CN109925160B - A lightweight multi-degree-of-freedom shoulder complex bionic-assisted flexible exoskeleton - Google Patents

A lightweight multi-degree-of-freedom shoulder complex bionic-assisted flexible exoskeleton Download PDF

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CN109925160B
CN109925160B CN201711364232.5A CN201711364232A CN109925160B CN 109925160 B CN109925160 B CN 109925160B CN 201711364232 A CN201711364232 A CN 201711364232A CN 109925160 B CN109925160 B CN 109925160B
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glenohumeral
arm
joint
shoulder
rotation
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CN109925160A (en
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刘连庆
杨铁
赵亮
李宁
于鹏
常俊玲
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Shenyang Institute of Automation of CAS
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Abstract

The invention relates to a lightweight multi-degree-of-freedom shoulder complex bionic power-assisted flexible exoskeleton, wherein an upper arm fixing assembly is connected with a glenohumerus forward extending/backward shrinking joint, a glenohumerus abduction/adduction joint is connected with a shoulder blade belt forward extending/backward shrinking joint, and a shoulder blade belt lifting/falling joint is connected with a base assembly; the glenohumeral anterior/posterior joint, the glenohumeral internal/external rotation joint, the glenohumeral abduction/adduction joint, the scapular band anterior/posterior joint and the scapular band up-lifting/down-falling joint are respectively controlled by a lasso driving unit, and each lasso driving unit is respectively arranged on the base component; the shoulder complex bionic power-assisted flexible exoskeleton is driven by each lasso driving unit to control five degrees of freedom including the forward extension/backward contraction, abduction/adduction, internal rotation/external rotation, lifting/falling of the shoulder blade band and forward extension/backward contraction of the glenohumeral joint. The invention can effectively avoid singular configuration and motion interference of human-machine shoulder motion, improve the shoulder motion range and reproduce the motion function of the human shoulder complex.

Description

一种轻量型多自由度肩部复合体仿生助力柔性外骨骼A lightweight multi-degree-of-freedom shoulder complex bionic-assisted flexible exoskeleton

技术领域technical field

本发明涉及人体生物力学和医疗康复领域中的外骨骼机器人,具体地说是一种轻量型多自由度肩部复合体仿生助力柔性外骨骼。The invention relates to an exoskeleton robot in the fields of human biomechanics and medical rehabilitation, in particular to a lightweight multi-degree-of-freedom shoulder complex bionic-assisted flexible exoskeleton.

背景技术Background technique

我国中风发病率世界第一,随着生活节奏和人口老龄化加快、生活压力增大,心脑血管及神经系统疾病造成的中风偏瘫患者逐年增加,其中约3/4患者有不同程度的神经损伤和功能运动障碍,严重影响生活质量。研究表明,中枢神经系统具有高度可塑性,对偏瘫患肢展开及时有效的康复训练,有助于恢复中枢神经对肢体运动的支配与控制,增强肌肉力量,重塑患肢运动功能,并有效预防肌肉萎缩,骨质疏松等并发症。传统临床方法主要以医生徒手康复训练为主,存在诸多局限,如康复效率低,劳动强度大;治疗效果受医生经验和水平影响较大,无法精确控制训练参数;无法对康复训练进行客观评价。The incidence rate of stroke in my country is the highest in the world. With the accelerated pace of life and population aging, and the increase in life pressure, the number of patients with stroke and hemiplegia caused by cardiovascular, cerebrovascular and nervous system diseases is increasing year by year, and about 3/4 of the patients have different degrees of nerve damage. and functional movement disorders, seriously affecting the quality of life. Studies have shown that the central nervous system has a high degree of plasticity. Timely and effective rehabilitation training for hemiplegic limbs can help restore the domination and control of the central nervous system to limb movements, enhance muscle strength, reshape the motor function of the affected limbs, and effectively prevent muscle damage. Atrophy, osteoporosis and other complications. Traditional clinical methods mainly rely on doctors' manual rehabilitation training, which has many limitations, such as low recovery efficiency and high labor intensity; the treatment effect is greatly affected by the doctor's experience and level, and training parameters cannot be accurately controlled; and rehabilitation training cannot be objectively evaluated.

康复外骨骼系统是将机器人技术引入临床康复医学领域而产生的一种辅助或替代医生完成患者康复训练的机器人系统。上肢康复外骨骼可穿戴于患肢外侧,对其进行准确、持续、有效的上肢康复训练治疗,同时通过感知系统可对人机交互力信息、人体运动学和生理学数据实时记录,提高患者穿戴舒适性,实时定量评估康复训练效果,为改进和优化康复方案提供客观依据。The rehabilitation exoskeleton system is a robot system that assists or replaces doctors in completing patient rehabilitation training, which is produced by introducing robot technology into the field of clinical rehabilitation medicine. The upper limb rehabilitation exoskeleton can be worn on the outside of the affected limb to perform accurate, continuous and effective upper limb rehabilitation training and treatment. At the same time, the sensory system can record human-computer interaction force information, human kinematics and physiological data in real time, improving the wearing comfort of patients It can evaluate the effect of rehabilitation training quantitatively in real time, and provide objective basis for improving and optimizing rehabilitation programs.

康复外骨骼是典型的人机一体化系统,人—机关节运动轴线不匹配会造成关节疼痛、运动空间受限等影响康复训练效果,甚至造成患肢二次伤害,因此,康复外骨骼设计时要求尽可能实现人—机关节运动轴线相匹配。然而,目前的上肢康复外骨骼在肩部复合体康复训练方面仍存在较大缺陷。Rehabilitation exoskeleton is a typical human-machine integration system. The mismatch of human-machine joint motion axis will cause joint pain, limited exercise space, etc., which will affect the effect of rehabilitation training, and even cause secondary injuries to the affected limb. Therefore, when designing rehabilitation exoskeleton It is required to match the man-machine joint motion axes as much as possible. However, the current upper extremity rehabilitation exoskeleton still has major deficiencies in the rehabilitation training of the shoulder complex.

人体肩部是由盂肱关节和肩胛带组成的肩部复合体,具有灵活性、高稳定性差的特点。盂肱关节为球窝关节,肩胛带是由肩锁关节、胸锁关节和肩胛胸壁关节组成的运动链,任意单个关节无法独立运动。当肱骨上抬时,锁骨相对胸骨绕胸锁关节转动,肩胛骨相对锁骨绕肩锁关节转动,同时也会在胸骨表面侧滑,从而带动盂肱关节窝向上倾斜,这个复杂协调运动过程使得盂肱关节转动中心出现漂移,实现肱骨大范围内运动。因此,肩部复合体运动中,肩胛带可为盂肱关节转动中心提供冠状面的前伸/后缩和水平面的上提/下落两个运动。而现有康复外骨骼通常采用三个轴线垂直相交的旋转关节等效人体肩部运动,该方案仅考虑盂肱关节运动,忽略肩胛带运动,导致在肱骨大范围运动时会造成人—机肩部运动奇异位形与干扰;同时,中风患者由于神经受损,无法自主产生肩胛带运动,只有依靠移动躯干来补偿肩胛带运动,大大降低康复训练效果,并极易产生其他并发症。另一方面,传统康复外骨骼驱动电机集成在关节处,使外骨骼执行机构具有较大质量和惯量,增加驱动性能要求,降低控制精度及稳定性,存在系统故障时患肢坠落的安全隐患。The human shoulder is a shoulder complex composed of the glenohumeral joint and the shoulder girdle, which has the characteristics of flexibility, high stability and poor stability. The glenohumeral joint is a ball-and-socket joint, and the shoulder girdle is a kinematic chain composed of the acromioclavicular joint, sternoclavicular joint, and scapulothoracic joint, and any single joint cannot move independently. When the humerus is lifted, the clavicle rotates around the sternoclavicular joint relative to the sternum, and the scapula rotates around the acromioclavicular joint relative to the clavicle. At the same time, it also slides sideways on the surface of the sternum, thereby driving the glenohumeral joint socket to tilt upward. This complex and coordinated movement process makes the glenohumeral The center of rotation of the joint drifts, enabling a wide range of motion of the humerus. Therefore, during the movement of the shoulder complex, the shoulder girdle can provide two movements of the glenohumeral joint rotation center: extension/retraction in the coronal plane and elevation/decline in the horizontal plane. However, the existing rehabilitation exoskeleton usually uses three rotating joints with vertically intersecting axes to equivalent human shoulder movement. This scheme only considers the glenohumeral joint movement, ignoring the shoulder girdle movement, resulting in human-machine shoulder movement during large-scale movement of the humerus. At the same time, due to nerve damage, stroke patients cannot automatically produce shoulder girdle movement, and can only rely on moving the trunk to compensate for shoulder girdle movement, which greatly reduces the effect of rehabilitation training and is prone to other complications. On the other hand, the drive motors of traditional rehabilitation exoskeletons are integrated at the joints, so that the exoskeleton actuators have a large mass and inertia, which increases the drive performance requirements, reduces control accuracy and stability, and poses a safety hazard for the affected limb to fall when the system fails.

发明内容Contents of the invention

针对上述存在的问题,本发明的目的在于提供一种轻量型多自由度肩部复合体仿生助力柔性外骨骼,适用于中风、偏瘫等运动功能障碍患者肩部复合体日常动作助力与康复训练。In view of the above existing problems, the purpose of the present invention is to provide a lightweight multi-degree-of-freedom shoulder complex bionic assisted flexible exoskeleton, which is suitable for daily movement assistance and rehabilitation training of the shoulder complex for patients with motor dysfunction such as stroke and hemiplegia .

本发明的目的是通过以下技术方案来实现的:The purpose of the present invention is achieved through the following technical solutions:

本发明包括作为安装基础的基座组件,该基座组件上部的两侧结构相同,每侧均包括上臂固定组件、盂肱关节运动组件及肩胛带运动组件,其中盂肱关节运动组件包括依次串联的盂肱前伸/后缩关节、盂肱内旋/外旋关节及盂肱外展/内收关节,所述肩胛带运动组件包括彼此串联的肩胛带前伸/后缩关节及肩胛带上提/下落关节,所述上臂固定组件与盂肱前伸/后缩关节连接,所述盂肱外展/内收关节与所述肩胛带前伸/后缩关节连接,所述肩胛带上提/下落关节与基座组件相连;所述盂肱前伸/后缩关节、盂肱内旋/外旋关节、盂肱外展/内收关节、肩胛带前伸/后缩关节及肩胛带上提/下落关节分别通过一个套索驱动单元控制,各所述套索驱动单元分别安装在基座组件上;所述肩部复合体仿生助力柔性外骨骼通过各套索驱动单元的驱动控制具有盂肱关节的前伸/后缩、外展/内收、内旋/外旋以及肩胛带的上提/下落和前伸/后缩五个自由度;The present invention includes a base assembly as an installation basis, the two sides of the upper part of the base assembly have the same structure, and each side includes an upper arm fixation assembly, a glenohumeral joint movement assembly and a shoulder belt movement assembly, wherein the glenohumeral joint movement assembly consists of The glenohumeral extension/retraction joint, the glenohumeral internal rotation/external rotation joint and the glenohumeral abduction/adduction joint. lift/fall joint, the upper arm fixation component is connected with the glenohumeral extension/retraction joint, the glenohumeral abduction/adduction joint is connected with the shoulder blade extension/retraction joint, and the shoulder blade lifts up The glenohumeral extension/retraction joint, the glenohumeral internal rotation/external rotation joint, the glenohumeral abduction/adduction joint, the glenohumeral extension/retraction joint, and the upper shoulder girdle joint are connected to the base assembly; The lifting/falling joints are respectively controlled by a lasso driving unit, and each of the lasso driving units is respectively installed on the base component; Five degrees of freedom of the humeral joint: extension/retraction, abduction/adduction, internal rotation/external rotation, as well as lifting/falling and forward extension/retraction of the shoulder girdle;

其中:所述上臂固定组件包括上臂保持架、软体束缚带、上臂支撑杆及多维力传感器,该上臂支撑杆的两端分别连接有上臂保持架,两端的所述上臂保持架的一侧均安装在所述上臂支撑杆上开设的导向沟槽内、可在该导向沟槽内移动,并在间距调整好后与所述上臂支撑杆定位锁紧,两端的所述上臂保持架的另一侧内部附着有软体束缚带;在所述上臂支撑杆上安装有用于连接上臂支撑杆和盂肱关节运动组件的多维力传感器;Wherein: the upper arm fixing component includes an upper arm cage, a software restraint belt, an upper arm support rod and a multi-dimensional force sensor, the two ends of the upper arm support rod are respectively connected with an upper arm cage, and one side of the upper arm cage at both ends is installed In the guide groove opened on the upper arm support rod, it can move in the guide groove, and after the distance is adjusted, it is positioned and locked with the upper arm support rod. The other side of the upper arm cage at both ends A soft restraint belt is attached inside; a multi-dimensional force sensor for connecting the upper arm support rod and the glenohumeral joint movement assembly is installed on the upper arm support rod;

所述盂肱前伸/后缩关节的盂肱前伸/后缩关节旋转轴中心线、盂肱内旋/外旋关节的盂肱内旋/外旋关节旋转轴中心线及盂肱外展/内收关节的盂肱外展/内收旋转轴中心线非垂直相交于盂肱关节运动中心;所述盂肱前伸/后缩关节包括通过旋转装置转动连接的盂肱前伸/后缩执行臂和盂肱前伸/后缩支撑臂,该盂肱前伸/后缩执行臂与所述上臂固定组件相连,所述盂肱内旋/外旋关节包括通过旋转装置转动连接的盂肱内旋/外旋执行臂和盂肱内旋/外旋支撑臂,所述盂肱外展/内收关节包括通过旋转装置转动连接的盂肱外展/内收执行臂和盂肱外展/内收支撑臂,该盂肱外展/内收支撑臂与所述肩胛带前伸/后缩关节相连;所述盂肱前伸/后缩支撑臂与盂肱内旋/外旋执行臂之间以及盂肱内旋/外旋支撑臂与盂肱外展/内收执行臂之间相互连接;各所述旋转装置均与各自的套索驱动单元连接,由各自的所述套索驱动单元提供盂肱关节的前伸/后缩、内旋/外旋及外展/内收的驱动力矩;The glenohumeral extension/retraction joint rotation axis centerline of the glenohumeral extension/retraction joint, the glenohumeral internal rotation/external rotation joint rotation axis centerline of the glenohumeral internal rotation/external rotation joint, and the glenohumeral abduction The centerline of the glenohumeral abduction/adduction axis of rotation of the /adduction joint intersects non-perpendicularly with the center of motion of the glenohumeral joint; an actuator arm and a glenohumeral extension/retraction support arm, the glenohumeral extension/retraction actuator arm is connected to the upper arm fixation assembly, and the glenohumeral internal rotation/external rotation joint includes a glenohumeral rotation connection connected by a rotating device An internal rotation/external rotation actuator arm and a glenohumeral internal rotation/external rotation support arm, the glenohumeral abduction/adduction joint includes a glenohumeral abduction/adduction actuator arm and a glenohumeral abduction/adduction joint rotatably connected by a rotating device adduction support arm, the glenohumeral abduction/adduction support arm is connected with the scapular extension/retraction joint; between the glenohumeral internal rotation/external rotation support arm and the glenohumeral abduction/adduction execution arm; each of the rotating devices is connected with its own lasso drive unit, and the respective lasso drive unit Provide the driving torque of glenohumeral joint extension/retraction, internal rotation/external rotation and abduction/adduction;

所述盂肱前伸/后缩支撑臂、盂肱内旋/外旋执行臂、盂肱内旋/外旋支撑臂及盂肱外展/内收执行臂上分别均匀开设有多个螺栓孔,该盂肱内旋/外旋执行臂及盂肱外展/内收执行臂上均设有凹槽,所述盂肱前伸/后缩支撑臂、盂肱内旋/外旋支撑臂通过该凹槽分别与盂肱内旋/外旋执行臂及盂肱外展/内收执行臂插接、并可调整盂肱前伸/后缩支撑臂与盂肱内旋/外旋执行臂之间以及盂肱内旋/外旋支撑臂与盂肱外展/内收执行臂之间的间距,在调整好后通过螺栓插入螺栓孔中固定;The glenohumeral extension/retraction support arm, the glenohumeral internal rotation/external rotation execution arm, the glenohumeral internal rotation/external rotation support arm and the glenohumeral abduction/adduction execution arm are respectively evenly provided with a plurality of bolt holes , the glenohumeral internal rotation/external rotation actuator arm and the glenohumeral abduction/adduction actuator arm are provided with grooves, the glenohumeral extension/retraction support arm, the glenohumeral internal rotation/external rotation support arm through The grooves are respectively inserted into the glenohumeral internal rotation/external rotation actuator arm and the glenohumeral abduction/adduction actuator arm, and can adjust the relationship between the glenohumeral extension/retraction support arm and the glenohumeral internal rotation/external rotation actuator arm. and the distance between the glenohumeral internal rotation/external rotation support arm and the glenohumeral abduction/adduction actuator arm, after adjustment, insert bolts into the bolt holes for fixation;

所述盂肱前伸/后缩关节旋转中心线与人体矢状面垂直,所述盂肱内旋/外旋关节旋转中心线与盂肱前伸/后缩关节旋转中心线之间的夹角朝向人体外侧,盂肱内旋/外旋关节旋转中心线与人体冠状面之间的夹角朝向人体的后侧,所述盂肱外展/内收旋转中心线与盂肱前伸/后缩关节旋转中心线之间的夹角朝向人体外侧;The rotation center line of the glenohumeral extension/retraction joint is perpendicular to the sagittal plane of the human body, and the angle between the rotation center line of the glenohumeral internal rotation/external rotation joint and the rotation center line of the glenohumeral extension/retraction joint Facing the outside of the human body, the angle between the glenohumeral internal rotation/external rotation joint rotation centerline and the coronal plane of the human body faces the rear side of the human body, and the glenohumeral abduction/adduction rotation centerline and the glenohumeral extension/retraction The angle between the centerlines of joint rotation faces the outside of the human body;

所述肩胛带前伸/后缩关节包括肩胛带伸缩执行臂、肩胛带伸缩支撑臂、旋转装置及肩胛带伸缩摆动臂组件,该肩胛带伸缩执行臂与肩胛带伸缩支撑臂相对设置,并通过两组所述伸缩摆动臂组件相连,形成可伸缩的平行四边形机构;每组伸缩摆动臂组件均包括彼此可伸缩相连的肩胛带伸缩摆动臂A和肩胛带伸缩摆动臂B,两组中的肩胛带伸缩摆动臂A和肩胛带伸缩摆动臂B中的任一个的一端通过所述旋转装置与肩胛带伸缩执行臂或肩胛带伸缩支撑臂转动连接,其余的伸缩摆动臂的一端与肩胛带伸缩执行臂或肩胛带伸缩支撑臂转动连接;所述肩胛带上提/下落关节包括肩胛带上提/下落支撑臂及旋转装置,该肩胛带上提/下落支撑臂通过所述旋转装置与肩胛带伸缩支撑臂相连;所述旋转装置与各自的套索驱动单元连接,由各自的所述套索驱动单元提供肩胛带的前伸/后缩以及上提/下落的驱动力矩;The shoulder strap extension/retraction joint includes a shoulder strap telescopic execution arm, a shoulder strap telescopic support arm, a rotating device, and a shoulder strap telescopic swing arm assembly. The two sets of telescopic swing arm assemblies are connected to form a telescopic parallelogram mechanism; each set of telescopic swing arm assemblies includes a shoulder strap telescopic swing arm A and a shoulder strap telescopic swing arm B that are telescopically connected to each other. One end of any one of the telescopic swing arm A and the shoulder strap telescopic swing arm B is rotationally connected with the shoulder strap telescopic execution arm or the shoulder strap telescopic support arm through the rotating device, and one end of the remaining telescopic swing arms is connected with the shoulder strap telescopic execution arm. The arm or the shoulder strap telescopic support arm is rotationally connected; the shoulder blade lifting/falling joint includes a shoulder blade lifting/falling support arm and a rotation device, and the shoulder blade lifting/falling support arm is telescopic with the shoulder blade through the rotation device The supporting arms are connected; the rotating device is connected with the respective lasso driving unit, and the respective lasso driving unit provides the driving moment for the forward extension/retraction and lifting/falling of the shoulder girdle;

所述肩胛带伸缩执行臂上安装有导轨,该导轨上滑动连接有滑块,所述滑块上安装有沿导轨往复滑动的连接板;A guide rail is installed on the telescopic actuator arm of the shoulder strap, and a slider is slidably connected to the guide rail, and a connecting plate reciprocatingly sliding along the guide rail is installed on the slider;

所述肩胛带伸缩摆动臂A及肩胛带伸缩摆动臂B的另一端分别均匀开设有多个螺栓孔,该肩胛带伸缩摆动臂A或肩胛带伸缩摆动臂B的另一端上设有凹槽,所述肩胛带伸缩摆动臂A及肩胛带伸缩摆动臂B的另一端通过该凹槽插接、并可调整肩胛带伸缩执行臂与肩胛带伸缩支撑臂之间的间距,在调整好后通过螺栓插入螺栓孔中固定;The other ends of the shoulder strap telescopic swing arm A and the shoulder strap telescopic swing arm B are uniformly provided with a plurality of bolt holes respectively, and the other ends of the shoulder strap telescopic swing arm A or the shoulder strap telescopic swing arm B are provided with grooves, The other end of the shoulder strap telescopic swing arm A and the shoulder strap telescopic swing arm B are inserted through the groove, and the distance between the shoulder strap telescopic actuator arm and the shoulder strap telescopic support arm can be adjusted. Insert into the bolt hole and fix;

所述旋转装置包括套索驱动轮、空心轴、拉线及套索安装定位块A,该空心轴安装在盂肱前伸/后缩支撑臂、盂肱内旋/外旋支撑臂、盂肱外展/内收支撑臂、肩胛带伸缩执行臂、肩胛带伸缩支撑臂或肩胛带上提/下落支撑臂上,所述套索驱动轮转动安装于空心轴上、并与所述盂肱前伸/后缩执行臂、盂肱内旋/外旋执行臂、盂肱外展/内收执行臂、肩胛带伸缩摆动臂A、肩胛带伸缩摆动臂B或肩胛带上提/下落执行臂相连;在所述盂肱前伸/后缩支撑臂、盂肱内旋/外旋支撑臂、盂肱外展/内收支撑臂、肩胛带伸缩执行臂、肩胛带伸缩支撑臂或肩胛带上提/下落支撑臂朝向盂肱前伸/后缩执行臂、盂肱内旋/外旋执行臂、盂肱外展/内收执行臂、肩胛带伸缩摆动臂A、肩胛带伸缩摆动臂B或肩胛带上提/下落执行臂的一面、位于套索驱动轮的两侧,分别安装有套索安装定位块A,每个所述套索安装定位块A内均穿入有拉线,该拉线由所述套索驱动轮上绕过,一端通过所述套索安装定位块A定位支撑锁紧,另一端与所述套索驱动单元相连;所述空心轴内侧连接有角度编码器,该空心轴内部容置有编码器延长套,所述编码器延长套的两端分别与角度编码器的转轴和套索驱动轮相连;所述盂肱前伸/后缩支撑臂、盂肱内旋/外旋支撑臂、盂肱外展/内收支撑臂、肩胛带伸缩执行臂、肩胛带伸缩支撑臂或肩胛带上提/下落支撑臂朝向盂肱前伸/后缩执行臂、盂肱内旋/外旋执行臂、盂肱外展/内收执行臂、肩胛带伸缩摆动臂A、肩胛带伸缩摆动臂B或肩胛带上提/下落执行臂的一面开设有限位弧形槽,所述套索驱动轮上开设有限位螺纹孔,通过限位装置插入该限位弧形槽及限位螺纹孔内进行限位;The rotating device includes a lasso driving wheel, a hollow shaft, a pull wire and a lasso installation positioning block A. On the extension/retraction support arm, the telescopic execution arm of the shoulder strap, the telescopic support arm of the shoulder strap or the lifting/falling support arm of the shoulder strap, the lasso driving wheel is rotatably installed on the hollow shaft, and is extended forward with the glenohumerus /retraction actuator arm, glenohumeral internal rotation/external rotation actuator arm, glenohumeral abduction/adduction actuator arm, shoulder strap telescopic swing arm A, shoulder strap telescopic swing arm B or shoulder strap lifting/falling actuator arm connected; The glenohumeral extension/retraction support arm, the glenohumeral internal rotation/external rotation support arm, the glenohumeral abduction/adduction support arm, the shoulder girdle telescopic execution arm, the shoulder girdle telescopic support arm or the shoulder girdle lift/ Drop support arm toward glenohumeral extension/retraction actuator, glenohumeral internal/external rotation actuator, glenohumeral abduction/adduction actuator, shoulder girdle telescoping swing arm A, shoulder girdle telescoping swing arm B or shoulder girdle One side of the lifting/falling actuator arm is located on both sides of the lasso driving wheel, and the lasso installation positioning blocks A are respectively installed. Each of the lasso installation positioning blocks A is penetrated with a pull wire, and the pull wire is provided by the The lasso drive wheel is bypassed, one end is positioned and supported by the lasso installation positioning block A, and the other end is connected to the lasso drive unit; the inner side of the hollow shaft is connected with an angle encoder, and the internal content of the hollow shaft An encoder extension sleeve is installed, and the two ends of the encoder extension sleeve are respectively connected with the rotating shaft of the angle encoder and the lasso driving wheel; arm, glenohumeral abduction/adduction support arm, shoulder girdle telescopic actuator arm, shoulder girdle telescopic support arm or shoulder girdle lift/down support arm towards the glenohumeral extension/retraction actuator arm, glenohumeral internal/external rotation One side of the executive arm, the glenohumeral abduction/adduction actuator arm, the shoulder strap telescopic swing arm A, the shoulder strap telescopic swing arm B or the shoulder strap lifting/falling actuator arm is provided with a limited arc groove, and the lasso driving wheel A limit threaded hole is set on the top, and the limit device is inserted into the limit arc groove and the limit thread hole to limit the position;

所述套索驱动单元包括动力源、驱动安装架、套索主动轮、扭矩传感器、刹车豆、涨紧调整架、支撑板、导向板、调节螺栓及套索安装定位块B,该动力源安装在驱动安装架上,输出端连接有套索主动轮,所述套索主动轮上安装有两个刹车豆;所述涨紧调整架的一端开有涨紧导向孔,另一端安装有支撑板,该支撑板上设有调节螺栓,所述驱动安装架上延伸有导向板,该导向板由所述涨紧导向孔穿过,所述调节螺栓与导向板抵接;所述涨紧调整架上安装有两个套索安装定位块B,所述套索主动轮上缠绕有两根拉线,每根拉线的一端均固定在一个所述刹车豆上,另一端由一个所述套索安装定位块B穿过后与所述旋转装置连接;所述动力源的输出端安装有扭矩传感器;所述涨紧调整架呈“L”形,所述涨紧导向孔开设在该“L”形的一边,并在该边上开设有用于固定套索安装定位块B的限位槽;所述支撑板固定在该“L”形另一边的端部,在该边上开有槽孔,通过旋拧所述调节螺栓使导向板与涨紧调整架相对移动,进而调整所述涨紧调整架与套索主动轮之间的距离;调整好后的所述导向板通过螺栓插入槽孔中锁紧固定。The lasso driving unit includes a power source, a driving mounting frame, a lasso driving wheel, a torque sensor, a brake bean, a tensioning adjustment frame, a support plate, a guide plate, an adjusting bolt and a lasso installation positioning block B, and the power source is installed On the driving installation frame, the output end is connected with a lasso driving wheel, and two brake beans are installed on the lasso driving wheel; one end of the tensioning adjustment frame has a tensioning guide hole, and the other end is installed with a support plate , the support plate is provided with an adjusting bolt, and a guide plate is extended on the driving installation frame, and the guide plate is passed through the tension guide hole, and the adjustment bolt is in contact with the guide plate; the tension adjustment frame Two lasso mounting positioning blocks B are installed on the top, and two pull wires are wound on the lasso driving wheel, one end of each pull wire is fixed on one of the brake beans, and the other end is installed and positioned by one of the lasso The block B passes through and connects with the rotating device; the output end of the power source is equipped with a torque sensor; the tensioning adjustment frame is in the shape of an "L", and the tensioning guide hole is set on one side of the "L" shape , and a limit slot for fixing the lasso to install the positioning block B is opened on this side; the support plate is fixed on the end of the other side of the "L" shape, and a slot hole is opened on this side, and by screwing The adjusting bolt makes the guide plate and the tension adjusting frame relatively move, and then adjusts the distance between the tension adjusting frame and the lasso driving wheel; the adjusted guide plate is inserted into the slot hole by the bolt and locked and fixed.

本发明的优点与积极效果为:Advantage of the present invention and positive effect are:

1.本发明创新性的采用回转机构和平行四边形机构组合方式设计肩胛带组件,将外骨骼肩胛带的前伸/后缩、上提/下落运动传递到以胸锁关节为中心的前伸/后缩、上提/下落运动,复现人体肩胛带运动功能,解决偏瘫患者肩胛带康复训练问题,同时有效避免人机肩部运动奇异位形,提高人机运动相容性。1. The present invention innovatively adopts the combination of slewing mechanism and parallelogram mechanism to design the shoulder girdle assembly, and transfers the forward extension/retraction, lifting/falling movement of the exoskeleton shoulder girdle to the forward extension/falling movement centered on the sternoclavicular joint. Retraction, lifting/falling movement reproduces the movement function of the human shoulder girdle, solves the problem of shoulder girdle rehabilitation training for hemiplegic patients, and effectively avoids the singularity of the human-machine shoulder movement and improves the compatibility of the human-machine movement.

2.本发明创新地采用串联式三轴线非垂直相交的旋转关节组件来等效人体盂肱关节,解决现有外骨骼无法实现肱骨大范围运动问题,有效避免人—机肩部运动干扰,提高人体肩部康复运动范围。2. The present invention innovatively adopts the rotating joint assembly with three axes connected in series and non-perpendicularly intersecting to be equivalent to the glenohumeral joint of the human body, which solves the problem that the existing exoskeleton cannot realize the large-scale movement of the humerus, effectively avoids the interference of the human-machine shoulder movement, and improves Human shoulder rehabilitation range of motion.

3.本发明通过角度编码器、扭矩传感器和多维力传感器等感知系统,可对康复训练过程中人机交互力信息、人体运动学和生理学数据进行实时记录,定量评估患者病情,制定多种康复训练模式,有效提升康复训练效果,减少并发症产生。3. The present invention can record human-computer interaction force information, human kinematics and physiological data in real time during the rehabilitation training process, quantitatively evaluate the patient's condition, and formulate a variety of rehabilitation methods through the sensing system such as the angle encoder, torque sensor and multi-dimensional force sensor. The training mode can effectively improve the effect of rehabilitation training and reduce complications.

4.本发明采用套索驱动单元为外骨骼运动关节提供扭矩驱动,实现驱动与执行机构的分离,有效减小执行机构的质量和惯量,实现外骨骼轻量化设计,提高系统运动稳定性、安全性和穿戴舒适性。4. The present invention uses the lasso drive unit to provide torque drive for the exoskeleton joints, realizes the separation of the drive and the actuator, effectively reduces the mass and inertia of the actuator, realizes the lightweight design of the exoskeleton, and improves the stability and safety of the system motion and wearing comfort.

5.本发明广泛适用于中风、偏瘫等患者肩部复合体的日常动作助力与康复训练。5. The present invention is widely applicable to the daily movement assistance and rehabilitation training of the shoulder complex of patients with stroke and hemiplegia.

附图说明Description of drawings

图1为本发明的立体结构示意图;Fig. 1 is the three-dimensional structure schematic diagram of the present invention;

图2为本发明上臂固定组件的立体结构示意图;Fig. 2 is a schematic diagram of the three-dimensional structure of the upper arm fixing assembly of the present invention;

图3为本发明盂肱关节运动组件的立体结构示意图;3 is a schematic diagram of the three-dimensional structure of the glenohumeral joint motion assembly of the present invention;

图4为图3中旋转装置的结构剖视图;Fig. 4 is a structural sectional view of the rotating device in Fig. 3;

图5为本发明肩胛带运动组件一种结构的立体结构示意图;Fig. 5 is a three-dimensional structural schematic diagram of a structure of the shoulder girdle movement assembly of the present invention;

图6为图5中肩胛带前伸/后缩关节的立体结构示意图;Fig. 6 is a schematic diagram of the three-dimensional structure of the scapular extension/retraction joint in Fig. 5;

图7为图5中肩胛带前伸/后缩模块化旋转装置的结构剖视图;Fig. 7 is a structural cross-sectional view of the shoulder girdle extension/retraction modular rotation device in Fig. 5;

图8为图5中肩胛带上提/下落关节的结构剖视图;Fig. 8 is a structural cross-sectional view of the lifting/falling joint of the shoulder girdle in Fig. 5;

图9为本发明套索驱动单元的结构示意图之一;Fig. 9 is one of the structural schematic diagrams of the lasso drive unit of the present invention;

图10为本发明套索驱动单元的结构示意图之二;Fig. 10 is the second structural diagram of the lasso driving unit of the present invention;

图11为图9、图10中涨紧调整架的结构示意图;Fig. 11 is a schematic structural view of the tensioning adjustment frame in Fig. 9 and Fig. 10;

图12为本发明肩胛带运动组件另一种结构的立体结构示意图;Fig. 12 is a three-dimensional structural schematic diagram of another structure of the shoulder girdle movement assembly of the present invention;

图13为本发明基座组件的立体结构示意图;13 is a schematic perspective view of the three-dimensional structure of the base assembly of the present invention;

其中:100为上臂固定组件,200为盂肱关节运动组件,300为肩胛带运动组件,400为套索驱动单元,500为基座组件,600为座椅;Among them: 100 is the upper arm fixation component, 200 is the glenohumeral joint movement component, 300 is the shoulder girdle movement component, 400 is the lasso drive unit, 500 is the base component, and 600 is the seat;

101为上臂保持架,102为软体束缚带,103为上臂支撑杆,104为多维力传感器;101 is an upper arm cage, 102 is a soft restraint belt, 103 is an upper arm support rod, and 104 is a multidimensional force sensor;

210为盂肱前伸/后缩关节,220为盂肱内旋/外旋关节,230为盂肱外展/内收关节,240为旋转装置,211为盂肱前伸/后缩执行臂,212为盂肱前伸/后缩支撑臂,221为盂肱内旋/外旋执行臂,222为盂肱内旋/外旋支撑臂,231为盂肱外展/内收执行臂,232为盂肱外展/内收支撑臂;210 is the glenohumeral extension/retraction joint, 220 is the glenohumeral internal rotation/external rotation joint, 230 is the glenohumeral abduction/adduction joint, 240 is the rotation device, 211 is the glenohumeral extension/retraction execution arm, 212 is the glenohumeral extension/retraction support arm, 221 is the glenohumeral internal rotation/external rotation execution arm, 222 is the glenohumeral internal rotation/external rotation support arm, 231 is the glenohumeral abduction/adduction execution arm, 232 is glenohumeral abduction/adduction support arm;

2401套索驱动轮,2402为润滑轴承,2403为编码器延长套,2404为空心轴,2405为限位螺纹孔,2406为拉线,2407为套索安装定位块A,2408为限位弧形槽,2409为角度编码器;2401 lasso drive wheel, 2402 lubricated bearing, 2403 encoder extension sleeve, 2404 hollow shaft, 2405 limit threaded hole, 2406 pull wire, 2407 lasso installation positioning block A, 2408 limit arc groove , 2409 is an angle encoder;

310为肩胛带前伸/后缩关节,320为肩胛带上提/下落关节,311为肩胛带伸缩执行臂,312为肩胛带伸缩摆动臂A,313为肩胛带伸缩润滑轴承,314为肩胛带转轴,315为肩胛带伸缩摆动臂B,316为肩胛带伸缩支撑臂,317为肩胛带前伸/后缩模块化旋转装置,318为连接板,319为凹槽,321为肩胛带上提/下落执行臂,322为肩胛带上提/下落支撑臂,323为螺栓孔;310 is the extension/retraction joint of the shoulder girdle, 320 is the elevating/falling joint of the shoulder girdle, 311 is the telescopic actuator arm of the shoulder girdle, 312 is the telescopic swing arm A of the shoulder girdle, 313 is the telescopic lubricating bearing of the shoulder girdle, 314 is the shoulder girdle Rotating shaft, 315 is the telescopic swing arm B of the shoulder strap, 316 is the telescopic support arm of the shoulder strap, 317 is a modular rotation device for extending/retracting the shoulder strap, 318 is a connecting plate, 319 is a groove, and 321 is lifting/retracting the shoulder strap Falling execution arm, 322 is the lifting/falling support arm of the shoulder strap, and 323 is a bolt hole;

411为驱动电机,412为减速机,413为导轨,414为驱动安装架,415为套索主动轮,416为扭矩传感器,417为刹车豆,418为涨紧调整架,419为支撑板,420为导向板,421为调节螺栓,422为槽孔,423为套索安装定位块B,424为涨紧导向孔,425为限位槽,426为滑块;411 is a drive motor, 412 is a reducer, 413 is a guide rail, 414 is a drive mounting frame, 415 is a lasso driving wheel, 416 is a torque sensor, 417 is a brake bean, 418 is a tension adjustment frame, 419 is a support plate, 420 421 is an adjusting bolt, 422 is a slotted hole, 423 is a lasso installation positioning block B, 424 is a tension guide hole, 425 is a limit groove, and 426 is a slide block;

510为轮式移动座,511为滚轮,521为支撑杆,522为手柄,523为升降平台;510 is a wheeled mobile seat, 511 is a roller, 521 is a support rod, 522 is a handle, and 523 is a lifting platform;

O为盂肱关节运动中心,J1为上臂保持架轴线,J2为盂肱前伸/后缩关节旋转中心线,J3为盂肱内旋/外旋关节旋转中心线,J4为盂肱外展/内收旋转轴中心线,J5为肩胛带前伸/后缩模块化旋转装置旋转轴中心线,J6为肩胛带上提/下落关节旋转轴中心线,K1为肩胛带伸缩执行臂等效线。O is the motion center of the glenohumeral joint, J1 is the axis of the upper arm cage, J2 is the rotation centerline of the glenohumeral extension/retraction joint, J3 is the rotation centerline of the glenohumeral internal rotation/external rotation joint, and J4 is the glenohumeral abduction/retraction joint rotation centerline. The centerline of the adduction rotation axis, J5 is the centerline of the rotation axis of the shoulder belt extension/retraction modular rotation device, J6 is the centerline of the rotation axis of the shoulder belt lifting/falling joint, and K1 is the equivalent line of the shoulder belt telescopic actuator arm.

具体实施方式Detailed ways

下面结合附图对本发明作进一步详述。The present invention will be described in further detail below in conjunction with the accompanying drawings.

如图1所示,本发明包括作为安装基础的基座组件500,该基座组件500上部的两侧结构相同,每侧均包括上臂固定组件100、盂肱关节运动组件200及肩胛带运动组件300。As shown in FIG. 1 , the present invention includes a base assembly 500 as an installation basis. The two sides of the upper part of the base assembly 500 have the same structure, and each side includes an upper arm fixation assembly 100 , a glenohumeral joint movement assembly 200 and a shoulder girdle movement assembly. 300.

如图2所示,上臂固定组件100包括上臂保持架101、软体束缚带102、上臂支撑杆103及多维力传感器104,该上臂支撑杆103的两端分别连接有上臂保持架101,上臂保持架101呈半圆形,内侧附着有软体束缚带102,软体束缚带102与人体上臂直接接触,可提升患肢穿戴舒适性。上臂保持架101具备所需的刚度,且上臂保持架轴线J1径向位置可调,保证其上臂保持架轴线J1在活动范围内与人体盂肱内旋/外旋关节运动轴线重合,并保持相对位置稳定。两端的上臂保持架101的一侧均安装在上臂支撑杆103上开设的导向沟槽内、可在该导向沟槽内移动,并在间距调整好后与上臂支撑杆103定位锁紧,以适应不同患者的臂长。在上臂支撑杆103上安装有用于连接上臂支撑杆103和盂肱关节运动组件200的多维力传感器104,可对康复训练过程中人—机交互力信息、人体运动学和生理学数据进行实时记录,用于患者病情定量评估与多模式康复训练的方案优化。As shown in Figure 2, the upper arm fixing assembly 100 includes an upper arm holder 101, a soft restraint belt 102, an upper arm support rod 103 and a multi-dimensional force sensor 104, and the two ends of the upper arm support rod 103 are connected with an upper arm holder 101 and an upper arm holder respectively. 101 is semicircular, with a soft restraint belt 102 attached to the inner side. The soft restraint belt 102 is in direct contact with the upper arm of the human body, which can improve the wearing comfort of the affected limb. The upper arm cage 101 has the required rigidity, and the radial position of the axis J1 of the upper arm cage can be adjusted to ensure that the axis J1 of the upper arm cage coincides with the movement axis of the glenohumeral internal rotation/external rotation joint of the human body within the range of motion and remains relatively The position is stable. One side of the upper arm holder 101 at both ends is installed in the guide groove provided on the upper arm support rod 103, can move in the guide groove, and after the distance is adjusted, it is positioned and locked with the upper arm support rod 103 to adapt to Arm lengths of different patients. A multi-dimensional force sensor 104 for connecting the upper arm support rod 103 and the glenohumeral joint motion assembly 200 is installed on the upper arm support rod 103, which can record the human-computer interaction force information, human kinematics and physiological data in the rehabilitation training process in real time, Program optimization for quantitative assessment of patient condition and multimodal rehabilitation training.

如图3所示,盂肱关节运动组件200包括依次串联的盂肱前伸/后缩关节210、盂肱内旋/外旋关节220及盂肱外展/内收关节230,盂肱前伸/后缩关节210的盂肱前伸/后缩关节旋转轴中心线J2、盂肱内旋/外旋关节220的盂肱内旋/外旋关节旋转轴中心线J3及盂肱外展/内收关节230的盂肱外展/内收旋转轴中心线J4非垂直相交于盂肱关节运动中心O,点O即为人体肩关节放置点。盂肱前伸/后缩关节旋转轴中心线J2通过人体的盂肱关节运动中心O,并与人体矢状面垂直。盂肱内旋/外旋关节220通过盂肱内旋/外旋执行臂221与盂肱前伸/后缩关节210连接,且相对距离可进行调整并锁紧;盂肱内旋/外旋关节旋转轴中心线J3通过人体的盂肱关节运动中心O,与盂肱前伸/后缩关节旋转轴中心线J2之间成60°~80°可调夹角、该夹角朝向人体外侧,盂肱内旋/外旋关节旋转轴中心线J3与人体冠状面成10°~30°可调夹角、该夹角朝向人体后侧。盂肱外展/内收关节230通过盂肱外展/内收执行臂231与盂肱内旋/外旋关节220连接,且相对距离可进行调整并锁紧;盂肱外展/内收关节旋转轴中心线J4通过人体的盂肱关节运动中心O,与盂肱前伸/后缩关节旋转轴中心线J2成60°~80°可调夹角、该夹角朝向人体外侧。孟肱外展/内收支撑臂232与肩胛带运动组件300固定连接,盂肱前伸/后缩执行臂211与上臂固定组件100中的多维力传感器104连接;盂肱前伸/后缩执行臂211上开设有多个安装孔,可与多维力传感器104的相对距离进行调整,并在调整好后进行锁紧。上述所述的夹角均可依据不同患者身体尺寸进行定制调整。As shown in FIG. 3 , the glenohumeral joint motion assembly 200 includes a glenohumeral extension/retraction joint 210, a glenohumeral internal rotation/external rotation joint 220, and a glenohumeral abduction/adduction joint 230 in series. The glenohumeral protraction/retraction joint rotation axis centerline J2 of the glenohumeral protraction/retraction joint 210, the glenohumeral internal rotation/external rotation joint rotation axis centerline J3 of the glenohumeral internal rotation/external rotation joint 220, and the glenohumeral abduction/inner The center line J4 of the glenohumeral abduction/adduction rotation axis of the retraction joint 230 intersects non-perpendicularly with the motion center O of the glenohumeral joint, and point O is the placement point of the human shoulder joint. The center line J2 of the rotation axis of the glenohumeral extension/retraction joint passes through the motion center O of the glenohumeral joint of the human body and is perpendicular to the sagittal plane of the human body. The glenohumeral internal rotation/external rotation joint 220 is connected with the glenohumeral protraction/retraction joint 210 through the glenohumeral internal rotation/external rotation actuator arm 221, and the relative distance can be adjusted and locked; the glenohumeral internal rotation/external rotation joint The centerline J3 of the rotation axis passes through the motion center O of the glenohumeral joint of the human body, and forms an adjustable angle of 60° to 80° with the centerline J2 of the glenohumeral extension/retraction joint rotation axis. The center line J3 of the rotation axis of the humeral internal rotation/external rotation joint forms an adjustable angle of 10° to 30° with the coronal plane of the human body, and the angle is toward the back of the human body. The glenohumeral abduction/adduction joint 230 is connected with the glenohumeral internal rotation/external rotation joint 220 through the glenohumeral abduction/adduction actuator arm 231, and the relative distance can be adjusted and locked; the glenohumeral abduction/adduction joint The rotation axis centerline J4 passes through the glenohumeral joint motion center O of the human body, and forms an adjustable angle of 60°-80° with the glenohumeral extension/retraction joint rotation axis centerline J2, and the included angle faces the outside of the human body. Menghumeral abduction/adduction support arm 232 is fixedly connected with shoulder girdle movement assembly 300, glenohumeral extension/retraction execution arm 211 is connected with multidimensional force sensor 104 in upper arm fixing assembly 100; glenohumeral extension/retraction execution The arm 211 is provided with a plurality of mounting holes, the relative distance to the multi-dimensional force sensor 104 can be adjusted, and the arm 211 can be locked after adjustment. The included angles mentioned above can be customized and adjusted according to the body size of different patients.

盂肱前伸/后缩关节210包括通过旋转装置240转动连接的盂肱前伸/后缩执行臂211和盂肱前伸/后缩支撑臂212,盂肱内旋/外旋关节220包括通过旋转装置240转动连接的盂肱内旋/外旋执行臂221和盂肱内旋/外旋支撑臂222,盂肱外展/内收关节230包括通过旋转装置240转动连接的盂肱外展/内收执行臂231和盂肱外展/内收支撑臂232,该盂肱外展/内收支撑臂232与肩胛带前伸/后缩关节310相连。盂肱前伸/后缩支撑臂212与盂肱内旋/外旋执行臂221之间以及盂肱内旋/外旋支撑臂222与盂肱外展/内收执行臂231之间相互连接,各旋转装置240均与各自的套索驱动单元400连接,由各自的套索驱动单元400提供盂肱关节的前伸/后缩、内旋/外旋及外展/内收的驱动力矩。The glenohumeral extension/retraction joint 210 includes the glenohumeral extension/retraction actuator arm 211 and the glenohumeral extension/retraction support arm 212 which are rotatably connected by the rotating device 240, the glenohumeral internal rotation/external rotation joint 220 includes the glenohumeral extension/retraction support arm 212 through The glenohumeral internal rotation/external rotation actuator arm 221 and the glenohumeral internal rotation/external rotation support arm 222 are rotatably connected by the rotating device 240, and the glenohumeral abduction/adduction joint 230 includes the glenohumeral abduction/external rotation connected by the rotating device 240. The adduction actuator arm 231 and the glenohumeral abduction/adduction support arm 232 are connected with the shoulder girdle extension/retraction joint 310 . The glenohumeral extension/retraction support arm 212 and the glenohumeral internal rotation/external rotation execution arm 221 and the glenohumeral internal rotation/external rotation support arm 222 and the glenohumeral abduction/adduction execution arm 231 are connected to each other, Each rotating device 240 is connected with its own lasso driving unit 400 , and the respective lasso driving unit 400 provides driving torques for protraction/retraction, internal rotation/external rotation and abduction/adduction of the glenohumeral joint.

盂肱前伸/后缩支撑臂212、盂肱内旋/外旋执行臂221、盂肱内旋/外旋支撑臂222及盂肱外展/内收执行臂231上分别均匀开设有多个螺栓孔,该盂肱内旋/外旋执行臂221的一端上及盂肱外展/内收执行臂231的一端上均设有凹槽,盂肱前伸/后缩支撑臂212的另一端、盂肱内旋/外旋支撑臂222的另一端通过该凹槽分别与盂肱内旋/外旋执行臂221的一端及盂肱外展/内收执行臂231的一端插接、并可调整盂肱前伸/后缩支撑臂212与盂肱内旋/外旋执行臂221之间以及盂肱内旋/外旋支撑臂222与盂肱外展/内收执行臂231之间的间距,在调整好后通过螺栓插入螺栓孔中固定,以适应不同人体盂肱关节尺寸要求。The glenohumeral extension/retraction support arm 212, the glenohumeral internal rotation/external rotation execution arm 221, the glenohumeral internal rotation/external rotation support arm 222 and the glenohumeral abduction/adduction execution arm 231 are evenly equipped with multiple Bolt holes, one end of the glenohumeral internal rotation/external rotation actuator arm 221 and one end of the glenohumeral abduction/adduction actuator arm 231 are provided with grooves, the other end of the glenohumeral extension/retraction support arm 212 , the other end of the glenohumeral internal rotation/external rotation support arm 222 is respectively plugged with one end of the glenohumeral internal rotation/external rotation actuator arm 221 and one end of the glenohumeral abduction/adduction actuator arm 231 through the groove, and can Adjust the distance between the glenohumeral extension/retraction support arm 212 and the glenohumeral internal rotation/external rotation execution arm 221 and between the glenohumeral internal rotation/external rotation support arm 222 and the glenohumeral abduction/adduction execution arm 231 , after being adjusted, the bolts are inserted into the bolt holes for fixing, so as to meet the size requirements of different human glenohumeral joints.

如图4所示,盂肱关节运动组件200中的各旋转装置240结构相同,均包括套索驱动轮2401、润滑轴承2402、编码器延长套2403、空心轴2404、拉线2406、套索安装定位块A2407及角度编码器2409,该空心轴2404安装在盂肱前伸/后缩支撑臂212、盂肱内旋/外旋支撑臂222或盂肱外展/内收支撑臂232上,套索驱动轮2401通过润滑轴承2402转动安装于空心轴2404上,盂肱前伸/后缩执行臂211、盂肱内旋/外旋执行臂221或盂肱外展/内收执行臂231与套索驱动轮2401固定连接。在盂肱前伸/后缩支撑臂212、盂肱内旋/外旋支撑臂222或盂肱外展/内收支撑臂232朝向盂肱前伸/后缩执行臂211、盂肱内旋/外旋执行臂221或盂肱外展/内收执行臂231的一面、位于套索驱动轮2401上方的左右两侧,分别固定安装有套索安装定位块A2407,每个套索安装定位块A2407内均穿入有拉线2406,该拉线2406由套索驱动轮2401上绕过,一端通过套索安装定位块A2407定位支撑锁紧,另一端与套索驱动单元400相连。空心轴2404内侧连接有角度编码器2409,该空心轴2404内部容置有编码器延长套2403,编码器延长套2403的两端分别与角度编码器2409的转轴和套索驱动轮2401相连,使角度编码器2409可实时检测盂肱前伸/后缩执行臂211相对于盂肱前伸/后缩支撑臂212、盂肱内旋/外旋执行臂221相对于盂肱内旋/外旋支撑臂222以及盂肱外展/内收执行臂231相对于盂肱外展/内收支撑臂232的旋转角度,保证患肢实时处于正确位姿。盂肱前伸/后缩支撑臂212、盂肱内旋/外旋支撑臂222或盂肱外展/内收支撑臂232朝向盂肱前伸/后缩执行臂211、盂肱内旋/外旋执行臂221或盂肱外展/内收执行臂231的一面开设有限位弧形槽2408,套索驱动轮2401上开设有限位螺纹孔2405,通过限位装置插入该限位弧形槽2408及限位螺纹孔2405内进行限位。As shown in Figure 4, the rotating devices 240 in the glenohumeral joint movement assembly 200 have the same structure, and all include a lasso driving wheel 2401, a lubricating bearing 2402, an encoder extension sleeve 2403, a hollow shaft 2404, a pull wire 2406, and a lasso installation and positioning Block A2407 and angle encoder 2409, the hollow shaft 2404 is mounted on the glenohumeral extension/retraction support arm 212, the glenohumeral internal rotation/external rotation support arm 222 or the glenohumeral abduction/adduction support arm 232, the lasso The driving wheel 2401 is rotatably installed on the hollow shaft 2404 through the lubricating bearing 2402, the glenohumeral extension/retraction actuator arm 211, the glenohumeral internal rotation/external rotation actuator arm 221 or the glenohumeral abduction/adduction actuator arm 231 and the lasso The driving wheel 2401 is fixedly connected. When the glenohumeral extension/retraction support arm 212, the glenohumeral internal rotation/external rotation support arm 222 or the glenohumeral abduction/adduction support arm 232 are toward the glenohumeral extension/retraction actuator arm 211, the glenohumeral internal rotation/ One side of the external rotation actuator arm 221 or the glenohumeral abduction/adduction actuator arm 231 is located on the left and right sides above the lasso drive wheel 2401, respectively fixed with a lasso installation positioning block A2407, each lasso installation positioning block A2407 A pull wire 2406 is inserted inside, and the pull wire 2406 is bypassed by the lasso driving wheel 2401 , one end is positioned, supported and locked by the lasso mounting positioning block A2407 , and the other end is connected with the lasso driving unit 400 . An angle encoder 2409 is connected to the inner side of the hollow shaft 2404, and an encoder extension sleeve 2403 is accommodated inside the hollow shaft 2404. The angle encoder 2409 can detect in real time that the glenohumeral extension/retraction actuator arm 211 is relative to the glenohumeral extension/retraction support arm 212, and the glenohumeral internal rotation/external rotation actuator arm 221 is relative to the glenohumeral internal rotation/external rotation support The rotation angles of the arm 222 and the glenohumeral abduction/adduction actuator arm 231 relative to the glenohumeral abduction/adduction support arm 232 ensure that the affected limb is in the correct posture in real time. Glenoid humeral extension/retraction support arm 212, glenohumeral internal rotation/external rotation support arm 222 or glenohumeral abduction/adduction support arm 232 towards the glenohumeral extension/retraction actuator arm 211, glenohumeral internal/external rotation One side of the rotating actuator arm 221 or the glenohumeral abduction/adduction actuator arm 231 is provided with a limiting arc-shaped groove 2408, and the lasso driving wheel 2401 is provided with a limiting threaded hole 2405, and the limiting device is inserted into the limiting arc-shaped groove 2408 And limit in the limit threaded hole 2405.

如图5所示,肩胛带运动组件300包括彼此串联的肩胛带前伸/后缩关节310及肩胛带上提/下落关节320,肩胛带前伸/后缩关节310包括肩胛带伸缩执行臂311、肩胛带伸缩支撑臂316、旋转装置240及肩胛带伸缩摆动臂组件,该肩胛带伸缩执行臂311与肩胛带伸缩支撑臂316相对设置,并通过两组所述伸缩摆动臂组件相连,形成可伸缩的平行四边形机构;每组伸缩摆动臂组件均包括彼此可伸缩相连的肩胛带伸缩摆动臂A312和肩胛带伸缩摆动臂B315,两组中的肩胛带伸缩摆动臂A312和肩胛带伸缩摆动臂B315中的任一个的一端通过旋转装置240与肩胛带伸缩执行臂311或肩胛带伸缩支撑臂316转动连接,其余的伸缩摆动臂的一端与肩胛带伸缩执行臂311或肩胛带伸缩支撑臂316转动连接。肩胛带上提/下落关节320包括肩胛带上提/下落支撑臂322及旋转装置240,该肩胛带上提/下落支撑臂322通过旋转装置240与肩胛带伸缩支撑臂316相连。肩胛带运动组件300中,肩胛带伸缩摆动臂A312和肩胛带伸缩摆动臂B315中的任一个的一端通过旋转装置240与肩胛带伸缩执行臂311或肩胛带伸缩支撑臂316转动连接,该旋转装置240为肩胛带前伸/后缩模块化旋转装置317;肩胛带上提/下落支撑臂322通过旋转装置240与肩胛带伸缩支撑臂316相连,该旋转装置240为肩胛带上提/下落模块化旋转装置。肩胛带前伸/后缩关节模块化旋转装置旋转轴中心线J5与上提/下落关节旋转轴中心线J6垂直相交。As shown in FIG. 5 , the shoulder girdle movement assembly 300 includes a shoulder girdle extension/retraction joint 310 and a shoulder girdle lifting/falling joint 320 connected in series, and the shoulder girdle extension/retraction joint 310 includes a shoulder girdle telescopic actuator arm 311 , the shoulder strap telescopic support arm 316, the rotating device 240 and the shoulder strap telescopic swing arm assembly, the shoulder strap telescopic execution arm 311 is set opposite to the shoulder strap telescopic support arm 316, and is connected by two sets of telescopic swing arm assemblies to form a flexible Telescopic parallelogram mechanism; each group of telescopic swing arm components includes the shoulder strap telescopic swing arm A312 and the shoulder strap telescopic swing arm B315 that are telescopically connected to each other, the shoulder strap telescopic swing arm A312 and the shoulder strap telescopic swing arm B315 in the two groups One end of any one is rotationally connected with the shoulder strap telescopic execution arm 311 or the shoulder strap telescopic support arm 316 through the rotating device 240, and one end of the remaining telescopic swing arms is rotationally connected with the shoulder strap telescopic execution arm 311 or the shoulder strap telescopic support arm 316 . The shoulder girdle lift/fall joint 320 includes a shoulder girdle lift/fall support arm 322 and a rotating device 240 , the shoulder girdle lift/fall support arm 322 is connected to the shoulder girdle telescopic support arm 316 through the swivel device 240 . In the shoulder strap movement assembly 300, one end of any one of the shoulder strap telescopic swing arm A312 and the shoulder strap telescopic swing arm B315 is rotationally connected with the shoulder strap telescopic execution arm 311 or the shoulder strap telescopic support arm 316 through the rotating device 240. 240 is the shoulder blade extension/retraction modular rotation device 317; the shoulder blade lifting/falling support arm 322 is connected with the shoulder blade telescopic support arm 316 through the rotation device 240, and the rotation device 240 is the shoulder blade lifting/falling modularization rotating device. The centerline J5 of the rotation axis of the modular rotation device for the extension/retraction joint of the shoulder girdle perpendicularly intersects the centerline J6 of the rotation axis of the lifting/falling joint.

肩胛带运动组件300中的肩胛带前伸/后缩模块化旋转装置7和肩胛带上提/下落模块化旋转装置分别与各自的套索驱动单元400连接,由各自的套索驱动单元400提供肩胛带的前伸/后缩以及上提/下落的驱动力矩。The shoulder girdle extension/retraction modular rotation device 7 and the shoulder girdle lifting/falling modular rotation device in the shoulder girdle movement assembly 300 are respectively connected with the respective lasso drive unit 400, provided by the respective lasso drive unit 400. The driving moments for extension/retraction and uplift/down of the shoulder girdle.

如图5、图6所示,肩胛带伸缩摆动臂A312和肩胛带伸缩摆动臂B315的一端均为圆环状,另一端为长方体。肩胛带伸缩摆动臂A312及肩胛带伸缩摆动臂B315的另一端分别均匀开设有多个螺栓孔323,该肩胛带伸缩摆动臂A312或肩胛带伸缩摆动臂B315的另一端上设有凹槽319,肩胛带伸缩摆动臂A312及肩胛带伸缩摆动臂B315的另一端通过该凹槽319插接、并可调整肩胛带伸缩执行臂311与肩胛带伸缩支撑臂316之间的间距,在调整好后通过螺栓插入螺栓孔323中固定,以适应不同人体肩胛带尺寸要求。本实施例中,肩胛带伸缩摆动臂B315的另一端沿长度方向开设有凹槽319,肩胛带伸缩摆动臂A312的另一端插入该凹槽319中,肩胛带伸缩摆动臂A312与肩胛带伸缩摆动臂B315之间可相对伸缩,并在调整好距离后,用螺栓插入螺栓孔323中锁紧固定。肩胛带伸缩执行臂311用于与盂肱关节运动组件200固定连接。As shown in Fig. 5 and Fig. 6, one end of the shoulder strap telescopic swing arm A312 and the shoulder strap telescopic swing arm B315 are in the shape of a ring, and the other end is a cuboid. The other ends of the shoulder strap telescopic swing arm A312 and the shoulder strap telescopic swing arm B315 are evenly provided with a plurality of bolt holes 323 respectively, and the other ends of the shoulder strap telescopic swing arm A312 or the shoulder strap telescopic swing arm B315 are provided with grooves 319, The other end of the shoulder strap telescopic swing arm A312 and the shoulder strap telescopic swing arm B315 is inserted through the groove 319, and the distance between the shoulder strap telescopic actuator arm 311 and the shoulder strap telescopic support arm 316 can be adjusted. Bolts are inserted into the bolt holes 323 to be fixed, so as to adapt to the size requirements of different human shoulder girdles. In this embodiment, the other end of the shoulder strap telescopic swing arm B315 is provided with a groove 319 along the length direction, the other end of the shoulder strap telescopic swing arm A312 is inserted into the groove 319, and the shoulder strap telescopic swing arm A312 and the shoulder strap telescopic swing The arms B315 can be stretched relatively, and after the distance is adjusted, bolts are inserted into the bolt holes 323 to be locked and fixed. The shoulder strap telescopic actuator arm 311 is used for fixed connection with the glenohumeral joint movement assembly 200 .

肩胛带伸缩执行臂等效线K1通过人体盂肱关节运动中心O,肩胛带前伸/后缩模块化旋转装置旋转轴中心线J5位于人体胸锁关节正后方,利用平行四边形机构等效平移运动特性,将外骨骼肩胛带的前伸/后缩运动传递到以胸锁关节为中心的前伸/后缩运动,复现人体盂肱关节绕胸锁关节前伸/后缩的功能运动。肩胛带上提/下落关节旋转轴中心线J6通过人体胸锁关节运动中心,所述的肩胛带上提/下落关节旋转轴中心线J6与肩胛带前伸/后缩模块化旋转装置旋转轴中心线J5垂直相交,肩胛带组件采用回转机构和平行四边形机构组合方式设计,将外骨骼肩胛带的前伸/后缩、上提/下落运动传递到以胸锁关节为中心的前伸/后缩、上提/下落运动。The equivalent line K1 of the telescopic executive arm of the scapula passes through the motion center O of the glenohumeral joint of the human body, and the centerline J5 of the rotation axis of the scapular extension/retraction modular rotation device is located directly behind the sternoclavicular joint of the human body, and the parallelogram mechanism is used for equivalent translational movement Features, the extension/retraction movement of the exoskeleton shoulder girdle is transferred to the extension/retraction movement centered on the sternoclavicular joint, and the functional movement of the human glenohumeral joint around the sternoclavicular joint is reproduced. The center line J6 of the rotation axis of the lifting/falling joint of the shoulder girdle passes through the motion center of the human sternoclavicular joint. The line J5 intersects vertically, and the shoulder girdle assembly is designed by a combination of a slewing mechanism and a parallelogram mechanism, which transfers the forward extension/retraction, lifting/falling movement of the exoskeleton shoulder girdle to the forward extension/retraction centered on the sternoclavicular joint. , Lifting/falling movement.

如图6、图7所示,两个肩胛带伸缩摆动臂A31的一端均通过肩胛带伸缩润滑轴承313与肩胛带伸缩执行臂311上设置的两个肩胛带转轴314转动连接,其中一个肩胛带伸缩摆动臂B315的一端通过肩胛带伸缩润滑轴承313与肩胛带伸缩支撑臂316上设置的肩胛带转轴314转动连接;另一个肩胛带伸缩摆动臂B315的一端通过肩胛带前伸/后缩模块化旋转装置317与肩胛带伸缩支撑臂316转动连接。肩胛带前伸/后缩模块化旋转装置317结构与旋转装置240相同,包括套索驱动轮2401、润滑轴承2402、编码器延长套2403、空心轴2404、拉线2406、套索安装定位块A2407及角度编码器2409,该空心轴2404安装在肩胛带伸缩支撑臂316或肩胛带伸缩执行臂311上(本实施例是安装在肩胛带伸缩支撑臂316上),套索驱动轮2401通过润滑轴承2402转动安装于空心轴2404上,肩胛带伸缩摆动臂B315或肩胛带伸缩摆动臂A312(本实施例为肩胛带伸缩摆动臂B315)与套索驱动轮2401固定连接。在肩胛带伸缩支撑臂316朝向肩胛带伸缩摆动臂B315的一面、位于套索驱动轮2401上方的左右两侧,分别固定安装有套索安装定位块A2407,每个套索安装定位块A2407内均穿入有拉线2406,该拉线2406由套索驱动轮2401上绕过,一端通过套索安装定位块A2407定位支撑锁紧,另一端与套索驱动单元400相连。空心轴2404内侧连接有角度编码器2409,该空心轴2404内部容置有编码器延长套2403,编码器延长套2403的两端分别与角度编码器2409的转轴和套索驱动轮2401相连。肩胛带伸缩支撑臂316朝向肩胛带伸缩摆动臂B315的一面开设有限位弧形槽2408,套索驱动轮2401上开设有限位螺纹孔2405,通过限位装置插入该限位弧形槽2408及限位螺纹孔2405内进行限位。As shown in Figure 6 and Figure 7, one end of the two shoulder strap telescopic swing arms A31 is rotationally connected to the two shoulder strap rotating shafts 314 provided on the shoulder strap telescopic actuator arm 311 through the shoulder strap telescopic lubricating bearing 313, one of the shoulder strap One end of the telescopic swing arm B315 is rotatably connected to the shoulder belt rotating shaft 314 provided on the shoulder strap telescopic support arm 316 through the shoulder strap telescopic lubricating bearing 313; The rotating device 317 is rotationally connected with the telescopic support arm 316 of the shoulder strap. The structure of the shoulder belt extension/retraction modular rotation device 317 is the same as that of the rotation device 240, including the lasso drive wheel 2401, the lubricating bearing 2402, the encoder extension sleeve 2403, the hollow shaft 2404, the pull wire 2406, the lasso installation positioning block A2407 and Angle encoder 2409, the hollow shaft 2404 is installed on the shoulder strap telescopic support arm 316 or the shoulder strap telescopic execution arm 311 (in this embodiment, it is installed on the shoulder strap telescopic support arm 316), and the lasso drive wheel 2401 passes through the lubricating bearing 2402 Rotatingly installed on the hollow shaft 2404, the shoulder strap telescopic swing arm B315 or the shoulder strap telescopic swing arm A312 (this embodiment is the shoulder strap telescopic swing arm B315) is fixedly connected with the noose drive wheel 2401. On the side of the shoulder strap telescopic support arm 316 facing the shoulder strap telescopic swing arm B315, on the left and right sides above the lasso drive wheel 2401, there are fixedly installed lasso positioning blocks A2407, each lasso mounting positioning block A2407. A pull wire 2406 is threaded through, and the pull wire 2406 is bypassed by the lasso driving wheel 2401 , one end of which is positioned, supported and locked by the lasso installation positioning block A2407 , and the other end is connected with the lasso driving unit 400 . An angle encoder 2409 is connected to the inner side of the hollow shaft 2404, and an encoder extension sleeve 2403 is housed inside the hollow shaft 2404. The shoulder belt telescopic support arm 316 is provided with a limited arc groove 2408 towards the side of the shoulder blade telescopic swing arm B315, and the noose drive wheel 2401 is provided with a limited threaded hole 2405, which is inserted into the limited arc groove 2408 and the limited screw hole 2405 by a limit device. Limit in the threaded hole 2405.

如图5、图8所示,肩胛带伸缩支撑臂316呈“L”形,该“L”形的一边用于与肩胛带伸缩摆动臂B315连接,另一边为肩胛带上提/下落执行臂321,该肩胛带上提/下落执行臂321通过肩胛带上提/下落模块化旋转装置与肩胛带上提/下落支撑臂322转动连接。肩胛带上提/下落模块化旋转装置与旋转装置240结构相同,包括套索驱动轮2401、润滑轴承2402、编码器延长套2403、空心轴2404、拉线2406、套索安装定位块A2407及角度编码器2409,该空心轴2404安装在肩胛带上提/下落支撑臂322上,套索驱动轮2401通过润滑轴承2402转动安装于空心轴2404上,肩胛带上提/下落执行臂321与套索驱动轮2401固定连接。在肩胛带上提/下落支撑臂322朝向肩胛带上提/下落执行臂321的一面、位于套索驱动轮2401上方的左右两侧,分别固定安装有套索安装定位块A2407,每个套索安装定位块A2407内均穿入有拉线2406,该拉线2406由套索驱动轮2401上绕过,一端通过套索安装定位块A2407定位支撑锁紧,另一端与套索驱动单元400相连。空心轴2404内侧连接有角度编码器2409,该空心轴2404内部容置有编码器延长套2403,编码器延长套2403的两端分别与角度编码器2409的转轴和套索驱动轮2401相连。肩胛带上提/下落支撑臂322朝向肩胛带上提/下落执行臂321的一面开设有限位弧形槽2408,套索驱动轮2401上开设有限位螺纹孔2405,通过限位装置插入该限位弧形槽2408及限位螺纹孔2405内进行限位。As shown in Figure 5 and Figure 8, the shoulder strap telescopic support arm 316 is in the shape of an "L", one side of the "L" shape is used to connect with the shoulder strap telescopic swing arm B315, and the other side is the lifting/falling actuator arm of the shoulder strap 321, the shoulder belt lifting/falling execution arm 321 is rotationally connected with the shoulder belt lifting/falling support arm 322 through the shoulder belt lifting/falling modular rotation device. The shoulder belt lifting/falling modular rotating device has the same structure as the rotating device 240, including lasso driving wheel 2401, lubricating bearing 2402, encoder extension sleeve 2403, hollow shaft 2404, pull wire 2406, lasso installation positioning block A2407 and angle coding device 2409, the hollow shaft 2404 is installed on the shoulder belt lifting/falling support arm 322, the noose drive wheel 2401 is installed on the hollow shaft 2404 through the lubricating bearing 2402 rotation, the shoulder belt lifting/falling execution arm 321 and the noose drive Wheel 2401 is fixedly connected. On the side of the lifting/falling support arm 322 facing the lifting/falling execution arm 321 of the shoulder belt, and on the left and right sides above the lasso drive wheel 2401, there are respectively fixedly installed lasso installation positioning blocks A2407, each lasso A backguy 2406 is penetrated into the installation positioning block A2407, and the backguy 2406 is bypassed by the lasso driving wheel 2401, and one end is positioned, supported and locked by the lasso installation positioning block A2407, and the other end is connected with the lasso driving unit 400. An angle encoder 2409 is connected to the inner side of the hollow shaft 2404, and an encoder extension sleeve 2403 is housed inside the hollow shaft 2404. The shoulder belt lifting/falling support arm 322 is provided with a limit arc groove 2408 on the side facing the shoulder belt lifting/falling execution arm 321, and the lasso driving wheel 2401 is provided with a limit threaded hole 2405, which is inserted through the limit device. Limiting is performed in the arc groove 2408 and the limiting threaded hole 2405 .

如图12所示,本发明还可在肩胛带伸缩执行臂311上固定安装了两根相互平行的导轨413,该导轨413上滑动连接有滑块426,滑块426上安装有沿导轨413往复滑动的连接板318。连接板318可与盂肱关节运动组件200中的盂肱外展/内收关节230固定连接,增加了一个平移自由度。As shown in Figure 12, the present invention can also fixedly install two mutually parallel guide rails 413 on the telescopic actuator arm 311 of the shoulder blade. The guide rails 413 are slidably connected with a slider 426, and the slider 426 is equipped with a Sliding web 318 . The connecting plate 318 can be fixedly connected with the glenohumeral abduction/adduction joint 230 in the glenohumeral joint movement assembly 200, which increases a degree of freedom in translation.

本发明各旋转装置240所连接的各个套索驱动单元400分别固定安装在基座组件500上,本发明的套索驱动单元为五个,分别通过拉线2406与盂肱关节运动组件200中的三个旋转装置240和肩胛带前伸/后缩模块化旋转装置7及肩胛带上提/下落模块化旋转装置连接,分别为盂肱前伸/后缩关节210、盂肱内旋/外旋关节220、盂肱外展/内收关节230、肩胛带前伸/后缩关节310、肩胛带上提/下落关节320提供远距离驱动扭矩。如图9~11所示,套索驱动单元包括动力源、驱动安装架414、套索主动轮415、扭矩传感器416、刹车豆417、涨紧调整架418、支撑板419、导向板420、调节螺栓421及套索安装定位块B423,该动力源包括驱动电机411和减速机412,驱动电机411和减速机412,优选轻量型大扭矩伺服电机,以减轻系统能量密度,提高便携性。驱动安装架414可固定在基座组件500上,驱动电机411与减速机412连接后固定在驱动安装架414的一侧,套索主动轮415位于驱动安装架414的另一侧,并与减速机412的输出端相连,由驱动电机411和减速机412驱动旋转。套索主动轮415上安装有两个刹车豆417,用于套索主动轮415和拉线2406的固定连接。涨紧调整架418呈“L”形,该“L”形的一边开有涨紧导向孔424,另一边的端部固定安装有支撑板419,该支撑板419上设有调节螺栓421。驱动安装架414上延伸有导向板420,该导向板420由涨紧导向孔424穿过,调节螺栓421与导向板420抵接。在“L”形涨紧调整架418的一边上还开设有两个限位槽425,每个限位槽425内均安装一个套索安装定位块B423;套索主动轮415上缠绕有两根拉线2406,每根拉线2406的一端均固定在一个刹车豆417上,另一端由一个套索安装定位块B423穿过后分别与盂肱前伸/后缩支撑臂212、盂肱内旋/外旋支撑臂222、盂肱外展/内收支撑臂232、肩胛带伸缩支撑臂316或肩胛带上提/下落支撑臂322上的套索安装定位块A2407连接。在“L”形涨紧调整架418的另一边上开设有槽孔422,该槽孔422呈长条形;导向板420上开设有螺栓孔,通过螺栓穿过槽孔422后拧紧在螺栓孔内。旋拧调节螺栓421,使导向板420与涨紧调整架418相对移动,进而调整涨紧调整架418与套索主动轮415之间的距离。调整过程中,导向板420上的螺栓始终在槽孔422内移动、起到导向作用,确保涨紧调整架418沿直线调整;调整好后,拧紧螺栓固定导向板420。减速机412的输出轴上安装有扭矩传感器416。Each lasso driving unit 400 connected to each rotating device 240 of the present invention is fixedly installed on the base assembly 500 respectively. A rotating device 240 is connected with the shoulder girdle extension/retraction modular rotation device 7 and the shoulder girdle lifting/falling modular rotation device, respectively glenohumeral extension/retraction joint 210, glenohumeral internal rotation/external rotation joint 220, the glenohumeral abduction/adduction joint 230, the scapula extension/retraction joint 310, and the scapula lift/fall joint 320 provide long-distance driving torque. As shown in Figures 9 to 11, the lasso driving unit includes a power source, a drive mounting frame 414, a lasso driving wheel 415, a torque sensor 416, a brake bean 417, a tensioning adjustment frame 418, a support plate 419, a guide plate 420, an adjustment The bolt 421 and the lasso install the positioning block B423. The power source includes a drive motor 411 and a reducer 412. The drive motor 411 and the reducer 412 are preferably lightweight and high-torque servo motors to reduce system energy density and improve portability. Drive mounting frame 414 can be fixed on the base assembly 500, drive motor 411 is fixed on the side of driving mounting frame 414 after being connected with speed reducer 412, lasso driving wheel 415 is positioned at the other side of driving mounting frame 414, and with deceleration The output end of the motor 412 is connected to each other, and is driven to rotate by the driving motor 411 and the speed reducer 412. Two brake beans 417 are installed on the lasso driving wheel 415 for the fixed connection between the lasso driving wheel 415 and the stay wire 2406 . Tension adjustment frame 418 is "L" shape, and one side of this "L" shape has tension guide hole 424, and the end of the other side is fixedly installed with support plate 419, and this support plate 419 is provided with adjusting bolt 421. A guide plate 420 extends from the driving installation frame 414 , and the guide plate 420 passes through the tightening guide hole 424 , and the adjusting bolt 421 abuts against the guide plate 420 . On one side of the "L"-shaped tensioning adjustment frame 418, there are also two limiting grooves 425, and a lasso installation positioning block B423 is installed in each limiting groove 425; Pull wires 2406, one end of each pull wire 2406 is fixed on a brake bean 417, and the other end is passed through by a lasso-mounted positioning block B423, respectively connected to the glenohumeral protraction/retraction support arm 212, glenohumeral internal rotation/external rotation The support arm 222, the glenohumeral abduction/adduction support arm 232, the telescoping support arm 316 of the shoulder blade or the lasso on the lifting/falling support arm 322 of the shoulder blade are connected with the positioning block A2407. On the other side of the "L"-shaped tensioning adjustment frame 418, a slot 422 is provided, and the slot 422 is in the shape of a long strip; a bolt hole is provided on the guide plate 420, and the bolt is passed through the slot 422 and then tightened in the bolt hole. Inside. Screw the adjustment bolt 421 to make the guide plate 420 and the tension adjustment frame 418 relatively move, and then adjust the distance between the tension adjustment frame 418 and the lasso driving wheel 415 . During the adjustment process, the bolts on the guide plate 420 always move in the slot 422 to play a guiding role, ensuring that the tension adjustment frame 418 is adjusted along a straight line; after the adjustment, tighten the bolts to fix the guide plate 420 . A torque sensor 416 is mounted on the output shaft of the speed reducer 412 .

套索驱动轮2401上及套索主动轮415上各沿圆周方向开设了两个沟槽,用于容置缠绕的两根拉线2406。The lasso driving wheel 2401 and the lasso driving wheel 415 respectively have two grooves along the circumferential direction for accommodating the two stay wires 2406 wound.

如图13所示,基座组件500包括轮式移动座510和升降组件,该轮式移动座510上安装有各个套索驱动单元400,底部的四角分别安装有滚轮511,便于整机移动,并在移动到位后进行锁定,方便用户移动、搬运康复训练外骨骼。升降组件与轮式移动座510固定连接,包括支撑杆521、手柄522和升降平台523,该支撑杆521的一端固定在轮式移动座510上,另一端设有可上下移动的升降平台523,该升降平台523高度调整好后通过手柄522进行锁紧固定,用于安装整个肩部复合体仿生助力柔性外骨骼,可采用手动升降方式或电动升降方式进行调节,优选电动自适应调节方式对整个肩部复合体仿生助力柔性外骨骼进行升降调整,以适应不同患者身高。每侧的肩胛带上提/下落关节320中的肩胛带上提/下落支撑臂322均安装在升降平台523的一侧,升降平台523的每侧均开设有槽孔和导向键槽,用于安装整个肩部复合体仿生助力柔性外骨骼,并对其进行升降调整和左右间距调整,以适应不同患者胸锁关节宽度。支撑杆521支撑升降平台523及升降调整导向。本发明的基座组件500可与座椅600合并为轮椅,将套索驱动单元400集成在轮椅底部,将升降组件集成在轮椅背部。As shown in Figure 13, the base assembly 500 includes a wheeled mobile base 510 and a lifting assembly. Each lasso drive unit 400 is installed on the wheeled mobile base 510, and the four corners of the bottom are respectively equipped with rollers 511 to facilitate the movement of the whole machine. And it will be locked after moving in place, which is convenient for users to move and carry the exoskeleton for rehabilitation training. The lifting assembly is fixedly connected with the wheeled mobile base 510, including a support rod 521, a handle 522 and a lifting platform 523. One end of the support rod 521 is fixed on the wheeled mobile base 510, and the other end is provided with a lifting platform 523 that can move up and down. After the height of the lifting platform 523 is adjusted, it is locked and fixed by the handle 522. It is used to install the bionic-assisted flexible exoskeleton of the entire shoulder complex. It can be adjusted by manual lifting or electric lifting. The shoulder complex bionic assists the flexible exoskeleton to adjust the lifting to adapt to different patient heights. The shoulder strap lifting/falling support arms 322 in the shoulder strap lifting/falling joint 320 on each side are all installed on one side of the lifting platform 523, and each side of the lifting platform 523 is provided with slotted holes and guide keyways for installation. The entire shoulder complex bionics assists the flexible exoskeleton, and adjusts its elevation and left-right spacing to adapt to the width of the sternoclavicular joint of different patients. The support rod 521 supports the lifting platform 523 and the lifting adjustment guide. The base assembly 500 of the present invention can be combined with the seat 600 to form a wheelchair, the lasso driving unit 400 is integrated at the bottom of the wheelchair, and the lifting assembly is integrated at the back of the wheelchair.

本发明的肩部复合体仿生助力柔性外骨骼通过各套索驱动单元400的驱动控制具有盂肱关节的前伸/后缩、外展/内收、内旋/外旋以及肩胛带的上提/下落和前伸/后缩五个自由度,在此基础上还可增加一平移自由度。The bionic assisted flexible exoskeleton of the shoulder complex of the present invention has the functions of protraction/retraction, abduction/adduction, internal rotation/external rotation and lifting of the shoulder blade through the driving control of the lasso driving units 400. There are five degrees of freedom for /falling and forward extension/retraction, and a translational degree of freedom can be added on this basis.

本发明的工作原理为:Working principle of the present invention is:

盂肱关节运动组件200的前伸/后缩、内旋/外旋和外展/内收三个自由度。The glenohumeral joint movement component 200 has three degrees of freedom of extension/retraction, internal rotation/external rotation and abduction/adduction.

控制盂肱前伸/后缩关节210中的套索驱动单元400中,驱动电机411和减速机412驱动套索主动轮415正转或反转,通过两根拉线2406与盂肱前伸/后缩支撑臂212上的两个套索安装定位块A2407连接,两根拉线2406带动套索驱动轮2401相对于空心轴2404转动,进而带动盂肱前伸/后缩执行臂211相对盂肱前伸/后缩支撑臂212摆动,实现盂肱前伸/后缩关节210的前伸/后缩自由度。通过旋拧调节螺栓421,使涨紧调整架418相对于导向板420移动,进而调整涨紧调整架418与套索主动轮415之间的距离,对两根拉线2406进行涨紧。In the lasso drive unit 400 in the control glenohumeral extension/retraction joint 210, the drive motor 411 and the reducer 412 drive the lasso driving wheel 415 to rotate forward or reverse, through two pull wires 2406 and the glenohumeral extension/rearward The two lassoes on the retractable support arm 212 are connected with the positioning block A2407, and the two pull wires 2406 drive the lasso drive wheel 2401 to rotate relative to the hollow shaft 2404, thereby driving the glenohumeral extension/retraction actuator arm 211 to extend relative to the glenohumeral The supporting arm 212 swings to realize the freedom of extension/retraction of the glenohumeral extension/retraction joint 210 . By screwing the adjusting bolt 421 , the tension adjusting frame 418 is moved relative to the guide plate 420 , and then the distance between the tension adjusting frame 418 and the lasso driving wheel 415 is adjusted to tighten the two pull wires 2406 .

控制盂肱内旋/外旋关节220中的套索驱动单元400中,驱动电机411和减速机412驱动套索主动轮415正转或反转,通过两根拉线2406与盂肱内旋/外旋支撑臂222上的两个套索安装定位块A2407连接,两根拉线2406带动套索驱动轮2401相对于空心轴2404转动,进而带动盂肱内旋/外旋执行臂221相对盂肱内旋/外旋支撑臂222摆动,实现盂肱内旋/外旋关节220的内旋/外旋自由度。通过旋拧调节螺栓421,使涨紧调整架418相对于导向板420移动,进而调整涨紧调整架418与套索主动轮415之间的距离,对两根拉线2406进行涨紧。Controlling the lasso drive unit 400 in the glenohumeral internal rotation/external rotation joint 220, the drive motor 411 and the reducer 412 drive the lasso driving wheel 415 to rotate forward or reverse, through two pull wires 2406 and the glenohumeral internal/external rotation The two lariats on the rotation support arm 222 are connected with the positioning block A2407, and the two pull wires 2406 drive the lasso driving wheel 2401 to rotate relative to the hollow shaft 2404, and then drive the glenohumeral internal rotation/external rotation actuator arm 221 to internally rotate the glenohumeral The /external rotation support arm 222 swings to realize the internal rotation/external rotation degree of freedom of the glenohumeral internal rotation/external rotation joint 220 . By screwing the adjusting bolt 421 , the tension adjusting frame 418 is moved relative to the guide plate 420 , and then the distance between the tension adjusting frame 418 and the lasso driving wheel 415 is adjusted to tighten the two pull wires 2406 .

控制盂肱外展/内收关节230中的套索驱动单元400中,驱动电机411和减速机412驱动套索主动轮415正转或反转,通过两根拉线2406与盂肱外展/内收支撑臂232上的两个套索安装定位块A2407连接,两根拉线2406带动套索驱动轮2401相对于空心轴2404转动,进而带动盂肱外展/内收执行臂231相对盂肱外展/内收支撑臂232摆动,实现盂肱外展/内收关节230的外展/内收自由度。通过旋拧调节螺栓421,使涨紧调整架418相对于导向板420移动,进而调整涨紧调整架418与套索主动轮415之间的距离,对两根拉线2406进行涨紧。Controlling the lasso drive unit 400 in the glenohumeral abduction/adduction joint 230, the driving motor 411 and the reducer 412 drive the lasso driving wheel 415 to rotate forward or reverse, through two pull wires 2406 and the glenohumeral abduction/inner The two lassoes on the support arm 232 are connected with the positioning block A2407, and the two pull wires 2406 drive the lasso drive wheel 2401 to rotate relative to the hollow shaft 2404, and then drive the glenohumeral abduction/adduction actuator arm 231 to abduct the glenohumeral relative The swing/adduction support arm 232 realizes the abduction/adduction degree of freedom of the glenohumeral abduction/adduction joint 230 . By screwing the adjusting bolt 421 , the tension adjusting frame 418 is moved relative to the guide plate 420 , and then the distance between the tension adjusting frame 418 and the lasso driving wheel 415 is adjusted to tighten the two pull wires 2406 .

肩胛带运动组件300的前伸/后缩和上提/下落两个自由度。The shoulder girdle movement assembly 300 has two degrees of freedom of extension/retraction and lifting/falling.

控制肩胛带前伸/后缩关节310的套索驱动单元400中,驱动电机411和减速机412驱动套索主动轮415正转或反转,通过两根拉线2406与肩胛带伸缩支撑臂316上的两个套索安装定位块A2407连接,两根拉线2406带动套索驱动轮2401相对于空心轴2404转动,进而带动肩胛带伸缩摆动臂B315相对肩胛带伸缩支撑臂316摆动,实现肩胛带前伸/后缩关节310的前伸/后缩自由度。通过旋拧调节螺栓421,使涨紧调整架418相对于导向板420移动,进而调整涨紧调整架418与套索主动轮415之间的距离,对两根拉线2406进行涨紧。In the lasso drive unit 400 that controls the forward extension/retraction joint 310 of the shoulder girdle, the driving motor 411 and the reducer 412 drive the lasso driving wheel 415 to rotate forward or reverse, and connect with the telescopic support arm 316 of the shoulder girdle through two pull wires 2406 The two lasso installation positioning blocks A2407 are connected, and the two pull wires 2406 drive the lasso driving wheel 2401 to rotate relative to the hollow shaft 2404, and then drive the shoulder strap telescopic swing arm B315 to swing relative to the shoulder strap telescopic support arm 316, realizing the forward extension of the shoulder strap Extension/retraction degrees of freedom of the joint 310 . By screwing the adjusting bolt 421 , the tension adjusting frame 418 is moved relative to the guide plate 420 , and then the distance between the tension adjusting frame 418 and the lasso driving wheel 415 is adjusted to tighten the two pull wires 2406 .

控制肩胛带上提/下落关节320的套索驱动单元400中,驱动电机411和减速机412驱动套索主动轮415正转或反转,通过两根拉线2406与肩胛带上提/下落支撑臂322上的两个套索安装定位块A2407连接,两根拉线2406带动套索驱动轮2401相对于空心轴2404转动,进而带动肩胛带上提/下落执行臂321相对于肩胛带上提/下落支撑臂322摆动,实现肩胛带上提/下落关节320的上提/下落自由度。通过旋拧调节螺栓421,使涨紧调整架418相对于导向板420移动,进而调整涨紧调整架418与套索主动轮415之间的距离,对两根拉线2406进行涨紧。In the lasso drive unit 400 that controls the lifting/falling joint 320 of the shoulder girdle, the drive motor 411 and the reducer 412 drive the lasso driving wheel 415 to rotate forward or reverse, and the two pull wires 2406 are connected with the lifting/falling support arm of the shoulder girdle. The two nooses on the 322 are connected with the positioning block A2407, and the two pull wires 2406 drive the noose drive wheel 2401 to rotate relative to the hollow shaft 2404, and then drive the lifting/falling actuator arm 321 to support the lifting/falling of the shoulder belt relative to the shoulder belt The arm 322 swings to realize the degree of freedom of lifting/falling the shoulder girdle lifting/falling joint 320 . By screwing the adjusting bolt 421 , the tension adjusting frame 418 is moved relative to the guide plate 420 , and then the distance between the tension adjusting frame 418 and the lasso driving wheel 415 is adjusted to tighten the two pull wires 2406 .

本发明可用于上肢偏瘫等上肢运动功能障碍患者进行肩部复合体助力/康复训练。The invention can be used for patients with upper limb motor dysfunction such as upper limb hemiplegia to perform shoulder complex assisting/rehabilitation training.

Claims (7)

1.一种轻量型多自由度肩部复合体仿生助力柔性外骨骼,其特征在于:包括作为安装基础的基座组件(500),该基座组件(500)上部的两侧结构相同,每侧均包括上臂固定组件(100)、盂肱关节运动组件(200)及肩胛带运动组件(300),其中盂肱关节运动组件(200)包括依次串联的盂肱前伸/后缩关节(210)、盂肱内旋/外旋关节(220)及盂肱外展/内收关节(230),所述肩胛带运动组件(300)包括彼此串联的肩胛带前伸/后缩关节(310)及肩胛带上提/下落关节(320),所述上臂固定组件(100)与盂肱前伸/后缩关节(210)连接,所述盂肱外展/内收关节(230)与所述肩胛带前伸/后缩关节(310)连接,所述肩胛带上提/下落关节(320)与基座组件(500)相连;所述盂肱前伸/后缩关节(210)、盂肱内旋/外旋关节(220)、盂肱外展/内收关节(230)、肩胛带前伸/后缩关节(310)及肩胛带上提/下落关节(320)分别通过一个套索驱动单元(400)控制,各所述套索驱动单元(400)分别安装在基座组件(500)上;所述肩部复合体仿生助力柔性外骨骼通过各套索驱动单元(400)的驱动控制具有盂肱关节的前伸/后缩、外展/内收、内旋/外旋以及肩胛带的上提/下落和前伸/后缩五个自由度;1. A lightweight multi-degree-of-freedom shoulder complex bionic power-assisted flexible exoskeleton, characterized in that: comprising a base assembly (500) as an installation base, the two sides of the base assembly (500) have the same structure, Each side includes an upper arm fixation component (100), a glenohumeral joint movement component (200) and a shoulder girdle movement component (300), wherein the glenohumeral joint movement component (200) includes glenohumeral extension/retraction joints in series in sequence ( 210), the glenohumeral internal rotation/external rotation joint (220) and the glenohumeral abduction/adduction joint (230), the shoulder girdle movement assembly (300) includes the scapular girdle protraction/retraction joints (310 ) and shoulder girdle lift/fall joint (320), the upper arm fixation component (100) is connected with the glenohumeral extension/retraction joint (210), and the glenohumeral abduction/adduction joint (230) is connected with the The shoulder girdle protraction/retraction joint (310) is connected, and the scapular girdle lifting/falling joint (320) is connected with the base assembly (500); the glenohumeral protraction/retraction joint (210), glenohumeral Humeral internal rotation/external rotation joint (220), glenohumeral abduction/adduction joint (230), shoulder girdle extension/retraction joint (310) and shoulder girdle lifting/falling joint (320) pass through a lasso respectively The drive unit (400) is controlled, and each of the lasso drive units (400) is installed on the base assembly (500) respectively; the bionic power-assisted flexible exoskeleton of the shoulder complex is driven by each lasso drive unit (400). Control five degrees of freedom of glenohumeral joint extension/retraction, abduction/adduction, internal rotation/external rotation, as well as lifting/falling and forward extension/retraction of the shoulder girdle; 所述盂肱前伸/后缩关节(210)的盂肱前伸/后缩关节旋转轴中心线(J2)、盂肱内旋/外旋关节(220)的盂肱内旋/外旋关节旋转轴中心线(J3)及盂肱外展/内收关节(230)的盂肱外展/内收旋转轴中心线(J4)非垂直相交于盂肱关节运动中心(O);所述盂肱前伸/后缩关节(210)包括通过旋转装置(240)转动连接的盂肱前伸/后缩执行臂(211)和盂肱前伸/后缩支撑臂(212),该盂肱前伸/后缩执行臂(211)与所述上臂固定组件(100)相连,所述盂肱内旋/外旋关节(220)包括通过旋转装置(240)转动连接的盂肱内旋/外旋执行臂(221)和盂肱内旋/外旋支撑臂(222),所述盂肱外展/内收关节(230)包括通过旋转装置(240)转动连接的盂肱外展/内收执行臂(231)和盂肱外展/内收支撑臂(232),该盂肱外展/内收支撑臂(232)与所述肩胛带前伸/后缩关节(310)相连;所述盂肱前伸/后缩支撑臂(212)与盂肱内旋/外旋执行臂(221)之间以及盂肱内旋/外旋支撑臂(222)与盂肱外展/内收执行臂(231)之间相互连接;各所述旋转装置(240)均与各自的套索驱动单元(400)连接,由各自的所述套索驱动单元(400)提供盂肱关节的前伸/后缩、内旋/外旋及外展/内收的驱动力矩;The glenohumeral extension/retraction joint rotation axis center line (J2) of the glenohumeral extension/retraction joint (210), the glenohumeral internal rotation/external rotation joint of the glenohumeral internal rotation/external rotation joint (220) The centerline of the rotation axis (J3) and the centerline of the glenohumeral abduction/adduction rotation axis (J4) of the glenohumeral abduction/adduction joint (230) intersect non-perpendicularly at the center of motion of the glenohumeral joint (O); The humeral extension/retraction joint (210) includes the glenohumeral extension/retraction execution arm (211) and the glenohumeral extension/retraction support arm (212) which are rotatably connected by the rotating device (240). The extension/retraction actuator arm (211) is connected with the upper arm fixing assembly (100), and the glenohumeral internal rotation/external rotation joint (220) includes a glenohumeral internal rotation/external rotation connected by a rotating device (240). An actuator arm (221) and a glenohumeral internal/external rotation support arm (222), the glenohumeral abduction/adduction joint (230) includes a glenohumeral abduction/adduction actuation joint (230) rotatably connected by a rotation device (240) arm (231) and a glenohumeral abduction/adduction support arm (232), the glenohumeral abduction/adduction support arm (232) is connected to the scapular extension/retraction joint (310); Between the humeral extension/retraction support arm (212) and the glenohumeral internal rotation/external rotation execution arm (221), as well as the glenohumeral internal rotation/external rotation support arm (222) and the glenohumeral abduction/adduction execution arm ( 231) are connected with each other; each of the rotating devices (240) is connected with its respective lasso driving unit (400), and the protraction/retraction of the glenohumeral joint is provided by the respective lasso driving unit (400) , Drive torque of internal rotation/external rotation and abduction/adduction; 所述旋转装置(240)包括套索驱动轮(2401)、空心轴(2404)、拉线(2406)及套索安装定位块A(2407),该空心轴(2404)安装在盂肱前伸/后缩支撑臂(212)、盂肱内旋/外旋支撑臂(222)、盂肱外展/内收支撑臂(232)、肩胛带伸缩执行臂(311)、肩胛带伸缩支撑臂(316)或肩胛带上提/下落支撑臂(322)上,所述套索驱动轮(2401)转动安装于空心轴(2404)上、并与所述盂肱前伸/后缩执行臂(211)、盂肱内旋/外旋执行臂(221)、盂肱外展/内收执行臂(231)、肩胛带伸缩摆动臂A(312)、肩胛带伸缩摆动臂B(315)或肩胛带上提/下落执行臂(321)相连;在所述盂肱前伸/后缩支撑臂(212)、盂肱内旋/外旋支撑臂(222)、盂肱外展/内收支撑臂(232)、肩胛带伸缩执行臂(311)、肩胛带伸缩支撑臂(316)或肩胛带上提/下落支撑臂(322)朝向盂肱前伸/后缩执行臂(211)、盂肱内旋/外旋执行臂(221)、盂肱外展/内收执行臂(231)、肩胛带伸缩摆动臂A(312)、肩胛带伸缩摆动臂B(315)或肩胛带上提/下落执行臂(321)的一面、位于套索驱动轮(2401)的两侧,分别安装有套索安装定位块A(2407),每个所述套索安装定位块A(2407)内均穿入有拉线(2406),该拉线(2406)由所述套索驱动轮(2401)上绕过,一端通过所述套索安装定位块A(2407)定位支撑锁紧,另一端与所述套索驱动单元(400)相连;所述空心轴(2404)内侧连接有角度编码器(2409),该空心轴(2404)内部容置有编码器延长套(2403),所述编码器延长套(2403)的两端分别与角度编码器(2409)的转轴和套索驱动轮(2401)相连;所述盂肱前伸/后缩支撑臂(212)、盂肱内旋/外旋支撑臂(222)、盂肱外展/内收支撑臂(232)、肩胛带伸缩执行臂(311)、肩胛带伸缩支撑臂(316)或肩胛带上提/下落支撑臂(322)朝向盂肱前伸/后缩执行臂(211)、盂肱内旋/外旋执行臂(221)、盂肱外展/内收执行臂(231)、肩胛带伸缩摆动臂A(312)、肩胛带伸缩摆动臂B(315)或肩胛带上提/下落执行臂(321)的一面开设有限位弧形槽(2408),所述套索驱动轮(2401)上开设有限位螺纹孔(2405),通过限位装置插入该限位弧形槽(2408)及限位螺纹孔(2405)内进行限位;The rotating device (240) includes a lasso driving wheel (2401), a hollow shaft (2404), a pull wire (2406) and a lasso installation positioning block A (2407). Retraction support arm (212), glenohumeral internal rotation/external rotation support arm (222), glenohumeral abduction/adduction support arm (232), shoulder girdle telescopic execution arm (311), shoulder girdle telescopic support arm (316 ) or the lifting/falling support arm (322) of the shoulder belt, the lasso driving wheel (2401) is rotatably mounted on the hollow shaft (2404), and is connected with the glenohumeral extension/retraction actuator arm (211) , the glenohumeral internal rotation/external rotation actuator arm (221), the glenohumeral abduction/adduction actuator arm (231), the shoulder girdle telescopic swing arm A (312), the shoulder girdle telescopic swing arm B (315) or the shoulder girdle The lifting/falling execution arm (321) is connected; the glenohumeral extension/retraction support arm (212), the glenohumeral internal rotation/external rotation support arm (222), the glenohumeral abduction/adduction support arm (232 ), shoulder girdle telescopic actuator arm (311), shoulder girdle telescopic support arm (316) or shoulder girdle lift/fall support arm (322) toward the glenohumeral extension/retraction actuator arm (211), glenohumeral internal rotation/ The external rotation actuator arm (221), the glenohumeral abduction/adduction actuator arm (231), the shoulder blade telescopic swing arm A (312), the shoulder blade telescopic swing arm B (315) or the shoulder blade lift/fall actuator arm ( 321), on both sides of the lasso driving wheel (2401), a lasso installation positioning block A (2407) is respectively installed, and a backguy ( 2406), the pull wire (2406) is bypassed by the lasso drive wheel (2401), one end is positioned and supported by the lasso installation positioning block A (2407), and the other end is connected with the lasso drive unit ( 400) connected; the inner side of the hollow shaft (2404) is connected with an angle encoder (2409), and the hollow shaft (2404) houses an encoder extension sleeve (2403), and the two encoder extension sleeves (2403) The ends are respectively connected with the rotating shaft of the angle encoder (2409) and the lasso driving wheel (2401); Brachial Abduction/Adduction Support Arm (232), Shoulder Girdle Telescopic Actuator Arm (311), Shoulder Girdle Telescopic Support Arm (316) or Shoulder Girdle Elevation/Drop Support Arm (322) is performed towards glenohumeral protraction/retraction Arm (211), glenohumeral internal rotation/external rotation actuator arm (221), glenohumeral abduction/adduction actuator arm (231), shoulder girdle telescopic swing arm A (312), shoulder girdle telescopic swing arm B (315) Or one side of the lifting/falling actuator arm (321) of the shoulder strap is provided with a limited arc groove (2408), and a limited threaded hole (2405) is provided on the lasso driving wheel (2401), and the limited screw hole (2405) is inserted through the limited device. Positioning is performed in the arc-shaped groove (2408) and the limiting threaded hole (2405); 所述套索驱动单元(400)包括动力源、驱动安装架(414)、套索主动轮(415)、扭矩传感器(416)、刹车豆(417)、涨紧调整架(418)、支撑板(419)、导向板(420)、调节螺栓(421)及套索安装定位块B(423),该动力源安装在驱动安装架(414)上,输出端连接有套索主动轮(415),所述套索主动轮(415)上安装有两个刹车豆(417);所述涨紧调整架(418)的一端开有涨紧导向孔(424),另一端安装有支撑板(419),该支撑板(419)上设有调节螺栓(421),所述驱动安装架(414)上延伸有导向板(420),该导向板(420)由所述涨紧导向孔(424)穿过,所述调节螺栓(421)与导向板(420)抵接;所述涨紧调整架(418)上安装有两个套索安装定位块B(423),所述套索主动轮(415)上缠绕有两根拉线(2406),每根拉线(2406)的一端均固定在一个所述刹车豆(417)上,另一端由一个所述套索安装定位块B(423)穿过后与所述旋转装置(240)连接;所述动力源的输出端安装有扭矩传感器(416);所述涨紧调整架(418)呈“L”形,所述涨紧导向孔(424)开设在该“L”形的一边,并在该边上开设有用于固定套索安装定位块B(423)的限位槽(425);所述支撑板(419)固定在该“L”形另一边的端部,在该边上开有槽孔(422),通过旋拧所述调节螺栓(421)使导向板(420)与涨紧调整架(418)相对移动,进而调整所述涨紧调整架(418)与套索主动轮(415)之间的距离;调整好后的所述导向板(420)通过螺栓插入槽孔(422)中锁紧固定。The lasso driving unit (400) includes a power source, a drive mounting frame (414), a lasso driving wheel (415), a torque sensor (416), a brake bean (417), a tensioning adjustment frame (418), a support plate (419), guide plate (420), adjusting bolt (421) and lasso installation positioning block B (423), the power source is installed on the drive mounting frame (414), and the output end is connected with lasso driving wheel (415) , two brake beans (417) are installed on the lasso driving wheel (415); one end of the tension adjustment frame (418) has a tension guide hole (424), and the other end is equipped with a support plate (419 ), the support plate (419) is provided with an adjusting bolt (421), and a guide plate (420) is extended on the drive installation frame (414), and the guide plate (420) is formed by the tension guide hole (424) Pass through, the adjusting bolt (421) abuts against the guide plate (420); two lasso mounting positioning blocks B (423) are installed on the tensioning adjustment frame (418), and the lasso driving wheel ( 415) is wound with two stay wires (2406), one end of each stay wire (2406) is fixed on one of the brake beans (417), and the other end is passed through by a lasso installation positioning block B (423). It is connected with the rotating device (240); the output end of the power source is equipped with a torque sensor (416); the tension adjustment frame (418) is in the shape of "L", and the tension guide hole (424) is set On one side of the "L" shape, there is a limit groove (425) for fixing the lasso installation positioning block B (423); the support plate (419) is fixed on the other side of the "L" shape. The end of one side has a slotted hole (422) on the side, and the guide plate (420) and the tension adjustment frame (418) are relatively moved by screwing the adjusting bolt (421), thereby adjusting the tension adjustment frame (418). Adjust the distance between the frame (418) and the lasso driving wheel (415); the adjusted guide plate (420) is inserted into the slotted hole (422) by a bolt and locked and fixed. 2.根据权利要求1所述的轻量型多自由度肩部复合体仿生助力柔性外骨骼,其特征在于:所述上臂固定组件(100)包括上臂保持架(101)、软体束缚带(102)、上臂支撑杆(103)及多维力传感器(104),该上臂支撑杆(103)的两端分别连接有上臂保持架(101),两端的所述上臂保持架(101)的一侧均安装在所述上臂支撑杆(103)上开设的导向沟槽内、可在该导向沟槽内移动,并在间距调整好后与所述上臂支撑杆(103)定位锁紧,两端的所述上臂保持架(101)的另一侧内部附着有软体束缚带(102);在所述上臂支撑杆(103)上安装有用于连接上臂支撑杆(103)和盂肱关节运动组件(200)的多维力传感器(104)。2. The lightweight multi-degree-of-freedom shoulder complex biomimetic power-assisted flexible exoskeleton according to claim 1, characterized in that: the upper arm fixation component (100) includes an upper arm cage (101), a soft body restraint belt (102 ), an upper arm support rod (103) and a multidimensional force sensor (104), the two ends of the upper arm support rod (103) are respectively connected with an upper arm cage (101), and one side of the upper arm cage (101) at both ends is Installed in the guide groove opened on the upper arm support rod (103), it can move in the guide groove, and after the distance is adjusted, it is positioned and locked with the upper arm support rod (103). The other side of the upper arm cage (101) is attached with a soft restraint belt (102); on the upper arm support rod (103) is installed a device for connecting the upper arm support rod (103) and the glenohumeral joint movement assembly (200). A multidimensional force sensor (104). 3.根据权利要求1所述的轻量型多自由度肩部复合体仿生助力柔性外骨骼,其特征在于:所述盂肱前伸/后缩支撑臂(212)、盂肱内旋/外旋执行臂(221)、盂肱内旋/外旋支撑臂(222)及盂肱外展/内收执行臂(231)上分别均匀开设有多个螺栓孔,该盂肱内旋/外旋执行臂(221)及盂肱外展/内收执行臂(231)上均设有凹槽,所述盂肱前伸/后缩支撑臂(212)、盂肱内旋/外旋支撑臂(222)通过该凹槽分别与盂肱内旋/外旋执行臂(221)及盂肱外展/内收执行臂(231)插接、并可调整盂肱前伸/后缩支撑臂(212)与盂肱内旋/外旋执行臂(221)之间以及盂肱内旋/外旋支撑臂(222)与盂肱外展/内收执行臂(231)之间的间距,在调整好后通过螺栓插入螺栓孔中固定。3. The lightweight multi-degree-of-freedom shoulder complex bionic assisted flexible exoskeleton according to claim 1, characterized in that: the glenohumeral extension/retraction support arm (212), the glenohumeral internal rotation/external rotation A plurality of bolt holes are evenly opened on the glenohumeral internal rotation/external rotation support arm (222) and the glenohumeral abduction/adduction execution arm (231). The execution arm (221) and the glenohumeral abduction/adduction execution arm (231) are provided with grooves, the glenohumeral extension/retraction support arm (212), the glenohumeral internal rotation/external rotation support arm ( 222) are respectively plugged with the glenohumeral internal rotation/external rotation actuator arm (221) and the glenohumeral abduction/adduction actuator arm (231) through the groove, and the glenohumeral extension/retraction support arm (212) can be adjusted ) and the glenohumeral internal rotation/external rotation actuator arm (221) and the distance between the glenohumeral internal rotation/external rotation support arm (222) and the glenohumeral abduction/adduction actuator arm (231), after adjusting Finally, insert the bolt into the bolt hole and fix it. 4.根据权利要求1所述的轻量型多自由度肩部复合体仿生助力柔性外骨骼,其特征在于:所述盂肱前伸/后缩关节旋转中心线(J2)与人体矢状面垂直,所述盂肱内旋/外旋关节旋转中心线(J3)与盂肱前伸/后缩关节旋转中心线(J2)之间的夹角朝向人体外侧,盂肱内旋/外旋关节旋转中心线(J3)与人体冠状面之间的夹角朝向人体的后侧,所述盂肱外展/内收旋转中心线(J4)与盂肱前伸/后缩关节旋转中心线(J2)之间的夹角朝向人体外侧。4. The lightweight multi-degree-of-freedom shoulder complex bionic-assisted flexible exoskeleton according to claim 1, characterized in that: the glenohumeral extension/retraction joint rotation centerline (J2) is in line with the sagittal plane of the human body Vertical, the angle between the glenohumeral internal rotation/external rotation joint rotation centerline (J3) and the glenohumeral extension/retraction joint rotation centerline (J2) faces the outside of the human body, the glenohumeral internal rotation/external rotation joint The included angle between the rotation centerline (J3) and the coronal plane of the human body is toward the rear side of the human body, and the glenohumeral abduction/adduction rotation centerline (J4) and the glenohumeral extension/retraction joint rotation centerline (J2 ) to the outside of the human body. 5.根据权利要求1所述的轻量型多自由度肩部复合体仿生助力柔性外骨骼,其特征在于:所述肩胛带前伸/后缩关节(310)包括肩胛带伸缩执行臂(311)、肩胛带伸缩支撑臂(316)、旋转装置(240)及肩胛带伸缩摆动臂组件,该肩胛带伸缩执行臂(311)与肩胛带伸缩支撑臂(316)相对设置,并通过两组所述伸缩摆动臂组件相连,形成可伸缩的平行四边形机构;每组伸缩摆动臂组件均包括彼此可伸缩相连的肩胛带伸缩摆动臂A(312)和肩胛带伸缩摆动臂B(315),两组中的肩胛带伸缩摆动臂A(312)和肩胛带伸缩摆动臂B(315)中的任一个的一端通过所述旋转装置(240)与肩胛带伸缩执行臂(311)或肩胛带伸缩支撑臂(316)转动连接,其余的伸缩摆动臂的一端与肩胛带伸缩执行臂(311)或肩胛带伸缩支撑臂(316)转动连接;所述肩胛带上提/下落关节(320)包括肩胛带上提/下落支撑臂(322)及旋转装置(240),该肩胛带上提/下落支撑臂(322)通过所述旋转装置(240)与肩胛带伸缩支撑臂(316)相连;所述旋转装置(240)与各自的套索驱动单元(400)连接,由各自的所述套索驱动单元(400)提供肩胛带的前伸/后缩以及上提/下落的驱动力矩。5. The lightweight multi-degree-of-freedom shoulder complex bionic-assisted flexible exoskeleton according to claim 1, characterized in that: the scapular extension/retraction joint (310) includes a scapula telescopic actuator arm (311 ), the shoulder strap telescopic support arm (316), the rotating device (240) and the shoulder strap telescopic swing arm assembly, the shoulder strap telescopic execution arm (311) is set opposite to the shoulder strap telescopic support arm (316), and is passed through two groups of The above telescopic swing arm assembly is connected to form a telescopic parallelogram mechanism; each set of telescopic swing arm assembly includes a shoulder strap telescopic swing arm A (312) and a shoulder strap telescopic swing arm B (315) that are telescopically connected to each other, two groups One end of any one of the shoulder strap telescopic swing arm A (312) and the shoulder strap telescopic swing arm B (315) is connected with the shoulder strap telescopic execution arm (311) or the shoulder strap telescopic support arm through the rotating device (240) (316) is rotatably connected, and one end of the remaining telescopic swing arm is rotatably connected with the shoulder strap telescopic execution arm (311) or the shoulder strap telescopic support arm (316); Lifting/falling support arm (322) and rotation device (240), the lifting/falling support arm (322) of the shoulder strap is connected with the telescopic support arm (316) of the shoulder blade through the rotation device (240); the rotation device (240) are connected with respective lasso driving units (400), and the respective lasso driving units (400) provide driving torques for protraction/retraction and lifting/falling of the shoulder girdle. 6.根据权利要求5所述的轻量型多自由度肩部复合体仿生助力柔性外骨骼,其特征在于:所述肩胛带伸缩执行臂(311)上安装有导轨(413),该导轨(413)上滑动连接有滑块(426),所述滑块(426)上安装有沿导轨(413)往复滑动的连接板(318)。6. The light-weight multi-degree-of-freedom shoulder complex bionic power-assisted flexible exoskeleton according to claim 5, characterized in that: a guide rail (413) is installed on the shoulder strap telescopic actuator arm (311), and the guide rail ( 413) is slidably connected with a slide block (426), and a connecting plate (318) reciprocally sliding along the guide rail (413) is installed on the slide block (426). 7.根据权利要求5或6所述的轻量型多自由度肩部复合体仿生助力柔性外骨骼,其特征在于:所述肩胛带伸缩摆动臂A(312)及肩胛带伸缩摆动臂B(315)的另一端分别均匀开设有多个螺栓孔(323),该肩胛带伸缩摆动臂A(312)或肩胛带伸缩摆动臂B(315)的另一端上设有凹槽(319),所述肩胛带伸缩摆动臂A(312)及肩胛带伸缩摆动臂B(315)的另一端通过该凹槽(319)插接、并可调整肩胛带伸缩执行臂(311)与肩胛带伸缩支撑臂(316)之间的间距,在调整好后通过螺栓插入螺栓孔(323)中固定。7. The lightweight multi-degree-of-freedom shoulder complex bionic power-assisted flexible exoskeleton according to claim 5 or 6, characterized in that: the shoulder strap telescopic swing arm A (312) and the shoulder strap telescopic swing arm B ( The other end of 315) is provided with a plurality of bolt holes (323) uniformly respectively, and the other end of the shoulder strap telescopic swing arm A (312) or the shoulder strap telescopic swing arm B (315) is provided with a groove (319), so The other ends of the shoulder strap telescopic swing arm A (312) and the shoulder strap telescopic swing arm B (315) are inserted through the groove (319), and the shoulder strap telescopic actuator arm (311) and the shoulder strap telescopic support arm can be adjusted. The spacing between (316) is fixed in the bolt hole (323) by bolt insertion after being adjusted.
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