Upper limb rehabilitation exoskeleton device based on brain-computer interface

Abstract

The invention discloses an upper limb rehabilitation exoskeleton device based on a brain-computer interface, and particularly relates to the technical field of medical equipment.The upper limb rehabilitation exoskeleton device comprises a turnover mechanism, a first rotating arm is arranged on the outer wall of the turnover mechanism, a fixing structure is arranged at the end, away from the turnover mechanism, of the first rotating arm, and a mounting structure is arranged at the bottom of the turnover mechanism. By arranging the fixing structure, the limb length of different patients can be accurately adapted, the wearing comfort is improved, the rehabilitation training effect is guaranteed, meanwhile, damaged parts can be conveniently and independently replaced, and the maintenance and use cost is effectively reduced; by arranging the mounting structure, the device can be quickly and stably mounted on different types of supports such as wheelchair armrests or sickbed guardrails and the like, the stability of the device during rehabilitation training of a patient is ensured, meanwhile, mounting and dismounting operation can be completed without the aid of complex tools, the use convenience of the device is greatly improved, and the device is worthy of popularization and application. And the operation difficulty of medical staff is reduced.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and more specifically, to an upper limb rehabilitation exoskeleton device based on a brain-computer interface. Background Technology

[0002] A large number of elderly people suffer from cerebrovascular diseases or neurological disorders, and most of these patients also experience hemiplegia. In recent years, the number of middle-aged and elderly patients with hemiplegia due to cardiovascular and cerebrovascular diseases has been increasing, and the age of onset is trending younger. Medical theory and clinical medicine have proven that, in addition to early surgical and drug treatments, proper and scientific rehabilitation training plays a crucial role in the recovery and improvement of limb motor function for patients with cardiovascular and cerebrovascular diseases. Currently, the most basic method of hemiplegic rehabilitation training is hands-on training by physical therapists. This rehabilitation training model is a long-term and arduous task for both patients and medical staff. Recently, the development and application of robotic exoskeleton technology has provided a rare historical opportunity to comprehensively carry out systematic, standardized, and scientific rehabilitation treatment for stroke and spinal cord injury patients.

[0003] As disclosed in CN107374907A, this invention provides a wearable upper limb exoskeleton rehabilitation device, comprising: a fixed backplate as a base; a drive module that transmits torque to various joint winches via Bowden cables; an elbow joint exoskeleton module for coupled rehabilitation exercises of the upper arm and exoskeleton, elbow rehabilitation training, and coupled rehabilitation exercises of the forearm and exoskeleton; a joint mechanical rigid limiting device for mechanical rigid limiting protection of the forearm link and upper arm link; a three-way adjustable adaptation module that adjusts the position of the shoulder adduction and abduction joint winches to adapt to patients of different body types; and a shoulder joint module for rehabilitation training of shoulder adduction and abduction degrees of freedom and shoulder flexion and extension degrees of freedom. This invention utilizes a wearable structure to enable patients to perform rehabilitation exercises freely.

[0004] However, current upper limb rehabilitation exoskeleton devices are not easy to adjust and are difficult to accurately match the limb length of different patients, resulting in poor comfort for some patients when wearing them. Furthermore, improper size can affect the rehabilitation training effect. At the same time, existing upper limb rehabilitation exoskeleton devices are not easy to disassemble, making it difficult to replace damaged parts individually after the device is damaged, which increases maintenance and usage costs. Summary of the Invention

[0005] To overcome the aforementioned deficiencies of the prior art, the present invention provides an upper limb rehabilitation exoskeleton device based on a brain-computer interface. The technical problem to be solved by the present invention is that the existing upper limb rehabilitation exoskeleton devices are not easy to adjust and are difficult to accurately match the limb length of different patients, resulting in poor comfort for some patients when wearing them. Moreover, the rehabilitation training effect may be affected due to improper size. At the same time, the existing upper limb rehabilitation exoskeleton devices are not easy to disassemble, making it difficult to replace damaged parts individually after the device is damaged, which increases maintenance and usage costs.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an upper limb rehabilitation exoskeleton device based on a brain-computer interface, comprising a flipping mechanism, a rotating arm being provided on the outer wall of the flipping mechanism, a fixing structure being provided at the end of the rotating arm away from the flipping mechanism, and an installation structure being provided at the bottom of the flipping mechanism; The fixing structure includes a mounting component, one end of which is connected to a rotating arm, and the other end is provided with an adjustment component. A connecting component is provided on the front side of the adjustment component. Two vertically symmetrical limiting components are provided inside the connecting component. A connecting component is provided on the end of the adjustment component away from the mounting component. The mounting structure includes a fixing rod, a fixing seat is fixedly connected to the top of the fixing rod, the top of the fixing seat is fixedly connected to the bottom of the flipping mechanism, and a clamping assembly is fixedly connected to the bottom of the fixing rod.

[0007] As a further aspect of the present invention: the insertion assembly includes a rotating arm, a connecting plate 1 is provided on the rear side of the rotating arm, a fixing plate 1 is fixedly connected to both the upper and lower sides of the connecting plate 1, a trapezoidal block is fixedly connected to the right side of the two fixing plates 1 that are close to each other, a fixing plate 2 is fixedly connected between the front right sides of the two fixing plates 1, and an insertion block 1 is fixedly connected to the right side of the fixing plate 2.

[0008] As a further embodiment of the present invention: the adjustment assembly includes a mounting plate 1, a stepper motor is fixedly mounted on the left side inside the mounting plate 1, a mounting groove 1 is provided on the right side of the front side of the mounting plate 1, a lead screw is rotatably connected to the right side of the inner wall of the mounting groove 1, the left end of the lead screw is fixedly connected to the output end of the stepper motor, a slider 1 is threadedly connected to the outer wall of the lead screw, dovetail grooves are provided on both the upper and lower sides of the mounting plate 1, the inner wall of the dovetail groove is slidably connected to the outer wall of the trapezoidal block, a fixing strap 1 is provided on the rear side of the mounting plate 1, and the front side of the slider 1 is fixedly connected to the middle of the rear side of the fixing plate 2.

[0009] As a further embodiment of the present invention: the connecting component one includes a mounting plate two, the rear side of the mounting plate two is fixedly connected to the front right side of the mounting plate one, the upper and lower sides of the interior of the mounting plate two are provided with limiting grooves, the left side of the mounting plate two is provided with a slot one communicating with the interior, the inner wall of the slot one is slidably connected to the outer wall of the insert block one, the slot one is connected to the two limiting grooves, the inner walls of the two limiting grooves are provided with circular through holes extending to the outside on the left and right sides of the side away from each other, and the right side of the inner wall of the limiting groove is provided with a slot two extending to the outside.

[0010] As a further embodiment of the present invention: both of the limiting components include trapezoidal plates, the outer inclined surface of the trapezoidal plates is slidably connected to the outer wall of the first insert, a concave block is fixedly connected to the side of each of the two trapezoidal plates that is far apart from each other, the outer wall of the trapezoidal plates is slidably connected to the inner wall of the first slot, the outer wall of the concave block is slidably connected to the inner wall of the limiting groove, and a second insert is fixedly connected to the side of each of the inner walls of the two concave blocks that is far apart from each other.

[0011] As a further aspect of the present invention: limiting rods are fixedly connected to both the left and right sides of the outer wall of the concave block away from the trapezoidal plate, the outer wall of the limiting rod is slidably connected to the inner wall of the circular through hole, and a spring is sleeved on the outer wall of the limiting rod near the concave block.

[0012] As a further embodiment of the present invention: the connecting component two includes a rotating arm three, a fixing strap two is provided on the rear side of the rotating arm three, a connecting plate two is provided on the left rear side of the rotating arm three, a fixing plate three is fixedly connected to the front side of the connecting plate two away from the rotating arm three, and insert frames are fixedly connected to the upper and lower sides of the left side of the fixing plate three. The outer wall of the insert frame is slidably connected to the inner wall of the concave block and the slot two, and the inner wall of the insert frame is slidably inserted into the outer wall of the insert block two.

[0013] As a further embodiment of the present invention: the clamping assembly includes a mounting block, the top of the mounting block is fixedly connected to the bottom of the fixing rod, a drive motor is fixedly installed on the right outer wall of the mounting block, a second mounting groove is provided on the front side of the mounting block, and a third mounting groove is provided on both the upper and lower sides of the front side of the mounting block, and a fixing sleeve is fixedly connected to the middle position inside the second mounting groove.

[0014] As a further embodiment of the present invention: the inner wall of the fixed sleeve is rotatably connected to a bidirectional threaded rod, the left end of the bidirectional threaded rod is rotatably connected to the left side of the inner wall of the second mounting groove, the right end of the bidirectional threaded rod is fixedly connected to the output end of the drive motor, and two sliders are threadedly connected to the left and right sides of the outer wall of the bidirectional threaded rod, respectively.

[0015] As a further embodiment of the present invention: a clamping block is fixedly connected to the front side of the second slider, the two clamping blocks are symmetrical to each other, an anti-slip plate is fixedly connected to the side of the two clamping blocks that are close to each other, a sliding rod is fixedly connected between the left and right sides of the inner wall of the mounting groove three, and a sliding sleeve is fixedly connected to the upper and lower sides of the rear side of the clamping block, and the inner wall of the sliding sleeve is slidably connected to the outer wall of the sliding rod.

[0016] The beneficial effects of this invention are as follows: This invention, with its fixed structure, can precisely adapt to the limb length of different patients, improving wearing comfort and ensuring the effectiveness of rehabilitation training. At the same time, it facilitates the individual replacement of damaged parts, effectively reducing maintenance and usage costs and further enhancing the practicality of the device.

[0017] This invention, with its installation structure, allows for quick and stable installation of the device onto various types of supports, such as wheelchair armrests or bed rails, ensuring stability during patient rehabilitation training. Furthermore, the installation and disassembly can be completed without the need for complex tools, greatly improving ease of use and reducing the operational difficulty for medical staff. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the structure of the present invention; Figure 3 This is a schematic diagram of the fixed structure of the present invention; Figure 4 This is a schematic diagram of the structure of the mounting component of the present invention; Figure 5 This is a schematic diagram of the structure of the adjustment component of the present invention; Figure 6 This is a schematic diagram of the structure of the first connecting component of the present invention; Figure 7 This is a schematic diagram of the structure of the limiting component of the present invention; Figure 8 This is a schematic diagram of the structure of the second connecting component of the present invention; Figure 9 This is a schematic diagram of the installation structure of the present invention; Figure 10 This is a schematic diagram of the clamping component of the present invention.

[0019] In the diagram: 1. Tilting mechanism; 2. Rotating arm one; 3. Fixed structure; 4. Mounting structure; 31. Insertion assembly; 32. Adjustment assembly; 33. Connecting assembly one; 34. Limiting assembly; 35. Connecting assembly two; 311. Rotating arm; 312. Connecting plate one; 313. Fixed plate one; 314. Trapezoidal block; 315. Fixed plate two; 316. Insert block one; 321. Mounting plate one; 322. Stepper motor; 323. Mounting slot one; 324. Lead screw; 325. Slider one; 326. Dovetail groove; 327. Fixing strap one; 331. Mounting plate two; 332. Limiting groove; 333. Slot one; 33 4. Circular through hole; 335. Slot 2; 341. Trapezoidal plate; 342. Concave block; 343. Insert block 2; 344. Limiting rod; 345. Spring; 351. Rotating arm 3; 352. Connecting plate 2; 353. Fixing strap 2; 354. Fixing plate 3; 355. Insert frame; 41. Fixing rod; 42. Fixing seat; 43. Clamping assembly; 431. Mounting block; 432. Drive motor; 433. Mounting slot 2; 434. Mounting slot 3; 435. Fixing sleeve; 436. Bidirectional threaded rod; 437. Slider 2; 438. Clamping block; 439. Anti-slip plate; 430. Sliding sleeve; 4301. Sliding rod. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] like Figure 1-2 As shown, this invention provides an upper limb rehabilitation exoskeleton device based on a brain-computer interface, including a flipping mechanism 1, a rotating arm 2 disposed on the outer wall of the flipping mechanism 1, a fixing structure 3 disposed at the end of the rotating arm 2 away from the flipping mechanism 1, and a mounting structure 4 disposed at the bottom of the flipping mechanism 1. Both the flipping mechanism 1 and the rotating arm 2 are existing technologies. The flipping mechanism 1 can drive the rotating arm 2 to move, the rotating arm 2 can drive the fixing structure 3 to adjust its angle, the rotating arm 311 can drive the adjustment component 32 to move, and the rotating arm 351 can drive the arm to move. During use, the patient's back rests against the flipping mechanism 1, the arm is located behind the fixing structure 3, and the arm is secured using a fixing strap 327 and a fixing strap 353.

[0022] like Figure 3As shown, the fixed structure 3 includes a mounting component 31. One end of the mounting component 31 is connected to the rotating arm 2, and the other end is provided with an adjustment component 32. A connecting component 33 is provided on the front side of the adjustment component 32. Two vertically symmetrical limiting components 34 are provided inside the connecting component 33. A connecting component 35 is provided on the end of the adjustment component 32 away from the mounting component 31.

[0023] like Figure 4 As shown, the insertion assembly 31 includes a rotating arm 311. The top of the rotating arm 311 is connected to a rotating arm 2. A connecting plate 312 is provided at the bottom rear side of the rotating arm 311. Fixing plates 313 are fixedly connected to both the upper and lower sides of the connecting plate 312. Trapezoidal blocks 314 are fixedly connected to the right side of the two fixing plates 313 that are close to each other. A fixing plate 315 is fixedly connected between the front right sides of the two fixing plates 313. An insert block 316 is fixedly connected to the right side of the fixing plate 315.

[0024] like Figure 5 As shown, the adjustment assembly 32 includes a mounting plate 321. A stepper motor 322 is fixedly mounted on the left side inside the mounting plate 321. A mounting groove 323 is provided on the right side of the front side of the mounting plate 321. A lead screw 324 is rotatably connected to the right side of the inner wall of the mounting groove 323. The left end of the lead screw 324 is fixedly connected to the output end of the stepper motor 322. A slider 325 is threadedly connected to the outer wall of the lead screw 324. Dovetail grooves 326 are provided on both the upper and lower sides of the mounting plate 321. The inner wall of the dovetail groove 326 is slidably connected to the outer wall of the trapezoidal block 314. A fixing strap 327 is provided on the rear side of the mounting plate 321 for binding the arm. The front side of the slider 325 is fixedly connected to the middle of the rear side of the fixing plate 315.

[0025] In use, the stepper motor 322 is started to rotate the lead screw 324, which in turn drives the slider 325 to move along the outer wall of the lead screw 324 within the mounting groove 323. The movement of the slider 325 will then drive the fixing plate 315 to move the entire insertion component 31. The movement of the insertion component 31 causes the trapezoidal block 314 at the bottom of the fixing plate 313 to slide inside the dovetail groove 326, making the movement of the insertion component 31 on the adjusting component 32 more stable. This allows the distance between the insertion component 31 and the connecting component 35 to accommodate the different upper limb lengths of different patients.

[0026] like Figure 6As shown, the connecting component 33 includes a mounting plate 331. The rear side of the mounting plate 331 is fixedly connected to the front right side of the mounting plate 321. Limiting grooves 332 are provided on both the upper and lower sides inside the mounting plate 331. A slot 333 communicating with the interior is provided on the left side of the mounting plate 331. The inner wall of the slot 333 is slidably connected to the outer wall of the insert block 316. The slots 333 are connected to the two limiting grooves 332. The inner walls of the two limiting grooves 332 are provided with circular through holes 334 extending to the outside on the left and right sides of the side away from each other. A slot 335 extending to the outside is provided on the right side of the inner wall of the limiting groove 332.

[0027] like Figure 7 As shown, both limiting components 34 include trapezoidal plates 341. The outer inclined surface of the trapezoidal plate 341 is slidably connected to the outer wall of the first insert 316. A concave block 342 is fixedly connected to the side of the two trapezoidal plates 341 that is far apart from each other. The outer wall of the trapezoidal plate 341 is slidably connected to the inner wall of the first slot 333. The outer wall of the concave block 342 is slidably connected to the inner wall of the limiting groove 332. A second insert 343 is fixedly connected to the side of the inner wall of the two concave blocks 342 that is far apart from each other. Limiting rods 344 are fixedly connected to the left and right sides of the outer wall of the concave block 342 that is far away from the trapezoidal plate 341. The outer wall of the limiting rod 344 is slidably connected to the inner wall of the circular through hole 334. A spring 345 is sleeved on the outer wall of the limiting rod 344 that is close to the concave block 342. The upper and lower sides of the spring 345 are respectively connected to the outer wall of the concave block 342 and the inner wall of the second mounting plate 331.

[0028] In use, when the insertion component 31 is moved to the far right, the insertion block 316 is gradually inserted into the slot 333. As the insertion block 316 goes deeper, its outer wall will contact the inclined outer wall of the two trapezoidal plates 341 and generate pressure, forcing the two trapezoidal plates 341 to move away from each other. The movement of the trapezoidal plates 341 drives the concave block 342 to slide in the limiting groove 332. At this time, the limiting rod 344 slides in the circular through hole 334, and the spring 345 is compressed.

[0029] like Figure 7 As shown, the connecting component 2 35 includes a rotating arm 3 351. A fixing strap 2 353 is provided on the rear side of the rotating arm 3 351 for binding the arm. A connecting plate 2 352 is provided on the left rear side of the rotating arm 3 351. A fixing plate 3 354 is fixedly connected to the front side of the connecting plate 2 352 away from the rotating arm 3 351. Insert frames 355 are fixedly connected to the upper and lower sides of the left side of the fixing plate 3 354. The outer wall of the insert frame 355 is slidably connected to the inner wall of the concave block 342 and the slot 2 335. The inner wall of the insert frame 355 is slidably inserted into the outer wall of the insert block 2 343.

[0030] When in use, after the first insert 316 is fully inserted into the first slot 333, the second insert 343 will disengage from the inner wall of the frame 355, thereby releasing the locking state between the first connecting component 33 and the second connecting component 35. At this time, the second connecting component 35 can be moved to the right, so that the second connecting plate 352 drives the third fixing plate 354 to pull the frame 355 out of the second slot 335 and the concave block 342, thus realizing the disassembly of the fixing structure 3.

[0031] like Figure 9-10 As shown, the mounting structure 4 includes a fixing rod 41, a fixing seat 42 is fixedly connected to the top of the fixing rod 41, the top of the fixing seat 42 is fixedly connected to the bottom of the flipping mechanism 1, and a clamping assembly 43 is fixedly connected to the bottom of the fixing rod 41.

[0032] The clamping assembly 43 includes a mounting block 431. The top of the mounting block 431 is fixedly connected to the bottom of the fixing rod 41. A drive motor 432 is fixedly mounted on the right outer wall of the mounting block 431. A second mounting groove 433 is opened on the front side of the mounting block 431. A third mounting groove 434 is opened on both the upper and lower sides of the front side of the mounting block 431. A fixing sleeve 435 is fixedly connected to the middle position inside the second mounting groove 433. A bidirectional threaded rod 436 is rotatably connected to the inner wall of the fixing sleeve 435. The left end of the bidirectional threaded rod 436 is rotatably connected to the left side of the inner wall of the second mounting groove 433. The right end of the bidirectional threaded rod 436 is fixedly connected to the output end of the drive motor 432. Two sliders 437 are threadedly connected to the left and right sides of the outer wall of the bidirectional threaded rod 436, respectively.

[0033] A clamping block 438 is fixedly connected to the front side of slider 2 437. The two clamping blocks 438 are symmetrical to each other. An anti-slip plate 439 is fixedly connected to the side of the two clamping blocks 438 that are close to each other. A sliding rod 4301 is fixedly connected between the left and right sides of the inner wall of mounting groove 3 434. Sliding sleeves 430 are fixedly connected to the upper and lower sides of the rear side of clamping block 438. The inner wall of the sliding sleeve 430 is slidably connected to the outer wall of the sliding rod 4301.

[0034] In use, the drive motor 432 is activated to cause the bidirectional threaded rod 436 to rotate inside the fixed sleeve 435. When the bidirectional threaded rod 436 rotates, it drives two sliders 437 to move closer or further apart on the outer wall of the bidirectional threaded rod 436. The movement of the sliders 437 drives the clamping block 438 to cause the sliding sleeve 430 to slide along the outer wall of the sliding rod 4301. When an exoskeleton device needs to be installed, a fixed support structure such as a wheelchair armrest or bed rail can be placed between the two clamping blocks 438, and then the drive motor 432 is activated to cause the bidirectional threaded rod 436 to rotate inside the fixed sleeve 435. Rotating rod 436 causes the two sliders 437 to move closer together, which in turn moves the clamping block 438 towards the center until the anti-slip plate 439 is tightly fitted against the outer wall of the fixed support structure, thus achieving a stable installation of the exoskeleton device. During installation, the sliding sleeve 430 along the sliding rod 4301 further ensures the accuracy and stability of the movement trajectory of the clamping block 438, preventing clamping deviation. When disassembly is required, simply control the drive motor 432 to reverse, causing the two clamping blocks 438 to move away from each other, and the device can be removed from the fixed support structure. The operation is convenient and efficient.

[0035] Working principle of this invention: In use, the stepper motor 322 is started to rotate the lead screw 324, which in turn drives the slider 325 to move along the outer wall of the lead screw 324 in the mounting groove 323. The movement of the slider 325 will drive the fixing plate 315 to move the entire insertion component 31. The movement of the insertion component 31 causes the trapezoidal block 314 at the bottom of the fixing plate 313 to slide inside the dovetail groove 326, making the movement of the insertion component 31 on the adjustment component 32 more stable. This allows the distance between the insertion component 31 and the connecting component 35 to accommodate the different upper limb lengths of different patients. When the insertion component 31 moves to the far right, the first insertion block 316 gradually inserts into the first slot 333. As the first insertion block 316 goes deeper, its outer wall will contact and squeeze the outer inclined surfaces of the two trapezoidal plates 341, forcing the two trapezoidal plates 341 to move away from each other. The movement of the trapezoidal plates 341 drives the concave block 342 to slide in the limiting groove 332. At this time, the limiting rod 344 slides in the circular through hole 334, and the spring 345 is compressed. When the first insertion block 316 is fully inserted into the first slot 333, the second insertion block 343 will disengage from the inner wall of the insertion frame 355, thereby releasing the locking state between the first connecting component 33 and the second connecting component 35. At this time, the second connecting component 35 can be moved to the right, so that the second connecting plate 352 drives the third fixing plate 354 to pull the insertion frame 355 out of the second slot 335 and the concave block 342, realizing the disassembly of the fixing structure 3. By starting the drive motor 432, the bidirectional threaded rod 436 rotates inside the fixed sleeve 435. When the bidirectional threaded rod 436 rotates, it drives two sliders 437 to move closer or further apart on the outer wall of the bidirectional threaded rod 436. The movement of the sliders 437 drives the clamping block 438, causing the sliding sleeve 430 to slide along the outer wall of the sliding rod 4301. When an exoskeleton device needs to be installed, a fixed support structure such as a wheelchair armrest or bed rail can be placed between the two clamping blocks 438, and then the drive motor 432 is started to rotate the bidirectional threaded rod 436 inside the fixed sleeve 435. Rotation 36 causes the two sliders 437 to move closer together, which in turn moves the clamping block 438 towards the center until the anti-slip plate 439 is tightly fitted against the outer wall of the fixed support structure, thus achieving a stable installation of the exoskeleton device. During installation, the sliding sleeve 430 along the sliding rod 4301 further ensures the accuracy and stability of the movement trajectory of the clamping block 438, avoiding clamping deviation. When disassembly is required, simply control the drive motor 432 to reverse, causing the two clamping blocks 438 to move away from each other, and the device can be removed from the fixed support structure. The operation is convenient and efficient.

[0036] Finally, the following points should be noted: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installation", "connection" and "linkage" should be interpreted broadly, and can be mechanical or electrical connection, or internal connection between two components, or direct connection. "Up", "down", "left", "right", etc. are only used to indicate relative positional relationship. When the absolute position of the described object changes, the relative positional relationship may change. Secondly: The accompanying drawings of the embodiments disclosed in this invention only involve the structures involved in the embodiments disclosed in this invention. Other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of this invention can be combined with each other. The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A brain-computer interface-based upper limb rehabilitation exoskeleton device, comprising a flipping mechanism (1), characterized in that: The outer wall of the flipping mechanism (1) is provided with a rotating arm (2), and the end of the rotating arm (2) away from the flipping mechanism (1) is provided with a fixing structure (3). The bottom of the flipping mechanism (1) is provided with an installation structure (4). The fixed structure (3) includes a mounting component (31), one end of which is connected to the rotating arm (2), and the other end is provided with an adjustment component (32). A connecting component (33) is provided on the front side of the adjustment component (32). Two vertically symmetrical limiting components (34) are provided inside the connecting component (33). A connecting component (35) is provided on the end of the adjustment component (32) away from the mounting component (31). The mounting structure (4) includes a fixing rod (41), a fixing seat (42) is fixedly connected to the top of the fixing rod (41), the top of the fixing seat (42) is fixedly connected to the bottom of the flipping mechanism (1), and a clamping assembly (43) is fixedly connected to the bottom of the fixing rod (41).

2. The brain-computer interface-based upper limb rehabilitation exoskeleton device according to claim 1, characterized in that: The insertion assembly (31) includes a rotating arm (311), a connecting plate (312) is provided at the bottom rear side of the rotating arm (311), a fixing plate (313) is fixedly connected to both the upper and lower sides of the connecting plate (312), a trapezoidal block (314) is fixedly connected to the right side of the two fixing plates (313) on the side closest to each other, a fixing plate (315) is fixedly connected between the front right sides of the two fixing plates (313), and an insert block (316) is fixedly connected to the right side of the fixing plate (315).

3. The brain-computer interface-based upper limb rehabilitation exoskeleton device according to claim 1, characterized in that: The adjustment assembly (32) includes a mounting plate (321), a stepper motor (322) is fixedly installed on the left side inside the mounting plate (321), a mounting groove (323) is opened on the right side of the front side of the mounting plate (321), a lead screw (324) is rotatably connected to the right side of the inner wall of the mounting groove (323), the left end of the lead screw (324) is fixedly connected to the output end of the stepper motor (322), a slider (325) is threadedly connected to the outer wall of the lead screw (324), dovetail grooves (326) are opened on both the upper and lower sides of the mounting plate (321), the inner wall of the dovetail groove (326) is slidably connected to the outer wall of the trapezoidal block (314), a fixing strap (327) is provided on the rear side of the mounting plate (321), and the front side of the slider (325) is fixedly connected to the middle of the rear side of the fixing plate (315).

4. The brain-computer interface-based upper limb rehabilitation exoskeleton device according to claim 1, characterized in that: The first connecting component (33) includes a second mounting plate (331). The rear side of the second mounting plate (331) is fixedly connected to the front right side of the first mounting plate (321). Limiting grooves (332) are opened on both the upper and lower sides inside the second mounting plate (331). A slot 1 (333) communicating with the interior is opened on the left side of the second mounting plate (331). The inner wall of the slot 1 (333) is slidably connected to the outer wall of the first insert (316). The slot 1 (333) is connected to the two limiting grooves (332). The inner walls of the two limiting grooves (332) are opened on the left and right sides of the side away from each other, and a circular through hole (334) penetrating to the outside is opened on the right side of the inner wall of the limiting groove (332). A slot 2 (335) penetrating to the outside is opened on the right side of the inner wall of the limiting groove (332).

5. The brain-computer interface-based upper limb rehabilitation exoskeleton device according to claim 1, characterized in that: Both of the limiting components (34) include a trapezoidal plate (341). The outer inclined surface of the trapezoidal plate (341) is slidably connected to the outer wall of the first insert (316). A concave block (342) is fixedly connected to the side of each trapezoidal plate (341) that is far apart from each other. The outer wall of the trapezoidal plate (341) is slidably connected to the inner wall of the first slot (333). The outer wall of the concave block (342) is slidably connected to the inner wall of the limiting groove (332). A second insert (343) is fixedly connected to the side of each concave block (342) that is far apart from each other.

6. The brain-computer interface-based upper limb rehabilitation exoskeleton device according to claim 5, characterized in that: Limiting rods (344) are fixedly connected to the left and right sides of the outer wall of the concave block (342) away from the trapezoidal plate (341). The outer wall of the limiting rod (344) is slidably connected to the inner wall of the circular through hole (334). A spring (345) is sleeved on the outer wall of the limiting rod (344) near the concave block (342).

7. The brain-computer interface-based upper limb rehabilitation exoskeleton device according to claim 1, characterized in that: The connecting component two (35) includes a rotating arm three (351), a fixing strap two (353) is provided on the rear side of the rotating arm three (351), a connecting plate two (352) is provided on the left rear side of the rotating arm three (351), a fixing plate three (354) is fixedly connected to the front side of the connecting plate two (352) away from the rotating arm three (351), and a frame (355) is fixedly connected to the upper and lower sides of the left side of the fixing plate three (354). The outer wall of the frame (355) is slidably connected to the inner wall of the concave block (342) and the slot two (335), and the inner wall of the frame (355) is slidably inserted into the outer wall of the block two (343).

8. The brain-computer interface-based upper limb rehabilitation exoskeleton device according to claim 1, characterized in that: The clamping assembly (43) includes a mounting block (431), the top of which is fixedly connected to the bottom of the fixing rod (41), a drive motor (432) is fixedly installed on the right outer wall of the mounting block (431), a second mounting groove (433) is provided on the front side of the mounting block (431), and a third mounting groove (434) is provided on both the upper and lower sides of the front side of the mounting block (431). A fixing sleeve (435) is fixedly connected to the middle position inside the second mounting groove (433).

9. The brain-computer interface-based upper limb rehabilitation exoskeleton device according to claim 8, characterized in that: The inner wall of the fixed sleeve (435) is rotatably connected to a bidirectional threaded rod (436). The left end of the bidirectional threaded rod (436) is rotatably connected to the left side of the inner wall of the mounting groove (433). The right end of the bidirectional threaded rod (436) is fixedly connected to the output end of the drive motor (432). Two sliders (437) are threadedly connected to the left and right sides of the outer wall of the bidirectional threaded rod (436).

10. The brain-computer interface-based upper limb rehabilitation exoskeleton device according to claim 9, characterized in that: A clamping block (438) is fixedly connected to the front side of the second slider (437). The two clamping blocks (438) are symmetrical to each other. An anti-slip plate (439) is fixedly connected to the side of the two clamping blocks (438) that are close to each other. A sliding rod (4301) is fixedly connected between the left and right sides of the inner wall of the third mounting groove (434). Sliding sleeves (430) are fixedly connected to the upper and lower sides of the rear side of the clamping block (438). The inner wall of the sliding sleeve (430) is slidably connected to the outer wall of the sliding rod (4301).

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