Safe upper limb rehabilitation exoskeleton robot

Abstract

The invention relates to the technical field of medical rehabilitation robots, in particular to a safe upper limb rehabilitation exoskeleton robot which comprises a fixing frame and a mechanical arm arranged on the fixing frame and used for assisting an arm of a patient to move. The mechanical arm comprises a shoulder joint vertical folding and unfolding module, a shoulder joint horizontal folding and unfolding module, a shoulder joint flexion and extension module, an elbow joint flexion and extension module, a wrist joint flexion and extension module and a forearm rotating module which are connected in sequence, and the mechanical arm can be suitable for a left arm or a right arm by switching a left state and a right state. Each module of the mechanical arm is provided with a mechanical limiting structure used for limiting the movement range of the corresponding module, and the mechanical limiting structures can be switched between the left state and the right state and used for synchronously switching when the mechanical arm is switched between the left state and the right state so as to guarantee the safety of a patient. By the adoption of the spring positioning pin for adjustable limiting, the left-right interchange function of the mechanical arm can be achieved, meanwhile, limit angle mechanical safety limiting of the two arms is guaranteed, and the safety of equipment is improved.

Description

Technical Field

[0001] The invention relates to the technical field of medical rehabilitation robots, in particular to a safe upper limb rehabilitation exoskeleton robot. Background Art

[0002] With the increasing incidence of diseases such as stroke caused by cerebrovascular disease or neurological diseases, the number of patients suffering from limb motor dysfunction is increasing day by day, resulting in a rapid increase in the demand for rehabilitation training.

[0003] For patients with limb injuries, the traditional rehabilitation training method is for rehabilitation physicians to perform rehabilitation exercise training on the patient's affected limb. However, this type of rehabilitation method also has disadvantages: there is a shortage of professional rehabilitation physicians, which cannot meet rehabilitation needs, and the rehabilitation efficiency is low and cannot be standardized; the rehabilitation effect is directly affected by the physician's technical level, lacks scientific evaluation, and has delayed feedback. Rehabilitation exoskeleton robots can replace rehabilitation physicians to perform rehabilitation training on patients, and are important medical equipment to assist patients in the reconstruction and recovery of damaged motor nerves.

[0004] Since the mechanical safety limit will affect the left and right arm interchange function, it is easier to realize the single-arm rehabilitation training equipment with mechanical limit. However, when the rehabilitation equipment with left and right arm interchange function adjusts the left and right arms, since each joint needs to move in a large range of angles, it may cause motion interference, so it is difficult to meet both functions at the same time. At present, the upper limb joint rehabilitation equipment on the market does not concentrate the left and right arm interchange function and mechanical safety limit on one device. One of the existing devices can interchange the left and right arms, but only relies on motor control to ensure the safety of the movement angle. If the program fails, it will cause the device to cause secondary damage to the human joints; one is that although it is equipped with a mechanical limit structure, it cannot interchange the left and right arms. A single device can only perform single-arm training, which reduces the utilization rate and applicability of the equipment; one is that the left and right arms can be interchanged, and it is also equipped with a safety limit, but it is only for the single limit (only the maximum limit or the minimum limit) position limit of each joint of both arms. The safety guarantee is not comprehensive, and the structure is complex, the operation process is cumbersome, and the price is high.

[0005] In addition, existing equipment also has the problems of redundant and complex structural design and high cost. Most existing equipment uses pulleys or arc gears in conjunction with arc guide rails and sliders to achieve this action rehabilitation training. First of all, the arc guide sliders have high precision requirements and complex structures. As the core components of this structure, most of them rely on imports, with a long stocking cycle and uncontrollable time. At the same time, the price is expensive, which greatly increases the production cost and production cycle; secondly, the use of the pulley for too long will cause the belt to age and deform, and the insufficient tension will lead to transmission failure, affecting the function realization; finally, the overall structure is complex and large in size, which increases the weight of the whole machine and the manufacturing, production and installation costs. The above reasons directly lead to an increase in patient treatment costs and limit the widespread popularization of related equipment in hospitals. Summary of the invention

[0006] The purpose of the present invention is to provide a safe upper limb rehabilitation exoskeleton robot, which adopts spring positioning pins for adjustable limiting, and at the same time realizes the left and right interchange function of the mechanical arms, ensures the mechanical safety limiting of the extreme angles of both arms, thereby improving the safety of the equipment.

[0007] In order to achieve the above object, the present invention adopts the following technical solution.

[0008] A safe upper limb rehabilitation exoskeleton robot comprises a movable fixed frame and a mechanical arm arranged on the movable fixed frame for assisting a patient's arm in moving. The mechanical arm comprises a shoulder joint vertical extension and retraction module, a shoulder joint horizontal extension and retraction module, a shoulder joint flexion and extension module, an elbow joint flexion and extension module, a wrist joint flexion and extension module and a forearm rotation module which are connected in sequence. The mechanical arm can be suitable for rehabilitation training of the patient's left arm or right arm by switching between left and right states.

[0009] Each module of the robotic arm is equipped with a mechanical limit structure for limiting the range of motion of the corresponding module, and the mechanical limit structure can switch between left and right states, and is used to switch synchronously when the robotic arm switches between left and right states to ensure patient safety.

[0010] Furthermore, the shoulder joint vertical extension and retraction module includes a shoulder joint connecting rod 1 rotatably arranged on a movable fixing frame and a motor 1 for driving the shoulder joint connecting rod 1 to rotate.

[0011] The shoulder joint horizontal extension and retraction module is provided with a shoulder joint connecting rod 2 rotatably connected to the shoulder joint connecting rod 1 and a second motor for driving the shoulder joint connecting rod 2 to rotate.

[0012] The shoulder joint flexion and extension module includes a large arm connecting rod rotatably connected to the shoulder joint connecting rod 2 and a No. 3 motor for driving the large arm connecting rod to rotate.

[0013] The elbow joint flexion and extension module includes an upper arm adjustment rod connected to the upper arm connecting rod, a lower arm connecting rod rotatably connected to the upper arm adjusting rod, and a No. 4 motor for driving the lower arm connecting rod to rotate.

[0014] The wrist joint flexion and extension module includes a forearm adjustment rod connected to the forearm connecting rod, a palm connecting rod rotatably connected to the forearm adjusting rod, and a No. 5 motor for driving the palm connecting rod to rotate.

[0015] The forearm rotation module includes a handle for grasping and rotatingly arranged on a palm connecting rod and a No. 6 motor for driving the handle to rotate.

[0016] Furthermore, the shoulder joint horizontal adduction and extension module is provided with a limiting structure for limiting the horizontal adduction and abduction range of the shoulder joint, including a spring locating pin 1, a spring locating pin 2, a stopper 1 arranged on the shoulder joint connecting rod 1, and a stopper 2 arranged on the shoulder joint connecting rod 2.

[0017] By retracting the spring locating pin 1 and the spring locating pin 2, the left and right states of the robot arm can be switched by rotating the shoulder joint link 2 180 degrees.

[0018] The spring positioning pin 1 cooperates with the stopper 1 to limit the upper and lower limit safety positions of the horizontal adduction and abduction of the shoulder joint of the mechanical arm in the left arm state by limiting the rotation range of the stopper 2.

[0019] The spring positioning pin 2 cooperates with the stopper 1 to limit the upper and lower limit safety positions of the horizontal adduction and abduction of the shoulder joint of the robotic arm in the right arm state by limiting the rotation range of the stopper 2.

[0020] Furthermore, the shoulder joint flexion and extension module is provided with a left arm limiting component and a right arm limiting component.

[0021] The left arm limit assembly includes a spring locating pin three arranged on the shoulder joint connecting rod two and two inner circle blocks arranged on the upper arm connecting rod. The spring locating pin three and the two inner circle blocks cooperate to limit the upper and lower limit safety positions of the shoulder joint flexion and extension of the robotic arm in the left arm state.

[0022] The right arm limit assembly includes a spring locating pin four arranged on the shoulder joint connecting rod two and two outer ring blocks arranged on the upper arm connecting rod. The spring locating pin four and the two outer ring blocks cooperate to limit the upper and lower limit safety positions of the shoulder joint flexion and extension of the robotic arm in the right arm state.

[0023] Furthermore, a limit structure for limiting the vertical adduction and abduction range of the shoulder joint is provided at the shoulder joint vertical retraction and extension module, including a stopper three arranged on a shoulder joint connecting rod one, and two fixed shift pins one arranged on a movable fixed frame. The stopper three cooperates with the two fixed shift pins one to limit the upper and lower limit safety positions of the vertical adduction and abduction of the shoulder joint of the robotic arm.

[0024] Furthermore, a limiting structure for limiting the flexion and extension range of the elbow joint is provided at the elbow flexion and extension module, including a stopper four arranged on the upper arm connecting rod, and two fixed shift pins two arranged on the lower arm connecting rod. The stopper four cooperates with the two fixed shift pins two to limit the upper and lower limit safety positions of the flexion and extension of the elbow joint of the robotic arm.

[0025] Furthermore, a limiting structure for limiting the flexion and extension range of the wrist joint is provided at the wrist flexion and extension module, including a stopper five provided on the palm connecting rod, and two fixed shift pins three provided on the forearm adjustment rod. The stopper five cooperates with the two fixed shift pins three to limit the upper and lower limit safety positions of the flexion and extension of the wrist joint of the robotic arm.

[0026] Furthermore, the forearm rotation module also includes a multi-link crank mechanism arranged between the handle and the No. 6 motor. The multi-link crank mechanism includes a crank connected to the output shaft of the No. 6 motor, a rocker 1 connected to the handle, and a connecting rod 1 connecting the crank and the rocker 1. The No. 6 motor drives the crank to rotate, and can drive the handle to rotate through the connecting rod 1 and the rocker 1 to realize the pronation and supination movement of the forearm.

[0027] Furthermore, the multi-link crank mechanism also includes a rocker arm 2 and a connecting rod 2 for increasing the stability of the crank mechanism. One end of the rocker arm 2 is rotatably connected to the palm connecting rod, and the other end is connected to the extension of the rocker arm 1 through the connecting rod 2. The middle part of the rocker arm 2 is rotatably connected to the connecting rod 1, and the connecting rod 2 is rotatably connected to the crank, rocker arm 1, and rocker arm 2.

[0028] The crank, the first rocker and the second rocker are arranged in parallel, and the first connecting rod and the second connecting rod are arranged in parallel.

[0029] Furthermore, a limiting structure for limiting the rotation range of the forearm is provided at the forearm rotation module, including two fixed gear pins four arranged on the palm connecting rod, and the two fixed gear pins four are respectively arranged on both sides of the rocker arm two, so as to limit the upper and lower limit safety positions of the rotation of the robot arm by limiting the swing range of the rocker arm two.

[0030] Furthermore, a length adjustment mechanism for adjusting the length is provided between the upper arm connecting rod and the upper arm adjusting rod, and between the lower arm connecting rod and the lower arm adjusting rod, which is used to make corresponding adjustments according to the length of the patient's upper arm and forearm to meet the needs of patients with different arm lengths.

[0031] Furthermore, the motor output ends are each provided with a torque sensor which can detect the torque at the joint output end, so as to further increase the safety of the equipment.

[0032] Furthermore, the movable fixed frame includes a control box, a lifting column arranged on the control box, and a crossbeam arranged on the top of the lifting column. The control box is provided with a pulley for easy movement and a handle for pushing. One end of the crossbeam is connected to the top of the lifting column, and the other end is connected to the shoulder joint vertical retraction and extension module for fixing the robotic arm. The lifting column can be raised and lowered in the vertical direction to adjust the height of the robotic arm.

[0033] After adopting the above technical solution, the present invention has the following beneficial effects: 1. The robot arm of the present invention can be switched between left and right modes, and is suitable for rehabilitation training of the left arm or the right arm, and has strong versatility; 2. This paper proposes a new design method for safety limit, which adopts spring positioning pin to adjust the limit, and realizes the interchange function of the left and right arms of the mechanical arm, while ensuring the mechanical safety limit of the extreme angle of the double arms, thereby improving the practicality, reliability and safety of the equipment; 3. The present invention adopts a parallelogram multi-link crank mechanism at the arm rotation module, which can realize the pronation and supination movement functions of the arm of the equipment, and has a simple structure and low manufacturing cost. 4. The length adjustment mechanism of the upper arm and the lower arm in the present invention adopts a lead screw + linear slide rail structure, which can realize stepless adjustment and has a self-locking function. The adjustment method is simple and smooth, and the structure is stable and safe. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic diagram of the spatial distribution of degrees of freedom of the human upper limb joints.

[0035] Figure 2 It is the joint kinematics model of the robot arm in the present invention.

[0036] Figure 3 It is a schematic diagram of the overall structure of the present invention.

[0037] Figure 4 It is a schematic diagram of the overall structure of the movable fixing frame in the present invention.

[0038] Figure 5 It is a schematic diagram of the exploded structure of the three modules of the shoulder joint of the robot arm in the present invention.

[0039] Figure 6 It is a schematic diagram of the exploded structure of the elbow flexion and extension module of the robot arm in the present invention.

[0040] Figure 7 It is a schematic diagram of the exploded structure of the wrist flexion and extension module of the robot arm in the present invention.

[0041] Figure 8 It is a schematic diagram of the exploded structure of the forearm rotation module of the robot arm in the present invention.

[0042] Fig. 9 It is a schematic diagram of the exploded structure of the upper arm length adjustment mechanism in the present invention.

[0043] Fig.10 It is a schematic diagram of the exploded structure of the forearm length adjustment mechanism of the present invention.

[0044] Fig.11 It is a schematic diagram of the left and right state switching mode of the robot arm in the present invention (switching from the right arm mode to the left arm mode).

[0045] Fig.12 It is a schematic diagram of the states of spring locating pin 1 and spring locating pin 2 when the robot arm is in the right arm mode in the present invention.

[0046] Fig.13 It is a schematic diagram of the horizontal adduction limit position of the shoulder joint when the robot arm is in the right arm mode in the present invention.

[0047] Fig.14 It is a schematic diagram of the horizontal abduction limit position of the shoulder joint when the robot arm is in the right arm mode in the present invention.

[0048] Fig.15 It is a schematic diagram of the states of spring locating pin three and spring locating pin four when the robot arm is in the right arm mode in the present invention.

[0049] Fig.16 yes Fig.15 A perspective view of the limiting structure for limiting the flexion and extension range of the elbow joint at the elbow flexion and extension module at the middle AA.

[0050] Fig.17 It is a schematic diagram of the extreme flexion position of the shoulder joint when the robot arm is in the right arm mode in the present invention.

[0051] Fig.18 It is a schematic diagram of the extreme position of shoulder joint abduction when the robot arm is in the right arm mode in the present invention.

[0052] Description of the drawings: 1. Vertical extension and retraction module of shoulder joint, 11. Shoulder joint connecting rod 1, 12. Motor 1, 121. Sensor connection block 1, 122. Torque sensor 1, 123. Sensor adapter block 1, 13. Fixed gear pin 1, 14. Block 3, 2. Horizontal extension and retraction module of shoulder joint, 21. Shoulder joint connecting rod 2, 22. Motor 2, 221. Sensor connection block 2, 222. Torque sensor 2, 223. Sensor adapter block 2, 231. Spring positioning pin 1, 232. Spring positioning pin 2, 233. Spring pin fixing seat 1, 24. Block 1, 25. Block 2, 3. Shoulder joint flexion and extension module, 31. Upper arm connecting rod, 32. Motor 3, 321. Sensor connection Connecting block three, 322, torque sensor three, 323, sensor adapter block three, 331, spring positioning pin three, 332, spring positioning pin four, 333, spring pin fixing seat two, 341, inner ring block, 342, outer ring block, 4, elbow flexion and extension module, 41, upper arm adjustment rod, 42, forearm connecting rod, 43, No. 4 motor, 431, sensor connecting block four, 432, torque sensor four, 433, sensor adapter block four, 44, block four, 45, fixed gear pin two, 5, wrist flexion and extension module, 51, forearm adjustment rod, 52, palm connecting rod, 53, No. 5 motor, 531, sensor connecting block five, 532, torque sensor five, 533, sensor adapter block Five, 54, block five, 55, fixed gear pin three, 6, small arm rotation module, 61, handle, 62, motor six, 621, sensor connection block six, 622, torque sensor six, 623, sensor adapter block six, 631, crank, 632, connecting rod one, 633, rocker one, 634, connecting rod two, 635, rocker two, 64, fixed gear pin four, 7, large arm length adjustment mechanism, 71, screw nut seat one, 721, ball screw nut one, 722, screw one, 723, rotating handle one, 731, deep groove ball bearing one, 732, bearing support one upper, 733, bearing upper end cover one, 741, angular contact ball bearing one, 742, bearing support lower, 74 3. Bearing end cover one, 75. Mobile platform, 76. Optical axis, 771. Arm binding bracket, 772. Arm binding support frame, 8. Forearm length adjustment mechanism, 81. Screw nut seat two, 821. Ball screw nut two, 822. Screw two, 823. Rotating handle two, 831. Angular contact ball bearing two, 832. Bearing support two upper, 833. Bearing support two lower, 834. Bearing upper end cover two, 835. Bearing end cover two, 841. Linear slide rail, 842. Slider, 85. Connecting plate, 86. Pad, 9. Movable fixed frame, 91. Control box, 92. Lifting column, 93. Universal movable wheel, 94. Hand push handle, 95. Beam, 96. Fixed motor seat. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the features and performances of a safe upper limb rehabilitation exoskeleton robot in the present invention are further described in detail below in conjunction with the accompanying drawings and embodiments.

[0054] Please see attached Figures 1 to 18 A safe upper limb rehabilitation exoskeleton robot comprises a movable fixed frame 9 and a mechanical arm arranged on the movable fixed frame 9 for moving the patient's arm. The mechanical arm comprises a shoulder joint vertical extension and retraction module 1, a shoulder joint horizontal extension and retraction module 2, a shoulder joint flexion and extension module 3, an elbow joint flexion and extension module 4, a wrist joint flexion and extension module 5 and a forearm rotation module 6 which are connected in sequence. The mechanical arm can be suitable for the left arm or the right arm by switching between the left and right states.

[0055] Each module of the robotic arm is equipped with a mechanical limit structure for limiting the range of motion of the corresponding module, and the mechanical limit structure can switch between left and right states, and is used to switch synchronously when the robotic arm switches between left and right states to ensure patient safety.

[0056] Furthermore, the shoulder joint vertical extension and retraction module 1 includes a shoulder joint connecting rod 11 rotatably arranged on a movable fixing frame 9 and a motor 12 for driving the shoulder joint connecting rod 11 to rotate.

[0057] The shoulder joint horizontal extension and retraction module 2 is provided with a shoulder joint connecting rod 21 rotatably connected to the shoulder joint connecting rod 1 11 and a second motor 22 for driving the shoulder joint connecting rod 21 to rotate.

[0058] The shoulder joint flexion and extension module 3 includes a large arm connecting rod 31 rotatably connected to the shoulder joint connecting rod 21 and a third motor 32 for driving the large arm connecting rod 31 to rotate.

[0059] The elbow joint flexion and extension module 4 includes an upper arm adjustment rod 41 connected to the upper arm connection rod 31 , an arm connection rod 42 rotatably connected to the upper arm adjustment rod 41 , and a No. 4 motor 43 for driving the arm connection rod 42 to rotate.

[0060] The wrist flexion and extension module 5 includes a forearm adjustment rod 51 connected to the forearm connection rod 42 , a palm connection rod 52 rotatably connected to the forearm adjustment rod 51 , and a No. 5 motor 53 for driving the palm connection rod 52 to rotate.

[0061] The forearm rotating module 6 includes a handle 61 for grasping and rotatably arranged on the palm connecting rod 52 and a No. 6 motor 62 for driving the handle 61 to rotate.

[0062] Furthermore, the shoulder joint horizontal adduction and extension module 2 is provided with a limiting structure for limiting the horizontal adduction and abduction range of the shoulder joint, including a transmission spring positioning pin 1 231, a spring positioning pin 232, a stopper 24, and a stopper 25 provided on the shoulder joint connecting rod 21.

[0063] The spring positioning pin 1 231 and the spring positioning pin 2 232 can be folded to realize the switching of the left and right states of the robot arm by rotating the shoulder joint connecting rod 2 21 180 degrees.

[0064] The spring positioning pin 1 231 cooperates with the stopper 1 24 to limit the upper and lower limit safety positions of the horizontal adduction and abduction of the shoulder joint of the robotic arm in the left arm state by limiting the rotation range of the stopper 25.

[0065] The spring positioning pin 232 cooperates with the stopper 24 to limit the upper and lower limit safety positions of the horizontal adduction and abduction of the shoulder joint of the robotic arm in the right arm state by limiting the rotation range of the stopper 25.

[0066] Furthermore, the shoulder joint flexion and extension module 3 is provided with a left arm limiting component and a right arm limiting component.

[0067] The left arm limit assembly includes a spring locating pin three 331 arranged on the shoulder joint connecting rod two 21 and two inner circle blocks 341 arranged on the upper arm connecting rod 31. The spring locating pin three 331 and the two inner circle blocks 341 cooperate to limit the upper and lower limit safety positions of the shoulder joint flexion and extension of the robotic arm in the left arm state.

[0068] The right arm limit assembly includes a spring locating pin four 332 arranged on the shoulder joint connecting rod two 21 and two outer ring blocks 342 arranged on the upper arm connecting rod 31. The spring locating pin four 332 and the two outer ring blocks 342 cooperate to limit the upper and lower limit safety positions of the shoulder joint flexion and extension of the robotic arm in the right arm state.

[0069] Furthermore, a limit structure for limiting the vertical adduction and abduction range of the shoulder joint is provided at the shoulder joint vertical retraction and extension module 1, including a stopper three 14 arranged on the shoulder joint connecting rod one 11, and two fixed gear pins one 13 arranged on the movable fixed frame 9. The stopper three 14 cooperates with the two fixed gear pins one 13 to limit the upper and lower limit safety positions of the vertical adduction and abduction of the shoulder joint of the robotic arm.

[0070] Furthermore, a limiting structure for limiting the flexion and extension range of the elbow joint is provided at the elbow flexion and extension module 4, including a stopper 44 provided on the upper arm adjustment rod 41, and two fixed shift pins 45 provided on the lower arm connecting rod 42. The stopper 44 and the two fixed shift pins 45 cooperate to limit the upper and lower limit safety positions of the flexion and extension of the elbow joint of the robotic arm.

[0071] Furthermore, a limiting structure for limiting the flexion and extension range of the wrist joint is provided at the wrist flexion and extension module 5, including a stopper 54 provided on the palm connecting rod 52, and two fixed gear pins 3 55 provided on the forearm adjusting rod 51. The stopper 54 cooperates with the two fixed gear pins 3 55 to limit the upper and lower limit safety positions of the flexion and extension of the wrist joint of the robotic arm.

[0072] Furthermore, the forearm rotation module 6 also includes a multi-link crank 631 mechanism arranged between the handle 61 and the No. 6 motor 62. The multi-link crank 631 mechanism includes a crank 631 connected to the output shaft of the No. 6 motor 62, a rocker 1 633 connected to the handle 61, and a connecting rod 1 632 connecting the crank 631 and the rocker 1 633. The No. 6 motor 62 drives the crank 631 to rotate, and can drive the handle 61 to rotate through the connecting rod 1 632 and the rocker 1 633 to realize the pronation and supination movement of the forearm.

[0073] Furthermore, the multi-link crank 631 mechanism also includes a rocker arm 2 635 and a connecting rod 2 634 for increasing the stability of the crank 631 mechanism. One end of the rocker arm 2 635 is rotatably connected to the palm connecting rod 52, and the other end is connected through an extension of the connecting rod 2 634 and the rocker arm 1 633. The middle part of the rocker arm 2 635 is rotatably connected to the connecting rod 1 632, and the connecting rod 2 634 is rotatably connected to the crank 631, the rocker arm 1 633, and the rocker arm 2 635.

[0074] The crank 631 , the rocker arm 1 633 and the rocker arm 2 635 are arranged in parallel, and the connecting rod 1 632 and the connecting rod 2 634 are arranged in parallel.

[0075] Furthermore, a limiting structure for limiting the rotation range of the forearm is provided at the forearm rotation module 6, including two fixed gear pins four 64 arranged on the palm connecting rod 52, and the two fixed gear pins four 64 are respectively arranged on both sides of the rocker bar two 635, so as to limit the upper and lower limit safety positions of the rotation of the robot arm by limiting the swing range of the rocker bar two 635.

[0076] Furthermore, length adjustment mechanisms for adjusting the length are provided between the upper arm connecting rod 31 and the upper arm adjusting rod 41, and between the forearm connecting rod 42 and the forearm adjusting rod 51, which are used to make corresponding adjustments according to the length of the patient's upper arm and forearm to meet the needs of patients with different arm lengths.

[0077] Furthermore, the motor output ends are each provided with a torque sensor which can detect the torque at the joint output end, so as to further increase the safety of the equipment.

[0078] Furthermore, the movable fixed frame 9 includes a control box 91, a lifting column 92 arranged on the control box 91, and a crossbeam 95 arranged on the top of the lifting column 92. The control box 91 is provided with a pulley for easy movement and a handle for pushing. One end of the crossbeam 95 is connected to the top of the lifting column 92, and the other end is connected to the shoulder joint vertical retraction and extension module 1 for fixing the robotic arm. The lifting column 92 can be raised and lowered in the vertical direction to adjust the height of the robotic arm.

[0079] When implementing it, Figure 1 As shown, the shoulder joint of the human body has three active degrees of freedom, Y1, Z1 and X1, wherein the Y1 degree of freedom realizes the vertical adduction and abduction movement of the shoulder joint, the Z1 degree of freedom realizes the horizontal adduction and abduction movement of the shoulder joint, and the X1 degree of freedom realizes the flexion and extension movement of the shoulder joint; the elbow joint of the human body has one degree of freedom, X2, to realize the flexion and extension movement of the elbow joint; the wrist joint of the human body has one degree of freedom, X3, to realize the flexion and extension movement of the wrist joint; the forearm of the human body has one degree of freedom, Z2, to realize the rotation movement of the forearm. The present invention is based on the principle of human anatomy, designs the corresponding joints according to ergonomics, and determines the number of degrees of freedom, the mechanism arrangement scheme, and the range of motion of each joint of the upper limb rehabilitation robot by analyzing the physiological structure of the upper limb of the human body, thereby realizing the dynamic adaptability of the robot and improving the rehabilitation effect.

[0080] like Figure 2 and 3 As shown, the shoulder joint vertical extension and retraction module 1 of the robot arm in the present invention is used to realize the movement of the shoulder joint in the Y1 degree of freedom direction, the shoulder joint horizontal extension and retraction module 2 realizes the movement of the shoulder joint in the Z1 degree of freedom direction, the shoulder joint flexion and extension module 3 is used to realize the movement of the shoulder joint in the X1 degree of freedom direction; the elbow joint flexion and extension module 4 is used to realize the movement of the elbow joint in the X2 degree of freedom direction; the wrist joint flexion and extension module 5 is used to realize the movement of the wrist joint in the X3 degree of freedom direction; the forearm rotation module 6 is used to realize the movement of the forearm in the Z2 degree of freedom direction. The upper arm and the forearm of the robot arm are also provided with two length adjustment degrees of freedom, L1 and L2, which are used to make adaptive adjustments according to the actual arm length of the patient, and to match different patients. In summary, the robot arm in the present invention has a total of 8 degrees of freedom. The forward kinematic equation is established according to the kinematic model, and the motion trajectory in the space of each joint end is calculated, so as to further verify the working space of the execution end of each joint of different dimensions of the rehabilitation robot robot arm in the present invention.

[0081] The structure of the movable fixing frame 9 is as follows: Figure 4As shown, the lifting column 92 and control components are installed inside the control box 91, and four universal moving wheels 93 are fixedly connected to the bottom of the control box 91 to facilitate the movement of the equipment and lock the position. The push handle 94 is fixedly connected to the top of the control box 91 to facilitate the hand-pushing of the equipment. One end of the crossbeam 95 is fixedly connected to the top of the lifting column 92, and the other end is provided with a fixed motor seat 96.

[0082] The structure of the shoulder joint vertical extension and retraction module 1 is as follows Figure 5 As shown, the shoulder joint vertical retraction and extension module 1 is fixedly mounted on the crossbeam 95 through the fixed motor seat 96, one end of the shoulder joint link 11 is connected to the driving unit of the shoulder joint vertical retraction and extension module 1, and the other end is rotatably connected to one end of the shoulder joint link 21. The driving unit structure of the shoulder joint vertical retraction and extension module 1 is that the No. 1 motor 12 is fixedly connected to the fixed motor seat 96, and its output end is sequentially connected to the sensor connection block 121, the torque sensor 122 and the sensor adapter block 123, and the end is fixedly connected to the shoulder joint link 11 and rotates coaxially, so that the output end of the No. 1 motor 12 controls the coaxial rotation of the shoulder joint link 11 through the torque sensor 122.

[0083] Two fixed shift pins 13 are fixedly provided on both sides of the fixed motor seat 96, and a stopper 3 14 is provided on the shoulder joint connecting rod 11. During the rotation of the shoulder joint connecting rod 11, the stopper 3 14 and the two fixed shift pins 13 produce motion interference, so as to realize the upper and lower limit safety limits of the vertical adduction and abduction movement of the shoulder joint. Usually, according to the actual vertical adduction and abduction range of the shoulder joint, the positions of the two fixed shift pins 13 are reasonably set to achieve the purpose of safety. Preferably, the reference values ​​of the motion angle range of the left and right arms in this movement provided by this scheme are both 0° to 75°. It should be noted that by changing the effective width of the stopper 3 14, the rotation range of the shoulder joint connecting rod 11 can be affected. Since the width of the stopper 3 14 in this scheme is too wide, only the effective parts at both ends are retained, and it is still regarded as one component.

[0084] The structure of the shoulder joint horizontal extension module 2 is as follows Figure 5 As shown, one end of the shoulder joint connecting rod 21 is connected to the driving unit of the shoulder joint horizontal extension and retraction module 2, and the other end is rotatably connected to one end of the upper arm connecting rod 31. The driving unit structure of the shoulder joint horizontal extension and retraction module 2 is that the second motor 22 is fixedly connected to one end of the shoulder joint connecting rod 11, and its output end is sequentially connected to the sensor connecting block 221, the torque sensor 222 and the sensor adapter block 223, and the end is fixedly connected to the shoulder joint connecting rod 21 and rotates coaxially, so that the output end of the second motor 22 controls the coaxial rotation of the shoulder joint connecting rod 21 through the torque sensor 222.

[0085] The transmission spring positioning pin 1 231 and the spring positioning pin 2 232 are both fixedly connected to the shoulder joint connecting rod 1 11 through the spring pin fixing seat 1 233, the stopper 1 24 is fixedly connected to the front end of the cylindrical end of the shoulder joint connecting rod 1 11, and the stopper 2 25 is arranged on the shoulder joint connecting rod 2 21. When the second motor 22 controls the shoulder joint connecting rod 2 21 to rotate, the stopper 2 25 collides with the transmission spring positioning pin 1 231, the spring positioning pin 2 232, and the stopper 1 24 to realize the upper and lower limit safety limit of the horizontal adduction and abduction movement of the shoulder joint.

[0086] The spring positioning pin 1 231 and the spring positioning pin 2 232 can realize the switching of the left and right states of the robot arm by rotating the shoulder joint connecting rod 2 21 180 degrees. Fig.11 shown.

[0087] Specifically, the spring positioning pin is extended and retracted according to the left and right states of the current robot arm. When the robot arm is in the left arm state, the block 25 collides with the block 1 24 and the spring positioning pin 1 231 to realize the upper and lower limit limits of the horizontal adduction and abduction movement of the shoulder joint. When the robot arm is in the right arm state, the block 25 collides with the block 1 24 and the spring positioning pin 232 to realize the upper and lower limit limits of the same movement. Figures 12-14 As shown. Usually, according to the actual horizontal adduction and abduction range of the shoulder joint, the positions of the spring positioning pin 1 231, the spring positioning pin 232 and the block 25 are reasonably set to achieve the purpose of safety. Preferably, the reference values ​​of the movement angle range of the left and right arms in this movement provided by this scheme are both -40° to 120°. It should be noted that by changing the effective width of the block 25, the rotation range of the shoulder joint connecting rod 21 can be affected. Since the width of the block 25 in this scheme is too wide, only the effective parts at both ends are retained, and it is still regarded as one component.

[0088] The structure of shoulder flexion and extension module 3 is as follows Figure 5 and 6 As shown, one end of the upper arm connecting rod 31 is connected to the driving unit of the shoulder joint flexion and extension module 3, and the other end is connected to the upper arm adjustment rod 41. The driving unit structure of the shoulder joint flexion and extension module 3 is that the third motor 32 is fixedly connected to one end of the shoulder joint connecting rod 21, and its output end is sequentially connected to the sensor connection block 321, the torque sensor 322 and the sensor adapter block 323, and the end is fixedly connected to the upper arm connecting rod 31 and rotates coaxially, so that the output end of the third motor 32 controls the coaxial rotation of the upper arm connecting rod 31 through the torque sensor 322.

[0089] The spring locating pin three 331 and the spring locating pin four 332 are both fixedly connected to the shoulder joint connecting rod two 21 through the spring pin fixing seat two 333. Two inner ring blocks 341 and two outer ring blocks 342 are arranged on the upper arm connecting rod 31. When the No. 3 motor 32 controls the upper arm connecting rod 31 to rotate coaxially, the spring locating pin three 331 collides with the two inner ring blocks 341 to realize the upper and lower limit safety positions of the shoulder joint flexion and extension of the robot arm in the left arm state, and the spring locating pin four 332 collides with the two outer ring blocks 342 to realize the upper and lower limit safety positions of the shoulder joint flexion and extension of the robot arm in the right arm state.

[0090] Specifically, the spring positioning pin is telescopically adjusted according to the left and right states of the current robot arm. When the robot arm is in the left arm state, the spring positioning pin 331 collides with the two inner ring blocks 341 on the upper arm connecting rod 31 to achieve the upper and lower limit limits of the shoulder joint flexion and extension movement. When the robot arm is in the right arm state, the spring positioning pin 4 332 collides with the two outer ring blocks 342 on the upper arm connecting rod 31 to achieve the upper and lower limit limits of the same movement, such as Figures 15 to 18 As shown. Usually, according to the actual flexion and extension range of the shoulder joint, the positions of the spring positioning pin 331, the spring positioning pin 4 332, the two inner ring blocks 341, and the two outer ring blocks 342 are reasonably set to achieve the purpose of safety. As a preference, the reference values ​​of the motion angle range of the left and right arms in this motion provided by this solution are both -20° to 140°.

[0091] The structure of the elbow flexion and extension module 4 is as follows Figure 6 As shown, the upper arm adjusting rod 41 is connected to the upper arm connecting rod 31, one end of the lower arm connecting rod 42 is connected to the driving unit of the elbow joint flexion and extension module 4, and the other end is connected to the lower arm adjusting rod 51. The driving unit structure of the elbow joint flexion and extension module 4 is that the fourth motor 43 is fixedly connected to one end of the upper arm adjusting rod 41, and its output end is connected to the sensor connecting block 431, the torque sensor 432 and the sensor adapter block 433 in sequence, and the end is fixedly connected to the lower arm connecting rod 42 and rotates coaxially, so that the output end of the fourth motor 43 controls the coaxial rotation of the lower arm connecting rod 42 through the torque sensor 432.

[0092] Block four 44 is fixedly connected to the cylindrical end face of the upper arm adjustment rod 41, and two fixed gear pins 45 are arranged on the forearm connecting rod 42. When the fourth motor 43 controls the forearm connecting rod 42 to rotate, the two fixed gear pins 45 collide with the two sides of block four 44 to realize the upper and lower limit limits of the elbow flexion and extension movement. Usually, according to the actual flexion and extension range of the elbow joint, the positions of the two fixed gear pins 45 are reasonably set to achieve the purpose of safety. Preferably, the reference values ​​of the movement angle range of the left and right arms in this movement provided by this scheme are both 0°~105°.

[0093] The structure of wrist flexion and extension module 5 is as follows Figure 7 As shown, the forearm adjustment rod 51 is connected to the forearm connecting rod 42, one end of the palm connecting rod 52 is connected to the driving unit of the wrist flexion and extension module 5, and the other end is provided with a forearm rotation module 6. The driving unit structure of the wrist flexion and extension module 5 is that the fifth motor 53 is fixedly connected to one end of the forearm adjustment rod 51, and its output end is sequentially connected to the sensor connection block 531, the torque sensor 532 and the sensor adapter block 533, and the end is fixedly connected to the palm connecting rod 52 and rotates coaxially, so that the output end of the fifth motor 53 controls the coaxial rotation of the palm connecting rod 52 through the torque sensor 532.

[0094] Block five 54 is provided on the palm connecting rod 52, and two fixed gear pins three 55 are provided on the forearm adjustment rod 51. When the fifth motor 53 controls the palm connecting rod 52 to rotate coaxially, the two fixed gear pins three 55 collide with block five 54 to realize the upper and lower limit safety positions of wrist flexion and extension. Usually, according to the actual flexion and extension range of the wrist joint, the positions of the two fixed gear pins three 55 are reasonably set to achieve the purpose of safety. Preferably, the reference values ​​of the movement angle range of the left and right arms in this movement provided by this scheme are both -65° to 65°.

[0095] The arm rotation module 6 adopts a parallelogram multi-link crank 631 mechanism, such as Figure 8 As shown, its structural features are that multiple cranks rotate in the same direction at the same speed, the rocker rotates in a plane, and the trajectory of any point on the rocker is an arc with the crank length as the radius. Based on the above features, the handle 61 can be reciprocated at a fixed point, further driving the forearm to perform pronation and supination movements.

[0096] The sixth motor 62 is fixedly connected to the palm connecting rod 52, and its output end is connected to the sensor connecting block 621, the torque sensor 622, and the sensor adapter block 623 in sequence. The end is fixedly connected to the crank 631, so that the output end of the sixth motor 62 group controls the rotation angle and speed of the crank 631 through the torque sensor 622.

[0097] Connecting rod 1 632, rocker 1 633, connecting rod 2 634, rocker 2 635 Figure 8The rocker 1 633 is fixedly connected to the handle 61, and the two ends of the connecting rod 1 632 are rotatably connected to the crank 631 and the rocker 1 633 respectively. One end of the rocker 2 635 is rotatably connected to the palm connecting rod 52, and the other end is connected through the connecting rod 2 634, which is an extension of the rocker 1 633. The middle part of the rocker 2 635 is rotatably connected to the connecting rod 1 632, and the connecting rod 2 634 is rotatably connected to the crank 631, the rocker 1 633, and the rocker 2 635. The crank 631, the rocker 1 633 and the rocker 2 635 are arranged in parallel, and the connecting rod 1 632 is arranged in parallel with the connecting rod 2 634. Each rotating connection is axially fixed with a pin and a retaining spring, so that the crank 631 and the end of the rocker 1 633 rotate at the same angle and speed, thereby realizing that the No. 6 motor 62 controls the speed and angle of the left and right rotation of the handle 61. The patient holds the handle 61 and rotates the handle 61 left or right to achieve the functions of pronation and supination of the forearm.

[0098] Two fixed gear pins 4 64 are fixedly arranged on the palm connecting rod 52, and the two fixed gear pins 4 64 are respectively arranged on both sides of the rocker 2 635. When the No. 6 motor 62 controls the handle 61 to rotate, the rocker 2 635 collides with the two fixed gear pins 4 64 to realize the upper and lower limit safety positions of the forearm pronation and supination. Usually, according to the actual pronation and supination range of the forearm, the positions of the two fixed gear pins 4 64 are reasonably set to achieve the purpose of safety. Preferably, the reference values ​​of the movement angle range of the left and right arms in this movement provided by this scheme are both -70° to 70°.

[0099] The arm length adjustment mechanism 7 is as follows Fig. 9 As shown, it is mainly composed of a support structure and a screw nut adjustment structure. The screw nut adjustment structure is that the screw nut seat 71 is sleeved on the matching ball screw nut 721 and the end face is fixedly connected. When the screw 722 is rotated, the screw nut seat 71 moves up and down along the length direction of the screw 722 with the ball screw nut 721. The outer ring of the deep groove ball bearing 731 is arranged in the corresponding mounting hole of the bearing support 732, and the two ends are axially fixed by retaining springs, and the end is fixed with the upper end cover 733 of the bearing. Two angular contact ball bearings 741 are arranged face to face in the corresponding mounting holes of the lower bearing support 742, and the two ends are fixed by retaining springs, and the end is fixed with the bearing end cover 743. One end of the screw 722 is fixedly connected to the inner ring of the deep groove ball bearing 731, and the other end passes through the angular contact ball bearing 741, and a rotating handle 723 is provided at the end. This structure can realize that when the rotary handle 723 is rotated, the screw nut seat 71 can move up and down along the length direction of the screw 722.

[0100] The arm adjustment rod 41 is fixedly connected to the lead screw nut seat 71 through the mobile platform 75. The mobile platform 75 is also connected to four corresponding holes on the arm connecting rod 31 through two optical axes 76 in the supporting holes at both ends to increase stability. The relative position of the arm connecting rod 31 and the arm adjustment rod 41 in the length direction is adjusted by rotating the rotating handle 723, thereby realizing the function of adjusting the length of the arm of the robot.

[0101] The two arm binding brackets 771 are respectively arranged on the upper arm connecting rod 31 and the lower arm connecting rod 42 through the arm binding support frame 772, so that the human arm can be fixed on the corresponding position of the mechanical arm through the arm binding bracket 771, assisting the patient's upper limbs to perform rehabilitation training of the corresponding joints.

[0102] The arm length adjustment mechanism 8 is similar to the arm length adjustment mechanism 7. Fig.10 As shown in the figure, its supporting structure is composed of linear guide rails and sliders, which are used to reduce friction and improve the smoothness of adjustment. The adjustment structure is mainly composed of ball screws and screw nuts. By rotating the screw, the screw nut moves up and down to achieve the length adjustment function.

[0103] The screw nut seat 81 is sleeved on the matching ball screw nut 821 and the end faces are fixedly connected. When the screw 822 is rotated, the screw nut seat 81 moves up and down along the length direction of the screw 822 with the ball screw nut 821. The outer rings of the two angular contact ball bearings 831 are respectively arranged face to face in the corresponding mounting holes of the bearing support 832 and the bearing support 833, and are axially fixed with retaining rings to fix the bearing upper end cover 834 and the bearing end cover 835. The two ends of the screw 822 are fixedly connected to the inner rings of the two angular contact ball bearings 831. The rotating handle 823 is fixedly connected to the end of the screw 822 and rotates coaxially.

[0104] The linear guide rail 841 is fixedly connected to the arm connecting rod 42, and the matching slider 842 slides smoothly along the length direction of the linear guide rail 841. One end of the lead screw nut seat 81 is connected to the slider 842 through a connecting plate 85, and the upper bearing support 832 and the lower bearing support 833 are both fixedly connected to the arm connecting rod 42. By rotating the rotating handle 823, the lead screw nut seat 81 can move up and down smoothly along the length direction of the lead screw 822.

[0105] The forearm adjustment rod 51 is fixedly connected to the screw nut seat 2 81 through a cushion block 86. Similar to the upper arm length adjustment mechanism 7, the forearm length adjustment mechanism 8 adjusts the relative position of the forearm connecting rod 42 and the forearm adjustment rod 51 in the length direction by rotating the second rotating handle 823, thereby realizing the function of adjusting the length of the forearm of the mechanical arm. The upper arm and the forearm length adjustment can adapt to the upper limb length of different people.

[0106] It should be noted that the parts not described in detail in this scheme are all prior art, and the above embodiments are only used to illustrate the present invention, but the present invention is not limited to the above embodiments. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention fall within the protection scope of the present invention.

Claims

1. A safe upper limb rehabilitation exoskeleton robot, characterized in that: The invention comprises a movable fixing frame (9) and a mechanical arm arranged on the movable fixing frame (9) for moving the patient's arm, wherein the mechanical arm comprises a shoulder joint vertical extension and retraction module (1), a shoulder joint horizontal extension and retraction module (2), a shoulder joint flexion and extension module (3), an elbow joint flexion and extension module (4), a wrist joint flexion and extension module (5) and a forearm rotation module (6) which are connected in sequence, and the mechanical arm can be used for rehabilitation training of the patient's left arm or right arm by switching between left and right states. Each module of the robotic arm is equipped with a mechanical limit structure for limiting the range of motion of the corresponding module, and the mechanical limit structure can switch between left and right states, and is used to switch synchronously when the robotic arm switches between left and right states to ensure patient safety.

2. A safe upper limb rehabilitation exoskeleton robot as claimed in claim 1, characterized in that: The shoulder joint vertical extension and retraction module (1) comprises a shoulder joint connecting rod (11) rotatably arranged on a movable fixing frame (9) and a first motor (12) for driving the shoulder joint connecting rod (11) to rotate. The shoulder joint horizontal extension and retraction module (2) is provided with a shoulder joint connecting rod 2 (21) rotatably connected to the shoulder joint connecting rod 1 (11) and a second motor (22) for driving the shoulder joint connecting rod 2 (21) to rotate. The shoulder joint flexion and extension module (3) comprises a large arm connecting rod (31) rotatably connected to the shoulder joint connecting rod 2 (21) and a third motor (32) for driving the large arm connecting rod (31) to rotate. The elbow joint flexion and extension module (4) comprises an upper arm adjustment rod (41) connected to the upper arm connection rod (31), an arm connection rod (42) rotatably connected to the upper arm adjustment rod (41), and a fourth motor (43) for driving the arm connection rod (42) to rotate. The wrist joint flexion and extension module (5) comprises a forearm adjustment rod (51) connected to the forearm connection rod (42), a palm connection rod (52) rotatably connected to the forearm adjustment rod (51), and a No. 5 motor (53) for driving the palm connection rod (52) to rotate. The forearm rotating module (6) comprises a handle (61) for grasping and rotatably arranged on a palm connecting rod (52) and a No. 6 motor (62) for driving the handle (61) to rotate.

3. A safe upper limb rehabilitation exoskeleton robot as claimed in claim 2, characterized in that: The shoulder joint horizontal adduction and extension module (2) is provided with a limit structure for limiting the horizontal adduction and abduction range of the shoulder joint, comprising a spring positioning pin 1 (231), a spring positioning pin 2 (232), a stopper 1 (24) and a stopper 2 (25) provided on the shoulder joint connecting rod 1 (11). By retracting the spring positioning pin 1 (231) and the spring positioning pin 2 (232), the left and right states of the robot arm can be switched by rotating the shoulder joint link 2 (21) 180 degrees. The spring positioning pin 1 (231) cooperates with the stopper 1 (24) to limit the upper and lower limit safety positions of the horizontal adduction and abduction of the shoulder joint of the robot arm in the left arm state by limiting the rotation range of the stopper 2 (25). The spring positioning pin 2 (232) cooperates with the stopper 1 (24) to limit the upper and lower limit safety positions of the horizontal adduction and abduction of the shoulder joint of the mechanical arm in the right arm state by limiting the rotation range of the stopper 2 (25).

4. A safe upper limb rehabilitation exoskeleton robot as claimed in claim 2, characterized in that: The shoulder joint flexion and extension module (3) is provided with a left arm limit assembly and a right arm limit assembly. The left arm limit assembly comprises a spring positioning pin three (331) arranged on the shoulder joint connecting rod two (21) and two inner ring blocks (341) arranged on the upper arm connecting rod (31). The spring positioning pin three (331) cooperates with the two inner ring blocks (341) to limit the upper and lower limit safety positions of the shoulder joint flexion and extension of the mechanical arm in the left arm state. The right arm limit assembly comprises a spring positioning pin four (332) arranged on the shoulder joint connecting rod two (21) and two outer ring stoppers (342) arranged on the upper arm connecting rod (31). The spring positioning pin four (332) cooperates with the two outer ring stoppers (342) to limit the upper and lower limit safety positions of the shoulder joint flexion and extension when the mechanical arm is in the right arm state.

5. A safe upper limb rehabilitation exoskeleton robot as claimed in claim 2, characterized in that: A limit structure for limiting the vertical adduction and abduction range of the shoulder joint is provided at the shoulder joint vertical adduction and abduction module (1), comprising a stopper block three (14) provided on a shoulder joint connecting rod one (11), and two fixed stopper pins one (13) provided on a movable fixing frame (9). The stopper block three (14) cooperates with the two fixed stopper pins one (13) to limit the upper and lower limit safety positions of the vertical adduction and abduction of the shoulder joint of the robot arm.

6. A safe upper limb rehabilitation exoskeleton robot as claimed in claim 2, characterized in that: The elbow joint flexion and extension module (4) is provided with a limit structure for limiting the flexion and extension range of the elbow joint, comprising a stopper four (44) provided on the upper arm connecting rod (31), and two fixed stopper pins two (45) provided on the lower arm connecting rod (42); the stopper four (44) cooperates with the two fixed stopper pins two (45) to limit the upper and lower limit safety positions of the flexion and extension of the elbow joint of the mechanical arm.

7. A safe upper limb rehabilitation exoskeleton robot as claimed in claim 2, characterized in that: A limit structure for limiting the flexion and extension range of the wrist joint is provided at the wrist joint flexion and extension module (5), comprising a stopper five (54) provided on the palm connecting rod (52), and two fixed stopper pins three (55) provided on the forearm adjustment rod (51); the stopper five (54) cooperates with the two fixed stopper pins three (55) to limit the upper and lower limit safety positions of the flexion and extension of the wrist joint of the mechanical arm.

8. A safe upper limb rehabilitation exoskeleton robot as claimed in claim 2, characterized in that: The forearm rotation module (6) further comprises a multi-link crank mechanism disposed between the handle (61) and the sixth motor (62), the multi-link crank mechanism comprising a crank (631) connected to the output shaft of the sixth motor (62), a rocker arm 1 (633) connected to the handle (61), and a connecting rod 1 (632) connecting the crank (631) and the rocker arm 1 (633). The sixth motor (62) drives the crank (631) to rotate, and the handle (61) can be driven to rotate via the connecting rod 1 (632) and the rocker arm 1 (633), thereby realizing pronation and supination movements of the forearm.

9. A safe upper limb rehabilitation exoskeleton robot as claimed in claim 8, characterized in that: The multi-link crank mechanism also includes a second rocker (635) and a second connecting rod (634) for increasing the stability of the crank mechanism. One end of the second rocker (635) is rotatably connected to the palm connecting rod (52), and the other end is connected to the extension of the first rocker (633) through the second connecting rod (634). The middle part of the second rocker (635) is rotatably connected to the first connecting rod (632). The second connecting rod (634) is rotatably connected to the crank (631), the first rocker (633), and the second rocker (635). The crank (631), the first rocker (633) and the second rocker (635) are arranged in parallel, and the first connecting rod (632) and the second connecting rod (634) are arranged in parallel.

10. A safe upper limb rehabilitation exoskeleton robot as claimed in claim 9, characterized in that: The forearm rotation module (6) is provided with a limit structure for limiting the rotation range of the forearm, comprising two fixed gear pins (64) arranged on the palm connecting rod (52), and the two fixed gear pins (64) are respectively arranged on both sides of the second rocker (635), and the upper and lower limit safety positions of the rotation of the mechanical arm forearm are limited by limiting the swing range of the second rocker (635).

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