Waist-bearing dual-form outer limb rehabilitation robot

Abstract

This invention discloses a waist-supported dual-mode exoskeleton rehabilitation robot, comprising a wearable flexible suit, a waist module connected to the flexible suit, and a robotic arm mounted on the waist module. The waist module forms a wraparound support with the waist belt through front and rear back plates, transferring the weight of the entire robot to the waist and hip area. The robotic arm sequentially includes shoulder, elbow, and wrist modules and an end effector. The flexible suit has a first magnetic attraction component, and the robotic arm has a second magnetic attraction component; when the robotic arm moves to the docking position driven by its own shoulder and elbow module motors, the two are magnetically connected, putting the robot in exoskeleton mode; when detached, it is in exoskeleton mode. This invention also includes a push-pull electromagnet for limit locking, a linkage gravity balance mechanism to reduce driving torque, and a linear drive component for position matching. This robot has both independent exoskeleton operation and exoskeleton rehabilitation training modes, with reliable switching, comfortable wear, and strong adaptability.

Description

Technical Field

[0001] This invention relates to robots, and more particularly to a waist-supported dual-morphology external limb rehabilitation robot. Background Technology

[0002] With the increasing aging population and the growing number of people suffering from upper limb motor dysfunction due to neurological diseases such as stroke and spinal cord injury, the demand for upper limb rehabilitation training, daily living assistance, and human-machine collaborative work equipment in both clinical and home settings continues to grow. To improve training intensity, repeatability, and quantifiability, technologies such as exoskeleton rehabilitation robots, exolimb robotic arms, and wearable assistive devices are being widely researched and applied.

[0003] Existing upper limb rehabilitation and assistive devices can be broadly categorized into two types: one is exoskeleton-like devices, whose mechanical joints are connected in parallel or nearly aligned with human joints, forming strong constraints with the upper limb through straps, braces, etc., to achieve relatively precise force / displacement transmission, suitable for standardized rehabilitation training; the other is exoskeletons installed on the human body, whose robotic arms move independently outside the body's motion envelope, featuring a large working space and lower dependence on human anatomical structures, suitable for assisting with daily tasks such as picking up, placing, and grasping. However, in practical use, both types have certain limitations and cannot simultaneously meet the diverse needs of training and assistance in various scenarios.

[0004] Specifically, existing technologies typically have the following problems: 1. Existing wearable extremities are installed in a back or shoulder-carrying manner, and the weight and workload of the whole device tend to be concentrated in the shoulder and back area, which can easily cause fatigue after wearing for a long time. The waist and hip area is more suitable for bearing weight and transferring load to the human body, but there is still room for improvement in the waist support and structural layout of existing devices.

[0005] 2. Existing exoskeleton designs often require multi-point binding, fastener locking, or screw connections, which are time-consuming to wear and adjust, and have limited adaptability to users of different body types. When switching between "independent operation of exoskeletons" and "exoskeleton training constraints", existing docking methods often cannot achieve quick and reliable detachable connections.

[0006] 3. Existing detachable connection structures for exoskeletons may be prone to loosening, misalignment, or detachment during movement; if only magnetic attraction or other methods are used for connection, accidental separation may occur when subjected to external force; and if rigid mechanical locks are used, a large amount of force may be required to disengage.

[0007] 4. When switching from exolimb form to exoskeleton form, the spatial relative position of the robotic arm end and the user's upper limb needs to be matched; when existing devices lack an effective position adjustment mechanism, it can easily lead to docking difficulties or uncomfortable posture after docking.

[0008] 5. The gravitational torque caused by the weight of the robotic arm and the load will significantly increase the torque and energy consumption required for joint actuation; if there is no effective gravity balancing / compensation mechanism, the size, weight and battery life of the device will be affected. Summary of the Invention

[0009] Purpose of the invention: In order to overcome the problems existing in the prior art, the present invention proposes a waist-supported dual-morphology external limb rehabilitation robot.

[0010] Technical solution: The waist-supported dual-morphology external limb rehabilitation robot includes: Wearable flexible suit; a waist module connected to the flexible suit, the waist module being used to transfer the robot's weight to the user's waist and hip area; a robotic arm mounted on the waist module, the robotic arm sequentially comprising a shoulder module, an elbow module, a wrist module, and an end effector; The flexible garment includes: upper arm strap assembly, first magnetic coupling component, battery mounting box, waist belt, forearm strap assembly, and controller box; The flexible garment is equipped with a strap assembly for securing it to the user's upper limbs, and the strap assembly is provided with the first magnetic attraction component; The robotic arm is provided with a second magnetic attachment component that is detachably and magnetically connected to the first magnetic attachment component. When the robotic arm moves to the predetermined docking position under the drive of the motors contained in its shoulder and elbow modules, the first magnetic coupling component and the second magnetic coupling component are magnetically connected, so that the robot is in exoskeleton form; when the first magnetic coupling component and the second magnetic coupling component are disengaged, the robot is in exolimb form.

[0011] Furthermore, the waist module includes a front fixed back plate, a rear fixed back plate, a waist motor, a waist motor support, a waist motor fixing plate, a link gravity balance mechanism, a waist motor flange, a linear motor, waist link I, waist link II, and a shoulder motor I. The front and rear fixed back plates are connected by bolts; the waist motor fixing plate is welded to the rear fixed back plate. The waist motor support is slidably connected to the waist motor fixing plate; the waist motor support, the connecting rod gravity balance mechanism, and the waist connecting rod I are all connected to the waist motor by bolts; The linear motor is fixed to the waist link I, and the output end of the linear motor is fixed to the waist link II; the waist link I and the waist link II are slidably connected. The shoulder motor I is bolted to the waist link II.

[0012] Furthermore, the shoulder module includes a shoulder motor I connecting flange, shoulder upper connecting rod I, shoulder upper connecting rod II, shoulder upper connecting rod III, shoulder motor II, shoulder motor II connecting rod, shoulder motor II reinforcing rib, shoulder motor III, shoulder motor III connecting flange, shoulder joint lower connecting rod I, shoulder joint lower connecting rod II, shoulder joint lower connecting rod III, second magnetic attraction fitting, magnetic connector, push-pull electromagnet, locking mechanism, and link gravity balance mechanism; The shoulder motor I is connected to the shoulder motor I via a connecting flange. The upper shoulder connecting rod I, upper shoulder connecting rod II, and upper shoulder connecting rod III connect the various drive units of the shoulder to the downstream linkage mechanism. The shoulder motor II is fixed to the upper shoulder connection structure via the shoulder motor II connecting rod and the shoulder motor II reinforcing rib. The shoulder motor III is connected to the lower shoulder joint connecting rod I, lower shoulder joint connecting rod II, and lower shoulder joint connecting rod III via the shoulder motor III connecting flange.

[0013] Furthermore, the elbow module includes an elbow motor, elbow link I, elbow link II, a second magnetic attraction component, and a locking mechanism; The elbow motor is used to drive the elbow joint movement, and the elbow link I and elbow link II are used to transmit force and movement, and are respectively connected to the shoulder module and the wrist module.

[0014] Furthermore, the waist belt passes through the hole formed between the front fixed back plate and the rear fixed back plate, and the three together form a wrap-around waist support structure to achieve waist-supported force transmission; the strap assembly includes an upper arm strap assembly and a forearm strap assembly, and the first magnetic attraction component is respectively disposed on the upper arm strap assembly and the forearm strap assembly; the second magnetic attraction component includes a magnetic connector and a push-pull electromagnet; the magnetic connector is used to form a magnetic connection with the first magnetic attraction component.

[0015] Furthermore, when the robot is in exoskeleton mode, the push-pull electromagnet extends to limit and lock the attraction state of the first magnetic coupling component and the magnetic connector; when the robot switches from exoskeleton mode to exoskeleton mode, the push-pull electromagnet retracts to release the lock, and the robotic arm moves under the drive mechanism to disengage the first magnetic coupling component from the second magnetic coupling component.

[0016] Furthermore, the disengagement direction of the first magnetic attraction component and the second magnetic attraction component is set at an angle to the magnetic attraction direction, so that the magnetic attraction is disengaged through deflection motion during the switching process of the robotic arm, thereby reducing the disengagement resistance.

[0017] Furthermore, the robotic arm is equipped with a locking mechanism, which is used to adjust the length of the connecting rod to improve the size adaptability of the external limb rehabilitation robot.

[0018] Furthermore, the linkage gravity balancing mechanism is used to provide a compensating torque for the gravitational load generated by the robotic arm, so as to reduce the torque required to drive the robotic arm; The link gravity balancing mechanism includes: a gravity balancing mechanism fixed base, link BD, link GF, link DEF, a spring connecting seat, a spring, a spring fixed base, and link CD; The waist-mounted motor flange, the connecting rod BD, and the connecting rod CD constitute a crank-connecting rod mechanism; the connecting rod CD, the connecting rod DEF, and the connecting rod GF constitute a double rocker mechanism.

[0019] Furthermore, the shoulder module, elbow module, wrist module, and end effector adopt a modular and detachable connection structure for quick replacement; the waist module is equipped with an adjustment mechanism for adjusting the position of the robotic arm relative to the user's torso, the adjustment mechanism includes a linear drive and a sliding pair that cooperates with it, for position matching adjustment when switching between exolimb form and exoskeleton form.

[0020] Compared with the prior art, the beneficial effects of the present invention are: 1. Regarding the first point in the background technology, the present invention transfers the weight of the entire device to the waist and hip area through the waist module, reducing the burden on the shoulders and back and improving the comfort of wearing it for a long time.

[0021] 2. Regarding the second point in the background technology, the present invention utilizes a magnetic docking structure to achieve rapid separation of the exoskeleton form and the external limb form, thereby improving ease of use and scene adaptability.

[0022] 3. Regarding the third point in the background technology, the present invention uses a push-pull electromagnet to limit and lock the magnetic attraction state, reducing the risk of accidental disengagement under motion disturbance.

[0023] 4. Regarding the fourth point in the background technology, the present invention uses a linear drive component and a sliding pair to achieve position adjustment of the robotic arm relative to the torso, thereby improving the docking success rate and wearing posture comfort.

[0024] 5. Regarding point 5 in the background art, the present invention employs a linkage gravity balance mechanism to compensate for the gravitational torque, which can reduce the torque required for driving and energy consumption. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of the present invention in the form of an external limb; Figure 2 This is a schematic diagram of the overall structure of the present invention in the form of an exoskeleton; Figure 3 This is a schematic diagram of the flexible garment of the present invention; Figure 4 This is a schematic diagram of the waist module of the present invention; Figure 5 This is a schematic diagram of the shoulder module of the present invention; Figure 6 This is a schematic diagram of the elbow module of the present invention; Figure 7 This is a schematic diagram of a linkage gravity balance mechanism; Figure Label Explanation: 1-Flexible Suit; 11-Upper Arm Strap Assembly; 12-First Magnetic Fitting Component; 13-Battery Mounting Box; 14-Waist Belt; 15-Forearm Strap Assembly; 16-Controller Box; 2-Waist Module; 211-Front Fixed Backplate; 212-Rear Fixed Backplate; 22-Waist Motor; 231-Waist Motor Support; 232-Waist Motor Mounting Plate; 24-Link Gravity Balance Mechanism; 241-Gravity Balance Mechanism Mounting Base; 242-Link BD; 243-Link GF; 244-Link DEF; 245-Spring Connector; 246-Spring; 247-Spring Mounting Base; 248-Link CD; 25-Waist Motor Flange; 26-Linear Motor; 271-Waist Link I; 272-Waist Link II; 28-Shoulder Motor I; 3-Shoulder Module; 311-Shoulder motor I connecting flange; 312-Shoulder upper connecting rod I; 313-Shoulder upper connecting rod II; 314-Shoulder upper connecting rod III; 32-Shoulder motor II; 331-Shoulder motor II connecting rod; 332-Shoulder motor II reinforcing rib; 34-Shoulder motor III; 351-Shoulder motor III connecting flange; 352-Shoulder joint lower connecting rod I; 353-Shoulder joint lower connecting rod II; 354-Shoulder joint lower connecting rod III; 36-Second magnetic attraction fitting; 361-Push-pull electromagnet; 362-Magnetic connector; 363-Magnetic attraction component mounting base; 37-Locking mechanism; 4-Elbow module; 5-Wrist module; 6-End effector; 41-Elbow motor; 421-Elbow link I; 422-Elbow link II. Detailed Implementation

[0026] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. 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.

[0027] This embodiment provides a waist-supported dual-mode exolimb rehabilitation robot, comprising: a flexible suit 1, a waist module 2, and a robotic arm mounted on the waist module 2; the robotic arm sequentially includes a shoulder module 3, an elbow module 4, a wrist module 5, and an end effector 6. The robot can perform exolimb rehabilitation in various modes (…). Figure 1 ) and exoskeleton morphology ( Figure 2 Switch between )

[0028] The flexible suit 1 is worn by the user. It includes strap components for securely fitting the user's upper limbs and a mounting structure for carrying power supply and control components. The flexible suit 1 comprises: an upper arm strap assembly 11, a first magnetic coupling component 12, a battery mounting box 13, a waist belt 14, a forearm strap assembly 15, and a controller box 16. The first magnetic coupling component 12 is located on the upper arm strap assembly 11 and the forearm strap assembly 15 and is used for a detachable magnetic connection with a second magnetic coupling component 36 on the robotic arm.

[0029] The waist module 2 includes: a front fixed back plate 211, a rear fixed back plate 212, a waist motor 22, a waist motor support 231, a waist motor fixing plate 232, a connecting rod gravity balance mechanism 24, a waist motor flange 25, a linear motor 26, a waist connecting rod I-271, a waist connecting rod II-272, and a shoulder motor I-28.

[0030] The front fixed back plate 211 and the rear fixed back plate 212 are connected by bolts, and a hole is formed between the front fixed back plate 211 and the rear fixed back plate 212 for the waist belt 14 to pass through. After the waist belt 14 passes through the hole, it cooperates with the flexible garment 1, so that the front fixed back plate 211, the rear fixed back plate 212 and the waist belt 14 form a wrap-around waist support structure, thereby transferring the weight of the robot to the user's waist and hip area.

[0031] The waist motor mounting plate 232 is welded to the rear fixed back plate 212; the waist motor support 231 is slidably connected to the waist motor mounting plate 232, used to realize the relative position adjustment and assembly positioning of related components within the waist module. The waist motor 22 is connected to the waist motor support 231, and the waist motor 22 is used to provide drive output for the robotic arm at the waist.

[0032] The waist link I 271 and waist link II 272 are slidably connected; the linear motor 26 is fixed on the waist link I 271, and the output end of the linear motor 26 is fixed on the waist link II 272. The linear motor 26 drives the waist link II 272 to extend and retract relative to the waist link I 271, thereby realizing the position matching and adjustment of the robotic arm relative to the user's torso, which facilitates docking position calibration when switching between the exolimb form and the exoskeleton form.

[0033] The shoulder motor I 28 is bolted to the waist link II 272 and is used to provide drive input to the shoulder module 3 or to provide a drive base for the shoulder joint.

[0034] The shoulder module 3 includes: a shoulder motor I connecting flange 311, a shoulder upper connecting rod I 312, a shoulder upper connecting rod II 313, a shoulder upper connecting rod III 314, a shoulder motor II 32, a shoulder motor II connecting rod 331, a shoulder motor II reinforcing rib 332, a shoulder motor III 34, a shoulder motor III connecting flange 351, a shoulder joint lower connecting rod I 352, a shoulder joint lower connecting rod II 353, a shoulder joint lower connecting rod III 354, a second magnetic attraction fitting 36, a push-pull electromagnet 361, a magnetic connector 362, a magnetic attraction component mounting base 363, and a locking mechanism 37.

[0035] In addition, the shoulder module 3 is also equipped with a link gravity balancing mechanism 24. This mechanism is installed on the corresponding link structure of the shoulder module by bolt connection. Its structure is the same as the link gravity balancing mechanism 24 described in the waist module 2. It is used to compensate for the gravity load generated during the movement of the shoulder segment.

[0036] The shoulder motor I connecting flange 311 is connected to the shoulder motor I 28 of the waist module 2; the upper shoulder connecting rods I-312, II-313, and III-314 are used to connect each drive unit of the shoulder to the downstream linkage / joint mechanism into a whole, so that the robotic arm can complete the upper limb lifting, forward extension and other movement trajectories required for rehabilitation training (the specific degree of freedom configuration can be selected according to the actual design, and is not limited in this embodiment).

[0037] The shoulder motor II 32 is fixed to the upper shoulder connection structure via the shoulder motor II connecting rod 331 and the shoulder motor II reinforcing rib 332; the shoulder motor III 34 is connected to the lower shoulder joint connecting rod group (352, 353, 354) via the shoulder motor III connecting flange 351, so as to realize the posture adjustment of the shoulder segment and the guidance of the end-joint docking action.

[0038] The locking mechanism 37 is installed on the linkage structure of the shoulder module 3 and is used to adjust the length of the linkage, thereby improving the size adaptability to users of different heights and arm lengths. The locking mechanism 37 can be implemented by adopting a structure of telescopic linkage with holes and fasteners to achieve reliable locking after adjustment.

[0039] The elbow module 4 includes an elbow motor 41, elbow link I 421, elbow link II 422, and a locking mechanism 37. The elbow motor 41 drives the elbow joint movement; elbow link I 421 and elbow link II 422 transmit force and motion across the elbow segment and connect to the upstream shoulder module 3 and the downstream wrist module 5. The locking mechanism 37 can also be used for length / posture adjustment and locking of the elbow segment to improve size adaptability and training posture stability.

[0040] In this application, the wrist module 5 and the end effector 6 are downstream modules of the robotic arm. They can be connected to the elbow module 4 using a modular and detachable connection structure to quickly replace different end effectors 6 or different wrist modules 5. This embodiment does not limit their specific internal configuration.

[0041] The first magnetic attraction component 12 on the flexible garment 1 is disposed on the strap assembly; the robotic arm is provided with a second magnetic attraction component 36 that is detachably magnetically connected to the first magnetic attraction component 12. The second magnetic attraction component 36 includes a push-pull electromagnet 361 and a magnetic connector 362, the magnetic connector 362 being used to form a magnetic connection with the first magnetic attraction component 12.

[0042] When the robotic arm moves to the predetermined docking position under the action of the drive mechanism, the first magnetic attraction component 12 and the magnetic connector 362 magnetically attract each other, forming a parallel constraint relationship between the robotic arm and the user's upper limb, and the robot is in exoskeleton form (e.g., Figure 2 (As shown). To improve the anti-disturbance capability after docking, when the robot is in exoskeleton mode, the push-pull electromagnet 361 extends to limit and lock the attraction state of the first magnetic attraction component 12 and the magnetic connector 362, thereby reducing the risk of accidental disengagement during movement.

[0043] When switching from exoskeleton mode to exolimb mode, the push-pull electromagnet 361 retracts and releases the lock. The robotic arm, driven by the drive mechanism, moves to disengage the first magnetic attraction component 12 from the second magnetic attraction component 36. Preferably, the disengagement direction of the first magnetic attraction component 12 and the second magnetic attraction component 36 is set at an angle to the magnetic attraction direction, allowing the robotic arm to achieve magnetic disengagement through deflection motion during the switching process, thereby reducing disengagement resistance and improving switching smoothness.

[0044] The waist module 2 is equipped with a linkage gravity balancing mechanism 24, which provides a compensating torque for the gravitational load generated by the robotic arm, thereby reducing the torque required to drive the robotic arm. The linkage gravity balancing mechanism 24 includes: a gravity balancing mechanism mounting base 241, linkage BD 242, linkage GF 243, linkage DEF 244, a spring connecting seat 245, a spring 246, a spring mounting base 247, and a linkage CD 248.

[0045] The waist motor flange 25, connecting rod BD-242, and connecting rod CD 248 constitute a crank-connecting rod mechanism; connecting rod CD 248, connecting rod DEF 244, and connecting rod GF 243 constitute a double rocker mechanism. One end of spring 246 is connected to spring connecting seat 245, and the other end is connected to spring fixing seat 247. Through the above-mentioned mechanism motion relationship, during the lifting or lowering of the robotic arm, the elastic force output by spring 246 is converted into a compensating torque on the robotic arm through the connecting rod mechanism, thereby achieving the effect of gravity balance.

[0046] The switching between the two modes and the working process are as follows: In this embodiment, the robot's working process may include stages such as: wearing and initial adjustment, exoskeleton morphology operation, exoskeleton morphology docking and locking, exoskeleton morphology training / assistance, and unlocking, disengagement and restoration of exoskeleton morphology.

[0047] (1) Wearing and initial adjustment: The user wears the flexible garment 1 and fixes the flexible garment 1 and the waist module 2 to the waist and hip area through the waist belt 14, and adjusts the tightness of the strap components (11, 15) according to the user's body shape; the battery installed inside the battery installation box 13 powers the system, and the controller in the controller box 16 is used to execute drive control and mode switching commands.

[0048] (2) External limb morphology work: Under the external limb morphology ( Figure 1 The robotic arm does not form a parallel constraint with the user's upper limbs. The robotic arm moves outside the human body's motion envelope as an independent working arm and can perform tasks such as auxiliary grasping. At this time, the first magnetic attraction component 12 and the second magnetic attraction component 36 are in a separated state.

[0049] (3) Exoskeleton morphology docking and locking: When exoskeleton rehabilitation training is required, the robotic arm is controlled to move to the predetermined docking position under the action of the drive mechanism; at the same time, the waist link II 272 can be driven by the linear motor 26 to extend and retract relative to the waist link I 271 to achieve spatial position matching between the robotic arm and the upper limb strap assembly; when the first magnetic attraction component 12 and the magnetic connector 361 are magnetically attracted, the push-pull electromagnet 361 extends to complete the limit locking, so that the robot is in exoskeleton form ( Figure 2 ).

[0050] (4) Exoskeleton morphology training or assistance: In exoskeleton mode, the robotic arm drives the user's upper limbs to complete rehabilitation training trajectory or assistive movements through shoulder module 3, elbow module 4 and wrist module 5; the linkage gravity balance mechanism 24 compensates for the gravity load of the robotic arm to reduce the driving load and improve wearing comfort; the locking mechanism 37 can be used to adjust the linkage length to adapt to different users and stabilize the training posture.

[0051] (5) Unlocking and disengaging to restore exoskeleton form: When it is necessary to switch from exoskeleton form back to exoskeleton form, the push-pull electromagnet 361 retracts to unlock, and the robotic arm performs a deflection disengagement movement, causing the first magnetic attraction component 12 to separate from the second magnetic attraction component 36, thereby restoring the exoskeleton form. Figure 1 This allows for continued independent work or reduces constraints on the upper limbs.

[0052] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

[0053] The above are merely preferred embodiments of the present invention and do not constitute any limitation on the present invention. Any equivalent substitutions or modifications made by those skilled in the art to the technical solutions and content disclosed in the present invention without departing from the scope of the present invention shall be deemed to have remained within the protection scope of the present invention.

Claims

1. A waist-supported dual-morphology external limb rehabilitation robot, characterized in that, include: Wearable flexible suit (1); waist module (2) connected to the flexible suit (1), the waist module (2) is used to transfer the robot's weight to the user's waist and hip area; robotic arm mounted on the waist module (2), the robotic arm including a shoulder module (3), an elbow module (4), a wrist module (5) and an end effector (6) in sequence. The flexible garment (1) includes: upper arm strap assembly (11), first magnetic coupling component (12), battery mounting box (13), waist belt (14), forearm strap assembly (15), and controller box (16). The flexible garment (1) is provided with a strap assembly for fixing to the user's upper limbs, and the strap assembly is provided with the first magnetic attraction component (12). The robotic arm is provided with a second magnetic attraction component (36) that is detachably magnetically connected to the first magnetic attraction component (12). When the robotic arm moves to the predetermined docking position under the drive of the motors contained in its own shoulder module (3) and elbow module (4), the first magnetic coupling component (12) and the second magnetic coupling component (36) are magnetically connected, so that the robot is in the form of an exoskeleton; when the first magnetic coupling component (12) and the second magnetic coupling component (36) are disengaged, the robot is in the form of an exolimb.

2. The waist-supported dual-morphology external limb rehabilitation robot according to claim 1, characterized in that: The waist module (2) includes a front fixed back plate (211), a rear fixed back plate (212), a waist motor (22), a waist motor support (231), a waist motor fixing plate (232), a link gravity balance mechanism (24), a waist motor flange (25), a linear motor (26), a waist link I (271), a waist link II (272), and a shoulder motor I (28); The front fixed back plate (211) and the rear fixed back plate (212) are connected by bolts; the waist motor fixing plate (232) is welded to the rear fixed back plate (212); The waist motor support (231) is slidably connected to the waist motor fixing plate (232); the waist motor support (231), the connecting rod gravity balance mechanism (24), and the waist connecting rod I (271) are all connected to the waist motor (22) by bolts; The linear motor (26) is fixed on the waist link I (271), and the output end of the linear motor (26) is fixed on the waist link II (272); the waist link I (271) and the waist link II (272) are slidably connected. The shoulder motor I (28) is bolted to the waist link II (272).

3. The waist-supported dual-morphology external limb rehabilitation robot according to claim 1, characterized in that: The shoulder module (3) includes a shoulder motor I connecting flange (311), a shoulder upper connecting rod I (312), a shoulder upper connecting rod II (313), a shoulder upper connecting rod III (314), a shoulder motor II (32), a shoulder motor II connecting rod (331), a shoulder motor II reinforcing rib (332), a shoulder motor III (34), a shoulder motor III connecting flange (351), a shoulder joint lower connecting rod I (352), a shoulder joint lower connecting rod II (353), a shoulder joint lower connecting rod III (354), a second magnetic attraction fitting (36), a push-pull electromagnet (361), a magnetic connector (362), a locking mechanism (37), and a link gravity balance mechanism (24). Among them, the shoulder motor I connecting flange (311) is connected to the shoulder motor I (28), the shoulder upper connecting rod I (312), shoulder upper connecting rod II (313), and shoulder upper connecting rod III (314) connect each drive unit of the shoulder to the downstream linkage mechanism, the shoulder motor II (32) is fixed to the upper shoulder connecting structure through the shoulder motor II connecting rod (331) and the shoulder motor II reinforcing rib (332), and the shoulder motor III (34) is connected to the shoulder joint lower connecting rod I (352), shoulder joint lower connecting rod II (353), and shoulder joint lower connecting rod III (354) through the shoulder motor III connecting flange (351).

4. The waist-supported dual-morphology external limb rehabilitation robot according to claim 1, characterized in that: The elbow module (4) includes an elbow motor (41), elbow link I (421), elbow link II (422), a second magnetic attraction component (36), and a locking mechanism (37). The elbow motor (41) is used to drive the elbow joint movement. The elbow link I (421) and the elbow link II (422) are used to transmit force and movement, and are respectively connected to the shoulder module (3) and the wrist module (5).

5. The lumbar-supported dual-morphology external limb rehabilitation robot according to claim 1 or 2, characterized in that: The waist belt (14) passes through the hole formed between the front fixed back plate (211) and the rear fixed back plate (212), and the three cooperate to form a wrap-around waist support structure; the strap assembly includes an upper arm strap assembly (11) and a forearm strap assembly (15), and the first magnetic attraction component (12) is respectively disposed on the upper arm strap assembly (11) and the forearm strap assembly (15); the second magnetic attraction component (36) includes a magnetic connector (361) and a push-pull electromagnet (361); the magnetic connector (362) is used to form a magnetic connection with the first magnetic attraction component (12).

6. The waist-supported dual-morphology external limb rehabilitation robot according to claim 5, characterized in that: When the robot is in exoskeleton mode, the push-pull electromagnet (361) extends to limit and lock the attraction state of the first magnetic attraction component (12) and the magnetic connector (362); when the robot switches from exoskeleton mode to exoskeleton mode, the push-pull electromagnet (361) retracts to release the lock, and the robotic arm moves under the drive mechanism to disengage the first magnetic attraction component (12) from the second magnetic attraction component (36).

7. The lumbar-supported dual-morphology external limb rehabilitation robot according to claim 6, characterized in that: The first magnetic attraction component (12) and the second magnetic attraction component (36) are set at an angle to the magnetic attraction direction, so that the magnetic attraction is achieved through deflection motion during the switching process of the robotic arm, thereby reducing the resistance to separation.

8. The waist-supported dual-morphology external limb rehabilitation robot according to claim 1, characterized in that: The robotic arm is equipped with a locking mechanism (37), which is used to adjust the length of the connecting rod to improve the size adaptability of the external limb rehabilitation robot.

9. The lumbar-supported dual-morphology external limb rehabilitation robot according to claim 1 or 2, characterized in that: The link gravity balancing mechanism (24) is used to provide a compensating torque for the gravity load generated by the robotic arm, so as to reduce the torque required to drive the robotic arm; The link gravity balance mechanism (24) includes: gravity balance mechanism fixed seat (241), link BD (242), link GF (243), link DEF (244), spring connecting seat (245), spring (246), spring fixed seat (247) and link CD (248). The waist motor flange (25), the connecting rod BD (242) and the connecting rod CD (248) constitute a crank-connecting rod mechanism; the connecting rod CD (248), the connecting rod DEF (244) and the connecting rod GF (243) constitute a double rocker mechanism.

10. The lumbar-supported dual-morphology external limb rehabilitation robot according to claim 1 or 2, characterized in that: The shoulder module (3), elbow module (4), wrist module (5) and end effector (6) adopt a modular and detachable connection structure for quick replacement; the waist module (2) is provided with an adjustment mechanism for adjusting the position of the robotic arm relative to the user's torso. The adjustment mechanism includes a linear drive (26) and a sliding pair that cooperates with it, which is used to adjust the position matching when switching between the exolimb form and the exoskeleton form.

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