Elbow joint rehabilitation exoskeleton based on upper limb gravity compensation

Abstract

The application relates to an elbow joint rehabilitation exoskeleton based on upper limb gravity compensation, which comprises a backpack system, a driving device, a Bowden wire, an upper limb gravity compensation mechanism and an upper limb exoskeleton, wherein the driving device comprises a motor, a support base, a support rod, a winding disc, a support top disc, a bearing, a Bowden wire first joint, a Bowden wire second joint, a first steel wire rope and a second steel wire rope; the upper limb exoskeleton comprises a first forearm support, a second forearm support, a bearing inner disc, a bearing outer disc, a constraint disc, a corrugated sleeve, a nickel-titanium alloy rod and an upper arm binding support; the upper limb gravity compensation mechanism comprises an exoskeleton first fixing plate, an exoskeleton second fixing plate, a first carbon fiber tube, a first connecting piece, a second carbon fiber tube, a rotating pair bearing seat, a rotating pair shaft, a third carbon fiber tube, a second connecting piece, a fourth carbon fiber tube, a first universal hinge, a third steel wire rope, a second universal hinge bearing seat, a second universal hinge outer rotating pair and an elastic potential energy storage device.

Description

TECHNICAL FIELD

[0001] The application relates to an elbow joint rehabilitation exoskeleton based on upper limb gravity compensation. BACKGROUND

[0002] Most of the conventional upper limb gravity compensation mechanisms are designed based on the gravity compensation principle of zero-length springs, but the mechanism designed by the method can only realize gravity compensation in the sagittal plane, and the degrees of freedom of the mechanism cannot help the wearer of the exoskeleton to move arbitrarily in a space range, and the initial length of the spring needs to be zero in principle, which does not exist in reality.

[0003] Most of the conventional elbow joint rehabilitation exoskeletons treat the elbow joint as a fixed-axis rotating pair, but according to the analysis of human anatomy, the size of the human elbow joint is quite different, and the movement form is not a fixed-axis transmission, but a trochoidal motion formed between the trochlea of the humerus and the semilunar notch of the ulna, so the fixed-axis rotating mode to drive the elbow joint bending will make the patient feel uncomfortable, and even cause secondary injury. SUMMARY

[0004] The purpose of the application is to provide an elbow joint rehabilitation exoskeleton with a space gravity compensation function and capable of making the elbow joint rehabilitation process have flexibility, and the technical scheme is as follows:

[0005] An elbow joint rehabilitation exoskeleton based on upper limb gravity compensation, comprising a backpack system 1, a driving device 2, a Bowden cable 3, an upper limb gravity compensation mechanism 4 and an upper limb exoskeleton 5, wherein,

[0006] The backpack system 1 comprises a back plate 12;

[0007] The driving device 2 comprises a motor 21, a support chassis 22, a support rod 23, a winding disc 24, a support top disc 25, a bearing 26, a Bowden cable first joint 27, a Bowden cable second joint 28, a first steel wire rope 29 and a second steel wire rope 210; the Bowden cable 3 comprises a first Bowden cable 31 and a second Bowden cable 32; the support chassis 22 and the support top disc 25 are fixedly connected with the back plate 12, the output end of the motor 21 is fixedly connected with the winding disc 24, the winding disc 24 is further connected to the support top disc 25 through the bearing 26, the support rod 23 is connected between the support chassis 22 and the support top disc 25, the first Bowden cable 31 and the second Bowden cable 32 are fixed to different positions of the support rod 23 through the Bowden cable first joint 27 and the Bowden cable second joint 28 respectively, and the first steel wire rope 29 and the second steel wire rope 210 are wound on the winding disc 24 respectively, and then pass through the Bowden cable first joint 27 and the Bowden cable second joint 28 to enter the first Bowden cable 31 and the second Bowden cable 32 respectively;

[0008] The upper limb exoskeleton 5 comprises a first forearm support 53, a second forearm support 55, a forearm posture sensor 56, a bearing inner disc 57, a bearing outer disc 58, a constraint disc 59, a corrugated sleeve 510, a nickel-titanium alloy rod 511 and an upper arm binding support 512; the first forearm support 53 is connected with the second forearm support 55, the second forearm support 55 is connected with the bearing inner disc 57, and the bearing inner disc 57 is matched with the bearing outer disc 58 through a thin-wall bearing; two rows of constraint discs 59 are arranged between the bearing outer disc 58 and the upper arm binding support 512, the constraint discs 59 at both ends are fixedly connected with the bearing outer disc 58 and the upper arm binding support 512 respectively, the two rows of constraint discs 59 are fixed on one nickel-titanium alloy rod 511 through a thrust ring respectively, the corrugated sleeve 510 is arranged between adjacent constraint discs 59, the first steel wire rope 29 and the second steel wire rope 210 pass through the through holes of the two rows of constraint discs 59 respectively, one end of the first steel wire rope 29 and the second steel wire rope 210 is connected to the constraint disc 59 fixedly connected with the bearing outer disc 58 respectively, and the other end passes through the first Bowden cable 31 and the second Bowden cable 32 respectively, the driving device 2 pulls the first steel wire rope 29 and the second steel wire rope 210, causing the bending of the nickel-titanium alloy rod 511, thereby driving the flexion and extension movement of the elbow joint;

[0009] The upper limb gravity compensation mechanism 4 comprises an exoskeleton first fixed plate 41, an exoskeleton second fixed plate 42, a first carbon fiber pipe 43, a first connecting piece 44, a second carbon fiber pipe 45, a rotating pair bearing seat 46, a rotating pair shaft 47, a third carbon fiber pipe 48, a second connecting piece 49, a fourth carbon fiber pipe 410, a first universal hinge 411, a third steel wire rope 412, a second universal hinge bearing seat 414, a second universal hinge outer rotating pair 415 and an elastic potential energy storage device 416; the second universal hinge bearing seat 414 is connected with the back plate 12; the first carbon fiber pipe 43 is connected with the upper limb exoskeleton 5; the third steel wire rope 412 comprises an I end 4121 and a II end 4122;

[0010] The first carbon fiber pipe 43 and the second carbon fiber pipe 45 are perpendicular to each other and are fixedly connected through the first connecting piece 44; the tail end of the second carbon fiber pipe 45 is fixedly connected with the rotating pair bearing seat 46, the rotating pair bearing seat 46 is matched with the rotating pair shaft 47 through a bearing, and the rotating pair shaft 47 can rotate around the rotating pair bearing seat 46; the rotating pair shaft 47 is fixed with the third carbon fiber pipe 48, the third carbon fiber pipe 48 and the fourth carbon fiber pipe 410 are perpendicular to each other and are fixedly connected through the second connecting piece 49; the fourth carbon fiber pipe 410 is connected with the first universal hinge 411;

[0011] The second universal hinge bearing seat 414 is matched with the second universal hinge outer rotary pair 415 through a bearing, the second universal hinge outer rotary pair 415 can rotate around the second universal hinge bearing seat 414, the second universal hinge outer rotary pair 415 is matched with the elastic potential energy storage device 416 through a bearing, the elastic potential energy storage device 416 can rotate around the second universal hinge outer rotary pair 415, the third steel wire rope I end 4121 is fixedly connected with the elastic potential energy storage device 416, the third steel wire rope 412 passes through the first universal hinge pulley 4115 on the first universal hinge 411, and the third steel wire rope II end 4122 is wound back to the winding plate of the elastic potential energy storage device 416 in a certain winding mode.

[0012] The first universal hinge 411 of the upper limb gravity compensation mechanism comprises a third connecting piece 4111, a first universal hinge bearing seat 4112, a first universal hinge outer rotary pair 4113, a first universal hinge inner rotary pair 4114 and a first universal hinge pulley 4115; the fourth carbon fiber pipe 410 is fixedly connected with the third connecting piece 4111, the third connecting piece 4111 is fixedly connected with the first universal hinge bearing seat 4112, the first universal hinge bearing seat 4112 is matched with the first universal hinge outer rotary pair 4113 through a bearing, the first universal hinge outer rotary pair 4113 can rotate around the first universal hinge bearing seat 4112, the first universal hinge outer rotary pair 4113 is matched with the first universal hinge inner rotary pair 4114 through a bearing, the first universal hinge inner rotary pair 4114 can rotate around the first universal hinge outer rotary pair 4113, the first universal hinge inner rotary pair 4114 is matched with the first universal hinge pulley 4115 through a bearing, the first universal hinge pulley 4115 can rotate around the first universal hinge inner rotary pair 4114, and the third steel wire 412 passes through the groove on the first universal hinge pulley 4115.

[0013] Further, when the motor 21 is driven, the lengths of the first steel wire rope 29 and the second steel wire rope 210 are equal, and the directions are the same.

[0014] Further, a relative sliding mechanism comprising a forearm adjustment cam handle 54 is arranged between the first forearm support 53 and the second forearm support 55, so that the first forearm support 53 and the second forearm support 55 can move relatively, and the relative position is adjusted by the forearm adjustment cam handle 54.

[0015] Further, the upper limb exoskeleton 5 further comprises a handle 51 and a force sensor 52, and the handle 51 is connected with the first forearm support 53 through the force sensor 52.

[0016] Further, an upper arm posture sensor 513 is arranged on the upper arm binding support 512, and a forearm posture sensor 56 is arranged on the second forearm support 55.

[0017] Further, the upper limb gravity compensation mechanism 4 further comprises a rear bracket 413, an exoskeleton first fixed plate 41 and an exoskeleton second fixed plate 42, the second universal hinge bearing seat 414 is fixedly connected to the back plate 12 through the rear bracket 413; the exoskeleton first fixed plate 41 and the exoskeleton second fixed plate 42 are fixedly connected with the upper limb exoskeleton 5; the first carbon fiber pipe 43 is sequentially connected with the exoskeleton first fixed plate 41 and the exoskeleton second fixed plate 42.

[0018] Further, the elastic potential energy storage device 416 of the upper limb gravity compensation mechanism comprises a second universal hinge inner rotating pair 4161, a top cover 4162, a first winding plate 4163, an optical axis 4164, a linear bearing 4165, a compression spring 4166, a second winding plate 4167 and a thrust ring 4168; the second universal hinge outer rotating pair 415 is matched with the second universal hinge inner rotating pair 4161 through a bearing, the second universal hinge inner rotating pair 4161 can rotate around the second universal hinge outer rotating pair 415, the second universal hinge inner rotating pair 4161 is connected to the first winding plate 4163 through the top cover 4162, the third steel wire rope I end 4121 is fixed with the second universal hinge inner rotating pair 4161 through the thrust ring 4168, the third steel wire rope II end 4122 is parallel with the third steel wire rope I end 4121 and is sequentially wound between the first winding plate 4163 and the second winding plate 4167.

[0019] Further, a through groove is arranged at the relative position of the first winding plate 4163 and the second winding plate 4167, and a row of pulleys with grooves is arranged in the two through grooves, and the third steel wire rope is sequentially wound between the two rows of pulleys.

[0020] The elbow joint rehabilitation exoskeleton adopts a space gravity compensation with a spring as an elastic element, and a rehabilitation form with a nickel-titanium alloy material deformation driving elbow joint bending, and has the following advantages compared with the prior art:

[0021] (1) The upper arm moves in space and the gravity is compensated. The present application can not only meet the movement of the upper arm in space, but also improve the original zero-length spring gravity compensation method compared with the traditional gravity compensation structure.

[0022] (2) The elbow joint rehabilitation process has flexibility. The structure of the elbow joint rehabilitation mechanism of the present application is more consistent with human anatomy than the structure of the fixed shaft rotating pair rehabilitation mechanism, and the rehabilitation training process is more flexible. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 It is a first perspective view of the structure of the elbow joint rehabilitation exoskeleton based on the upper limb gravity compensation of the present application.

[0024] Figure 2A second perspective view of the structure of an upper limb gravity compensation-based elbow joint rehabilitation exoskeleton according to the present application.

[0025] Figure 3 For Figure 1 A driving device structure of an upper limb gravity compensation-based elbow joint rehabilitation exoskeleton.

[0026] Figure 4 For Figure 1 An upper limb gravity compensation structure of an upper limb gravity compensation-based elbow joint rehabilitation exoskeleton.

[0027] Figure 5 For Figure 4 A first universal hinge structure of the upper limb gravity compensation structure.

[0028] Figure 6 For Figure 4 An elastic potential energy storage device structure of the upper limb gravity compensation structure.

[0029] Figure 7 To reduce Figure 6 A schematic diagram of the compression spring stroke in the elastic potential energy storage device.

[0030] Figure 8 For Figure 1 An upper limb exoskeleton structure of an upper limb gravity compensation-based elbow joint rehabilitation exoskeleton.

[0031] Explanation of reference signs

[0032] 1 - carrying system; 11 - double shoulder strap; 12 - back plate; 2 - driving device; 21 - motor; 22 - support base; 23 - support rod; 24 - winding reel; 25 - support top disc; 26 - bowden wire first joint; 27 - bowden wire second joint; 28 - first steel wire rope; 29 - second steel wire rope; 3 - bowden wire; 31 - first bowden wire; 32 - second bowden wire; 4 - upper limb gravity compensation mechanism; 41 - exoskeleton first fixed plate; 42 - exoskeleton second fixed plate; 43 - first carbon fiber tube; 44 - first connecting piece; 45 - second carbon fiber tube; 46 - rotating pair bearing seat; 47 - rotating pair shaft; 48 - third carbon fiber tube; 49 - second connecting piece; 410 - fourth carbon fiber tube; 411 - first universal hinge; 4111 - third connecting piece; 4112 - first universal hinge bearing seat; 4113 - first universal hinge outer rotating pair; 4114 - first universal hinge inner rotating pair; 4115 - first universal hinge pulley; 412 - third steel wire rope; 4121 - third steel wire rope I end; 4122 - third steel wire rope II end; 413 - rear support; 414 - second universal hinge bearing seat; 415 - second universal hinge outer rotating pair; 416 - elastic potential energy storage device; 4161 - second universal hinge inner rotating pair; 4162 - top cover; 4163 - first winding plate; 4164 - optical axis; 4165 - linear bearing; 4166 - compression spring; 4167 - second winding plate; 4168 - thrust ring; 5 - upper limb exoskeleton; 51 - handle; 52 - force sensor; 53 - first forearm support; 54 - forearm adjustment cam handle; 55 - second forearm support; 56 - forearm posture sensor; 57 - bearing inner disc; 58 - bearing outer disc; 59 - constraint disc; 510 - corrugated sleeve; 511 - nickel-titanium alloy rod; 512 - upper arm binding support; 513 - upper arm posture sensor. DETAILED DESCRIPTION

[0033] In order to solve the problem of gravity compensation, the application first starts from the degree of freedom of the gravity compensation mechanism, designs a mechanism that meets the degree of freedom of the upper limb, and then improves the gravity compensation method of the zero-length spring. The stretching spring is replaced by a compression spring, but the stroke of the compression spring leads to a large volume of the compression spring. Therefore, a tension amplification mechanism based on flexible cable is used to reduce the stroke required by the compression spring.

[0034] In order to solve the problem of the rotating exoskeleton, the deformation of the nickel-titanium alloy material is used to drive the elbow joint to bend. The deformation of the nickel-titanium alloy material can adapt to the bending angle of the elbow joint. The deformation of the nickel-titanium alloy material is realized by driving the steel wire rope distributed on the arm. This driving form is consistent with the distribution form of human muscles, which can effectively ensure the safety of the patient's rehabilitation.

[0035] The elbow joint rehabilitation exoskeleton of the present application comprises a backpack system, a driving device, a Bowden cable, an upper limb gravity compensation mechanism and an upper limb exoskeleton.

[0036] The backpack system is fixed on the back of the human body, and is used for placing the driving device and the circuit system, and provides a fixing point for the upper limb gravity compensation mechanism.

[0037] The driving device is fixedly connected with the backpack system, and the steel wire rope passes through the Bowden cable from the driving device and is remotely connected to the upper limb exoskeleton, and can actively drive the upper limb exoskeleton to bend.

[0038] The upper limb exoskeleton is provided with a posture sensor and a force sensor at the end, and the force sensor is provided with a handle, and the bending of the upper limb exoskeleton can be assisted by the user according to the force detected by the force sensor and the upper limb posture.

[0039] The upper limb gravity compensation mechanism comprises a rotating pair and two universal joint pairs, and the degrees of freedom of the mechanism are equal to the degrees of freedom of the shoulder joint according to the Kutzbach-Grbler formula, that is, the user can move arbitrarily in space.

[0040] The universal joint pairs of the upper limb gravity compensation mechanism are equivalent to two rotating pairs, the extension spring is replaced by a compression spring, the condition that the free length of the spring is zero can be solved, and the problem of large compression stroke brought by the compression spring is solved through a tension amplification mechanism.

[0041] After the above mechanism is connected, the user holds the handle, wears the exoskeleton on the arm, and fixes the exoskeleton and the upper arm through the binding structure. When the user applies a force to the handle, the upper limb exoskeleton can actively bend under the action of the driving device according to the control strategy, and the bending shape can adapt to the bending angle of the elbow joint of the human upper limb, so as to assist the user to complete the rehabilitation training. The shoulder joint of the user can be arbitrarily rotated during the rehabilitation process, and the upper limb gravity compensation mechanism provides a force to the human upper arm to compensate the upper limb fatigue caused by the torque of the upper limb and the exoskeleton gravity.

[0042] The present application will be further described in combination with the drawings and examples.

[0043] As shown in Figure 1 and Figure 2 , the present application provides an elbow joint rehabilitation exoskeleton based on upper limb gravity compensation, which comprises a backpack system 1, a driving device 2, a Bowden cable 3, an upper limb gravity compensation mechanism 4 and an upper limb exoskeleton 5. The backpack system 1 mainly comprises a double shoulder strap 11 and a back plate 12, and the user is fixed with the back of the user by wearing the double shoulder strap 11. The double shoulder strap 11 and the back plate 12 are fixedly connected by bolts.

[0044] As shown in Figure 3As shown, the driving device 2 mainly consists of a motor 21, a support base 22, a support rod 23, a winding disc 24, a support top 25, a bearing 26, a Bowden wire first joint 27, a Bowden wire second joint 28, a first steel wire rope 29, and a second steel wire rope 210. The Bowden wire 3 mainly consists of a first Bowden wire 31 and a second Bowden wire 32. The support base 22 and the support top 25 are respectively fixed to the back plate 12 by bolts. The motor 21 is fixed to the support base 22 by bolts. The output end of the motor 21 is fixed to the winding disc 24 by bolts. The winding disc 24 is in clearance fit with the inner ring of the bearing 26. The support top 25 is in clearance fit with the outer ring of the bearing 26. There are four support rods 23, which are respectively fixed to the support base 22 and the support top 25 by bolts. One of the support rods 23 has two threaded holes. The Bowden wire first joint 27 and the Bowden wire second joint 28 are respectively matched with the two threaded holes. The ends of the Bowden wire first joint 27 and the Bowden wire second joint 28 are respectively fixed to the first Bowden wire 31 and the second Bowden wire 32 by clamping. The first steel wire rope 29 and the second steel wire rope 210 are respectively wound on the winding disc 24, and then respectively pass through the Bowden wire first joint 27 and the Bowden wire second joint 28 to enter the first Bowden wire 31 and the second Bowden wire 32. When the motor 21 is driven, the lengths of the first steel wire rope 29 and the second steel wire rope 210 are equal, and the directions are the same.

[0045] As Figure 4As shown, the upper limb gravity compensation mechanism 4 is mainly composed of an exoskeleton first fixed plate 41, an exoskeleton second fixed plate 42, a first carbon fiber pipe 43, a first connecting piece 44, a second carbon fiber pipe 45, a rotating pair bearing seat 46, a rotating pair shaft 47, a third carbon fiber pipe 48, a second connecting piece 49, a fourth carbon fiber pipe 410, a first universal hinge 411, a third steel wire rope 412, a rear bracket 413, a second universal hinge bearing seat 414, a second universal hinge outer rotating pair 415, and an elastic potential energy storage device 416. The I end of the third steel wire rope 412 is 4121, and the II end of the third steel wire rope 412 is 4122. The exoskeleton first fixed plate 41 and the exoskeleton second fixed plate 42 are respectively fixedly connected with the upper limb exoskeleton 5 through bolts, the first carbon fiber pipe 43 passes through the exoskeleton first fixed plate 41 and the exoskeleton second fixed plate 42 and is fixed through bolts, the first carbon fiber pipe 43 and the second carbon fiber pipe 45 are perpendicular to each other and are fixedly connected through the first connecting piece 44, the end of the second carbon fiber pipe 45 is fixedly connected with the rotating pair bearing seat 46 through a bolt, the rotating pair bearing seat 46 is matched with the rotating pair shaft 47 through a bearing, the rotating pair shaft 47 can rotate around the rotating pair bearing seat 46, the rotating pair shaft 47 is fixed with the third carbon fiber pipe 48 through a bolt, the central axis of the third carbon fiber pipe 48 coincides with the upper arm axis, the third carbon fiber pipe 48 and the fourth carbon fiber pipe 410 are perpendicular to each other and are fixedly connected through the second connecting piece 49, the fourth carbon fiber pipe 410 is connected with the first universal hinge 411, the rear bracket 413 is fixedly connected with the back plate 12 through a bolt, the second universal hinge bearing seat 414 is fixedly connected with the rear bracket 413 through a bolt, the second universal hinge bearing seat 414 is matched with the second universal hinge outer rotating pair 415 through a bearing, the second universal hinge outer rotating pair 415 can rotate around the second universal hinge bearing seat 414, the second universal hinge outer rotating pair 415 is matched with the elastic potential energy storage device 416 through a bearing, the elastic potential energy storage device 416 can rotate around the second universal hinge outer rotating pair 415, the I end 4121 of the third steel wire rope 412 is fixedly connected with the elastic potential energy storage device 416, the third steel wire rope 412 passes through the first universal hinge sliding pulley 4115 on the first universal hinge 411, and the II end 4122 of the third steel wire rope 412 is wound back to the winding plate of the elastic potential energy storage device 416 in a certain winding manner.

[0046] As Figure 5As shown, the first universal hinge 411 of the upper limb gravity compensation mechanism is mainly composed of the third connecting member 4111; the first universal hinge bearing seat 4112; the outer rotating joint of the first universal hinge 4113; the inner rotating joint of the first universal hinge 4114; and the first universal hinge pulley 4115. The fourth carbon fiber tube 410 is fixedly connected to the third connector 4111 by bolts. The third connector 4111 is fixedly connected to the first universal hinge bearing seat 4112 by bolts. The first universal hinge bearing seat 4112 is engaged with the outer rotating joint 4113 of the first universal hinge by bearings. The outer rotating joint 4113 of the first universal hinge can rotate around the first universal hinge bearing seat 4112. The outer rotating joint 4113 of the first universal hinge is engaged with the inner rotating joint 4114 of the first universal hinge by bearings. The inner rotating joint 4114 of the first universal hinge can rotate around the outer rotating joint 4113 of the first universal hinge. The inner rotating joint 4114 of the first universal hinge is engaged with the first universal hinge pulley 4115 by bearings. The first universal hinge pulley 4115 can rotate around the inner rotating joint 4114 of the first universal hinge. The third steel wire 412 passes over the groove on the first universal hinge pulley 4115.

[0047] like Figure 6 As shown, the elastic potential energy storage device 416 of the upper limb gravity compensation mechanism mainly consists of a second universal hinge inner rotating pair 4161; a top cover 4162; a first winding plate 4163; an optical shaft 4164; a linear bearing 4165; a compression spring 4166; a second winding plate 4167; and a thrust ring 4168. Through slots are respectively opened at the relative positions of the first winding plate 4163 and the second winding plate 4167. A row of grooved pulleys is arranged in each of the two through slots, and a third steel wire rope is wound sequentially between the two rows of pulleys (the through slots and pulleys are not numbered in the figure).

[0048] The outer rotating joint 415 of the second universal hinge and the inner rotating joint 4161 of the second universal hinge are engaged by bearings. The inner rotating joint 4161 of the second universal hinge can rotate around the outer rotating joint 415. The inner rotating joint 4161 of the second universal hinge is fixed to the top cover 4162 by bolts. The top cover 4162 is connected to the first winding plate 4163 by studs. The third wire rope I end 4121 is fixed to the inner rotating joint 4161 of the second universal hinge by a thrust ring 4168. The third wire rope II end 4122 is parallel to the third wire rope I end 4121 and follows the... Figure 6 The winding method shown is wound on a first winding plate 4163 and a second winding plate 4167. Four optical shafts 4164 are installed on the first winding plate 4163 by threaded connection, and four linear bearings 4165 are bolted to the second winding plate 4167. The optical shafts 4164 slide within the linear bearings 4165. A compression spring 4166 is installed between the first winding plate 4163 and the second winding plate 4167.

[0049] As shown in Figure 7 , the displacement of the third wire rope Ⅱ end 4122 and the compression spring 4166 are respectively represented as Δl in and Δl out , their relationship can be expressed as

[0050] Δl in = n cable Δl out

[0051] Wherein, n cable indicates the number of flexible ropes around the second winding plate 4167 pulley, Figure 7 n cable drawn in the figure is equal to 4, the number of winding turns can be wound according to actual needs, the application of the device in the invention can effectively reduce the length of the compression spring, greatly reducing the volume occupied by the exoskeleton. When the upper arm is put down, the gravity potential energy generated by the upper arm and the exoskeleton is reduced, the third wire rope 412 in the elastic potential energy storage device 416 is pulled, the compression spring 4166 is compressed, so that the elastic potential energy increases, the increased elastic potential energy is used to compensate for the reduced gravitational potential energy, so as to realize the upper limb gravity compensation, reduce the fatigue feeling of the upper limb.

[0052] As shown in Figure 8As shown, the upper limb exoskeleton 5 is mainly composed of a handle 51, a force sensor 52, a first forearm support 53, a forearm adjustment cam handle 54, a second forearm support 55, a forearm posture sensor 56, a bearing inner disc 57, a bearing outer disc 58, a constraint disc 59, a corrugated sleeve 510, a nickel-titanium alloy rod 511, an upper arm binding support 512, and an upper arm posture sensor 513. The handle 51 is fixed to the output end of the force sensor 52 by a bolt. The shell of the force sensor 52 is fixed to the first forearm support 53 by a bolt. The first forearm support 53 and the second forearm support 55 can move relatively. Their positions are adjusted by the forearm adjustment cam handle 54. The second forearm support 55 is provided with the forearm posture sensor 56. The second forearm support 55 is fixed to the bearing inner disc 57 by a bolt. The bearing inner disc 57 cooperates with the bearing outer disc 58 through a thin-wall bearing. The user can hold the handle 51 to complete the self-rotation of the forearm. There are 10 constraint discs 59 between the bearing outer disc 58 and the upper arm binding support 512. Two constraint discs 59 are fixed to the bearing outer disc 58 by a bolt. Two constraint discs 59 are fixed to the upper arm binding support 512 by a bolt. The other six constraint discs 59 are equidistantly distributed between the front and rear two constraint discs 59. The constraint discs 59 are fixed to the two nickel-titanium alloy rods 511 by a thrust ring. The bending direction of the elbow joint is consistent with the bending direction of the two nickel-titanium alloy rods 511. The through holes of the constraint discs 59 on both sides of the elbow joint pass through the first steel wire rope 29 and the second steel wire rope 210, respectively. The ends of the first steel wire rope 29 and the second steel wire rope 210 fixed to the two constraint discs 59 of the bearing outer disc 58 are fixed by a thrust ring. The other ends pass through the first Bowden cable 31 and the second Bowden cable 32, respectively. The driving device 2 pulls the first steel wire rope 29 and the second steel wire rope 210 to cause the bending of the nickel-titanium alloy rod 511, thereby driving the flexion and extension movement of the elbow joint. The corrugated sleeve 510 is fixed to the two ends of the 10 constraint discs 59 by a bolt, so as to improve the torsional strength between the constraint discs. The user needs to bind the upper arm binding support 512 with the upper arm. The upper arm binding support 512 is provided with the upper arm posture sensor 513. The exoskeleton first fixed plate 41 and the exoskeleton second fixed plate 42 are fixed to the upper arm binding support 512 by a bolt.

[0053] The user wears the backpack system 1 on the body through the double-shoulder strap 11. The user holds the handle 51 and binds the upper arm with the upper arm binding support 512. During use, the upper limb of the user can move freely within the spatial movement range. The torque generated by the gravity of the upper limb and the upper limb exoskeleton 5 is offset by the upper limb balance compensation mechanism 4. The elbow joint rehabilitation training is performed according to the real-time data collected by the force sensor 52, the forearm posture sensor 56, and the upper arm posture sensor 513 and the upper limb rehabilitation strategy.

[0054] The above is only an embodiment of the present application, and does not limit the present application in any form. Any simple modification, equivalent change and modification made to the above embodiment according to the principle and technical essence of the present application still belongs to the technical solution range of the present application, and therefore the protection scope of the present application is subject to the claims.

Claims

1. An elbow joint rehabilitation exoskeleton based on upper limb gravity compensation, comprising a backpack system (1); a driving device (2); a Bowden cable (3); an upper limb gravity compensation mechanism (4) and an upper limb exoskeleton (5), wherein, the backpack system (1) comprises a back plate (12); the driving device (2) comprises a motor (21), a support base (22), a support rod (23), a winding disc (24), a support top disc (25), a bearing (26), a Bowden cable first joint (27), a Bowden cable second joint (28), a first steel wire rope (29) and a second steel wire rope (210); the Bowden cable (3) comprises a first Bowden cable (31) and a second Bowden cable (32); the support base (22) and the support top disc (25) are respectively fixedly connected with the back plate (12), the output end of the motor (21) is fixedly connected with the winding disc (24), the winding disc (24) is further connected to the support top disc (25) through the bearing (26), the support rod (23) is connected between the support base (22) and the support top disc (25), the first Bowden cable (31) and the second Bowden cable (32) are respectively fixed to different positions of the support rod (23) through the Bowden cable first joint (27) and the Bowden cable second joint (28), the first steel wire rope (29) and the second steel wire rope (210) are respectively wound on the winding disc (24) and then respectively pass through the Bowden cable first joint (27) and the Bowden cable second joint (28) to enter the first Bowden cable (31) and the second Bowden cable (32); the upper limb exoskeleton (5) comprises a first forearm support (53), a second forearm support (55), a bearing inner disc (57), a bearing outer disc (58), a constraint disc (59), a corrugated sleeve (510), a nickel-titanium alloy rod (511) and an upper arm binding support (512); the first forearm support (53) is connected with the second forearm support (55), the second forearm support (55) is connected with the bearing inner disc (57), and the bearing inner disc (57) is matched with the bearing outer disc (58) through a thin-wall bearing; two rows of constraint discs (59) are arranged between the bearing outer disc (58) and the upper arm binding support (512), the constraint discs (59) at both ends are fixedly connected with the bearing outer disc (58) and the upper arm binding support (512) respectively, the two rows of constraint discs (59) are fixed on one nickel-titanium alloy rod (511) through a thrust ring respectively, the corrugated sleeve (510) is arranged between adjacent constraint discs (59), the first steel wire rope (29) and the second steel wire rope (210) pass through the through holes of the two rows of constraint discs (59) respectively, one end of the first steel wire rope (29) and the second steel wire rope (210) is connected to the constraint disc (59) fixedly connected with the bearing outer disc (58), and the other end passes through the first Bowden cable (31) and the second Bowden cable (32) respectively, the driving device (2) pulls the first steel wire rope (29) and the second steel wire rope (210), causing the bending of the nickel-titanium alloy rod (511), thereby driving the flexion and extension movement of the elbow joint. The upper limb gravity compensation mechanism (4) comprises an exoskeleton first fixed plate (41), an exoskeleton second fixed plate (42), a first carbon fiber pipe (43), a first connecting piece (44), a second carbon fiber pipe (45), a rotating pair bearing seat (46), a rotating pair shaft (47), a third carbon fiber pipe (48), a second connecting piece (49), a fourth carbon fiber pipe (410), a first universal hinge (411), a third steel wire rope (412), a second universal hinge bearing seat (414), a second universal hinge outer rotating pair (415) and an elastic potential energy storage device (416); the second universal hinge bearing seat (414) is connected with the back plate (12); the first carbon fiber pipe (43) is connected with the upper limb exoskeleton (5); the third steel wire rope (412) comprises an I end (4121) and a II end (4122); The first carbon fiber pipe (43) and the second carbon fiber pipe (45) are perpendicular to each other and are fixedly connected through the first connecting piece (44); the tail end of the second carbon fiber pipe (45) is fixedly connected with the rotating pair bearing seat (46), the rotating pair bearing seat (46) is matched with the rotating pair shaft (47) through a bearing, and the rotating pair shaft (47) can rotate around the rotating pair bearing seat (46); the rotating pair shaft (47) is fixed with the third carbon fiber pipe (48), the third carbon fiber pipe (48) and the fourth carbon fiber pipe (410) are perpendicular to each other and are fixedly connected through the second connecting piece (49); the fourth carbon fiber pipe (410) is connected with the first universal hinge (411); The second universal hinge bearing seat (414) is matched with the second universal hinge outer rotating pair (415) through a bearing, the second universal hinge outer rotating pair (415) can rotate around the second universal hinge bearing seat (414), the second universal hinge outer rotating pair (415) is matched with the elastic potential energy storage device (416) through a bearing, the elastic potential energy storage device (416) can rotate around the second universal hinge outer rotating pair (415), the third steel wire rope I end (4121) is fixedly connected with the elastic potential energy storage device (416), the third steel wire rope (412) passes through the first universal hinge pulley (4115) on the first universal hinge (411), and the third steel wire rope II end (4122) is wound back to the winding plate of the elastic potential energy storage device (416) in a certain winding mode; The first universal hinge (411) of the upper limb gravity compensation mechanism comprises a third connecting piece (4111), a first universal hinge bearing seat (4112), a first universal hinge outer rotating pair (4113), a first universal hinge inner rotating pair (4114), and a first universal hinge pulley (4115); the fourth carbon fiber pipe (410) is fixedly connected with the third connecting piece (4111); the third connecting piece (4111) is fixedly connected with the first universal hinge bearing seat (4112); the first universal hinge bearing seat (4112) is matched with the first universal hinge outer rotating pair (4113) through a bearing; the first universal hinge outer rotating pair (4113) can rotate around the first universal hinge bearing seat (4112); the first universal hinge outer rotating pair (4113) is matched with the first universal hinge inner rotating pair (4114) through a bearing; the first universal hinge inner rotating pair (4114) can rotate around the first universal hinge outer rotating pair (4113); the first universal hinge inner rotating pair (4114) is matched with the first universal hinge pulley (4115) through a bearing; the first universal hinge pulley (4115) can rotate around the first universal hinge inner rotating pair (4114); and the third steel wire rope (412) passes through the groove on the first universal hinge pulley (4115).

2. The elbow rehabilitation exoskeleton according to claim 1, characterized in that, When the motor (21) is driven, the lengths of the first steel wire rope (29) and the second steel wire rope (210) are equal, and the directions are the same.

3. The elbow rehabilitation exoskeleton according to claim 1, wherein, A relative sliding mechanism comprising a forearm adjustment cam handle (54) is arranged between the first forearm support (53) and the second forearm support (55), so that the first forearm support (53) and the second forearm support (55) can move relative to each other, and the relative position is adjusted by the forearm adjustment cam handle (54).

4. The elbow rehabilitation exoskeleton of claim 1, wherein, The upper limb exoskeleton (5) further comprises a handle (51) and a force sensor (52), and the handle (51) is connected with the first forearm support (53) through the force sensor (52).

5. The elbow rehabilitation exoskeleton according to claim 1, wherein, An upper arm posture sensor (513) is arranged on the upper arm binding support (512); and a forearm posture sensor (56) is arranged on the second forearm support (55).

6. The elbow rehabilitation exoskeleton of claim 1, wherein, The upper limb gravity compensation mechanism (4) further comprises a rear support (413), an exoskeleton first fixed plate (41), and an exoskeleton second fixed plate (42); the second universal hinge bearing seat (414) is fixedly connected with the back plate (12) through the rear support (413); the exoskeleton first fixed plate (41) and the exoskeleton second fixed plate (42) are fixedly connected with the upper limb exoskeleton (5); and the first carbon fiber pipe (43) passes through and is fixedly connected with the exoskeleton first fixed plate (41) and the exoskeleton second fixed plate (42) in sequence.

7. The elbow rehabilitation exoskeleton of claim 1, wherein, The elastic potential energy storage device (416) of the upper limb gravity compensation mechanism includes a second universal joint inner rotating pair (4161), a top cover (4162), a first winding plate (4163), an optical axis (4164), a linear bearing (4165), a compression spring (4166), a second winding plate (4167), and a thrust ring (4168); the second universal joint outer rotating pair (415) is matched with the second universal joint inner rotating pair (4161) through bearings, the second universal joint inner rotating pair (4161) can rotate around the second universal joint outer rotating pair (415), the second universal joint inner rotating pair (4161) is connected to the first winding plate (4163) through the top cover (4162), the third steel wire rope I end (4121) is fixed with the second universal joint inner rotating pair (4161) through the thrust ring (4168), and the third steel wire rope II end (4122) is parallel to the third steel wire rope I end (4121) and is wound between the first winding plate (4163) and the second winding plate (4167) in sequence.

8. The elbow rehabilitation exoskeleton according to claim 7, characterized in that, A through groove is formed in the relative position of the first winding plate (4163) and the second winding plate (4167), and a row of pulleys with grooves is arranged in the two through grooves, and the third steel wire rope is wound between the two rows of pulleys in sequence.

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