechanism, the retractable upper arm mechanism is arranged at the end of the shoulder three-axis mechanism, the upper arm cuff and the retractable lower arm mechanism are both arranged on the retractable upper arm mechanism, and the lower arm cuff and wrist three-axis mechanism are arranged on the retractable lower arm mechanism. The present invention reduces the problem of rotator cuff impact on the shoulder caused by the robot during exoskeleton rehabilitation, covers a wider range of people, meets the rehabilitation needs of the human upper limb with all degrees of freedom from the shoulder to the wrist, and realizes multiple rehabilitation modes and motion state monitoring.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical rehabilitation equipment, and in particular relates to a full-size chain upper limb rehabilitation exoskeleton with a matrix sensor. Background Art

[0002] Neuromuscular injuries, such as stroke and spinal cord injury, are taking a growing toll on the health and lives of millions of people. From 1990 to 2017, stroke was the leading cause of death and disability among adults in China. Worse still, the number of strokes is increasing at a rate of 2 million cases per year. Coupled with an aging population and regional imbalances in healthcare, the resulting medical burden will further increase. Timely and effective rehabilitation training can reduce the rate and severity of disability and significantly improve patients' ability to carry out daily activities. However, traditional rehabilitation methods, due to their repetitive and mechanical nature, lack interactivity, and are prone to fatigue and difficulty in maintaining adherence, often struggle to meet the standards set by therapists or nurses. Due to the slow effectiveness of these methods, patients often experience mood swings, negative cooperation, and low compliance, which in turn impacts rehabilitation outcomes. Exoskeleton robotic systems offer unique advantages that can overcome the limitations of a shortage of rehabilitation therapists and the time-consuming and expensive nature of manual rehabilitation. They utilize various sensors to record human kinematic and physiological characteristics, providing data support for improving and optimizing patient rehabilitation plans. This makes the rehabilitation process more scientific, systematic, and quantitative, reduces the workload of rehabilitation medical staff, and provides systematic and standardized training in rehabilitation skills. At the same time, the robot can repeat movements without fatigue and collect objective quantitative data. The upper limb rehabilitation exoskeleton is designed to assist patients in rehabilitation training.

[0003] However, to prevent injury to the patient, the robot needs to be able to adjust its size to accommodate the length of the patient's arm and the complex free movement of the shoulder. The different orientations of the humerus caused by shoulder girdle movement can cause changes in the joint center. The robot's rotation axis must match the patient's anatomical rotation axis. Therefore, shoulder girdle movement must be considered in the kinematics of the robot's shoulder mechanism. A series of upper limb rehabilitation exercises should be performed while conforming to the patient's natural shoulder movement to avoid irritation and impact on the patient's rotator cuff. Among them, devices with self-alignment capabilities have been provided. Some researchers have also suggested adding passive joints to prevent the adverse effects of misalignment on the joints. Therefore, the design of the exoskeleton must take this principle into account to achieve better rehabilitation results. In addition, bilateral training is considered an important component of upper limb rehabilitation and can enhance rehabilitation effects based on the patient's clinical condition. Therefore, some upper limb rehabilitation exoskeletons have bilateral rehabilitation training capabilities. Summary of the Invention

[0004] Technical problems to be solved: In response to the above technical problems, the present invention provides a full-size chain upper limb rehabilitation exoskeleton with a matrix sensor, which can effectively solve the shortcomings of traditional rehabilitation methods due to repetitive and mechanical rehabilitation training modes, poor interactivity, easy fatigue, difficulty in persistence, etc., which often make it difficult to meet the standards set by therapists or nurses. Due to the slow effect, patients often have large mood changes, passive non-cooperation, low compliance, etc., which in turn affects the rehabilitation effect.

[0005] Technical solution: A full-size chain upper limb rehabilitation exoskeleton with a matrix sensor, including a movable base, a three-axis mobile platform, a back reversing mechanism, a shoulder three-axis mechanism, a retractable upper arm mechanism, an upper arm cuff, a retractable lower arm mechanism, a lower arm cuff and a wrist three-axis mechanism. The three-axis mobile platform is arranged on the movable base, the back reversing mechanism is arranged on the three-axis mobile platform, the shoulder three-axis mechanism is arranged on the back reversing mechanism, the retractable upper arm mechanism is arranged at the end of the shoulder three-axis mechanism, the upper arm cuff and the retractable lower arm mechanism are both arranged on the retractable upper arm mechanism, and the lower arm cuff and the wrist three-axis mechanism are arranged on the retractable lower arm mechanism.

[0006] Preferably, the three-axis mobile platform includes two Y-axis linear modules, a Y-axis module slider, two Z-axis linear modules, a Z-axis module slider, an X-axis linear module, an X-axis module slider and a stepper motor. The two Y-axis linear modules are respectively installed on both sides of the movable base, the Y-axis module slider is arranged on the Y-axis linear module, the two Z-axis linear modules are respectively arranged on the two Y-axis linear modules, the Z-axis module slider is arranged on the Z-axis linear module, the two ends of the X-axis linear module are respectively arranged on the two Z-axis linear modules, the X-axis module slider is arranged on the X-axis linear module, and the stepper motor is used to drive the Y-axis linear module, the Z-axis linear module and the X-axis linear module.

[0007] Preferably, the back reversing mechanism includes a slider connecting plate, a reversing base and a reversing connecting rod, the slider connecting plate is arranged on the X-axis module slider, the reversing base is arranged on the slider connecting plate, the reversing base is provided with a reversing base axis hole, a connecting rod pin shaft hole is provided on one side of the reversing connecting rod, and a connecting rod needle roller bearing hole is provided on the other side, a connecting rod thrust ball bearing hole seat is provided on the upper and lower edges of the connecting rod needle roller bearing hole, a needle bearing is provided in the connecting rod needle roller bearing hole, a thrust ball bearing is provided on the connecting rod thrust ball bearing hole seat, and the connecting rod needle roller bearing hole is connected to the reversing base axis hole through a fixed pin shaft.

[0008] Preferably, the shoulder three-axis mechanism includes a shoulder I axis connecting cover plate, a shoulder I axis driving fixing plate, a transmission connecting shaft block, a shoulder I axis connecting rod upper, a shoulder I axis connecting rod covering box, a shoulder II axis connecting rod upper, a shoulder II axis connecting rod covering box cover, a shoulder II axis connecting rod covering box cover, a shoulder II axis connecting rod lower, and a shoulder I axis connecting rod lower. One side of the shoulder I axis connecting cover plate is provided with a connecting cover plate needle bearing hole, and the upper and lower edges of the connecting cover plate needle bearing hole are provided with a connecting cover plate thrust ball bearing seat. A needle bearing is provided in the needle bearing hole of the connecting cover plate, a thrust ball bearing is provided on the thrust ball bearing seat of the connecting cover plate, the needle bearing hole of the connecting cover plate and the connecting rod pin shaft hole of the back reversing mechanism are connected through a fixed pin shaft, the other side of the shoulder I axis connecting cover plate is connected to the shoulder I axis connecting rod through the shoulder I axis driving fixing plate, a brushless motor is provided between the shoulder I axis connecting cover plate and the shoulder I axis driving fixing plate, a harmonic reducer is provided between the shoulder I axis driving fixing plate and the shoulder I axis connecting rod, and the brushless motor and the harmonic The wave reducer is connected through a transmission coupling block, the lower part of the shoulder I axis connecting rod is connected to the upper part of the shoulder I axis connecting rod, the axial sides of the lower part of the shoulder I axis connecting rod are respectively connected to the shoulder I axis connecting rod covering box and the shoulder II axis connecting rod, a brushless motor is provided between the lower part of the shoulder I axis connecting rod and the shoulder I axis connecting rod covering box, a harmonic reducer is provided between the lower part of the shoulder I axis connecting rod and the upper part of the shoulder II axis connecting rod, an imu module box, a hub plate and a shoulder I axis connecting rod covering box cover are provided on the shoulder I axis connecting rod covering box, and the shoulder II axis connecting rod The lower part is connected to the shoulder II axis connecting rod, and a brushless motor and a harmonic reducer are respectively provided on both sides of the lower axis of the shoulder II axis connecting rod. The brushless motor under the shoulder II axis connecting rod is connected to the shoulder II axis connecting rod covering box, and the upper cover of the shoulder II axis connecting rod covering box and the lower cover of the shoulder II axis connecting rod covering box are arranged on the shoulder II axis connecting rod covering box, an imu module box is provided between the upper cover of the shoulder II axis connecting rod covering box and the shoulder II axis connecting rod covering box, and a hub plate is provided between the lower cover of the shoulder II axis connecting rod covering box and the shoulder II axis connecting rod covering box.

[0009] Preferably, the telescopic big arm mechanism includes a big arm rod, a linear motor push rod, a linear guide slider, a linear guide rail, a big arm rod lower cover, a linear motor connecting block, a big arm rod upper cover and a big arm rod lower, two parallel linear guide rails are respectively arranged on the inside of the big arm rod upper and the big arm rod lower cover, a linear guide slider is arranged on the linear guide slider on the big arm rod, the big arm rod lower cover is arranged on the big arm rod lower, the big arm rod upper cover is arranged on the linear guide slider of the big arm rod lower cover and is connected to the big arm rod, the linear motor connecting block is arranged on the big arm rod upper cover, two linear motors are arranged on the big arm rod upper cover, The machine push rods are respectively arranged between the upper and lower parts of the boom rod and between the lower part of the boom rod and the upper cover of the boom rod. The linear motor push rod between the lower part of the boom rod and the upper cover of the boom rod is connected to the upper part of the boom rod through the linear motor fixing hole, and is connected to the lower part of the boom rod through the linear motor push rod hole. The linear motor push rod between the upper and lower part of the boom rod is connected to the upper part of the boom rod through the linear motor fixing hole, and is connected to the lower part of the boom rod through the linear motor push rod hole. The linear motor push rod between the lower part of the boom rod and the upper cover of the boom rod is connected to the linear motor fixing hole and the linear motor connecting block, and is connected to the lower cover of the boom rod through the linear motor push rod hole.

[0010] Preferably, the upper arm cuff includes an upper arm cuff frame, a lower arm cuff and a damping hinge. The upper arm cuff frame is connected to the upper arm rod of the telescopic upper arm mechanism. The lower arm cuff is connected to the upper arm cuff frame through a damping hinge. A plurality of matrix pressure sensor modules are provided on the outer side wall of the upper arm cuff frame.

[0011] The matrix pressure sensor module includes a module frame, a module frame cover, a support spring, a clamping bolt and a pressure sensing module. The module frame is provided with a module frame lifting hole, a module frame mounting hole, a pressure sensing module reserved lifting hole and a pressure sensing module reserved mounting hole. The module frame cover is provided with a module frame cover mounting hole, the spring base is provided with a spring base bolt hole, the pressure film sensor seat is provided with a pressure film sensor seat lifting hole and a pressure film sensor seat bolt hole, and the pressure sensing module includes a pressure film sensor seat, a pressure film sensor, a sensor pressure column, a spring base, a reset spring, a pressure sensing module pressure column cover and a pressure sensing module. The pressure sensing module quick-release head, the pressure film sensor is arranged in the pressure film sensor seat, the lower surface of the pressure film sensor is arranged on the sensor pressure column, the column of the sensor pressure column is connected to the pressure sensing module pressure column cover through the spring base and the return spring, the end of the pressure sensing module pressure column cover is arranged on the pressure sensing module quick-release head, the support spring is arranged on the stud of the tightening bolt, the stud of the tightening bolt passes through the lifting hole of the pressure film sensor seat and the reserved lifting hole of the pressure sensing module to connect the pressure sensing module with the module frame, a plurality of pressure sensing module arrays are arranged in the reserved mounting hole of the pressure sensing module, and the module frame cover is arranged on the module frame.

[0012] Preferably, the telescopic arm mechanism includes an upper arm rod, an upper arm rod cover, a lower arm rod, a lower arm rod servo frame, a lower arm rod thrust ball bearing mounting seat, a linear motor push rod and a brushless motor, the upper arm rod is provided with two parallel linear guide rails, the linear guide rails are provided with linear guide sliders, the lower arm rod is arranged on the linear guide sliders, and is connected to the arm rod through the linear motor push rod, the lower arm rod servo frame is arranged on the lower arm rod, the lower arm rod thrust ball bearing mounting seat is arranged at one end portion under the arm rod, the lower arm rod thrust ball bearing mounting seat is provided with a thrust ball bearing, the lower arm rod thrust ball bearing mounting seat is provided with a lower arm rod needle bearing mounting hole, the lower arm rod needle bearing mounting hole is provided with a needle bearing, the upper arm rod cover is arranged on the upper arm rod, the upper arm is connected to the lower arm rod of the telescopic arm mechanism through the brushless motor, and the lower surface of the upper arm rod is provided with an upper arm mounting groove.

[0013] Preferably, the wrist three-axis mechanism includes an X-axis rotating rod, an X-axis rotating rod sliding groove, a handgrip, a steering gear steering wheel, a steering gear, a synchronous belt, a synchronous wheel, a first transmission shaft, a second transmission shaft, a third transmission shaft, a fourth transmission shaft, a fifth transmission shaft, a Z-axis rotating fixed frame, a Z-axis rotating connecting rod lower, a Z-axis rotating connecting rod upper, a Y-axis rotating rod, a deep groove ball bearing, a bearing mounting seat and a Z-axis rotating block.

[0014] The X-axis rotating rod sliding groove is arranged on the X-axis rotating rod, the handgrip is located below the X-axis rotating rod and is slidably connected to the X-axis rotating rod sliding groove, the X-axis rotating rod is connected to the bearing mounting seat arranged on the Y-axis rotating rod through a deep groove ball bearing, and is connected to the servo arranged on the Y-axis rotating rod through a servo steering wheel, the Y-axis rotating rod is connected to the servo arranged on the Z-axis rotating block through the servo steering wheel, and is connected to the bearing mounting seat arranged on the Z-axis rotating block through a deep groove ball bearing, the Z-axis rotating block is connected to the first transmission shaft on the Z-axis rotating fixed frame through the axial fixing hole of the Z-axis rotating block, and is connected to the transmission on the first transmission shaft through the circumferential fixing hole of the Z-axis rotating block. The dynamic shaft is axially fixed by a circumferential fixing hole. The synchronous wheel on the first transmission shaft is connected to the synchronous wheel on the second transmission shaft by a synchronous belt. The lower part of the Z-axis rotating link and the upper part of the Z-axis rotating link are fixedly connected by bolts. The two lower parts of the Z-axis rotating link are respectively arranged on the third transmission shaft and the second transmission shaft of the Z-axis rotating fixed frame. The two upper parts of the Z-axis rotating link are respectively arranged on the fifth transmission shaft and the fourth transmission shaft. The fifth transmission shaft and the fourth transmission shaft are respectively arranged in the two lower thrust ball bearing mounting seats of the small arm at the lower end of the small arm. The servo on the servo frame under the small arm is provided with a servo steering wheel. The synchronous wheel on the servo steering wheel is connected to the synchronous wheel on the fourth transmission shaft by a synchronous belt.

[0015] Preferably, the forearm cuff includes a forearm cuff frame, a forearm cuff frame mounting slot and an imu module box, the imu module box is arranged at the bottom of the forearm cuff frame, the outer wall of the forearm cuff frame is provided with a matrix pressure sensor module, the forearm cuff frame mounting slot is arranged on the outer wall of the forearm cuff frame and is connected to the mounting slot on the forearm rod of the retractable forearm mechanism.

[0016] Preferably, the movable base is provided with universal wheels at the bottom, an openable cabinet door is provided on the side, and wiring holes are provided on the surface. The movable base is provided with a cabinet groove area, and the cabinet groove area is used to place a wheelchair.

[0017] Beneficial Effects: 1. The three-axis mobile platform can adjust its height to suit the patient's shoulder height when sitting or standing, while also meeting the movement of the glenohumeral joint center caused by the scapulohumeral rhythm during upper limb movement. This reduces problems such as rotator cuff impingement during exoskeleton rehabilitation.

[0018] 2. The retractable upper and lower arms can adjust the size of the exoskeleton to suit the length of the upper limbs of different patients. The back reversing mechanism is designed to meet the rehabilitation needs of patients on different sides of the upper limb, making the exoskeleton suitable for a wider range of people.

[0019] 3. A three-axis wrist mechanism was designed, which achieves forearm rotation through a four-bar linkage. The position of the Z-axis rotation center in the wrist mechanism can be changed by adjusting the installation distance between the lower and upper Z-axis rotation links to accommodate forearm rotation in different patient populations. XY-axis rotation was also designed to meet all degrees of freedom of the wrist, satisfying the rehabilitation needs of the human upper limb from shoulder to wrist.

[0020] 4. The upper arm cuff and forearm cuff are designed to adapt to the different thicknesses of the patient's upper limbs through the matrix pressure sensor module that can be raised and lowered. The patient's movement intention and status are obtained through the internal pressure sensor and the IMU sensors installed in various parts of the body, realizing the patient's various rehabilitation modes and movement status monitoring. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the overall structure of a full-scale chain upper limb rehabilitation exoskeleton with a matrix sensor according to the present invention;

[0022] Figure 2 It is a structural schematic diagram of the movable base and the three-axis movable platform of the present invention;

[0023] Figure 3 Schematic diagram of the structure of the back reversing mechanism of the present invention;

[0024] Figure 4It is a structural schematic diagram of the three-axis shoulder mechanism of the present invention;

[0025] Figure 5 It is a structural schematic diagram of the telescopic arm mechanism of the present invention;

[0026] Figure 6 This is a schematic structural diagram of the upper arm cuff of the present invention;

[0027] Figure 7 Schematic diagram of the structure of the matrix pressure sensor module of the present invention;

[0028] Figure 8 It is a structural schematic diagram of the telescopic arm mechanism of the present invention;

[0029] Figure 9 Schematic diagram of the structure of the three-axis wrist mechanism of the present invention;

[0030] Figure 10 This is a schematic structural diagram of the forearm cuff of the present invention;

[0031] Figure 11 Schematic diagram of the principle structure of the Z-axis rotation mechanism of the three-axis wrist mechanism of the present invention;

[0032] Sequence numbers in the figure: 1, movable base, 101, universal wheel, 102, openable cabinet door, 103, wiring hole, 104, cabinet groove area;

[0033] 2. Three-axis mobile platform, 201, Y-axis linear module, 202, Y-axis module slider, 203, Z-axis linear module, 204, Z-axis module slider, 205, X-axis module slider, 206, X-axis linear module, 207, stepper motor;

[0034] 3. Wheelchair;

[0035] 4. Back reversing mechanism, 401. Fixed pin, 402. Starting threaded hole, 403. Slider connecting plate, 404. Reversing base, 405. Reversing base shaft hole, 406. Reversing connecting rod, 407. Connecting rod needle roller bearing hole, 408. Connecting rod thrust ball bearing seat, 409. Thrust ball bearing, 410. Needle roller bearing, 411. Connecting rod pin hole;

[0036] 5. Shoulder three-axis mechanism, 501. Shoulder I axis connecting cover plate, 502. Connecting cover plate needle bearing hole, 503. Connecting cover plate thrust ball bearing seat, 504. Shoulder I axis wiring cover plate, 505. Brushless motor, 506. Shoulder I axis drive fixing plate, 507. Transmission coupling block, 508. Harmonic reducer, 509. Shoulder I axis connecting rod, 510. IMU module box, 511. Shoulder I axis connecting rod covering box cover, 512. Collection plate, 513. Shoulder I axis connecting rod covering box, 514. Shoulder II axis connecting rod, 515. Shoulder II

[0037] The shaft connecting rod covers the upper part of the box cover, 516, the shoulder II shaft connecting rod covers the lower part of the box cover, 517, the shoulder II shaft connecting rod covers the box, 518, the shoulder II shaft connecting rod is lower, 519, the shoulder I shaft connecting rod is lower;

[0038] 6. Retractable boom mechanism, 601. Boom upper part, 602. Linear motor push rod, 603. Linear motor fixing hole, 604. Linear motor push rod hole, 605. Linear guide slider, 606. Linear guide, 607. Boom lower cover, 608. Linear motor connecting block, 609. Boom upper cover, 610. Boom lower part;

[0039] 7. Upper arm cuff, 701. Upper arm cuff frame, 702. Upper arm cuff frame connecting hole, 703. Spring, 704. Connecting bolt, 705. Upper arm cuff lower, 706. Damping hinge, 707. Cuff fixing slot, 708. Cuff frame threaded hole;

[0040] 8. Retractable arm mechanism, 801. Arm upper part, 802. Arm upper cover, 803. Arm lower part, 804. Arm lower servo frame, 805. Arm lower needle roller bearing mounting hole, 806. Arm lower thrust ball bearing mounting seat, 807. Arm lower electric push rod connection hole, 808. Arm upper mounting slot;

[0041] 9. Forearm cuff, 901. Forearm cuff frame, 902. Forearm cuff frame threaded hole, 903. Forearm cuff frame mounting slot;

[0042] 10. Wrist three-axis mechanism, 1001. X-axis rotation rod, 1002. X-axis rotation rod sliding groove, 1003. Handle, 1004. Rotation rod bearing mounting hole, 1005. Rotation rod steering wheel mounting hole, 1006. Servo steering wheel, 1007. Servo mounting hole, 1008. Servo, 1009. Synchronous belt, 1010. Axial fixing gasket, 1011. Synchronous wheel, 1012-1. First transmission shaft, 1012-2. Second transmission shaft, 1012-3. Third transmission shaft, 1012-4. Fourth transmission shaft, 1012-5. Fifth transmission shaft Drive shaft, 1013, circumferential fixing screw, 1014, Z-axis rotation fixing bracket, 1015, drive shaft axial fixing hole, 1018, drive shaft circumferential fixing hole, 1019, Z-axis rotation connecting rod lower, 1020, Z-axis rotation connecting rod upper, 1021, Y-axis rotation rod, 1022, deep groove ball bearing, 1023, bearing mounting seat, 1025, Z-axis rotation block axial fixing hole, 1026, Z-axis rotation block circumferential fixing hole, 1027, Z-axis rotation block, 1028, X-axis rotation axis, 1029, Y-axis rotation axis, 1030, Z-axis rotation axis;

[0043] 11. Matrix pressure sensor module, 1101. Module frame lifting hole, 1102. Module frame, 1103. Module frame cover mounting hole, 1104. Module frame cover, 1105. Module frame mounting hole, 1106. Pressure sensing module reserved lifting hole, 1107. Pressure sensing module reserved mounting hole, 1108. Pressure sensing module quick-release head, 1109. Pressure sensing module pressure column cover, 1110. Reset spring, 1111. Spring base, 1112. Sensor pressure column, 113. Pressure film sensor, 1114. Support spring, 115. Pressure film sensor seat, 1116. Pressure film sensor seat lifting hole, 1117. Holding bolt, 1118. Spring base bolt hole, 1119. Pressure film sensor seat bolt hole, 1120. Pressure sensing module. DETAILED DESCRIPTION

[0044] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments:

[0045] Example 1

[0046] like Figure 1 As shown, a full-size chain upper limb rehabilitation exoskeleton with a matrix sensor includes a movable base 1, a three-axis mobile platform 2, a back reversing mechanism 4, a shoulder three-axis mechanism 5, a retractable upper arm mechanism 6, an upper arm cuff 7, a retractable lower arm mechanism 8, a lower arm cuff 9 and a wrist three-axis mechanism 10. The three-axis mobile platform 2 is arranged on the movable base 1, the back reversing mechanism 4 is arranged on the three-axis mobile platform 2, the shoulder three-axis mechanism 5 is arranged on the back reversing mechanism 4, the retractable upper arm mechanism 6 is arranged at the end of the shoulder three-axis mechanism 5, the upper arm cuff 7 and the retractable lower arm mechanism 8 are both arranged on the retractable upper arm mechanism 6, and the lower arm cuff 9 and the wrist three-axis mechanism 10 are arranged on the retractable lower arm mechanism 8;

[0047] The three-axis mobile platform 2 can move the arm exoskeleton composed of the back reversing mechanism 4, the shoulder three-axis mechanism 5, the retractable upper arm mechanism 6, the upper arm cuff 7, the retractable lower arm mechanism 8, the lower arm cuff 9, and the wrist three-axis mechanism 10, so as to facilitate the wearing of the exoskeleton by patients of different body shapes and ensure that the center of the shoulder three-axis mechanism 5 coincides with the center of the human glenohumeral joint during rehabilitation to adapt to the scapulohumeral rhythm of the upper limb.

[0048] like Figure 2As shown, the movable base 1 is provided with universal wheels 101 at the bottom, an openable cabinet door 102 on the side, and wiring holes 103 on the surface. The movable base 1 is provided with a cabinet groove area 104, and the cabinet groove area 104 is used to place the wheelchair 3; the universal wheels 101 facilitate the movement of the entire device, and its braking function can ensure that the device remains fixed when in use. The power supply and control equipment of the exoskeleton are placed inside the openable cabinet door 102. The wiring holes 103 ensure the wiring connection between the power supply and control equipment placed in the openable cabinet door 102 and equipment such as the three-axis mobile platform 2, and the cabinet groove area 104 ensures the space required for the patient to sit in the wheelchair 3 or stand and use the exoskeleton for rehabilitation training;

[0049] The three-axis mobile platform 2 includes two Y-axis linear modules 201, a Y-axis module slider 202, two Z-axis linear modules 203, a Z-axis module slider 204, an X-axis linear module 206, an X-axis module slider 205 and a stepper motor 207. The two Y-axis linear modules 201 are respectively installed on both sides of the movable base 1, the Y-axis module slider 202 is set on the Y-axis linear module 201, the two Z-axis linear modules 203 are respectively set on the two Y-axis linear modules 201, the Z-axis module slider 204 is set on the Z-axis linear module 203, the two ends of the X-axis linear module 206 are respectively set on the two Z-axis linear modules 203, the X-axis module slider 205 is set on the X-axis linear module 206, and the stepper motor 207 is used to drive the Y-axis linear module 201, the Z-axis linear module 203 and the X-axis linear module 206.

[0050] like Figure 3 As shown, the back reversing mechanism 4 includes a slider connecting plate 403, a reversing base 404 and a reversing connecting rod 406. The slider connecting plate 403 is arranged on the X-axis module slider 205, and the reversing base 404 is arranged on the slider connecting plate 403. The reversing base 404 is provided with a reversing base shaft hole 405. The reversing connecting rod 406 is provided with a connecting rod pin shaft hole 411 on one side and a connecting rod needle roller bearing hole 407 on the other side. The upper and lower edges of the connecting rod needle roller bearing hole 407 are provided with connecting rod thrust ball bearings. The hole seat 408, the connecting rod needle bearing hole 407 is provided with a needle bearing 410, the connecting rod thrust ball bearing hole seat 408 is provided with a thrust ball bearing 409, the connecting rod needle bearing hole 407 is connected to the reversing base shaft hole 405 through a fixed pin 401, and the fixed pin 401 is provided with a shaft threaded hole 402 to facilitate the disassembly of the mechanism. The reversing connecting rod 406 can rotate around the reversing base 404. At the same time, the thrust ball bearing 409 ensures that the axial friction of the structure is still small under heavy load.

[0051] The back reversing mechanism 4 can symmetrically replace the arm exoskeleton mechanism composed of the shoulder three-axis mechanism 5, the retractable upper arm mechanism 6, the upper arm cuff 7, the retractable lower arm mechanism 8, the lower arm cuff 9 and the wrist three-axis mechanism 10. The combined use of parts such as the thrust ball bearing 409 and the needle roller bearing 410 ensures that the back reversing mechanism 4 can still rotate circumferentially with less friction under large radial and axial loads.

[0052] like Figure 3 and Figure 4 As shown, the shoulder three-axis mechanism 5 includes a shoulder I axis connecting cover plate 501, a shoulder I axis driving fixing plate 506, a transmission coupling block 507, a shoulder I axis connecting rod upper portion 509, a shoulder I axis connecting rod covering box 513, a shoulder II axis connecting rod upper portion 514, a shoulder II axis connecting rod covering box upper portion 515, a shoulder II axis connecting rod covering box lower portion 516, a shoulder II axis connecting rod covering box 517, a shoulder II axis connecting rod lower portion 518, and a shoulder I axis connecting rod lower portion 519.

[0053] A connecting cover plate needle bearing hole 502 is provided on one side of the shoulder I shaft connecting cover plate 501, and a connecting cover plate thrust ball bearing seat 503 is provided on the upper and lower edges of the connecting cover plate needle bearing hole 502. A needle bearing 410 is provided in the connecting cover plate needle bearing hole 502, and a thrust ball bearing 409 is provided on the connecting cover plate thrust ball bearing seat 503. The connecting cover plate needle bearing hole 502 is connected to the connecting rod pin shaft hole 411 of the back reversing mechanism 4 through the fixed pin shaft 401, so that the shoulder I shaft connecting cover plate 501 can rotate around the reversing connecting rod 406. At the same time, the thrust ball bearing 409 ensures that the axial direction of the structure still has small friction under large load.

[0054] A shoulder I axis wiring cover plate 504 is provided on the other side of the shoulder I axis connection cover plate 501, and the other side of the shoulder I axis connection cover plate 501 is connected to the shoulder I axis connecting rod 509 through the shoulder I axis drive fixing plate 506. A brushless motor 505 is provided between the shoulder I axis connection cover plate 501 and the shoulder I axis drive fixing plate 506. A harmonic reducer 508 is provided between the shoulder I axis drive fixing plate 506 and the shoulder I axis connecting rod 509, and the brushless motor 505 and the harmonic reducer 508 are connected through a transmission coupling block 507.

[0055] The lower shoulder I-axis connecting rod 519 is connected to the upper shoulder I-axis connecting rod 509, and the axial sides of the lower shoulder I-axis connecting rod 519 are respectively connected to the shoulder I-axis connecting rod covering box 513 and the shoulder II-axis connecting rod upper 514. A brushless motor 505 is provided between the lower shoulder I-axis connecting rod 519 and the shoulder I-axis connecting rod covering box 513. A harmonic reducer 508 is provided between the lower shoulder I-axis connecting rod 519 and the shoulder II-axis connecting rod upper 514, and the brushless motor 505 and the harmonic reducer 508 are connected through a transmission coupling block 507. An imu module box 510, a hub plate 512 and a shoulder I-axis connecting rod covering box cover 511 are provided on the shoulder I-axis connecting rod covering box 513.

[0056] The shoulder II axis connecting rod lower 518 is connected to the shoulder II axis connecting rod upper 514, and a brushless motor 505 and a harmonic reducer 508 are respectively provided on both axial sides of the shoulder II axis connecting rod lower 518. The brushless motor 505 of the shoulder II axis connecting rod lower 518 is connected to the shoulder II axis connecting rod covering box 517, and the shoulder II axis connecting rod covering box upper 515 and the shoulder II axis connecting rod covering box lower 516 are arranged on the shoulder II axis connecting rod covering box 517. An imu module box 510 is provided between the shoulder II axis connecting rod covering box upper 515 and the shoulder II axis connecting rod covering box 517, and a hub plate 512 is provided between the shoulder II axis connecting rod covering box lower 516 and the shoulder II axis connecting rod covering box 517.

[0057] like Figure 5As shown, the telescopic boom mechanism 6 includes an upper boom 601, a linear motor push rod 602, a linear guide slider 605, a linear guide 606, a lower boom cover 607, a linear motor connecting block 608, an upper boom cover 609 and a lower boom 610. Two parallel linear guides 606 are respectively provided inside the upper boom 601 and on the lower boom cover 607. A linear guide slider 605 is provided on the linear guide 606. The lower arm 610 is arranged on the linear guide slider 605 of the upper arm 601, the lower arm cover 607 is arranged on the lower arm 610, the upper arm cover 609 is arranged on the linear guide slider 605 of the lower arm cover 607 and is connected to the upper arm 601, and the two linear motor push rods 602 are respectively arranged between the upper arm 601 and the lower arm 610 and between the lower arm 610 and the upper arm cover 609. 09, the linear motor push rod 602 between the upper arm 610 and the upper arm cover 609 is connected to the upper arm 601 through the linear motor fixing hole 603, and is connected to the lower arm 610 through the linear motor push rod hole 604, the linear motor push rod 602 between the upper arm 601 and the lower arm 610 is connected to the upper arm 601 through the linear motor fixing hole 603, and is connected to the lower arm 610 through the linear motor push rod hole 604, the linear motor push rod 602 between the lower arm 610 and the upper arm cover 609 is connected to the linear motor fixing hole 603 and the linear motor connecting block 608, and is connected to the lower arm cover 607 through the linear motor push rod hole 604, the design of the double-layer linear guide slider ensures the function and strength of the telescopic arm, and the double-layer linear motor push rod 602 ensures the telescopic power of the telescopic arm mechanism 6;

[0058] The upper boom 601 and lower boom 610 are driven by a double-layer linear motor push rod 602, increasing the load and fault tolerance of the telescopic boom mechanism 6. The upper boom 601 and lower boom 610 are connected by a double-layer, double-sided linear guide slider 605 and linear guide rail 606, totaling four, increasing the telescopic boom mechanism 6's resistance to bending and torque.

[0059] like Figure 6-Figure 7 As shown, the upper arm cuff 7 includes an upper arm cuff frame 701, a lower arm cuff 705 and a damping hinge 706. The upper arm cuff frame 701 is connected to the upper arm rod 601 of the telescopic upper arm mechanism 6 through the upper arm cuff frame connecting hole 702. The lower arm cuff 705 is connected to the upper arm cuff frame 701 through the damping hinge 706, so that the lower arm cuff 705 can rotate around the upper arm cuff frame 701, which is convenient for the patient to wear. The fixation between the lower arm cuff 705 and the upper arm cuff frame 701 is achieved by using a strap to pass through the cuff fixing slot 707. A plurality of matrix pressure sensor modules 11 are provided on the outer side wall of the upper arm cuff frame 701.

[0060] The matrix pressure sensor module 11 includes a module frame 1102, a module frame cover 1104, a support spring 1114, a clamping bolt 1117 and a pressure sensing module 1120. The module frame 1102 is provided with a module frame lifting hole 1101, a module frame mounting hole 1105, a pressure sensing module reserved lifting hole 1106 and a pressure sensing module reserved mounting hole 1107. The module frame cover 1104 is provided with a module frame cover mounting hole 1103. The spring base 1111 is provided with a spring base bolt hole 1118. The pressure film sensor seat 1115 is provided with a pressure film sensor hole 1119. The sensor seat lifting hole 1116 and the pressure film sensor seat bolt hole 1119, the upper arm sleeve frame 701 and the lower arm sleeve 705 are provided with a sleeve frame threaded hole 708, the connecting bolt 704 passes through the module frame lifting hole 1101 and is screwed into the sleeve frame threaded hole 708, and the matrix pressure sensor module 11 is controlled to rise and fall on the upper arm sleeve frame 701 and the lower arm sleeve 705 by tightening or loosening the connecting bolt 704. The spring 703 is installed on the stud of the connecting bolt 704 between the module frame lifting hole 1101 and the sleeve frame threaded hole 708 to ensure that the upper arm sleeve frame 701 and the upper arm sleeve A preset height is maintained between the lower sleeve 705 and the matrix pressure sensor module 11. The pressure sensing module 1120 includes a pressure film sensor seat 1115, a pressure film sensor 1113, a sensor pressure column 1112, a spring base 1111, a return spring 1110, a pressure sensing module pressure column cover 1109 and a pressure sensing module quick-release head 1108. The pressure film sensor 1113 is arranged in the pressure film sensor seat 1115, and the lower surface of the pressure film sensor 1113 is arranged on the sensor pressure column 1112. The column of the sensor pressure column 1112 passes through the spring base 11 11 and the return spring 1110 are connected to the pressure sensing module pressure column cover 1109, the end of the pressure sensing module pressure column cover 1109 is set on the pressure sensing module quick-release head 1108, the support spring 1114 is set on the stud of the clamping bolt 1117, the stud of the clamping bolt 1117 passes through the pressure film sensor seat lifting hole 1116 and the pressure sensing module reserved lifting hole 1106 to connect the pressure sensing module 1120 to the module frame 1102, and a plurality of pressure sensing modules 1120 are arranged in an array in the pressure sensing module reserved mounting hole 1107, and the module frame cover 1104 is set on the module frame 1102;

[0061] The pressure sensing module quick-release head 1108 can be quickly and easily removed from the pressure sensing module pressure column cover 1109, allowing for customization to better fit the contours of the human upper limb. The pressure sensing module quick-release head 1108 transmits human pressure to the pressure film sensor 1113 via the sensor pressure column 1112 connected to the pressure sensing module pressure column cover 1109, making it easier to trigger the pressure film sensor 1113. The reset spring 1110 allows the sensor pressure column 1112 to quickly leave the pressure film sensor 1113 after the external force on the pressure sensing module quick-release head 1108 is removed, and the tightening bolt 1117 is tightened, so that the pressure film sensor seat lifting hole 1116 can compress the support spring 1114 and thus make the pressure sensing module 1120 descend in the reserved mounting hole 1107 of the pressure sensing module. Conversely, the tightening bolt 1117 is loosened, and under the action of the support spring 1114, the pressure sensing module 1120 rises in the reserved mounting hole 1107 of the pressure sensing module.

[0062] like Figure 8 As shown, the telescopic arm mechanism 8 includes an upper arm rod 801, an upper arm rod cover 802, a lower arm rod 803, a lower arm rod servo frame 804, two lower arm rod thrust ball bearing mounting seats 806, a linear motor push rod 602 and a brushless motor 505. The upper arm rod 801 is provided with two parallel linear guide rails 606, and the linear guide rail 606 is provided with a linear guide rail slider 605. The lower arm rod 803 is arranged on the linear guide rail slider 605 and is connected to the upper arm rod 801 through the linear motor push rod 602. The lower arm rod servo frame 804 is arranged on the lower arm rod 803, and the lower arm rod thrust ball bearing mounting seat 806 is arranged on one side of the lower arm rod 803. An end portion is provided with a small arm lower electric push rod connecting hole 807, the small arm lower electric push rod connecting hole 807 is connected to the linear motor push rod hole 604, the small arm lower thrust ball bearing mounting seat 806 is provided with a thrust ball bearing 409, the small arm lower thrust ball bearing mounting seat 806 is provided with a small arm lower needle bearing mounting hole 805, the small arm lower needle bearing mounting hole 805 is provided with a needle bearing 410, the small arm upper cover 802 is provided on the small arm upper 801, the small arm upper 801 is connected to the upper arm lower 610 of the telescopic large arm mechanism 6 through the brushless motor 505, and the lower surface of the small arm upper 801 is provided with a small arm upper mounting groove 808.

[0063] like Figure 9As shown, the wrist three-axis mechanism 10 includes an X-axis rotation rod 1001, an X-axis rotation rod sliding groove 1002, a handle 1003, a steering gear steering wheel 1006, a steering gear 1008, a synchronous belt 1009, a synchronous pulley 1011, a first transmission shaft 1012-1, a second transmission shaft 1012-2, a third transmission shaft 1012-3, a fourth transmission shaft 1012-4, a fifth transmission shaft 1012-5, a Z-axis rotation fixing frame 1014, a Z-axis rotation connecting rod lower 1019, a Z-axis rotation connecting rod upper 1020, a Y-axis rotation rod 1021, a deep groove ball bearing 1022, a bearing mounting seat 1023 and a Z-axis rotation block 1027.

[0064] The X-axis rotating rod sliding groove 1002 is set on the upper surface of the X-axis rotating rod 1001, and the handgrip 1003 is located below the X-axis rotating rod 1001 and is slidably connected to the X-axis rotating rod sliding groove 1002. The installation position of the handgrip 1003 is adjusted by sliding in the X-axis rotating rod sliding groove 1002. The X-axis rotating rod 1001 passes through the rotating rod bearing mounting hole 1004 and is connected to the bearing mounting seat 1023 set on the Y-axis rotating rod 1021 through the deep groove ball bearing 1022, and is connected to the servo 1008 set on the Y-axis rotating rod 1021 through the servo steering wheel 1006. The Y-axis rotating rod 1021 is connected to the servo steering wheel 1006 through the servo steering wheel 1006. It is connected to the servo 1008 provided on the Z-axis rotating block 1027, and is connected to the bearing mounting seat 1023 provided on the Z-axis rotating block 1027 through a deep groove ball bearing 1022. The Z-axis rotating block 1027 is connected to the first transmission shaft 1012-1 on the Z-axis rotating fixed frame 1014 through the Z-axis rotating block axial fixing hole 1025, and is axially fixed to the transmission shaft circumferential fixing hole 1018 on the first transmission shaft 1012-1 through the Z-axis rotating block circumferential fixing hole 1026. A circumferential fixing screw 1013 is provided in the transmission shaft circumferential fixing hole 1018. The synchronous wheel 1011 on the first transmission shaft 1012-1 is connected to the second transmission shaft The synchronous wheel 1011 on 1012-2 is connected by a synchronous belt 1009, and the Z-axis rotating link lower 1019 and the Z-axis rotating link upper 1020 are fixedly connected by bolts. The two Z-axis rotating link lowers 1019 are respectively arranged on the third transmission shaft 1012-3 and the second transmission shaft 1012-2 of the Z-axis rotating fixed frame 1014, and the two Z-axis rotating link uppers 1020 are respectively arranged on the fifth transmission shaft 1012-5 and the fourth transmission shaft 1012-4. The fifth transmission shaft 1012-5 and the fourth transmission shaft 1012-4 are respectively arranged in the two small arm lower thrust ball bearing mounting seats 806 at one end of the small arm lower 803, and the small arm lower servo frame. The servo 1008 on 804 is provided with a servo steering wheel 1006. The synchronous wheel 1011 on the servo steering wheel 1006 is connected to the synchronous wheel 1011 on the fourth transmission shaft 1012-4 via a synchronous belt 1009. The synchronous belt 1009 serves to transmit the movement of the synchronous wheel 1011. The servo steering wheels 1006 are respectively connected to the X-axis rotation rod 1001 and the Y-axis rotation rod 1021 through the rotation rod servo steering wheel mounting holes 1005. The servos 1008 are connected to the corresponding rotation rods through the servo mounting holes 1007. The transmission shaft is provided with a transmission shaft axial fixing hole 1015, and an axial fixing gasket 1010 is provided in the transmission shaft axial fixing hole 1015.

[0065] like Figure 11As shown, the X-axis rotation axis 1028, the Y-axis rotation axis 1029 and the Z-axis rotation axis 1030 intersect at a point which is the wrist center, and the length of the line segment CD is the distance between the lower Z-axis rotation link 1019 and the upper Z-axis rotation link 1020. By adjusting the distance between the lower Z-axis rotation link 1019 and the upper Z-axis rotation link 1020, that is, the length of the line segment CD, the length of the line segment AB, that is, the position of the Z-axis rotation axis 1030, can be changed.

[0066] like Figure 10 As shown, the forearm cuff 9 includes a forearm cuff frame 901, a forearm cuff frame mounting slot 903 and an imu module box 510, the imu module box 510 is arranged at the bottom of the forearm cuff frame 901, the outer wall of the forearm cuff frame 901 is provided with a matrix pressure sensor module 11, the forearm cuff frame mounting slot 903 is arranged on the outer wall of the forearm cuff frame 901, and is connected to the mounting slot 808 on the forearm rod of the telescopic forearm mechanism 8, the spring 703 is installed on the stud of the connecting bolt 704 between the module frame lifting hole 1101 and the forearm cuff frame threaded hole 902, and the height of the matrix pressure sensor module 11 is controlled by adjusting the threaded engagement amount of the connecting bolt 704 in the forearm cuff frame threaded hole 902.

[0067] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A full-scale chain upper limb rehabilitation exoskeleton with matrix sensors, characterized by: The device comprises a movable base, a three-axis movable platform, a back reversing mechanism, a shoulder three-axis mechanism, a retractable upper arm mechanism, an upper arm cuff, a retractable lower arm mechanism, an lower arm cuff and a wrist three-axis mechanism, wherein the three-axis movable platform is arranged on the movable base, the back reversing mechanism is arranged on the three-axis movable platform, the shoulder three-axis mechanism is arranged on the back reversing mechanism, the retractable upper arm mechanism is arranged at the end of the shoulder three-axis mechanism, the upper arm cuff and the retractable lower arm mechanism are both arranged on the retractable upper arm mechanism, and the lower arm cuff and the wrist three-axis mechanism are arranged on the retractable lower arm mechanism; The upper arm cuff includes an upper arm cuff frame, a lower arm cuff and a damping hinge. The upper arm cuff frame is connected to the upper arm rod of the telescopic upper arm mechanism. The lower arm cuff is connected to the upper arm cuff frame through a damping hinge. A plurality of matrix pressure sensor modules are provided on the outer side wall of the upper arm cuff frame. The matrix pressure sensor module includes a module frame, a module frame cover, a support spring, a clamping bolt and a pressure sensing module. The module frame is provided with a module frame lifting hole, a module frame mounting hole, a pressure sensing module reserved lifting hole and a pressure sensing module reserved mounting hole. The module frame cover is provided with a module frame cover mounting hole, a spring base is provided with a spring base bolt hole, a pressure film sensor seat is provided with a pressure film sensor seat lifting hole and a pressure film sensor seat bolt hole. The pressure sensing module includes a pressure film sensor seat, a pressure film sensor, a sensor pressure column, a spring base, a reset spring, a pressure sensing module pressure column cover and a pressure sensing module. The pressure film sensor is arranged in the pressure film sensor seat, the lower surface of the pressure film sensor is arranged on the sensor pressure column, the column of the sensor pressure column is connected to the pressure sensing module pressure column cover through the spring base and the return spring, the end of the pressure sensing module pressure column cover is arranged on the pressure sensing module quick-release head, the support spring is arranged on the stud of the clamping bolt, the stud of the clamping bolt passes through the lifting hole of the pressure film sensor seat and the reserved lifting hole of the pressure sensing module to connect the pressure sensing module to the module frame, a plurality of pressure sensing module arrays are arranged in the reserved mounting hole of the pressure sensing module, and the module frame cover is arranged on the module frame; The forearm cuff includes a forearm cuff frame, a forearm cuff frame mounting slot and an imu module box, the imu module box is arranged at the bottom of the forearm cuff frame, the outer side wall of the forearm cuff frame is provided with a matrix pressure sensor module, the forearm cuff frame mounting slot is arranged on the outer side wall of the forearm cuff frame and is connected to the mounting slot on the forearm rod of the retractable forearm mechanism.

2. The full-scale chain upper limb rehabilitation exoskeleton with matrix sensors according to claim 1, characterized in that: The three-axis mobile platform includes two Y-axis linear modules, a Y-axis module slider, two Z-axis linear modules, a Z-axis module slider, an X-axis linear module, an X-axis module slider and a stepper motor. Two Y-axis linear modules are respectively installed on both sides of the movable base, the Y-axis module slider is set on the Y-axis linear module, the two Z-axis linear modules are respectively set on the two Y-axis linear modules, the Z-axis module slider is set on the Z-axis linear module, the two ends of the X-axis linear module are respectively set on the two Z-axis linear modules, the X-axis module slider is set on the X-axis linear module, and the stepper motor is used to drive the Y-axis linear module, the Z-axis linear module and the X-axis linear module.

3. The full-scale chain upper limb rehabilitation exoskeleton with matrix sensors according to claim 1, characterized in that: The back reversing mechanism includes a slider connecting plate, a reversing base and a reversing connecting rod. The slider connecting plate is arranged on the X-axis module slider, and the reversing base is arranged on the slider connecting plate. The reversing base is provided with a reversing base shaft hole, a connecting rod pin shaft hole is provided on one side of the reversing connecting rod, and a connecting rod needle roller bearing hole is provided on the other side. The upper and lower edges of the connecting rod needle roller bearing hole are provided with connecting rod thrust ball bearing hole seats, a needle roller bearing is provided in the connecting rod needle roller bearing hole, and a thrust ball bearing is provided on the connecting rod thrust ball bearing hole seat. The connecting rod needle roller bearing hole is connected to the reversing base shaft hole by a fixed pin shaft.

4. The full-scale chain upper limb rehabilitation exoskeleton with matrix sensors according to claim 1, characterized in that: The shoulder three-axis mechanism includes a shoulder I axis connecting cover plate, a shoulder I axis driving fixing plate, a transmission coupling block, a shoulder I axis connecting rod upper part, a shoulder I axis connecting rod covering box, a shoulder II axis connecting rod upper part, a shoulder II axis connecting rod covering box upper part, a shoulder II axis connecting rod covering box lower part, a shoulder II axis connecting rod covering box, a shoulder II axis connecting rod lower part, and a shoulder I axis connecting rod lower part. A connecting cover plate needle bearing hole is provided on one side of the shoulder I shaft connecting cover plate, and a connecting cover plate thrust ball bearing seat is provided on the upper and lower edges of the connecting cover plate needle bearing hole. A needle bearing is provided in the connecting cover plate needle bearing hole, and a thrust ball bearing is provided on the connecting cover plate thrust ball bearing seat. The connecting cover plate needle bearing hole is connected to the connecting rod pin shaft hole of the back reversing mechanism through a fixed pin shaft. The other side of the shoulder I shaft connecting cover plate is connected to the shoulder I shaft connecting rod through the shoulder I shaft driving fixing plate. A brushless motor is provided between the shoulder I shaft connecting cover plate and the shoulder I shaft driving fixing plate. A harmonic reducer is provided between the shoulder I shaft driving fixing plate and the shoulder I shaft connecting rod, and the brushless motor and the harmonic reducer are connected through a transmission coupling block. The lower part of the shoulder I axis connecting rod is connected to the upper part of the shoulder I axis connecting rod, and the axial sides of the lower part of the shoulder I axis connecting rod are respectively connected to the shoulder I axis connecting rod covering box and the shoulder II axis connecting rod. A brushless motor is provided between the lower part of the shoulder I axis connecting rod and the shoulder I axis connecting rod covering box, a harmonic reducer is provided between the lower part of the shoulder I axis connecting rod and the shoulder II axis connecting rod, and an imu module box, a hub plate and a shoulder I axis connecting rod covering box cover are provided on the shoulder I axis connecting rod covering box. The lower part of the shoulder II axis connecting rod is connected to the upper part of the shoulder II axis connecting rod, and a brushless motor and a harmonic reducer are respectively provided on both sides of the lower axis of the shoulder II axis connecting rod. The brushless motor under the shoulder II axis connecting rod is connected to the shoulder II axis connecting rod covering box, and the upper part of the shoulder II axis connecting rod covering box cover and the lower part of the shoulder II axis connecting rod covering box cover are arranged on the shoulder II axis connecting rod covering box, an imu module box is provided between the upper part of the shoulder II axis connecting rod covering box cover and the shoulder II axis connecting rod covering box, and a hub plate is provided between the lower part of the shoulder II axis connecting rod covering box cover and the shoulder II axis connecting rod covering box.

5. The full-scale chain upper limb rehabilitation exoskeleton with matrix sensors according to claim 1, characterized in that: The telescopic boom mechanism includes a boom upper portion, a linear motor push rod, a linear guide slider, a linear guide rail, a boom lower cover, a linear motor connecting block, a boom upper cover and a boom lower portion. Two parallel linear guide rails are respectively arranged on the upper interior of the big arm and on the lower cover of the big arm, a linear guide rail slider is arranged on the linear guide rail, the lower part of the big arm is arranged on the linear guide rail slider on the big arm, the lower cover of the big arm is arranged on the lower part of the big arm, the upper cover of the big arm is arranged on the linear guide rail slider of the lower cover of the big arm and connected to the upper part of the big arm, the linear motor connecting block is arranged on the upper cover of the big arm, and two linear motor push rods are respectively arranged between the upper part of the big arm and the lower part of the big arm and between the lower part of the big arm and the upper cover of the big arm. The linear motor push rod between the lower part of the boom and the upper cover of the boom is connected to the upper part of the boom through the linear motor fixing hole, and is connected to the lower part of the boom through the linear motor push rod hole. The linear motor push rod between the upper part of the boom and the lower part of the boom is connected to the upper part of the boom through the linear motor fixing hole, and is connected to the lower part of the boom through the linear motor push rod hole. The linear motor push rod between the lower part of the boom and the upper cover of the boom is connected to the linear motor fixing hole and the linear motor connecting block, and is connected to the lower cover of the boom through the linear motor push rod hole.

6. The full-scale chain upper limb rehabilitation exoskeleton with matrix sensors according to claim 1, characterized in that: The retractable arm mechanism includes an upper arm rod, an upper arm rod cover, a lower arm rod, a lower arm rod servo frame, a lower arm rod thrust ball bearing mounting seat, a linear motor push rod and a brushless motor. The upper surface of the small arm is provided with two parallel linear guide rails, and the linear guide is provided with a linear guide slider. The lower part of the small arm is arranged on the linear guide slider and is connected to the small arm through a linear motor push rod. The lower servo frame of the small arm is arranged on the lower part of the small arm, and the lower thrust ball bearing mounting seat of the small arm is arranged at one end part of the lower part of the small arm. The lower thrust ball bearing mounting seat of the small arm is provided with a thrust ball bearing, and the lower thrust ball bearing mounting seat of the small arm is provided with a small arm lower needle bearing mounting hole, and the lower needle bearing mounting hole of the small arm is provided with a needle bearing. The small arm upper cover is arranged on the upper part of the small arm, and the upper part of the small arm is connected to the lower part of the large arm of the telescopic large arm mechanism through a brushless motor. The lower surface of the small arm is provided with a small arm upper mounting groove.

7. The full-scale chain upper limb rehabilitation exoskeleton with matrix sensors according to claim 1, characterized in that: The wrist three-axis mechanism includes an X-axis rotating rod, an X-axis rotating rod sliding groove, a handgrip, a steering gear steering wheel, a steering gear, a synchronous belt, a synchronous wheel, a first transmission shaft, a second transmission shaft, a third transmission shaft, a fourth transmission shaft, a fifth transmission shaft, a Z-axis rotating fixed frame, a Z-axis rotating connecting rod lower, a Z-axis rotating connecting rod upper, a Y-axis rotating rod, a deep groove ball bearing, a bearing mounting seat and a Z-axis rotating block. The X-axis rotating rod sliding groove is arranged on the X-axis rotating rod, the handgrip is located below the X-axis rotating rod and is slidably connected to the X-axis rotating rod sliding groove, the X-axis rotating rod is connected to the bearing mounting seat arranged on the Y-axis rotating rod through a deep groove ball bearing, and is connected to the servo arranged on the Y-axis rotating rod through a servo steering wheel, the Y-axis rotating rod is connected to the servo arranged on the Z-axis rotating block through the servo steering wheel, and is connected to the bearing mounting seat arranged on the Z-axis rotating block through a deep groove ball bearing, the Z-axis rotating block is connected to the first transmission shaft on the Z-axis rotating fixed frame through the axial fixing hole of the Z-axis rotating block, and is connected to the transmission on the first transmission shaft through the circumferential fixing hole of the Z-axis rotating block. The dynamic shaft is axially fixed by a circumferential fixing hole. The synchronous wheel on the first transmission shaft is connected to the synchronous wheel on the second transmission shaft by a synchronous belt. The lower part of the Z-axis rotating link and the upper part of the Z-axis rotating link are fixedly connected by bolts. The two lower parts of the Z-axis rotating link are respectively arranged on the third transmission shaft and the second transmission shaft of the Z-axis rotating fixed frame. The two upper parts of the Z-axis rotating link are respectively arranged on the fifth transmission shaft and the fourth transmission shaft. The fifth transmission shaft and the fourth transmission shaft are respectively arranged in the two lower thrust ball bearing mounting seats of the small arm at the lower end of the small arm. The servo on the servo frame under the small arm is provided with a servo steering wheel. The synchronous wheel on the servo steering wheel is connected to the synchronous wheel on the fourth transmission shaft by a synchronous belt.

8. The full-scale chain upper limb rehabilitation exoskeleton with matrix sensors according to claim 1, characterized in that: The bottom of the movable base is provided with universal wheels, the side is provided with an openable cabinet door, the surface is provided with wiring holes, and the movable base is provided with a cabinet groove area, and the cabinet groove area is used to place a wheelchair.

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