An upper limb assistive exoskeleton robot

Abstract

This invention belongs to the field of exoskeleton robot technology and discloses an upper limb-assisted exoskeleton robot, including a backplate, a rotary elastic series actuator, a linear structure, a tensioning structure, a width adjustment structure, upper limb structures, and a rope transmission structure. The rope transmission structure includes ropes and pulleys. The ropes include a drive rope and a differential rope. One end of the drive rope is fixed to the output end of the rotary elastic series actuator, and the other end is fixed to the linear structure. The differential rope bypasses the linear structure, the tensioning structure, and the width adjustment structure and extends to the two upper limb structures. The two ends of the differential rope are located at the two upper limb structures. The upper limb structures are connected to the width adjustment structure, which is used to drive the upper limb structures closer to or further away from the vertical centerline of the backplate. This invention can enable a single drive motor to provide auxiliary torque for single-arm or dual-arm overhead operations.

Description

Technical Field

[0001] This invention relates to the field of exoskeleton robot technology, and in particular to an upper limb assistive exoskeleton robot. Background Technology

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

[0003] Upper limb exoskeleton robots can enhance users' upper limb strength, reduce load, decrease physical injury, and improve work efficiency, allowing users to handle more complex and precise tasks with ease. Based on the source of the auxiliary torque, upper limb exoskeleton robots can be divided into passive, semi-passive, or active types. 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, offering advantages such as light weight and low cost, but suffer from the limitation of non-adjustable auxiliary torque. Semi-passive upper limb exoskeletons use low-power servo motors to adjust the auxiliary torque (changing the lever arm of the torsion spring), representing a compromise between passive and active upper limb exoskeletons, but still require the user to compress the torsion spring to store energy for device operation. Therefore, active upper limb exoskeletons are needed to provide exoskeleton energy and adjustable auxiliary torque to the user.

[0004] CN115107004A discloses a lifting-type upper limb assistive exoskeleton, which has an independent motor at each shoulder joint to provide auxiliary torque for the user's lifting movements. It can compensate for changes in the rotation center position of the shoulder joint, improving user comfort and ensuring the exoskeleton's assistive effect. However, the motor assistive structure of this exoskeleton is concentrated in the shoulder area, and the weight of having one motor per joint is relatively large, which will increase the user's physical burden during assistance and affect the assistive effect. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide an upper limb assistive exoskeleton robot that can provide auxiliary torque for single or double arm overhead operations with a single drive motor, achieve auxiliary torque output under flexible force control through a rotating elastic series driver, and design a width adjustment structure to adapt to the differences in body shape of different users, so as to solve the problem of misalignment between the exoskeleton robot and human joints, making the user's movement smoother and more comfortable.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] An upper limb-assisted exoskeleton robot includes a backplate, a rotary elastic series actuator, a linear structure, a tensioning structure, a width adjustment structure, an upper limb structure, and a rope transmission structure. The rotary elastic series actuator, linear structure, tensioning structure, and width adjustment structure are all mounted on the backplate. The rope transmission structure includes a rope and pulleys through which the rope passes. The pulleys are distributed across the linear structure, tensioning structure, width adjustment structure, and upper limb structure. The rope includes a drive rope and a differential rope. One end of the drive rope is fixed to the output end of the rotary elastic series actuator, and the other end is fixed to the linear structure. The differential rope bypasses the linear structure, tensioning structure, and width adjustment structure and extends to the two upper limb structures. Both ends of the differential rope are located on 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, which drives the upper limb structure to move closer to or further away from the vertical centerline of the backplate.

[0008] As a further configuration, the rotary elastic series actuator includes a base plate, a drive motor, an active disk, a torsion spring, a first passive disk, a second passive disk, and a rope pulley. The base plate is fixedly connected to a back plate, the drive motor is mounted on the base plate, the active disk is connected to the output shaft of the drive motor, the first and second passive disks are connected to the output shaft of the drive motor via bearings, the torsion spring is sleeved around the output shaft of the drive motor and its two ends are respectively connected to the active disk and the first passive disk, the rope pulley is located between the first and second passive disks and the three are fixedly connected, and one end of the drive 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 two, and the encoder magnet is fixedly connected to the output shaft of the drive motor. The base plate is fixedly connected to the guide frame, and the guide frame is equipped with pulleys. The drive rope led out from the rope wheel passes through the pulleys at the guide frame.

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

[0011] As a further configuration, the tensioning structure includes a second support base, a tensioning optical shaft, a forward and reverse threaded rod, a first support base, and a tensioning slider. The first support base and two second support bases are fixedly installed on the back plate. The tensioning optical shaft is connected to the two second support bases. The forward and reverse threaded rod is connected to the first support base via a copper sleeve. The forward and reverse threaded rod is connected to the two second support bases via bearings. The tensioning optical shaft is parallel to the axis of the forward and reverse threaded rod. The two tensioning sliders have opposite thread directions and are both screwed to the forward and reverse threaded rods. The two tensioning sliders are connected to the tensioning optical shaft via copper sleeves. Both the first support base and the tensioning sliders are equipped with pulleys.

[0012] As a further feature, one end of the positive and negative thread screw extends beyond one of the support seats and the end of the extended portion is provided with a handle. A locking block is installed on one of the support seats near the handle. The locking block locks the rotation of the positive and negative thread screw by deformation.

[0013] As a further configuration, the width adjustment structure includes a support base, a second adjustment optical axis, an adjustment slider, a connecting base, a first adjustment optical axis, a middle slider, and a connecting rod. The support base and the connecting base are fixedly installed on the back plate. The two ends of the second adjustment optical axis are respectively connected to the two support bases. One end of the first adjustment optical axis is fixedly connected to the connecting base. The two adjustment sliders are connected to the two second adjustment optical axes through copper sleeves. The middle slider is connected to the first adjustment optical axis through a copper sleeve. 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 first link cover, a second link cover, and a drive wheel. The upper end of the front link is connected to the rear link and the first link cover via two bearings. The first link cover is connected to the rear link via a link connecting block. The two sides of the drive wheel are connected to the lower end of the front link and the second link cover via bearings. The second link cover is connected to the front link via a rope positioning block. One end of the upper limb link is fixedly connected to the drive wheel, and the arm support is connected to the other end of the upper limb link.

[0015] As a further feature, a limiting block is provided between the drive 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 a sliding groove located on both sides of the waist hole. The limiting block is slidably installed in the sliding groove. The limiting block is provided with a limiting block groove. The connecting rod protrusion can be accommodated in the limiting block groove to limit the rotation of the drive wheel. The limiting block is provided with a threaded hole. A locking screw passing through the waist hole is screwed into the threaded hole to lock the limiting block.

[0016] As a further feature, the upper end of the back plate is provided with an adjustment hole, and the support base is provided with a threaded hole corresponding to the adjustment hole. The height of the support base on the back plate can be adjusted by moving the threaded hole along the corresponding adjustment hole.

[0017] The beneficial effects of this invention are:

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

[0019] 2. The tensioning structure uses positive and negative threaded screws to achieve bilateral equidistant adjustment of the two tensioning sliders to adjust the rope tension.

[0020] 3. The rotary elastic series actuator connects to a linear structure via a drive rope. The linear structure pulls a differential rope that connects the drive wheels in the two upper limb structures via pulleys installed in the tensioning structure, width adjustment structure, and upper limb structure. A single motor drives the rope to provide equal auxiliary torque to both arms (or lock the drive wheel in one upper limb structure, and the rotary elastic series actuator directly pulls the drive wheel in the other upper limb structure, providing auxiliary torque to that arm via a single motor-driven rope). This reduces the active force exerted by the user's shoulder, lowers the risk of shoulder injury during overhead operations, and effectively improves work efficiency and safety. Attached Figure Description

[0021] Figure 1 This is a first perspective view 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 This is a second perspective view of the present invention.

[0025] Figure 5 This is a perspective view of the rotary elastic series actuator of the present invention.

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

[0027] Figure 7 This is a perspective view of the tensioning structure of the present invention.

[0028] Figure 8 This is a perspective view of the width adjustment structure of the present invention.

[0029] Figure 9 This is a perspective view of the upper limb structure of the present invention.

[0030] Figure 10 This is a partial perspective view of the upper limb structure of the present invention.

[0031] Figure 11 for Figure 10 A sectional view.

[0032] Figure 12 This is a three-dimensional schematic diagram of the limiting block after it is activated according to the present invention.

[0033] Figure 13 This is a perspective view of the connecting rod cover plate II of the present invention.

[0034] In the diagram: Backplate 1, Adjustment Hole 11, Rotary Elastic Series Actuator 2, Base Plate 21, Drive Motor 22, Active Disc 23, Torsion Spring 24, Passive Disc 1 25, Passive Disc 2 26, Rope Gear 27, Encoder 28, Guide Frame 29, Linear Structure 3, Linear Guide Rail 31, Slider 32, Drive Block 33, Tensioning Structure 4, Support Base 2 41, Tensioning Optical Axis 42, Positive and Negative Threaded Screws 43, Support Base 1 44, Tensioning Slider 45, Handle 46, Locking Block 47, Width Adjustment Structure 5, Support Base 51, Adjustment Optical Axis 2 52, Adjustment Slider 53, Connecting Seat 54, Adjustment 55. Optical axis 1, 56. Middle slider, 561. Middle slider locking part, 57. Connecting rod, 6. 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 bracket 1, 652. Fixing bracket 2, 66. Rope positioning block, 67. Connecting rod cover plate 2, 671. Waist hole, 6711. Slide groove, 6712. Drive wheel, 68. Limiting block, 69. Locking screw, 691. Threaded hole, 692. Limiting block groove, 693. Slide bar, 694. Drive rope, 7. Differential rope, 71. Pulley, 72. Waist fixing belt, 8. Detailed Implementation

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

[0036] like Figures 1-13 As shown, this embodiment discloses an upper limb-assisted exoskeleton robot, including a backplate 1, a rotary elastic series actuator 2, a linear structure 3, a clamping structure 4, a width-adjustable structure 5, an upper limb structure 6, and a rope transmission structure. The rope transmission structure includes ropes (which further include a drive rope 7 and a differential rope 71) and pulleys 72. Both the drive rope 7 and the differential rope 71 pass through the pulleys 72.

[0037] Reference Figure 1 The rotary elastic series actuator 2, linear structure 3, tensioning structure 4, and width adjustment structure 5 are all mounted on the back plate 1, and the pulleys 72 are distributed among the rotary elastic series actuator 2, linear structure 3, tensioning structure 4, width adjustment structure 5, and upper limb structure 6.

[0038] Reference Figure 5 , Figure 6The rotary elastic series actuator 2 includes a base plate 21, a drive motor 22, an active disk 23, a torsion spring 24, a first passive disk 25, a second passive disk 26, a rope wheel 27, and an encoder 28. 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 first passive disk 25 and the second passive disk 26 are connected to the output shaft of the drive motor 22 through bearings. The torsion spring 24 is sleeved around the output shaft of the drive motor 22, and its two ends are respectively connected to the active disk 23 and the first passive disk 25. The rope wheel 27 is located between the first passive disk 25 and the second passive disk 26, and the three are fixedly connected. One end of the drive rope 7 is fixed to the rope wheel 27. There are two torsion springs 24, which are distributed vertically. The encoder 28 includes an encoder plate and an encoder magnet. The encoder plate is fixedly connected to the second passive disk 26, and the encoder magnet is fixedly connected to the output shaft of the drive motor 22. The rotation of the drive disk 23 drives the first passive disk 25 and the second passive disk 26 to rotate through the torsion springs 24, which in turn drives the rope wheel 27 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 equipped with a pulley 72. The drive 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 rail 31, a slider 32, and a drive block 33. The linear guide rail 31 is fixedly installed on the back plate 1, the slider 32 is slidably installed on the linear guide rail 31, and the drive block 33 is fixedly installed on the slider 32. The other end of the drive rope 7 is connected to the drive block 33. The drive block 33 is equipped with a pulley 72. The differential rope 71 passes around the pulley 72 on the drive block 33 and extends to the location of the two upper limb structures 6. There is one differential rope 71, which is approximately symmetrical about the pulley 72 on the drive block 33. The two ends of the differential rope 71 are located at the drive wheels 68 of the two upper limb structures 6. The pulley 72 on the drive block 33 pulls the differential rope 71 to provide auxiliary torque.

[0041] Reference Figure 7The tensioning structure 4 includes a second support base 41, a tensioning optical shaft 42, a threaded rod 43, a first support base 44, and tensioning sliders 45. The first support base 44 and the two second support bases 41 are fixedly installed on the back plate 1. The tensioning optical shaft 42 is connected to the two second support bases 41. The threaded rod 43 is connected to the first support base 44 via a copper sleeve and to the two second support bases 41 via bearings. The tensioning optical shaft 42 is parallel to the axis of the threaded rod 43. The two tensioning sliders 45 have opposite thread directions and are both screwed to the threaded rods 43. The two tensioning sliders 45 are connected to the tensioning optical shaft 42 via copper sleeves. Both the first support base 44 and the tensioning sliders 45 are equipped with pulleys 72. The pulley 72 on the first support base 44 cannot move laterally, while the pulley 72 on the tensioning slider 45 can move laterally left and right. (See reference...) Figure 3 The routing method of the differential rope 71 in the middle.

[0042] One end of the threaded screw 43 extends beyond one of the support bases 41, and a handle 46 is provided at the end of the extended portion. A locking block 47 is installed on one of the support bases 41 near the handle 46. The locking block 47 locks the rotation of the threaded screw 43 by deformation. The threaded holes of the two tensioning sliders 45 are left-handed and right-handed, respectively. Based on the mating relationship of the left-handed and right-handed threads on the threaded screw 43, the threaded screw 43 is rotated by the handle 46 connected to it to complete the bilateral equidistant adjustment of the two tensioning sliders 45 to adjust the tension of the differential rope 71. After adjustment, the locking block 47 locks the screw, preventing the tensioning sliders 45 from moving left or right during operation.

[0043] Reference Figure 8 The width adjustment structure 5 includes a support base 51, a second adjustment optical axis 52, an adjustment slider 53, a connecting base 54, a first adjustment optical axis 55, a middle slider 56, and a connecting rod 57. The support base 51 and the connecting base 54 are fixedly installed on the back plate 1. The two ends of the second adjustment optical axis 52 are respectively connected to the two support bases 51. One end of the first adjustment optical axis 55 is fixedly connected to the connecting base 54. The two adjustment sliders 53 are connected to the two second adjustment optical axes 52 through copper sleeves. The middle slider 56 is connected to the first adjustment optical axis 55 through a copper sleeve. 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, realizing bilateral equidistant width adjustment, suitable for users of different body sizes. The middle slider 56 is provided with a middle slider locking part 561. After the width adjustment is completed, the left and right movement of the adjustment slider 53 is controlled by locking the slider locking part 561.

[0044] Reference Figure 3 , Figure 8A pulley 72 is installed after a protrusion on the adjusting slider 53 passes through the rear connecting rod 61. 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 plate 1 is provided with an adjustment hole 11, which is an oblong hole. The support base 51 is provided with a threaded hole corresponding to the adjustment hole 11. The height of the support base 51 on the back plate 1 can be adjusted by moving the threaded hole along the corresponding adjustment hole 11, which is suitable for users of different body sizes.

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

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

[0048] Reference Figures 10-13 A limiting block 69 is provided between the drive wheel 68 and the connecting rod cover plate 671. The upper limb connecting rod 63 is provided with at least one connecting rod protrusion 631. The connecting rod cover plate 671 is provided with a waist hole 6711 and a sliding groove 6712 located on both sides of the waist hole 6711. The limiting block 69 is slidably installed in the sliding groove 6712. The limiting block 69 is provided with a sliding strip 694 that matches the sliding groove 6712. The limiting block 69 is provided with a limiting block groove 693. The connecting rod protrusion 631 can be accommodated in the limiting block groove 693 to limit the rotation of the drive wheel 68. The limiting 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 limiting block 69.

[0049] When only one upper limb structure 6 is needed, the upper limb link 63 can be straightened (vertically downward). Straightening the upper limb link 63 is effortless, and one link protrusion 631 is vertically upward. During normal use, the limiting block 69 is located above it, without restricting the upper limb link 63, meaning the drive wheel 68 can rotate freely. Simply loosen the locking screw 691, move the limiting block 69 down along the slide groove 6712 until one link protrusion 631 is inserted into the limiting block groove 693, and then tighten the locking screw 691 to lock the limiting block 69. At this time, the upper limb structure 6 cannot work, while the other upper limb structure 6 is unaffected.

[0050] Reference Figure 1 The lower end of the back panel 1 is connected to a waist fixing belt 8, which 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 principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An upper limb-assisted exoskeleton robot, characterized in that, The structure includes a backplate (1), a rotary elastic series actuator (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 rotary elastic series actuator (2), the linear structure (3), the tensioning structure (4), and the width adjustment structure (5) are all mounted on the backplate (1). The rope transmission structure includes a rope and pulleys (72) through which the rope passes. The pulleys (72) are distributed in the linear structure (3), the tensioning structure (4), the width adjustment structure (5), and the upper limb structure (6). The rope includes a drive rope (7) and a differential rope (71). One end of the cable (7) is fixed to the output end of the rotary elastic series driver (2), and the other end of the drive rope (7) is fixed to the straight structure (3). The differential rope (71) passes around the straight structure (3), the tensioning structure (4), the width adjustment structure (5) and extends to the two upper limb structures (6). The two ends of the differential rope (71) are located in the two upper limb structures (6). The tensioning structure (4) is used to tension the differential rope (71). The upper limb structure (6) is connected to the width adjustment structure (5). The width adjustment structure (5) is used to drive the upper limb structure (6) to move closer to or away from the vertical centerline of the back plate (1). The rotary elastic series actuator (2) includes a base plate (21), a drive motor (22), an active disk (23), a torsion spring (24), a passive disk one (25), a passive disk two (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 one (25) and the passive disk two (26) are connected to the output shaft of the drive motor (22) through bearings. The torsion spring (24) is sleeved around 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 one (25). The rope wheel (27) is located between the passive disk one (25) and the passive disk two (26), and the three are fixedly connected. One end of the drive rope (7) is fixed to the rope wheel (27). The rotary elastic series drive (2) includes an encoder (28), which includes an encoder plate and an encoder magnet. The encoder plate is fixedly connected to the passive disk (26), and 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), and the guide frame (29) is equipped with a pulley (72). The drive rope (7) led out from the rope wheel (27) passes through the pulley (72) at the guide frame (29).

2. The upper limb assistive exoskeleton robot as described in claim 1, characterized in that, The linear structure (3) includes a linear guide rail (31), a slider (32), and a drive block (33). The linear guide rail (31) is fixedly installed on the back plate (1). The slider (32) is slidably installed on the linear guide rail (31). The drive block (33) is fixedly installed on the slider (32). The other end of the drive rope (7) is connected to the drive block (33). The drive block (33) is equipped with a pulley (72). The differential rope (71) passes around the pulley (72) on the drive block (33) and extends to the location of the two upper limb structures (6).

3. The upper limb assistive exoskeleton robot as described in claim 1, characterized in that, The tensioning structure (4) includes a second support base (41), a tensioning optical shaft (42), a forward and reverse threaded rod (43), a first support base (44), and a tensioning slider (45). The first support base (44) and the two second support bases (41) are fixedly installed on the back plate (1). The tensioning optical shaft (42) is connected to the two second support bases (41). The forward and reverse threaded rod (43) is connected to the first support base (44) through a copper sleeve. The forward and reverse threaded rod (43) is connected to the two second support bases (41) through a bearing. The tensioning optical shaft (42) is parallel to the axis of the forward and reverse threaded rod (43). The threads of the two tensioning sliders (45) are opposite and are both screwed to the forward and reverse threaded rod (43). The two tensioning sliders (45) are connected to the tensioning optical shaft (42) through a copper sleeve. The first support base (44) and the tensioning sliders (45) are both equipped with pulleys (72).

4. The upper limb assistive exoskeleton robot as described in claim 3, characterized in that, One end of the positive and negative thread screw (43) extends beyond one of the support seats (41) and the end of the extended part is provided with a handle (46). 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 thread screw (43) by deformation.

5. The upper limb assistive exoskeleton robot as described in claim 1, characterized in that, The width adjustment structure (5) includes a support base (51), an adjustment optical axis two (52), an adjustment slider (53), a connecting base (54), an adjustment optical axis one (55), a middle slider (56), and a connecting rod (57). The support base (51) and the connecting base (54) are fixedly installed on the back plate (1). The two ends of the adjustment optical axis two (52) are respectively connected to the two support bases (51). One end of the adjustment optical axis one (55) is fixedly connected to the connecting base (54). The two adjustment sliders (53) are connected to the two adjustment optical axes two (52) through copper sleeves. The middle slider (56) is connected to the adjustment optical axis one (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.

6. The upper limb assistive exoskeleton robot as described in claim 1, characterized in that, The upper limb structure (6) includes a rear link (61), a front link (62), an upper limb link (63), an arm support (64), a first link cover (65), a second link cover (671), and a drive wheel (68). The upper end of the front link (62) is connected to the rear link (61) and the first link cover (65) respectively through two bearings. The first link cover (65) is connected to the rear link (61) through a link connecting block (651). The two sides of the drive wheel (68) are connected to the lower end of the front link (62) and the second link cover (671) respectively through bearings. The second link cover (671) is connected to the front link (62) through a rope positioning block (67). One end of the upper limb link (63) is fixedly connected to the drive wheel (68), and the arm support (64) is connected to the other end of the upper limb link (63).

7. The upper limb assistive exoskeleton robot as described in claim 6, characterized in that, A limiting block (69) is provided between the drive 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 sliding groove (6712) located on both sides of the waist hole (6711). The limiting block (69) is slidably installed in the sliding groove (6712). The limiting block (69) is provided with a limiting block groove (693). The connecting rod protrusion (631) can be accommodated in the limiting block groove (693) to limit the rotation of the drive wheel (68). The limiting 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 limiting block (69).

8. The upper limb assistive exoskeleton robot as described in claim 5, 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) by the threaded hole to adjust the height of the support seat (51) on the back plate (1).

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