A safe upper limb rehabilitation exoskeleton robot

Abstract

The application 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 the movement of a patient's arm, the mechanical arm comprises, in sequence, 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 lower arm rotating module, the mechanical arm can be suitable for a left arm or a right arm by switching left and right states. Each module of the mechanical arm is provided with a mechanical limiting structure used for limiting the activity range of the corresponding module, and the mechanical limiting structure can switch left and right states, and is used for synchronously switching when the mechanical arm switches left and right states to ensure the safety of the patient. The spring positioning pin is used for adjustably limiting, the application can realize the left and right exchange function of the mechanical arm, ensure the mechanical safety limiting of the limit angle of the two arms and improve the safety of the equipment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical rehabilitation robots, in particular to a safe upper limb rehabilitation exoskeleton robot. BACKGROUND

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

[0003] For patients with limb injury, the traditional rehabilitation training method is for a rehabilitation physician to perform rehabilitation exercise training on the patient's affected limb. However, this type of rehabilitation method also has disadvantages: the resources of professional rehabilitation physicians are scarce, which cannot meet the rehabilitation needs, the rehabilitation efficiency is low, and it cannot be standardized; the rehabilitation effect is directly affected by the technical level of the physician, lacks scientific evaluation, and the feedback is lagging. The rehabilitation exoskeleton robot can replace the rehabilitation physician to perform rehabilitation training on the patient, and is an important medical device for assisting patients in recovering the damaged motor nerves.

[0004] Since the mechanical safety limit will affect the left-right arm exchange function, only single-arm rehabilitation training equipment with mechanical limit is relatively easy to realize, but the rehabilitation equipment with left-right arm exchange function is relatively difficult to meet both functions when adjusting the left and right arms, because each joint needs to move in a large range of angles, which may cause motion interference. The existing upper limb joint rehabilitation equipment on the market does not concentrate the left-right arm exchange function and mechanical safety limit on one device. One type of existing equipment can exchange left and right arms, but only relies on motor control to ensure the safety of the movement angle. If the program is wrong, it will cause secondary damage to the human joints by the equipment. Another type of equipment is equipped with mechanical limit structure, but cannot exchange left and right arms. Single device can only perform single arm training, which reduces the utilization rate and applicability of the equipment. Another type of equipment can exchange left and right arms and is also equipped with safety limit, but only has single limit (only maximum limit or minimum limit) position limit for each joint of the double arms. The safety guarantee is not comprehensive, and the structure is complex, the operation process is cumbersome and the selling price is high.

[0005] In addition, the existing device also has problems of redundant and complex structure design, and high cost. The existing device realizes the action rehabilitation training through the cooperation of the arc-shaped guide rail, the sliding block and the belt wheel. Firstly, the arc-shaped sliding rail sliding block has high precision requirement and complex structure, and most of the core parts of the structure depend on import, so the spare parts cycle is long and the time is uncontrollable, and the price is expensive, which greatly increases the production cost and production cycle. Secondly, the belt will be aged and deformed after being used for a long time, so that the transmission fails due to insufficient tension, which affects the function realization. Finally, the overall structure is complex and large, which increases the weight of the whole machine and the manufacturing, production and installation cost. The above reasons directly lead to the increase of the treatment cost of the patient, and limit the wide popularization of the related equipment in the hospital. SUMMARY

[0006] The purpose of the present application is to provide a safe upper limb rehabilitation exoskeleton robot, which can adjust the limit by using a spring positioning pin, and can realize the left and right exchange function of the mechanical arm while ensuring the limit angle mechanical safety of the double arms, thereby improving the safety of the device.

[0007] In order to achieve the above purpose, the present application adopts the following technical scheme.

[0008] A safe upper limb rehabilitation exoskeleton robot, comprising a movable fixing frame and a mechanical arm arranged on the movable fixing frame for assisting the movement of the patient's arm, the mechanical arm comprising a shoulder joint vertical folding module, a shoulder joint horizontal folding module, a shoulder joint flexion and extension module, an elbow joint flexion and extension module, a wrist joint flexion and extension module and a small arm rotating module connected in sequence, the mechanical arm being capable of being adapted to the rehabilitation training of the left arm or the right arm of the patient by switching between the left and right states.

[0009] Each module of the mechanical arm is provided with a mechanical limiting structure for limiting the activity range of the corresponding module, and the mechanical limiting structure can switch between the left and right states, so as to switch synchronously when the mechanical arm switches between the left and right states to ensure the safety of the patient.

[0010] Further, the shoulder joint vertical folding module comprises a shoulder joint connecting rod one rotatably arranged on the movable fixing frame and a first motor for driving the shoulder joint connecting rod one to rotate.

[0011] The shoulder joint horizontal folding module is provided with a shoulder joint connecting rod two rotatably connected with the shoulder joint connecting rod one and a second motor for driving the shoulder joint connecting rod two to rotate.

[0012] The shoulder joint flexion and extension module comprises a large arm connecting rod rotatably connected with the shoulder joint connecting rod two and a third motor for driving the large arm connecting rod to rotate.

[0013] The elbow joint flexion and extension module comprises a large arm adjusting rod connected with the large arm connecting rod, a small arm connecting rod rotatably connected with the large arm adjusting rod and a fourth motor for driving the small arm connecting rod to rotate.

[0014] The wrist flexion and extension module comprises a forearm adjusting rod connected with the forearm connecting rod, a palm connecting rod rotationally connected with the forearm adjusting rod, and a fifth motor for driving the palm connecting rod to rotate.

[0015] The forearm rotation module comprises a handle for gripping rotationally arranged on the palm connecting rod, and a sixth motor for driving the handle to rotate.

[0016] Further, the shoulder joint horizontal adduction and abduction module is provided with a limiting structure for limiting the range of horizontal adduction and abduction of the shoulder joint, comprising a spring positioning pin one, a spring positioning pin two and a stop block one arranged on the shoulder joint connecting rod one, and a stop block two arranged on the shoulder joint connecting rod two.

[0017] The spring positioning pin one and the spring positioning pin two can switch the left and right states of the robotic arm by rotating the shoulder joint connecting rod two by 180°.

[0018] The spring positioning pin one and the stop block one cooperate to limit the upper and lower limit safe 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 stop block two.

[0019] The spring positioning pin two and the stop block one cooperate to limit the upper and lower limit safe 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 stop block two.

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

[0021] The left arm limiting assembly comprises a spring positioning pin three arranged on the shoulder joint connecting rod two and two inner ring stop blocks arranged on the upper arm connecting rod, and the spring positioning pin three and the two inner ring stop blocks cooperate to limit the upper and lower limit safe positions of the flexion and extension of the shoulder joint of the robotic arm in the left arm state.

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

[0023] Further, the shoulder joint vertical adduction and abduction module is provided with a limiting structure for limiting the range of vertical adduction and abduction of the shoulder joint, comprising a stop block three arranged on the shoulder joint connecting rod one and two fixed stop pins one arranged on the movable fixing frame, and the stop block three and the two fixed stop pins one cooperate to limit the upper and lower limit safe positions of the vertical adduction and abduction of the shoulder joint of the robotic arm.

[0024] Further, the elbow joint flexion and extension module is provided with a limiting structure for limiting the flexion and extension range of the elbow joint, including a stop block four arranged on the upper arm connecting rod and two fixed detent pins two arranged on the forearm adjusting rod. The stop block four and the two fixed detent pins two cooperate to limit the upper and lower limit safety positions of the elbow joint flexion and extension of the mechanical arm.

[0025] Further, the wrist joint flexion and extension module is provided with a limiting structure for limiting the flexion and extension range of the wrist joint, including a stop block five arranged on the palm connecting rod and two fixed detent pins three arranged on the forearm adjusting rod. The stop block five and the two fixed detent pins three cooperate to limit the upper and lower limit safety positions of the wrist joint flexion and extension of the mechanical arm.

[0026] Further, the forearm rotation module further includes a multi-link crank mechanism arranged between the handle and the sixth motor. The multi-link crank mechanism includes a crank connected with the output shaft of the sixth motor, a rocker one connected with the handle, and a connecting rod one connecting the crank and the rocker one. The sixth motor drives the crank to rotate, which can drive the handle to rotate through the connecting rod one and the rocker one, realizing the pronation and supination movement of the forearm.

[0027] Further, the multi-link crank mechanism further includes a rocker two and a connecting rod two for increasing the stability of the crank mechanism. The rocker two is rotatably connected with the palm connecting rod at one end and connected with the extension of the rocker one through the connecting rod two at the other end. The middle part of the rocker two is rotatably connected with the connecting rod one. The connecting rod two is rotatably connected with the crank, the rocker one and the rocker two.

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

[0029] Further, the forearm rotation module is provided with a limiting structure for limiting the rotation range of the forearm, including two fixed detent pins four arranged on the palm connecting rod. The two fixed detent pins four are arranged on both sides of the rocker two respectively, thereby limiting the upper and lower limit safety positions of the forearm rotation of the mechanical arm by limiting the swing range of the rocker two.

[0030] Further, length adjusting mechanisms are arranged between the upper arm connecting rod and the upper arm adjusting rod and between the forearm connecting rod and the forearm adjusting rod, respectively, for adjusting the length. The length adjusting mechanisms are used to make corresponding adjustments according to the length of the upper arm and the forearm of the patient, so as to meet the use of patients with different arm lengths.

[0031] Further, torque sensors are arranged at the output ends of the motors, which can detect the torque of the joint output end, thereby further increasing the safety of the device.

[0032] Further, the movable fixing frame comprises a control box, a lifting column arranged on the control box, and a cross beam arranged at the top of the lifting column, wherein a pulley facilitating movement and a handle for pushing are arranged on the control box, one end of the cross beam is connected with the top of the lifting column, and the other end is connected with the shoulder joint vertical folding and unfolding module for fixing the mechanical arm.

[0033] After the above technical scheme is adopted, the application has the following beneficial effects:

[0034] 1. The mechanical arm in the application can be switched between left and right modes, and is suitable for rehabilitation training of left arms or right arms, and has strong versatility.

[0035] 2. The application provides a novel safety limiting design method, and a spring positioning pin is used to adjust the limit, so that the mechanical safety limit of the extreme angle of the double arms is ensured while the left and right arms are interchanged, and the practicability, reliability and safety of the equipment are improved.

[0036] 3. A parallelogram multi-link crank mechanism is used at the forearm rotating module of the application, so that the forearm rotating forward and backward movement function of the equipment can be realized, and the structure is simple and the manufacturing cost is low.

[0037] 4. The length adjusting mechanism of the forearm and the forearm in the application adopts a screw rod+linear slide rail structure, can realize stepless adjustment, has a self-locking function, and has a simple and smooth adjusting mode, and the structure is stable and safe. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 is a schematic diagram of the spatial distribution of the joint degrees of freedom of the upper limbs of the human body.

[0039] Figure 2 is a joint kinematic model of the mechanical arm in the application.

[0040] Figure 3 is a schematic diagram of the overall structure of the application.

[0041] Figure 4 is a schematic diagram of the overall structure of the movable fixing frame in the application.

[0042] Figure 5 is an exploded structure schematic diagram of the three modules of the shoulder joint of the mechanical arm in the application.

[0043] Figure 6 is an exploded structure schematic diagram of the flexion and extension module of the elbow joint of the mechanical arm in the application.

[0044] Figure 7 is an exploded structure schematic diagram of the flexion and extension module of the wrist joint of the mechanical arm in the application.

[0045] Figure 8It is the explosion structure schematic view of the mechanical arm small arm rotation module in the application.

[0046] Figure 9 It is the explosion structure schematic view of the big arm length adjusting mechanism in the application.

[0047] Figure 10 It is the explosion structure schematic view of the small arm length adjusting mechanism in the application.

[0048] Figure 11 It is the left and right state switching mode schematic view of the mechanical arm in the application (right arm mode switches to left arm mode).

[0049] Figure 12 It is the state schematic view of spring positioning pin one and spring positioning pin two when the mechanical arm is in right arm mode in the application.

[0050] Figure 13 It is the shoulder joint horizontal adduction limit position schematic view when the mechanical arm is in right arm mode in the application.

[0051] Figure 14 It is the shoulder joint horizontal abduction limit position schematic view when the mechanical arm is in right arm mode in the application.

[0052] Figure 15 It is the state schematic view of spring positioning pin three and spring positioning pin four when the mechanical arm is in right arm mode in the application.

[0053] Figure 16 It is Figure 15 It is the perspective view of the elbow joint flexion and extension module at A-A in the application.

[0054] Figure 17 It is the shoulder joint flexion limit position schematic view when the mechanical arm is in right arm mode in the application.

[0055] Figure 18 It is the shoulder joint abduction limit position schematic view when the mechanical arm is in right arm mode in the application.

[0056] Attached diagram descriptions: 1. Shoulder joint vertical retraction / extension module; 11. Shoulder joint connecting rod one; 12. Motor one; 121. Sensor connecting block one; 122. Torque sensor one; 123. Sensor adapter block one; 13. Fixed stop pin one; 14. Stop block three; 2. Shoulder joint horizontal retraction / extension module; 21. Shoulder joint connecting rod two; 22. Motor two; 221. Sensor connecting block two; 222. Torque sensor two; 223. Sensor adapter block two; 231. Spring positioning pin one; 232. Spring positioning pin two; 233. Spring pin fixing seat one; 24. Stop block one; 25. Stop block two; 3. Shoulder joint flexion / extension module; 31. Upper arm connecting rod; 32. Motor three; 321. Sensor connecting rod one; 23. Horizontal retraction / extension module ...26. Horizontal retraction / extension module; 27. Horizontal retraction / extension module; 28. Horizontal retraction / extension module; 29. ​​Horizontal retraction / extension module; 20. Horizontal retraction / extension module; 20. Horizontal retraction / extension module; 21. Upper arm connecting rod; 32. Horizontal retraction / extension module; 23. Horizontal retraction / extension module; 24. Stop block one; 25. Stop block two; 26. Horizontal retraction / extension module; 27. Horizontal retraction / extension module; 28. Horizontal retraction / ex 322, Torque Sensor 3, 323, Sensor Adapter Block 3, 331, Spring Positioning Pin 3, 332, Spring Positioning Pin 4, 333, Spring Pin Fixing Seat 2, 341, Inner Ring Stop Block, 342, Outer Ring Stop Block, 4, Elbow Joint Flexion / Extension Module, 41, Upper Arm Adjusting Rod, 42, Forearm Connecting Rod, 43, Motor No. 4, 431, Sensor Connecting Block 4, 432, Torque Sensor 4, 433, Sensor Adapter Block 4, 44, Stop Block 4, 45, Fixed Stop Pin 2, 5, Wrist Joint Flexion / Extension Module, 51, Forearm Adjusting Rod, 52, Palm Connecting Rod, 53, Motor No. 5, 531, Sensor Connecting Block 5, 532, Torque Sensor 5, 533, Sensor Adapter Block 5. 54. Stop Block 5; 55. Fixed Stop Pin 3; 6. Forearm Rotation Module; 61. Handle; 62. Motor No. 6; 621. Sensor Connector Block 6; 622. Torque Sensor 6; 623. Sensor Adapter Block 6; 631. Crank; 632. Connecting Rod 1; 633. Rocker Arm 1; 634. Connecting Rod 2; 635. Rocker Arm 2; 64. Fixed Stop Pin 4; 7. Boom Length Adjustment Mechanism; 71. Lead Screw Nut Seat 1; 721. Ball Screw Nut 1; 722. Lead Screw 1; 723. Rotating Handle 1; 731. Deep Groove Ball Bearing 1; 732. Upper Bearing Support 1; 733. Upper Bearing Cover 1; 741. Angular Contact Ball Bearing 1; 742. Lower Bearing Support 1; 74 3. Bearing end cover 1; 75. Moving platform; 76. Optical shaft; 771. Arm binding bracket; 772. Arm binding support frame; 8. Forearm length adjustment mechanism; 81. Screw nut seat 2; 821. Ball screw nut 2; 822. Screw 2; 823. Rotary handle 2; 831. Angular contact ball bearing 2; 832. Upper bearing support 2; 833. Lower bearing support 2; 834. Upper bearing end cover 2; 835. Bearing end cover 2; 841. Linear slide rail; 842. Slider; 85. Connecting plate; 86. Pad; 9. Movable fixed frame; 91. Control box; 92. Lifting column; 93. Universal caster wheel; 94. Hand push handle; 95. Crossbeam; 96. Fixed motor base. Detailed Implementation

[0057] To make the objectives, technical solutions, and advantages of the present invention clearer, the features and performance of a safe upper limb rehabilitation exoskeleton robot of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0058] Please see the appendix Figures 1 to 18 A safe upper limb rehabilitation exoskeleton robot includes a movable frame 9 and a robotic arm mounted on the movable frame 9 for moving the patient's arm. The robotic arm includes a shoulder joint vertical extension module 1, a shoulder joint horizontal extension 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 connected in sequence. The robotic arm can switch between left and right states to be suitable for either the left or right arm.

[0059] Each module of the robotic arm is equipped with a mechanical limiting structure to limit the range of motion of the corresponding module. The mechanical limiting structure can switch between left and right states to ensure patient safety when the robotic arm switches between left and right states.

[0060] Furthermore, the shoulder joint vertical retraction module 1 includes a shoulder joint linkage 11 rotatably mounted on a movable fixed frame 9 and a motor 12 for driving the shoulder joint linkage 11 to rotate.

[0061] The shoulder joint horizontal retraction module 2 is equipped with a shoulder joint link 21 that is rotatably connected to the shoulder joint link 11 and a second motor 22 for driving the shoulder joint link 21 to rotate.

[0062] The shoulder joint flexion and extension module 3 includes a large arm connecting rod 31 that is rotatably connected to the shoulder joint connecting rod 21 and a No. 3 motor 32 for driving the large arm connecting rod 31 to rotate.

[0063] The elbow flexion and extension module 4 includes an upper arm adjusting rod 41 connected to the upper arm connecting rod 31, a forearm connecting rod 42 rotatably connected to the upper arm adjusting rod 41, and a No. 4 motor 43 for driving the forearm connecting rod 42 to rotate.

[0064] The wrist flexion and extension module 5 includes a forearm adjustment rod 51 connected to the forearm connecting rod 42, a palm connecting rod 52 rotatably connected to the forearm adjustment rod 51, and a No. 5 motor 53 for driving the palm connecting rod 52 to rotate.

[0065] The forearm rotation module 6 includes a handle 61 for gripping that is mounted on the palm connecting rod 52 and a No. 6 motor 62 for driving the handle 61 to rotate.

[0066] Furthermore, the shoulder joint horizontal adduction and abduction module 2 is provided with a limiting structure for restricting the horizontal adduction and abduction range of the shoulder joint, including a spring positioning pin 231, a spring positioning pin 232, and a stop block 24 provided on the shoulder joint link 11, and a stop block 25 provided on the shoulder joint link 21.

[0067] The retractable spring positioning pin 1 231 and spring positioning pin 232 enable the switching of the robotic arm's left and right states by rotating the shoulder joint linkage 21 180°.

[0068] The spring positioning pin 231 and the stop block 24 work together to limit the upper and lower limit safe positions of the shoulder joint in the left arm state by limiting the rotation range of the stop block 25.

[0069] The spring positioning pin 232 and the stop block 24 work together to limit the upper and lower limit safe positions of the shoulder joint in the right arm state by limiting the rotation range of the stop block 25.

[0070] Furthermore, the shoulder joint flexion and extension module 3 is equipped with a left arm limiting component and a right arm limiting component.

[0071] The left arm limiting assembly includes a spring positioning pin 331 on the shoulder joint connecting rod 21 and two inner ring blocks 341 on the upper arm connecting rod 31. The spring positioning pin 331 and the two inner ring blocks 341 cooperate to limit the upper and lower limit safe positions of the robotic arm's shoulder joint flexion and extension in the left arm state.

[0072] The right arm limiting assembly includes a spring positioning pin 332 on the shoulder joint connecting rod 21 and two outer ring blocks 342 on the upper arm connecting rod 31. The spring positioning pin 332 and the two outer ring blocks 342 cooperate to limit the upper and lower limit safe positions of the shoulder joint flexion and extension of the robotic arm in the right arm state.

[0073] Furthermore, the shoulder joint vertical retraction module 1 is provided with a limiting structure to restrict the vertical adduction and abduction range of the shoulder joint, including a stop block 3 14 on the shoulder joint connecting rod 11 and two fixed stop pins 13 on the movable fixed frame 9. The stop block 3 14 and the two fixed stop pins 13 cooperate to limit the upper and lower limit safe positions of the vertical adduction and abduction of the robotic arm shoulder joint.

[0074] Furthermore, the elbow joint flexion and extension module 4 is provided with a limiting structure to restrict the range of elbow joint flexion and extension, including a stop block 44 on the upper arm adjusting rod 41 and two fixed stop pins 45 on the lower arm connecting rod 42. The stop block 44 and the two fixed stop pins 45 cooperate to limit the upper and lower limit safe positions of the robotic arm elbow joint flexion and extension.

[0075] Furthermore, the wrist joint flexion and extension module 5 is provided with a limiting structure to restrict the range of wrist joint flexion and extension, including a stop block 54 on the palm connecting rod 52 and two fixed stop pins 55 on the forearm adjusting rod 51. The stop block 54 and the two fixed stop pins 55 cooperate to limit the upper and lower limit safe positions of the mechanical arm wrist joint flexion and extension.

[0076] Furthermore, the forearm rotation module 6 also includes a multi-link crank 631 mechanism located between the handle 61 and the sixth motor 62. The multi-link crank 631 mechanism includes a crank 631 connected to the output shaft of the sixth motor 62, a rocker arm 633 connected to the handle 61, and a connecting rod 632 connecting the crank 631 and the rocker arm 633. The sixth motor 62 drives the crank 631 to rotate, which can drive the handle 61 to rotate through the connecting rod 632 and the rocker arm 633, thereby realizing the forearm pronation and supination movements.

[0077] 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 the extension of the rocker arm 1 633 of the connecting rod 2 634. The middle part of the rocker arm 2 635 is rotatably connected to the connecting rod 1 632. The connecting rod 2 634 is rotatably connected to the crank 631, the rocker arm 1 633, and the rocker arm 2 635.

[0078] Crank 631, rocker arm 1 633 and rocker arm 2 635 are arranged in parallel, and connecting rod 1 632 and connecting rod 2 634 are arranged in parallel.

[0079] Furthermore, the forearm rotation module 6 is provided with a limiting structure to restrict the rotation range of the forearm, including two fixed stop pins 64 on the palm connecting rod 52. The two fixed stop pins 64 are respectively located on both sides of the rocker arm 635. By limiting the swing range of the rocker arm 635, the upper and lower limit safe positions of the forearm rotation of the robotic arm are limited.

[0080] Furthermore, length adjustment mechanisms 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, for adjusting the length according to the length of the patient's upper arm and forearm to meet the needs of patients with different arm lengths.

[0081] Furthermore, each motor output is equipped with a torque sensor, which can detect the torque at the joint output, thereby further increasing the safety of the equipment.

[0082] Furthermore, the movable mounting frame 9 includes a control box 91, a lifting column 92 mounted on the control box 91, and a crossbeam 95 mounted on the top of the lifting column 92. The control box 91 is equipped with pulleys 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 extension and retraction 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.

[0083] In specific implementation, such as Figure 1 As shown, the human shoulder joint has three active degrees of freedom: Y1, Z1, and X1. Y1 enables vertical adduction and abduction, Z1 enables horizontal adduction and abduction, and X1 enables flexion and extension. The human elbow joint has one degree of freedom (X2), enabling flexion and extension. The human wrist joint has one degree of freedom (X3), enabling flexion and extension. The human forearm has one degree of freedom (Z2), enabling rotation. This invention is based on human anatomy and ergonomics, designing the corresponding joints. By analyzing the physiological structure of the upper limb, the number of degrees of freedom, the mechanism layout, and the range of motion of each joint in the upper limb rehabilitation robot are determined, thereby achieving dynamic adaptability of the robot and improving rehabilitation outcomes.

[0084] like Figure 2 and 3 As shown, in this invention, the shoulder joint vertical extension / retraction module 1 of the robotic arm is used to realize the movement of the shoulder joint in the Y1 degree of freedom direction; the shoulder joint horizontal extension / retraction module 2 is used to realize the movement of the shoulder joint in the Z1 degree of freedom direction; the shoulder joint flexion / extension module 3 is used to realize the movement of the shoulder joint in the X1 degree of freedom direction; the elbow joint flexion / extension module 4 is used to realize the movement of the elbow joint in the X2 degree of freedom direction; the wrist joint flexion / extension module 5 is used to realize the movement of the wrist joint in the X3 degree of freedom direction; and the forearm rotation module 6 is used to realize the movement of the forearm in the Z2 degree of freedom direction. The robotic arm also has two length-adjustable degrees of freedom, L1 and L2, at the upper and lower arms, used for adaptive adjustment according to the patient's actual arm length to match different patients. In summary, the robotic arm in this invention has a total of 8 degrees of freedom. Based on the kinematic model, a positive kinematic equation is established, and the motion trajectory within the end-effector space of each joint is calculated, further verifying the workspace of the end-effectors of the rehabilitation robot robotic arm in different dimensions of this invention.

[0085] The structure of the movable mounting bracket 9 is as follows: Figure 4As shown, the lifting column 92 and control components are all installed inside the control box 91. Four universal casters 93 are fixedly connected to the bottom of the control box 91 for easy movement and locking of the equipment. A push handle 94 is fixedly connected to the top of the control box 91 for easy manual movement 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 equipped with a fixed motor base 96.

[0086] The structure of the shoulder joint vertical abduction and retraction module 1 is as follows: Figure 5 As shown, the shoulder joint vertical retraction module 1 is fixedly mounted on the crossbeam 95 via a fixed motor mount 96. One end of the shoulder joint connecting rod 11 is connected to the drive unit of the shoulder joint vertical retraction module 1, and the other end is rotatably connected to one end of the shoulder joint connecting rod 21. The drive unit structure of the shoulder joint vertical retraction module 1 is as follows: a first motor 12 is fixedly connected to the fixed motor mount 96, and its output end is sequentially connected to a sensor connecting block 121, a torque sensor 122, and a sensor adapter block 123. Its end is fixedly connected to the shoulder joint connecting rod 11 and rotates coaxially, so that the output end of the first motor 12 controls the coaxial rotation of the shoulder joint connecting rod 11 through the torque sensor 122.

[0087] Two fixed stop pins 13 are fixed on both sides of the fixed motor base 96. A stop block 14 is provided on the shoulder joint connecting rod 11. During the rotation of the shoulder joint connecting rod 11, the stop block 14 interferes with the two fixed stop pins 13, achieving upper and lower limit safety control of the vertical adduction and abduction movements of the shoulder joint. Typically, the positions of the two fixed stop pins 13 are reasonably set according to the actual vertical adduction and abduction range of the shoulder joint to achieve safety. Preferably, the reference values ​​for the range of motion angles of the left and right arms in this movement provided by this solution are both 0° to 75°. It should be noted that by changing the effective width of the stop block 14, the rotation range of the shoulder joint connecting rod 11 can be affected. Since the width of the stop block 14 in this solution is too wide, only the effective portions at both ends are retained, and it is still considered as a single component.

[0088] The structure of the shoulder joint horizontal abduction module 2 is as follows: Figure 5 As shown, one end of the shoulder joint linkage 21 is connected to the drive unit of the shoulder joint horizontal retraction module 2, and the other end is rotatably connected to one end of the upper arm connecting rod 31. The drive unit structure of the shoulder joint horizontal retraction module 2 is as follows: the second motor 22 is fixedly connected to one end of the shoulder joint linkage 11, and its output end is sequentially connected to the sensor connecting block 221, the torque sensor 222, and the sensor adapter block 223. The end is fixedly connected to the shoulder joint linkage 21 and rotates coaxially, so that the output end of the second motor 22 controls the coaxial rotation of the shoulder joint linkage 21 through the torque sensor 222.

[0089] Spring positioning pin 1 231 and spring positioning pin 232 are both fixedly connected to shoulder joint connecting rod 1 11 via spring pin fixing seat 1 233. Stop block 1 24 is fixedly connected to the front end of the cylindrical end of shoulder joint connecting rod 1 11, and stop block 2 25 is located on shoulder joint connecting rod 2 21. When motor 22 controls shoulder joint connecting rod 2 21 to rotate, stop block 2 25 collides with spring positioning pin 1 231, spring positioning pin 2 232, and stop block 1 24 to achieve upper and lower limit safety stops for the horizontal adduction and abduction movements of the shoulder joint.

[0090] The retraction of spring positioning pin 1 231 and spring positioning pin 232 allows the switching of the robotic arm's left and right states by rotating shoulder joint linkage 2 21 by 180°. Figure 11 As shown.

[0091] Specifically, the spring positioning pin adjusts its extension and retraction according to the current left or right state of the robotic arm. When the robotic arm is in the left arm state, the collision between stop 25 and stop 1 24, and spring positioning pin 231, achieves the upper and lower limit limits of the shoulder joint's horizontal adduction and abduction movements. When the robotic arm is in the right arm state, the collision between stop 25 and stop 1 24, and spring positioning pin 232, achieves the upper and lower limit limits of the same movement, such as... Figures 12 to 14 As shown. Typically, the positions of the spring positioning pin 231, spring positioning pin 232, and stop 25 are reasonably set according to the actual horizontal adduction and abduction range of the shoulder joint to achieve safety. Preferably, the reference values ​​for the range of motion angles of the left and right arms in this movement provided by this solution are both -40° to 120°. It should be noted that by changing the effective width of stop 25, the rotation range of the shoulder joint linkage 21 can be affected. Since the width of stop 25 in this solution is too wide, only the effective portions at both ends are retained, and it is still considered as a single component.

[0092] The structure of shoulder joint 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 drive unit of the shoulder joint flexion and extension module 3, and the other end is connected to the upper arm adjusting rod 41. The drive unit structure of the shoulder joint flexion and extension module 3 is as follows: 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 connecting block 321, the torque sensor 322, and the sensor adapter block 323. 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.

[0093] Spring positioning pins 331 and 332 are both fixedly connected to shoulder joint connecting rod 21 via spring pin fixing seat 233. Two inner ring stops 341 and two outer ring stops 342 are provided on the upper arm connecting rod 31. When motor 32 controls the upper arm connecting rod 31 to rotate coaxially, spring positioning pin 331 collides with the two inner ring stops 341 to achieve the upper and lower limit safe positions of shoulder joint flexion and extension in the left arm state, and spring positioning pin 432 collides with the two outer ring stops 342 to achieve the upper and lower limit safe positions of shoulder joint flexion and extension in the right arm state.

[0094] Specifically, the spring positioning pin adjusts its extension and retraction according to the current left or right state of the robotic arm. When the robotic 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 of the shoulder joint flexion and extension movements. When the robotic arm is in the right arm state, the spring positioning pin 332 collides with the two outer ring blocks 342 on the upper arm connecting rod 31 to achieve the upper and lower limit of the same movement, such as... Figures 15 to 18 As shown. Typically, the positions of spring positioning pin three 331, spring positioning pin four 332, two inner ring stops 341, and two outer ring stops 342 are reasonably set according to the actual flexion and extension range of the shoulder joint to achieve safety. Preferably, the reference values ​​for the range of motion angles of the left and right arms in this movement provided by this solution are both -20° to 140°.

[0095] The structure of 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 forearm connecting rod 42 is connected to the drive unit of the elbow joint flexion and extension module 4, and the other end is connected to the forearm adjusting rod 51. The drive unit structure of the elbow joint flexion and extension module 4 is as follows: a fourth motor 43 is fixedly connected to one end of the upper arm adjusting rod 41. Its output end is sequentially connected to the sensor connecting block 431, the torque sensor 432, and the sensor adapter block 433. The end is fixedly connected to the forearm connecting rod 42 and rotates coaxially, so that the output end of the fourth motor 43 controls the coaxial rotation of the forearm connecting rod 42 through the torque sensor 432.

[0096] Stop block 44 is fixedly connected to the cylindrical end face of the upper arm adjusting rod 41, and two fixed stop pins 45 are located on the forearm connecting rod 42. When motor 43 controls the forearm connecting rod 42 to rotate, the two fixed stop pins 45 collide with the sides of stop block 44 to achieve the upper and lower limit of elbow joint flexion and extension movements. Typically, the positions of the two fixed stop pins 45 are reasonably set according to the actual range of elbow joint flexion and extension to achieve safety. Preferably, the reference values ​​for the range of motion angles of the left and right arms in this movement provided by this solution are both 0° to 105°.

[0097] The structure of the wrist joint 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 drive unit of the wrist joint flexion and extension module 5, and the other end is equipped with the forearm rotation module 6. The drive unit structure of the wrist joint flexion and extension module 5 is as follows: a No. 5 motor 53 is fixedly connected to one end of the forearm adjustment rod 51, and its output end is sequentially connected to the sensor connecting block 531, the torque sensor 532, and the sensor adapter block 533. The end is fixedly connected to the palm connecting rod 52 and rotates coaxially, so that the output end of the No. 5 motor 53 controls the coaxial rotation of the palm connecting rod 52 through the torque sensor 532.

[0098] Stop block 54 is located on the palm connecting rod 52, and two fixed stop pins 55 are located on the forearm adjusting rod 51. When motor 53 controls the palm connecting rod 52 to rotate coaxially, the two fixed stop pins 55 collide with stop block 54 to achieve the upper and lower limit safe positions of wrist joint flexion and extension. Typically, the positions of the two fixed stop pins 55 are reasonably set according to the actual range of wrist joint flexion and extension to achieve safety. Preferably, the reference values ​​for the range of motion angles of the left and right arms during this movement provided by this solution are both -65° to 65°.

[0099] The forearm rotation module 6 adopts a parallelogram multi-link crank 631 mechanism, such as... Figure 8 As shown, its structural features include multiple cranks rotating in the same direction at the same speed, rocker arms rotating in a plane, and the trajectory of any point on the rocker arm being an arc with the length of the crank as the radius. Based on these features, the handle 61 can be reciprocated at a fixed point, further driving the forearm to perform pronation and supination movements.

[0100] Motor 62 is fixedly connected to the palm connecting rod 52. Its output end is sequentially connected to sensor connecting block 621, torque sensor 622, and sensor adapter block 623. Its end is fixedly connected to crank 631, so that the output end of motor 62 can control the angle and speed of crank 631 through torque sensor 622.

[0101] Link 1 632, Joystick 1 633, Link 2 634, Joystick 2 635, etc. Figure 8The connection is as shown. Rocker arm 633 is fixedly connected to handle 61. Connecting rod 632 is rotatably connected at both ends to crank 631 and rocker arm 633, respectively. Rocker arm 635 is rotatably connected at one end to palm connecting rod 52, and the other end is connected via connecting rod 634, an extension of rocker arm 633. The middle of rocker arm 635 is rotatably connected to connecting rod 632. Connecting rod 634 is rotatably connected to crank 631, rocker arm 633, and rocker arm 635. Crank 631, rocker arm 633, and rocker arm 635 are arranged in parallel, as are connecting rod 632 and connecting rod 634. Each rotatable connection is axially fixed with a pin and a retaining spring, allowing crank 631 and the ends of rocker arm 633 to rotate at the same angle and speed, thereby enabling motor 62 to control the speed and angle of left and right rotation of handle 61. The patient holds the handle 61 and rotates the handle 61 left and right to achieve forearm pronation and supination.

[0102] Two fixed stop pins 64 are fixedly mounted on the palm connecting rod 52, and are respectively located on both sides of the rocker arm 635. When the control handle 61 is rotated by the motor 62, the rocker arm 635 collides with the two fixed stop pins 64 to achieve the upper and lower limit safety positions of forearm pronation and supination. Typically, the positions of the two fixed stop pins 64 are reasonably set according to the actual range of forearm pronation and supination to achieve safety. Preferably, the reference values ​​for the range of motion angles of the left and right arms during this movement provided by this solution are both -70° to 70°.

[0103] boom length adjustment mechanism 7 Figure 9 As shown, it mainly consists of a support structure and a lead screw and nut adjustment structure. The lead screw and nut adjustment structure involves a lead screw and nut seat 71 fitted onto a matching ball screw and nut 721 with a fixed end face connection. When the lead screw 722 is rotated, the lead screw and nut seat 71 moves up and down along the length of the lead screw 722 along with the ball screw and nut 721. The outer ring of the deep groove ball bearing 731 is located in the corresponding mounting hole on the bearing support 732, with both ends axially fixed by snap rings, and the end cap 733 is fixed to the bearing. Two angular contact ball bearings 741 are positioned face-to-face in the corresponding mounting holes on the bearing support 742, with both ends fixed by snap rings, and the end cap 743 is fixed to the bearing. One end of the lead 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, with a rotating handle 723 at the end. This structure allows the lead screw nut seat 71 to move up and down along the length of the lead screw 722 when the rotary handle 723 is rotated.

[0104] The boom adjusting rod 41 is fixedly connected to the lead screw nut seat 71 via the moving platform 75. The moving platform 75 is also connected to four corresponding holes on the boom connecting rod 31 via two optical shafts 76 in the support holes at both ends, to increase stability. The relative position of the boom connecting rod 31 and the boom adjusting rod 41 in the length direction is adjusted by rotating the rotary handle 723, thereby realizing the function of adjusting the boom length of the robotic arm.

[0105] Both arm binding brackets 771 are respectively mounted on the upper arm connecting rod 31 and the forearm connecting rod 42 via arm binding support frames 772, so that the human arm can be fixed to the corresponding position of the robotic arm through the arm binding brackets 771, assisting the patient's upper limb in the rehabilitation training of the corresponding joints.

[0106] The forearm length adjustment mechanism 8 is similar to the upper arm length adjustment mechanism 7, such as... Figure 10 As shown, its support structure consists of a linear guide rail and a slider, which are used to reduce friction and improve the smoothness of adjustment. The adjustment structure mainly consists of a ball screw and a screw nut. By rotating the screw, the screw nut can be moved up and down to achieve the length adjustment function.

[0107] The lead screw nut seat 2 81 is fitted onto the matching ball screw nut 2 821 and is fixedly connected at its end face. When the lead screw 2 822 is rotated, the lead screw nut seat 2 81 moves up and down along the length of the lead screw 2 822 along with the ball screw nut 2 821. The outer rings of the two angular contact ball bearings 2 831 are respectively installed face-to-face in the corresponding mounting holes of the upper bearing support 2 832 and the lower bearing support 2 833, and are axially fixed with retaining rings, and are fixedly connected to the upper bearing end cover 2 834 and the bearing end cover 2 835. The two ends of the lead screw 2 822 are fixedly connected to the inner rings of the two angular contact ball bearings 2 831 respectively. The rotating handle 2 823 is fixedly connected to the end of the lead screw 2 822 and rotates coaxially.

[0108] The linear guide rail 841 is fixedly connected to the forearm connecting rod 42, and the matching slider 842 slides smoothly along the length of the linear guide rail 841. One end of the lead screw nut seat 81 is connected to the slider 842 via a connecting plate 85, and the upper bearing support 832 and the lower bearing support 833 are both fixedly connected to the forearm connecting rod 42. By rotating the rotary handle 823, the lead screw nut seat 81 can move smoothly up and down along the length of the lead screw 822.

[0109] Forearm adjusting rod 51 is fixedly connected to lead screw nut seat 81 via pad 86. Similar to upper arm length adjusting mechanism 7, forearm length adjusting mechanism 8 adjusts the relative position of forearm connecting rod 42 and forearm adjusting rod 51 in the length direction by rotating handle 823, thereby realizing the function of adjusting the forearm length of the robotic arm. Upper arm and forearm length adjustment can adapt to the upper limb length of different people.

[0110] It should be noted that the parts not described in detail in this solution are all prior art. 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 shall fall within the protection scope of the present invention.

Claims

1. A safe upper limb rehabilitation exoskeleton robot, characterized in that: It includes a movable fixation frame (9) and a robotic arm mounted on the movable fixation frame (9) for moving the patient's arm. The robotic arm includes a shoulder joint vertical adduction and abduction module (1), a shoulder joint horizontal adduction and abduction 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) connected in sequence. The robotic arm can switch between left and right states to be suitable for rehabilitation training of the patient's left or right arm. The shoulder joint vertical retraction module (1) includes a shoulder joint linkage (11) rotatably mounted on a movable fixed frame (9) and a motor (12) for driving the shoulder joint linkage (11) to rotate. The shoulder joint horizontal retraction module (2) is equipped with a shoulder joint link two (21) that is rotatably connected to the shoulder joint link one (11) and a second motor (22) for driving the shoulder joint link two (21) to rotate. Each module of the robotic arm is equipped with a mechanical limiting structure to restrict the range of motion of the corresponding module. This mechanical limiting structure can switch between left and right states, and is used to synchronously switch when the robotic arm switches between left and right states to ensure patient safety. The shoulder joint horizontal adduction and abduction module (2) is provided with a limiting structure for limiting the horizontal adduction and abduction range of the shoulder joint, including a spring positioning pin 1 (231), a spring positioning pin 2 (232), a stop block 1 (24) on the shoulder joint connecting rod 1 (11), and a stop block 2 (25) on the shoulder joint connecting rod 2 (21). By retracting spring positioning pin one (231) and spring positioning pin two (232), the left and right states of the robotic arm can be switched by rotating shoulder joint link two (21) 180°. The spring positioning pin 1 (231) and the stop block 1 (24) cooperate to limit the upper and lower limit safe positions of the shoulder joint in the left arm state by limiting the rotation range of the stop block 2 (25). The spring positioning pin 2 (232) and the stop block 1 (24) work together to limit the upper and lower limit safe positions of the shoulder joint in the right arm state by limiting the rotation range of the stop block 2 (25).

2. The safe upper limb rehabilitation exoskeleton robot as described in claim 1, characterized in that: The shoulder joint flexion and extension module (3) includes an upper arm connecting rod (31) that is rotatably connected to the shoulder joint connecting rod (21) and a No. 3 motor (32) for driving the upper arm connecting rod (31) to rotate. The elbow flexion and extension module (4) includes an upper arm adjustment rod (41) connected to the upper arm connecting rod (31), a forearm connecting rod (42) rotatably connected to the upper arm adjustment rod (41), and a No. 4 motor (43) for driving the forearm connecting rod (42) to rotate. The wrist flexion and extension module (5) includes a forearm adjustment rod (51) connected to the forearm connecting rod (42), a palm connecting rod (52) rotatably connected to the forearm adjustment rod (51), and a No. 5 motor (53) for driving the palm connecting rod (52) to rotate. The forearm rotation module (6) includes a handle (61) for gripping that is mounted on the palm connecting rod (52) and a No. 6 motor (62) for driving the handle (61) to rotate.

3. The safe upper limb rehabilitation exoskeleton robot as described in claim 2, characterized in that: The shoulder joint flexion and extension module (3) is equipped with a left arm limiting component and a right arm limiting component. The left arm limiting assembly includes a spring positioning pin three (331) on the shoulder joint connecting rod two (21) and two inner ring blocks (341) on the upper arm connecting rod (31). The spring positioning pin three (331) and the two inner ring blocks (341) cooperate to limit the upper and lower limit safe positions of the shoulder joint flexion and extension of the robotic arm in the left arm state. The right arm limiting assembly includes a spring positioning pin four (332) on the shoulder joint connecting rod two (21) and two outer ring blocks (342) on the upper arm connecting rod (31). The spring positioning pin four (332) and the two outer ring blocks (342) cooperate to limit the upper and lower limit safe positions of the shoulder joint flexion and extension of the robotic arm in the right arm state.

4. The safe upper limb rehabilitation exoskeleton robot as described in claim 2, characterized in that: The shoulder joint vertical retraction module (1) is provided with a limiting structure to restrict the vertical adduction and abduction range of the shoulder joint, including a stop block three (14) on the shoulder joint connecting rod one (11) and two fixed stop pins one (13) on the movable fixed frame (9). The stop block three (14) and the two fixed stop pins one (13) cooperate to limit the upper and lower limit safety positions of the vertical adduction and abduction of the robotic arm shoulder joint.

5. A safe upper limb rehabilitation exoskeleton robot as described in claim 2, characterized in that: The elbow flexion and extension module (4) is provided with a limiting structure to restrict the range of elbow flexion and extension, including a stop block four (44) on the upper arm connecting rod (31) and two fixed stop pins two (45) on the lower arm connecting rod (42). The stop block four (44) and the two fixed stop pins two (45) cooperate to limit the upper and lower limit safe positions of the elbow flexion and extension of the robotic arm.

6. The safe upper limb rehabilitation exoskeleton robot as described in claim 2, characterized in that: The wrist joint flexion and extension module (5) is provided with a limiting structure to restrict the range of wrist joint flexion and extension, including a stop block five (54) on the palm connecting rod (52) and two fixed stop pins three (55) on the forearm adjusting rod (51). The stop block five (54) and the two fixed stop pins three (55) cooperate to limit the upper and lower limit safe positions of the mechanical arm wrist joint flexion and extension.

7. A safe upper limb rehabilitation exoskeleton robot as described in claim 2, characterized in that: The forearm rotation module (6) also includes a multi-link crank mechanism located between the handle (61) and the No. 6 motor (62). The multi-link crank mechanism includes a crank (631) connected to the output shaft of the No. 6 motor (62), a rocker arm (633) connected to the handle (61), and a connecting rod (632) connecting the crank (631) and the rocker arm (633). The No. 6 motor (62) drives the crank (631) to rotate, and can drive the handle (61) to rotate through the connecting rod (632) and the rocker arm (633), thereby realizing the forearm pronation and supination movements.

8. The safe upper limb rehabilitation exoskeleton robot as described in claim 7, characterized in that: The multi-link crank mechanism also includes a second rocker arm (635) and a second connecting rod (634) for increasing the stability of the crank mechanism. One end of the second rocker arm (635) is rotatably connected to the palm connecting rod (52), and the other end is connected to the extension of the first rocker arm (633) through the second connecting rod (634). The middle part of the second rocker arm (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 arm (633), and the second rocker arm (635). The crank (631), rocker arm one (633) and rocker arm two (635) are arranged in parallel, and connecting rod one (632) and connecting rod two (634) are arranged in parallel.

9. A safe upper limb rehabilitation exoskeleton robot as described in claim 8, characterized in that: The forearm rotation module (6) is provided with a limiting structure to restrict the rotation range of the forearm, including two fixed stop pins (64) on the palm connecting rod (52). The two fixed stop pins (64) are respectively located on both sides of the rocker arm (635). By limiting the swing range of the rocker arm (635), the upper and lower limit safe positions of the forearm rotation of the robotic arm are limited.

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