Upper limb assisting exoskeleton robot

Abstract

The invention belongs to the technical field of exoskeleton robots, and discloses an upper limb power-assisted exoskeleton robot which comprises a back plate, a rotary elastic series driver, a linear structure, a tensioning structure, a width adjusting structure, an upper limb structure and a rope transmission structure, the rope transmission structure comprises a rope and a pulley, and the rope comprises a driving rope and a differential rope. One end of the driving rope is fixed to the output end of the rotary elastic series driver, the other end of the driving rope is fixed to the linear structure, the differential rope bypasses the linear structure, the tensioning structure and the width adjusting structure and extends towards the two upper limb structures, the two ends of the differential rope are located on the two upper limb structures, and the upper limb structures are connected to the width adjusting structure. The width adjusting structure is used for driving the upper limb structure to be close to or away from the vertical center line of the back plate. According to the invention, the single driving motor can provide auxiliary torque for single-arm or double-arm overhead operation.

Description

Technical Field

[0001] The present invention relates to the technical field of exoskeleton robots, and in particular to an upper limb power-assisted exoskeleton robot. Background Art

[0002] Overhead work refers to work that requires raising the hands (one or both hands) above the shoulders to pick up tools or lift heavy objects. During overhead work, gravity will produce a large load in the flexion direction of the shoulder joint. The shoulder muscles lift the load by increasing intramuscular pressure, thus becoming the primary movers, which in turn affects local muscle blood flow and may tear tendons, ligaments, and muscles. In order to protect workers from shoulder injuries during overhead work, upper limb exoskeleton robots that can assist in shoulder flexion have been widely studied.

[0003] Upper limb exoskeleton robots can enhance the user's upper limb strength, reduce weight, reduce physical injuries, improve work efficiency, and allow users to calmly handle more complex and precise work. According to the source of the auxiliary torque, upper limb exoskeleton robots can be divided into passive, semi-passive or active. Passive upper limb exoskeletons use energy recovery mechanisms (based on elastic elements, such as torsion springs) to generate auxiliary torque in the flexion direction of the shoulder. They have the advantages of light weight and low cost, but there is a limitation that the auxiliary torque cannot be adjusted; semi-passive upper limb exoskeletons use low-power servo motors to adjust the auxiliary torque (change the lever arm of the torsion spring), which is a compromise between passive and active upper limb exoskeletons, but still require users to compress the torsion spring to store energy in order to use the device; therefore, active upper limb exoskeletons are needed to provide users with exoskeleton energy and adjustable auxiliary torque.

[0004] Publication number CN115107004A discloses a lifting-type upper limb assisting exoskeleton, which has an independent motor at each shoulder joint to provide auxiliary torque for the user's lifting action, and can compensate for the change in the rotation center position of the human shoulder joint, improve the user's comfort, and ensure the assisting effect of the exoskeleton. However, the motor assisting structure of the exoskeleton is concentrated in the shoulder, and the weight of each joint equipped with a motor is relatively large, which will increase the user's physical burden during the assisting process and affect the assisting effect. Summary of the invention

[0005] The purpose of the present invention is to overcome the deficiencies of the above-mentioned prior art and to provide an upper limb assisted exoskeleton robot, which can realize a single drive motor to provide auxiliary torque for single-arm or double-arm overhead operations, and realize auxiliary torque output under flexible force control by rotating the elastic series driver. In order to adapt to the differences in body shapes of different users, a width adjustment structure is designed to solve the problem of misalignment between the exoskeleton robot and the human body's joints, making the user's movement smoother and more comfortable.

[0006] In order to achieve the above object, the present invention adopts the following technical solution:

[0007] An upper limb assisted exoskeleton robot comprises a back plate, a rotary elastic series drive, a linear structure, a tensioning structure, a width adjustment structure, an upper limb structure, and a rope transmission structure, wherein the rotary elastic series drive, the linear structure, the tensioning structure, and the width adjustment structure are all mounted on the back plate, the rope transmission structure comprises a rope and a pulley through which the rope passes, the pulleys are distributed on the linear structure, the tensioning structure, the width adjustment structure, and the upper limb structure, the rope comprises a driving rope and a differential rope, one end of the driving rope is fixed to the output end of the rotary elastic series drive, and the other end of the driving rope is fixed to the linear structure, the differential rope bypasses the linear structure, the tensioning structure, the width adjustment structure and extends to two upper limb structures, the two ends of the differential rope are located at the two upper limb structures, the tensioning structure is used to tension the differential rope, the upper limb structure is connected to the width adjustment structure, and the width adjustment structure is used to drive the upper limb structure to approach or move away from the vertical center line of the back plate.

[0008] As a further configuration, the rotational elastic series driver includes a substrate, a driving motor, an active disk, a torsion spring, a passive disk 1, a passive disk 2, and a rope pulley. The substrate is fixedly connected to a back plate, the driving motor is mounted on the substrate, the active disk is connected to an output shaft of the driving motor, the passive disk 1 and the passive disk 2 are connected to the output shaft of the driving motor through bearings, the torsion spring is sleeved on the periphery of the output shaft of the driving motor and the two ends of the torsion spring are respectively connected to the active disk and the passive disk 1, the rope pulley is located between the passive disk 1 and the passive disk 2 and the three are fixedly connected, and one end of the driving rope is fixed to the rope pulley.

[0009] As a further configuration, the rotary elastic series drive includes an encoder, which includes an encoder plate and an encoder magnet. The encoder plate is fixedly connected to the passive disk 2, the encoder magnet is fixedly connected to the output shaft of the drive motor, and the base plate is fixedly connected to the guide frame. The guide frame is equipped with a pulley, and the driving rope led out from the rope wheel passes through the pulley at the guide frame.

[0010] As a further configuration, the exoskeleton robot also includes a linear structure, which includes a linear guide, a slider, and a drive block. The linear guide is fixedly mounted on the back plate, the slider is slidably mounted on the linear guide, the drive block is fixedly mounted on the slider, the other end of the drive rope is connected to the drive block, the drive block is equipped with a pulley, and the differential rope passes around the pulley on the drive block and extends to the locations of the two upper limb structures.

[0011] As a further configuration, the tensioning structure includes a support seat 2, a tensioning optical axis, a positive and negative threaded screw, a support seat 1, and a tensioning slider. The support seat 1 and two support seats 2 are fixedly installed on the back plate, the tensioning optical axis is connected to the two support seats 2, the positive and negative threaded screw is connected to the support seat 1 through a copper sleeve, the positive and negative threaded screw is connected to the two support seats 2 through a bearing, the tensioning optical axis is parallel to the axis of the positive and negative threaded screw, the thread rotation directions of the two tensioning sliders are opposite and both are screwed to the positive and negative threaded screws, the two tensioning sliders are connected to the tensioning optical axis through a copper sleeve, and the support seat 1 and the tensioning slider are both equipped with pulleys.

[0012] As a further configuration, one end of the forward and reverse threaded screw extends beyond one of the support seats 2 and a handle is provided at the end of the extending portion, and a locking block is installed on a support seat 2 near the handle, and the locking block locks the rotation of the forward and reverse threaded screw by deformation.

[0013] As a further configuration, the width adjustment structure includes a support seat, an adjustment optical axis 2, an adjustment slider, a connecting seat, an adjustment optical axis 1, a middle slider, and a connecting rod. The support seat and the connecting seat are fixedly installed on the back plate, the two ends of the adjustment optical axis 2 are respectively connected to two support seats, one end of the adjustment optical axis 1 is fixedly connected to the connecting seat, the two adjustment sliders are connected to the two adjustment optical axes 2 through copper sleeves, the middle slider is connected to the adjustment optical axis 1 through a copper sleeve, and the two ends of the connecting rod are respectively connected to the adjustment slider and the middle slider to form a connecting rod-slider structure.

[0014] As a further configuration, the upper limb structure includes a rear link, a front link, an upper limb link, an arm support, a link cover plate 1, a link cover plate 2, and a driving wheel. The upper end of the front link is connected to the rear link and the link cover plate 1 through two bearings respectively, the link cover plate 1 is connected to the rear link through a link connecting block, the two sides of the driving wheel are connected to the lower end of the front link and the link cover plate 2 through bearings respectively, the link cover plate 2 is connected to the front link through a rope positioning block, one end of the upper limb link is fixedly connected to the driving wheel, and the arm support is connected to the other end of the upper limb link.

[0015] As a further configuration, a limit block is provided between the driving wheel and the second connecting rod cover plate, the upper limb connecting rod is provided with at least one connecting rod protrusion, the second connecting rod cover plate is provided with a waist hole and sliding grooves located on both sides of the waist hole, the limit block is slidably installed in the sliding groove, the limit block is provided with a limit block groove, the connecting rod protrusion can be accommodated in the limit block groove to limit the rotation of the driving wheel, the limit block is provided with a threaded hole, and a locking screw passing through the waist hole is screwed into the threaded hole to lock the limit block.

[0016] As a further configuration, the upper end of the back plate is provided with an adjustment hole, and the support seat is provided with a threaded hole corresponding to the adjustment hole. The support seat can be moved along the corresponding adjustment hole through the threaded hole to adjust the height of the support seat on the back plate.

[0017] The beneficial effects of the present invention are:

[0018] 1. The width adjustment structure adopts a slider-connecting rod structure to achieve fast bilateral equidistant width adjustment. At the same time, the width adjustment structure can be adjusted up and down to adapt to different users.

[0019] 2. The tensioning structure adopts positive and negative thread screws to realize bilateral equidistant adjustment of the two tensioning sliders to adjust the rope tension.

[0020] 3. The rotary elastic series drive connects the linear structure through a driving rope. The linear structure pulls the differential rope connecting the driving wheels in the two upper limb structures through the pulley installed in the tensioning structure, the width adjustment structure, and the upper limb structure. The rope transmission is driven by a single motor to provide equal auxiliary torque for both arms (or the driving wheel in one of the upper limb structures is locked, and the rotary elastic series drive directly pulls the driving wheel in the other upper limb structure, and the rope is driven by a single motor to provide auxiliary torque for the single arm), thereby reducing the active force of the human shoulder, reducing the risk of shoulder injury to the user during overhead operations, and effectively improving work efficiency and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is the first stereogram of the present invention.

[0022] Figure 2 for Figure 1 Enlarged view of point A in the middle.

[0023] Figure 3 for Figure 1 Enlarged view of point B in the middle.

[0024] Figure 4 It is a second stereogram of the present invention.

[0025] Figure 5 It is a three-dimensional diagram of the rotational elastic series actuator of the present invention.

[0026] Figure 6 for Figure 5 sectional view of .

[0027] Figure 7 It is a three-dimensional diagram of the tensioning structure of the present invention.

[0028] Figure 8 It is a stereoscopic diagram of the width adjustment structure of the present invention.

[0029] Fig. 9 It is a three-dimensional diagram of the upper limb structure of the present invention.

[0030] Fig.10 It is a partial stereoscopic diagram of the upper limb structure of the present invention.

[0031] Fig.11 for Fig.10 sectional view of .

[0032] Fig.12 This is a three-dimensional schematic diagram of the limit block of the present invention after being activated.

[0033] Fig.13 It is a three-dimensional view of the connecting rod cover plate 2 of the present invention.

[0034] In the figure: back plate 1, adjustment hole 11, rotation elastic series driver 2, base plate 21, drive motor 22, active disk 23, torsion spring 24, passive disk 1 25, passive disk 2 26, rope wheel 27, encoder 28, guide frame 29, linear structure 3, linear guide rail 31, slider 32, drive block 33, tensioning structure 4, support seat 2 41, tensioning optical axis 42, positive and negative thread screw 43, support seat 1 44, tensioning slider 45, handle 46, locking block 47, width adjustment structure 5, support seat 51, adjustment optical axis 2 52, adjustment slider 53, connecting seat 54, adjustment Optical axis 1 55, middle slider 56, middle slider locking portion 561, connecting rod 57, upper limb structure 6, rear connecting rod 61, front connecting rod 62, upper limb connecting rod 63, connecting rod protrusion 631, arm support 64, connecting rod cover plate 1 65, connecting rod connecting block 651, fixing frame 1 652, fixing frame 2 66, rope positioning block 67, connecting rod cover plate 2 671, waist hole 6711, slide groove 6712, driving wheel 68, limit block 69, locking screw 691, threaded hole 692, limit block groove 693, slide bar 694, driving rope 7, differential rope 71, pulley 72, waist fixing belt 8. DETAILED DESCRIPTION

[0035] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments:

[0036] like Figure 1-Figure 13 As shown, this embodiment discloses an upper limb assist exoskeleton robot, including a back plate 1, a rotation elastic series driver 2, a linear structure 3, a tight structure 4, a width adjustment structure 5, an upper limb structure 6, and a rope transmission structure, wherein the rope transmission structure includes ropes (the ropes further include a driving rope 7 and a differential rope 71), and a pulley 72. Both the driving rope 7 and the differential rope 71 pass through the pulley 72.

[0037] Reference Figure 1 The rotating elastic series driver 2, the linear structure 3, the tensioning structure 4, and the width adjustment structure 5 are all installed on the back plate 1, and the pulley 72 is distributed on the rotating elastic series driver 2, the linear structure 3, the tensioning structure 4, the width adjustment structure 5, and the upper limb structure 6.

[0038] Reference Figure 5 , Figure 6The rotary elastic series driver 2 includes a substrate 21, a driving motor 22, an active disk 23, a torsion spring 24, a passive disk 1 25, a passive disk 26, a rope wheel 27, and an encoder 28. The substrate 21 is fixedly connected to the back plate 1, the driving motor 22 is installed on the substrate 21, the active disk 23 is connected to the output shaft of the driving motor 22, the passive disk 1 25 and the passive disk 26 are connected to the output shaft of the driving motor 22 through bearings, the torsion spring 24 is sleeved on the periphery of the output shaft of the driving motor 22 and the two ends of the torsion spring 24 are respectively connected to the active disk 23 and the passive disk 1 25, the rope wheel 27 is located between the passive disk 1 25 and the passive disk 2 26 and the three are fixedly connected, and one end of the driving rope 7 is fixed to the rope wheel 27. There are two torsion springs 24 and they are distributed up and down. The encoder 28 includes an encoder plate and an encoder magnet. The encoder plate is fixedly connected to the passive disk 26. The encoder magnet is fixedly connected to the output shaft of the drive motor 22. The active disk 23 rotates to drive the passive disk 1 25 and the passive disk 2 26 to rotate through the torsion spring 24, that is, the rope wheel 27 is driven to rotate. The encoder 28 measures the relative rotation angle of the encoder plate and the encoder magnet, calculates the output force of the drive rope 7, and realizes force control.

[0039] The base plate 21 is fixedly connected to the guide frame 29 , and the guide frame 29 is installed with a pulley 72 . The driving rope 7 led out from the rope wheel 27 passes through the pulley 72 at the guide frame 29 .

[0040] Reference Figure 2 The linear structure 3 includes a linear guide 31, a slider 32, and a driving block 33. The linear guide 31 is fixedly installed on the back plate 1, the slider 32 is slidably installed on the linear guide 31, the driving block 33 is fixedly installed on the slider 32, the other end of the driving rope 7 is connected to the driving block 33, and the driving block 33 is installed with a pulley 72. The differential rope 71 passes around the pulley 72 on the driving block 33 and extends to the two upper limb structures 6. The number of differential ropes 71 is one, which is roughly symmetrical about the pulley 72 on the driving block 33. The two ends of the differential rope 71 are located at the driving wheels 68 of the two upper limb structures 6, and the differential rope 71 is pulled by the pulley 72 on the driving block 33 to provide auxiliary torque.

[0041] Reference Figure 7The tensioning structure 4 includes a support seat 2 41, a tensioning optical axis 42, a positive and negative threaded screw 43, a support seat 1 44, and a tensioning slider 45. The support seat 1 44 and the two support seats 2 41 are fixedly mounted on the back plate 1. The tensioning optical axis 42 is connected to the two support seats 2 41. The positive and negative threaded screw 43 is connected to the support seat 1 44 through a copper sleeve. The positive and negative threaded screw 43 is connected to the two support seats 2 41 through a bearing. The tensioning optical axis 42 is parallel to the axis of the positive and negative threaded screw 43. The threads of the two tensioning sliders 45 are opposite and are both screwed to the positive and negative threaded screw 43. The two tensioning sliders 45 are connected to the tensioning optical axis 42 through a copper sleeve. The support seat 1 44 and the tensioning slider 45 are both equipped with a pulley 72. The pulley 72 on the support seat 1 44 cannot move laterally, while the pulley 72 on the tensioning slider 45 can move left and right. Please refer to Figure 3 The routing method of the differential rope 71 in FIG.

[0042] One end of the positive and negative threaded screw 43 exceeds one of the support seats 41, and a handle 46 is provided at the end of the exceeding part. A locking block 47 is installed on one of the support seats 41 near the handle 46. The locking block 47 locks the rotation of the positive and negative threaded screw 43 by deformation. The threaded holes of the two tensioning sliders 45 are left-handed and right-handed respectively. Based on the matching relationship between the left-handed and right-handed threads on the positive and negative threaded screw 43, the handle 46 connected to the positive and negative threaded screw 43 is used to rotate the positive and negative threaded screw 43 to complete the bilateral equidistant adjustment of the two tensioning sliders 45 to adjust the tension of the differential rope 71. After the adjustment is completed, it is locked by the locking block 47, so that the tensioning slider 45 will not move left and right during the working process.

[0043] Reference Figure 8 The width adjustment structure 5 includes a support seat 51, an adjustment optical axis 2 52, an adjustment slider 53, a connection seat 54, an adjustment optical axis 1 55, a middle slider 56, and a connecting rod 57. The support seat 51 and the connecting seat 54 are fixedly mounted on the back plate 1. The two ends of the adjustment optical axis 2 52 are respectively connected to two support seats 51. One end of the adjustment optical axis 1 55 is fixedly connected to the connecting seat 54. The two adjustment sliders 53 are connected to the two adjustment optical axes 2 52 through copper sleeves. The middle slider 56 is connected to the adjustment optical axis 1 55 through copper sleeves. The two ends of the connecting rod 57 are respectively connected to the adjustment slider 53 and the middle slider 56 to form a connecting rod-slider structure, so as to achieve bilateral equidistant width adjustment, which is suitable for users of different body shapes. The middle slider 56 is provided with a middle slider locking portion 561. After the width adjustment is completed, the slider locking portion 561 is locked to adjust the left and right movement of the slider 53.

[0044] Reference Figure 3 , Figure 8A protruding portion on the adjusting slider 53 passes through the rear connecting rod 61 and is then installed with a pulley 72 . On the surface, the pulley 72 is located on the rear connecting rod 61 , but in fact, it is installed on the adjusting slider 53 .

[0045] Reference Figure 4 The upper end of the back panel 1 is provided with an adjustment hole 11, and the adjustment hole 11 is a waist-shaped hole. The support seat 51 is provided with a threaded hole corresponding to the adjustment hole 11. The support seat 51 can be moved along the corresponding adjustment hole 11 through the threaded hole to adjust the height of the support seat 51 on the back panel 1, which is suitable for users of different body shapes.

[0046] Reference Fig. 9 The upper limb structure 6 includes a rear connecting rod 61, a front connecting rod 62, an upper limb connecting rod 63, an arm support 64, a connecting rod cover plate 1 65, a connecting rod cover plate 2 671, and a driving wheel 68. The rear connecting rod 61 is fixedly connected to the adjusting slider 53. The upper end of the front connecting rod 62 is connected to the rear connecting rod 61 and the connecting rod cover plate 1 65 through two bearings respectively. The front connecting rod 62 can rotate. The connecting rod cover plate 1 65 is connected to the rear connecting rod 61 through a connecting rod connecting block 651. The two sides of the driving wheel 68 are respectively connected to the lower end of the front connecting rod 62 and the connecting rod cover plate 2 671 through bearings. The connecting rod cover plate 2 671 is connected to the front connecting rod 62 through a rope positioning block 67. One end of the upper limb connecting rod 63 is fixedly connected to the driving wheel 68. The arm support 64 is connected to the other end of the upper limb connecting rod 63. The arm support 64 is tied to the upper arm of the human body through a binding device.

[0047] The fixing frame 1 652 is connected to the rear connecting rod 61, and the fixing frame 2 66 is connected to the front connecting rod 62. Pulleys 72 are installed at the rear connecting rod 61, the fixing frame 1 652, the connecting rod cover plate 1 65, the fixing frame 2 66, and the rope positioning block 67.

[0048] Reference Figure 10-13 A limit block 69 is provided between the driving wheel 68 and the second connecting rod cover plate 671, the upper limb connecting rod 63 is provided with at least one connecting rod protrusion 631, the second connecting rod cover plate 671 is provided with a waist hole 6711 and a slide groove 6712 located on both sides of the waist hole 6711, the limit block 69 is slidably installed in the slide groove 6712, the limit block 69 is provided with a slide bar 694 matching the slide groove 6712, the limit block 69 is provided with a limit block groove 693, the connecting rod protrusion 631 can be accommodated in the limit block groove 693 to limit the rotation of the driving wheel 68, the limit block 69 is provided with a threaded hole 692, and a locking screw 691 passing through the waist hole 6711 is screwed into the threaded hole 692 to lock the limit block 69.

[0049] When only one upper limb structure 6 needs to be used, the upper limb connecting rod 63 can be straightened (vertically downward). At this time, it is effortless to straighten the upper limb connecting rod 63, and one connecting rod protrusion 631 is just vertically upward. During normal use, the limit block 69 is located above it, and the upper limb connecting rod 63 is not restricted, that is, the driving wheel 68 can rotate freely. Just loosen the locking screw 691, move the limit block 69 down along the slide groove 6712 until a connecting rod protrusion 631 is inserted into the limit block groove 693, and then tighten the locking screw 691 to lock the limit block 69. At this time, the upper limb structure 6 cannot work, and the other upper limb structure 6 is not affected.

[0050] Reference Figure 1 The lower end of the back plate 1 is connected with a waist fixing belt 8, and the waist fixing belt 8 is tied to the waist of the human body.

[0051] 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, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An upper limb power-assisting exoskeleton robot, characterized in that: The invention comprises a back plate (1), a rotating elastic series drive (2), a linear structure (3), a tensioning structure (4), a width adjustment structure (5), an upper limb structure (6), and a rope transmission structure. The rotating elastic series drive (2), the linear structure (3), the tensioning structure (4), and the width adjustment structure (5) are all mounted on the back plate (1). The rope transmission structure comprises ropes and pulleys (72) through which the ropes pass. The pulleys (72) are distributed on the linear structure (3), the tensioning structure (4), the width adjustment structure (5), and the upper limb structure (6). The ropes comprise a driving rope (7) and a differential rope (71). The driving rope One end of the cable (7) is fixed to the output end of the rotary elastic series drive (2), and the other end of the driving cable (7) is fixed to the straight structure (3). The differential cable (71) bypasses the straight structure (3), the tensioning structure (4), and the width adjustment structure (5) and extends to the two upper limb structures (6). The two ends of the differential cable (71) are located on the two upper limb structures (6). The tensioning structure (4) is used to tension the differential cable (71). The upper limb structure (6) is connected to the width adjustment structure (5), and the width adjustment structure (5) is used to drive the upper limb structure (6) to approach or move away from the vertical center line of the back plate (1).

2. An upper limb assisting exoskeleton robot as claimed in claim 1, characterized in that: The rotary elastic series driver (2) comprises a base plate (21), a drive motor (22), an active disk (23), a torsion spring (24), a passive disk 1 (25), a passive disk 2 (26), and a rope wheel (27). The base plate (21) is fixedly connected to the back plate (1), the drive motor (22) is mounted on the base plate (21), the active disk (23) is connected to the output shaft of the drive motor (22), the passive disk 1 (25) and the passive disk 2 (26) are connected to the output shaft of the drive motor (22) through bearings, the torsion spring (24) is sleeved on the outer periphery of the output shaft of the drive motor (22), and the two ends of the torsion spring (24) are respectively connected to the active disk (23) and the passive disk 1 (25), the rope wheel (27) is located between the passive disk 1 (25) and the passive disk 2 (26), and the three are fixedly connected, and one end of the drive rope (7) is fixed to the rope wheel (27).

3. An upper limb assisting exoskeleton robot as claimed in claim 2, characterized in that: The rotary elastic series drive (2) includes an encoder (28), the encoder (28) includes an encoder plate and an encoder magnet, the encoder plate is fixedly connected to the passive disk 2 (26), the encoder magnet is fixedly connected to the output shaft of the drive motor (22), the base plate (21) is fixedly connected to the guide frame (29), the guide frame (29) is equipped with a pulley (72), and the driving rope (7) led out from the rope wheel (27) passes through the pulley (72) at the guide frame (29).

4. An upper limb assisting exoskeleton robot as claimed in claim 1, characterized in that: The linear structure (3) comprises a linear guide rail (31), a slider (32), and a driving block (33); the linear guide rail (31) is fixedly mounted on the back plate (1); the slider (32) is slidably mounted on the linear guide rail (31); the driving block (33) is fixedly mounted on the slider (32); the other end of the driving rope (7) is connected to the driving block (33); the driving block (33) is equipped with a pulley (72); the differential rope (71) passes around the pulley (72) on the driving block (33) and extends to the locations of the two upper limb structures (6).

5. An upper limb assisting exoskeleton robot as claimed in claim 1, characterized in that: The tensioning structure (4) comprises a second support seat (41), a tensioning optical axis (42), a positive and negative threaded screw (43), a first support seat (44), and a tensioning slider (45); the first support seat (44) and the two second support seats (41) are fixedly mounted on the back plate (1); the tensioning optical axis (42) is connected to the two second support seats (41); the positive and negative threaded screw (43) is connected to the first support seat (44) via a copper sleeve; the positive and negative threaded screw (43) is connected to the two second support seats (41) via a bearing; the tensioning optical axis (42) is parallel to the axis of the positive and negative threaded screw (43); the two tensioning sliders (45) have opposite threaded directions and are both screwed to the positive and negative threaded screw (43); the two tensioning sliders (45) are connected to the tensioning optical axis (42) via a copper sleeve; the first support seat (44) and the tensioning slider (45) are both equipped with a pulley (72).

6. An upper limb assisting exoskeleton robot as claimed in claim 5, characterized in that: One end of the forward and reverse threaded screw (43) exceeds one of the second support seats (41), and a handle (46) is provided at the end of the exceeding portion. A locking block (47) is installed on the second support seat (41) close to the handle (46), and the locking block (47) locks the rotation of the forward and reverse threaded screw (43) by deformation.

7. An upper limb assisting exoskeleton robot as claimed in claim 1, characterized in that: The width adjustment structure (5) comprises a support seat (51), an adjustment optical axis 2 (52), an adjustment slider (53), a connection seat (54), an adjustment optical axis 1 (55), a middle slider (56), and a connecting rod (57); the support seat (51) and the connection seat (54) are fixedly mounted on the back plate (1); two ends of the adjustment optical axis 2 (52) are respectively connected to two support seats (51); one end of the adjustment optical axis 1 (55) is fixedly connected to the connecting seat (54); the two adjustment sliders (53) are connected to the two adjustment optical axes 2 (52) via copper sleeves; the middle slider (56) is connected to the adjustment optical axis 1 (55) via copper sleeves; and the two ends of the connecting rod (57) are respectively connected to the adjustment slider (53) and the middle slider (56) to form a connecting rod-slider structure.

8. An upper limb assisting exoskeleton robot as claimed in claim 1, characterized in that: The upper limb structure (6) comprises a rear connecting rod (61), a front connecting rod (62), an upper limb connecting rod (63), an arm support (64), a connecting rod cover plate 1 (65), a connecting rod cover plate 2 (671), and a driving wheel (68); the upper end of the front connecting rod (62) is respectively connected to the rear connecting rod (61) and the connecting rod cover plate 1 (65) through two bearings; the connecting rod cover plate 1 (65) is connected to the rear connecting rod (61) through a connecting rod connecting block (651); the two sides of the driving wheel (68) are respectively connected to the lower end of the front connecting rod (62) and the connecting rod cover plate 2 (671) through bearings; the connecting rod cover plate 2 (671) is connected to the front connecting rod (62) through a rope positioning block (67); one end of the upper limb connecting rod (63) is fixedly connected to the driving wheel (68); and the arm support (64) is connected to the other end of the upper limb connecting rod (63).

9. An upper limb assisting exoskeleton robot as claimed in claim 8, characterized in that: A limit block (69) is provided between the driving wheel (68) and the second connecting rod cover plate (671); the upper limb connecting rod (63) is provided with at least one connecting rod protrusion (631); the second connecting rod cover plate (671) is provided with a waist hole (6711) and a slide groove (6712) located on both sides of the waist hole (6711); the limit block (69) is slidably installed in the slide groove (6712); the limit block (69) is provided with a limit block groove (693); the connecting rod protrusion (631) can be accommodated in the limit block groove (693) to limit the rotation of the driving wheel (68); the limit block (69) is provided with a threaded hole (692); a locking screw (691) passing through the waist hole (6711) is screwed into the threaded hole (692) to lock the limit block (69).

10. An upper limb assisting exoskeleton robot as claimed in claim 7, characterized in that: The upper end of the back plate (1) is provided with an adjustment hole (11), and the support seat (51) is provided with a threaded hole corresponding to the adjustment hole (11). The support seat (51) is moved along the corresponding adjustment hole (11) through the threaded hole to adjust the height of the support seat (51) on the back plate (1).

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