CN107260488A

CN107260488A - Wearable rope drives the apery arm skeleton of upper limbs exoskeleton rehabilitation robot

Info

Publication number: CN107260488A
Application number: CN201710546927.9A
Authority: CN
Inventors: 张建斌; 李晓峰; 李中; 李中一; 陈伟海
Original assignee: Beihang University
Current assignee: Beihang University
Priority date: 2017-07-06
Filing date: 2017-07-06
Publication date: 2017-10-20
Anticipated expiration: 2037-07-06
Also published as: CN107260488B

Abstract

The invention discloses the apery arm skeleton that a kind of Wearable rope drives upper limbs exoskeleton rehabilitation robot, the apery arm skeleton includes flexible wrist assembly (1), upper arm assembly (2), forearm component (3) and the rope fastener fixed with rope one end, the rope other end is fixed in the line wheel of motor output shaft, and the motion of shoulder and ancon based on Biological Mechanism that rehabilitation clients is realized in rope motion is drawn by motor.The apery arm skeleton that the present invention is designed can realize the overhanging motion of carry arm, swing arm, the introflexion of pivoted arm and elbow joint of the upper limbs of rehabilitation clients, and can improve the security of exoskeleton rehabilitation robot.

Description

Wearable rope drives the apery arm skeleton of upper limbs exoskeleton rehabilitation robot

Technical field

The present invention relates to a kind of exoskeleton robot mechanism, more particularly, refer to that a kind of Wearable rope that is applied to drives The apery arm skeleton of upper limbs exoskeleton rehabilitation robot.

Background technology

The central nervous system diseases such as cerebral apoplexy, spinal cord injury, brain trauma often result in obstacle of limb movement, patient Partly or completely lose locomitivity necessary to daily life.Verified repeatedly through medical science of recovery therapy experiment, it is highly plastic in Although pivot nerve fiber can not regenerate, the nerve of correlation can be rebuild by the task orientation training of centrality, repeatability Systemic-function loop, while strengthening muscular strength, makes patient recapture autokinetic movement ability.The routine recovery training highly relies on Physical Therapist, Namely can the professional knowledge of Physical Therapist adhere to the rehabilitation training of long-term rule to rehabilitation with experience, level of skill and patient Effect plays vital effect.Obviously, such rehabilitation training for Physical Therapist physical and temporal pay Very big, this rehabilitation treatment and expense are also that general patient can not possibly enjoy and bear.

Upper limbs exoskeleton rehabilitation robot is worn on the upper limbs of people and constitutes human-machine system, and both carry out close power Reciprocation.It will not only meet the secondary requirements of the upper extremity exercise rehabilitation training of people, also ensure that control stability system is pacified Entirely, control strategy research of the domestic and international researcher to upper limbs exoskeleton rehabilitation robot has a variety of criteria for classifications, such as：1) ectoskeleton How robot kinematics/dynamics Controlling, i.e., control motion and the power output of ectoskeleton, realizes the physics auxiliary of ectoskeleton Act on driving suffering limb to carry out exercise rehabilitation training；2) overall-in-one control schema of the exoskeleton robot based on limbs physiological status, i.e., By analyzing limb bio signal, ectoskeleton control and the Collaborative Control of upper limbs demand are realized.Because ectoskeleton is generally basede on " series connection Open_chain manipulator " structure design, therefore kinematics/dynamics Controlling of ectoskeleton is also mostly based on Conventional robotic's model The conventional methods such as PID, force-location mix control and impedance control are simultaneously partially improved according to specific system.In addition, based on ectoskeleton The man-machine interaction aspect of rehabilitation training more introduces virtual reality technology, and the involvement degree of raising wearer motion's training is simultaneously square Just mission planning is carried out.

Under physical therapy modalities, the auxiliary torque that output upper limb joint needs is restrained using location-based impedance control, i.e., Design ideal impedance Control Model changes into joint velocity the driving moment of its demand, while ectoskeleton structure is resolved parallel Feedforward compensation torque including gravity, improves the control accuracy and response speed of impedance controller.

At present, the most important task of rehabilitation training type ectoskeleton is to aid in dyskinesia patient and realizes centrality, repetition Property training, increasingly focus on the auxiliary force level in patient's real-time requirement, to a certain extent to patient motion predict Demand is not high.

The content of the invention

In order to solve in existing Wearable rope driving upper limbs exoskeleton rehabilitation robot, the dermoskeleton based on rigid link structure Bone is difficult to man-machine joint alignment, and can not coordinate rehabilitation training task and asked come the technology for the motion requirement for meeting wearer Topic, the present invention devises a kind of apery arm skeleton suitable for Wearable rope driving upper limbs exoskeleton rehabilitation robot.The present invention The apery arm skeleton of design can realize the overhanging fortune of the introflexion of carry arm, swing arm, pivoted arm and the elbow joint of the upper limbs of rehabilitation clients It is dynamic.

A kind of Wearable rope that the present invention is designed drives the apery arm skeleton of upper limbs exoskeleton rehabilitation robot, and it includes Wrist assembly (1), upper arm assembly (2), forearm component (3) and six ropes (10A~10F)；Wrist assembly (1) is by ancon Upper connecting rod (1A), ancon lower link (1B), elbow joint structure body (1C), joint shaft (1D), deep groove ball bearing (1E) and ancon end Cover (1F) composition；Upper arm assembly (2) include armlet (2A), upper skeleton (2B), three groups follow clamping plate group (21,22,23), three Individual T-piece (2C, 2D, 2E), six rope fasteners (2F, 2G, 2H, 2I, 2J, 2K)；Forearm component (3) includes lower armlet (3A), lower skeleton (3B), three groups follow clamping plate group (31,32,33), three T-pieces (3C, 3D, 3E), two rope fasteners (3F, 3G)。

The upper end of ancon upper connecting rod (1A) and the lower end of the BA clamping plates (22A) of upper arm assembly (2) are fixed, ancon upper connecting rod The lower end of (1A) is fixed with the projection (1C1) of elbow joint structure body (1C)；The upper end of ancon lower link (1B) and elbow joint structure The fixation of the ancon end cap (1F) of body (1C), the lower end of ancon lower link (1B) is upper with the BB clamping plates (32A) of forearm component (3) End is fixed.

Three T-pieces (2C, 2D, 2E) are installed between the upper armlet (2A) and upper skeleton (2B) of upper arm assembly (2), it is described Lug in T-piece and upper armlet (2A) by screw can adjust radial direction between upper armlet (2A) and upper skeleton (2B) away from From.Follow clamping plate group (21,22,23) to be contacted with human upper limb, the peace of clamping plate group (21,22,23) and upper skeleton (2B) will be followed Dress reduces the friction between the clamping plate and skin followed in clamping plate group, and also pacify on clamping plate using mobile link vertically Fill the silica gel sheath of increasing friction force.Similarly, three T are installed between the lower armlet (3A) and lower skeleton (3B) of forearm component (3) Shape part (3C, 3D, 3E), the T-piece can adjust lower armlet (3A) and sending down the fishbone with the lug on lower armlet (3A) by screw Radial distance between frame (3B).Follow clamping plate group (31,32,33) to be contacted with human upper limb, will follow clamping plate group (31,32, 33) installation with lower skeleton (3B) is using mobile link vertically, reduces between the clamping plate and skin followed in clamping plate group Friction, and the silica gel sheath of increasing friction force is also installed on clamping plate.

The output end of six ropes (10A~10F) is connected in the line wheel of direct current generator output shaft, six rope (10A ~10F) bearing end be fixed on the bearing of self-lubricating.Under motor driving, rope drives upper arm assembly (2), elbow joint Component (1) and forearm component (3) cooperative motion, and then passive rehabilitation training is carried out to wearer (rehabilitation clients, patient).

A kind of apery arm skeleton that the present invention is designed, the apery arm skeleton is to be adapted to Wearable rope driving upper limbs ectoskeleton Healing robot, the advantage of apery arm skeleton is：

1. wrist assembly is designed to passive adaptive flexible structure, more conforms to the Biological Mechanism of human synovial, When occurring the inclined phenomenon of axle during elbow joint motion, the inclined phenomenon of axle of elbow joint is compensated by wrist assembly, so The alignment issues of ectoskeleton structure and human elbow can be efficiently solved using flexible elbow joint.

2. by the way of rope driving remote boot server, realize that driver is abarticular freely to be installed, improve structure The flexibility of design.So that ectoskeleton body reaches lightweight, wearer has broken away from the heavy burden that conventional exoskeleton robot is caused Sense and stress sense.

3. installed for restricting with the cooperation of rope fastener and the controllability on armlet, apery arm skeleton can be made It is adapted to different rehabilitation crowds, different rehabilitation stages.

4. from three strap composition adjustment mechanisms in parallel, by adjusting adjustment mechanism in parallel, can effectively it fit Close the size of different wearer's arms.Silica shell is installed between strap and the skin of rehabilitation clients, reaches protection skin with delaying Punching.

Brief description of the drawings

Fig. 1 is the structure chart for the apery arm skeleton that the present invention is designed.Figure 1A is the apery arm skeleton and people that the present invention is designed The schematic diagram of body upper limbs wearing.Figure 1B is the silica gel sheath structure chart being socketed on clamping plate.Fig. 1 C be socketed in it is another on clamping plate Silica gel sheath structure chart.Fig. 1 D are another visual angle schematic diagrames that the apery arm skeleton that the present invention is designed is dressed with human upper limb.Fig. 1 E It is the use state figure for the apery arm skeleton that the present invention is designed.Fig. 2A is the structure picture of upper arm assembly of the present invention.Fig. 2 B are these Another viewing angle constructions picture of invention upper arm assembly.Fig. 2 C are the structure charts of upper armlet in upper arm assembly of the present invention.Fig. 2 D are these The structure chart of upper skeleton in invention upper arm assembly.Fig. 2 E are the structure charts of BA-T shape parts in upper arm assembly of the present invention.Fig. 2 F are these The structure chart of BB-T shapes part in invention upper arm assembly.Fig. 2 G are the structure charts of BC-T shape parts in upper arm assembly of the present invention.Fig. 2 H are The structure chart of BA ropes fastener in upper arm assembly of the present invention.Fig. 2 I are the structure charts of BB rope fasteners in upper arm assembly of the present invention. Fig. 2 J are the structure charts of BC rope fasteners in upper arm assembly of the present invention.Fig. 2 K are the knots of BD rope fasteners in upper arm assembly of the present invention Composition.Fig. 2 L are the structure charts of BE rope fasteners in upper arm assembly of the present invention.Fig. 2 M are BF rope fastenings in upper arm assembly of the present invention The structure chart of part.Fig. 2 N are the structure charts that BA follows clamping plate group in upper arm assembly of the present invention.During Fig. 2 O are upper arm assembly of the present invention BA follows another viewing angle constructions figure of clamping plate group.Fig. 2 P are the structure charts that BB follows clamping plate group in upper arm assembly of the present invention.Fig. 2 Q It is another viewing angle constructions figure that BB follows clamping plate group in upper arm assembly of the present invention.Fig. 2 R are that BC follows folder in upper arm assembly of the present invention The structure chart of plate group.Fig. 2 S are another viewing angle constructions figures that BC follows clamping plate group in upper arm assembly of the present invention.Fig. 3 A are the present invention The structure chart of forearm component.Fig. 3 B are the structure charts of lower armlet in forearm component of the present invention.During Fig. 3 C are forearm component of the present invention The structure chart of lower skeleton.Fig. 3 D are the structure charts of CA-T shape parts in forearm component of the present invention.During Fig. 3 E are forearm component of the present invention The structure chart of CB-T shape parts.Fig. 3 F are the structure charts of CC-T shape parts in forearm component of the present invention.Fig. 3 G are forearm components of the present invention The structure chart of middle CA ropes fastener.Fig. 3 H are the structure charts of CB rope fasteners in forearm component of the present invention.Before Fig. 3 I are the present invention CA follows the structure chart of clamping plate group in arm component.Fig. 3 J are the structure charts that CB follows clamping plate group in forearm component of the present invention.Fig. 3 K It is the structure chart that CC follows clamping plate group in forearm component of the present invention.Fig. 4 A are the structure charts of wrist assembly of the present invention.Fig. 4 B are The exploded view of wrist assembly of the present invention.Fig. 4 C are a face structure charts of elbow joint structure body in wrist assembly of the present invention.Figure 4D is the another side structure chart of elbow joint structure body in wrist assembly of the present invention.

Embodiment

Below in conjunction with accompanying drawing, the present invention is described in further detail.Wearable rope drives upper limbs exoskeleton rehabilitation machine Man-machine motion/power that device people carries out physical layer with patient is interacted, simultaneously because dyskinesia suffering limb loses normal Locomitivity, the self-protection ability of patient is poor, therefore the present invention devises a kind of be applied in the driving of existing Wearable rope The apery arm skeleton of limb exoskeleton rehabilitation robot.The apery arm skeleton can realize the upper limbs of rehabilitation clients (patient) carry arm, The introflexion of swing arm, pivoted arm and elbow joint overhanging motion, the in addition exoskeleton rehabilitation robot of fit on apery arm skeleton Security is improved.Based on upper limbs anatomical physiology, humerus constitutes alone the upper arm of apery arm skeleton, and radius and ulna are common Constitute forearm.

Referring to shown in Fig. 1, Figure 1A and Fig. 1 D, the apery arm skeleton that the present invention is designed includes wrist assembly 1, upper arm group Part 2, forearm component 3 and six ropes (10A~10F).The rope (10A~10F) is driven by direct current unit 11F, direct current Group of motors 11F belongs to a part for the motion control subsystem of Wearable rope driving upper limbs exoskeleton rehabilitation robot.Direct current Unit 11F controls apery arm skeleton to be moved according to man-machine motion/power interactive instruction of the motion control subsystem, So as to drive the upper limbs of rehabilitation clients (patient) to realize the overhanging motion of the introflexion of carry arm, swing arm, pivoted arm and elbow joint.In this hair In bright, six ropes (10A~10F) are steel wire cord, and steel wire ine wound is in line wheel, and line wheel is arranged on motor output shaft On.Referring to the use state figure shown in Fig. 1 E, in order to realize that apery arm skeleton drives upper limbs exoskeleton rehabilitation machine with Wearable rope The installation of device people, A support bars 10G and B support bars 10H one end is fixed on cabinet 11G, A support bars 10G and B support bars 10H The other end be fixed on U-shaped guide rail 11E.Rope fastener (11A, 11B, 11C and 11D) is installed on the U-shaped guide rail 11E.

Wrist assembly 1

Referring to shown in Fig. 1, Figure 1A, Fig. 4 A and Fig. 4 B, wrist assembly 1 is by ancon upper connecting rod 1A, ancon lower link 1B, elbow Articulation structure body 1C, joint shaft 1D, deep groove ball bearing 1E and ancon end cap 1F compositions.In the present invention, ancon upper connecting rod 1A, elbow Subordinate's connecting rod 1B and elbow joint structure body 1C are designed to slab construction, can prevent outside the controlled Wearable rope driving upper limbs of wearer The amplitude of oscillation that bone healing robot is instructed is excessive, and the motion caused is inadaptable, uncoordinated, using the flexible elbow joint of reed design Carry out embolia.

Ancon upper connecting rod 1A lower end, which is provided with, is used for the AA through hole 1A2 that AA screws 1G is passed through, ancon upper connecting rod 1A upper end Provided with the AA stopper slots 1A1 passed through for AD screws 1J.The AA screws 1G sequentially passes through elbow joint structure body 1C projection 1C1 AD through holes 1C2, ancon upper connecting rod 1A AA through holes 1A2 after, thread bush connect nut realize ancon upper connecting rod 1A lower end with Elbow joint structure body 1C projection 1C1 fixation.The AD screws 1J is sequentially through on the through holes of BA clamping plate 22A lower ends, ancon After connecting rod 1A AA stopper slots 1A1, socket top nut is realized that ancon upper connecting rod 1A upper end is fixed with BA clamping plates 22A lower end and pacified Dress.AD screws 1J slides fixation in the AA stopper slots 1A1 of ancon upper connecting rod 1A upper ends, plays regulation ancon upper connecting rod 1A and BA Clamping plate 22A regular length, the upper arm and forearm of wearer (rehabilitation clients, patient) upper limbs are debugged by adjusting regular length Length, while making elbow joint structure body 1C use position meet the elbow joint position of human body.

Ancon lower link 1B upper end, which is provided with, is used for AC screws 1I through AB through hole 1B2, and for placing deep-groove ball axle 1E AC through hole 1B3 are held, deep groove ball bearing 1E is socketed on joint shaft 1D.The AC screws 1I is sequentially through ancon end cap 1F's After AE through holes 1F1, ancon lower link 1B AB through holes 1B2, thread bush connects upper end and the elbow that nut realizes ancon lower link 1B Portion end cap 1F fixed installation.Ancon lower link 1B lower end, which is provided with, is used for AB stopper slots 1B1, the AE that AE screws 1K is passed through Screw 1K is sequentially passed through after the through hole of BB clamping plate 32A upper ends, ancon lower link 1B AB stopper slots 1B1, and socket top nut is realized Ancon lower link 1B lower end is fixedly mounted with BB clamping plates 32A upper end.Limited location hollow cylinder 1L is socketed on AE screws 1K, is led to Spacing hollow cylinder 1L is crossed to adjust the height of forearm and upper arm.AB stopper slots of the AE screws 1K in ancon lower link 1B lower ends Slide and fix in 1B1, play regulation ancon lower link 1B and BB clamping plates 32A regular length, adjusted by adjusting regular length The forearm and the length of hand of wearer (rehabilitation clients, patient) upper limbs are tried on, while making the use position of forearm component 3 meet before human body The length of arm.

As shown in Fig. 4 B, Fig. 4 C and Fig. 4 D, elbow joint structure body 1C is the unitary flexible driving knot that linear cutter is obtained Structure body, which is provided with concyclic four groups of reeds (A group reed 1M, B group reed 1N, C group reed 1P, D groups reed 1Q).Elbow joint knot Structure body 1C middle part is provided with the cavity 1C4 for fixing joint axle 1D one end.Elbow joint structure body 1C one end is provided with projection 1C1, projection 1C1, which are provided with, is used for the AD through holes 1C2 that AA screws 1G is passed through.The elbow joint structure body 1C other end is provided with outer disc 1C3 and interior annular 1C5, is A group reed 1M, B group reed 1N, C group reed 1P and D group springs between outer disc 1C3 and interior annular 1C5 Piece 1Q.

Upper arm assembly 2

Referring to shown in Fig. 1, Fig. 2A and Fig. 2 B, upper arm assembly 2 include armlet 2A, upper skeleton 2B, three groups follow clamping plate Group (21,22,23), three T-pieces (2C, 2D, 2E), six rope fasteners (2F, 2G, 2H, 2I, 2J, 2K).Wherein, every group with It is made up of with clamping plate group (such as Fig. 2 N~Fig. 2 S) clamping plate, sliding block, swing component.Every group of rope fastener (such as Fig. 2 H~Fig. 2 M) is by L-shaped Part and pressing plate are constituted.Rope fastener is used for the one end for fixing rope.Fastener (2F, 2G, 2H, 2I, 2J, 2K) restrict in upper armlet 2A On choose after installation site, fixation is reached by the cooperation of screw and nut.Rope fastener chooses position and is fixed on armlet 2A Afterwards, it will not be slided along upper armlet 2A.

Three groups follow clamping plate group (21,22,23)

BA follows clamping plate group 21 to follow the structure of clamping plate group 23 identical with BC.BB follows clamping plate group 22 and BA to follow clamping plate group 21 or BC follows the difference of the structure of clamping plate group 23 to be that BB clamping plates 22A is longer than BA clamping plate 21A or BC clamping plates 23A.BB is pressed from both sides Plate 22A lower end and the ancon upper connecting rod 1A of wrist assembly 1 upper end are fixed.Rehabilitation training is carried out using skeleton of the present invention When, BA clamping plate 21A, BB clamping plate 22A and BC clamping plates 23A contacted with skin should install silica gel sheath, the knot of the silica gel sheath Structure is as shown in Fig. 1 C or Fig. 1 D.

As shown in Fig. 2A, Fig. 2 N, Fig. 2 O, BA follows clamping plate group 21 to include BA clamping plate 21A, BA sliding blocks 21B and BA swing Part 21C.BA clamping plates 21A upper end is provided with BA cross recesses 21A2, and the BA cross recesses 21A2 is used to place BA shaft coupling pieces 21B1； BA clamping plates 21A lower end is used for the BA threaded circulars for installing BB shaft coupling pieces 21C1 provided with BA screwed holes 21A1, BA screwed hole 21A1 Post 21C11.BA sliding blocks 21B is made up of BA shaft coupling piece 21B1, BA threaded rod 21B2, BA nut 21B3 and BB nuts 21B4；BA Shaft coupling piece 21B1 is provided with the BB screwed holes 21B11 for being used for connecting BA threaded rod 21B2 one end；BA threaded rods 21B2's is another Hold the connection BB nuts 21B4 through after the through hole on BA nuts 21B3, upper skeleton 2B.BA swing components 21C is by BB shaft coupling pieces 21C1, BA intermediate mass 21C5, BB threaded rod 21C2, BC nut 21C3 and BD nut 21C4 are constituted；The one of BB shaft coupling pieces 21C1 End is that BA thread cylinders 21C11, the BB shaft coupling piece 21C1 other end has BA lug 21C12 and BB lug 21C13, and BA lugs BA intermediate mass 21C5 is provided with by BA axle screws 21C6 between 21C12 and BB lugs 21C13；BA intermediate mass 21C5 is provided with BA Through hole 21C51 and BC screwed hole 21C52, and BA through holes 21C51 and BC screwed holes 21C52 is vertically arranged；The BA through holes 21C51 Passed through for BA axle screws 21C6；The BC screwed holes 21C52 is used for the one end for installing BB threaded rods 21C2, BB threaded rods 21C2 The other end through connection BD nuts 21C4 after the through hole on BC nuts 21C3, upper skeleton 2B.

As shown in Fig. 2A, Fig. 2 P, Fig. 2 Q, BB follows clamping plate group 22 to include BB clamping plate 22A, BB sliding blocks 22B and BB swing Part 22C.BB clamping plates 22A upper end is provided with BB cross recesses 22A2, and the BB cross recesses 22A2 is used to place BC shaft coupling pieces 22B1； BB clamping plates 22A lower end is used for the BB threaded circulars for installing BD shaft coupling pieces 22C1 provided with BD screwed holes 22A1, BD screwed hole 22A1 Post 22C11.BB sliding blocks 22B is made up of BC shaft coupling piece 22B1, BC threaded rod 22B2, BE nut 22B3 and BF nuts 22B4；BC Shaft coupling piece 22B1 is provided with the BE screwed holes 22B11 for being used for connecting BC threaded rod 22B2 one end；BC threaded rods 22B2's is another Hold the connection BF nuts 22B4 through after the through hole on BE nuts 22B3, upper skeleton 2B.BB swing components 22C is by BD shaft coupling pieces 22C1, BB intermediate mass 22C5, BD threaded rod 22C2, BG nut 22C3 and BH nut 22C4 are constituted；The one of BD shaft coupling pieces 22C1 End is that BB thread cylinders 22C11, the BD shaft coupling piece 22C1 other end has BC lug 22C12 and BD lug 22C13, and BC lugs BB intermediate mass 22C5 is provided with by BB axle screws 22C6 between 22C12 and BD lugs 22C13；BB intermediate mass 22C5 is provided with BB Through hole 22C51 and BF screwed hole 22C52, and BB through holes 22C51 and BF screwed holes 22C52 is vertically arranged；The BB through holes 22C51 Passed through for BB axle screws 22C6；The BF screwed holes 22C52 is used for the one end for installing BD threaded rods 22C2, BD threaded rods 22C2 The other end through connection BH nuts 22C4 after the through hole on BG nuts 22C3, upper skeleton 2B.

As shown in Fig. 2A, Fig. 2 R, Fig. 2 S, BC follows clamping plate group 23 to include BC clamping plate 23A, BC sliding blocks 23B and BC swing Part 23C.BC clamping plates 23A upper end is provided with BC cross recesses 23A2, and the BC cross recesses 23A2 is used to place BE shaft coupling pieces 23B1； BC clamping plates 23A lower end is used for the BC threaded circulars for installing BF shaft coupling pieces 23C1 provided with BG screwed holes 23A1, BG screwed hole 23A1 Post 23C11.BC sliding blocks 23B is made up of BE shaft coupling piece 23B1, BE threaded rod 23B2, BI nut 23B3 and BJ nuts 23B4；BE Shaft coupling piece 23B1 is provided with the BH screwed holes 23B11 for being used for connecting BE threaded rod 23B2 one end；BE threaded rods 23B2's is another Hold the connection BJ nuts 23B4 through after the through hole on BI nuts 23B3, upper skeleton 2B.BC swing components 23C is by BF shaft coupling pieces 23C1, BC intermediate mass 23C5, BF threaded rod 23C2, BK nut 23C3 and BL nut 23C4 are constituted；The one of BF shaft coupling pieces 23C1 End is that BC thread cylinders 23C11, the BF shaft coupling piece 23C1 other end has BE lug 23C12 and BF lug 23C13, and BE lugs BC intermediate mass 23C5 is provided with by BC axle screws 23C6 between 23C12 and BF lugs 23C13；BC intermediate mass 23C5 is provided with BC Through hole 23C51 and BI screwed hole 23C52, and BC through holes 23C51 and BI screwed holes 23C52 is vertically arranged；The BC through holes 23C51 Passed through for BC axle screws 23C6；The BI screwed holes 23C52 is used for the one end for installing BF threaded rods 23C2, BF threaded rods 23C2 The other end through connection BL nuts 23C4 after the through hole on BK nuts 23C3, upper skeleton 2B.

Upper armlet 2A

Referring to shown in Fig. 2 C, upper armlet 2A is U-shaped structure body.Upper armlet 2A ring body provided with chute (2A4,2A5, 2A6), upper armlet ring body is divided into the upper retainer ring 2A0 of inner side and upper rail ring (2A9-1, the 2A9- in outside by the chute 2nd, 2A9-3), rope fastener is arranged on upper rail ring by the cooperation of screw and nut, and rope fastener is with respect to upper rail ring It is skid-resistant.Upper armlet 2A inner side (i.e. upper retainer ring 2A0 inner side) be provided be used to being connected with T-piece boss (2A1, 2A2,2A3), by the connection of boss and T-piece, realize that one end of T-piece is fixed on armlet 2A, the other end of T-piece It is fixed on upper skeleton 2B.Upper armlet 2A inner side is provided with BA boss 2A1, BB boss 2A2 and BC boss 2A3.BA boss 2A1 is put In in BA-T shape parts 2C BA medial launders, and it is convex by the cooperation of screw and nut to realize that BA-T shape parts 2C one end is fixed on BA On platform 2A1.BB boss 2A2 is placed in BB-T shape parts 2D BB medial launders, and realizes BA-T shapes by the cooperation of screw and nut Part 2D one end is fixed on BB boss 2A2.BC boss 2A3 is placed in BC-T shape parts 2E BC medial launders, and by screw with The cooperation of nut realizes that BA-T shape parts 2E one end is fixed on BC boss 2A3.Upper armlet 2A ring body, which is provided with, to be used to place BA chute 2A4, BB chute 2A5, BC chutes 2A6 that screw is passed through；There is BA BA chutes 2A4 one end with BB chutes 2A5 one end Dividing plate 2A7, the BA dividing plates 2A7 are for limiting slips of the BA rope fastener 2F and BB ropes fastener 2G on upper rail ring 2A9 Position；The BB chutes 2A5 other end has BB dividing plates 2A8, the BB dividing plates 2A8 for limiting BE ropes with BC chutes 2A6 one end Sliding positions of fastener 2J and BF rope the fastener 2K on upper rail ring 2A9；BA upper rail rings on the outside of BA chutes 2A4 2A9-1 is used for BA rope fasteners 2F and slided；BB upper rail rings 2A9-2 on the outside of BB chutes 2A5 be used for BB rope fasteners 2G, BC rope fastener 2H, BD rope fastener 2I and BE rope fasteners 2J is slided；BC upper rail rings 2A9- on the outside of BC chutes 2A6 3, which are used for BF rope fasteners 2K, slides.In the present invention, chute (2A4,2A5,2A6) divides upper armlet 2A the upper fixation for inner side Ring 2A0 and the upper rail ring (2A9-1,2A9-2,2A9-3) in outside are that rope fastener chooses the fixed peace behind position for convenience Dress, the fixed position of suitable rope fastener is found by slip of the screw in chute (2A4,2A5,2A6).

Upper skeleton 2B

Referring to shown in Fig. 2A, Fig. 2 D, upper skeleton 2B is provided with BA rib 2B1, BB rib 2B2, BC ribs 2B3；BA ribs BA, which is fixed with, on the wainscot that BA-T shape part 2C, BA ribs 2B1 is fixed with 2B1 outer panels follows clamping plate group 21；BB ribs BB, which is fixed with, on the wainscot that BB-T shape part 2D, BB ribs 2B2 is fixed with 2B2 outer panels follows clamping plate group 22；BC ribs BC, which is fixed with, on the wainscot that BC-T shape part 2E, BC ribs 2B3 is fixed with 2B3 outer panels follows clamping plate group 23.In this hair In bright, in order to mitigate upper skeleton 2B from weight, on upper skeleton 2B be provided with lightening hole.

Three T-pieces (2C, 2D, 2E)

In the present invention, BA-T shapes part 2C, BB-T shapes part 2D and BC-T shape part 2E structure is identical.The side of T-piece one Face is used to support armlet 2A, on the other hand play the distance between restriction upper skeleton 2B and upper armlet 2A (i.e. radial direction away from From).As shown in Figure 2 E, BA-T shapes part 2C is erected provided with BA riser 2C1, BB riser 2C2 and BA transverse slat 2C3, BA riser 2C1 and BB It is BA-U shape grooves 2C4 between plate 2C2；It is used for the BA boss 2A1 for placing armlet 2A in the BA-U shapes groove 2C4, and passes through spiral shell The cooperation of nail and nut, which is realized, to be fixed；The two ends of the BA transverse slats 2C3, which are provided with, is used for the through hole that screw is passed through.As shown in Figure 2 F, BB-T shape parts 2D is BB-U between being provided with BC riser 2D1, BD riser 2D2 and BB transverse slat 2D3, BC riser 2D1 and BD risers 2D2 Shape groove 2D4；It is used for the BB boss 2A2 for placing armlet 2A in the BB-U shapes groove 2D4, and it is real by the cooperation of screw and nut Now fix；The two ends of the BB transverse slats 2D3, which are provided with, is used for the through hole that screw is passed through.As shown in Figure 2 G, BC-T shapes part 2E is provided with It is BC-U shape grooves 2E4 between BE riser 2C1, BF riser 2C2 and BC transverse slat 2C3, BE riser 2E1 and BF risers 2E2；The BC-U It is used for the BC boss 2A3 for placing armlet 2A in shape groove 2E4, and fixation is realized by the cooperation of screw and nut；The BC is horizontal Plate 2E3 two ends, which are provided with, is used for the through hole that screw is passed through.

Six rope fasteners (2F, 2G, 2H, 2I, 2J, 2K)

In the present invention, one end of rope is connected in the line wheel of direct current generator output shaft, and this end is referred to as exporting end, rope The end that the other end of son is connected on the self-lubricating bearing of rope fastener is referred to as bearing end.

The structure of six rope fasteners is identical.As illustrated in figure 2h, BA restricts fastener 2F by BA-L shape parts 2F1, BA pressure Plate 2F2 and BA self-lubricating bearing 2F3 is constituted.BA self-lubricating bearings 2F3 is used for the bearing end for connecting the first rope 10A.BA-L Shape part 2F1 is provided with the BA shaft through-holes 2F11 for being used for placing BA self-lubricating bearings 2F3.BA-L shape part 2F1 and BA pressing plates 2F2 passes through Screw coordinates with nut to be fixed on BA upper rail rings 2A9-1.As shown in Fig. 1, Figure 1A, Fig. 1 D, the first rope 10A output rope End is connected with the output shaft of direct current generator, and the first rope 10A bearing end connects after AA rope fasteners 11A self-lubricating bearing On the BA self-lubricating bearings 2F3 for being connected on BA rope fasteners 2F.As shown in figure 2i, BB restricts fastener 2G by BB-L shape parts 2G1, BB pressure Plate 2G2 and BB self-lubricating bearing 2G3 is constituted.BB self-lubricating bearings 2G3 is used for the bearing end for connecting the 5th rope 10E.BB-L Shape part 2G1 is provided with the BB shaft through-holes 2G11 for being used for placing BB self-lubricating bearings 2G3.BB-L shape part 2G1 and BB pressing plates 2G2 passes through Screw coordinates with nut to be fixed on BB upper rail rings 2A9-2.As shown in Fig. 1, Figure 1A, the 5th rope 10E output end with The output shaft connection of direct current generator, the 5th rope 10E bearing end connects after BB rope fasteners 2G BB self-lubricating bearings 2G3 On the CA self-lubricating bearings 3F3 for being connected on CA rope fasteners 3F.As shown in fig. 2j, BC restricts fastener 2H by BC-L shape parts 2H1, BC pressure Plate 2H2 and BC self-lubricating bearing 2H3 is constituted.BC self-lubricating bearings 2H3 is used for the bearing end for connecting the second rope 10B.BC-L Shape part 2H1 is provided with the BC shaft through-holes 2H11 for being used for placing BC self-lubricating bearings 2H3.BC-L shape part 2H1 and BC pressing plates 2H2 passes through Screw coordinates with nut to be fixed on BB upper rail rings 2A9-2.As shown in Fig. 1, Figure 1A, Fig. 1 D, the second rope 10B output rope End is connected with the output shaft of direct current generator, and the second rope 10B bearing end connects after AB rope fasteners 11B self-lubricating bearing On the BC self-lubricating bearings 2H3 for being connected on BC rope fasteners 2H.As shown in figure 2k, BD restricts fastener 2I by BD-L shape parts 2I1, BD pressure Plate 2I2 and BD self-lubricating bearing 2I3 is constituted.BD self-lubricating bearings 2I3 is used for the bearing end for connecting the 3rd rope 10D.BD-L Shape part 2I1 is provided with the BD shaft through-holes 2I11 for being used for placing BD self-lubricating bearings 2I3.BD-L shape part 2I1 and BD pressing plates 2I2 passes through Screw coordinates with nut to be fixed on BB upper rail rings 2A9-2.As shown in Fig. 1, Figure 1A, Fig. 1 D, the 3rd rope 10C output rope End is connected with the output shaft of direct current generator, and the 3rd rope 10D bearing end connects after AC rope fasteners 11C self-lubricating bearing On the BD self-lubricating bearings 2I3 for being connected on BD rope fasteners 2I.As shown in figure 2l, BE restricts fastener 2J by BE-L shape parts 2J1, BE pressure Plate 2J2 and BE self-lubricating bearing 2J3 is constituted.BE self-lubricating bearings 2J3 is used for the bearing end for connecting the 4th rope 10E.BE-L Shape part 2J1 is provided with the BE shaft through-holes 2J11 for being used for placing BJ self-lubricating bearings 2F3.BE-L shape part 2J1 and BE pressing plates 2J2 passes through Screw coordinates with nut to be fixed on BB upper rail rings 2A9-2.As shown in Fig. 1, Fig. 1 D, the 4th rope 10D output end with The output shaft connection of direct current generator, the 4th rope 10D bearing end is connected to after AD rope fasteners 11D self-lubricating bearing On the BE self-lubricating bearings 2J3 that BE restricts fastener 2J.As shown in figure 2m, BF restricts fastener 2K by BF-L shape part 2K1, BF pressing plates 2K2 and BF self-lubricating bearings 2K3 is constituted.BF self-lubricating bearings 2K3 is used for the bearing end for connecting the 6th rope 10F.BF-L shapes Part 2K1 is provided with the BF shaft through-holes 2K11 for being used for placing BF self-lubricating bearings 2K3.BF-L shape part 2K1 and BF pressing plates 2K2 passes through spiral shell Nail coordinates with nut to be fixed on BC upper rail rings 2A9-3.As shown in Fig. 1, Fig. 1 D, the 6th rope 10F output end with it is straight The output shaft connection of motor is flowed, the 6th rope 10F bearing end is connected after BF rope fasteners 2K BF self-lubricating bearings 2K3 On the CB self-lubricating bearings 3G3 that BB restricts fastener 3G.

Forearm component 3

Referring to shown in Fig. 1 and Fig. 3 A, forearm component 3 include lower armlet 3A, lower skeleton 3B, three groups follow clamping plate group (31, 32nd, 33), three T-pieces (3C, 3D, 3E), two rope fasteners (3F, 3G).Wherein, every group follow clamping plate group (Fig. 3 I, Fig. 3 J, Fig. 3 K) it is made up of clamping plate, sliding block, swing component.Every group of rope fastener is made up of L-shaped part and pressing plate.Fastener (3F, 3G) restrict under Chosen on armlet 3A after installation site, fixation is reached by the cooperation of screw and nut.In the present invention, six ropes pass through spiral shell Nail be separately fixed at it is respective rope fastener on, rope under the driving of motor, realize rope gathering or relieving reach it is logical Rope is crossed while pulling upper arm assembly 2 and forearm component 3 to move, so that the upper limbs of human body passively completes rehabilitation training.

Three groups follow clamping plate group (31,32,33)

CA follows clamping plate group 31 to follow the structure of clamping plate group 33 identical with CC.CB follows clamping plate group 32 and CA to follow clamping plate group 31 or CC follows the difference of the structure of clamping plate group 33 to be that CB clamping plates 32A is longer than CA clamping plate 31A or CC clamping plates 33A.CB is pressed from both sides Plate 32A upper end and the ancon lower link 1B of wrist assembly 1 lower end are fixed.Rehabilitation training is carried out using skeleton of the present invention When, CA clamping plate 31A, CB clamping plate 32A and CC clamping plates 33A contacted with skin should install silica gel sheath, the knot of the silica gel sheath Structure is as shown in Fig. 1 C or Fig. 1 D.

As shown in Fig. 3 A, Fig. 3 I, CA follows clamping plate group 31 to include CA clamping plate 31A, CA sliding block 31B and CA swing components 31C. CA clamping plates 31A upper end is provided with CA cross recesses 31A2, and the CA cross recesses 31A2 is used to place CA shaft coupling pieces 31B1；CA clamping plates 31A lower end is used for the CA thread cylinders for installing CB shaft coupling pieces 31C1 provided with CA screwed holes 31A1, CA screwed hole 31A1 31C11.CA sliding blocks 31B is made up of CA shaft coupling piece 31B1, CA threaded rod 31B2, CA nut 31B3 and CB nuts 31B4；CA axles Connector 31B1 is provided with the CB screwed holes 31B11 for being used for connecting CA threaded rod 31B2 one end；The CA threaded rods 31B2 other end CB nuts 31B4 is connected after through the through hole on CA nuts 31B3, upper skeleton 2B.CA swing components 31C by CB shaft coupling pieces 31C1, CA intermediate mass 31C5, CB threaded rod 31C2, CC nut 31C3 and CD nuts 31C4 is constituted；CB shaft coupling pieces 31C1 one end is CA Thread cylinder 31C11, the CB shaft coupling piece 31C1 other end has CA lug 31C12 and CB lug 31C13, and CA lugs 31C12 CA intermediate mass 31C5 is provided with by CA axle screws 31C6 between CB lugs 31C13；CA intermediate mass 31C5 is provided with CA through holes 31C51 and CC screwed hole 31C52, and CA through holes 31C51 and CC screwed holes 31C52 is vertically arranged；The CA through holes 31C51 is used for CA axle screws 31C6 is passed through；The CC screwed holes 31C52 is used for the one end for installing CB threaded rods 31C2, and CB threaded rods 31C2's is another One end passes through connection CD nuts 31C4 after the through hole on CC nuts 31C3, upper skeleton 2B.

As shown in Fig. 3 A, Fig. 3 J, CB follows clamping plate group 32 to include CB clamping plate 32A, CB sliding block 32B and CB swing components 32C. CB clamping plates 32A upper end is provided with CB cross recesses 32A2, and the CB cross recesses 32A2 is used to place CC shaft coupling pieces 32B1；CB clamping plates 32A lower end is used for the CB thread cylinders for installing CD shaft coupling pieces 32C1 provided with CD screwed holes 32A1, CD screwed hole 32A1 32C11.CB sliding blocks 32B is made up of CC shaft coupling piece 32B1, CC threaded rod 32B2, CE nut 32B3 and CF nuts 32B4；CC axles Connector 32B1 is provided with the CE screwed holes 32B11 for being used for connecting CC threaded rod 32B2 one end；The CC threaded rods 32B2 other end CF nuts 32B4 is connected after through the through hole on CE nuts 32B3, upper skeleton 2B.CB swing components 32C by CD shaft coupling pieces 32C1, CB intermediate mass 32C5, CD threaded rod 32C2, CG nut 32C3 and CH nuts 32C4 is constituted；CD shaft coupling pieces 32C1 one end is CB Thread cylinder 32C11, the CD shaft coupling piece 32C1 other end has CC lug 32C12 and CD lug 32C13, and CC lugs 32C12 CB intermediate mass 32C5 is provided with by CB axle screws 32C6 between CD lugs 32C13；CB intermediate mass 32C5 is provided with CB through holes 32C51 and CF screwed hole 32C52, and CB through holes 32C51 and CF screwed holes 32C52 is vertically arranged；The CB through holes 32C51 is used for CB axle screws 32C6 is passed through；The CF screwed holes 32C52 is used for the one end for installing CD threaded rods 32C2, and CD threaded rods 32C2's is another One end passes through connection CH nuts 32C4 after the through hole on CG nuts 32C3, upper skeleton 2B.

As shown in Fig. 3 A, Fig. 3 K, CC follows clamping plate group 33 to include CC clamping plate 33A, CC sliding block 33B and CC swing components 33C. CC clamping plates 33A upper end is provided with CC cross recesses 33A2, and the CC cross recesses 33A2 is used to place CE shaft coupling pieces 33B1；CC clamping plates 33A lower end is used for the CC thread cylinders for installing CF shaft coupling pieces 33C1 provided with CG screwed holes 33A1, CG screwed hole 33A1 33C11.CC sliding blocks 33B is made up of CE shaft coupling piece 33B1, CE threaded rod 33B2, CI nut 33B3 and CJ nuts 33B4；CE axles Connector 33B1 is provided with the CH screwed holes 33B11 for being used for connecting CE threaded rod 33B2 one end；The CE threaded rods 33B2 other end CJ nuts 33B4 is connected after through the through hole on CI nuts 33B3, upper skeleton 2B.CC swing components 33C by CF shaft coupling pieces 33C1, CC intermediate mass 33C5, CF threaded rod 33C2, CK nut 33C3 and CL nuts 33C4 is constituted；CF shaft coupling pieces 33C1 one end is CC Thread cylinder 33C11, the CF shaft coupling piece 33C1 other end has CE lug 33C12 and CF lug 33C13, and CE lugs 33C12 CC intermediate mass 33C5 is provided with by CC axle screws 33C6 between CF lugs 33C13；CC intermediate mass 33C5 is provided with CC through holes 33C51 and CI screwed hole 33C52, and CC through holes 33C51 and CI screwed holes 33C52 is vertically arranged；The CC through holes 33C51 is used for CC axle screws 33C6 is passed through；The CI screwed holes 33C52 is used for the one end for installing CF threaded rods 33C2, and CF threaded rods 33C2's is another One end passes through connection CL nuts 33C4 after the through hole on CK nuts 33C3, upper skeleton 2B.

Lower armlet 3A

Referring to shown in Fig. 3 A, Fig. 3 B, lower armlet 3A is U-shaped structure body.Lower armlet 3A ring body provided with chute (3A4, 3A5,3A6), by the chute by upper armlet ring body be divided into inner side upper retainer ring 3A0 and outside upper rail ring (3A9-1, 3A9-2,3A9-3), rope fastener is arranged on upper rail ring by the cooperation of screw and nut, and rope fastener is with respect to upper rail Ring is skid-resistant.Upper armlet 3A inner side (i.e. upper retainer ring 3A0 inner side) is provided with the boss for being used for being connected with T-piece (3A1,3A2,3A3), by the connection of boss and T-piece, realizes that one end of T-piece is fixed on armlet 3A, T-piece it is another One end is fixed on upper skeleton 3B.Upper armlet 3A inner side is provided with CA boss 3A1, CB boss 3A2 and CC boss 3A3.CA boss 3A1 is placed in CA-T shape parts 3C CA medial launders, and realizes that CA-T shape parts 3C one end is fixed by the cooperation of screw and nut On CA boss 3A1.CB boss 3A2 is placed in CB-T shape parts 3D CB medial launders, and is realized by the cooperation of screw and nut CA-T shape parts 3D one end is fixed on CB boss 3A2.CC boss 3A3 is placed in CC-T shape parts 3E CC medial launders, and is passed through The cooperation of screw and nut realizes that CA-T shape parts 3E one end is fixed on CC boss 3A3.Upper armlet 3A ring body is provided with use CA chute 3A4, CB chute 3A5, CC chutes 3A6 passed through in placement screw；CA chutes 3A4 one end and the one of CB chutes 3A5 End has CA dividing plates 3A7, the CA dividing plates 3A7 to be used to limit CA rope fastener 3F and CB ropes fastener 3G in upper rail ring 3A9 Sliding position；The CB chutes 3A5 other end has CB dividing plates 3A8, the CB dividing plates 3A8 for limiting with CC chutes 3A6 one end Sliding positions of the CE rope fasteners 3J and CF rope fastener 3K processed on upper rail ring 3A9；On the CA on the outside of CA chutes 3A4 Guide rail ring 3A9-1 is used for CA rope fasteners 3F and slided；It is tight that CB upper rail rings 3A9-2 on the outside of CB chutes 3A5 is used for CB ropes Firmware 3G, CC rope fastener 3H, CD rope fastener 3I and CE rope fastener 3J are slided；Led on the CC on the outside of CC chutes 3A6 Rail ring 3A9-3 is used for CF rope fasteners 3K and slided.In the present invention, lower armlet 3A points are inner side by chute (3A4,3A5,3A6) Lower retainer ring 3A0 and outside lower guideway ring (3A9-1,3A9-2,3A9-3) be for convenience rope fastener choose behind position Fixed installation, the fixed position of suitable rope fastener is found by slip of the screw in chute (3A4,3A5,3A6).

Lower skeleton 3B

Referring to shown in Fig. 3 A, Fig. 3 C, lower skeleton 2B is provided with CA rib 3B1, CB rib 3B2, CC ribs 3B3；CA ribs CA, which is fixed with, on the wainscot that CA-T shape part 3C, CA ribs 3B1 is fixed with 3B1 outer panels follows clamping plate group 31；CB ribs CB, which is fixed with, on the wainscot that CB-T shape part 3D, CB ribs 3B2 is fixed with 3B2 outer panels follows clamping plate group 32；CC ribs CC, which is fixed with, on the wainscot that CC-T shape part 3E, CC ribs 3B3 is fixed with 3B3 outer panels follows clamping plate group 33.In this hair In bright, in order to mitigate lower skeleton 3B from weight, on lower skeleton 3B be provided with lightening hole.

Three T-pieces (3C, 3D, 3E)

In the present invention, CA-T shapes part 3C, CB-T shapes part 3D and CC-T shape part 3E structure is identical.The side of T-piece one Face is used to support armlet 3A, on the other hand play the distance between restriction upper skeleton 3B and upper armlet 3A (i.e. radial direction away from From).As shown in Figure 3 D, CA-T shapes part 3C is erected provided with CA riser 3C1, CB riser 3C2 and CA transverse slat 3C3, CA riser 3C1 and CB It is CA-U shape grooves 3C4 between plate 3C2；It is used for the CA boss 3A1 for placing armlet 3A in the CA-U shapes groove 3C4, and passes through spiral shell The cooperation of nail and nut, which is realized, to be fixed；The two ends of the CA transverse slats 3C3, which are provided with, is used for the through hole that screw is passed through.As shown in FIGURE 3 E, CB-T shape parts 3D is CB-U between being provided with CC riser 3D1, CD riser 3D2 and CB transverse slat 3D3, CC riser 3D1 and CD risers 3D2 Shape groove 3D4；It is used for the CB boss 3A2 for placing armlet 3A in the CB-U shapes groove 3D4, and it is real by the cooperation of screw and nut Now fix；The two ends of the CB transverse slats 3D3, which are provided with, is used for the through hole that screw is passed through.As illustrated in Figure 3 F, CC-T shapes part 3E is provided with It is CC-U shape grooves 3E4 between CE riser 3C1, CF riser 3C2 and CC transverse slat 3C3, CE riser 3E1 and CF risers 3E2；The CC-U It is used for the CC boss 3A3 for placing armlet 3A in shape groove 3E4, and fixation is realized by the cooperation of screw and nut；The CC is horizontal Plate 3E3 two ends, which are provided with, is used for the through hole that screw is passed through.

Two rope fasteners (3F, 3G)

The structure of two rope fasteners is identical.As shown in Figure 3 G, CA restricts fastener 3F by CA-L shape parts 3F1, CA pressure Plate 3F2 and CA self-lubricating bearing 3F3 is constituted.CA self-lubricating bearings 3F3 is used for the bearing end for connecting the 5th rope 10E.CA-L Shape part 3F1 is provided with the CA shaft through-holes 3F11 for being used for placing CA self-lubricating bearings 3F3.CA-L shape part 3F1 and CA pressing plates 3F2 passes through Screw coordinates with nut to be fixed on CA upper rail rings 3A9-1.As shown in Fig. 1, Figure 1A, the 5th rope 10E output end with The output shaft connection of direct current generator, the 5th rope 10E bearing end connects after BB rope fasteners 2G BB self-lubricating bearings 2G3 On the CA self-lubricating bearings 3F3 for being connected on CA rope fasteners 3F.As shown in figure 3h, CB restricts fastener 3G by CB-L shape parts 3G1, CB pressure Plate 3G2 and CB self-lubricating bearing 3G3 is constituted.CB self-lubricating bearings 3G3 is used for the bearing end for connecting the 6th rope 10F.CB-L Shape part 3G1 is provided with the CB shaft through-holes 3G11 for being used for placing CB self-lubricating bearings 3G3.CB-L shape part 3G1 and CB pressing plates 3G2 passes through Screw coordinates with nut to be fixed on CB upper rail rings 3A9-2.As shown in Fig. 1, Fig. 1 D, the 6th rope 10F output end with The output shaft connection of direct current generator, the 6th rope 10F bearing end connects after BF rope fasteners 2K BF self-lubricating bearings 2K3 On the CB self-lubricating bearings 3G3 for being connected on BB rope fasteners 3G.

Move explanation：

A kind of Wearable rope that the present invention is designed drives the apery arm skeleton of upper limbs exoskeleton rehabilitation robot, in straight-line electric Under the driving of machine, upper arm assembly 2 is driven to move by the motion of rope (10A, 10B, 10C and 10D), and then drive rehabilitation clients's Upper arm makees rehabilitation exercise；The rehabilitation exercise of the upper arm causes shoulder joint to complete swing arm, carry arm and rotary motion.For elbow joint Motion, under the driving of linear electric motors, upper arm group is driven by the motion of rope (10A, 10B, 10C, 10D, 10E and 10F) Part 2 and forearm component 3 are moved simultaneously, and then drive forearm to do rehabilitation exercise；The rehabilitation exercise of the forearm causes elbow joint complete Into stretch elbow and elbow in the wrong motion, the motion of elbow joint；Under the motion of upper arm assembly 2 and forearm component 3, wrist assembly 1 can be with With moving, i.e. wrist assembly 1 follows the rehabilitation training campaign for realizing human elbow, in order to compensate elbow joint axle The skew of line, more conforms to the Biological Mechanism of rehabilitation clients's upper extremity exercise, is designed, had using the elbow joint structure body of flexible strip Effect ground solves the alignment issues of ectoskeleton structure and human elbow.

Claims

1. a kind of Wearable rope drives the apery arm skeleton of upper limbs exoskeleton rehabilitation robot, it is characterised in that：Apery arm skeleton Include wrist assembly (1), upper arm assembly (2), forearm component (3) and six ropes (10A~10F)；

Wrist assembly (1) by ancon upper connecting rod (1A), ancon lower link (1B), elbow joint structure body (1C), joint shaft (1D), Deep groove ball bearing (1E) and ancon end cap (1F) composition；

Upper arm assembly (2) include armlet (2A), upper skeleton (2B), three groups follow clamping plate group (21,22,23), three T-pieces (2C, 2D, 2E), six rope fasteners (2F, 2G, 2H, 2I, 2J, 2K)；

Forearm component (3) include lower armlet (3A), lower skeleton (3B), three groups follow clamping plate group (31,32,33), three T-pieces (3C, 3D, 3E), two rope fasteners (3F, 3G)；

The upper end of ancon upper connecting rod (1A) and the lower end of the BA clamping plates (22A) of upper arm assembly (2) are fixed, ancon upper connecting rod (1A) Lower end and the projection (1C1) of elbow joint structure body (1C) are fixed；The upper end of ancon lower link (1B) and elbow joint structure body (1C) Ancon end cap (1F) fixation, the upper end of the lower end of ancon lower link (1B) and the BB clamping plates (32A) of forearm component (3) is consolidated It is fixed；

The middle part of elbow joint structure body (1C) is provided with the cavity (1C4) for fixing joint axle (1D) one end.Elbow joint structure body The one end of (1C) is provided with projection (1C1), and projection (1C1), which is provided with, is used for the AD through holes (1C2) that AA screws (1G) are passed through.Elbow joint The other end of structure (1C) is provided with outer disc (1C3) and interior annular (1C5), is between outer disc (1C3) and interior annular (1C5) A groups reed (1M), B groups reed (1N), C groups reed (1P) and D groups reed (1Q).

Upper armlet (2A) is U-shaped structure body.The ring body of upper armlet (2A) is provided with chute (2A4,2A5,2A6), passes through the cunning Upper armlet ring body is divided into the upper retainer ring (2A0) of inner side and the upper rail ring (2A9-1,2A9-2,2A9-3) in outside by groove；Upper bone Frame (2B) is provided with BA ribs (2B1), BB ribs (2B2), BC ribs (2B3)；It is fixed with the outer panels of BA ribs (2B1) BA, which is fixed with, on BA-T shapes part (2C), the wainscot of BA ribs (2B1) follows clamping plate group (21)；The outer panels of BB ribs (2B2) On be fixed with and be fixed with BB on BB-T shapes part (2D), the wainscot of BB ribs (2B2) and follow clamping plate group (22)；BC ribs (2B3) Outer panels on be fixed with and be fixed with BC on BC-T shapes part (2E), the wainscot of BC ribs (2B3) and follow clamping plate group (23).T-shaped Part (2C, 2D, 2E) is on the one hand used to support armlet (2A), on the other hand plays restriction upper skeleton (2B) and upper armlet (2A) The distance between；BA-T shapes part (2C) is provided with BA risers (2C1), BB risers (2C2) and BA transverse slats (2C3), BA risers (2C1) It is BA-U shapes groove (2C4) between BB risers (2C2)；The BA for being used to place armlet (2A) in the BA-U shapes groove (2C4) is convex Platform (2A1)；BB-T shapes part (2D) be provided with BC risers (2D1), BD risers (2D2) and BB transverse slats (2D3), BC risers (2D1) and It is BB-U shapes groove (2D4) between BD risers (2D2)；It is used for the BB boss for placing armlet (2A) in the BB-U shapes groove (2D4) (2A2)；BC-T shapes part (2E) is provided with BE risers (2C1), BF risers (2C2) and BC transverse slats (2C3), BE risers (2E1) and BF It is BC-U shapes groove (2E4) between riser (2E2)；It is used for the BC boss for placing armlet (2A) in the BC-U shapes groove (2E4) (2A3)；

BA follows clamping plate group (21) to include BA clamping plates (21A), BA sliding blocks (21B) and BA swing components (21C).BA clamping plates (21A) Upper end be provided with BA cross recesses (21A2), the BA cross recesses (21A2) be used for place BA shaft coupling pieces (21B1)；BA clamping plates The lower end of (21A) is provided with BA screwed holes (21A1), and BA screwed holes (21A1) are used for the BA screw threads for installing BB shaft coupling pieces (21C1) Cylinder (21C11).BA sliding blocks (21B) are by BA shaft coupling pieces (21B1), BA threaded rods (21B2), BA nuts (21B3) and BB nuts (21B4) is constituted；BA shaft coupling pieces (21B1) are provided with the BB screwed holes (21B11) for being used for connecting BA threaded rods (21B2) one end； Connection BB nuts (21B4) after through hole of the other end of BA threaded rods (21B2) through BA nuts (21B3), on upper skeleton (2B). BA swing components (21C) by BB shaft coupling pieces (21C1), BA intermediate mass (21C5), BB threaded rods (21C2), BC nuts (21C3) and BD nuts (21C4) are constituted；One end of BB shaft coupling pieces (21C1) is BA thread cylinders (21C11), BB shaft coupling pieces (21C1) The other end has passes through BA between BA lugs (21C12) and BB lugs (21C13), and BA lugs (21C12) and BB lugs (21C13) Axle screw (21C6) is provided with BA intermediate mass (21C5)；BA intermediate mass (21C5) is provided with BA through holes (21C51) and BC screwed holes (21C52), and BA through holes (21C51) are vertically arranged with BC screwed holes (21C52)；The BA through holes (21C51) are used for BA axle spiral shells Nail (21C6) is passed through；The BC screwed holes (21C52) are used for the one end for installing BB threaded rods (21C2), BB threaded rods (21C2) Connection BD nuts (21C4) after through hole of the other end through BC nuts (21C3), on upper skeleton (2B).

BB follows clamping plate group (22) to include BB clamping plates (22A), BB sliding blocks (22B) and BB swing components (22C).BB clamping plates (22A) Upper end be provided with BB cross recesses (22A2), the BB cross recesses (22A2) be used for place BC shaft coupling pieces (22B1)；BB clamping plates The lower end of (22A) is provided with BD screwed holes (22A1), and BD screwed holes (22A1) are used for the BB screw threads for installing BD shaft coupling pieces (22C1) Cylinder (22C11).BB sliding blocks (22B) are by BC shaft coupling pieces (22B1), BC threaded rods (22B2), BE nuts (22B3) and BF nuts (22B4) is constituted；BC shaft coupling pieces (22B1) are provided with the BE screwed holes (22B11) for being used for connecting BC threaded rods (22B2) one end； Connection BF nuts (22B4) after through hole of the other end of BC threaded rods (22B2) through BE nuts (22B3), on upper skeleton (2B). BB swing components (22C) by BD shaft coupling pieces (22C1), BB intermediate mass (22C5), BD threaded rods (22C2), BG nuts (22C3) and BH nuts (22C4) are constituted；One end of BD shaft coupling pieces (22C1) is BB thread cylinders (22C11), BD shaft coupling pieces (22C1) The other end has passes through BB between BC lugs (22C12) and BD lugs (22C13), and BC lugs (22C12) and BD lugs (22C13) Axle screw (22C6) is provided with BB intermediate mass (22C5)；BB intermediate mass (22C5) is provided with BB through holes (22C51) and BF screwed holes (22C52), and BB through holes (22C51) are vertically arranged with BF screwed holes (22C52)；The BB through holes (22C51) are used for BB axle spiral shells Nail (22C6) is passed through；The BF screwed holes (22C52) are used for the one end for installing BD threaded rods (22C2), BD threaded rods (22C2) Connection BH nuts (22C4) after through hole of the other end through BG nuts (22C3), on upper skeleton (2B).

BC follows clamping plate group (23) to include BC clamping plates (23A), BC sliding blocks (23B) and BC swing components (23C).BC clamping plates (23A) Upper end be provided with BC cross recesses (23A2), the BC cross recesses (23A2) be used for place BE shaft coupling pieces (23B1)；BC clamping plates The lower end of (23A) is provided with BG screwed holes (23A1), and BG screwed holes (23A1) are used for the BC screw threads for installing BF shaft coupling pieces (23C1) Cylinder (23C11).BC sliding blocks (23B) are by BE shaft coupling pieces (23B1), BE threaded rods (23B2), BI nuts (23B3) and BJ nuts (23B4) is constituted；BE shaft coupling pieces (23B1) are provided with the BH screwed holes (23B11) for being used for connecting BE threaded rods (23B2) one end； Connection BJ nuts (23B4) after through hole of the other end of BE threaded rods (23B2) through BI nuts (23B3), on upper skeleton (2B). BC swing components (23C) by BF shaft coupling pieces (23C1), BC intermediate mass (23C5), BF threaded rods (23C2), BK nuts (23C3) and BL nuts (23C4) are constituted；One end of BF shaft coupling pieces (23C1) is BC thread cylinders (23C11), BF shaft coupling pieces (23C1) The other end has passes through BC between BE lugs (23C12) and BF lugs (23C13), and BE lugs (23C12) and BF lugs (23C13) Axle screw (23C6) is provided with BC intermediate mass (23C5)；BC intermediate mass (23C5) is provided with BC through holes (23C51) and BI screwed holes (23C52), and BC through holes (23C51) are vertically arranged with BI screwed holes (23C52)；The BC through holes (23C51) are used for BC axle spiral shells Nail (23C6) is passed through；The BI screwed holes (23C52) are used for the one end for installing BF threaded rods (23C2), BF threaded rods (23C2) Connection BL nuts (23C4) after through hole of the other end through BK nuts (23C3), on upper skeleton (2B).

CA follows clamping plate group (31) to include CA clamping plates (31A), CA sliding blocks (31B) and CA swing components (31C).CA clamping plates (31A) Upper end be provided with CA cross recesses (31A2), the CA cross recesses (31A2) be used for place CA shaft coupling pieces (31B1)；CA clamping plates The lower end of (31A) is provided with CA screwed holes (31A1), and CA screwed holes (31A1) are used for the CA screw threads for installing CB shaft coupling pieces (31C1) Cylinder (31C11).CA sliding blocks (31B) are by CA shaft coupling pieces (31B1), CA threaded rods (31B2), CA nuts (31B3) and CB nuts (31B4) is constituted；CA shaft coupling pieces (31B1) are provided with the CB screwed holes (31B11) for being used for connecting CA threaded rods (31B2) one end； Connection CB nuts (31B4) after through hole of the other end of CA threaded rods (31B2) through CA nuts (31B3), on upper skeleton (2B). CA swing components (31C) by CB shaft coupling pieces (31C1), CA intermediate mass (31C5), CB threaded rods (31C2), CC nuts (31C3) and CD nuts (31C4) are constituted；One end of CB shaft coupling pieces (31C1) is CA thread cylinders (31C11), CB shaft coupling pieces (31C1) The other end has passes through CA between CA lugs (31C12) and CB lugs (31C13), and CA lugs (31C12) and CB lugs (31C13) Axle screw (31C6) is provided with CA intermediate mass (31C5)；CA intermediate mass (31C5) is provided with CA through holes (31C51) and CC screwed holes (31C52), and CA through holes (31C51) are vertically arranged with CC screwed holes (31C52)；The CA through holes (31C51) are used for CA axle spiral shells Nail (31C6) is passed through；The CC screwed holes (31C52) are used for the one end for installing CB threaded rods (31C2), CB threaded rods (31C2) Connection CD nuts (31C4) after through hole of the other end through CC nuts (31C3), on upper skeleton (2B).

CB follows clamping plate group (32) to include CB clamping plates (32A), CB sliding blocks (32B) and CB swing components (32C).CB clamping plates (32A) Upper end be provided with CB cross recesses (32A2), the CB cross recesses (32A2) be used for place CC shaft coupling pieces (32B1)；CB clamping plates The lower end of (32A) is provided with CD screwed holes (32A1), and CD screwed holes (32A1) are used for the CB screw threads for installing CD shaft coupling pieces (32C1) Cylinder (32C11).CB sliding blocks (32B) are by CC shaft coupling pieces (32B1), CC threaded rods (32B2), CE nuts (32B3) and CF nuts (32B4) is constituted；CC shaft coupling pieces (32B1) are provided with the CE screwed holes (32B11) for being used for connecting CC threaded rods (32B2) one end； Connection CF nuts (32B4) after through hole of the other end of CC threaded rods (32B2) through CE nuts (32B3), on upper skeleton (2B). CB swing components (32C) by CD shaft coupling pieces (32C1), CB intermediate mass (32C5), CD threaded rods (32C2), CG nuts (32C3) and CH nuts (32C4) are constituted；One end of CD shaft coupling pieces (32C1) is CB thread cylinders (32C11), CD shaft coupling pieces (32C1) The other end has passes through CB between CC lugs (32C12) and CD lugs (32C13), and CC lugs (32C12) and CD lugs (32C13) Axle screw (32C6) is provided with CB intermediate mass (32C5)；CB intermediate mass (32C5) is provided with CB through holes (32C51) and CF screwed holes (32C52), and CB through holes (32C51) are vertically arranged with CF screwed holes (32C52)；The CB through holes (32C51) are used for CB axle spiral shells Nail (32C6) is passed through；The CF screwed holes (32C52) are used for the one end for installing CD threaded rods (32C2), CD threaded rods (32C2) Connection CH nuts (32C4) after through hole of the other end through CG nuts (32C3), on upper skeleton (2B).

CC follows clamping plate group (33) to include CC clamping plates (33A), CC sliding blocks (33B) and CC swing components (33C).CC clamping plates (33A) Upper end be provided with CC cross recesses (33A2), the CC cross recesses (33A2) be used for place CE shaft coupling pieces (33B1)；CC clamping plates The lower end of (33A) is provided with CG screwed holes (33A1), and CG screwed holes (33A1) are used for the CC screw threads for installing CF shaft coupling pieces (33C1) Cylinder (33C11).CC sliding blocks (33B) are by CE shaft coupling pieces (33B1), CE threaded rods (33B2), CI nuts (33B3) and CJ nuts (33B4) is constituted；CE shaft coupling pieces (33B1) are provided with the CH screwed holes (33B11) for being used for connecting CE threaded rods (33B2) one end； Connection CJ nuts (33B4) after through hole of the other end of CE threaded rods (33B2) through CI nuts (33B3), on upper skeleton (2B). CC swing components (33C) by CF shaft coupling pieces (33C1), CC intermediate mass (33C5), CF threaded rods (33C2), CK nuts (33C3) and CL nuts (33C4) are constituted；One end of CF shaft coupling pieces (33C1) is CC thread cylinders (33C11), CF shaft coupling pieces (33C1) The other end has passes through CC between CE lugs (33C12) and CF lugs (33C13), and CE lugs (33C12) and CF lugs (33C13) Axle screw (33C6) is provided with CC intermediate mass (33C5)；CC intermediate mass (33C5) is provided with CC through holes (33C51) and CI screwed holes (33C52), and CC through holes (33C51) are vertically arranged with CI screwed holes (33C52)；The CC through holes (33C51) are used for CC axle spiral shells Nail (33C6) is passed through；The CI screwed holes (33C52) are used for the one end for installing CF threaded rods (33C2), CF threaded rods (33C2) Connection CL nuts (33C4) after through hole of the other end through CK nuts (33C3), on upper skeleton (2B).

Lower armlet (3A) is U-shaped structure body.The ring body of lower armlet (3A) is provided with chute (3A4,3A5,3A6), passes through the cunning Upper armlet ring body is divided into the upper retainer ring (3A0) of inner side and the upper rail ring (3A9-1,3A9-2,3A9-3) in outside by groove；It is upper solid The inner side for determining ring 3A0 is provided with the boss (3A1,3A2,3A3) for being used for being connected with T-piece, by the connection of boss and T-piece, real One end of existing T-piece is fixed on armlet (3A), and the other end of T-piece is fixed on upper skeleton (3B)；On lower skeleton (2B) Provided with CA ribs (3B1), CB ribs (3B2), CC ribs (3B3)；CA-T shape parts are fixed with the outer panels of CA ribs (3B1) CA, which is fixed with, on (3C), the wainscot of CA ribs (3B1) follows clamping plate group (31)；It is fixed with the outer panels of CB ribs (3B2) CB, which is fixed with, on CB-T shapes part (3D), the wainscot of CB ribs (3B2) follows clamping plate group (32)；The outer panels of CC ribs (3B3) On be fixed with and be fixed with CC on CC-T shapes part (3E), the wainscot of CC ribs (3B3) and follow clamping plate group (33)；

CA-T shapes part (3C) is provided with CA risers (3C1), CB risers (3C2) and CA transverse slats (3C3), and CA risers (3C1) are erected with CB It is CA-U shapes groove (3C4) between plate (3C2)；It is used for the CA boss for placing armlet (3A) in the CA-U shapes groove (3C4) (3A1), and fixation is realized by the cooperation of screw and nut；The two ends of the CA transverse slats (3C3), which are provided with, is used for what screw was passed through Through hole；CB-T shapes part (3D) is provided with CC risers (3D1), CD risers (3D2) and CB transverse slats (3D3), and CC risers (3D1) are erected with CD It is CB-U shapes groove (3D4) between plate (3D2)；It is used for the CB boss for placing armlet (3A) in the CB-U shapes groove (3D4) (3A2), and fixation is realized by the cooperation of screw and nut；The two ends of the CB transverse slats (3D3), which are provided with, is used for what screw was passed through Through hole；CC-T shapes part (3E) is provided with CE risers (3C1), CF risers (3C2) and CC transverse slats (3C3), and CE risers (3E1) are erected with CF It is CC-U shapes groove (3E4) between plate (3E2)；It is used for the CC boss for placing armlet (3A) in the CC-U shapes groove (3E4) (3A3), and fixation is realized by the cooperation of screw and nut；The two ends of the CC transverse slats (3E3), which are provided with, is used for what screw was passed through Through hole；

BA rope fasteners (2F) are made up of BA-L shapes part (2F1), BA pressing plates (2F2) and BA self-lubricating bearings (2F3)；BA-L shape parts (2F1) is provided with the BA shaft through-holes (2F11) for being used for placing BA self-lubricating bearings (2F3).BA-L shapes part (2F1) and BA pressing plates (2F2) is coordinated by screw and nut to be fixed on BA upper rails ring (2A9-1)；The output end of first rope (10A) with it is straight Flow the line wheel connection on the output shaft of motor, self-lubricating axle of the bearing end through AA rope fasteners (11A) of the first rope (10A) On the BA self-lubricating bearings (2F3) that BA rope fasteners (2F) are connected to after holding；

BB rope fasteners (2G) are made up of BB-L shapes part (2G1), BB pressing plates (2G2) and BB self-lubricating bearings (2G3)；BB-L shape parts (2G1) is provided with the BB shaft through-holes (2G11) for being used for placing BB self-lubricating bearings (2G3).BB-L shapes part (2G1) and BB pressing plates (2G2) is coordinated by screw and nut to be fixed on BB upper rails ring (2A9-2)；The output end of 5th rope (10E) with it is straight Flow the line wheel connection on the output shaft of motor, BB self-lubricating of the bearing end through BB rope fasteners (2G) of the 5th rope (10E) On the CA self-lubricating bearings (3F3) that CA rope fasteners (3F) are connected to after bearing (2G3)；

BC rope fasteners (2H) are made up of BC-L shapes part (2H1), BC pressing plates (2H2) and BC self-lubricating bearings (2H3)；BC-L shape parts (2H1) is provided with the BC shaft through-holes (2H11) for being used for placing BC self-lubricating bearings (2H3).BC-L shapes part (2H1) and BC pressing plates (2H2) is coordinated by screw and nut to be fixed on BB upper rails ring (2A9-2)；The output end of second rope (10B) with it is straight Flow the line wheel connection on the output shaft of motor, self-lubricating axle of the bearing end through AB rope fasteners (11B) of the second rope (10B) On the BC self-lubricating bearings (2H3) that BC rope fasteners (2H) are connected to after holding；

BD rope fasteners (2I) are made up of BD-L shapes part (2I1), BD pressing plates (2I2) and BD self-lubricating bearings (2I3)；BD-L shape parts (2I1) is provided with the BD shaft through-holes (2I11) for being used for placing BD self-lubricating bearings (2I3).BD-L shapes part (2I1) and BD pressing plates (2I2) is coordinated by screw and nut to be fixed on BB upper rails ring (2A9-2)；The output end of 3rd rope (10C) with it is straight Flow the line wheel connection on the output shaft of motor, self-lubricating axle of the bearing end through AC rope fasteners (11C) of the 3rd rope (10D) On the BD self-lubricating bearings (2I3) that BD rope fasteners (2I) are connected to after holding；

BE rope fasteners (2J) are made up of BE-L shapes part (2J1), BE pressing plates (2J2) and BE self-lubricating bearings (2J3)；BE-L shape parts (2J1) is provided with the BE shaft through-holes (2J11) for being used for placing BJ self-lubricating bearings (2F3).BE-L shapes part (2J1) and BE pressing plates (2J2) is coordinated by screw and nut to be fixed on BB upper rails ring (2A9-2)；The output end of 4th rope (10D) with it is straight Flow the line wheel connection on the output shaft of motor, self-lubricating axle of the bearing end through AD rope fasteners (11D) of the 4th rope (10D) It is connected to after holding on the BE self-lubricating bearings (2J3) for restricting fastener (2J) in BE；

BF rope fasteners (2K) are made up of BF-L shapes part (2K1), BF pressing plates (2K2) and BF self-lubricating bearings (2K3)；BF-L shape parts (2K1) is provided with the BF shaft through-holes (2K11) for being used for placing BF self-lubricating bearings (2K3).BF-L shapes part (2K1) and BF pressing plates (2K2) is coordinated by screw and nut to be fixed on BC upper rails ring (2A9-3)；The output end of 6th rope (10F) with it is straight Flow the line wheel connection on the output shaft of motor, BF self-lubricating of the bearing end through BF rope fasteners (2K) of the 6th rope (10F) On the CB self-lubricating bearings (3G3) that BB rope fasteners (3G) are connected to after bearing (2K3).

2. Wearable rope according to claim 1 drives the apery arm skeleton of upper limbs exoskeleton rehabilitation robot, its feature It is：Ancon upper connecting rod (1A), ancon lower link (1B) and elbow joint structure body (1C) are slab construction.

3. Wearable rope according to claim 1 drives the apery arm skeleton of upper limbs exoskeleton rehabilitation robot, its feature It is：Elbow joint structure body (1C) is the unitary flexible driving structure body that linear cutter is obtained, and which is provided with concyclic four groups Reed.

4. Wearable rope according to claim 1 drives the apery arm skeleton of upper limbs exoskeleton rehabilitation robot, its feature It is：Rope (10A, 10B, 10C, 10D, 10E and 10F) is steel wire rope.

5. Wearable rope according to claim 1 drives the apery arm skeleton of upper limbs exoskeleton rehabilitation robot, its feature It is：When carrying out rehabilitation training, the clamping plate (21A, 22A, 23A, 31A, 32A, 33A) contacted with skin is provided with silica gel sheath.

6. Wearable rope according to claim 1 drives the apery arm skeleton of upper limbs exoskeleton rehabilitation robot, its feature It is：Under the driving of linear electric motors, upper arm assembly (2) is driven to move by the motion of rope (10A, 10B, 10C and 10D), And then drive the upper arm of rehabilitation clients to make rehabilitation exercise；The rehabilitation exercise of the upper arm causes shoulder joint to complete swing arm, carry arm and rotation Transhipment is dynamic；For the motion of elbow joint, under the driving of linear electric motors, pass through rope (10A, 10B, 10C, 10D, 10E and 10F) Motion drive upper arm assembly (2) and forearm component (3) move simultaneously, and then drive forearm do rehabilitation exercise；The forearm Rehabilitation exercise causes elbow joint to complete to stretch elbow and elbow in the wrong motion.