Upper and lower limb linkage exoskeleton rehabilitation training robot

Abstract

The utility model discloses an upper and lower limb linkage exoskeleton rehabilitation training robot which comprises a movable support module, an upper limb exoskeleton module and a lower limb exoskeleton module. The movable support module comprises a movable chassis assembly and a waist adjusting assembly, the waist adjusting assembly comprises a supporting plate and supporting cantilevers, the supporting plate is arranged on the movable chassis assembly in a liftable mode, and the two supporting cantilevers are symmetrically arranged on the supporting plate and can move in the direction close to or away from each other; the upper limb exoskeleton module comprises a back plate, a left arm exoskeleton and a right arm exoskeleton, the back plate is arranged on the supporting plate, the left arm exoskeleton is arranged on the back plate, and the right arm exoskeleton is arranged on the back plate; the lower limb exoskeleton module comprises a left leg exoskeleton and a right leg exoskeleton, and the left leg exoskeleton and the right leg exoskeleton are arranged on the two supporting cantilevers respectively. The rehabilitation training device has the advantage that upper and lower limb rehabilitation training can be performed independently or simultaneously.

Description

TECHNICAL FIELD

[0001] The utility model relates to rehabilitation medical equipment technical field, especially a kind of upper and lower limbs linkage exoskeleton rehabilitation training robot. BACKGROUND

[0002] Stroke hemiplegia, accident accident paralysis and so on patient usually with upper and lower limbs all appear motor dysfunction, traditional exoskeleton rehabilitation training robot is mainly to single lower limb gait training, or upper limb arm joint activity training, cannot carry out upper and lower limb movement training simultaneously.

[0003] Therefore, the utility model aims at providing a new technical scheme to solve the existing technical problems. UTILITY MODEL CONTENT

[0004] In order to overcome the deficiency of prior art, the utility model provides a kind of upper and lower limbs linkage exoskeleton rehabilitation training robot, solve the problem that existing rehabilitation training robot cannot carry out upper and lower limb movement training simultaneously.

[0005] The technical scheme adopted by the utility model to solve its technical problems is:

[0006] A kind of upper and lower limbs linkage exoskeleton rehabilitation training robot, including mobile support module, upper limb exoskeleton module and lower limb exoskeleton module;

[0007] The mobile support module includes mobile chassis assembly and waist adjusting assembly, the waist adjusting assembly includes support plate and support cantilever, the support plate is liftable and is set on the mobile chassis assembly, two support cantilevers are symmetrically set on the support plate, and two support cantilevers can be moved towards each other or the direction of moving away from each other;

[0008] The upper limb exoskeleton module includes backplate, left arm exoskeleton and right arm exoskeleton, the backplate is set on support plate, the left arm exoskeleton is set on the backplate to simulate user left arm activity, the right arm exoskeleton is set on the backplate to simulate user right arm activity;

[0009] The lower limb exoskeleton module includes left leg exoskeleton and right leg exoskeleton, the left leg exoskeleton and the right leg exoskeleton are respectively set on two support cantilevers, the left leg exoskeleton is used to simulate user left leg activity, and the right leg exoskeleton is used to simulate user right leg activity.

[0010] In the above structure, the left arm exoskeleton comprises a shoulder joint, an upper arm connecting plate, an elbow joint, a lower arm connecting plate and a wrist joint, the shoulder joint connects the upper arm connecting plate to the back plate to simulate the shoulder movement of the user; the elbow joint connects the lower arm connecting plate to the upper arm connecting plate to simulate the elbow movement of the user; the lower arm connecting plate connects the wrist joint and the elbow joint, and the wrist joint is used to simulate the wrist movement of the user.

[0011] The upper arm connecting plate and the lower arm connecting plate are fixedly connected with an arm supporting plate, the arm supporting plate is provided with a bandage, and the wrist joint is rotatably connected with a handle.

[0012] In the above structure, the shoulder joint comprises a first shoulder driving assembly, a second shoulder driving assembly, a third shoulder driving assembly and a shoulder supporting plate, the first shoulder driving assembly connects the shoulder supporting plate and the back plate to simulate the horizontal rotation of the shoulder of the user; the second shoulder driving assembly is arranged on the shoulder supporting plate to simulate the abduction and adduction movement of the shoulder of the user; and the third shoulder driving assembly connects the upper arm connecting plate and the shoulder supporting plate to simulate the flexion and extension movement of the shoulder joint of the user.

[0013] In the above structure, the elbow joint comprises an elbow driving assembly, the elbow driving assembly, the first shoulder driving assembly and the third shoulder driving assembly are each provided with a set of disc direct drive rotation assemblies; the wrist joint comprises a wrist joint rotating member, and the wrist joint rotating member is rotatably connected to the lower arm connecting plate.

[0014] In the above structure, the left leg exoskeleton comprises a leg mounting seat, a hip joint driving assembly, a knee joint driving assembly, a thigh plate, a knee joint connecting plate, a shank plate and an ankle joint, the leg mounting seat is fixedly connected to the supporting cantilever, the hip joint driving assembly connects the leg mounting seat and the thigh plate to simulate the hip joint movement of the user; the knee joint connecting plate is fixedly connected to the thigh plate away from the leg mounting seat, the knee joint driving assembly connects the knee joint connecting plate and the shank plate to simulate the knee joint movement of the user; the ankle joint is connected to the shank plate to simulate the ankle joint movement of the user; and the ankle joint is connected with a foot supporting assembly for supporting the sole of the user.

[0015] In the above structure, the hip joint driving assembly and the knee joint driving assembly are each provided with a set of disc direct drive rotation assemblies; the ankle joint comprises an ankle joint rotating member, and the ankle joint rotating member is rotatably connected to the shank plate.

[0016] The thigh plate is provided with a thigh baffle, and the shank plate is provided with a shank baffle.

[0017] In the structure, the left arm exoskeleton and the right arm exoskeleton are mirror image structures, and the left leg exoskeleton and the right leg exoskeleton are mirror image structures.

[0018] In the structure, the mobile support module further comprises a height adjusting assembly, the height adjusting assembly comprises a driving motor, a lifting screw rod, a screw rod mounting seat and a screw rod support seat, the driving motor is fixedly installed on the mobile chassis assembly, and the output end of the driving motor is fixedly connected to the lifting screw rod, the screw rod mounting seat and the screw rod support seat are rotationally connected to the two ends of the lifting screw rod respectively, and the screw rod mounting seat and the screw rod support seat are fixedly connected to the mobile chassis assembly, and the waist adjusting assembly is provided with a lifting sliding block, and the lifting sliding block is rotationally connected to the lifting screw rod.

[0019] In the structure, the waist adjusting assembly further comprises a double-end screw rod and screw rod sliding blocks, the supporting plate is fixedly connected with an adjusting mounting seat, the two ends of the double-end screw rod are rotationally connected to the adjusting mounting seat, the two screw rod sliding blocks are rotationally arranged on the threaded portions on the two sides of the double-end screw rod respectively, the two supporting cantilever arms are fixedly connected to the two screw rod sliding blocks respectively, and the double-end screw rod is provided with a rotating hand wheel at one end.

[0020] In the structure, the mobile chassis assembly comprises a supporting frame and universal casters, four universal casters are installed on the bottom of the supporting frame, and a trolley handle is fixedly arranged on the supporting frame.

[0021] The upper limb exoskeleton module and the lower limb exoskeleton module are arranged, so that the upper and lower limb linkage exoskeleton rehabilitation training robot can be used for lower limb or upper limb movement rehabilitation training alone, and can be used for upper and lower limb movement training simultaneously, for example, when lower limb gait walking training is carried out, hand swinging training can be carried out on the upper limb, so that the rehabilitation training movement process is closer to the upper and lower limb movement posture during normal walking, the height of the upper limb exoskeleton module and the lower limb exoskeleton module is adjustable, and the distance between the left leg exoskeleton and the right leg exoskeleton is adjustable, so that the applicability of the device is improved. BRIEF DESCRIPTION OF DRAWINGS

[0022] The utility model is further described below in combination with the drawings and examples.

[0023] Figure 1 It is the whole structure schematic diagram of the utility model;

[0024] Figure 2 It is the upper limb exoskeleton module schematic diagram of the utility model;

[0025] Figure 3 It is the lower limb exoskeleton module schematic diagram of the utility model;

[0026] Figure 4 is a schematic view of a waist adjusting assembly of the utility model;

[0027] Figure 5 is a schematic view of a mobile chassis assembly of the utility model;

[0028] Figure 6 is a schematic view of a height adjusting assembly of the utility model.

[0029] Reference signs:

[0030] 1, mobile support module; 11, mobile chassis assembly; 111, support frame; 112, universal castor; 113, trolley handle; 12, waist adjusting assembly; 121, support plate; 1211, adjusting mounting seat; 1212, tail plate; 122, double-end screw rod; 123, screw rod sliding block; 124, rotating hand wheel; 13, support cantilever; 14, height adjusting assembly; 141, driving motor; 142, screw rod mounting seat; 143, lifting screw rod; 144, screw rod support seat; 145, lifting sliding block; 15, control panel assembly;

[0031] 2, upper limb exoskeleton module; 21, left arm exoskeleton; 211, first shoulder driving assembly; 212, second shoulder driving assembly; 213, third shoulder driving assembly; 214, shoulder support plate; 215, large arm connecting plate; 2151, arm supporting plate; 216, elbow driving assembly; 217, small arm connecting plate; 218, wrist joint rotating piece; 2181, handle; 22, right arm exoskeleton; 23, back plate; 231, battery assembly; 232, control integrated circuit;

[0032] 3, lower limb exoskeleton module; 31, left leg exoskeleton; 311, leg mounting seat; 312, hip joint driving assembly; 313, thigh plate; 3131, thigh baffle; 314, knee joint driving assembly; 315, shank plate; 3151, shank baffle; 316, ankle joint rotating piece; 317, foot support assembly; 318, knee joint connecting plate; 32, right leg exoskeleton. DETAILED DESCRIPTION

[0033] The utility model will be further explained below in combination with the drawings. Figures 1-6 The utility model will be further explained below in combination with the drawings.

[0034] The concept, specific structure and generated technical effects of the present application will be clearly and completely described below in combination with embodiments and drawings, so as to fully understand the purposes, features and effects of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all embodiments, based on the embodiments of the present application, other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application. In addition, all the connection / connection relationships involved in the patent do not mean that the components are directly connected, but that a better connection structure can be composed by adding or reducing connection accessories according to the specific implementation situation. The various technical features in the present application can be interactively combined without mutual contradiction and conflict.

[0035] Referring to Figures 1 to 6 The utility model discloses a upper and lower limbs linkage exoskeleton rehabilitation training robot to the rehabilitation training of four limbs to the patient of limb movement dysfunction. It includes mobile support module 1, upper limb exoskeleton module 2 and lower limb exoskeleton module 3, upper limb exoskeleton module 2 and lower limb exoskeleton module 3 set up on mobile support module 1, when using, the user can choose to carry out upper limb movement rehabilitation exercise or lower limb movement rehabilitation exercise independently, also can choose to carry out upper and lower limbs movement exercise simultaneously, make the rehabilitation training movement process more close to the upper and lower limbs movement posture when normal walking. Among them, mobile support module 1 is the base body of whole structure, to support and carry each component, including mobile chassis assembly 11 and waist adjusting assembly 12, waist adjusting assembly 12 includes support plate 121 and support cantilever 13, support plate 121 can be set up on mobile chassis assembly 11 and lift, support cantilever 13 is provided with two, two support cantilevers 13 are set up on support plate 121, and two support cantilevers 13 can be moved on support plate 121 in the direction of approaching each other or moving away from each other. When using, waist adjusting assembly 12 is set with the waist position of user, and the waist of user is supported, and two support cantilevers 13 that can approach each other or move away from each other are set, so that waist adjusting assembly 12 can adjust the interval of two support cantilevers 13 according to the body shape of user, so that it is adapted to the user of different body shape.

[0036] Referring to Figures 1 to 4The upper limb exoskeleton module 2 comprises a back plate 23, a left arm exoskeleton 21 and a right arm exoskeleton 22, wherein the back plate 23 is connected with the support plate 121, the left arm exoskeleton 21 is arranged on the back plate 23 to simulate the movement of the left arm of the user, and the right arm exoskeleton 22 is also arranged on the back plate 23 to simulate the movement of the right arm of the user. The lower limb exoskeleton comprises a left leg exoskeleton 31 and a right leg exoskeleton 32, which are respectively used to simulate the movement of the left leg of the user and the movement of the right leg of the user, and the left leg exoskeleton 31 and the right leg exoskeleton 32 are respectively arranged on the two support cantilevers 13. The distance between the left leg exoskeleton 31 and the right leg exoskeleton 32 can be adjusted by adjusting the distance between the two support cantilevers 13, and the support plate 121 can be arranged on the moving chassis assembly 11 in an up-down manner, so that the height of the upper and lower limb linkage exoskeleton rehabilitation training robot can be adjusted, the height and the waist width can be adjusted, which is beneficial to improve the application range of the upper and lower limb linkage exoskeleton rehabilitation training robot, and can be more suitable for the user. In the embodiment, the tail plate 1212 is fixedly connected to the support plate 121, and the back plate 23 is fixedly connected to the tail plate 1212. The connection between the back plate 23 and the tail plate 1212 can be fixed by using common fasteners such as screws.

[0037] The left arm exoskeleton 21 comprises a shoulder joint, a large arm connecting plate 215, an elbow joint, a small arm connecting plate 217 and a wrist joint, wherein the shoulder joint connects the large arm connecting plate 215 to the back plate 23 to simulate the movement of the shoulder of the user, such as horizontal rotation of the shoulder joint, abduction and adduction of the shoulder joint and forward and backward flexion of the shoulder joint; the elbow joint connects the small arm connecting plate 217 with the large arm connecting plate 215 to simulate the movement of the elbow of the user, such as flexion and extension of the elbow; the small arm connecting plate 217 connects the wrist joint and the elbow joint, and the wrist joint is used to simulate the movement of the wrist of the user. The large arm connecting plate 215 and the small arm connecting plate 217 are both fixedly connected with arm supporting plates 2151, and the arm supporting plates 2151 are used to arrange the binding belts (not shown in the figure). During use, the user can connect and fix the left large arm with the large arm connecting plate 215 through the binding belt on the large arm connecting plate 215, and connect and fix the left small arm with the small arm connecting plate 217 through the binding belt on the small arm connecting plate 217, so as to realize the effective connection between the arm of the user and the left arm exoskeleton 21, and ensure that the left arm exoskeleton 21 can effectively drive the arm of the user. Further, the wrist joint is rotatably connected with a handle 2181 for the user to hold.

[0038] Further, the shoulder joint is arranged at the position of the shoulder of the user, and includes a first shoulder driving assembly 211, a second shoulder driving assembly 212, and a shoulder support plate 214. The shoulder support plate 214 is connected to the back plate 23 through the first shoulder driving assembly 211, and the first shoulder driving assembly 211 can drive the shoulder support plate 214 to rotate horizontally on the back plate 23, so as to simulate the horizontal rotation action of the shoulder of the user, that is, the rotation of the upper arm. The second shoulder driving assembly 212 is arranged on the shoulder support plate 214, and is used to simulate the abduction and adduction action of the shoulder of the user. The third shoulder driving assembly 213 is connected to the upper arm connecting plate 215 and the shoulder support plate 214, and the third shoulder driving assembly 213 can drive the upper arm connecting plate 215 to rotate on the shoulder support plate 214, so as to simulate the flexion and extension action of the shoulder joint of the user. The elbow joint is arranged at the position of the elbow joint of the user, and includes an elbow driving assembly 216. The elbow driving assembly 216 is arranged between the upper arm connecting plate 215 and the lower arm connecting plate 217. The wrist joint is arranged at the position of the wrist of the user, and includes a wrist joint rotating member 218. The wrist joint rotating member 218 is rotationally connected to the lower arm connecting plate 217, so as to simulate the wrist movement of the user.

[0039] In the embodiment, the elbow driving assembly 216, the first shoulder driving assembly 211, and the third shoulder driving assembly 213 are all provided with a set of disc direct drive rotating assemblies, that is, the elbow joint, the first shoulder driving assembly 211, and the third shoulder driving assembly 213 are all driven by disc direct drive motors. The disc direct drive motor is directly connected to the load, without the need of passing through gears, belts or other transmission devices, which is beneficial to improve the rigidity and dynamic response capability of each joint, and can realize precise driving of the joint, so that the movement of each joint of the rehabilitation robot is closer to the human body movement. The disc direct drive motor driving rotation can refer to the prior art, and the specific connection structure and working principle thereof will not be described here.

[0040] In the embodiment, the left arm exoskeleton 21 adopts a structure of four active degrees of freedom and one passive degree of freedom. The four active degrees of freedom include the first shoulder driving assembly 211, the second shoulder driving assembly 212, the third shoulder driving assembly 213, and the elbow driving assembly 216. The one passive degree of freedom includes the wrist joint rotating member 218. The four active degrees of freedom are all rotated by disc direct drive motors, and the passive degree of freedom is rotated by the user himself. The movement of all active degrees of freedom is driven by the disc direct drive motor to move the corresponding joint according to the expected trajectory. In other embodiments, the active degrees of freedom are not limited to four, but can be five or the like, which is not uniquely limited here.

[0041] In addition, the back plate 23 is further provided with a battery assembly 231 and a control integrated circuit 232 plate and other conventional components, the battery assembly 231 is electrically connected with the control integrated circuit 232 plate, the shoulder joint, the elbow joint and the integrated control integrated circuit 232 plate are electrically connected, so as to realize the control of the control integrated circuit 232 plate on each movement joint.

[0042] In the embodiment, the left arm exoskeleton 21 and the right arm exoskeleton 22 are mirror structures and are symmetrically arranged on the back plate 23, that is, the right arm exoskeleton 22 has the same structure as the left arm exoskeleton 21, which can be arranged by referring to the left arm exoskeleton 21 described above, and details are not described herein.

[0043] Referring to Figure 1 and Figure 3 , the left leg exoskeleton 31 includes a leg mounting seat 311, a hip joint driving assembly 312, a knee joint driving assembly 314, a thigh plate 313, a knee joint connecting plate 318, a shank plate 315 and an ankle joint. The leg mounting seat 311 is fixedly connected to the support cantilever 13, in the embodiment, one end of the leg mounting seat 311 is sleeved on the end of the support cantilever 13, and the leg mounting seat 311 and the support cantilever 13 are fixedly connected through fastening screws. The leg mounting seat 311 and the thigh plate 313 are connected through the hip joint driving assembly 312 arranged at the hip joint of the user to simulate the movement of the hip joint of the user. The knee joint connecting plate 318 is fixedly connected to the side of the thigh plate 313 away from the leg mounting seat 311, and the knee joint connecting plate 318 and the shank plate 315 are connected through the knee joint driving assembly 314 arranged at the knee joint of the user to simulate the movement of the knee joint of the user. The ankle joint is arranged on the side of the shank plate 315 away from the knee joint driving assembly 314 to simulate the movement of the ankle joint of the user. The ankle joint is further connected with a foot support assembly 317, and in use, the user can put the foot into the foot support assembly 317, and the foot support assembly 317 is used to support the foot of the user.

[0044] In the embodiment, the thigh plate 313 is provided with a thigh baffle 3131, and the shank plate 315 is provided with a shank baffle 3151, the thigh baffle 3131 and the shank baffle 3151 are oppositely arranged, and in wearing, the rear side of the thigh and the front side of the shank of the user are respectively supported, that is, the leg of the user passes between the thigh baffle 3131 and the shank baffle 3151, and the thigh baffle 3131 and the shank baffle 3151 can be provided with a binding belt (not shown in the figure) to bind the leg of the user, so that the leg of the user can be effectively connected with the lower limb exoskeleton module 3.

[0045] The hip joint driving assembly 312 and the knee joint driving assembly 314 are each provided with a set of disc direct driving rotation assemblies, that is, the hip joint driving assembly 312 and the knee joint driving assembly 314 are also driven to rotate by disc direct driving motors. The ankle joint includes an ankle rotating piece 316 which is rotationally connected to the lower leg plate 315 away from the upper leg plate 313 to simulate the user's ankle movement.

[0046] In the embodiment, the left leg exoskeleton 31 adopts a structure of two active degrees of freedom and one passive degree of freedom, the two active degrees of freedom include the hip joint driving assembly 312 and the knee joint driving assembly 314, and the one passive degree of freedom includes the ankle rotating piece 316. The two active degrees of freedom are driven to rotate by disc direct driving motors, and the passive degree of freedom is rotated by the user himself. The movement of all active degrees of freedom is that the joints are driven by disc direct driving motors to move along the expected trajectory. In other embodiments, the active degrees of freedom are not limited to two, but can be three or the like, which is not uniquely limited here.

[0047] In the embodiment, the left leg exoskeleton 31 and the right leg exoskeleton 32 are mirror image structures and are symmetrically arranged on the two support cantilever arms 13, that is, the left leg exoskeleton 31 and the right leg exoskeleton 32 have the same component structure, which can be arranged by referring to the left leg exoskeleton 31 described above, and details are not repeated here.

[0048] Referring to Figure 1 and Figure 4 , the waist adjusting assembly 12 further includes a double-headed screw rod 122 and a sliding block. The support plate 121 is fixedly connected with two adjusting mounting seats 1211, the two ends of the double-headed screw rod 122 are rotationally connected to the two adjusting mounting seats 1211, and two screw rod sliding blocks 123 are rotationally connected to the threaded portions on the two sides of the double-headed screw rod 122. The two support cantilever arms 13 are in one-to-one correspondence with the two screw rod sliding blocks 123 and are fixedly connected with the screw rod sliding blocks 123. The double-headed screw rod 122 has opposite threaded portions at its two ends. When the double-headed screw rod 122 is rotated, the screw rod sliding blocks 123 arranged at the two ends of the double-headed screw rod 122 move in the direction of approaching or moving away from each other on the double-headed screw rod 122. A rotating handle 124 is mounted on one side end of the double-headed screw rod 122. The rotating handle 124 can be used to rotate the double-headed screw rod 122, so as to adjust the distance between the two support cantilever arms 13.

[0049] In the embodiment, a horizontal guide rod is further fixedly connected between the two screw rod mounting seats 142 and is slidingly connected with the screw rod sliding blocks 123 to guide the movement of the screw rod sliding blocks 123.

[0050] Referring to Figure 1 , Figure 5 and Figure 6The mobile chassis assembly 11 comprises a support frame 111 and universal casters 112, the support frame 111 is the base body of the device, in the embodiment, the support frame 111 is in the form of an "L" type frame structure, and the four universal casters 112 are arranged at the bottom of the support frame 111, and the universal casters 112 are arranged to facilitate the carrying of the upper and lower limb linkage exoskeleton rehabilitation training robot of the utility model, and convenience is provided for the user. The support frame 111 is provided with a trolley handle 113, and the device can be moved by pushing the trolley handle 113.

[0051] The mobile support module 1 further comprises a height adjusting assembly 14 arranged on the mobile chassis assembly 11, which is used to adjust the height of the upper limb exoskeleton module 2 and the lower limb exoskeleton module 3. The height adjusting assembly 14 comprises a driving motor 141, a lifting screw rod 143, a screw rod mounting seat 142 and a screw rod supporting seat 144. The driving motor 141 is fixedly installed on the mobile chassis assembly 11, and the output end thereof is fixedly connected to the lifting screw rod 143, so as to drive the lifting screw rod 143 to rotate. The screw rod mounting seat 142 and the screw rod supporting seat 144 are rotatably connected to the two ends of the lifting screw rod 143 respectively, and are fixedly installed on the mobile chassis assembly 11. The waist adjusting assembly 12 is provided with a lifting sliding block 145 rotatably connected to the lifting screw rod 143. Specifically, the lifting sliding block 145 is fixedly connected to the support plate 121. In the embodiment, the driving motor 141, the screw rod mounting seat 142 and the screw rod supporting seat 144 are fixedly connected to the support frame 111. The support plate 121 is slidably connected with a lifting guide rod, and the two ends of the lifting guide rod are fixedly connected to the support frame 111. The lifting guide rod guides the lifting of the support plate 121. The driving motor 141 controls the movement of the lifting screw rod 143, thereby driving the lifting of the support plate 121, so as to realize the height adjustment of the upper limb exoskeleton module 2 and the lower limb exoskeleton module 3.

[0052] In addition, the mobile support module 1 further comprises a control panel assembly 15 in signal connection with the control integrated circuit 232, which is used to control the movements of the upper and lower limb linkage exoskeleton rehabilitation training robot.

[0053] The above is a specific description of the preferred embodiment of the utility model, but the utility model creation is not limited to the described embodiments, and those skilled in the art can make various equivalent modifications or replacements without departing from the spirit of the utility model, and these equivalent modifications or replacements are all included in the scope defined by the claims of the present application.

Claims

1. An upper and lower limb linkage exoskeleton rehabilitation training robot, characterized in that: The mobile support module, the upper limb exoskeleton module and the lower limb exoskeleton module are included. The mobile support module includes a mobile chassis assembly and a waist adjusting assembly, the waist adjusting assembly includes a support plate and two support cantilevers, the support plate is arranged on the mobile chassis assembly in a liftable manner, and the two support cantilevers are symmetrically arranged on the support plate and can move towards each other or away from each other. The upper limb exoskeleton module includes a back plate, a left arm exoskeleton and a right arm exoskeleton, the back plate is arranged on the support plate, the left arm exoskeleton is arranged on the back plate to simulate the left arm movement of a user, and the right arm exoskeleton is arranged on the back plate to simulate the right arm movement of the user. The lower limb exoskeleton module includes a left leg exoskeleton and a right leg exoskeleton, the left leg exoskeleton and the right leg exoskeleton are arranged on the two support cantilevers respectively, the left leg exoskeleton is used to simulate the left leg movement of a user, and the right leg exoskeleton is used to simulate the right leg movement of the user.

2. The upper and lower limb linkage exoskeleton rehabilitation training robot according to claim 1, characterized in that: The left arm exoskeleton includes a shoulder joint, an upper arm connecting plate, an elbow joint, a lower arm connecting plate and a wrist joint, the shoulder joint connects the upper arm connecting plate to the back plate to simulate the shoulder movement of a user. The elbow joint connects the lower arm connecting plate and the upper arm connecting plate to simulate the elbow movement of a user, the lower arm connecting plate connects the wrist joint and the elbow joint, and the wrist joint is used to simulate the wrist movement of a user. The upper arm connecting plate and the lower arm connecting plate are fixedly connected with arm supporting plates, the arm supporting plates are provided with straps, and the wrist joint is rotatably connected with a handle.

3. The upper and lower limb linkage exoskeleton rehabilitation training robot according to claim 2, characterized in that: The shoulder joint includes a first shoulder driving assembly, a second shoulder driving assembly, a third shoulder driving assembly and a shoulder supporting plate, the first shoulder driving assembly connects the shoulder supporting plate and the back plate to simulate the horizontal rotation of the shoulder of a user, the second shoulder driving assembly is arranged on the shoulder supporting plate to simulate the abduction and adduction movement of the shoulder of a user, and the third shoulder driving assembly connects the upper arm connecting plate and the shoulder supporting plate to simulate the flexion and extension movement of the shoulder joint of a user.

4. The upper and lower limb linkage exoskeleton rehabilitation training robot according to claim 2, characterized in that: The elbow joint includes an elbow driving assembly, the elbow driving assembly, the first shoulder driving assembly and the third shoulder driving assembly are all provided with a set of disc type direct drive rotation assemblies, and the wrist joint includes a wrist joint rotating piece which is rotatably connected to the lower arm connecting plate.

5. The upper and lower limbs linkage exoskeleton rehabilitation training robot according to claim 1, characterized in that: The left leg exoskeleton includes a leg mounting seat, a hip joint driving assembly, a knee joint driving assembly, a thigh plate, a knee joint connecting plate, a shank plate and an ankle joint, the leg mounting seat is fixedly connected to the support cantilever, the hip joint driving assembly connects the leg mounting seat and the thigh plate to simulate the hip joint movement of a user, the knee joint connecting plate is fixedly connected to the thigh plate away from the leg mounting seat, the knee joint driving assembly connects the knee joint connecting plate and the shank plate to simulate the knee joint movement of a user, the ankle joint is connected to the shank plate to simulate the ankle joint movement of a user, and the ankle joint is connected with a foot supporting assembly for supporting the instep of a user.

6. The upper and lower limbs linkage exoskeleton rehabilitation training robot according to claim 5, characterized in that: The hip joint driving assembly and the knee joint driving assembly are each provided with a group of disc type direct driving rotation assemblies; the ankle joint comprises an ankle joint rotating member which is rotationally connected to the lower leg plate; The thigh plate is provided with a thigh baffle, and the lower leg plate is provided with a lower leg baffle.

7. The upper and lower limbs linkage exoskeleton rehabilitation training robot according to claim 1, characterized in that: The left arm exoskeleton and the right arm exoskeleton are provided in a mirror image structure, and the left leg exoskeleton and the right leg exoskeleton are provided in a mirror image structure.

8. The upper and lower limbs linkage exoskeleton rehabilitation training robot according to claim 1, characterized in that: The mobile support module further comprises a height adjusting assembly, the height adjusting assembly comprises a driving motor, a lifting screw rod, a screw rod mounting seat and a screw rod support seat, the driving motor is fixedly installed on the mobile chassis assembly, and the output end of the driving motor is fixedly connected to the lifting screw rod, the screw rod mounting seat and the screw rod support seat are rotationally connected to the two ends of the lifting screw rod respectively, and the screw rod mounting seat and the screw rod support seat are fixedly connected to the mobile chassis assembly, and the waist adjusting assembly is provided with a lifting sliding block which is rotationally connected to the lifting screw rod.

9. The upper and lower limbs linkage exoskeleton rehabilitation training robot according to claim 1, characterized in that: The waist adjusting assembly further comprises a double-head screw rod and a screw rod sliding block, the supporting plate is fixedly connected with an adjusting mounting seat, the two ends of the double-head screw rod are rotationally connected to the adjusting mounting seat, the two screw rod sliding blocks are rotationally arranged on the threaded portions on the two sides of the double-head screw rod respectively, the two supporting cantilever arms are fixedly connected to the two screw rod sliding blocks respectively, and the double-head screw rod is provided with a rotating hand wheel on one end.

10. The upper and lower limbs linkage exoskeleton rehabilitation training robot according to claim 1, characterized in that: The mobile chassis assembly comprises a supporting frame and universal casters, four universal casters are installed on the bottom of the supporting frame, and a trolley handle is fixedly arranged on the supporting frame.

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