Wire-driven upper limb elbow joint power-assisted exoskeleton

Abstract

The utility model relates to a line drive type upper limb elbow joint power assisting exoskeleton, including waist support mechanism, wear on the arm a plurality of big arm support mechanism and a plurality of small arm support mechanism, the link position between big arm support mechanism and small arm support mechanism is connected through angle adjusting mechanism, the rotation angle of angle adjusting mechanism decides the angle between big arm support mechanism and small arm support mechanism, the both sides of waist support mechanism are equipped with the line drive mechanism for changing the angle of angle adjusting mechanism, the utility model discloses through the postposition of disc type servo motor in the waist, and utilize transmission chain and so on flexible transmission member to transmit power to the elbow joint long-range, to realize the lightweight layout of drive arrangement in this way, and provide high compliance, low inertia initiative power for arm movement through the flexible line drive mode.

Description

Technical Field

[0001] This utility model relates to the field of exoskeleton technology, specifically to a wire-driven upper limb elbow joint assistive exoskeleton. Background Technology

[0002] Currently, exoskeletons designed for upper limb assistance, especially elbow joint assistance, mostly employ electric drive systems such as direct motor drive or rigid linkage transmission. These traditional electrically driven exoskeletons typically mount heavy components like motors and actuators directly near the joint or on the limb. This design presents several challenges: First, it introduces inertia issues. Because the drive components are directly mounted on the arm or limb, the inertial mass at the moving end is significantly increased, leading to sluggish movements and additional energy load on the user. Second, it presents compliance issues. Direct transmission methods using rigid linkages or gears lack the necessary flexibility and are difficult to match with human biomechanics, easily causing movement interference and discomfort. Third, it presents system compactness issues. To meet the torque requirements, the drive unit is often too large and heavy, resulting in a bulky structure at the joint, sacrificing comfort and convenience, thus limiting its widespread application in daily work and life scenarios. Summary of the Invention

[0003] This invention addresses the aforementioned technical problems in exoskeleton structure design by proposing a wire-driven upper limb elbow joint assistive exoskeleton. By placing a disc servo motor at the waist and using flexible transmission components such as transmission chains to remotely transmit power to the elbow joint, a lightweight layout of the drive device is achieved. Furthermore, the flexible wire-driven method provides highly compliant and low-inertia active assistance for arm movement.

[0004] The purpose of this invention is achieved through the following technical solution: a wire-driven upper limb elbow joint assistive exoskeleton, including a waist support mechanism, several upper arm support mechanisms and several forearm support mechanisms worn on the arm, the connection position between the upper arm support mechanisms and the forearm support mechanisms is connected by an angle adjustment mechanism, the rotation angle of the angle adjustment mechanism determines the angle between the upper arm support mechanism and the forearm support mechanism, and both sides of the waist support mechanism are provided with a wire-driven mechanism for changing the angle of the angle adjustment mechanism.

[0005] Preferably, the waist support mechanism includes a semi-circular wearable component, a drive support component, and a buckle. The semi-circular wearable component is made of deformable cloth or plastic. Several drive support components are provided in the area of ​​the semi-circular wearable component near the back of the waist. The drive support components are made of rigid plastic or metal. The wire drive mechanism is connected to the surface of the drive support components. The surface of the semi-circular wearable component near the back is also provided with a carrier housing for installing electronic components and power supply. A detachable buckle is connected to the side of the semi-circular wearable component near the abdomen.

[0006] Preferably, each of the upper arm support mechanisms includes an upper arm support profile, a first belt support block, and a first elastic band. The side wall of the upper arm support profile is provided with a first belt support block. The side of the first belt support block near the upper arm is provided with a plurality of elastic first elastic bands. Each first elastic band can generate a locking elastic force when it is sleeved on the surface of the upper arm. The angle adjustment mechanism is connected to one end of the upper arm support profile.

[0007] Preferably, each of the forearm support mechanisms includes a forearm support profile, a second belt support block, and a second elastic band. The side wall of the forearm support profile is provided with a second belt support block. The side of the second belt support block near the upper limb forearm is provided with a plurality of elastic second elastic bands. Each second elastic band can generate a locking elastic force when it is sleeved on the surface of the forearm. The angle adjustment mechanism is connected to the other end of the upper arm support profile.

[0008] Preferably, each angle adjustment mechanism includes a drive turntable, a limiting pin, and a flexible transmission component (but preferably a transmission chain). The drive turntable is hinged to the end of the upper arm support profile. The drive turntable is connected to the lower arm support profile via a locking plate. The drive turntable has a limiting pin inside for fixing. One end of the limiting pin is hinged to the end of the upper arm support profile, and the other end is fixedly connected to the inside of the drive turntable. The turntable slot on the drive turntable has a transmission chain, and the transmission chain is connected to the inside of the line drive mechanism. The drive turntable rotates relative to the end of the upper arm support profile as the transmission chain moves. During the rotation of the drive turntable, the lower arm support profile can be rotated simultaneously.

[0009] Preferably, the drive turntable is provided with a number of rotation limiting blocks on the side surface near the boom support profile. When the drive turntable rotates to a specified angle relative to the end of the boom support profile, the rotation limiting blocks are blocked by the side wall of the boom support profile.

[0010] Preferably, each of the line drive mechanisms includes a disc servo motor, a chain drive gear, and a sprocket cover. The side of the disc servo motor near the base is connected to the surface of the drive support. A chain drive gear is also fixedly connected to the end of the shaft of the disc servo motor. The transmission chain is driven and connected to the surface of the chain drive gear. The transmission chain moves as the chain drive gear rotates. The direction of movement of the transmission chain determines the rotation direction of the drive turntable. The surface of the disc servo motor is also provided with a sprocket cover. The sprocket cover has several chain clearance channels that allow the transmission chain to pass through. During the movement of the transmission chain, it passes through the interior of the chain clearance channels.

[0011] Preferably, each of the upper arm support profiles is provided with several guide support blocks on its side wall, and the surface of the tactical waist seal is provided with a guide support frame. Each of the guide support blocks and guide support frames is provided with a hollow columnar guide channel, and each of the transmission chains passes through the interior of the columnar guide channel and is connected to the line drive mechanism.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] 1. This solution abandons the rigid actuator fixed to the arm and creatively adopts a line drive mechanism located at the waist. Power is remotely transmitted to the angle adjustment mechanism at the elbow joint via a flexible transmission chain. The main inertial source, the disc servo motor, is moved from the arm to the drive support at the waist. The arm only needs to support lightweight upper arm and forearm support profiles, greatly reducing the extra inertial mass the arm needs to bear during movement. The drive disc is connected to the line drive mechanism via a transmission chain, converting the linear motion of the chain into rotational motion of the elbow joint, achieving elbow flexion and extension assistance. Compared with traditional gear or linkage mechanisms, this transmission method has greater flexibility and adaptability, allowing the arm to efficiently transmit power in multiple postures.

[0014] 2. The limit pin and the rotation limit block constitute a mechanical hard braking system: When the drive turntable rotates to the physiological safety limit angle, the rotation limit block is blocked by the side wall of the upper arm support profile to prevent the joint from over-flexion or over-extension, which significantly improves safety. This active limit design avoids the delay or failure risk of relying on electronic sensors.

[0015] 3. The columnar guide channel constrains the transmission chain within a predetermined path, suppressing vibration and deformation of the transmission chain, improving transmission efficiency and control precision. When the user performs complex movements, the guide channel adaptively guides the transmission chain, reducing lateral stress and wear, and ensuring the real-time and stable assistance response. This guiding mechanism solves the path control problem of flexible transmission in multi-degree-of-freedom motion. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the present invention worn on the upper limb of the human body;

[0017] Figure 2 This is a perspective view of the present utility model;

[0018] Figure 3 This is a partial perspective view of the present invention;

[0019] Figure 4 This is a partial perspective view of the present invention after the sprocket cover has been removed.

[0020] The diagram shows the following components: 1. Waist support mechanism; 11. Semi-circular wearable component; 12. Drive support component; 13. Bearing housing; 14. Buckle; 15. Tactical waist belt; 2. Upper arm support mechanism; 21. Upper arm support profile; 22. First belt support block; 23. First elastic band; 3. Forearm support mechanism; 31. Forearm support profile; 32. Second belt support block; 33. Second elastic band; 4. Angle adjustment mechanism; 41. Drive turntable; 42. Limit pin; 43. Transmission chain; 44. Locking plate; 45. Rotation limit block; 5. Line drive mechanism; 51. Disc servo motor; 52. Chain drive gear; 53. Sprocket cover; 54. Chain clearance channel; 6. Guide support block; 7. Guide support frame; 8. Columnar guide channel. Detailed Implementation

[0021] The present invention will be further described below with reference to the embodiments shown in the accompanying drawings:

[0022] like Figure 1 and Figure 2 As shown, a wire-driven upper limb elbow joint assistive exoskeleton includes a waist support mechanism 1; the waist support mechanism 1 includes a semi-circular wearable component 11, a drive support component 12, and a buckle 14. The semi-circular wearable component 11 is made of deformable cloth or plastic. Several drive support components 12 are provided in the area of ​​the semi-circular wearable component 11 near the back of the waist. The drive support components 12 are made of hard plastic or metal. The wire drive mechanism 5 is connected to the surface of the drive support component 12. The surface of the semi-circular wearable component 11 near the back is also provided with a carrier housing 13 for installing electronic components and power supply. A detachable buckle 14 is connected to the side of the semi-circular wearable component 11 near the abdomen.

[0023] It should be noted that the electronic components installed inside the housing 13 include: a main control processor, a rechargeable lithium battery pack, a signal acquisition and processing module, etc. The main control processor receives signals from sensors such as angle sensors and force sensors, which can be installed at the joints. It performs calculations according to preset control algorithms (such as impedance control, torque control, etc.) and generates corresponding control commands to send to the driver of the disc servo motor 51. The lithium battery pack provides the necessary power for the entire system. The signal acquisition and processing module is used to acquire and process analog or digital signals from various sensors, converting them into data that can be read and processed by the main controller.

[0024] This solution also includes an integrated cable (not shown in the figure) containing power lines for supplying power to the disc servo motor 51, as well as signal lines for transmitting control and feedback signals. One end of the cable is reliably connected to the power module and main controller inside the housing 13 via a connector, and the other end is connected to the disc servo motor 51.

[0025] During the wearing process, the user fits the inside of the semi-circular wearable piece 11 against the waist near the hip bone. The semi-circular wearable piece 11 can be made of a comfortable and easy-to-fit fabric that can deform appropriately to fit the waist curve of different users and improve comfort. After the semi-circular wearable piece 11 is fitted, it is locked in place using the buckle 14. At this time, the elasticity generated by the semi-circular wearable piece 11 will increase the friction of the waist, thereby achieving a fixing effect.

[0026] Since the semi-circular wearable part 11 is prone to deformation and difficult to fix the parts, the material of the drive support part 12 can be selected as hard metal; the online drive mechanism 5 can provide good support for it during operation.

[0027] In this embodiment, two upper arm support mechanisms 2 and two lower arm support mechanisms 3 are also provided and worn on the arm. The connection position between the upper arm support mechanism 2 and the lower arm support mechanism 3 is connected by an angle adjustment mechanism 4.

[0028] Please refer to Figure 2 Each of the upper arm support mechanisms 2 includes an upper arm support profile 21, a first belt support block 22, and a first elastic band 23. The side wall of the upper arm support profile 21 is provided with a first belt support block 22. The side of the first belt support block 22 near the upper arm is provided with a plurality of elastic first elastic bands 23. Each first elastic band 23 can generate a locking elastic force when it is sleeved on the surface of the upper arm. The angle adjustment mechanism 4 is connected to one end of the upper arm support profile 21.

[0029] During implementation, the upper arm is worn inside the first elastic band 23. When the first elastic band 23 is fitted onto the surface of the upper arm, it can generate a locking elastic force. The upper arm support profile 21 will not easily fall off the user's upper arm when subjected to axial rotational force.

[0030] The upper arm support profile 21 is typically made of carbon fiber or lightweight aluminum alloy tubing placed along the outer side of the upper arm; while the first elastic band 23 passes under the upper arm, its elasticity ensuring the firmness of the fixation while avoiding poor blood circulation; at the same time, the function of the first band support block 22 is to evenly transfer the force of the elastic band to the rigid upper arm support profile 21.

[0031] Please continue to refer to this. Figure 2 Each of the forearm support mechanisms 3 includes a forearm support profile 31, a second belt support block 32, and a second elastic band 33. The side wall of the forearm support profile 31 is provided with a second belt support block 32. The side of the second belt support block 32 near the upper limb forearm is provided with a plurality of elastic second elastic bands 33. Each second elastic band 33 can generate a locking elastic force when it is sleeved on the surface of the forearm. The angle adjustment mechanism 4 is connected to the other end of the upper arm support profile 21.

[0032] Similarly, during implementation, the forearm is worn inside the second elastic band 33. When the second elastic band 33 is fitted onto the surface of the forearm, it can generate a locking elastic force; the forearm support profile 31 will not easily fall off the user's forearm when subjected to axial rotational force.

[0033] The forearm support profile 31 is typically made of carbon fiber or lightweight aluminum alloy tubing placed along the outer side of the upper arm; while the second elastic band 33 passes under the upper arm, its elasticity ensuring a firm fixation while preventing poor blood circulation; at the same time, the function of the second band support block 32 is to evenly transfer the force of the elastic band to the rigid forearm support profile 31.

[0034] Please continue to refer to the reference. Figure 3 The rotation angle of the angle adjustment mechanism 4 determines the angle between the upper arm support mechanism 2 and the lower arm support mechanism 3;

[0035] Each angle adjustment mechanism 4 includes a drive turntable 41, a limiting pin 42, and a transmission chain 43. The drive turntable 41 is hinged to the end of the upper arm support profile 21. The drive turntable 41 is connected to the lower arm support profile 31 through a locking plate 44. The drive turntable 41 has a limiting pin 42 for fixing inside. One end of the limiting pin 42 is hinged to the end of the upper arm support profile 21, and the other end of the limiting pin 42 is fixedly connected to the inside of the drive turntable 41. The turntable slot on the drive turntable 41 is provided with a transmission chain 43, and the transmission chain 43 is connected to the inside of the line drive mechanism 5. The drive turntable 41 rotates relative to the end of the upper arm support profile 21 as the transmission chain 43 moves. During the rotation of the drive turntable 41, the lower arm support profile 31 can be rotated simultaneously.

[0036] With this configuration, the wire drive mechanism 5 can change the direction of movement of the transmission chain 43. The transmission chain 43 applies tension to the drive turntable 41, driving it to rotate clockwise or counterclockwise around the hinge point with the upper arm support profile 21, depending on the driving direction of the wire drive mechanism 5. Since the drive turntable 41 is fixedly connected to the lower arm support profile 31 through the locking plate 44, this rotation will be directly converted into rotation of the lower arm support mechanism 3 relative to the upper arm support mechanism 2.

[0037] It should be noted that: the drive turntable 41 is also provided with a number of rotation limiting blocks 45 on the side surface near the boom support profile 21. When the drive turntable 41 rotates to a specified angle relative to the end of the boom support profile 21, the rotation limiting blocks 45 are blocked by the side wall of the boom support profile 21.

[0038] During operation, the rotation limit block 45 rotates together with the drive turntable 41. When the rotation angle reaches the preset physiological safety limit, the rotation limit block 45 will contact the side wall of the upper arm support profile 21, forming a mechanical hard brake, effectively preventing joint overflexion or overextension and ensuring safe use.

[0039] Please continue to refer to the reference. Figure 4In this embodiment, both sides of the support mechanism 1 are provided with line drive mechanisms 5 for changing the angle of the angle adjustment mechanism 4; each line drive mechanism 5 includes a disc servo motor 51, a chain drive gear 52 and a sprocket cover 53. The side of the disc servo motor 51 near the base is connected to the surface of the drive support 12. The end of the shaft of the disc servo motor 51 is also fixedly connected to the chain drive gear 52. The transmission chain 43 is connected to the surface of the chain drive gear 52. The transmission chain 43 moves with the rotation of the chain drive gear 52. The direction of movement of the transmission chain 43 determines the rotation direction of the drive turntable 41. The surface of the disc servo motor 51 is also provided with a sprocket cover 53. The sprocket cover 53 is provided with several chain clearance channels 54 that allow the transmission chain 43 to pass through. The transmission chain 43 passes through the interior of the chain clearance channels 54 during its movement.

[0040] Elbow flexion assistance process: When assistance is needed for the user to flex their elbow, the shaft of the disc servo motor 51 of the line drive mechanism 5 rotates, retracting the transmission chain 43. The transmission chain 43 applies tension to the drive turntable 41, driving it to rotate counterclockwise around the hinge point with the upper arm support profile 21. Since the drive turntable 41 is fixed to the forearm support profile 31 through the locking plate 44, this rotation is directly converted into the inward rotation of the forearm support mechanism 3 relative to the upper arm support mechanism 2, thus realizing the elbow flexion action and providing effective elbow flexion assistance to the user.

[0041] Conversely, when elbow extension assistance is needed, the disc servo motor 51 rotates in the opposite direction, releasing the transmission chain 43. At this time, under the weight of the user's arm, the transmission chain 43 drives the turntable 41 to rotate in the opposite direction, causing the forearm support mechanism 3 to unfold, thus providing elbow extension assistance.

[0042] When no active assistance is required, the control system can lock the disc servo motor 51, keeping the transmission chain 43 at a fixed length. At this time, the angle adjustment mechanism 4 is locked at the current angle, and the exoskeleton can remain relatively still with the user's arm, achieving the maintenance of a specific posture or following the user's movement in passive mode.

[0043] It should be further explained that each of the upper arm support profiles 21 is also provided with several guide support blocks 6 on its side wall, and the surface of the tactical waist belt 15 is also provided with a guide support frame 7. Each of the guide support blocks 6 and guide support frames 7 is provided with a hollow columnar guide channel 8, and each of the transmission chains 43 passes through the interior of the columnar guide channel 8 and is connected to the line drive mechanism 5.

[0044] With this configuration, the columnar guide channel 8 strictly constrains the flexible transmission chain 43 within the predetermined path, physically isolating it from the user's body, clothing, and other moving parts such as the shoulder joint. During operation, regardless of the user's arm posture, the transmission chain 43 is confined to the channel, completely avoiding the risk of friction, entanglement, or interference between the chain and the human body, greatly improving the safety and ergonomics of the equipment.

[0045] During the power assist process, when the drive chain 43 moves violently under tension, the columnar guide channel 8 provides dynamic support and guidance. The columnar guide channel 8 effectively suppresses the chain's swinging, vibration, and wave deformation caused by its own weight or high-speed movement, ensuring that the driving force is transmitted to the drive turntable 41 along a straight line or smooth curve with minimal fluctuations and energy loss. This improves the response speed and control precision of the power assist, reduces noise and energy loss caused by unnecessary mechanical vibration, and enhances transmission efficiency.

[0046] When the user's upper limbs perform complex movements, especially when the upper arm changes angle significantly relative to the torso, the relative position and angle between the transmission chain 43 and the outlet of the linear drive mechanism 5 will continuously change. At this time, the inlet and outlet of the columnar guide channel 8 play an adaptive guiding role. They can smoothly guide the chain into and out of the constraint path, bear and disperse the lateral stress caused by changes in path direction, protect the chain from excessive bending wear, and ensure the continuous reliability of the transmission system under dynamic and multi-posture operation.

[0047] Working principle and usage of this utility model:

[0048] When assistance is needed: Control commands are sent via integrated cables containing power and signal lines to the drivers of disc servo motors 51 located on both sides of the waist in the line drive mechanism 5.

[0049] The disc servo motor 51 rotates precisely after receiving commands.

[0050] The rotation of the motor drives the chain drive gear 52 at the end of its shaft, which in turn drives the transmission chain 43 to retract or release.

[0051] The drive chain 43 passes through the columnar guide channel 8 within the guide support block 6 on the side wall of the boom support profile 21. This channel constrains the flexible chain within a predetermined path, suppresses vibration, ensures efficient and precise power transmission, and prevents interference with the human body.

[0052] The motion of the transmission chain 43 is transmitted to the drive turntable 41 of the elbow angle adjustment mechanism 4. The tension of the chain is converted into a rotational torque of the drive turntable about its hinge point with the upper arm support profile 21.

[0053] Since the drive turntable 41 is fixedly connected to the forearm support profile 31 through the locking plate 44, the rotation of the drive turntable is directly converted into the rotation of the forearm support mechanism 3 relative to the upper arm support mechanism 2, thereby realizing active assistance for elbow flexion or extension.

[0054] The motor retracts the chain, pulling the drive turntable to rotate counterclockwise, causing the forearm to bend inward.

[0055] The motor releases the chain, and under the combined action of the chain tension and the arm's weight, the turntable rotates clockwise, causing the forearm to extend.

[0056] When the drive turntable 41 rotates to the physiological safety limit angle, the rotation limit block 45 on it will contact the side wall of the upper arm support profile 21 to form a mechanical hard brake, effectively preventing joint overflexion or overextension and ensuring safe use.

[0057] The specific embodiments described herein are merely illustrative examples illustrating the spirit of this utility model. Those skilled in the art to which this utility model pertains may make various modifications or additions to the described specific embodiments or use similar methods to replace them, without departing from the spirit of this utility model or exceeding the scope defined by the appended claims.

Claims

1. A wire-driven upper limb elbow joint assistive exoskeleton, comprising a lumbar support mechanism (1), several upper arm support mechanisms (2) and several forearm support mechanisms (3) worn on the arm, characterized in that, The connection between the upper arm support mechanism (2) and the lower arm support mechanism (3) is connected by an angle adjustment mechanism (4). The rotation angle of the angle adjustment mechanism (4) determines the angle between the upper arm support mechanism (2) and the lower arm support mechanism (3). Both sides of the waist support mechanism (1) are provided with a line drive mechanism (5) for changing the angle of the angle adjustment mechanism (4).

2. The linearly driven upper limb elbow joint assistive exoskeleton according to claim 1, characterized in that, The waist support mechanism (1) includes a semi-circular wearable part (11), a drive support part (12), and a buckle (14). The semi-circular wearable part (11) is made of deformable cloth or plastic. The semi-circular wearable part (11) has several drive support parts (12) near the back of the waist. The drive support parts (12) are made of hard plastic or metal. The wire drive mechanism (5) is connected to the surface of the drive support parts (12). The surface of the semi-circular wearable part (11) near the back is also provided with a carrier housing (13) for installing electronic components and power supply. The side of the semi-circular wearable part (11) near the abdomen is connected with a detachable buckle (14). The semi-circular wearable part (11) and the carrier housing (13) are also provided with a wearable tactical waist belt (15).

3. The linearly driven upper limb elbow joint assistive exoskeleton according to claim 2, characterized in that, Each of the upper arm support mechanisms (2) includes an upper arm support profile (21), a first belt support block (22), and a first elastic band (23). The side wall of the upper arm support profile (21) is provided with a first belt support block (22). The side of the first belt support block (22) near the upper arm is provided with a plurality of elastic first elastic bands (23). Each first elastic band (23) can generate a locking elastic force when it is sleeved on the surface of the upper arm. The angle adjustment mechanism (4) is connected to one end of the upper arm support profile (21).

4. The linearly driven upper limb elbow joint assistive exoskeleton according to claim 3, characterized in that, Each of the forearm support mechanisms (3) includes a forearm support profile (31), a second belt support block (32), and a second elastic band (33). The side wall of the forearm support profile (31) is provided with a second belt support block (32). The side of the second belt support block (32) near the upper limb forearm is provided with a plurality of elastic second elastic bands (33). Each second elastic band (33) can generate a locking elastic force when it is sleeved on the surface of the forearm. The angle adjustment mechanism (4) is connected to the other end of the upper arm support profile (21).

5. The linearly driven upper limb elbow joint assistive exoskeleton according to claim 4, characterized in that, Each of the angle adjustment mechanisms (4) includes a drive turntable (41), a limiting pin (42), and a transmission chain (43). The drive turntable (41) is hinged to the end of the upper arm support profile (21). The drive turntable (41) is connected to the lower arm support profile (31) through a locking plate (44). The drive turntable (41) is provided with a limiting pin (42) for fixing inside. One end of the limiting pin (42) is hinged to the end of the upper arm support profile (21). The other end of the limiting pin (42) is fixedly connected to the inside of the drive turntable (41). The turntable slot on the drive turntable (41) is provided with a transmission chain (43), and the transmission chain (43) is connected to the inside of the line drive mechanism (5). The drive turntable (41) rotates relative to the end of the upper arm support profile (21) as the transmission chain (43) moves. During the rotation of the drive turntable (41), the lower arm support profile (31) can be rotated at the same time.

6. The linearly driven upper limb elbow joint assistive exoskeleton according to claim 5, characterized in that, The drive turntable (41) is provided with a number of rotation limit blocks (45) on the side surface near the boom support profile (21). When the drive turntable (41) rotates to a specified angle relative to the end of the boom support profile (21), the rotation limit blocks (45) are blocked by the side wall of the boom support profile (21).

7. The wire-driven upper limb elbow joint assistive exoskeleton according to claim 6, characterized in that, Each of the aforementioned line drive mechanisms (5) includes a disc servo motor (51), a chain drive gear (52), and a sprocket cover (53). The side of the disc servo motor (51) near the base is connected to the surface of the drive support (12). The chain drive gear (52) is also fixedly connected to the end of the shaft of the disc servo motor (51). The transmission chain (43) is connected to the surface of the chain drive gear (52). The transmission chain (43) moves with the rotation of the chain drive gear (52). The direction of movement of the transmission chain (43) determines the rotation direction of the drive turntable (41). The surface of the disc servo motor (51) is also provided with a sprocket cover (53). The sprocket cover (53) is provided with several chain clearance channels (54) that allow the transmission chain (43) to pass through. The transmission chain (43) passes through the interior of the chain clearance channel (54) during its movement.

8. The linearly driven upper limb elbow joint assistive exoskeleton according to claim 6, characterized in that, Each of the upper arm support profiles (21) is also provided with a guide support block (6) on its side wall, and the surface of the tactical waist seal (15) is also provided with a guide support frame (7). Each of the guide support blocks (6) and guide support frames (7) is provided with a hollow columnar guide channel (8), and each of the transmission chains (43) passes through the interior of the columnar guide channel (8) and is connected to the line drive mechanism (5).

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