Extending angle adjusting device of light upper limb exoskeleton mechanical arm
By adjusting the abduction angle of the upper limb exoskeleton robotic arm through a rotating part and an anti-rotation mechanism, the problems of high cost and heavy weight in existing technologies are solved, achieving lightweight and economical angle adjustment to meet the needs of different users.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-31
- Publication Date
- 2026-04-07
AI Technical Summary
Existing upper limb exoskeleton robotic arms are costly and heavy when adjusting the abduction angle, failing to balance user adaptability and cost-effectiveness.
The extension angle of the robotic arm is adjusted by using a rotating part and an anti-rotation mechanism. The angle adjustment is achieved through the threaded connection between the rotating part and the bracket, and the anti-rotation mechanism restricts the rotation of the rotating part to prevent the robotic arm from rotating and squeezing the user's upper limbs.
It reduces the cost of abduction angle adjustment, alleviates the burden on users, and provides a more economical and comfortable rehabilitation training experience.
Smart Images
Figure CN224085529U_ABST
Abstract
Description
Technical Field
[0001] This utility model specifically relates to an abduction angle adjustment device for a lightweight upper limb exoskeleton robotic arm. Background Technology
[0002] Integrated upper and lower limb rehabilitation training involves providing necessary support to the upper limbs via an exoskeleton robotic arm while simultaneously training the lower limbs. The robotic arm controls abnormal upper limb movement patterns, reducing unnecessary trunk compensation and enabling patients to achieve a gait pattern as close to normal as possible. Currently, in most rehabilitation robots, the upper limb exoskeleton structure does not consider the natural abduction angle of the human body during walking, meaning it cannot adjust this angle. This leads to upper limb compression and incoordination. Existing technologies typically use motors to adjust the abduction angle of the upper limb exoskeleton for greater comfort. However, the motors themselves are heavy, increasing the overall weight of the exoskeleton and burdening the user. Furthermore, motor-driven abduction angle adjustment for the same user requires multiple adjustments, resulting in higher operating costs and failing to balance cost and adaptability. Utility Model Content
[0003] The technical problem to be solved by this utility model is to overcome the high cost of adjusting the abduction angle of the upper limb exoskeleton robotic arm in the prior art, and to provide an abduction angle adjustment device for a lightweight upper limb exoskeleton robotic arm.
[0004] The present invention solves the above-mentioned technical problems through the following technical solution:
[0005] An abduction angle adjustment device for a lightweight upper limb exoskeleton robotic arm, the device being used to adjust the abduction angle of the robotic arm, comprising:
[0006] A rotating part, one end of which is threadedly connected to a bracket, and a robotic arm is attached to the rotating part and positioned away from the bracket;
[0007] An anti-rotation mechanism is used to limit the rotation of the rotating part when the rotating part rotates to a preset angle.
[0008] In this solution, a rotating part is incorporated, onto which the robotic arm is attached. The abduction angle of the robotic arm can be adjusted during the threaded connection between the rotating part and the support frame, thus achieving the abduction angle adjustment function. Furthermore, an anti-rotation mechanism promptly restricts the rotation of the rotating part after the abduction angle is adjusted, ensuring the abduction angle remains fixed and preventing the robotic arm from rotating and compressing the user's upper limb due to a lack of limiting action after angle adjustment. Additionally, compared to adjusting the abduction angle using a motor assembly, rehabilitation training typically requires a certain period, and maintaining a fixed abduction angle after adjustment eliminates the need for frequent adjustments. Therefore, adjusting the abduction angle through a rotating part and anti-rotation mechanism is more cost-effective, with lower manufacturing and operating costs, while still meeting the abduction angle adjustment requirements. Moreover, compared to a motor assembly, this structure is lighter, avoiding additional burden on the user when wearing the upper limb exoskeleton robotic arm and facilitating rehabilitation training.
[0009] Preferably, the rotating part includes a rotating beam, one end of which has a screw. A first threaded hole is provided on the bracket corresponding to the screw. The anti-rotation mechanism is disposed on the bracket, and one end of the anti-rotation mechanism can extend into the first threaded hole. When the end of the anti-rotation mechanism abuts against the screw, it limits the angle of the rotating beam after adjustment.
[0010] In this solution, the aforementioned configuration enables the rotation of the rotating part and the support, allowing the rotating part to adjust the extension angle of the robotic arm. The anti-rotation mechanism, by abutting against the screw, restricts the screw and the rotating beam connected to it from further rotation, thereby limiting the angle after the robotic arm's extension angle has been adjusted.
[0011] Preferably, the rotating part includes a rotating beam, one end of which has a screw. A first threaded hole is provided on the bracket corresponding to the screw, and a second threaded hole is provided at the end of the screw away from the rotating beam. The first threaded hole passes through the bracket. The anti-rotation mechanism includes a first anti-rotation member and a second anti-rotation member. The first anti-rotation member is threadedly connected to the second threaded hole and is used to restrict the rotation of the end of the screw away from the rotating beam. The second anti-rotation member is used to be inserted between the bracket and the rotating beam. The rotating beam abuts against the second anti-rotation member to limit the angle of rotation of the rotating beam.
[0012] In this design, a screw is accommodated through a first threaded hole, which penetrates the bracket. One end of the screw located within the first threaded hole is restricted from rotation by a first anti-rotation component, while the other end is integrally formed with the rotating beam. When the screw extends into the first threaded hole, a gap is formed between the bracket and the rotating beam. A second anti-rotation component is inserted into this gap, causing the rotating beam to abut against the second anti-rotation component, thus preventing the rotating beam from rotating. The first and second anti-rotation components cooperate to restrict the rotation of the rotating beam after angle adjustment, preventing the rotating beam from rotating in either the forward or reverse direction when only the first or second anti-rotation component is present.
[0013] Preferably, the anti-rotation mechanism further includes a washer, which is disposed at the end of the first threaded hole away from the rotating beam. The washer has a through hole. When the first anti-rotation member is threadedly connected to the second threaded hole, the end of the first anti-rotation member away from the screw abuts against the washer.
[0014] In this solution, a shim is provided to increase the contact area between the first anti-rotation component and the bracket when the first anti-rotation component restricts the rotation of one end of the screw, thereby preventing the first anti-rotation component from loosening.
[0015] Preferably, the second anti-rotation member is a flat plate with a slot, and the second anti-rotation member is inserted between the bracket and the rotating beam through the slot.
[0016] In this solution, the above-mentioned arrangement reduces the space occupied by the second anti-rotation component on the outer periphery of the connection between the support and the rotating beam, allowing the second anti-rotation component to be inserted between the support and the rotating beam, effectively filling the gap, thereby restricting the rotation of the rotating beam after the angle is adjusted.
[0017] Preferably, the second anti-rotation member further includes a protrusion that is disposed opposite to the slot.
[0018] In this solution, the above-mentioned settings facilitate the holding of the second anti-rotation component.
[0019] Preferably, the thickness of the second anti-rotation component is in the range of 0.05-4mm.
[0020] In this solution, the above-mentioned settings allow for the selection of a suitable second anti-rotation component to effectively fill the gap between the support and the rotating beam for different extension angles. It can be understood that second anti-rotation components of different thicknesses correspond to different rotation angles of the rotating beam, thus ensuring that the extension angle of the robotic arm remains constant.
[0021] Preferably, the lead of the screw rotating one revolution in the first threaded hole is 4 mm.
[0022] In this design, the above-mentioned settings ensure that the 4mm gap between the support and the rotating beam corresponds to a 360° rotation angle of the rotating beam. This allows for angle adjustment by changing the number or thickness of the second anti-rotation component. This avoids excessive numbers or thickness of the second anti-rotation component due to an excessively large lead, thus saving space.
[0023] Preferably, the thread on the screw and the first threaded hole is any one of a T-thread, a metric thread, or an imperial thread.
[0024] In this solution, the above settings are used to achieve a threaded connection between the screw and the first threaded hole.
[0025] Preferably, the abduction angle adjustment device of the lightweight upper limb exoskeleton robotic arm further includes a base, which is disposed below the support, the support is fixedly connected to the base, and the support is connected to the rehabilitation robot through the base.
[0026] In this solution, the above-mentioned settings reduce the space occupied in the horizontal direction when the support is connected to the rehabilitation robot, thereby improving the reliability of the connection.
[0027] The significant advantages of this invention are as follows: By incorporating a rotating part onto which the robotic arm is attached, the abduction angle of the robotic arm can be adjusted during the threaded connection between the rotating part and the support frame, thus achieving the abduction angle adjustment function. Furthermore, the anti-rotation mechanism promptly restricts the rotation of the rotating part after the abduction angle is adjusted, ensuring the abduction angle remains fixed and preventing the robotic arm from rotating and compressing the user's upper limb due to a lack of limiting action after angle adjustment. Additionally, compared to adjusting the abduction angle using a motor assembly, rehabilitation training typically requires a certain period, and maintaining a fixed abduction angle after adjustment eliminates the need for frequent adjustments. Therefore, adjusting the abduction angle through a rotating part and anti-rotation mechanism is more cost-effective, with lower manufacturing and operating costs, while still meeting the abduction angle adjustment requirements. Moreover, compared to a motor assembly, the aforementioned structure is lighter, avoiding additional burden on the user wearing the upper limb exoskeleton robotic arm and facilitating rehabilitation training. Attached Figure Description
[0028] Figure 1 This is a schematic diagram of the abduction angle adjustment device of a lightweight upper limb exoskeleton robotic arm according to a preferred embodiment of the present invention.
[0029] Figure 2 This is a top view of the abduction angle adjustment device of a lightweight upper limb exoskeleton robotic arm according to a preferred embodiment of the present invention.
[0030] Figure 3 This is a side view of the abduction angle adjustment device of a lightweight upper limb exoskeleton robotic arm according to a preferred embodiment of the present invention.
[0031] Figure 4 for Figure 3 AA sectional view.
[0032] Figure 5 This diagram shows the positional relationship between the second anti-rotation component, the support, and the rotating beam in a preferred embodiment of the present invention.
[0033] Figure 6 for Figure 5 A magnified view of part B in the image.
[0034] Figure 7 This is a schematic diagram of the structure of the second anti-rotation component according to a preferred embodiment of the present invention.
[0035] Explanation of reference numerals in the attached figures:
[0036] Bracket 1
[0037] First threaded hole 111
[0038] Base 2
[0039] Rotating part 10
[0040] Rotating Beam 11
[0041] Screw 12
[0042] Second threaded hole 121
[0043] Anti-rotation mechanism 20
[0044] First anti-rotation component 21
[0045] Second anti-rotation component 22
[0046] 221 protrusions
[0047] Gasket 23
[0048] robotic arm 200 Detailed Implementation
[0049] The present invention will be described more clearly and completely below with reference to the accompanying drawings, using a preferred embodiment.
[0050] This embodiment provides an abduction angle adjustment device for a lightweight upper limb exoskeleton robotic arm, the specific structure of which is as follows: Figure 1 and Figure 2 As shown, the abduction angle adjustment device for the lightweight upper limb exoskeleton robotic arm is used to adjust the abduction angle of the robotic arm 200, and includes:
[0051] Rotating part 10, one end of rotating part 10 is threadedly connected to bracket 1, robotic arm 200 is attached to rotating part 10 and set away from bracket 1;
[0052] The anti-rotation mechanism 20 is used to limit the rotation of the rotating part 10 after it has rotated to a preset angle.
[0053] Specifically, the rotating part 10 is a rod with a mounting groove. The robotic arm 200 is attached to the rotating part 10 through the mounting groove. One end of the rotating part 10 is threadedly connected to the support 1, allowing the rotating part 10 to rotate relative to the support 1. As the rotating part 10 rotates, the robotic arm 200 rotates accordingly to adjust its extension angle. The anti-rotation mechanism 20 restricts the rotation of the rotating part 10 after it has reached a preset angle. After the extension angle of the rotating part 10 is adjusted, the anti-rotation mechanism 20 prevents the rotating part 10 from continuing to rotate, thus avoiding the robotic arm 200 from rotating back and squeezing the user's upper limbs due to the lack of a limit after the rotating part 10 adjusts its angle.
[0054] In addition, compared to the existing technology that adjusts the abduction angle of the robotic arm 200 through a motor assembly, rehabilitation training usually requires a certain period of time. Once the abduction angle is adjusted, it remains fixed and does not require frequent adjustments. Therefore, adjusting the abduction angle through the rotating part 10 and the anti-rotation mechanism 20 has a cost advantage. Its manufacturing and usage costs are lower, and it can meet the adjustment needs of the abduction angle. Moreover, compared to the motor assembly, the above structure is lighter and will not cause additional burden to the user wearing the upper limb exoskeleton robotic arm, which is convenient for rehabilitation training.
[0055] like Figure 3 and Figure 4 As shown, in this embodiment, the rotating part 10 includes a rotating beam 11, one end of which has a screw 12. A first threaded hole 111 is provided on the bracket 1 corresponding to the screw 12. An anti-rotation mechanism 20 is provided on the bracket 1, and one end of the anti-rotation mechanism 20 can extend into the first threaded hole 111. When the end of the anti-rotation mechanism 20 abuts against the screw 12, it limits the angle of the rotating beam 11 after adjustment.
[0056] Specifically, the support 1 has a first threaded hole 111, and the rotating part 10 includes a rotating beam 11, on which the robotic arm 200 is attached. The rotating beam 11 is a rod, and the rotating part 10 also includes a screw 12, which is coaxially arranged with the rotating beam 11 and integrally formed. The screw 12 is used to thread into the first threaded hole 111, so that the rotating beam 11 and the support 1 are connected after the screw 12 is threaded into the first threaded hole 111. It can be understood that when the screw 12 is threaded into the first threaded hole 111, the rotating beam 11 rotates with the screw 12, thereby driving the robotic arm 200 to rotate, that is, adjusting the outward angle of the robotic arm 200.
[0057] The anti-rotation mechanism 20 is a bolt or screw. In addition to the first threaded hole 111, the bracket 1 also has an anti-rotation screw hole (not shown in the figure). The anti-rotation screw hole is connected to the first threaded hole 111. By tightening the bolt or screw, the end of the bolt or screw abuts against the surface of the screw 12 after the screw 12 rotates to the angle required by the user, thereby restricting the rotation of the screw 12. Correspondingly, the angle of the rotating beam 11 is also restricted to limit the extension angle of the robotic arm 200 after adjustment.
[0058] In another preferred embodiment, such as Figure 3 and Figure 4 As shown, the rotating part 10 includes a rotating beam 11, one end of which has a screw 12. A first threaded hole 111 is provided on the bracket 1 corresponding to the screw 12, and a second threaded hole 121 is provided on the end of the screw 12 away from the rotating beam 11. The first threaded hole 111 passes through the bracket 1. The anti-rotation mechanism 20 includes a first anti-rotation member 21 and a second anti-rotation member 22. The first anti-rotation member 21 is threadedly connected to the second threaded hole 121 and is used to limit the rotation of the end of the screw 12 away from the rotating beam 11. The second anti-rotation member 22 is used to be inserted between the bracket 1 and the rotating beam 11. The rotating beam 11 is abutted against the second anti-rotation member 22 to limit the angle after the rotating beam 11 rotates.
[0059] Specifically, the first threaded hole 111 penetrates the bracket 1, the screw 12 is threadedly connected to the first threaded hole 111, and the end of the screw 12 away from the rotating beam 11 extends into the first threaded hole 111. A second threaded hole 121 is provided at the end of the screw 12 away from the rotating beam 11, facing the end of the bracket 1 away from the rotating beam 11. The first anti-rotation member 21 is a bolt or screw, threadedly connected to the second threaded hole 121, so that the nut of the bolt or screw abuts against the end of the bracket 1 away from the rotating beam 11, thereby limiting the rotation angle of one end of the screw 12. It can be understood that, as... Figure 5 and Figure 6 As shown, the other end of the screw 12, i.e., the connection between the screw 12 and the rotating beam 11, is located between the support 1 and the rotating beam 11. When the rotating beam 11 rotates to a preset angle, a gap is formed between the support 1 and the rotating beam 11. The second anti-rotation member 22 is inserted into this gap and cooperates with the first anti-rotation member 21 so that the end of the rotating beam 11 facing the support 1 abuts against the second anti-rotation member 22, thereby restricting the further rotation of the rotating beam 11 along the axial direction of the screw 12, thus achieving angle restriction after the extension angle of the robotic arm 200 is adjusted. There can be multiple second anti-rotation members 22, or a single second anti-rotation member 22 can fill the gap, preventing the rotating beam 11 from rotating in either the forward or reverse direction when only the first anti-rotation member 21 or only the second anti-rotation member 22 is present. It can be understood that the forward or reverse direction refers to the rotation direction of the rotating beam 11.
[0060] Its working principle is as follows:
[0061] First, the rotating part 10 with screw 12 is threaded into the first threaded hole 111. When it is almost tightened, the angle of the rotating part 10 is adjusted to reach the preset angle. At this time, the extension angle adjustment of the robotic arm 200 on the rotating part 10 is completed. It can be understood that at this time, a gap is formed between the bracket 1 and the rotating beam 11 of the rotating part 10.
[0062] Secondly, the second anti-rotation member 22 is inserted into the gap, and the number of the second anti-rotation members 22 is increased or decreased according to the preset angle requirement, so that the end of the rotating beam 11 facing the bracket 1 abuts against the second anti-rotation member 22, thereby limiting the rotation angle of the rotating part 10 in one direction, such as the forward direction. It can be understood that at this time, the rotating part 10 also has a degree of freedom of rotation in another direction, that is, in the opposite direction. In order to ensure that the reverse rotation angle of the rotating part 10 is also limited, the first anti-rotation member 21 is threadedly connected to the second threaded hole 121 of the screw 12 to limit the reverse rotation degree of freedom of the rotating part 10. Specifically, the first anti-rotation member 21 and the second anti-rotation member 22 cooperate with each other to prevent the rotating part 10 from moving in the axial direction, thereby limiting the rotation angle of the rotating part 10. It should be noted that the threaded connection direction of the first anti-rotation member 21 must be opposite to the reverse rotation trend of the rotating part 10. This is the prior art and will not be elaborated on here.
[0063] Furthermore, the robotic arm 200 is attached to the rotating part 10. If the user is changed, the angle of the rotating part 10 needs to be adjusted accordingly. Specifically, the first anti-rotation member 21 is rotated until the rotating part 10 is loosened, and then the rotating part 10 can move in the axial direction. During the movement, the angle of the rotating part 10 is adjusted. Correspondingly, the second anti-rotation member 22 is added or removed between the bracket 1 and the rotating beam 11, and then the first anti-rotation member 21 is tightened. The user then tries to wear it and adapts. If it is not suitable, the above adjustment actions are repeated until the desired abduction angle is achieved.
[0064] In this embodiment, the anti-rotation mechanism 20 further includes a washer 23. The washer 23 is disposed at the end of the first threaded hole 111 away from the rotating beam 11. The washer 23 has a through hole. When the first anti-rotation member 21 is threadedly connected to the second threaded hole 121, the end of the first anti-rotation member 21 away from the screw 12 abuts against the washer 23.
[0065] Specifically, the gasket 23 is a flat plate and its size is larger than that of the first threaded hole 111. When the first anti-rotation member 21 is threadedly connected to the second threaded hole 121, the gasket 23 is sleeved on the first anti-rotation member 21 and located at the end of the bracket 1 away from the rotating beam 11. The nut of the first anti-rotation member 21 abuts against the gasket 23, and the gasket 23 abuts against the bracket 1. Compared with the method of abutting alone by the nut, its contact area with the bracket 1 is increased accordingly, the force is more even, and the first anti-rotation member 21 is prevented from loosening.
[0066] like Figure 7 As shown, in this embodiment, the second anti-rotation member 22 is a flat plate with a slot. The second anti-rotation member 22 is inserted between the bracket 1 and the rotating beam 11 through the slot. By setting the slot, the fit of the second anti-rotation member 22 at the connection between the bracket 1 and the rotating beam 11 is improved, so that the second anti-rotation member 22 can be inserted between the bracket 1 and the rotating beam 11, effectively filling the gap.
[0067] In this embodiment, the slot is a U-shaped slot. In other embodiments, the slot may be a slot of other shapes, such as a rectangular slot or a fan-shaped slot in the prior art.
[0068] In this embodiment, the second anti-rotation member 22 further includes a protrusion 221, which is disposed opposite to the slot. The protrusion 221 is provided to facilitate the operator's hand grip.
[0069] In this embodiment, the thickness of the second anti-rotation member 22 ranges from 0.05 to 4 mm. By limiting the thickness of the second anti-rotation member 22, a suitable second anti-rotation member 22 can be selected to effectively fill the gap between the support 1 and the rotating beam 11 for different outward angles. It can be understood that different thicknesses of the second anti-rotation member 22 correspond to different rotation angles of the rotating beam 11.
[0070] In this embodiment, the lead of the screw 12 rotating one revolution in the first threaded hole 111 is 4mm. This embodiment uses a second anti-rotation member 22 with a thickness of 4mm as an example. When the gap is 4mm, only one second anti-rotation member 22 needs to be inserted to achieve locking, and the corresponding rotating beam 11 returns to its initial position after rotating one revolution from its initial position. That is, a single second anti-rotation member 22 can be adjusted to an angle of 360°.
[0071] Correspondingly, when the thickness of the second anti-rotation member 22 is 2mm, the adjustable angle of a single second anti-rotation member 22 is 180°. When the thickness of the second anti-rotation member 22 is 1mm, the adjustable angle of a single second anti-rotation member 22 is 90°. When the thickness of the second anti-rotation member 22 is 0.5mm, the adjustable angle of a single second anti-rotation member 22 is 45°. When the thickness of the second anti-rotation member 22 is 0.2mm, the adjustable angle of a single second anti-rotation member 22 is 18°. When the thickness of the second anti-rotation member 22 is 1mm, the adjustable angle of a single second anti-rotation member 22 is 9°. When the thickness of the second anti-rotation member 22 is 0.05mm, the adjustable angle of a single second anti-rotation member 22 is 4.5°. That is, within a certain lead length, the angle corresponding to the insertion of second anti-rotation members 22 with different thicknesses is different. If the thickness of the second anti-rotation member 22 is small, the preset angle of the rotating part 10 can be achieved by increasing the number of second anti-rotation members 22. To avoid excessive number or thickness of the second anti-rotation component 22 due to excessive lead, thus saving space.
[0072] In this embodiment, the threads on the screw 12 and the first threaded hole 111 can be any one of a T-thread, a metric thread, or an imperial thread. This achieves a threaded connection between the screw 12 and the first threaded hole 111.
[0073] In this embodiment, the abduction angle adjustment device of the lightweight upper limb exoskeleton robotic arm also includes a base 2, which is located below the support 1. The support 1 is fixedly connected to the base 2, and the support 1 is connected to the rehabilitation robot through the base 2.
[0074] Specifically, the base 2 and the support 1 can be connected by welding, bolting, or by inserting the support 1 into a slot provided on the base 2, or by other existing connection methods, which will not be elaborated further here. By placing the base 2 below the support 1, the horizontal space occupied by the support 1 when connecting to the rehabilitation robot is reduced, while the reliability of the connection is improved.
[0075] While specific embodiments of this utility model have been described above, those skilled in the art should understand that these are merely illustrative examples, and the scope of protection of this utility model is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of this utility model, but all such changes and modifications fall within the scope of protection of this utility model.
Claims
1. An abduction angle adjustment device for a lightweight upper limb exoskeleton robotic arm, wherein the abduction angle adjustment device is used to adjust the abduction angle of the robotic arm, characterized in that, Including: A rotating part, one end of which is threadedly connected to a bracket, and a robotic arm is attached to the rotating part and positioned away from the bracket; An anti-rotation mechanism is used to limit the rotation of the rotating part when the rotating part rotates to a preset angle.
2. The abduction angle adjustment device for the lightweight upper limb exoskeleton robotic arm as described in claim 1, characterized in that, The rotating part includes a rotating beam, one end of which has a screw. A first threaded hole is provided on the bracket corresponding to the screw. An anti-rotation mechanism is provided on the bracket, and one end of the anti-rotation mechanism can extend into the first threaded hole. When the end of the anti-rotation mechanism abuts against the screw, it limits the angle of the rotating beam after adjustment.
3. The abduction angle adjustment device for the lightweight upper limb exoskeleton robotic arm as described in claim 1, characterized in that, The rotating part includes a rotating beam, one end of which has a screw. A first threaded hole is provided on the bracket corresponding to the screw, and a second threaded hole is provided on the end of the screw away from the rotating beam. The first threaded hole passes through the bracket. The anti-rotation mechanism includes a first anti-rotation member and a second anti-rotation member. The first anti-rotation member is threadedly connected to the second threaded hole and is used to restrict the rotation of the end of the screw away from the rotating beam. The second anti-rotation member is used to be inserted between the bracket and the rotating beam. The rotating beam abuts against the second anti-rotation member to limit the angle of rotation of the rotating beam.
4. The abduction angle adjustment device for the lightweight upper limb exoskeleton robotic arm as described in claim 3, characterized in that, The anti-rotation mechanism also includes a washer, which is disposed at the end of the first threaded hole away from the rotating beam. The washer has a through hole. When the first anti-rotation member is threadedly connected to the second threaded hole, the end of the first anti-rotation member away from the screw abuts against the washer.
5. The abduction angle adjustment device for the lightweight upper limb exoskeleton robotic arm as described in claim 3, characterized in that, The second anti-rotation member is a flat plate with a slot, and the second anti-rotation member is inserted between the bracket and the rotating beam through the slot.
6. The abduction angle adjustment device for the lightweight upper limb exoskeleton robotic arm as described in claim 5, characterized in that, The second anti-rotation member also includes a protrusion, which is disposed opposite to the slot.
7. The abduction angle adjustment device for the lightweight upper limb exoskeleton robotic arm as described in claim 3, characterized in that, The thread on the screw and the first threaded hole is any one of a T-type thread, a metric thread, or an imperial thread.
8. The abduction angle adjustment device for the lightweight upper limb exoskeleton robotic arm as described in claim 1, characterized in that, The abduction angle adjustment device of the lightweight upper limb exoskeleton robotic arm also includes a base, which is disposed below the support. The support is fixedly connected to the base, and the support is connected to the rehabilitation robot through the base.