Five-branch four-degree-of-freedom parallel robot for trunk rehabilitation

Abstract

The invention relates to a medical robot, in particular to a five-branch four-degree-of-freedom parallel robot for trunk rehabilitation. The invention aims to provide a five-branch four-degree-of-freedom parallel robot for trunk rehabilitation. The robot has the characteristics of high rigidity, high working space adaptation degree, flexibility in use, high reliability and compact structure. According to the technical scheme, the five-branch four-degree-of-freedom parallel robot for trunk rehabilitation is characterized by comprising a trunk exoskeleton base worn on a human body from top to bottom, a trunk exoskeleton upper platform and five branches connected between the trunk exoskeleton base and the trunk exoskeleton upper platform in parallel.

Description

Technical Field

[0001] The invention relates to a medical robot, in particular to a five-branch four-degree-of-freedom parallel robot used for trunk rehabilitation. Background Art

[0002] The development of rehabilitation robot technology benefits from the rapid development of information technology, especially the multidisciplinary integration results in the field of medical robots. With the aggravation of social aging, the number of patients with motor or cognitive dysfunction has increased. As a device for auxiliary rehabilitation training, rehabilitation robots have solved the problems of fatigue and training differences in manual rehabilitation training and have become a research hotspot. However, existing rehabilitation robots have complex mechanical structures, high costs, difficulties in adaptability and personalized adjustment, and high difficulty in operation.

[0003] Compared with the traditional serial mechanism, the parallel structure has the advantages of greater rigidity, stronger flexibility, compact structure, large load-bearing capacity, high positioning accuracy, and superior posture adjustment ability, which is conducive to more diversified processing and production at this stage. Based on the above advantages, relevant researchers have developed a variety of parallel robots for trunk rehabilitation, but most of them are limited by the mechanical structure, resulting in the inability of the robot to flexibly adjust when performing specific tasks, as well as weak load capacity and low rigidity. Therefore, in view of the need to improve the load capacity, rigidity and flexibility of rehabilitation robots during use, it is very necessary to propose a five-branch four-degree-of-freedom parallel robot for trunk rehabilitation. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies in the above-mentioned background technology and to provide a five-branch four-degree-of-freedom parallel robot for trunk rehabilitation, which has the characteristics of high rigidity, high degree of adaptability to the workspace, flexible use, high reliability and compact structure.

[0005] The technical solution of the present invention is:

[0006] A five-branch four-degree-of-freedom parallel robot for trunk rehabilitation, characterized in that: the robot comprises a trunk exoskeleton base for being worn on a human body from top to bottom, a trunk exoskeleton upper platform, and five branches connected in parallel between the trunk exoskeleton base and the trunk exoskeleton upper platform;

[0007] The five branches include one first branch, two second branches and two third branches;

[0008] The first branch includes a first rotation pair driven by a first servo motor, a first connecting rod, a second rotation pair driven by a second servo motor, a second connecting rod and a third rotation pair, which are sequentially connected between the torso exoskeleton base and the torso exoskeleton upper platform;

[0009] The second branch includes a fourth revolute pair, a third link, a first Hooke's joint, a fourth link and a first ball joint which are sequentially connected between the trunk exoskeleton base and the trunk exoskeleton upper platform;

[0010] The third branch includes a fourth revolute pair, a third connecting rod, a first Hooke's joint, a fourth connecting rod and a first ball joint, which are sequentially connected between the trunk exoskeleton base and the trunk exoskeleton upper platform and driven by a third servo motor;

[0011] The connection point between the first branch and the upper platform of the trunk exoskeleton is located on the short axis of the upper platform of the elliptical trunk exoskeleton, and the connection point between the first branch and the trunk exoskeleton base is located on the short axis of the elliptical trunk exoskeleton base; the two third branches are symmetrical to the first branch and arranged adjacent to the first branch, and the two second branches are symmetrical to the first branch and arranged away from the first branch;

[0012] Alternatively, the five branches include one first branch, two fourth branches and two third branches;

[0013] The first branch includes a first rotation pair driven by a first servo motor, a first connecting rod, a second rotation pair driven by a second servo motor, a second connecting rod and a third rotation pair, which are sequentially connected between the torso exoskeleton base and the torso exoskeleton upper platform;

[0014] The fourth branch includes a second Hooke's joint, a first moving joint and a second ball joint which are sequentially connected between the trunk exoskeleton base and the trunk exoskeleton upper platform;

[0015] The third branch includes a fourth revolute pair, a third connecting rod, a first Hooke's joint, a fourth connecting rod and a first ball joint, which are sequentially connected between the trunk exoskeleton base and the trunk exoskeleton upper platform and driven by a third servo motor;

[0016] The connection point between the first branch and the upper platform of the trunk exoskeleton is located on the short axis of the upper platform of the elliptical trunk exoskeleton, and the connection point between the first branch and the trunk exoskeleton base is located on the short axis of the elliptical trunk exoskeleton base; the two third branches are symmetrical to the first branch and are arranged adjacent to the first branch, and the two fourth branches are symmetrical to the first branch and are arranged away from the first branch;

[0017] Alternatively, the five branches include one first branch, two second branches and two fifth branches;

[0018] The first branch includes a first rotation pair driven by a first servo motor, a first connecting rod, a second rotation pair driven by a second servo motor, a second connecting rod and a third rotation pair, which are sequentially connected between the torso exoskeleton base and the torso exoskeleton upper platform;

[0019] The second branch includes a fourth revolute pair, a third link, a first Hooke's joint, a fourth link and a first ball joint which are sequentially connected between the trunk exoskeleton base and the trunk exoskeleton upper platform;

[0020] The fifth branch includes a third Hooke's joint, a servo electric cylinder, a second UP rod and a third ball joint which are sequentially connected between the trunk exoskeleton base and the trunk exoskeleton upper platform;

[0021] The connection point between the first branch and the upper platform of the trunk exoskeleton is located on the short axis of the upper platform of the elliptical trunk exoskeleton, and the connection point between the first branch and the trunk exoskeleton base is located on the short axis of the elliptical trunk exoskeleton base; the two fifth branches are symmetrical to the first branch and arranged adjacent to the first branch, and the two second branches are symmetrical to the first branch and arranged away from the first branch;

[0022] Alternatively, the five branches include one first branch, two fourth branches and two fifth branches;

[0023] The first branch includes a first rotation pair driven by a first servo motor, a first connecting rod, a second rotation pair driven by a second servo motor, a second connecting rod and a third rotation pair, which are sequentially connected between the torso exoskeleton base and the torso exoskeleton upper platform;

[0024] The fourth branch includes a second Hooke's joint, a first moving joint and a second ball joint which are sequentially connected between the trunk exoskeleton base and the trunk exoskeleton upper platform;

[0025] The two fifth branches include a third Hooke's joint, a servo electric cylinder, a second UP rod, and a third ball joint which are sequentially connected between the trunk exoskeleton base and the trunk exoskeleton upper platform;

[0026] The connection point between the first branch and the upper platform of the torso exoskeleton is located on the short axis of the elliptical torso exoskeleton upper platform, and the connection point between the first branch and the torso exoskeleton base is located on the short axis of the elliptical torso exoskeleton base; the two fifth branches are symmetrical to the first branch and are arranged adjacent to the first branch, and the two fourth branches are symmetrical to the first branch and are arranged away from the first branch.

[0027] The upper platform of the trunk exoskeleton and the base of the trunk exoskeleton are both enclosed by detachable hoops connected end to end to form an elliptical shape suitable for the human trunk; when in use, the first branch is located in the middle of the back or the middle of the chest of the user.

[0028] The five connection points of the five branches on the torso exoskeleton base are evenly distributed in the circumferential direction of the torso exoskeleton base, and the five connection points of the five branches on the torso exoskeleton upper platform are evenly distributed in the circumferential direction of the torso exoskeleton upper platform; and the connection points of the same branch with the torso exoskeleton base and the connection points with the torso exoskeleton upper platform correspond to each other vertically.

[0029] The three rotational pairs in the first branch are parallel to each other and perpendicular to the axes of the first connecting rod and the second connecting rod, and the rotational axis of the fourth rotational pair in the second branch is perpendicular to the axis of the third connecting rod.

[0030] The first moving pair is formed by the sliding cooperation of the first UP rod and the first PS rod.

[0031] The first rotating pair, the second rotating pair of the first branch and the fourth rotating pair of the third branch are all driving pairs, which are driven by a servo motor.

[0032] The second moving pair is a driving pair, which is a servo electric cylinder equipped with a servo motor and a ball screw mechanism.

[0033] The beneficial effects of the present invention are:

[0034] The overall structure of the present invention is compact, convenient, low-cost and highly flexible. Compared with the existing parallel mechanism, it has better development prospects. The present invention can realize flexible spatial positioning movement as well as adaptability and personalized adjustment in the working scene. Compared with the existing trunk rehabilitation, it has strong load capacity, high rigidity, high reliability, strong adaptability and high flexibility. The present invention has the advantages of fewer drivers, fewer rods and higher processing precision. Compared with the existing trunk rehabilitation, it is a more effective trunk rehabilitation robot method. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic diagram of the use state of the present invention.

[0036] Figure 2 It is a schematic diagram of the three-dimensional structure of Example 1 of the present invention.

[0037] Figure 3 yes Figure 2 A schematic diagram of the three-dimensional structure of the first branch in the illustrated embodiment.

[0038] Figure 4 yes Figure 2 A schematic diagram of the three-dimensional structure of the second branch in the illustrated embodiment.

[0039] Figure 5 yes Figure 2 A schematic diagram of the three-dimensional structure of the third branch in the illustrated embodiment.

[0040] Figure 6 It is a schematic diagram of the three-dimensional structure of embodiment 2 of the present invention.

[0041] Figure 7 yes Figure 6 A schematic diagram of the three-dimensional structure of the fourth branch in the illustrated embodiment.

[0042] Figure 8 It is a schematic diagram of the three-dimensional structure of Example 3 of the present invention.

[0043] Fig. 9 yes Figure 8 A schematic diagram of the three-dimensional structure of the fifth branch in the illustrated embodiment.

[0044] Fig.10 It is a schematic diagram of the three-dimensional structure of embodiment 4 of the present invention.

[0045] Reference numerals:

[0046] Torso Exoskeleton Base 1 Second branch 4 First UP rod 62 Torso Exoskeleton Upper Platform 2 Fourth rotation pair 41 First moving pair 63 First branch 3 The third connecting rod 42 First PS Rod 64 The first rotating pair 31 First Hooke Hinge 43 Second ball joint 65 First servo motor 32 Fourth connecting rod 44 Fifth Branch 7 First connecting rod 33 First ball joint 45 The third Hooke hinge 71 The second rotation pair 34 The third branch 5 Servo electric cylinder 72 Second servo motor 35 The third servo motor 51 Second mobile pair 73 Second connecting rod 36 Fourth Branch 6 Second UP rod 74 The third rotating pair 37 Second Hooke's Hinge 61 The third ball joint 75 Fourth servo motor 76 Synchronous belt box 77 Servo electric cylinder body 78 DETAILED DESCRIPTION

[0047] The present invention is further described below with reference to the embodiments shown in the accompanying drawings.

[0048] Example 1

[0049] Figure 1 Shown is a schematic diagram of the usage status of Example 1.

[0050] Figure 2 The five-branch four-degree-of-freedom parallel robot for trunk rehabilitation shown in the figure includes a trunk exoskeleton base 1 and a trunk exoskeleton upper platform 2 for being worn on a human body from top to bottom, wherein a first branch 3, two second branches 4 and two third branches 5 are arranged in parallel between the trunk exoskeleton base 1 and the trunk exoskeleton upper platform 2. The trunk exoskeleton upper platform and the trunk exoskeleton base are both enclosed by detachable hoop belts connected end to end to form an ellipse suitable for the human body. The hoop belt is recommended to be a widened belt (conventional component) equipped with a belt buckle as the above-mentioned platform and base, which can adjust the tightness and is easy to disassemble. When in use, the widened belt is connected end to end to form an ellipse and fixed on the human body, wherein the trunk exoskeleton upper platform is laterally tightened on the human body's chest, and the trunk exoskeleton base is laterally tightened on the human body's waist.

[0051] like Figure 3 As shown, the first branch 3 includes a first rotation pair 31 driven by a first servo motor 32, a first connecting rod 33, a second rotation pair 34 driven by a second servo motor 35, a second connecting rod 36, and a third rotation pair 37, which are sequentially connected between the trunk exoskeleton base 1 and the trunk exoskeleton upper platform 2; one end of the first connecting rod 33 is connected to the trunk exoskeleton base 1 through the first rotation pair 31, and the other end is connected to the second connecting rod 36 through the second rotation pair 34; the other end of the second connecting rod 36 is connected to the trunk exoskeleton upper platform 2 through the third rotation pair 37. The three rotation pair axes in the first branch 3 are parallel to each other and perpendicular to the axes of the first connecting rod 33 and the second connecting rod.

[0052] like Figure 4As shown, the second branch 4 includes a fourth revolute pair 41, a third connecting rod 42, a first Hooke's joint 43, a fourth connecting rod 44, and a first ball joint 45 which are sequentially connected between the trunk exoskeleton base 1 and the trunk exoskeleton upper platform 2; one end of the third connecting rod 42 is connected to the trunk exoskeleton base 1 through the fourth revolute pair 41, and the other end is connected to the fourth connecting rod 44 through the first Hooke's joint 43; the fourth connecting rod 44 is connected to the trunk exoskeleton base 1 through the ball head of the first ball joint; the first rotating shaft of the first Hooke's joint 43 is connected to the third connecting rod 42, and the second rotating shaft of the first Hooke's joint 43 is connected to the fourth connecting rod 44; the ball head of the first ball joint is arranged on the fourth connecting rod 44, and the first ball joint ball shell matching the ball head of the first ball joint is connected to the trunk exoskeleton upper platform 2.

[0053] The rotation axis of the fourth rotation pair 41 of the second branch 4 is perpendicular to the axis of the third connecting rod 42 .

[0054] like Figure 5 As shown, the third branch 5 is substantially the same as the second branch 4, except that the fourth rotational pair 41 is driven by the third servo motor 51; that is, the third branch 5 includes the fourth rotational pair 41, the third connecting rod 42, the first Hooke's joint 43, the fourth connecting rod 44, and the first ball joint 45, which are sequentially connected between the trunk exoskeleton base 1 and the trunk exoskeleton upper platform 2 and driven by the third servo motor 51;

[0055] In this embodiment, the five connection points of the five branches on the trunk exoskeleton base 1 are evenly distributed in the circumferential direction of the trunk exoskeleton base, and the five connection points of the five branches on the trunk exoskeleton upper platform 2 are evenly distributed in the circumferential direction of the trunk exoskeleton upper platform; and the connection points of the same branch with the trunk exoskeleton base and the connection points with the trunk exoskeleton upper platform correspond to each other up and down. Moreover, the connection point of the first branch 3 with the trunk exoskeleton upper platform is located on the short axis of the elliptical trunk exoskeleton upper platform, and the connection point of the first branch 3 with the trunk exoskeleton base is located on the short axis of the elliptical trunk exoskeleton base; the two second branches 4 are symmetrical to the first branch and are arranged away from the first branch, and the two third branches 5 are symmetrical to the first branch and are arranged near the first branch.

[0056] When in use, the first branch 3 is located at the middle of the back or the middle of the chest of the user.

[0057] In this embodiment, the first rotation pair 31 of the first branch 3, the second rotation pair 34 and the fourth rotation pair 41 of the two third branches 5 are all driving pairs, which are driven by servo motors. Through four servo motors, the upper platform 2 of the trunk exoskeleton of the trunk rehabilitation robot can be moved up and down, thereby driving the wearer's body to perform rehabilitation training.

[0058] Example 2

[0059] Figure 62 is a schematic diagram of the structure of Embodiment 2. The difference between this embodiment and Embodiment 1 is that the two second branches 4 in Embodiment 1 are replaced by two fourth branches 6, and the rest are the same.

[0060] Figure 7 The fourth branch 6 shown includes a second Hooke's joint 61, a first UP rod 62, a first PS rod 64, and a second ball joint 65 which are sequentially connected between the trunk exoskeleton base 1 and the trunk exoskeleton upper platform 2; one end of the first UP rod 62 is connected to the trunk exoskeleton base 1 through the first Hooke's joint 43, and the other end of the first UP rod 62 is slidably matched with one end of the first PS rod 64 to form a first moving pair 63, and the other end of the first PS rod 64 is connected to the trunk exoskeleton upper platform 2 through the second ball joint 65; the first rotating shaft of the second Hooke's joint 61 is connected to the trunk exoskeleton base 1, and the second rotating shaft of the second Hooke's joint 61 is connected to one end of the first UP rod 62; the ball head of the second ball joint is arranged at the other end of the first PS rod 64, and the second ball joint ball shell matched with the second ball joint ball head is connected to the trunk exoskeleton upper platform 2.

[0061] In this embodiment, the first rotation pair 31 of the first branch 3, the second rotation pair 34 and the fourth rotation pair 41 of the two third branches 5 are also driving pairs, which are driven by servo motors. Through four servo motors, the upper platform of the trunk exoskeleton of the trunk rehabilitation robot can be moved up and down, thereby driving the wearer's body to perform rehabilitation training.

[0062] Example 3

[0063] Figure 8 2 is a schematic diagram of the structure of this embodiment. The difference between this embodiment and embodiment 1 is that the two third branches 5 in embodiment 1 are replaced by two fifth branches 7, and the rest are the same.

[0064] Fig. 9 The fifth branch 7 shown includes a third Hooke's joint 71, a servo electric cylinder 72, a second UP rod 74, and a third ball joint 75, which are connected in sequence between the torso exoskeleton base 1 and the torso exoskeleton upper platform 2; the cylinder body 78 of the servo electric cylinder 72 is connected to the torso exoskeleton base 1 through the third Hooke's joint 71, and the moving rod of the servo electric cylinder 72 is connected to one end of the second UP rod 74; the other end of the second UP rod 74 is connected to the torso exoskeleton upper platform 2 through the third ball joint 75; the servo electric cylinder 72 is the second moving pair 73, including a fourth servo motor 76, a synchronous belt box 77, and a servo electric cylinder cylinder body 78, and a synchronous belt and a ball screw are arranged in the servo electric cylinder cylinder body; the ball head of the third ball joint 75 is arranged on the second UP rod 74, and the third ball joint ball shell matched with the third ball joint ball head is connected to the torso exoskeleton upper platform 2.

[0065] In this embodiment, the first rotation pair 31 and the second rotation pair 34 of the first branch 3 are both driving pairs, driven by a servo motor, and the second movement pairs 73 (servo electric cylinders) of the two fifth branches 7 are also driving pairs. The two servo electric cylinders are driven by two servo motors respectively, which can make the upper platform of the trunk exoskeleton of the trunk rehabilitation robot move up and down, thereby driving the wearer's body to perform rehabilitation training.

[0066] Example 4

[0067] Fig.10 2 is a schematic diagram of the structure of this embodiment. The difference between this embodiment and embodiment 3 is that the two second branches 4 in embodiment 3 are replaced by two fourth branches 6, and the rest are the same.

[0068] In this embodiment, the first rotating pair 31 and the second rotating pair 34 of the first branch 3 are both driving pairs, which are driven by a servo motor; the second moving pairs 73 (servo electric cylinders) of the two fifth branches 7 are also driving pairs, and the two servo electric cylinders are respectively driven by two servo motors, which can make the torso exoskeleton upper platform of the torso rehabilitation robot move up and down, thereby driving the wearer's body to perform rehabilitation training.

[0069] Since there are multiple ball joints and Hooke's joints in the present invention, the user can move flexibly at multiple angles. The present invention is a wearable device designed to help patients with movement disorders to perform rehabilitation training. After wearing the device, the user can perform active training, passive training, power training and impedance training. In addition, the structural design of the present invention matches the human anatomical structure, ensuring the naturalness and comfort of the wearer's movement.

Claims

1. A five-branch four-degree-of-freedom parallel robot for trunk rehabilitation, characterized in that: The robot comprises a trunk exoskeleton base (1) for being worn on a human body from top to bottom, a trunk exoskeleton upper platform (2), and five branches connected in parallel between the trunk exoskeleton base (1) and the trunk exoskeleton upper platform (2); The five branches include a first branch (3), two second branches (4) and two third branches (5); The first branch (3) comprises a first rotation pair (31) driven by a first servo motor (32), a first connecting rod (33), a second rotation pair (34) driven by a second servo motor 35, a second connecting rod (36) and a third rotation pair (37) which are sequentially connected between the trunk exoskeleton base (1) and the trunk exoskeleton upper platform (2); The second branch (4) comprises a fourth rotation pair (41), a third connecting rod (42), a first Hooke's joint (43), a fourth connecting rod (44) and a first ball joint (45) which are sequentially connected between the trunk exoskeleton base (1) and the trunk exoskeleton upper platform (2); The third branch (5) comprises a fourth rotation pair (41) driven by a third servo motor (51), a third connecting rod (42), a first Hooke's joint (43), a fourth connecting rod (44) and a first ball joint (45) which are sequentially connected between the trunk exoskeleton base (1) and the trunk exoskeleton upper platform (2); The connection point between the first branch (3) and the upper platform (2) of the trunk exoskeleton is located on the short axis of the upper platform of the elliptical trunk exoskeleton, and the connection point between the first branch and the trunk exoskeleton base (1) is located on the short axis of the elliptical trunk exoskeleton base; the two third branches (5) are symmetrical to the first branch and arranged adjacent to the first branch, and the two second branches (4) are symmetrical to the first branch and arranged away from the first branch; Alternatively, the five branches include one first branch (3), two fourth branches (6) and two third branches (5); The first branch (3) comprises a first rotation pair (31) driven by a first servo motor (32), a first connecting rod (33), a second rotation pair (34) driven by a second servo motor (35), a second connecting rod (36) and a third rotation pair (37) which are sequentially connected between the trunk exoskeleton base (1) and the trunk exoskeleton upper platform (2); The fourth branch (6) comprises a second Hooke's joint (61), a first moving pair (63) and a second ball joint (65) which are sequentially connected between the trunk exoskeleton base (1) and the trunk exoskeleton upper platform (2); The third branch (5) comprises a fourth rotation pair (41) driven by a third servo motor (51), a third connecting rod (42), a first Hooke's joint (43), a fourth connecting rod (44) and a first ball joint (45) which are sequentially connected between the trunk exoskeleton base (1) and the trunk exoskeleton upper platform (2); The connection point between the first branch (3) and the upper platform (2) of the trunk exoskeleton is located on the short axis of the upper platform of the elliptical trunk exoskeleton, and the connection point between the first branch and the trunk exoskeleton base (1) is located on the short axis of the elliptical trunk exoskeleton base; the two third branches (5) are symmetrical to the first branch and arranged adjacent to the first branch; the two fourth branches (6) are symmetrical to the first branch and arranged away from the first branch; Alternatively, the five branches include one first branch (3), two second branches (4) and two fifth branches (7); The first branch (3) comprises a first rotation pair (31) driven by a first servo motor (32), a first connecting rod (33), a second rotation pair (34) driven by a second servo motor (35), a second connecting rod (36) and a third rotation pair (37) which are sequentially connected between the trunk exoskeleton base (1) and the trunk exoskeleton upper platform (2); The second branch (4) comprises a fourth rotation pair (41), a third connecting rod (42), a first Hooke's joint (43), a fourth connecting rod (44) and a first ball joint (45) which are sequentially connected between the trunk exoskeleton base (1) and the trunk exoskeleton upper platform (2); The fifth branch (7) comprises a third Hooke's joint (71), a servo electric cylinder (72), a second UP rod (74) and a third ball joint (75) which are sequentially connected between the trunk exoskeleton base (1) and the trunk exoskeleton upper platform (2); The connection point between the first branch (3) and the upper platform (2) of the trunk exoskeleton is located on the short axis of the elliptical upper platform (2) of the trunk exoskeleton, and the connection point between the first branch and the trunk exoskeleton base (1) is located on the short axis of the elliptical base of the trunk exoskeleton; the two fifth branches (7) are symmetrical to the first branch and arranged adjacent to the first branch, and the two second branches (4) are symmetrical to the first branch and arranged away from the first branch; Alternatively, the five branches include one first branch (3), two fourth branches (6) and two fifth branches (7); The first branch (3) comprises a first rotation pair (31) driven by a first servo motor (32), a first connecting rod (33), a second rotation pair (34) driven by a second servo motor (35), a second connecting rod (36) and a third rotation pair (37) which are sequentially connected between the trunk exoskeleton base (1) and the trunk exoskeleton upper platform (2); The fourth branch (6) comprises a second Hooke's joint (61), a first moving pair (63) and a second ball joint (65) which are sequentially connected between the trunk exoskeleton base (1) and the trunk exoskeleton upper platform (2); The two fifth branches (7) include a third Hooke's joint (71), a servo electric cylinder (72), a second UP rod (74), and a third ball joint (75) which are sequentially connected between the trunk exoskeleton base (1) and the trunk exoskeleton upper platform (2); The two fifth branches (7) are symmetrical to the first branch (3) and arranged adjacent to the first branch, and the two fourth branches (6) are symmetrical to the first branch (3) and arranged away from the first branch.

2. The five-branch four-degree-of-freedom parallel robot for trunk rehabilitation according to claim 1, characterized in that: The upper platform of the trunk exoskeleton and the base of the trunk exoskeleton are both enclosed by detachable hoops connected end to end to form an elliptical shape suitable for the human trunk; when in use, the first branch (3) is located in the middle of the back or the middle of the chest of the user.

3. The five-limb four-degree-of-freedom parallel robot for trunk rehabilitation according to claim 1, characterized in that: The five connection points of the five branches on the trunk exoskeleton base are evenly distributed in the circumferential direction of the trunk exoskeleton base, and the five connection points of the five branches on the trunk exoskeleton upper platform are evenly distributed in the circumferential direction of the trunk exoskeleton upper platform; and the connection point of the same branch with the trunk exoskeleton base (1) and the connection point with the trunk exoskeleton upper platform (2) correspond to each other up and down.

4. The five-branch four-degree-of-freedom parallel robot for trunk rehabilitation according to claim 1, characterized in that: The three rotational sub-axes in the first branch (3) are parallel to each other and perpendicular to the axes of the first connecting rod (33) and the second connecting rod (36), and the rotational axis of the fourth rotational sub-axle (41) of the second branch (4) is perpendicular to the axis of the third connecting rod (42).

5. The five-limb four-degree-of-freedom parallel robot for trunk rehabilitation according to claim 1, characterized in that: The first moving pair (63) is formed by the sliding cooperation of the first UP rod (62) and the first PS rod (64).

6. The five-limb four-degree-of-freedom parallel robot for trunk rehabilitation according to claim 1, characterized in that: The first rotating pair (31), the second rotating pair (34) of the first branch (3) and the fourth rotating pair (41) of the third branch (5) are all driving pairs and are driven by a servo motor.

7. The five-limb four-degree-of-freedom parallel robot for trunk rehabilitation according to claim 1, characterized in that: The second moving pair (34) is a driving pair, which is a servo electric cylinder (72) equipped with a servo motor.

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