Exoskeleton robot

Abstract

The utility model discloses an exoskeleton robot. The exoskeleton robot 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 connected in sequence; the shoulder blade structure comprises a driving joint and a distance adjusting mechanism, and the distance adjusting mechanism comprises a shoulder blade driving mechanism and a polygonal transmission mechanism; the shoulder blade driving mechanism is connected with the polygonal transmission mechanism, and the shape of the polygonal transmission mechanism can be adjusted, so that the up-down or / and front-back position of the shoulder blade structure is adjusted. According to the exoskeleton robot provided by the utility model, the shoulder blade part also participates in upper limb movement, and the problem of full-degree-of-freedom double-arm exoskeleton system configuration of the movement of the shoulder blade part is solved, so that the movement of the shoulder blade part can be subjected to good rehabilitation training, and the completeness and comfort of the upper arm in the rehabilitation training are 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 an exoskeleton robot. Background Art

[0002] Stroke is currently the second leading cause of death and the leading cause of disability worldwide, and the incidence of stroke in China ranks first in the world. Data from the "Report on the Prevention and Treatment of Stroke in China" shows that there are approximately 2 million new stroke cases each year. Stroke is characterized by high incidence, mortality, disability rate, and recurrence rate. According to statistics from the World Health Organization (WHO), approximately 6.2 million people die from stroke each 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 which upper limb dysfunction seriously affects the patient's ability to perform daily activities, and is the focus and difficulty of rehabilitation, and 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 approximately 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 the full 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) The rehabilitation theory has confirmed that bilateral arm coordination rehabilitation is more conducive to improving the rehabilitation effect. Most of the existing upper limb bilateral arms are single arms, lacking multi-degree-of-freedom bilateral arm coordination 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 not convenient to wear and has certain safety hazards, which in turn affects the human-machine interaction effect.

[0008] (4) Most of the 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. Utility Model Content

[0011] The present utility model provides an exoskeleton robot. The scapula part also participates in the upper limb movement. The patent solves the problem of the configuration of a full-degree-of-freedom bilateral arm exoskeleton system for the movement of the scapula part, so that the movement of the scapula part can also be well rehabilitated, improving the integrity and comfort of the upper arm during rehabilitation training.

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

[0013] An exoskeleton robot, the exoskeleton robot includes: a scapula structure, a shoulder joint structure, an upper arm structure, an elbow joint structure, a forearm structure, and a wrist joint structure;

[0014] 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;

[0015] The exoskeleton robot is provided with at least one connecting component, and through the connecting component, a set part of the exoskeleton robot can be fixed to a set part of the human body;

[0016] 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, the elbow joint structure, the forearm structure, and the wrist joint structure can drive its corresponding part of the human body to move through its driving mechanism;

[0017] The scapula structure includes a scapula body, and the scapula body includes a first polygonal transmission mechanism; the first polygonal transmission mechanism can adjust its own shape under the action of a set force, so as to adjust the position of the scapula structure.

[0018] As an implementation manner of the present utility model, the first polygonal transmission mechanism includes a first connecting member, a second connecting member, a third connecting member, and a fourth connecting member, and the first connecting member, the second connecting member, the third connecting member, and the fourth connecting member form a quadrilateral;

[0019] The first connecting member is connected to the second connecting member through a first rotating shaft, the second connecting member is connected to the third connecting member through a second rotating shaft, the third connecting member is connected to the fourth connecting member through a third rotating shaft, and the fourth connecting member is connected to the first connecting member through a fourth rotating shaft;

[0020] The first polygonal transmission mechanism forms a parallelogram, and the parallelogram can adjust its own shape under the action of a set force, so as to adjust the front and rear positions of the scapula structure.

[0021] As an implementation manner of the present invention, the first rotating shaft and the fourth rotating shaft are arranged above the first connecting member, and end covers are 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 and the second connecting member changes; the fourth rotating shaft can rotate along a set rotating shaft, so that the angle formed between the first connecting member and the fourth connecting member changes;

[0022] The second rotating shaft and the third rotating shaft are arranged above the third connecting member, and end covers are 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 and the third connecting member changes; the third rotating shaft can rotate along a set rotating shaft, so that the angle formed between the third connecting member and the fourth connecting member changes.

[0023] As an implementation manner of the present utility model, the scapula structure includes a scapula up-and-down driving unit, and the scapula up-and-down driving unit is connected to the scapula body and can drive the up-and-down position of the scapula body.

[0024] As an implementation manner of the present utility model, the exoskeleton robot further includes a gravity balance mechanism, and the gravity balance mechanism includes a pneumatic spring support component. The first end of the pneumatic spring support component is arranged on a set support mechanism through a first universal connection mechanism, and the second end of the pneumatic spring support component is connected to a scapula shoulder joint connecting piece through a second universal connection mechanism and can support the scapula shoulder joint connecting piece;

[0025] The pneumatic spring support component realizes the up-and-down movement of the scapula structure by changing its own length and cooperating with the scapula adjustment mechanism to adjust the scapula structure up and down, and supports the scapula shoulder joint connecting member, thereby supporting the entire arm structure.

[0026] As an implementation manner of the present utility model, the exoskeleton robot further includes a main body support mechanism and a back adjustment mechanism; the back adjustment mechanism includes an up-and-down lifting platform and a left-and-right adjustment mechanism, and the scapula structure is arranged based on the main body support mechanism;

[0027] The main body support mechanism is arranged above the left-and-right adjustment mechanism, and the left-and-right adjustment mechanism is arranged above the up-and-down lifting platform; the up-and-down lifting platform includes an up-and-down driving motor capable of driving the up-and-down lifting of the up-and-down lifting platform.

[0028] As an implementation manner of the present utility model, the left-and-right adjustment mechanism includes a left-and-right adjustment table slider, a left-and-right adjustment table base, a left-and-right adjustment table handwheel and a lead screw. The left-and-right adjustment table handwheel is connected to the lead screw, and the lead screw passes through the left-and-right adjustment table slider, and the lead screw can cooperate with the left-and-right adjustment table slider to work; the left-and-right adjustment table slider is arranged on the left-and-right adjustment table base and can slide within a set area formed by the left-and-right adjustment table base.

[0029] As an implementation manner of the present utility model, the exoskeleton robot further includes an upper arm adjustment mechanism; the upper arm adjustment mechanism includes an upper arm adjustment handwheel and a first ball screw. The upper arm adjustment handwheel is connected to the first ball screw, and the first ball screw is connected to the upper arm structure, and the upper arm structure can be adjusted by the upper arm adjustment handwheel.

[0030] As an implementation manner of the present utility model, the exoskeleton robot further includes a forearm adjustment mechanism; the forearm adjustment mechanism includes 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, and the forearm structure can be adjusted by the forearm adjustment handwheel.

[0031] As an implementation manner of the present invention, the exoskeleton robot further includes a scapula and shoulder joint connecting member, and the scapula and shoulder joint connecting member connects the scapula structure and the shoulder joint mechanism.

[0032] The beneficial effects of the present utility model are as follows: for the exoskeleton robot proposed by the present utility model, the scapula part also participates in the upper limb movement. The patent solves the problem of the configuration of the full-degree-of-freedom double-arm exoskeleton system for the movement of the scapula part, so that the movement of the scapula part can also be well rehabilitated, and the integrity and comfort of the upper arm during rehabilitation training are improved.

[0033] The present utility model designs a gravity balance mechanism for the scapula and shoulder part, solves the problem of excessive gravity caused by multiple degrees of freedom, enables the first-degree-of-freedom motor to achieve the same control effect with less force, and improves the motor life and the safety in the overall power-off situation.

[0034] According to factors such as different limb lengths and heights of different patients, the present utility model designs an adjustable self-locking mechanism for the upper arm, forearm, and back, which can adapt to different patients. When different patients use it, they can conveniently adjust the arm length and the back, and quickly adapt to the physical characteristics of different patients. Description of the Drawings

[0035] Figure 1 It is a schematic structural diagram of an exoskeleton robot in an embodiment of the present utility model.

[0036] Figure 2 It is a schematic structural diagram of the scapula structure of an exoskeleton robot in an embodiment of the present utility model.

[0037] Figure 3 It is a schematic diagram of the principle of adjustment of the scapula structure of an exoskeleton robot in an embodiment of the present utility model.

[0038] Figure 4 It is a schematic structural diagram of the shoulder joint structure of an exoskeleton robot in an embodiment of the present utility model.

[0039] Figure 5 It is a schematic diagram of the principle of adjustment of the shoulder joint structure of an exoskeleton robot in an embodiment of the present utility model.

[0040] Figure 6 It is a schematic structural diagram of the wrist joint structure of an exoskeleton robot in an embodiment of the present utility model.

[0041] Figure 7 It is a schematic diagram of the adjustment principle of the wrist joint structure of an exoskeleton robot in an embodiment of the present utility model. Detailed Description of the Embodiment

[0042] The preferred embodiments of the present utility model will be described in detail below with reference to the drawings.

[0043] In order to further understand the present utility model, the preferred implementation solutions 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.

[0044] 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 in the prior art means similar or identical to those in the embodiments is also within the scope of the description and protection of the present utility model.

[0045] The expressions of the steps in each embodiment in the description are only for convenience of description, and the implementation manner of the present application is not limited by the order of step implementation.

[0046] "Connection" in the description includes both direct connection and indirect connection.

[0047] The present utility model discloses an exoskeleton robot. Figure 1 It is a schematic structural diagram of the exoskeleton robot in an embodiment of the present utility model; please refer to Figure 1 , the exoskeleton robot includes: a scapula structure, a shoulder joint structure, an upper arm structure 31, 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.

[0048] The exoskeleton robot is provided with at least one connecting member 66, 69, 70, and through the connecting members 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 member 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 moves through its driving mechanism, and can drive the corresponding part of the human body to move.

[0049] Please continue to refer to Figure 1 , the scapula structure includes a scapula adjusting mechanism and a scapula body, and the scapula body is realized through a first polygonal transmission mechanism; the scapula adjusting 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 back and forth.

[0050] Figure 2 It is a schematic structural diagram of the scapula structure of the exoskeleton robot in an embodiment of the present utility model. Figure 3 It is a schematic diagram of the principle of adjusting the scapula structure of the exoskeleton robot in an embodiment of the present utility model; please refer to Figures 1 to 3, in an embodiment of the present utility model, 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. 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 rear positions of the scapula structure.

[0051] In an embodiment, the first rotating shaft and the fourth rotating shaft can be arranged above the first connecting member 12 (in the left structure, the first rotating shaft is correspondingly marked 20, and the fourth rotating shaft is correspondingly marked 19). End covers can be respectively arranged outside the first rotating shaft and the fourth rotating shaft; the first rotating shaft can rotate along the 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 the 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 covers can be respectively arranged outside the second rotating shaft and the third rotating shaft; the second rotating shaft can rotate along the 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 the set rotating shaft, so that the angle formed between the third connecting member 14 and the fourth connecting member 15 changes.

[0052] The first polygonal transmission mechanism can be used as a passive transmission component. When the patient's scapula moves back and forth, it can follow the patient's movement and deform.

[0053] 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 an 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.

[0054] The scapula structure adopts an active joint and a passive parallelogram structure to respectively realize the movement of the scapula in the up-and-down and front-and-back directions. The parallelogram mechanism can be used to adjust the interaction distance between the exoskeleton and the patient, and achieve a reliable and comfortable interaction experience, as Figure 3 shown. The components corresponding to the parallelogram mechanism include Figure 3The four components 12, 13, 14, and 15 shown form a parallelogram.

[0055] Figure 4 FIG. is a schematic structural diagram of the shoulder joint structure of an exoskeleton robot according to an embodiment of the present invention. Figure 5 FIG. is a schematic diagram of the adjustment principle of the shoulder joint structure of an exoskeleton robot according to 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 drive mechanism 81, a shoulder joint spin drive mechanism 11, and a shoulder joint flexion / extension drive mechanism 8; the shoulder joint spin drive mechanism 11 is connected to the shoulder joint body and drives the shoulder joint body to spin; the shoulder joint flexion / extension drive mechanism 8 is connected to the shoulder joint body and drives the shoulder joint body to flex and extend. The exoskeleton robot further includes a scapula and shoulder joint connector 21, and the scapula and shoulder joint connector 21 connects the scapula structure and the shoulder joint mechanism.

[0056] The shoulder joint body may include a shoulder joint abduction / adduction connector, a shoulder joint spin connector, and a shoulder joint flexion / extension connector. In an embodiment of the present invention, the shoulder joint abduction / adduction connector may include a first shoulder joint abduction / adduction connector 23 and a second shoulder joint abduction / adduction connector 65 (the first shoulder joint abduction / adduction connector 23 and the second shoulder joint abduction / adduction connector 65 may be an integrated structure or may be combined and fixed by a fixing mechanism such as a screw); the shoulder joint spin connector includes a shoulder joint spin connector housing 22, a first shoulder joint spin connector 9, 24, and a second shoulder joint spin connector 10, 25 (the shoulder joint spin connector housing 22, the first shoulder joint spin connector 9, 24, and the second shoulder joint spin connector 10, 25 may be an integrated structure or may be combined and fixed by screws); the shoulder joint flexion / extension connector includes a shoulder joint flexion / extension connector 26, 61, and a shoulder joint flexion / extension housing 27 (the shoulder joint flexion / extension connector 26, 61, and the shoulder joint flexion / extension housing 27 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.

[0057] The shoulder joint abduction / adduction drive mechanism 81 is connected to the shoulder joint abduction / adduction connector and can adjust the abduction and adduction of the shoulder joint body by driving the shoulder joint abduction / adduction connector to act.

[0058] The shoulder joint spin drive mechanism 81 is arranged on the shoulder joint abduction / adduction connecting piece; the shoulder joint spin drive mechanism is connected to the shoulder joint spin connecting piece and can realize the spin of the shoulder joint body by driving the rotation of the shoulder joint spin connecting piece. The shoulder joint flexion / extension drive mechanism is arranged on the shoulder joint spin connecting piece; the shoulder joint flexion / extension drive mechanism is connected to the shoulder joint flexion / extension connecting piece and can realize the flexion / extension of the shoulder joint body by driving the flexion / extension of the shoulder joint flexion / extension connecting piece.

[0059] The first shoulder joint spin connecting piece 24 is connected to the second shoulder joint spin connecting piece 25; the shoulder joint spin drive mechanism 11 is arranged at the first end of the shoulder structure, and the shoulder joint spin drive mechanism 11 is respectively connected to the first shoulder joint spin connecting piece 24 and the second shoulder joint spin connecting piece 25, and can adjust the actions of the first shoulder joint spin connecting piece 24 and the second shoulder joint spin connecting piece 25 to realize the adjustment of the shoulder joint posture. In addition, the shoulder joint structure is provided with a shoulder spin limiter 64 to limit the spin of the shoulder joint within a set range.

[0060] The shoulder joint flexion / extension drive mechanism 8 is arranged at the second end of the shoulder joint body, and the shoulder joint flexion / extension drive mechanism 8 is connected to the shoulder joint flexion / extension connecting piece and can drive the flexion / extension of the shoulder joint flexion / extension connecting piece.

[0061] The shoulder joint structure can adopt a non-vertical three-axis distribution to realize three active degrees of freedom of movement of the shoulder joint flexion / extension, shoulder joint abduction / 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 in the movement of the second connecting piece of the shoulder joint, as Figure 5 shown.

[0062] The elbow joint structure includes an elbow joint drive mechanism 58, an elbow joint slewing mechanism 32, and an elbow joint flexion / 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.

[0063] 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, thereby adjusting the angle formed between the upper arm structure and the forearm structure 53. The elbow joint flexion / 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 within a set activity range.

[0064] Figure 6 It is a schematic structural diagram of the wrist joint structure of the exoskeleton robot in an embodiment of the present invention. Figure 7The adjustment principle diagram of the wrist joint structure of the exoskeleton robot in an embodiment of the present utility model; please refer to Figure 1 , Figure 6 and Figure 7 , in an embodiment of the present utility model, the wrist joint structure includes a wrist joint body, a wrist spin drive mechanism 71, a wrist radial-ulnar deviation degree-of-freedom drive mechanism 37, 51, and a wrist flexion-extension drive mechanism 41; the wrist joint body includes a wrist spin transmission mechanism, a wrist radial-ulnar deviation transmission mechanism, and a wrist flexion-extension transmission mechanism.

[0065] The wrist flexion-extension transmission mechanism includes a wrist flexion-extension degree-of-freedom connecting member 42; the wrist flexion-extension drive mechanism 41 is connected to the wrist flexion-extension degree-of-freedom connecting member 42 and can drive the wrist flexion-extension degree-of-freedom connecting member 42 to flex and extend. The wrist flexion-extension degree-of-freedom connecting member 42 is disposed in the first wrist flexion-extension outer casings 43, 48, and a second wrist flexion-extension outer casing 44 is disposed below the first wrist flexion-extension outer casings 43, 48.

[0066] The wrist spin transmission mechanism includes a first wrist spin degree-of-freedom connecting member 35, 56, a second wrist spin degree-of-freedom connecting member 36, 52, a third wrist spin degree-of-freedom connecting member 72, 55, a fourth wrist flexion-extension degree-of-freedom connecting member 73, a fifth wrist spin degree-of-freedom connecting member 74, and a sixth wrist spin degree-of-freedom connecting member 75.

[0067] The first end portions of the first wrist spin degree-of-freedom connecting members 35, 56 are connected to the set portions of the second wrist spin degree-of-freedom connecting members 36, 52, and the second end portions of the first wrist spin degree-of-freedom connecting members 35, 56 are connected to the first end portions of the sixth wrist spin degree-of-freedom connecting member 75. The first end portions of the second wrist spin degree-of-freedom connecting members 36, 52 are disposed on the third wrist spin degree-of-freedom connecting members 72, 55, and the second end portions of the second wrist spin degree-of-freedom connecting members 72, 55 are connected to the first end portions of the fifth wrist spin degree-of-freedom connecting member 74.

[0068] The first end portion of the fourth wrist spin degree-of-freedom connecting member 73 is disposed on the third wrist spin degree-of-freedom connecting member 72, and the first end portion of the fourth wrist spin degree-of-freedom connecting member 73 is disposed on the fifth wrist spin degree-of-freedom connecting member 74; the second end portion of the fifth wrist spin degree-of-freedom connecting member 74 is connected to the second end portion of the sixth wrist spin degree-of-freedom connecting member 75.

[0069] The wrist spin drive mechanism 71 is connected to the second ends of the fifth wrist spin degree-of-freedom connecting member 74 and the sixth wrist spin degree-of-freedom connecting member 75, and can drive the fifth wrist spin degree-of-freedom connecting member 74 and the sixth wrist spin degree-of-freedom connecting member 75 to rotate. After being stressed, the fifth wrist spin degree-of-freedom connecting member 74 and the sixth wrist spin degree-of-freedom connecting member 75 cause the wrist joint body to form a spin motion.

[0070] In one embodiment, the second wrist spin degree-of-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 of the first wrist spin degree-of-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.

[0071] The third wrist spin degree-of-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 arranged on the connecting plate.

[0072] The fourth wrist spin degree-of-freedom connecting member 73 is in an L shape. 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.

[0073] The wrist radial-ulnar deviation transmission mechanism includes first wrist radial-ulnar deviation degree-of-freedom rotating members 38, 54, second wrist radial-ulnar deviation degree-of-freedom rotating members 40, 49, and third wrist radial-ulnar deviation degree-of-freedom rotating member 45.

[0074] The first wrist radial-ulnar deviation degree-of-freedom rotating members 38, 54, the second wrist radial-ulnar deviation degree-of-freedom rotating members 40, 49, and the third wrist radial-ulnar deviation degree-of-freedom rotating member 45 are connected in sequence. The wrist radial-ulnar deviation drive mechanism 37 is connected to the first wrist radial-ulnar deviation degree-of-freedom rotating members 38, 54, so as to adjust the radial-ulnar deviation degree of freedom of the wrist joint body. The wrist radial-ulnar deviation drive mechanisms 37, 51 can be arranged in a wrist radial-ulnar deviation degree-of-freedom housing 50.

[0075] The exoskeleton robot further includes handles 39 and 46 which are arranged at the ends of the wrist joint structure and can be held by the patient; the handles 39 and 46 can be arranged above the handle connecting member 47 which is used to connect the wrist joint structure.

[0076] As Figure 1 , Figure 3 shown, the exoskeleton robot further includes a gravity balance mechanism which 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 the scapula shoulder joint connecting member 63 through a second universal connection mechanism and can support the scapula shoulder joint connecting member 63.

[0077] 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 adjustment mechanism, and supports the scapula shoulder joint connecting member, thereby supporting the entire arm structure.

[0078] The pneumatic spring is used to support the scapula shoulder joint connecting member and further support the weight of the entire arm. Universal connectors are used at both ends of the pneumatic spring, enabling it to adjust the front and back position of the entire arm relative to the back to a certain extent; the pneumatic spring realizes the up and down movement of the scapula by changing its own length and cooperating with the scapula up and down adjustment mechanism, solving the problem of excessive gravity caused by multiple degrees of freedom.

[0079] Please refer to Figure 1 , in an embodiment of the present invention, the exoskeleton robot further includes a main body support mechanism 17, a back adjustment mechanism, upper arm adjustment mechanisms 28 and 60, and forearm adjustment mechanisms 57 and 68.

[0080] The back adjustment mechanism includes an up and down lifting platform 3 and a left and 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 and right adjustment mechanism, and the left and right adjustment mechanism is arranged above the up and down lifting platform 3; the up and down lifting platform 3 includes an up and down drive motor which can cooperate with a lead screw to drive the up and down movement of the up and down lifting platform; and it has a self-locking function.

[0081] The left - right adjustment mechanism includes a left - right adjustment table slider 5, a left - right adjustment table base 6, a left - right adjustment table handwheel 7 and a lead screw. The left - right adjustment table handwheel 7 is connected to the lead screw. The lead screw passes through the left - right adjustment table slider 5 and can cooperate with the left - right adjustment table slider 5 to work. The left - right adjustment table slider 5 is arranged on the left - right adjustment table base 6 and can slide within the set area formed by the left - right adjustment table base 6. The left - right position of the up - down lifting table 3 can be manually adjusted by the left - right adjustment table handwheel 7.

[0082] 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, and the upper - arm structure can be adjusted by the upper - arm adjustment handwheel.

[0083] 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, and the forearm structure can be adjusted by the forearm adjustment handwheel. The upper - arm and forearm adjustment parts are adjusted by the handwheel and the ball screw and have a self - locking characteristic. The forearm structure includes a forearm housing 34.

[0084] In addition, the 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 can slide. The up - down lifting table 3 can be arranged above the base 2. A connecting piece 4 can be arranged above the up - down lifting table 3, and a left - right adjustment table base 6 is arranged above the connecting piece 4.

[0085] In summary, for the exoskeleton robot proposed by the present utility model, the scapula part also participates in the upper - limb movement, solving the problem of the configuration of a full - degree - of - freedom double - arm exoskeleton system for the movement of the scapula part, so that the movement of the scapula part can also obtain good rehabilitation training, improving the integrity and comfort of the upper - arm during rehabilitation training.

[0086] The present utility model designs a gravity - balance mechanism for the scapula and shoulder parts, solving the problem of excessive gravity caused by multiple degrees of freedom, enabling the first - degree - of - freedom motor to achieve the same control effect with less force, and improving the motor life and the safety in the overall power - off situation.

[0087] In addition, according to factors such as different limb lengths and heights of different patients, the present utility model designs self - locking mechanisms for the upper - arm, forearm and back that can be adjusted, adapting to different patients, so that when different patients use it, they can conveniently adjust the arm length and the back, and quickly adapt to the physical characteristics of different patients.

[0088] 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 embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as falling within the scope described in this specification.

[0089] The description and application of the present utility model here are illustrative and are 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 interference by various factors, and the description of the effects or advantages is not used to limit the embodiments. Modifications and changes to the disclosed embodiments here are possible, and various substitutions and equivalent components of the embodiments are well known to those of ordinary skill in the art. Those skilled in the art should clearly understand 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 here without departing from the scope and spirit of the present utility model.

Claims

1. An exoskeleton robot, characterized in that: The exoskeleton robot comprises: 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 exoskeleton robot is provided with at least one connecting component, through which a set part of the exoskeleton robot can be fixed to a set part of the human body; After the exoskeleton robot is connected to a set part of the human body, at least one of the scapula structure, shoulder joint structure, upper arm structure, elbow joint structure, forearm structure and wrist joint structure can drive the corresponding part of the human body to move through the action of its driving mechanism; The scapula structure includes a scapula body, and the scapula body includes a first polygonal transmission mechanism; the first polygonal transmission mechanism can adjust its own shape under the action of a set force, thereby adjusting the position of the scapula structure.

2. The exoskeleton robot according to claim 1, characterized in that: The first polygonal transmission mechanism comprises a first connecting member, a second connecting member, a third connecting member, and a fourth connecting member, wherein the first connecting member, the second connecting member, the third connecting member, and the fourth connecting member form a quadrilateral; The first connecting member is connected to the second connecting member via a first rotating shaft, the second connecting member is connected to the third connecting member via a second rotating shaft, the third connecting member is connected to the fourth connecting member via a third rotating shaft, and the fourth connecting member is connected to the first connecting member via a fourth rotating shaft; The first polygonal transmission mechanism forms a parallelogram, and the parallelogram can adjust its own shape under the action of a set force, thereby adjusting the front-back position of the shoulder blade structure.

3. The exoskeleton robot according to claim 2, characterized in that: The first rotating shaft and the fourth rotating shaft are arranged above the first connecting member, and end covers are arranged outside the first rotating shaft and the fourth rotating shaft respectively; the first rotating shaft can rotate along the set rotating shaft, so that the angle formed between the first connecting member and the second connecting member changes; the fourth rotating shaft can rotate along the set rotating shaft, so that the angle formed between the first connecting member and the fourth connecting member changes; The second rotating shaft and the third rotating shaft are arranged above the third connecting member, and end covers are respectively arranged on the outside of the second rotating shaft and the third rotating shaft; the second rotating shaft can rotate along the set rotating shaft, so that the angle formed between the second connecting member and the third connecting member changes; the third rotating shaft can rotate along the set rotating shaft, so that the angle formed between the third connecting member and the fourth connecting member changes.

4. The exoskeleton robot according to claim 1, characterized in that: The scapula structure comprises a scapula up and down driving unit, and the scapula up and down driving unit is connected to the scapula body and can drive the up and down position of the scapula body.

5. The exoskeleton robot according to claim 1, characterized in that: The exoskeleton robot further includes a gravity balancing mechanism, which includes a pneumatic spring support component; a first end of the pneumatic spring support component is arranged on a setting support mechanism through a first universal connection mechanism, and a second end of the pneumatic spring support component is connected to a scapula shoulder joint connection piece through a second universal connection mechanism, so as to support the scapula shoulder joint connection piece; The pneumatic spring support component changes its own length to cooperate with the scapula adjustment mechanism to adjust the scapula structure up and down, thereby achieving the up and down movement of the scapula structure and supporting the scapula shoulder joint connection piece, thereby supporting the entire arm structure.

6. The exoskeleton robot according to claim 1, characterized in that: The exoskeleton robot further includes a main body support mechanism and a back adjustment mechanism; the back adjustment mechanism includes an up and down lifting platform and a left and right adjustment mechanism, and the shoulder blade structure is arranged based on the main body support mechanism; The main body support mechanism is arranged above the left-right adjustment mechanism, and the left-right adjustment mechanism is arranged above the up-and-down lifting platform; the up-and-down lifting platform includes an up-and-down driving motor, which can drive the up-and-down lifting platform to rise and fall.

7. The exoskeleton robot according to claim 6, characterized in that: The left-right adjustment mechanism includes a left-right adjustment platform slider, a left-right adjustment platform base, a left-right adjustment platform handwheel and a lead screw. The left-right adjustment platform handwheel is connected to the lead screw, which passes through the left-right adjustment platform slider and can work in cooperation with the left-right adjustment platform slider; the left-right adjustment platform slider is arranged on the left-right adjustment platform base and can slide in a set area formed by the left-right adjustment platform base.

8. The exoskeleton robot according to claim 1, characterized in that: The exoskeleton robot further includes an upper arm adjustment mechanism; the upper arm adjustment mechanism includes an upper arm adjustment handwheel and a first ball screw, the upper arm adjustment handwheel is connected to the first ball screw, the first ball screw is connected to the upper arm structure, and the upper arm structure can be adjusted by the upper arm adjustment handwheel.

9. The exoskeleton robot according to claim 1, characterized in that: The exoskeleton robot further includes a forearm adjustment mechanism; the forearm adjustment mechanism includes 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, and the forearm structure can be adjusted by the forearm adjustment handwheel.

10. The exoskeleton robot according to claim 1, characterized in that: The exoskeleton robot further includes a scapula and a shoulder joint connecting piece, which connects the scapula structure with the shoulder joint mechanism.

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