Double-arm exoskeleton robot

Abstract

The utility model discloses a double-arm exoskeleton robot. The double-arm exoskeleton robot comprises a main body supporting piece, a first arm body and a second arm body, each of the first arm body and the second arm body comprises a shoulder blade structure, a shoulder joint structure, an upper arm structure, an elbow joint structure, a front arm structure and a wrist joint structure; the shoulder blade structure, the shoulder joint structure, the upper arm structure, the elbow joint structure, the front arm structure and the wrist joint structure are sequentially connected. According to the double-arm exoskeleton robot, the problem that in the prior art, multi-degree-of-freedom double-arm coordination rehabilitation is lacked is solved, double-arm coordination rehabilitation training can be achieved, and the recovery effect is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of exoskeleton devices, and relates to an exoskeleton device, in particular to a two-arm exoskeleton robot. Background Technique

[0002] Stroke is currently the second leading cause of death and the leading cause of disability worldwide, and China ranks first in the world in terms of stroke incidence. Data from the "Report on the Prevention and Treatment of Stroke in China" shows that there are about 2 million new stroke cases every year. Stroke is characterized by high incidence, mortality, disability rate, and recurrence rate. According to statistics from the World Health Organization (WHO), about 6.2 million people die from stroke every year, which is more than the total number of deaths from AIDS, tuberculosis, and malaria combined. Most survivors have varying degrees of functional impairment. Among them, upper limb dysfunction seriously affects the patient's daily living activities and is the focus and difficulty of rehabilitation, which also brings a heavy burden to the patient's family and society. On the other hand, according to the second national sample survey of disabled persons, the total number of disabled persons in China is about 82.96 million, accounting for 6.34% of the total national population. The problems of declining motor function in the elderly and postoperative sequelae in the disabled can be effectively improved and alleviated through rehabilitation training. Exoskeleton rehabilitation robots, due to their bionic structure, have the characteristics of being wearable, easy to accept, and less interfering, and can be used to achieve good rehabilitation training. It is a research direction that has received wide attention and has good application prospects and important social value. Therefore, the research on robot technology and the development of equipment for upper limb rehabilitation training for stroke patients are of great significance.

[0003] The key design challenge of upper limb exoskeletons is to provide full-range power for the complex movements of the shoulder without causing discomfort to the user. In order to achieve full-range movement of the upper body, the shoulder girdle must cooperate with the upper arm to provide power. If the coordinated movement of the shoulder joint is not noted, joint instability may occur, leading to shoulder joint pain or injury, including irritation and impingement of the rotator cuff. Moreover, most existing upper limb exoskeletons do not consider the coordinated rehabilitation of all degrees of freedom of both upper arms. Rehabilitation theory has confirmed that coordinated rehabilitation of both arms is more conducive to improving the rehabilitation effect. Currently, many upper limb exoskeletons do not consider the convenience of wearing. Many configurations use all-gear or pulley configurations to achieve the spin movement of the upper arm and forearm. However, this mechanism is not convenient to wear and has certain safety hazards, which in turn affects the human-machine interaction effect.

[0004] Existing upper limb exoskeletons have the following defects:

[0005] (1) Most existing upper limb exoskeletons do not consider the movement of the scapula part. However, in order to achieve full-range movement of the upper body, the shoulder girdle must cooperate with the upper arm to provide power. If the coordinated movement of the shoulder joint is not noted, joint instability may occur, leading to shoulder joint pain or injury, including irritation and impingement of the rotator cuff.

[0006] (2) Rehabilitation theory has confirmed that bilateral coordinated rehabilitation is more conducive to improving the rehabilitation effect. Most of the existing upper limbs are single-arm, lacking multi-degree-of-freedom bilateral coordinated rehabilitation.

[0007] (3) Many upper limb exoskeletons do not consider the convenience of wearing. Many configurations use all-gear or pulley configurations to achieve the spin motion of the upper arm and forearm. However, this mechanism is inconvenient to wear and has certain safety hazards, which in turn affects the human-machine interaction effect.

[0008] (4) Existing technologies do not well consider the problem of excessive gravity caused by multiple degrees of freedom, which in turn affects the control accuracy, motor life, and wearing comfort and safety.

[0009] (5) Most of the existing upper limb exoskeleton arm lengths and back adjustment parts do not consider self-locking and easy adjustability, making it difficult to adjust the arm length and back in the case of frequent user changes.

[0010] In view of this, there is an urgent need to design a new exoskeleton robot today to overcome at least some of the above defects existing in the existing exoskeleton robots. Summary of the Utility Model

[0011] The utility model provides a bilateral exoskeleton robot, which solves the problem of lack of multi-degree-of-freedom bilateral coordinated rehabilitation in the existing technology, can realize bilateral coordinated rehabilitation training, and improve the recovery effect.

[0012] To solve the above technical problems, according to one aspect of the utility model, the following technical solution is adopted:

[0013] A bilateral exoskeleton robot, the bilateral exoskeleton robot includes: a main body support, a first arm body and a second arm body;

[0014] Both the first arm body and the second arm body include a scapula structure, a shoulder joint structure, an upper arm structure, an elbow joint structure, a forearm structure and a wrist joint structure;

[0015] The scapula structure, the shoulder joint structure, the upper arm structure, the elbow joint structure, the forearm structure and the wrist joint structure are connected in sequence;

[0016] The scapula structure, the shoulder joint structure, the upper arm structure, the elbow joint structure, the forearm structure and the wrist joint structure are respectively provided with a driving mechanism capable of driving the corresponding joint to move.

[0017] As an embodiment of the present utility model, the shoulder joint structure includes a shoulder joint body, a shoulder joint abduction / adduction driving mechanism, a shoulder joint spin driving mechanism, and a shoulder joint flexion / extension driving mechanism; the shoulder joint abduction / adduction driving mechanism is connected to the shoulder joint body and drives the shoulder joint body to abduct and adduct; the shoulder joint spin driving mechanism is connected to the shoulder joint body and drives the shoulder joint body to spin; the shoulder joint flexion / extension driving mechanism is connected to the shoulder joint body and drives the shoulder joint body to flex and extend.

[0018] As an embodiment of the present utility model, the shoulder joint body includes a shoulder joint abduction / adduction connecting member, a shoulder joint spin connecting member, and a shoulder joint flexion / extension connecting member;

[0019] The shoulder joint abduction / adduction driving mechanism is connected to the shoulder joint abduction / adduction connecting member and can adjust the abduction and adduction of the shoulder joint body by driving the movement of the shoulder joint abduction / adduction connecting member;

[0020] The shoulder joint spin driving mechanism is arranged on the shoulder joint abduction / adduction connecting member; the shoulder joint spin driving mechanism is connected to the shoulder joint spin connecting member and can realize the spin of the shoulder joint body by driving the rotation of the shoulder joint spin connecting member;

[0021] The shoulder joint flexion / extension driving mechanism is arranged on the shoulder joint spin connecting member; the shoulder joint flexion / extension driving mechanism is connected to the shoulder joint flexion / extension connecting member and can realize the flexion and extension of the shoulder joint body by driving the flexion and extension of the shoulder joint flexion / extension connecting member.

[0022] As an embodiment of the present utility model, the elbow joint structure includes an elbow joint driving mechanism, an elbow joint rotation mechanism, and an elbow joint flexion / extension degree-of-freedom limiting mechanism; the elbow joint rotation mechanism is arranged at one end of the upper arm structure, and the elbow joint rotation mechanism forms a region for the forearm structure to rotate;

[0023] One end of the forearm structure is arranged on the elbow joint rotation mechanism; the elbow joint driving mechanism is arranged on the upper arm structure, and the output shaft of the elbow joint driving mechanism is connected to the forearm structure and can drive the forearm structure to rotate, thereby adjusting the angle formed between the upper arm structure and the forearm structure;

[0024] The elbow joint flexion / extension degree-of-freedom limiting mechanism is arranged at a set position of the elbow joint rotation mechanism and can limit the forearm structure to move within a set activity range.

[0025] As an embodiment of the present utility model, the wrist joint structure includes a wrist flexion / extension driving mechanism and a wrist flexion / extension transmission mechanism;

[0026] The wrist flexion and extension transmission mechanism includes a first wrist flexion and extension degree-of-freedom connecting member; the wrist flexion and extension driving mechanism is connected to the first wrist flexion and extension degree-of-freedom connecting member and can drive the first wrist flexion and extension degree-of-freedom connecting member to flex and extend.

[0027] As an implementation manner of the present utility model, the wrist joint structure includes a wrist self-rotation driving mechanism and a wrist self-rotation transmission mechanism;

[0028] The wrist self-rotation transmission mechanism includes a first wrist self-rotation degree-of-freedom connecting member, a second wrist self-rotation degree-of-freedom connecting member, a third wrist self-rotation degree-of-freedom connecting member, a fourth wrist flexion and extension degree-of-freedom connecting member, a fifth wrist self-rotation degree-of-freedom connecting member, and a sixth wrist self-rotation degree-of-freedom connecting member;

[0029] The first end of the first wrist self-rotation degree-of-freedom connecting member is connected to a set position of the second wrist self-rotation degree-of-freedom connecting member, and the second end of the first wrist self-rotation degree-of-freedom connecting member is connected to the first end of the sixth wrist self-rotation degree-of-freedom connecting member;

[0030] The first end of the second wrist self-rotation degree-of-freedom connecting member is arranged on the third wrist self-rotation degree-of-freedom connecting member, and the second end of the second wrist self-rotation degree-of-freedom connecting member is connected to the first end of the fifth wrist self-rotation degree-of-freedom connecting member;

[0031] The first end of the fourth wrist self-rotation degree-of-freedom connecting member is arranged on the third wrist self-rotation degree-of-freedom connecting member, and the first end of the fourth wrist self-rotation degree-of-freedom connecting member is arranged on the fifth wrist self-rotation degree-of-freedom connecting member; the second end of the fifth wrist self-rotation degree-of-freedom connecting member is connected to the second end of the sixth wrist self-rotation degree-of-freedom connecting member;

[0032] The wrist self-rotation driving mechanism is connected to the second ends of the fifth wrist self-rotation degree-of-freedom connecting member and the sixth wrist self-rotation degree-of-freedom connecting member, and can drive the fifth wrist self-rotation degree-of-freedom connecting member and the sixth wrist self-rotation degree-of-freedom connecting member to rotate. The fifth wrist self-rotation degree-of-freedom connecting member and the sixth wrist self-rotation degree-of-freedom connecting member drive the wrist joint body to form a self-rotation action after being stressed.

[0033] As an implementation manner of the present utility model, the second wrist self-rotation degree-of-freedom connecting member includes a first straight rod and a first curved rod. The second end of the first straight rod is connected to the first end of the first curved rod, and the connection position is used as a first connection point; the first end of the first wrist self-rotation degree-of-freedom connecting member is connected to the first connection point through a first rotating shaft and can rotate relative to the first connection point;

[0034] The third wrist self-rotation degree-of-freedom connecting member is a connecting plate, and the connecting plate is connected to a wrist radial-ulnar deviation degree-of-freedom driving mechanism; the first end of the first straight rod is rotatably arranged on the connecting plate;

[0035] The fourth wrist spin degree-of-freedom connecting member is L-shaped; the first end of the fourth wrist spin degree-of-freedom connecting member is rotatably arranged on the connecting plate, the second end of the fourth wrist spin degree-of-freedom connecting member is connected to the second end of the first curved rod and the first end of the fifth wrist spin degree-of-freedom connecting member, and the connection position is used as the second connection point. A second rotating shaft is provided at the second connection point, and the fourth wrist spin degree-of-freedom connecting member, the first curved rod and the fifth wrist spin degree-of-freedom connecting member can rotate relative to each other through the second rotating shaft.

[0036] As an implementation manner of the present utility model, the wrist joint structure includes a wrist radial-ulnar deviation degree-of-freedom driving mechanism and a wrist radial-ulnar deviation transmission mechanism;

[0037] The wrist radial-ulnar deviation transmission mechanism includes a first wrist radial-ulnar deviation degree-of-freedom rotating member, a second wrist radial-ulnar deviation degree-of-freedom rotating member, and a third wrist radial-ulnar deviation degree-of-freedom rotating member;

[0038] The first wrist radial-ulnar deviation degree-of-freedom rotating member, the second wrist radial-ulnar deviation degree-of-freedom rotating member, and the third wrist radial-ulnar deviation degree-of-freedom rotating member are connected in sequence, and the wrist radial-ulnar deviation degree-of-freedom driving mechanism is connected to the first wrist radial-ulnar deviation degree-of-freedom rotating member, so as to adjust the radial-ulnar deviation degree-of-freedom of the wrist joint body.

[0039] As an implementation manner of the present utility model, the first arm body and the second arm body are arranged on the main body support member in an axisymmetric manner.

[0040] As an implementation manner of the present utility model, the double-arm exoskeleton robot further includes a handle, and the handle is arranged at the end of the wrist joint structure.

[0041] The beneficial effects of the present utility model are as follows: The double-arm exoskeleton robot proposed by the present utility model solves the problem of the lack of multi-degree-of-freedom double-arm coordinated rehabilitation in the prior art, can realize double-arm coordinated rehabilitation training, and improve the recovery effect.

[0042] In a use scenario of the present utility model, according to the biomechanical characteristics of the scapula, shoulder, elbow, and wrist, the present utility model designs a suitable distribution of the degrees of freedom of the upper arm, and solves the problem of the spin configuration of the upper arm and forearm according to the requirements of wearing convenience and reliability, avoiding the wearing and safety hidden danger problems brought by the full-ring structure, improving the wearing safety of the upper arm and forearm parts, and improving the overall aesthetics and the industrial design product power.

[0043] The scapula part also participates in upper limb movement. Solving the problem of the configuration of the full-degree-of-freedom double-arm exoskeleton system for the movement of the scapula part enables the movement of the scapula part to also receive good rehabilitation training, and improves the integrity and comfort of the upper arm during rehabilitation training. Description of the Drawings

[0044] Figure 1 This is a schematic structural diagram of a two - armed exoskeleton robot in an embodiment of the present utility model.

[0045] Figure 2 This is a schematic structural diagram of the scapula structure of a two - armed exoskeleton robot in an embodiment of the present utility model.

[0046] Figure 3 This is a schematic diagram of the principle of adjustment of the scapula structure of a two - armed exoskeleton robot in an embodiment of the present utility model.

[0047] Figure 4 This is a schematic structural diagram of the shoulder joint structure of a two - armed exoskeleton robot in an embodiment of the present utility model.

[0048] Figure 5 This is a schematic diagram of the principle of adjustment of the shoulder joint structure of a two - armed exoskeleton robot in an embodiment of the present utility model.

[0049] Figure 6 This is a schematic structural diagram of the wrist joint structure of a two - armed exoskeleton robot in an embodiment of the present utility model.

[0050] Figure 7 This is a schematic diagram of the adjustment principle of the wrist joint structure of a two - armed exoskeleton robot in an embodiment of the present utility model. Detailed Description of the Preferred Embodiments

[0051] The preferred embodiments of the present utility model will be described in detail below with reference to the drawings.

[0052] In order to further understand the present utility model, the preferred implementation schemes of the present utility model will be described below in conjunction with embodiments. However, it should be understood that these descriptions are only for further explaining the features and advantages of the present utility model, rather than limiting the claims of the present utility model.

[0053] The description of this part only focuses on several typical embodiments, and the present utility model is not limited to the scope described in the embodiments. The mutual replacement of some technical features between the same or similar prior art means and the embodiments is also within the scope of description and protection of the present utility model.

[0054] The expression of the steps in each embodiment in the specification is only for convenience of description, and the implementation manner of the present application is not limited by the order of step implementation.

[0055] "Connection" in the specification includes both direct connection and indirect connection.

[0056] The present utility model discloses a two - armed exoskeleton robot, Figure 1 This is a schematic structural diagram of a two - armed exoskeleton robot in an embodiment of the present utility model; please refer toFigure 1 The two-arm exoskeleton robot includes: a main support, a first arm body, and a second arm body; the first arm body and the second arm body both include a scapula structure, a shoulder joint structure, an upper arm structure, an elbow joint structure, a forearm structure 53, and a wrist joint structure; the scapula structure, the shoulder joint structure, the upper arm structure 31, the elbow joint structure, the forearm structure 53, and the wrist joint structure are connected in sequence. The scapula structure, the shoulder joint structure, the upper arm structure 31, the elbow joint structure, the forearm structure 53, and the wrist joint structure are respectively provided with drive mechanisms capable of driving the corresponding joints to move. In one embodiment, the first arm body and the second arm body are arranged on the main support in an axisymmetric manner.

[0057] The two-arm exoskeleton robot is provided with at least one connecting component 66, 69, 70, and through the connecting components 66, 69, 70, the set part of the exoskeleton robot can be fixed to the set part of the human body (or can be fixed to the component connecting the set part of the human body, so as to fix the set part of the human body). After the exoskeleton robot is connected to the set part of the human body, at least one of the scapula structure, the shoulder joint structure, the upper arm structure 31, the elbow joint structure, the forearm structure 53, and the wrist joint structure acts through its drive mechanism, and can drive the corresponding part of the human body to move.

[0058] Please continue to refer to Figure 1 The scapula structure includes a scapula adjustment mechanism and a scapula body, and the scapula body is realized through a first polygonal transmission mechanism; the scapula adjustment mechanism is connected to the first polygonal transmission mechanism and can adjust the shape of the first polygonal transmission mechanism, so as to adjust the position of the scapula structure up and down or / and front and back.

[0059] Figure 2 is a schematic structural diagram of the scapula structure of the two-arm exoskeleton robot in an embodiment of the present invention, Figure 3 is a schematic principle diagram of the adjustment of the scapula structure of the two-arm exoskeleton robot in an embodiment of the present invention; please refer to Figures 1 to 3 In one embodiment of the present invention, the first polygonal transmission mechanism includes a first connecting member 12, a second connecting member 13, a third connecting member 14, and a fourth connecting member 15, and the first connecting member 12, the second connecting member 13, the third connecting member 14, and the fourth connecting member 15 form a quadrilateral. The first connecting member 12 is connected to the second connecting member 13 through a first rotating shaft, the second connecting member 13 is connected to the third connecting member 14 through a second rotating shaft, the third connecting member 14 is connected to the fourth connecting member 15 through a third rotating shaft, and the fourth connecting member 15 is connected to the first connecting member 12 through a fourth rotating shaft. The first polygonal transmission mechanism can form a parallelogram, and the parallelogram can adjust its own shape under the action of a set force (such as the acting force applied by the patient), so as to adjust the front and back position of the scapula structure.

[0060] In one embodiment, the first rotating shaft and the fourth rotating shaft can be arranged above the first connecting member 12 (in the left-side structure, the first rotating shaft is correspondingly marked as 20, and the fourth rotating shaft is correspondingly marked as 19). End caps can be respectively arranged outside the first rotating shaft and the fourth rotating shaft. The first rotating shaft can rotate along a set rotating shaft, so that the angle formed between the first connecting member 12 and the second connecting member 13 changes; the fourth rotating shaft can rotate along a set rotating shaft, so that the angle formed between the first connecting member 12 and the fourth connecting member 15 changes. The second rotating shaft and the third rotating shaft can be arranged above the third connecting member 14. End caps can be respectively arranged outside the second rotating shaft and the third rotating shaft. The second rotating shaft can rotate along a set rotating shaft, so that the angle formed between the second connecting member 13 and the third connecting member 14 changes; the third rotating shaft can rotate along a set rotating shaft, so that the angle formed between the third connecting member 14 and the fourth connecting member 15 changes.

[0061] The first polygonal transmission mechanism can be used as a passive transmission component, and can deform following the movement of the patient when the scapula of the patient moves back and forth.

[0062] In addition, the scapula structure includes scapula up-and-down driving units 16 and 18. The scapula up-and-down driving units 16 and 18 are connected to the scapula body and can drive the up-and-down position of the scapula body. In one embodiment, the scapula up-and-down driving units 16 and 18 are connected to a scapula up-and-down movement rotary connecting member 62, and the up-and-down movement of the scapula structure is adjusted by driving the scapula up-and-down movement rotary connecting member 62.

[0063] Figure 4 It is a schematic structural diagram of the shoulder joint structure of a double-arm exoskeleton robot in an embodiment of the present invention. Figure 5 It is a schematic diagram of the adjustment principle of the shoulder joint structure of a double-arm exoskeleton robot in an embodiment of the present invention; please refer to Figure 1 、 Figure 4 and Figure 5 , in an embodiment of the present invention, the shoulder joint structure includes a shoulder joint body, a shoulder joint abduction / adduction driving mechanism 81, a shoulder joint spin driving mechanism 11, and a shoulder joint flexion / extension driving mechanism 8. The shoulder joint abduction / adduction driving mechanism 81 is connected to the shoulder joint body and drives the shoulder joint body to abduct / adduct; the shoulder joint spin driving mechanism 11 is connected to the shoulder joint body and drives the shoulder joint body to spin; the shoulder joint flexion / extension driving mechanism 8 is connected to the shoulder joint body and drives the shoulder joint body to flex / extend. The double-arm exoskeleton robot can further include a scapula and shoulder joint connecting member 21, and the scapula and shoulder joint connecting member 21 connects the scapula structure and the shoulder joint mechanism.

[0064] The shoulder joint body may include an abduction / adduction connecting member of the shoulder joint, a spin connecting member of the shoulder joint, and a flexion / extension connecting member of the shoulder joint. In an embodiment of the present invention, the abduction / adduction connecting member of the shoulder joint may include a first abduction / adduction connecting member 23 of the shoulder joint and a second abduction / adduction connecting member 65 of the shoulder joint (the first abduction / adduction connecting member 23 and the second abduction / adduction connecting member 65 may be an integrated structure or may be combined and fixed by a fixing mechanism such as a screw); the spin connecting member of the shoulder joint includes a spin connecting member housing 22 of the shoulder joint, a first spin connecting member 9, 24 of the shoulder joint, and a second spin connecting member 10, 25 of the shoulder joint (the spin connecting member housing 22 of the shoulder joint, the first spin connecting member 9, 24 of the shoulder joint, and the second spin connecting member 10, 25 of the shoulder joint may be an integrated structure or may be combined and fixed by screws); the flexion / extension connecting member of the shoulder joint includes a flexion / extension connecting member 26, 61 of the shoulder joint and a flexion / extension housing 27 of the shoulder joint (the flexion / extension connecting member 26, 61 of the shoulder joint and the flexion / extension housing 27 of the shoulder joint may be an integrated structure or may be combined and fixed by screws). The structures of the left and right shoulders and arms are the same. For the convenience of description, the markings of some of the above components are located on the left shoulder / left arm, and the markings of some components are located on the right shoulder / right arm, and they can be regarded as equivalent.

[0065] The abduction / adduction driving mechanism 81 of the shoulder joint is connected to the abduction / adduction connecting member of the shoulder joint and can adjust the abduction and adduction of the shoulder joint body by driving the abduction / adduction connecting member to act. The spin driving mechanism 11 of the shoulder joint is arranged on the abduction / adduction connecting member of the shoulder joint; the spin driving mechanism of the shoulder joint is connected to the spin connecting member of the shoulder joint and can realize the spin of the shoulder joint body by driving the spin connecting member to rotate. The flexion / extension driving mechanism of the shoulder joint is arranged on the spin connecting member of the shoulder joint; the flexion / extension driving mechanism of the shoulder joint is connected to the flexion / extension connecting member of the shoulder joint and can realize the flexion and extension of the shoulder joint body by driving the flexion / extension connecting member to flex and extend.

[0066] The first spin connecting member 24 of the shoulder joint is connected to the second spin connecting member 25 of the shoulder joint; the spin driving mechanism 11 of the shoulder joint is arranged at the first end of the shoulder structure, and the spin driving mechanism 11 is respectively connected to the first spin connecting member 24 and the second spin connecting member 25 of the shoulder joint and can adjust the actions of the first spin connecting member 24 and the second spin connecting member 25 of the shoulder joint to realize the adjustment of the shoulder joint posture. In addition, a shoulder spin limiter 64 is provided on the shoulder joint structure to limit the spin of the shoulder joint within a set range. The flexion / extension driving mechanism 8 of the shoulder joint is arranged at the second end of the shoulder joint body, and the flexion / extension driving mechanism 8 is connected to the flexion / extension connecting member of the shoulder joint and can drive the flexion and extension of the flexion / extension connecting member of the shoulder joint.

[0067] The shoulder joint structure can adopt a non-vertical three-axis distribution to achieve three active degrees of freedom of shoulder joint flexion and extension, shoulder joint abduction and adduction, and upper arm spin. Different from the previous full-ring wrapping structure, the structure adopted here arranges the upper arm spin degree of freedom to move in the second connecting piece of the shoulder joint, such as Figure 5 shown.

[0068] The elbow joint structure includes an elbow joint drive mechanism 58, an elbow joint slewing mechanism 32, and an elbow joint flexion and extension degree-of-freedom limiting mechanism 67; the elbow joint slewing mechanism 32 is arranged at one end of the upper arm structure, and the elbow joint slewing mechanism 32 forms a region for the forearm structure 53 to rotate; the upper arm structure 31 may include a first upper arm housing 29, a second upper arm housing 30, 59.

[0069] One end of the forearm structure 53 is arranged on the elbow joint slewing mechanism 32; the elbow joint drive mechanism 58 is arranged on the upper arm structure, and the output shaft of the elbow joint drive mechanism 58 is connected to the forearm structure 53 and can drive the forearm structure 53 to rotate, so as to adjust the angle formed between the upper arm structure and the forearm structure 53. The elbow joint flexion and extension degree-of-freedom limiting mechanism 67 is arranged at a set position of the elbow joint slewing mechanism and can limit the forearm structure to move within a set activity range.

[0070] Figure 6 is a schematic structural diagram of the wrist joint structure of a double-arm exoskeleton robot in an embodiment of the present invention, Figure 7 is a schematic diagram of the adjustment principle of the wrist joint structure of a double-arm exoskeleton robot in an embodiment of the present invention; please refer to Figure 1 、 Figure 6 and Figure 7 , in an embodiment of the present invention, the wrist joint structure includes a wrist joint body, a wrist spin drive mechanism 71, a wrist radial deviation and ulnar deviation degree-of-freedom drive mechanism 37, 51, and a wrist flexion and extension drive mechanism 41; the wrist joint body includes a wrist spin transmission mechanism, a wrist radial deviation and ulnar deviation transmission mechanism, and a wrist flexion and extension transmission mechanism.

[0071] The wrist flexion and extension transmission mechanism includes a wrist flexion and extension degree-of-freedom connecting piece 42; the wrist flexion and extension drive mechanism 41 is connected to the wrist flexion and extension degree-of-freedom connecting piece 42 and can drive the wrist flexion and extension degree-of-freedom connecting piece 42 to flex and extend. The wrist flexion and extension degree-of-freedom connecting piece 42 is arranged in the first wrist flexion and extension housing 43, 48, and a second wrist flexion and extension housing 44 is arranged below the first wrist flexion and extension housing 43, 48.

[0072] The wrist spin drive mechanism includes a first wrist spin freedom connecting member 35, 56, a second wrist spin freedom connecting member 36, 52, a third wrist spin freedom connecting member 72, 55, a fourth wrist flexion and extension freedom connecting member 73, a fifth wrist spin freedom connecting member 74, and a sixth wrist spin freedom connecting member 75.

[0073] The first end portions of the first wrist spin freedom connecting members 35, 56 are connected to the set portions of the second wrist spin freedom connecting members 36, 52, and the second end portions of the first wrist spin freedom connecting members 35, 56 are connected to the first end portion of the sixth wrist spin freedom connecting member 75. The first end portions of the second wrist spin freedom connecting members 36, 52 are provided on the third wrist spin freedom connecting members 72, 55, and the second end portions of the second wrist spin freedom connecting members 72, 55 are connected to the first end portion of the fifth wrist spin freedom connecting member 74.

[0074] The first end portion of the fourth wrist spin freedom connecting member 73 is provided on the third wrist spin freedom connecting member 72, and the first end portion of the fourth wrist spin freedom connecting member 73 is provided on the fifth wrist spin freedom connecting member 74; the second end portion of the fifth wrist spin freedom connecting member 74 is connected to the second end portion of the sixth wrist spin freedom connecting member 75.

[0075] The wrist spin drive mechanism 71 is connected to the second end portions of the fifth wrist spin freedom connecting member 74 and the sixth wrist spin freedom connecting member 75, and can drive the fifth wrist spin freedom connecting member 74 and the sixth wrist spin freedom connecting member 75 to rotate. The fifth wrist spin freedom connecting member 74 and the sixth wrist spin freedom connecting member 75 cause the wrist joint body to form a spin movement after being stressed.

[0076] In one embodiment, the second wrist spin freedom connecting member 36 includes a first straight rod and a first curved rod. The second end of the first straight rod is connected to the first end of the first curved rod, and the connection position is used as the first connection point; the first end portion of the first wrist spin freedom connecting member 35 is connected to the first connection point through a first rotating shaft and can rotate relative to the first connection point.

[0077] The third wrist spin freedom connecting member 72 is a connecting plate, and the connecting plate is connected to a wrist radial-ulnar deviation drive mechanism 51; the first end of the first straight rod is rotatably provided on the connecting plate.

[0078] The fourth wrist spin degree-of-freedom connecting member 73 is L-shaped; the first end of the fourth wrist spin degree-of-freedom connecting member 73 is rotatably arranged on the connecting plate, the second end of the fourth wrist spin degree-of-freedom connecting member 73 is connected to the second end of the first curved rod and the first end of the fifth wrist spin degree-of-freedom connecting member 74, and the connection position is used as the second connection point. A second rotating shaft is provided at the second connection point, and the fourth wrist spin degree-of-freedom connecting member 73, the first curved rod and the fifth wrist spin degree-of-freedom connecting member 74 can rotate relative to each other through the second rotating shaft.

[0079] The wrist radial-ulnar deviation transmission mechanism includes first wrist radial-ulnar deviation degree-of-freedom rotary members 38, 54, second wrist radial-ulnar deviation degree-of-freedom rotary members 40, 49, and third wrist radial-ulnar deviation degree-of-freedom rotary member 45.

[0080] The first wrist radial-ulnar deviation degree-of-freedom rotary members 38, 54, the second wrist radial-ulnar deviation degree-of-freedom rotary members 40, 49, and the third wrist radial-ulnar deviation degree-of-freedom rotary member 45 are connected in sequence. The wrist radial-ulnar deviation degree-of-freedom driving mechanism 37 is connected to the first wrist radial-ulnar deviation degree-of-freedom rotary members 38, 54, so as to adjust the radial-ulnar deviation degree-of-freedom of the wrist joint body. The wrist radial-ulnar deviation degree-of-freedom driving mechanisms 37, 51 can be arranged in a wrist radial-ulnar deviation degree-of-freedom housing 50.

[0081] The two-arm exoskeleton robot further includes handles 39, 46. The handles 39, 46 are arranged at the ends of the wrist joint structure, and the patient can hold the handles 39, 46 with hands; the handles 39, 46 can be arranged above a handle connecting member 47, and the handle connecting member 47 is used to connect the wrist joint structure.

[0082] As Figure 1 、 Figure 3 shown, the two-arm exoskeleton robot further includes a gravity balance mechanism. The gravity balance mechanism includes a pneumatic spring support member 76. The first end of the pneumatic spring support member 76 is arranged on a set support mechanism 77 through a first universal connection mechanism, and the second end of the pneumatic spring support member 76 is connected to a scapula shoulder joint connecting member 63 through a second universal connection mechanism, and can support the scapula shoulder joint connecting member 63.

[0083] The pneumatic spring support member 76 (pneumatic spring) realizes the up-and-down movement of the scapula structure by changing its own length and cooperating with the scapula adjusting mechanism for the up-and-down adjustment of the scapula structure, and supports the scapula shoulder joint connecting member, so as to support the entire arm structure.

[0084] An air spring is used to support the scapula shoulder joint connector, and then support the weight of the entire arm. Universal connectors are used at both ends of the air spring, enabling it to adjust the front-back position of the entire arm relative to the back to a certain extent; by changing its own length, the air spring cooperates with the up-down adjustment mechanism of the scapula to achieve the up-down movement of the scapula, solving the problem of excessive gravity caused by multiple degrees of freedom.

[0085] Please refer to Figure 1 , in an embodiment of the present utility model, the double-arm exoskeleton robot further includes a main body support mechanism 17, a back adjustment mechanism, upper arm adjustment mechanisms 28, 60, and forearm adjustment mechanisms 57, 68.

[0086] The back adjustment mechanism includes an up-down lifting platform 3 and a left-right adjustment mechanism. The scapula structure is arranged based on the main body support mechanism 17; the main body support mechanism 17 is arranged above the left-right adjustment mechanism, and the left-right adjustment mechanism is arranged above the up-down lifting platform 3; the up-down lifting platform 3 includes an up-down drive motor, which can cooperate with a lead screw to drive the up-down movement of the up-down lifting platform; and has a self-locking function.

[0087] The left-right adjustment mechanism includes a left-right adjustment platform slider 5, a left-right adjustment platform base 6, a left-right adjustment platform handwheel 7, and a lead screw. The left-right adjustment platform handwheel 7 is connected to the lead screw, and the lead screw passes through the left-right adjustment platform slider 5. The lead screw can cooperate with the left-right adjustment platform slider 5 to work; the left-right adjustment platform slider 5 is arranged on the left-right adjustment platform base 6 and can slide within the set area formed by the left-right adjustment platform base 6. The left-right position of the up-down lifting platform 3 can be manually adjusted through the left-right adjustment platform handwheel 7.

[0088] The upper arm adjustment mechanisms 28, 60 include an upper arm adjustment handwheel 33 and a first ball screw. The upper arm adjustment handwheel 33 is connected to the first ball screw, and the first ball screw is connected to the upper arm structure, enabling the upper arm structure to be adjusted through the upper arm adjustment handwheel.

[0089] The forearm adjustment mechanisms 57, 68 include a forearm adjustment handwheel and a second ball screw. The forearm adjustment handwheel is connected to the second ball screw, and the second ball screw is connected to the forearm structure, enabling the forearm structure to be adjusted through the forearm adjustment handwheel. The upper arm and forearm adjustment parts are adjusted through the handwheel and the ball screw, and have a self-locking characteristic. The forearm structure includes a forearm housing 34.

[0090] In a usage scenario of the present utility model, the upper arm and forearm adjustment parts are realized by a manual adjustment screw slide table, which has the advantages of self-locking and a compact structure. The elbow joint part and the wrist joint part adopt a common series form to ensure reliability. The structure of the forearm pronation and supination movement part is realized by a double parallelogram mechanism, such as Figure 7As shown in the figure. The compound motion of the forearm's revolution and rotation is achieved through a double parallelogram mechanism. Revolution represents the exoskeleton's movement around the forearm's rotation axis, and rotation represents the ability of the exoskeleton's forearm connection part - the wrist joint part to rotate around the forearm's rotation axis part, thereby realizing the pronation and supination movements of the forearm, avoiding the use of a fully enclosed structure, and improving the overall wearing reliability and comfort.

[0091] In addition, the double-arm exoskeleton robot can also be provided with a base 2 and base pulleys 1; the base pulleys 1 are arranged below the base 2 and are slidable. A vertical lifting platform 3 can be arranged above the base 2; a connecting member 4 can also be arranged above the vertical lifting platform 3, and a left-right adjustment table base 6 is arranged above the connecting member 4.

[0092] In an embodiment of the present invention, the left arm and the right arm are symmetrically arranged, and in cooperation with the base pulleys 1, the base 2, the vertical lifting platform 3, the connecting member 4, the left-right adjustment table sliders 5, the left-right adjustment table base 6, and the left-right adjustment table handwheels 7, the up-and-down and left-and-right adjustments of the double arms are realized.

[0093] In summary, the double-arm exoskeleton robot proposed by the present invention solves the problem of the lack of multi-degree-of-freedom double-arm coordinated rehabilitation in the prior art, can realize double-arm coordinated rehabilitation training, and improve the recovery effect.

[0094] In a usage scenario of the present invention, according to the biomechanical characteristics of the scapula, shoulder, elbow, and wrist parts, the present invention designs a suitable degree-of-freedom distribution of the upper arm. According to the requirements of wearing convenience and reliability, the problem of the spin configuration of the upper arm and forearm is solved, and the problems of wearing and safety hazards brought by the full-ring structure are avoided, so that the wearing safety of the upper arm and forearm parts is improved, and the overall aesthetics and industrial design product power are improved.

[0095] The scapula part also participates in upper limb movement. Solving the problem of the configuration of the full-degree-of-freedom double-arm exoskeleton system for the movement of the scapula part enables the movement of the scapula part to also receive good rehabilitation training, and improves the integrity and comfort of the upper arm during rehabilitation training.

[0096] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered to be within the scope described in this specification.

[0097] The description and application of the present utility model are illustrative, and it is not intended to limit the scope of the present utility model to the above embodiments. The effects or advantages involved in the embodiments may not be reflected in the embodiments due to various factors, and the description of the effects or advantages is not used to limit the embodiments. Modifications and changes to the disclosed embodiments are possible, and various components of substitution and equivalence of the embodiments are known to those of ordinary skill in the art. Those skilled in the art should be clear that the present utility model can be implemented in other forms, structures, arrangements, proportions, and with other components, materials, and parts without departing from the spirit or essential characteristics of the present utility model. Other modifications and changes can be made to the disclosed embodiments without departing from the scope and spirit of the present utility model.

Claims

1. A dual-arm exoskeleton robot, characterized in that: The dual-arm exoskeleton robot comprises: a main support member, a first arm body and a second arm body; The first arm body and the second arm body each include a shoulder blade structure, a shoulder joint structure, an upper arm structure, an elbow joint structure, a forearm structure and a wrist joint structure; The scapula structure, shoulder joint structure, upper arm structure, elbow joint structure, forearm structure and wrist joint structure are connected in sequence; The scapula structure, shoulder joint structure, upper arm structure, elbow joint structure, forearm structure and wrist joint structure are respectively provided with driving mechanisms, which can drive the corresponding joints to move.

2. The dual-arm exoskeleton robot according to claim 1, characterized in that: The shoulder joint structure includes a shoulder joint body, a shoulder joint abduction and adduction driving mechanism, a shoulder joint rotation driving mechanism and a shoulder joint flexion and extension driving mechanism; the shoulder joint abduction and adduction driving mechanism is connected to the shoulder joint body to drive the shoulder joint body to abduct and adduct; the shoulder joint rotation driving mechanism is connected to the shoulder joint body to drive the shoulder joint body to rotate; the shoulder joint flexion and extension driving mechanism is connected to the shoulder joint body to drive the shoulder joint body to flex and extend.

3. The dual-arm exoskeleton robot according to claim 2, characterized in that: The shoulder joint body includes a shoulder joint abduction and adduction connector, a shoulder joint rotation connector, and a shoulder joint flexion and extension connector; The shoulder joint abduction and adduction driving mechanism is connected to the shoulder joint abduction and adduction connecting piece, and can adjust the abduction and adduction of the shoulder joint body by driving the shoulder joint abduction and adduction connecting piece to move; The shoulder joint self-spinning driving mechanism is arranged on the shoulder joint abduction and adduction connecting piece; the shoulder joint self-spinning driving mechanism is connected to the shoulder joint self-spinning connecting piece, and can realize the self-spinning of the shoulder joint body by driving the shoulder joint self-spinning connecting piece to rotate; The shoulder joint flexion and extension driving mechanism is arranged on the shoulder joint rotation connecting piece; the shoulder joint flexion and extension driving mechanism is connected to the shoulder joint flexion and extension connecting piece, and can realize the flexion and extension of the shoulder joint body by driving the shoulder joint flexion and extension connecting piece to flex and extend.

4. The dual-arm exoskeleton robot according to claim 1, characterized in that: The elbow joint structure includes an elbow joint driving mechanism, an elbow joint rotating mechanism and an elbow joint flexion and extension freedom limiting mechanism; the elbow joint rotating mechanism is arranged at one end of the upper arm structure, and the elbow joint rotating mechanism forms an area for the forearm structure to rotate; One end of the forearm structure is arranged on the elbow joint rotation mechanism; the elbow joint driving mechanism is arranged on the upper arm structure, and the output shaft of the elbow joint driving mechanism is connected to the forearm structure, and can drive the forearm structure to rotate, so as to adjust the angle formed between the upper arm structure and the forearm structure; The elbow joint flexion and extension freedom limiting mechanism is arranged at a set position of the elbow joint rotation mechanism, and can limit the forearm structure to move within a set range of movement.

5. The dual-arm exoskeleton robot according to claim 1, characterized in that: The wrist joint structure includes a wrist flexion and extension driving mechanism and a wrist flexion and extension transmission mechanism; The wrist flexion and extension transmission mechanism includes a wrist flexion and extension freedom connection piece; the wrist flexion and extension driving mechanism is connected to the wrist flexion and extension freedom connection piece and can drive the wrist flexion and extension freedom connection piece to flex and extend.

6. The dual-arm exoskeleton robot according to claim 1, characterized in that: The wrist joint structure includes a wrist spin drive mechanism and a wrist spin transmission mechanism; The wrist spin transmission mechanism includes a first wrist spin freedom degree connection member, a second wrist spin freedom degree connection member, a third wrist spin freedom degree connection member, a fourth wrist spin freedom degree connection member, a fifth wrist spin freedom degree connection member, and a sixth wrist spin freedom degree connection member; The first end of the first wrist spin freedom connection member is connected to a set position of the second wrist spin freedom connection member, and the second end of the first wrist spin freedom connection member is connected to the first end of the sixth wrist spin freedom connection member; The first end of the second wrist spin freedom connection member is disposed on the third wrist spin freedom connection member, and the second end of the second wrist spin freedom connection member is connected to the first end of the fifth wrist spin freedom connection member; The first end of the fourth wrist spin freedom connection member is arranged on the third wrist spin freedom connection member, and the first end of the fourth wrist spin freedom connection member is arranged on the fifth wrist spin freedom connection member; the second end of the fifth wrist spin freedom connection member is connected to the second end of the sixth wrist spin freedom connection member; The wrist spin drive mechanism is connected to the second end of the fifth wrist spin freedom connector and the second end of the sixth wrist spin freedom connector, and can drive the fifth wrist spin freedom connector and the sixth wrist spin freedom connector to rotate. After being subjected to force, the fifth wrist spin freedom connector and the sixth wrist spin freedom connector drive the wrist joint structure to form a spinning motion.

7. The dual-arm exoskeleton robot according to claim 6, characterized in that: The second wrist spin freedom connection member includes a first straight rod and a first curved rod, the second end of the first straight rod is connected to the first end of the first curved rod, and the connection position is used as a first connection point; the first end of the first wrist spin freedom connection member is connected to the first connection point through a first rotation axis and can rotate relative to the first connection point; The third wrist spin freedom connection member is a connection plate, and the connection plate is connected to a wrist radial deviation ulnar deviation freedom driving mechanism; the first end of the first straight rod is rotatably arranged on the connection plate; The fourth wrist spin freedom connector is L-shaped; the first end of the fourth wrist spin freedom connector is rotatably disposed on the connecting plate, the second end of the fourth wrist spin freedom connector is connected to the second end of the first curved rod and the first end of the fifth wrist spin freedom connector, and the connection position serves as a second connection point, and the second connection point is provided with a second rotation axis, and the fourth wrist spin freedom connector, the first curved rod and the fifth wrist spin freedom connector can rotate relative to each other through the second rotation axis.

8. The dual-arm exoskeleton robot according to claim 1, characterized in that: The wrist joint structure includes a wrist radial deviation and ulnar deviation degree of freedom driving mechanism and a wrist radial deviation and ulnar deviation transmission mechanism; the wrist radial deviation and ulnar deviation transmission mechanism includes a wrist radial deviation and ulnar deviation degree of freedom rotating member; The wrist radial deviation and ulnar deviation freedom driving mechanism is connected to the wrist radial deviation and ulnar deviation freedom rotating member, so as to adjust the radial deviation and ulnar deviation freedom of the wrist joint structure.

9. The dual-arm exoskeleton robot according to claim 1, characterized in that: The first arm body and the second arm body are arranged on the main body support member in an axisymmetric manner.

10. The dual-arm exoskeleton robot according to claim 1, characterized in that: The dual-arm exoskeleton robot further includes a handle, which is arranged at the end of the wrist joint structure.

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