Parallel trunk rehabilitation robot with single-branch dual-drive structure

Abstract

The invention relates to a medical rehabilitation instrument, in particular to a parallel trunk rehabilitation robot with a single-branch dual-drive structure. The invention aims to provide a parallel trunk rehabilitation robot with a single-branch dual-drive structure. The robot has the characteristics of high rigidity, high working space adaptation degree, flexibility in use, high reliability and compact and simple structure. According to the technical scheme, the parallel type trunk rehabilitation robot with the single-branch dual-drive structure is characterized by comprising a trunk exoskeleton upper platform and a trunk exoskeleton base which are worn on a human body up and down, and three branches are connected between the trunk exoskeleton base and the trunk exoskeleton upper platform in parallel; the three branches comprise a first branch and two second branches.

Description

Technical Field

[0001] The invention relates to a medical rehabilitation device, in particular to a parallel trunk rehabilitation robot with a single-branch dual-drive structure. Background Art

[0002] The field of medical rehabilitation is an important part of modern medical research. Medical rehabilitation training can effectively alleviate the pain caused by the disease to patients, improve the quality of life and ability of patients to adapt to society. Based on the above characteristics, existing medical rehabilitation equipment, such as pullers and resistance bands, are difficult to meet the diverse needs of the patient population and it is difficult to ensure the rehabilitation effect. The current medical rehabilitation training mainly uses traditional strength training equipment and training models that rely on the experience of rehabilitation therapists. There are problems such as single training function, uneven service quality, and unclear treatment effect. Therefore, it is necessary to design a suitable trunk rehabilitation robot to diversify and personalize the rehabilitation training program, and quantitatively evaluate the rehabilitation indicators to improve the patient's rehabilitation effect.

[0003] CN111973407A discloses a center-adjustable spherical hip joint parallel rehabilitation robot, which includes a sleeve mounted on a waist fixing part and a leg fixing part of a human body, a spherical center adjustment mechanism, a hip joint rehabilitation mechanism, etc. However, the rigidity, load-bearing capacity and accuracy are still insufficient. 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 parallel trunk rehabilitation robot with a single-branch dual-drive structure, which has the characteristics of high rigidity, high degree of adaptability to the workspace, flexible use, high reliability, and compact and simple structure.

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

[0006] A parallel torso rehabilitation robot with a single-branch dual-drive structure is characterized in that it includes a torso exoskeleton upper platform and a torso exoskeleton base respectively worn on the human body, three branches are connected in parallel between the torso exoskeleton base and the torso exoskeleton upper platform, and the three branches include a first branch and two second branches.

[0007] 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 cylindrical shape suitable for the human trunk.

[0008] Among the three branches:

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

[0010] Or, among the three branches:

[0011] The first branch includes a first revolute pair, a seventh link, a second revolute pair, a second link and a first Hooke's joint connected in sequence between the torso exoskeleton base and the torso exoskeleton upper platform; the second branch includes a third Hooke's joint, a fifth link, a sixth link and a second ball joint connected in sequence between the torso exoskeleton base and the torso exoskeleton upper platform, and the fifth link and the sixth link cooperate to form a first moving pair.

[0012] Or, among the three branches:

[0013] The first branch includes a first rotation pair, a servo electric cylinder, a first connecting rod, a second rotation pair, a second connecting rod and a first Hooke's joint connected in sequence between the torso exoskeleton base and the torso exoskeleton upper platform, the servo electric cylinder body is rotationally matched with the torso exoskeleton base through the first rotation pair, one end of the first connecting rod is connected to the push-pull rod of the servo electric cylinder to form a second moving pair, one end of the second connecting rod is connected to the other end of the first connecting rod through the second rotation pair, and the other end of the second connecting rod is connected to the torso exoskeleton upper platform through the first Hooke's joint;

[0014] The second branch includes a third revolute pair, a third connecting rod, a second 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; one end of the third connecting rod is connected to the trunk exoskeleton base through the third revolute pair, the other end of the third connecting rod is connected to the fourth connecting rod through the second Hooke's joint, and the fourth connecting rod is connected to the trunk exoskeleton upper platform through the first ball joint;

[0015] Or, among the three branches:

[0016] The first branch includes a first rotation pair, a servo electric cylinder, a first connecting rod, a second rotation pair, a second connecting rod and a first Hooke's joint which are sequentially connected between the torso exoskeleton base and the torso exoskeleton upper platform. The servo electric cylinder body is rotatably matched with the torso exoskeleton base through the first rotation pair. One end of the first connecting rod is connected to the push-pull rod of the servo electric cylinder to form a second moving pair.

[0017] The second branch includes a third Hooke's joint, a fifth connecting rod, a sixth connecting rod and a second ball joint which are sequentially connected between the trunk exoskeleton base and the trunk exoskeleton upper platform. The fifth connecting rod cooperates with the sixth connecting rod to form a first moving pair.

[0018] The first rotating pair is driven by a first motor; the first motor is fixedly arranged on the base of the first rotating pair;

[0019] The second rotation pair is driven by a third motor, and the third motor is fixed on the second connecting rod;

[0020] The third rotating pair is driven by a fourth motor, and the fourth motor is fixedly arranged on the base of the third rotating pair;

[0021] The first rotating shaft of the first Hooke's joint is rotatably connected to the upper platform of the torso exoskeleton, and the second rotating shaft of the first Hooke's joint is rotatably connected to the second connecting rod;

[0022] The second Hooke's joint is connected between the third link and the fourth link.

[0023] The servo electric cylinder comprises a transmission box, a servo electric cylinder body and a second motor. The transmission screw in the servo electric cylinder body is threadedly matched with the push-pull rod, and the second motor is fixedly arranged on the transmission box.

[0024] The axis of the first secondary rotating shaft is parallel to the axis of the second rotating shaft of the first Hooke's joint, and the axis of one rotating shaft in the cross axis of the second Hooke's joint is parallel to the axis of the third secondary rotating shaft.

[0025] The connection point between the first branch and the upper platform of the trunk exoskeleton is located on the short axis of the elliptical cylinder of the upper platform of the trunk exoskeleton, and the connection point between the first branch and the base of the trunk exoskeleton is located on the short axis of the elliptical cylinder of the base of the trunk exoskeleton; the two second branches are symmetrically arranged about the first branch; the two connection points of the two second branches on the upper platform of the trunk exoskeleton are located on the long axis of the elliptical cylinder of the upper platform of the trunk exoskeleton;

[0026] The two second branches are located at two connection points of the trunk exoskeleton base on the long axis of the elliptical cylinder of the upper platform of the trunk exoskeleton; or, the distance between the two second branches at the two connection points of the trunk exoskeleton base is smaller than the long axis of the elliptical cylinder of the trunk exoskeleton base, and the two connection points are located between the connection point of the first branch and the trunk exoskeleton base and the long axis of the elliptical cylinder of the trunk exoskeleton base;

[0027] The first rotating pair, the second rotating pair and the third rotating pair are all driving pairs, which are driven by a servo motor.

[0028] The trunk exoskeleton base and the trunk exoskeleton upper platform are both equipped with widened belts with belt buckles to facilitate wearing and tightness adjustment.

[0029] The beneficial effects of the present invention are:

[0030] The present invention can flexibly adjust the posture of the patient during the medical rehabilitation process, and has significant advantages such as high rigidity, high reliability, compact and simple structure, large working space range, good dexterity, and high bearing capacity, which helps patients to ensure the balance of movement during the rehabilitation process and improve the rehabilitation efficiency. At the same time, designing personalized rehabilitation training programs can improve the scientific nature of rehabilitation training, and use quantitative evaluation indicators to achieve standardization of the rehabilitation treatment process. The parallel torso rehabilitation robot with adjustable drive redundancy used in the present invention is different from the traditional parallel robot. The redundant parallel robot not only retains the inherent advantages of the parallel robot, but also increases the effective working space through redundant drive and optimizes the joint driving force to adapt to different trunk rehabilitation needs. Therefore, in response to the needs of increasing the working space and improving flexibility in the field of trunk rehabilitation robots, a parallel torso rehabilitation robot based on a motion redundant structure proposed in the present invention helps to provide patients with more efficient, safe and personalized rehabilitation services. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic diagram of the working state of the present invention.

[0032] Figure 2 It is a schematic diagram of the three-dimensional structure of Example 1 of the present invention.

[0033] Figure 3 for Figure 2 A schematic diagram of the three-dimensional structure of the first branch in the illustrated embodiment.

[0034] Figure 4 for Figure 2 A schematic diagram of the three-dimensional structure of the second branch in the illustrated embodiment.

[0035] Figure 5 It is a schematic diagram of the three-dimensional structure of Example 2 of the present invention.

[0036] Figure 6 It is a schematic diagram of the three-dimensional structure of Example 3 of the present invention.

[0037] Figure 7 for Figure 6 A schematic diagram of the three-dimensional structure of the second branch in the illustrated embodiment.

[0038] Figure 8 It is a schematic diagram of the three-dimensional structure of Example 4 of the present invention.

[0039] Fig. 9 It is a schematic diagram of the three-dimensional structure of Example 5 of the present invention.

[0040] Fig.10 for Fig. 9 A schematic diagram of the three-dimensional structure of the first branch in the illustrated embodiment.

[0041] Fig.11 It is a schematic diagram of the three-dimensional structure of Example 6 of the present invention.

[0042] Fig.12 It is a schematic diagram of the three-dimensional structure of Example 7 of the present invention.

[0043] Fig.13 It is a schematic diagram of the three-dimensional structure of Example 8 of the present invention.

[0044] Reference numerals:

[0045]

[0046] 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 The parallel trunk rehabilitation robot with a single-branch dual-drive structure shown in the figure includes a trunk exoskeleton upper platform 2 and a trunk exoskeleton base 1 respectively worn on a human body 5. Three branches are connected in parallel between the trunk exoskeleton base 1 and the trunk exoskeleton upper platform 2, including a first branch 3 and two second branches 4. The trunk exoskeleton upper platform and the trunk exoskeleton base are both enclosed by detachable hoops connected end to end to form an elliptical cylindrical shape suitable for the human body. It is recommended to use a widened belt with a belt buckle to facilitate wearing and tightness adjustment. When in use, the widened belt is connected end to end to form an elliptical cylindrical shape and fixed on the human body; wherein, the trunk exoskeleton upper platform is laterally clamped to the human chest, and the trunk exoskeleton base is laterally clamped to the human waist.

[0050] like Figure 2 As shown, the first branch 3 includes a first revolute pair 31, a seventh link 37, a second revolute pair 34, a second link 35 and a first Hooke's joint 36 which are sequentially connected between the torso exoskeleton base 1 and the torso exoskeleton upper platform 2; one end of the seventh link 37 is connected to the torso exoskeleton base 1 through the first revolute pair 31, the other end of the seventh link 37 is connected to one end of the second link 35 through the second revolute pair 34, and the other end of the second link 35 is connected to the torso exoskeleton upper platform 2 through the first Hooke's joint 36. The two second branches 4 each include a third revolute pair 41, a third connecting rod 42, a second Hooke's joint 43, a fourth connecting rod 44 and a first ball joint 45 which are sequentially connected between the torso exoskeleton base 1 and the torso exoskeleton upper platform 2; one end of the third connecting rod 42 is connected to the torso exoskeleton base 1 through the third revolute pair 41, the other end of the third connecting rod 42 is connected to one end of the fourth connecting rod 44 through the second Hooke's joint 43, and the other end of the fourth connecting rod 44 is connected to the torso exoskeleton upper platform 2 through the first ball joint 45.

[0051] like Figure 3 As shown, the first rotating pair 31 includes a first rotating pair base 311 and a first rotating pair shaft 312, which is driven by a first motor 314 (by Figure 2 It can be seen that: the axis of the first rotating sub-shaft is perpendicular to the generatrix of the elliptical cylinder of the torso exoskeleton base and perpendicular to the short axis of the elliptical cylinder); the first rotating sub-base 311 is fixedly set on the torso exoskeleton base 1, the seventh connecting rod 37 is rotationally matched with the first rotating sub-base 311 through the first rotating sub-shaft 312, and the first motor 314 is fixedly set on the side of the first rotating sub-base 311. The second rotating sub-base 34 is driven by the third motor 341, and the third motor 341 is fixedly set on the second connecting rod 35. The first Hooke's joint 36 includes a first Hooke's joint base 363 and a first rotating shaft 361 of the first Hooke's joint and a second rotating shaft 362 of the first Hooke's joint that are perpendicular to each other; the first rotating shaft 361 of the first Hooke's joint is rotationally connected to the upper platform 2 of the torso exoskeleton, and the second rotating shaft 362 of the first Hooke's joint is tightly connected to the second connecting rod 35. The axis of the first rotating sub-shaft 312 and the axis of the second rotating shaft 362 of the first Hooke's joint are parallel to each other.

[0052] like Figure 4 As shown, the third rotational pair 41 includes a third rotational pair base 411 and a third rotational pair shaft 412, which are driven by a fourth motor 413; the third rotational pair base 411 is fixedly arranged on the torso exoskeleton base 1, and the third connecting rod 42 is fixed to the third rotational pair shaft and is rotationally matched with the third rotational pair base 411 through the third rotational pair shaft 412 (by the fourth motor 413). Figure 2It can be seen that: the axis of the third rotational auxiliary shaft is perpendicular to the generatrix of the elliptical cylindrical surface of the torso exoskeleton base); the fourth motor 413 is fixedly arranged on the side of the third rotational auxiliary base 411, and the motor shaft is connected to the third rotational auxiliary shaft through a coupling. The second Hooke's joint 43 (existing technology) is connected between the third connecting rod 42 and the fourth connecting rod 44; the axis of one of the rotational shafts in the cross shaft 46 of the second Hooke's joint is arranged parallel to the axis of the third rotational auxiliary shaft 412.

[0053] It can be seen from the figure that the torso exoskeleton base 1 and the torso exoskeleton upper platform 2 are both hoops connected to form an elliptical cylinder, the connection point between the first branch and the torso exoskeleton upper platform is located on the short axis of the elliptical cylinder of the 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 cylinder of the torso exoskeleton base; the two second branches are symmetrically arranged about the connection point of the first branch, and the two connection points of the two second branches on the torso exoskeleton upper platform are located on the long axis of the elliptical cylinder of the torso exoskeleton upper platform; the two connection points of the two second branches on the torso exoskeleton base are symmetrically arranged to the short axis of the elliptical cylinder of the torso exoskeleton base, and the distance between the two connection points is smaller than the long axis of the elliptical cylinder of the torso exoskeleton base.

[0054] When in use, the torso exoskeleton base 1 and the torso exoskeleton upper platform 2 are fixed on the human trunk in an elliptical cylinder shape; the connection point of the first branch 3 on the torso exoskeleton base 1 and the torso exoskeleton upper platform is located on the short axis of the elliptical cylinder, and is located on the back of the user when in use; because the two connection points of the second branch on the torso exoskeleton upper platform 2 are located on the two long axes of the elliptical cylinder of the torso exoskeleton upper platform, the two connection points on the torso exoskeleton base 1 are closer to the connection point of the first branch, so that the two second branches 4 are arranged obliquely between the torso exoskeleton base 1 and the torso exoskeleton upper platform 2, so that the two third rotation secondary axes intersect at an angle less than 180 degrees.

[0055] In this embodiment, the first rotation pair 31 , the second rotation pair 34 and the third rotation pair 41 are all drive pairs, and are driven by ball screw mechanisms driven by motors respectively.

[0056] Example 2

[0057] This embodiment is basically similar to the embodiment 1, and the only difference is the arrangement of the two second branches 4 of this embodiment; Figure 5As shown, the third rotational secondary axes of the two second branches 4 are parallel to each other; that is, the two connection points of the second branches on the trunk exoskeleton base 1 are located on the long axis of the elliptical cylinder of the trunk exoskeleton base; naturally, the two connection points of the second branches on the trunk exoskeleton upper platform 2 are also located on the long axis of the elliptical cylinder of the trunk exoskeleton upper platform. When in use, the two second branches are located on the left and right sides of the user.

[0058] Example 3

[0059] The difference between this embodiment and embodiment 1 is only the structure of the two second branches 4 of this embodiment; Figure 6 , Figure 7 As shown, the two second branches 4 include a third Hooke's joint 51, a fifth connecting rod 52, a sixth connecting rod 53 and a second ball joint 54 which are sequentially connected between the trunk exoskeleton base 1 and the trunk exoskeleton upper platform 2. The fifth connecting rod 52 is connected to the trunk exoskeleton base 1 through the third Hooke's joint 51. The fifth connecting rod 52 cooperates with the sixth connecting rod 53 to form a first moving pair 57. The sixth connecting rod 53 is connected to the trunk exoskeleton upper platform 2 through the second ball joint 54. The third Hooke's joint 51 includes a cross coupling 55 and a third Hooke's joint base 56. The third Hooke's joint base 56 is fixedly arranged on the trunk exoskeleton base 1. The third Hooke's joint base 56 is connected to the fifth connecting rod 52 through the cross coupling 55. The two second branches 4 are arranged symmetrically about the first branch 3.

[0060] In the two second branches 4, the axis of the fifth connecting rod 52 is coaxially arranged with the axis of the sixth connecting rod 53 and passes through the axis of the cross coupling of the third Hooke's joint and the axis of the second ball joint 54; at the same time, the two third Hooke's joint cross axes 55 are connected to the axis of the rotating shaft of the trunk exoskeleton base, symmetrically arranged with the short axis of the elliptical cylinder of the trunk exoskeleton base 1 and inclined to each other at an angle, preferably 120°. The use status of the three branches is the same as that of Example 1.

[0061] Example 4

[0062] This embodiment is basically similar to Embodiment 3, and the only difference is the connection point positions of the two second branches 4 of this embodiment on the trunk exoskeleton base; Figure 8 As shown, in the two second branches, two third Hooke's cross axes connect two connection points of the trunk exoskeleton base and are located on the long axis of the elliptical cylinder of the trunk exoskeleton base. When in use, the two second branches are located on the left and right sides of the user.

[0063] Example 5

[0064] The difference between this embodiment and the first embodiment is that the structure of the first branch is different; specifically, the servo electric cylinder 32 and the first connecting rod 33 replace the seventh connecting rod 37 in the first branch of the first embodiment. Fig. 9 , Fig.10 As shown, the first branch 3 includes a first rotation pair 31, a servo electric cylinder 32, a first connecting rod 33, a second rotation pair 34, a second connecting rod 35 and a first Hooke's hinge 36 which are sequentially connected between the torso exoskeleton base 1 and the torso exoskeleton upper platform 2; the cylinder body of the servo electric cylinder 32 is rotationally matched with the torso exoskeleton base 1 through the first rotation pair 31, and the push-pull rod of the servo electric cylinder 32 is connected to one end of the first connecting rod 33, so that the servo electric cylinder cooperates with the first connecting rod to form a second moving pair; it can be seen from the figure that the first rotation pair, the second rotation pair, and the third rotation pair are all drive pairs, which are driven by a ball screw mechanism driven by a motor respectively, and the servo electric cylinder 32 is also a drive pair, and is a redundant drive, which can effectively increase the working space of the mechanism. The use status of the three branches is the same as that of Example 1.

[0065] Example 6

[0066] The difference between this embodiment and embodiment 5 is only the connection point position of the second branch 4 of this embodiment on the trunk exoskeleton base.

[0067] like Fig.11 As shown, the third secondary axes of rotation 412 of the two second branches 4 are parallel to each other; that is, the two connection points of the second branches on the trunk exoskeleton base 1 are located on the long axis of the elliptical cylinder of the trunk exoskeleton base; naturally, the two connection points of the second branches on the trunk exoskeleton upper platform 2 are also located on the long axis of the elliptical cylinder of the trunk exoskeleton upper platform. When in use, the two second branches are located on the left and right sides of the user.

[0068] Example 7

[0069] The difference between this embodiment and embodiment 5 lies only in the structure of the second branch 4 of this embodiment; that is, the second Hooke's joint 43 in the second branch 4 of embodiment 5 is changed into the first moving pair 57 .

[0070] like Fig.12 As shown, the structures of the two second branches 4 are the same as those of the second branch 4 in Example 3. The second branch 4 includes a third Hooke's joint 51, a fifth connecting rod 52, a sixth connecting rod 53 and a second ball joint 54 which are sequentially connected between the trunk exoskeleton base 1 and the trunk exoskeleton upper platform 2. The fifth connecting rod 52 is connected to the trunk exoskeleton base 1 through the third Hooke's joint 51. The fifth connecting rod 52 cooperates with the sixth connecting rod 53 to form a first moving pair 57. The positions of the two connection points of the second branch 4 on the trunk exoskeleton base 1 and the two connection points on the trunk exoskeleton upper platform 2 remain unchanged. The use status of the three branches is the same as that of Example 1.

[0071] Example 8

[0072] The only difference between this embodiment and embodiment 7 is the connection point position of the second branch 4 of this embodiment on the trunk exoskeleton base 1.

[0073] like Fig.13 As shown, in this embodiment, the two second branches 4 are arranged non-inclined between the trunk exoskeleton base 1 and the trunk exoskeleton upper platform 2; that is, the two connection points of the second branches on the trunk exoskeleton base 1 are located on the long axis of the elliptical cylinder of the trunk exoskeleton base; at the same time, the two connection points of the second branches on the trunk exoskeleton upper platform 2 are also located on the long axis of the elliptical cylinder of the trunk exoskeleton upper platform. When in use, the two second branches are located on the left and right sides of the user.

[0074] The parallel trunk rehabilitation robot can achieve high-precision movement in trunk rehabilitation training. It is worn on the human body through the trunk exoskeleton base and the trunk exoskeleton upper platform. The redundant drive joints can achieve the large range of movement required for the rehabilitation process. During rehabilitation exercise training, the parallel trunk rehabilitation robot can not only ensure the balance of movement, but also provide support for the human body, effectively avoiding secondary injuries to patients during the rehabilitation process, so as to meet the safety requirements of medical rehabilitation applications.

[0075] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A parallel trunk rehabilitation robot with a single-branch dual-drive structure, characterized in that: The robot comprises a trunk exoskeleton upper platform (2) worn on a human body (5) from top to bottom, a trunk exoskeleton base (1), and three branches connected in parallel between the trunk exoskeleton base (1) and the trunk exoskeleton upper platform (2), the three branches comprising a first branch (3) and two second branches (4); The first branch (3) comprises a first revolute pair (31), a seventh connecting rod (37), a second revolute pair (34), a second connecting rod (35) and a first Hooke's joint (36) which are sequentially connected between the trunk exoskeleton base (1) and the trunk exoskeleton upper platform (2); the second branch (4) comprises a third revolute pair (41), a third connecting rod (42), a second 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); Or, among the three branches: The first branch (3) comprises a first rotational pair (31), a seventh connecting rod (37), a second rotational pair (34), a second connecting rod (35) and a first Hooke's joint (36) which are sequentially connected between the trunk exoskeleton base (1) and the trunk exoskeleton upper platform (2); the second branch (4) comprises a third Hooke's joint (51), a fifth connecting rod (52), a sixth connecting rod (53) and a second ball joint (54) which are sequentially connected between the trunk exoskeleton base (1) and the trunk exoskeleton upper platform (2); the fifth connecting rod (52) and the sixth connecting rod (53) cooperate to form a first moving pair (57); Or, among the three branches: Among the three branches: the first branch (3) comprises a first revolute pair (31), a servo electric cylinder (32), a first connecting rod (33), a second revolute pair (34), a second connecting rod (35) and a first Hooke's joint (36) which are sequentially connected between the trunk exoskeleton base (1) and the trunk exoskeleton upper platform (2); the second branch (4) comprises a third revolute pair (41), a third connecting rod (42), a second 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); Or, among the three branches: The first branch (3) includes a first rotation pair (31), a servo electric cylinder (32), a first connecting rod (33), a second rotation pair (34), a second connecting rod (35) and a first Hooke's joint (36) which are sequentially connected between the trunk exoskeleton base (1) and the trunk exoskeleton upper platform (2); the second branch (4) includes a third Hooke's joint (51), a fifth connecting rod (52), a sixth connecting rod (53) and a second ball joint (54) which are sequentially connected between the trunk exoskeleton base (1) and the trunk exoskeleton upper platform (2); the fifth connecting rod (52) and the sixth connecting rod (53) cooperate to form a first moving pair (57).

2. The parallel trunk rehabilitation robot with a single-branch dual-drive structure according to claim 1, characterized in that: The trunk exoskeleton upper platform (2) and the trunk exoskeleton base (1) are both enclosed by detachable hoops connected end to end to form an elliptical cylindrical shape.

3. The parallel trunk rehabilitation robot with a single-branch dual-drive structure according to claim 2, characterized in that: The trunk exoskeleton base (1) and the trunk exoskeleton upper platform (2) are both equipped with widened belts with belt buckles to facilitate wearing and tightness adjustment.

4. The parallel trunk rehabilitation robot with a single-branch dual-drive structure according to claim 3, characterized in that: The axis of the first rotating secondary shaft (312) is parallel to the axis of the second rotating shaft (362) of the first Hooke's joint (36) connected to the second connecting rod (35); the axis of the rotating shaft of the second Hooke's joint cross shaft (46) connected to the third connecting rod (42) is parallel to the axis of the third rotating secondary shaft (412).

5. The parallel trunk rehabilitation robot with a single-branch dual-drive structure according to claim 4, characterized in that: The first rotating pair (31), the second rotating pair (34) and the third rotating pair (41) are all driving pairs and are driven by a servo motor.

6. The parallel trunk rehabilitation robot with a single-branch dual-drive structure according to claim 5, characterized in that: The first rotating pair (31) is driven by a first motor (314); the first motor (314) is fixed on the first rotating pair base (311); The second rotating pair (34) is driven by a third motor (341), and the third motor (341) is fixed on the second connecting rod (35); The third rotating pair (41) is driven by a fourth motor (413), and the fourth motor (413) is fixedly arranged on the third rotating pair base (411).

7. The parallel trunk rehabilitation robot with a single-branch dual-drive structure according to claim 6, characterized in that: The first connecting rod (33) cooperates with the servo electric cylinder (32) to form a third moving pair; the cylinder body of the servo electric cylinder (32) is rotationally coordinated with the torso exoskeleton base (1) through the first rotating pair (31), and the push-pull rod of the servo electric cylinder (32) is connected to one end of the first connecting rod (33).

8. The parallel trunk rehabilitation robot with a single-branch dual-drive structure according to claim 7, characterized in that: 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 cylinder of the upper platform (2) of the trunk exoskeleton, and the connection point between the first branch (3) and the base (1) of the trunk exoskeleton is located on the short axis of the elliptical cylinder of the base (1) of the trunk exoskeleton; the two second branches (4) are arranged symmetrically with respect to the first branch (3).

9. The parallel trunk rehabilitation robot with a single-branch dual-drive structure according to claim 8, characterized in that: Two connection points of the two second branches (4) on the upper platform (2) of the trunk exoskeleton are located on the long axis of the elliptical cylinder of the upper platform (2) of the trunk exoskeleton; The two connection points of the two second branches (4) on the trunk exoskeleton base (1) are located on the major axis of the elliptical cylinder of the trunk exoskeleton base (1); or, the distance between the two connection points of the two second branches (4) on the trunk exoskeleton base (1) is symmetrical to the minor axis of the elliptical cylinder of the trunk exoskeleton base, and the distance between the two connection points is smaller than the major axis of the elliptical cylinder of the trunk exoskeleton base (1).

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