CN112220644B

CN112220644B - Exoskeleton rotary joint and exoskeleton rehabilitation robot

Info

Publication number: CN112220644B
Application number: CN202011010552.2A
Authority: CN
Inventors: 吴剑煌; 孙维; 黄冠
Original assignee: Shenzhen Huaquejing Medical Technology Co ltd
Current assignee: Shenzhen Huaquejing Medical Technology Co ltd
Priority date: 2020-09-23
Filing date: 2020-09-23
Publication date: 2024-04-02
Anticipated expiration: 2040-09-23
Also published as: CN112220644A

Abstract

The invention provides an exoskeleton rotary joint and an exoskeleton rehabilitation robot, relates to the technical field of rehabilitation equipment, and is designed for solving the problems that an existing upper arm rotating inner rotating outer structure and a forearm rotating front rotating rear structure are difficult to process and high in cost. The exoskeleton rotary joint comprises a base, a first connecting rod, a second connecting rod, a swinging piece and a fixing piece, wherein the first connecting rod and the second connecting rod are parallel and are arranged at intervals; the swinging piece is arranged on the base in a swinging way, and is pivoted with the first connecting rod and the second connecting rod at the same time; the fixed part is configured to be connected with the upper arm or the forearm, the fixed part is pivoted with the first connecting rod and the second connecting rod simultaneously, and the fixed part, the first connecting rod, the swinging part and the second connecting rod form a four-bar mechanism. The exoskeleton rehabilitation robot comprises the exoskeleton rotary joint. The exoskeleton rotary joint and the exoskeleton rehabilitation robot provided by the invention are easy to process and manufacture and low in cost.

Description

Exoskeleton rotary joint and exoskeleton rehabilitation robot

Technical Field

The invention relates to the technical field of rehabilitation equipment, in particular to an exoskeleton rotating shutdown and exoskeleton rehabilitation robot.

Background

The cerebral apoplexy is commonly called as apoplexy, is an acute cerebrovascular circulatory disturbance disease caused by cerebral vessel blockage or rupture, and has the characteristics of high morbidity, high mortality, high disability rate, high recurrence rate and the like. The motor nerve damage caused by the stroke can cause the hemiplegia of the patient, cause the motor dysfunction of the affected limb, bring great obstruction to the daily life and work of the patient and seriously harm the physical and mental health. In traditional hemiplegia clinical treatment, doctors usually perform one-to-one rehabilitation treatment on patients in a freehand mode, and the treatment effects accepted by the patients are greatly different due to the influence of the personal medical means, treatment experience, subjective consciousness and the like of the doctors. In addition, the treatment process is labor-intensive and costly to care, and the quantitative ratio of physicians to patients is severely unbalanced, making it difficult to meet the increasing medical demands.

In recent decades, exoskeleton rehabilitation robots gradually become research hotspots in the field of nerve function rehabilitation therapy, can assist and even replace doctors to provide continuous, effective and more targeted rehabilitation training therapy for patients so as to relieve the shortage of human resources in rehabilitation medical treatment, and can record treatment data of the patients in real time, thereby providing objective basis for disease assessment and scheme improvement. At present, the existing exoskeleton rehabilitation robot can realize rehabilitation training with multiple degrees of freedom, wherein the two degrees of freedom, namely, the rotation of the shoulder, the rotation of the outer side and the rotation of the forearm, the rotation of the front side and the rotation of the rear side, are difficult to realize because the rotation shaft is the long shaft of the arm, and are usually completed by adopting semicircular sliding guide rails at home and abroad.

The above-mentioned mode of realizing pronation, supination and supination of the forearm by utilizing the semicircular guide rail, although simple and direct, has a plurality of defects: firstly, an arc-shaped guide rail made of steel is large in size and heavy in weight, so that the overall weight of the exoskeleton rehabilitation robot is heavy; secondly, the arc-shaped guide rail is difficult to process due to the special structure, so that the arc-shaped guide rail is high in price; again, the friction damping of the arc-shaped guide rail is large, and the movement is not smooth when the arc-shaped guide rail is used, so that the rehabilitation training effect is influenced; finally, the arc-shaped guide rail is usually connected in a form-locking manner, so that the rigidity is poor, and the overall stability of the exoskeleton rehabilitation robot is insufficient.

Disclosure of Invention

The first object of the present invention is to provide an exoskeleton rotary joint, which solves the technical problems of difficult processing and high cost of the existing upper arm rotating inner rotating outer structure and forearm rotating front rotating back structure.

The invention provides an exoskeleton rotary joint, which comprises a base, a first connecting rod, a second connecting rod, a swinging piece and a fixing piece.

The first connecting rod and the second connecting rod are parallel and are arranged at intervals; the swinging piece is arranged on the base in a swinging way, and is pivoted with the first connecting rod and the second connecting rod at the same time; the fixed part is configured to be connected with an upper arm or a forearm, the fixed part is pivoted with the first connecting rod and the second connecting rod at the same time, and the fixed part, the first connecting rod, the swinging part and the second connecting rod form a four-bar mechanism.

Further, the rotation center of the upper arm or the forearm, the pivot point of the fixing piece and the first connecting rod, the pivot point of the first connecting rod and the swinging piece and the swinging center of the swinging piece are connected to form a parallelogram; the rotation center of the upper arm or the forearm, the pivot joint of the fixing piece and the second connecting rod, the pivot joint of the second connecting rod and the swinging piece and the swinging center of the swinging piece are connected to form a parallelogram.

Further, the exoskeleton rotary joint further comprises a side link, wherein the side link is pivoted with the base, and the side link is pivoted with the first connecting rod and the second connecting rod; the pivot point of the side link and the base, the pivot point of the side link and the first connecting rod, the pivot point of the first connecting rod and the swinging piece and the swinging center of the swinging piece are connected to form a parallelogram; the connecting lines of the pivot point of the side link and the base, the pivot point of the side link and the second connecting rod, the pivot point of the second connecting rod and the swinging piece and the swinging center of the swinging piece form a parallelogram.

Further, the side link is pivotally connected with the first connecting rod on a rod section of the first connecting rod; the side link is pivotally connected with the second connecting rod on the rod section of the second connecting rod.

Further, the exoskeleton rotating joint further comprises a driving motor, the driving motor is installed on the base, and the swinging piece is fixedly connected with an output shaft of the driving motor.

Further, the driving motor is a disc motor, or the driving motor is a cylindrical motor.

Further, a first avoidance space is provided on a side of the first link toward the second link, a second avoidance space is provided on a side of the second link toward the first link, the first and second avoidance spaces are configured to enable the upper arm or forearm to rotate 90 ° in a first direction and 90 ° in a second direction, the second direction being opposite to the first direction.

Further, the mount includes a mount sleeve configured to articulate with a downstream joint of the exoskeleton rehabilitation robot and a strap disposed on the mount sleeve configured to be cinched with an upper arm or forearm.

The exoskeleton rotary joint has the beneficial effects that:

the exoskeleton rotary joint is described by taking an example of application to an upper arm rotary inner-outer joint of an exoskeleton rehabilitation robot, and at this time, a base of the exoskeleton rotary joint can be connected with a shoulder forward flexion and backward extension joint. When the upper arm is required to perform the rotary internal rotation and external rotation rehabilitation action, the fixing piece can be connected with the upper arm first, and then the swinging piece swings relative to the base. In the above process, the fixing piece, the first connecting rod, the swinging piece and the second connecting rod form a four-bar mechanism, so that the swinging piece drives the first connecting rod pivoted with the swinging piece to be close to the upper arm or the forearm and the second connecting rod to be far away from the upper arm or the forearm in the swinging process of the swinging piece relative to the base, or drives the first connecting rod pivoted with the swinging piece to be far away from the upper arm or the forearm and the second connecting rod to be close to the upper arm or the forearm, and the rotation of the upper arm are realized.

When the exoskeleton rotary joint is applied to the forearm supination and pronation joint of the exoskeleton rehabilitation robot, the principle and process of pronation and supination of the forearm are similar to the principle and process of pronation and supination of the upper arm, so that the description is omitted.

The exoskeleton rotary joint can realize the upper arm rotating and rotating inner rotating outer rehabilitation action and the forearm rotating and rotating front rotating back rehabilitation action by utilizing the connecting rod mechanism, has a simple structure and a small number of parts, and effectively solves the problems of difficult processing and high cost of the upper arm rotating and rotating inner rotating outer structure and the forearm rotating and rotating front rotating back structure caused by adopting the arc-shaped guide rail in the prior art.

The second object of the invention is to provide an exoskeleton rehabilitation robot, which solves the technical problems of difficult processing and high cost of an upper arm rotating inner rotating outer structure and a forearm rotating front rotating back structure of the existing exoskeleton rehabilitation robot.

The exoskeleton rehabilitation robot provided by the invention comprises a shoulder external swing adduction joint, a shoulder forward-flexion backward-extension joint, an upper arm rotation internal rotation external joint, an elbow flexion overstretching joint, a forearm rotation forward-rotation backward joint and a wrist dorsiflexion metacarpal flexion joint which are sequentially connected, wherein at least one of the upper arm rotation internal rotation external joint and the forearm rotation forward-rotation backward joint adopts the exoskeleton rotary joint, and the exoskeleton rotary joint is connected with an upstream joint through a base and connected with a downstream joint through a fixing piece.

Further, the exoskeleton rehabilitation robot further comprises a lifting column and a translation table, wherein the translation table is vertically movably arranged on the lifting column, and the shoulder outer swing adduction joint is horizontally movably arranged on the translation table.

The exoskeleton rehabilitation robot has the beneficial effects that:

by arranging the exoskeleton rotary joint in the exoskeleton rehabilitation robot, the exoskeleton rotary joint is utilized to realize the rotation and pronation and supination rehabilitation actions of the upper arm and the rotation and pronation and supination rehabilitation actions of the forearm, the structure is simple, the number of parts is small, and the problems that the upper arm rotation and pronation and supination structure and the forearm rotation and supination structure are difficult to process and high in cost due to the adoption of the arc-shaped guide rail in the prior art are effectively solved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic view of an exoskeleton rehabilitation robot provided in an embodiment of the present invention in a use state;

fig. 2 is a schematic diagram of a partial structure of an exoskeleton rehabilitation robot according to an embodiment of the present invention;

fig. 3 is a schematic structural view of an upper arm rotary inner-outer joint according to an embodiment of the present invention;

Fig. 4 is a schematic structural diagram of an upper arm rotary inner-outer joint according to a second embodiment of the present invention;

fig. 5 is a first working schematic diagram of an upper arm rotary inner-outer joint according to an embodiment of the present invention;

fig. 6 is a second working schematic diagram of an upper arm rotary inner-outer joint according to an embodiment of the present invention;

fig. 7 is a state diagram of the upper arm rotating inner and outer joint in an initial position according to an embodiment of the present invention;

fig. 8 is a state diagram of an upper arm rotating inner and outer joint in an inner limit position according to an embodiment of the present invention;

fig. 9 is a state diagram of an upper arm rotating inner and outer joint in an outer limit position according to an embodiment of the present invention;

fig. 10 is a diagram of a force analysis result of an upper arm first link of an upper arm rotary inner-outer joint according to an embodiment of the present invention;

FIG. 11 is a graph showing the results of displacement analysis of the first link of the upper arm of the inner and outer joints of the upper arm according to the embodiment of the present invention;

fig. 12 is a schematic structural view of a forearm supination joint according to an embodiment of the invention;

FIG. 13 is a schematic diagram of the operation of the forearm supination posterior joint according to an embodiment of the invention;

fig. 14 is a second working schematic diagram of a forearm supination posterior joint according to an embodiment of the invention;

FIG. 15 is a state diagram of the forearm supination joint in an initial position according to an embodiment of the invention;

FIG. 16 is a state diagram of a forearm supination joint in a pronation limit position according to an embodiment of the invention;

FIG. 17 is a state diagram of a forearm supination joint in a supination limit position according to an embodiment of the invention;

FIG. 18 is a graph showing the results of a force analysis of a first link of a forearm of a supination and supination joint of the forearm according to an embodiment of the invention;

fig. 19 is a graph showing the result of displacement analysis of the first link of the forearm of the supination joint of the forearm according to the present embodiment.

Reference numerals illustrate:

110-shoulder external swing adduction joint; 120-shoulder flexion-extension joints; 130-upper arm rotation inner and outer joints; 140-translation stage; 150-elbow flexion and extension joint; 160-forearm supination posterior joint; 170-dorsiflexion carpus Qu Guanjie; 180-lifting column; 190-seating;

131-upper arm base; 132-upper arm first link; 133-upper arm second link; 134-upper arm swing; 135-upper arm mount; 136-upper arm side link; 137-upper arm motor; 138-upper arm;

1351-upper arm fixation sheath; 1352-upper arm strap; 1353—a first jack; 1354-first fixation hole;

1321-upper arm first avoidance space; 1331-upper arm second avoidance space;

151-a first scaffold;

161-forearm base; 162-forearm first link; 163-forearm second link; 164-forearm swing; 165-forearm fixation; 166-forearm side link; 167-forearm motor; 168-forearm;

1651-forearm fixation sleeve; 1652-forearm strap; 1653-a second receptacle; 1654-a second fixing hole;

1621-forearm first avoidance space; 1631-forearm secondary relief space;

171-a second bracket.

Detailed Description

In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.

Fig. 1 is a schematic diagram of an exoskeleton rehabilitation robot provided in the present embodiment in a use state, and fig. 2 is a schematic diagram of a partial structure of the exoskeleton rehabilitation robot provided in the present embodiment. As shown in fig. 1 and 2, the present embodiment provides an exoskeleton rehabilitation robot, which includes a shoulder-swing adduction joint 110, a shoulder-flexion-postextension joint 120, an upper-arm-rotation-internal-rotation-extension joint 130, an elbow-flexion-overextension joint 150, a forearm-rotation-anterior-rotation-posterior joint 160, and a wrist-dorsiflexion-palm Qu Guanjie, which are sequentially connected, wherein at least one of the upper-arm-rotation-internal-rotation-outer joint 130 and the forearm-rotation-anterior-posterior joint 160 adopts an exoskeleton rotation joint. By utilizing the exoskeleton rehabilitation robot, the outward swing and inward retraction of the shoulder joint, the forward flexion and backward extension of the shoulder joint, the inward rotation and outward extension of the rotation of the upper arm 138, the flexion and hyper extension of the elbow joint, the forward rotation and backward rotation of the forearm 168 and the dorsiflexion and palmar flexion of the wrist joint can be realized, thereby helping to realize rehabilitation of the upper limb of a patient.

It should be noted that, in the present embodiment, the structures and the principles of the shoulder outer swing adduction joint 110, the shoulder anterior flexion and posterior extension joint 120, the elbow flexion and hyper-extension joint 150 and the wrist dorsiflexion and metacarpal flexion joint 170, which are well known to those skilled in the art, are not modified in this embodiment, and therefore will not be described in detail.

With continued reference to fig. 1, in this embodiment, the exoskeleton rehabilitation robot further includes a lifting column 180 and a translation stage 140, and specifically, the translation stage 140 is vertically movably disposed on the lifting column 180, and the shoulder-outer swing adduction joint 110 is horizontally movably disposed on the translation stage 140.

When the patient needs to be rehabilitated, the translation stage 140 can be raised or lowered by using the lifting column 180 to adapt to different sitting heights of the patient, and in the process, the shoulder outer-swing adduction joint 110 can be moved on the translation stage 140 so as to enable other joints to be close to the patient, and ensure that the distance between the joints and the upper limb of the patient is in a corresponding range, so that the patient can be rehabilitated better. By the arrangement, the adaptability of the extra-skeletal rehabilitation robot to the position of the affected limb is improved.

Specifically, in this embodiment, the lifting of the translation stage 140 may be achieved by a lifting motor and a lifting screw rod connected with the lifting motor in a driving manner, and similarly, the translation of each joint may be achieved by a translation motor and a translation screw rod connected with the translation motor in a driving manner, where how to utilize the driving connection of the motor and the screw rod to achieve the movement (lifting movement/horizontal movement) of the component is well known to those skilled in the art, and this embodiment is not improved, so no description will be repeated.

With continued reference to fig. 1, in this embodiment, a seat 190 is provided in the exoskeleton rehabilitation robot for sitting on by a patient.

In the following text, a detailed description will be given of a specific application of the exoskeleton rotary joint in the exoskeleton rehabilitation robot. Here, the upper arm pronation and supination outer joint 130 in the exoskeleton rehabilitation robot will be described by taking the exoskeleton rotation joint as an example, and the forearm supination and supination rear joint 160 in the exoskeleton rehabilitation robot will be described by taking the exoskeleton rotation joint as an example.

Fig. 3 is a schematic diagram of the first structure of the upper arm inner-outer joint 130 according to the present embodiment, and fig. 4 is a schematic diagram of the second structure of the upper arm inner-outer joint 130 according to the present embodiment. With continued reference to fig. 1 and 2, and with reference to fig. 3 and 4, the upper arm rotary inner and outer joint 130 includes an upper arm base 131, an upper arm first link 132, an upper arm second link 133, an upper arm swinging member 134, and an upper arm fixing member 135, and specifically, the upper arm first link 132 and the upper arm second link 133 are disposed in parallel and spaced apart relation; the upper arm swinging piece 134 is swingably arranged on the upper arm base 131, and the upper arm swinging piece 134 is pivoted with the upper arm first connecting rod 132 and the upper arm second connecting rod 133 at the same time; the upper arm fixing member 135 is configured to be connected to the upper arm 138, the upper arm fixing member 135 is pivoted simultaneously with the upper arm first link 132 and the upper arm second link 133, and the upper arm fixing member 135, the upper arm first link 132, the upper arm swing member 134, and the upper arm second link 133 form a four-bar mechanism.

Specifically, the upper arm base 131 of the upper arm supination outer joint 130 may be connected to the shoulder flexion and posterior extension joint 120, and the upper arm anchor 135 of the upper arm supination outer joint 130 may be connected to the elbow flexion and extension joint 150.

When the upper arm 138 is required to perform the pronation/supination rehabilitation, the upper arm fixing member 135 may be connected to the upper arm 138, and then the upper arm swinging member 134 may be swung with respect to the upper arm base 131. In the above process, the upper arm fixing member 135, the upper arm first link 132, the upper arm swinging member 134 and the upper arm second link 133 form a four-bar mechanism, so that the upper arm swinging member 134 drives the upper arm first link 132 pivoted with the upper arm swinging member to approach the upper arm 138 and the upper arm second link 133 to depart from the upper arm 138, or drives the upper arm first link 132 pivoted with the upper arm first link 132 to depart from the upper arm 138 and the upper arm second link 133 to approach the upper arm 138 in the swinging process relative to the upper arm base 131, thereby realizing the rotation and rotation of the upper arm 138.

The upper arm rotating inner rotating outer joint 130 can realize the upper arm 138 rotating inner rotating outer rehabilitation action by utilizing a connecting rod mechanism, has a simple structure and a small number of parts, and effectively solves the problems of difficult processing and high cost of the upper arm rotating inner rotating outer structure caused by adopting an arc-shaped guide rail in the prior art.

With continued reference to fig. 3 and 4, in this embodiment, the upper arm fixing member 135 may include an upper arm fixing sleeve 1351 and an upper arm strap 1352 disposed on the upper arm fixing sleeve 1351, wherein the upper arm fixing sleeve 1351 is configured to be connected to the elbow flexion and extension joint 150, and the upper arm strap 1352 is configured to be in binding connection with the upper arm 138.

When the exoskeleton rehabilitation robot uses the upper arm rotating inner rotation outer joint 130, the upper arm base 131 can be connected with the upstream shoulder flexion and extension joint 120, and meanwhile, the upper arm fixing sleeve 1351 is connected with the downstream elbow flexion and extension joint 150, and the upper arm fixing sleeve 1352 is used for binding the upper arm 138. The upper arm fixing member 135 has the structure that the upper arm rotary inner outer joint 130 is connected with the upper arm 138, the upper arm rotary inner outer joint 130 is connected with the upstream joint and the downstream joint, and the upper arm binding band 1352 is fixedly connected with the upper arm 138 reliably and basically without falling off.

In particular, the upper arm strap 1352 may be a split structure as shown in the figures, wherein the two portions of the upper arm strap 1352 may be joined by velcro, snaps, or knots. In other embodiments, the upper arm strap 1352 may be integrally formed, and at this time, the upper arm strap 1352 may be made of an elastic material, and when the upper arm is required to be fixed to the upper arm 138 by screwing the inner and outer joints 130, the upper arm strap 1352 may be directly sleeved on the upper arm 138, and the connection between the upper arm strap 1352 and the upper arm 138 is achieved by using the elastic restoring force of the upper arm strap 1352.

With continued reference to fig. 3, in this embodiment, the upper arm fixing sleeve 1351 has a first insertion hole 1353, and the upper arm fixing sleeve 1351 is further provided with a first fixing hole 1354 communicating with the first insertion hole 1353, and the corresponding component (the first bracket 151 shown in fig. 2) in the elbow flexion and extension joint 150 may be inserted into the first insertion hole 1353 and fixed by a first threaded connection member extending into the first fixing hole 1354. However, how to fix the first bracket 151 in the first insertion hole 1353 by using the first threaded connection is well known to those skilled in the art, and this embodiment is not modified, so that a detailed description is omitted.

With continued reference to fig. 3 and 4, in this embodiment, the joint 130 may further include an upper arm motor 137, specifically, the upper arm motor 137 is mounted on the upper arm base 131, and the upper arm swinging member 134 is fixedly connected with an output shaft of the upper arm motor 137.

When the upper arm 138 needs to be rotated in or out, the upper arm motor 137 may be started, and the upper arm first link 132 and the upper arm second link 133 may be driven by rotation of an output shaft of the upper arm motor 137, thereby rotating the upper arm 138 in or out.

The setting of upper arm motor 137 for this upper arm is rotatory in the automation that outer joint 130 can realize upper arm 138 is rotatory in, need not manual operation, and degree of automation is higher, not only greatly reduced intensity of labour, moreover, still makes the patient receive at every turn rotatory internal force and rotatory external force keep unanimous, avoids the treatment effect to appear the difference because of manual operation's subjective influence.

Preferably, the upper arm motor 137 is a disc motor, and its output shaft is a disc flange structure. Wherein, the output shaft of the upper arm motor 137 is fixedly connected with the upper arm swinging member 134 through a bolt, so as to drive the upper arm swinging member 134 to swing when the output shaft rotates.

By setting the upper arm motor 137 to a disc motor, the output torque of the upper arm motor 137 is effectively increased, thereby securing the power of the upper arm 138 rotating in and out.

With continued reference to fig. 3 and 4, in the present embodiment, the upper arm base 131 includes an upper arm vertical portion and an upper arm horizontal portion that are connected at an angle, wherein an upper arm reinforcing rib is fixedly connected between the upper arm vertical portion and the upper arm horizontal portion, and the upper arm vertical portion is provided with an upper arm connecting hole for connecting with the shoulder forward flexion backward extension joint 120; the upper arm motor 137 is mounted to the upper arm horizontal portion. The upper arm base 131 is simple in structure and reliable in strength.

Fig. 5 is a first working schematic diagram of the upper arm inner-outer rotation joint 130 according to the present embodiment, and fig. 6 is a second working schematic diagram of the upper arm inner-outer rotation joint 130 according to the present embodiment. As shown in fig. 5 and 6, in the present embodiment, the rotation center a of the upper arm 138, the pivot point B of the upper arm fixing member 135 and the upper arm first link 132, the pivot point C of the upper arm first link 132 and the upper arm swinging member 134, and the swing center D of the upper arm swinging member 134 are connected to form a parallelogram; the rotation center a of the upper arm 138, the pivot point F of the upper arm fixing member 135 and the upper arm second link 133, the pivot point E of the upper arm second link 133 and the upper arm swinging member 134, and the swing center D of the upper arm swinging member 134 are connected to form a parallelogram.

With continued reference to fig. 5 and 6, when the upper arm 138 is required to perform the rotation at the angle θ, the output shaft of the upper arm motor 137 may be rotated by θ in the counterclockwise direction in the view angles of fig. 5 and 6, at this time, the first upper arm link 132 will translate to the left, and the second upper arm link 133 will translate to the right, so as to drive the upper arm fixing member 135 to rotate counterclockwise around the point a in the drawing, thereby realizing the rotation of the upper arm 138 by θ. Similarly, when the upper arm 138 is required to perform the rotation and the outward movement at the angle θ, the output shaft of the upper arm motor 137 may be rotated by θ in the clockwise direction in the view angles of fig. 5 and 6, at this time, the first upper arm link 132 will translate to the right, and the second upper arm link 133 will translate to the left, so as to drive the upper arm fixing member 135 to rotate clockwise around the point a in the drawing, thereby realizing the rotation and the outward movement of the upper arm 138.

The upper arm rotating inner and outer joint 130 is formed by two parallelograms among the upper arm first connecting rod 132, the upper arm swinging member 134, the upper arm second connecting rod 133 and the upper arm fixing member 135, so that when the upper arm 138 is required to rotate by a set angle in the corresponding direction, the output shaft of the upper arm motor 137 is required to rotate by the set angle. The upper arm rotation inner and outer joint 130 can realize 1:1 transmission from input to output, so that motion control is simplified, and control logic is simple.

Preferably, two parallelograms constructed between the upper arm first link 132, the upper arm swing 134, the upper arm second link 133 and the upper arm fixing member 135 are symmetrically arranged in the line connecting points a and D in the drawing. By the arrangement, when the upper arm 138 performs the internal rotation or the external rotation, the stress of each part is consistent, no larger centrifugal force is generated, the stress of each part is stable, the service life is long, and the symmetrical arrangement mode is easy to assemble.

It should be noted that, in the present embodiment, the rotation radius of the upper arm 138 is L1, the distance between the rotation center a of the upper arm 138 and the swing center D of the upper arm swing member 134 is L2, the upper arm swing member 134 and the upper arm first link 132 and the upper arm second link 133 are pivotally connected at the point C and the point E, respectively, which are vertically symmetrically arranged, and the distance between the point C and the point E and the point D is L1. The other ends of the upper arm first link 132 and the upper arm second link 133 are pivotally connected to the upper arm fixing sleeve 1351 at points B and F, respectively, and the lengths of the upper arm first link 132 and the upper arm second link 133 are equal to the distance L2 between points a and D, so that two groups of parallelograms are a-B-C-D and a-D-E-F, respectively.

With continued reference to fig. 5 and 6, in the present embodiment, the upper arm rotary inner and outer joint 130 may further include an upper arm side link 136, specifically, the upper arm side link 136 is pivoted to the upper arm base 131, and the upper arm side link 136 is further pivoted to the upper arm first link 132 and the upper arm second link 133. The connection line of the pivot point G of the upper arm side link 136 and the base, the pivot point H of the upper arm side link 136 and the upper arm first link 132, the pivot point C of the upper arm first link 132 and the upper arm swinging member 134, and the swinging center D of the upper arm swinging member 134 form a parallelogram; the four links form a parallelogram, including a pivot point G of the upper arm link 136 and the upper arm base 131, a pivot point I of the upper arm link 136 and the upper arm second link 133, a pivot point E of the upper arm second link 133 and the upper arm swing piece 134, and a swing center D of the upper arm swing piece 134.

The upper arm rest 136 follows as the upper arm swing 134 swings for an in-swing or out-swing action. When the upper arm rotating inner and outer joint 130 acts, the upper arm fixing member 135 is fixed to the upper arm 138, so that the upper arm fixing member 135 is loaded at the point B and the point F, and at this time, the upper arm first link 132 can be regarded as a cantilever structure free at the end B, and correspondingly, the upper arm second link 133 can be regarded as a cantilever structure free at the end F.

The upper arm side link 136 is arranged such that the stress of the upper arm first link 132 can be considered as H fixed, B loaded, i.e.: compared with the distance from the point B to the point H, when the upper arm side link 136 is not provided, the distance from the point B to the point C is effectively shortened because the upper arm first link 132 is regarded as being fixed at the point C and the point B is loaded, and the stress condition of the upper arm first link 132 is improved because the load is unchanged.

Similarly, the upper arm side link 136 is arranged such that the stress of the upper arm second link 133 can be considered as fixed at I, loaded at F, i.e.: compared with the distance from the point F to the point I when the upper arm side link 136 is not arranged, the distance from the point F to the point E is effectively shortened when the upper arm second link 133 is regarded as being fixed at the point E and the point F is loaded, so that the stress condition of the upper arm second link 133 is improved.

In addition, by providing the upper arm side link 136, when the upper arm motor 137 is in a stop state, the upper arm first connecting rod 132 is fixed at the point C and the point H simultaneously, so as to realize self-locking of the upper arm first connecting rod 132, and correspondingly, the upper arm second connecting rod 133 is fixed at the point E and the point I simultaneously, so as to realize self-locking of the upper arm second connecting rod 133. By the arrangement, the upper arm motor 137 is not required to be kept in a starting state uniformly, and the first connecting rod and the second connecting rod can stay at corresponding positions, so that on one hand, the use cost of the upper arm rotary inner-outer joint 130 is saved, the rehabilitation cost of a patient is reduced, and on the other hand, the service life of the upper arm motor 137 is prolonged.

Preferably, in the present embodiment, the upper arm side link 136 is V-shaped, wherein the tip of the V-shaped upper arm side link 136 is pivotally connected to the upper arm base 131 at point G, two free ends far away from the tip are pivotally connected to the upper arm first link 132 at point H, and the upper arm second link 133 at point I, respectively. So set up, on the one hand, can reduce the dead weight of upper arm side link 136 to do benefit to the lightweight design of upper arm rotation internal rotation outer joint 130, on the other hand, can also reduce the space that upper arm side link 136 occupy, in order to do benefit to the miniaturized design of upper arm rotation internal rotation outer joint 130.

Specifically, in this embodiment, pin shafts are used to implement pivoting between the upper arm first link 132 and the upper arm swing piece 134, between the upper arm second link 133 and the upper arm swing piece 134, between the upper arm first link 132 and the upper arm fixing sleeve 1351, between the upper arm second link 133 and the upper arm fixing sleeve 1351, between the upper arm side link 136 and the upper arm base 131, between the upper arm first link 132 and the upper arm side link 136, and between the upper arm second link 133 and the upper arm side link 136.

With continued reference to fig. 5 and 6, in this embodiment, an upper arm first avoidance space 1321 is provided on a side of the upper arm first link 132 facing the upper arm second link 133, and an upper arm second avoidance space 1331 is provided on a side of the upper arm second link 133 facing the upper arm first link 132, where the upper arm first avoidance space 1321 and the upper arm second avoidance space 1331 are configured such that the upper arm 138 can rotate 90 ° in a first direction (counterclockwise direction in fig. 5 and 6) and 90 ° in a second direction (clockwise direction in fig. 5 and 6).

Through the arrangement, the limit angle in the rotation of the upper arm 138 and the limit angle out of the rotation of the upper arm 138 can reach 90 degrees, so that the rehabilitation requirement of a patient is well met.

Fig. 7 is a state diagram of the upper arm pronation and supination joint 130 provided in the present embodiment in the initial position, fig. 8 is a state diagram of the upper arm supination and supination joint 130 provided in the present embodiment in the supination limit position, and fig. 9 is a state diagram of the upper arm pronation and supination joint 130 provided in the present embodiment in the supination limit position. With continued reference to fig. 5 and 6, and with reference to fig. 7 to 9, in this embodiment, the upper arm rotation inner and outer joint 130 operates as follows.

With continued reference to fig. 7, in the initial state, the upper arm strap 1352 is attached to the upper arm 138 of the patient, and the upper arm first link 132 and the upper arm second link 133 are disposed opposite to each other with a space therebetween.

When the upper arm 138 needs to be rotated, the upper arm motor 137 may be started to drive the upper arm first link 132 to approach the upper arm 138 and the upper arm second link 133 to depart from the upper arm 138, so that the upper arm 138 is rotated, as shown in fig. 8. As the output shaft of the upper arm motor 137 continues to rotate, a portion of the structure of the upper arm first link 132 is received in the upper arm second escape space 1331 of the upper arm second link 133. When the upper arm first link 132 interferes with the upper arm second link 133, this indicates that the upper arm revolute joint 130 is in the revolute limit position and the upper arm 138 is rotated 90 °.

When the upper arm 138 needs to be rotated, the output shaft of the upper arm motor 137 may be rotated in the opposite direction to drive the upper arm first link 132 away from the upper arm 138 and the upper arm second link 133 close to the upper arm 138, so that the upper arm 138 is rotated, as shown in fig. 9. As the output shaft of the upper arm motor 137 continues to rotate, a portion of the structure of the upper arm second link 133 is received in the upper arm first escape space 1321 of the upper arm first link 132. When the upper arm second link 133 interferes with the upper arm first link 132, it indicates that the upper arm rotation outer joint 130 is in the rotation outer limit position, and the upper arm is rotated out by 90 °.

It should be noted that, in the present embodiment, the materials of the upper arm first link 132 and the upper arm second link 133 may be aluminum alloy, and the movement speed of the upper limb rehabilitation exoskeleton is generally slow, so that the upper arm first link 132 may be regarded as static loading, and the results obtained after the static stress analysis are shown in fig. 10 and 11, wherein fig. 10 is a graph of the stress analysis result of the upper arm first link 132 of the upper arm inner-outer joint 130 provided in the present embodiment; fig. 11 is a graph showing the result of the displacement analysis of the first link 132 of the upper arm rotary inner and outer joint 130 according to the present embodiment. It can be seen that the maximum stress of the upper arm first link 132 is about 84.40MPa and the maximum deformation is about 0.68mm with a safety factor of up to 5.98 under a load of 20 Kg.

Because the upper arm second connecting rod 133 and the upper arm first connecting rod 132 are symmetrical structures, the upper arm second connecting rod 133 and the upper arm first connecting rod 132 are the same in material and the stress is the same in the rotating-in and rotating-out actions of the upper arm 138, the stress analysis is performed only on the upper arm first connecting rod 132, the structural strength of the upper arm second connecting rod 133 is the same, and the drawings and the text are not repeated.

In the following description, the forearm supination-posterior joint 160 of the exoskeleton rehabilitation robot will be described by taking the exoskeleton rotation joint as an example.

Fig. 12 is a schematic structural diagram of a forearm supination joint 160 according to the present embodiment. The structure and transmission principle of the forearm supination posterior joint 160 are similar to those of the forearm supination posterior joint 160 described above. As shown in fig. 12, the forearm supination joint 160 includes a forearm base 161, a forearm first link 162, a forearm second link 163, a forearm swing 164, and a forearm fixture 165, specifically, the forearm first link 162 and the forearm second link 163 are arranged in parallel and spaced apart relation; the forearm swing member 164 is swingably provided to the forearm base 161, and the forearm swing member 164 is simultaneously pivoted to the forearm first link 162 and the forearm second link 163; the forearm fixture 165 is configured to be connected to the forearm 168, the forearm fixture 165 being pivotally connected to both the forearm first link 162 and the forearm second link 163, and the forearm fixture 165, the forearm first link 162, the forearm swing 164, and the forearm second link 163 forming a four-bar mechanism.

Specifically, the forearm base 161 of the forearm supination joint 160 may be connected to the elbow flexion hyperextension joint 150, and the forearm anchor 165 of the forearm supination joint 160 may be connected to the wrist dorsiflexion metacarpal joint 170.

When it is desired to perform a supination rehabilitation operation on the forearm 168, the forearm fixture 165 may be connected to the forearm 168 and then the forearm swing 164 may be swung relative to the forearm base 161. In the above process, the forearm fixing member 165, the forearm first link 162, the forearm swinging member 164 and the forearm second link 163 form a four-bar mechanism, so that the forearm swinging member 164 drives the forearm first link 162 pivoted thereto to approach the forearm 168 and the forearm second link 163 to be away from the forearm 168, or drives the forearm first link 162 pivoted thereto to be away from the forearm 168 and the forearm second link 163 to be close to the forearm 168, thereby realizing the supination and supination action of the forearm 168.

The forearm pronation and supination joint 160 can realize the forearm 168 supination and supination rehabilitation action by utilizing a connecting rod mechanism, has simple structure and small number of parts, and effectively solves the problems of difficult processing and high cost of the forearm pronation and supination structure caused by adopting an arc-shaped guide rail in the prior art.

With continued reference to fig. 12, in this embodiment, the forearm anchor 165 may include a forearm anchor sheath 1651 and a forearm strap 1652 disposed on the forearm anchor sheath 1651, wherein the forearm anchor sheath 1651 is configured to couple with the elbow flexion hyperextension joint 150 and the forearm strap 1652 is configured to be strapped with the forearm 168.

When the exoskeleton rehabilitation robot uses the forearm supinating posterior joint 160, the forearm base 161 may be connected to the upstream shoulder flexion posterior extension joint 120, and the forearm fixing sleeve 1651 may be connected to the downstream elbow flexion hyperextension joint 150, and may be bound to the forearm 168 by the forearm strap 1652. The structure of the forearm fixing member 165 not only realizes the connection of the forearm pronation and supination joint 160 and the forearm 168, but also realizes the connection of the forearm pronation and supination joint 160 and the upstream joint and the downstream joint, and the forearm binding band 1652 is reliably and basically not fallen off in the form of binding fixation, and is fixedly connected with the forearm 168.

Specifically, the forearm strap 1652 may be a split structure as shown in the figures, wherein the two portions of the forearm strap 1652 may be joined by velcro, snaps, or knots. In other embodiments, the forearm strap 1652 may be a unitary structure, where the forearm strap 1652 may be made of an elastic material, and when the forearm is to be secured to the forearm 168 by screwing the forearm back-and-forth joint 160, the forearm strap 1652 may be directly placed over the forearm 168, with the elastic restoring force of the forearm strap 1652 being used to connect to the forearm 168.

With continued reference to fig. 12, in this embodiment, the forearm fixing sleeve 1651 has a second insertion hole 1653, and the forearm fixing sleeve 1651 is further provided with a second fixing hole 1654 communicating with the second insertion hole 1653, and the corresponding component (the second bracket 171 shown in fig. 2) in the dorsiflexion/palmar joint 170 can be fixed by inserting into the second insertion hole 1653 and by a second threaded connection extending into the second fixing hole 1654. However, how to fix the second bracket 171 in the second jack 1653 by using the second threaded connection is well known to those skilled in the art, and this embodiment is not modified, so that a detailed description thereof is omitted.

With continued reference to fig. 12, in this embodiment, the forearm supination joint 160 may further include a forearm motor 167, specifically, the forearm motor 167 is mounted on the forearm base 161, and the forearm swing member 164 is fixedly connected with an output shaft of the forearm motor 167.

When the forearm 168 needs to be subjected to the pronation or supination action, the forearm motor 167 may be started, and the rotation of the output shaft of the forearm motor 167 is used to drive the first forearm link 162 and the second forearm link 163, thereby realizing the pronation or supination of the forearm 168.

The forearm motor 167 is arranged, so that the forearm pronation and supination joint 160 can realize the automatic pronation and supination action of the forearm 168, manual operation is not needed, the degree of automation is high, the labor intensity is greatly reduced, the pronation force and the supination force received by a patient each time are kept consistent, and the difference of the treatment effect caused by the subjective influence of manual operation is avoided.

Preferably, the forearm motor 167 is a cylindrical motor, the output shaft of which is an elongated shaft structure, and the forearm swing member 164 may be fixedly connected to the output shaft of the forearm motor 167 by a set screw.

With continued reference to fig. 12, in this embodiment, the forearm base 161 includes a forearm vertical portion and a forearm horizontal portion connected at an angle, wherein a forearm reinforcing rib is fixedly connected between the forearm vertical portion and the forearm horizontal portion, and the forearm vertical portion is provided with a forearm connecting hole for realizing connection with the shoulder flexion-extension joint 120; the forearm motor 167 is mounted to the forearm horizontal. The forearm base 161 is simple in structure and reliable in strength.

Fig. 13 is a first working schematic diagram of the forearm supination joint 160 according to the present embodiment, and fig. 14 is a second working schematic diagram of the forearm supination joint 160 according to the present embodiment. As shown in fig. 13 and 14, in the present embodiment, the rotation center a of the forearm 168, the pivot point b of the forearm fixing member 165 and the forearm first link 162, the pivot point c of the forearm first link 162 and the forearm swinging member 164, and the swing center d of the forearm swinging member 164 are connected to form a parallelogram; the rotation center a of the forearm 168, the pivot point f of the forearm fixture 165 and the forearm second link 163, the pivot point e of the forearm second link 163 and the forearm swing member 164, and the swing center d of the forearm swing member 164 are connected to form a parallelogram.

With continued reference to fig. 13 and 14, when the forearm 168 needs to be rotated at an angle θ, the output shaft of the forearm motor 167 may be rotated counterclockwise at the angle of fig. 13 and 14, at this time, the first forearm link 162 will translate left, the second forearm link 163 will translate right, and the forearm fixing member 165 will be driven to rotate counterclockwise about point a in the drawing, thereby rotating the forearm 168 forward θ. Similarly, when the forearm 168 is required to be rotated back at the angle θ, the output shaft of the forearm motor 167 may be rotated clockwise at the angle θ in fig. 13 and 14, at which time the first forearm link 162 will translate to the right and the second forearm link 163 will translate to the left, driving the forearm mount 165 to rotate clockwise about point a in the drawing, thus achieving rotation of the forearm 168 back by θ.

The forearm supination and pronation joint 160 is formed by constructing two parallelograms among the forearm first link 162, the forearm swing member 164, the forearm second link 163 and the forearm fixing member 165, so that when a forearm 168 is required to be supinated or supinated by a set angle, the output shaft of the forearm motor 167 is required to be rotated by a set angle in the corresponding direction. The forearm supination front-to-back joint 160 can realize 1:1 transmission from input to output, so that motion control is simplified, and control logic is simple.

Preferably, two parallelograms constructed between the four of the forearm first link 162, the forearm swing 164, the forearm second link 163, and the forearm fixture 165 are symmetrically arranged with respect to the line connecting points a and d in the drawing. By the arrangement, when the front arm 168 performs the pre-rotation action or the post-rotation action, the stress is consistent, larger centrifugal force cannot be generated, the stress of each part is stable, the service life is long, and the symmetrical arrangement mode is easy to assemble.

It should be noted that, in the present embodiment, the rotation radius of the forearm 168 is l1, the distance between the rotation center a of the forearm 168 and the swing center d of the forearm swing member 164 is l2, the forearm swing member 164 and the forearm first link 162 and the forearm second link 163 are pivotally connected at the c point and the e point, respectively, which are vertically symmetrically arranged, and the distance between the c point and the e point and the d point is l1. The other ends of the first and second forearm links 162 and 163 are pivotally connected to the forearm fixing sleeve 1651 at points b and f, respectively, and the lengths of the first and second forearm links 162 and 163 are equal to the distance l2 between points a and d, forming two sets of parallelograms a-b-c-d and a-d-e-f, respectively.

With continued reference to fig. 13 and 14, in this embodiment, the forearm supination and pronation joint 160 may further include a forearm side link 166, specifically, the forearm side link 166 is pivotally connected to the forearm base 161, and the forearm side link 166 is further pivotally connected to the forearm first link 162 and the forearm second link 163. The pivot point g of the forearm side link 166 and the base, the pivot point h of the forearm side link 166 and the forearm first link 162, the pivot point c of the forearm first link 162 and the forearm swinging member 164, and the swinging center d of the forearm swinging member 164 are connected to form a parallelogram; the pivot point g of the forearm side link 166 and the forearm base 161, the pivot point i of the forearm side link 166 and the forearm second link 163, the pivot point e of the forearm second link 163 and the forearm swing piece 164, and the swing center d of the forearm swing piece 164 are connected to form a parallelogram.

The forearm side link 166 follows as the forearm swing 164 swings to perform a pronation or supination motion. When the forearm supinator joint 160 is operated, the forearm fixture 165 is fixed to the forearm 168, so that the forearm fixture 165 is loaded at points b and f, and the first forearm link 162 may be considered as a free cantilever structure at point b, and the second forearm link 163 may be considered as a free cantilever structure at point f.

The provision of the forearm side link 166 allows the stress of the forearm first link 162 to be considered as fixed at h and loaded at b, i.e.: compared with the distance from the point b to the point h when the forearm side link 166 is not provided, the cantilever length is effectively shortened when the forearm first link 162 is regarded as being fixed at the point c and the cantilever is loaded at the point b, and the cantilever length is shortened due to the unchanged load, so that the stress condition of the forearm first link 162 is improved.

Similarly, the forearm side link 166 is arranged such that the force applied by the forearm second link 163 may be considered as fixed at i, loaded at f, i.e.: compared with the distance from the point f to the point i when the forearm side link 166 is not provided, the distance from the point f to the point e is effectively shortened when the forearm second link 163 is regarded as being fixed at the point e and the point f is loaded, so that the stress condition of the forearm second link 163 is improved.

In addition, by providing the forearm side link 166, when the forearm motor 167 is in a stopped state, the forearm first link 162 is simultaneously fixed at the point c and the point h, thereby realizing the self-locking of the forearm first link 162, and correspondingly, the forearm second link 163 is simultaneously fixed at the point e and the point i, thereby realizing the self-locking of the forearm second link 163. By the arrangement, the forearm motor 167 is not required to be kept in a starting state consistently, and the first connecting rod and the second connecting rod can stay at corresponding positions, so that on one hand, the use cost of the forearm rotating front-rotating rear joint 160 is saved, the rehabilitation cost of a patient is reduced, and on the other hand, the service life of the forearm motor 167 is prolonged.

Preferably, in the present embodiment, the forearm side link 166 is V-shaped, wherein the tip of the V-shaped forearm side link 166 is pivotally connected to the forearm base 161 at point g, two free ends remote from the tip are pivotally connected to the forearm first link 162 at point h, and the forearm second link 163 at point i, respectively. By means of the arrangement, on one hand, the dead weight of the forearm side link 166 can be reduced to facilitate the lightweight design of the forearm pronation and supination joint 160, and on the other hand, the space occupied by the forearm side link 166 can be reduced to facilitate the miniaturized design of the forearm pronation and supination joint 160.

Specifically, in this embodiment, pin shafts are used to implement pivoting between the first forearm link 162 and the forearm swing 164, between the second forearm link 163 and the forearm swing 164, between the first forearm link 162 and the forearm fixing sleeve 1651, between the second forearm link 163 and the forearm fixing sleeve 1651, between the forearm side link 166 and the forearm base 161, between the first forearm link 162 and the forearm side link 166, and between the second forearm link 163 and the forearm side link 166.

With continued reference to fig. 13 and 14, in this embodiment, a first forearm avoidance space 1621 is provided on a side of the first forearm link 162 facing the second forearm link 163, and a second forearm avoidance space 1631 is provided on a side of the second forearm link 163 facing the first forearm link 162, wherein the first forearm avoidance space 1621 and the second forearm avoidance space 1631 are configured to enable rotation of the forearm 168 by 90 ° in a first direction (counterclockwise in fig. 13 and 14) and 90 ° in a second direction (clockwise in fig. 13 and 14).

Through the arrangement, the limit angle of the front arm 168 before rotation and the limit angle of the front arm 168 after rotation can reach 90 degrees, so that the rehabilitation requirement of a patient is well met.

Fig. 15 is a state diagram of the forearm supination joint 160 according to the present embodiment in the initial position, fig. 16 is a state diagram of the forearm pronation joint 160 according to the present embodiment in the pronation limit position, and fig. 17 is a state diagram of the forearm supination joint 160 according to the present embodiment in the supination limit position. With continued reference to fig. 13 and 14, and with reference to fig. 15 to 17, in this embodiment, the forearm supination joint 160 operates as follows.

With continued reference to fig. 15, in an initial state, the forearm strap 1652 is attached to the forearm 168 of the patient with the first forearm link 162 and the second forearm link 163 facing and spaced apart.

When it is desired to cause pronation of the forearm 168, the forearm motor 167 may be activated to drive the forearm first link 162 toward the forearm 168 and the forearm second link 163 away from the forearm 168, causing the forearm 168 to pronate, as shown in fig. 16. As the output shaft of the forearm motor 167 continues to rotate, a portion of the structure of the forearm first link 162 will be received into the forearm second relief space 1631 of the forearm second link 163. When the forearm first link 162 interferes with the forearm second link 163, it is indicated that the forearm supination joint 160 is in a pronation limit position and the forearm 168 is pronated 90 °.

When the forearm 168 needs to be rotated back, the output shaft of the forearm motor 167 may be rotated in the opposite direction to drive the first forearm link 162 away from the forearm 168 and the second forearm link 163 closer to the forearm 168, thereby rotating the forearm 168 back as shown in fig. 17. As the output shaft of the forearm motor 167 continues to rotate, a portion of the structure of the forearm second link 163 will be received into the forearm first relief space 1621 of the forearm first link 162. When the forearm second link 163 interferes with the forearm first link 162, it indicates that the forearm supination joint 160 is in the supination limit position and the forearm 168 is rotated 90 °.

It should be noted that, in the present embodiment, the materials of the first forearm link 162 and the second forearm link 163 may be aluminum alloy, and the movement speed of the upper limb rehabilitation exoskeleton is generally slow, so that the upper limb rehabilitation exoskeleton may be regarded as static loading, and the static stress analysis is performed on the first forearm link 162, and the results obtained after the analysis are shown in fig. 18 and 19, where fig. 18 is a graph of the stress analysis result of the first forearm link 162 of the forearm supination and pronation rear joint 160 provided in the present embodiment; fig. 19 is a graph showing the result of displacement analysis of the first forearm link 162 of the supination joint 160 of the forearm according to the present embodiment. It can be seen that the maximum stress of the first forearm link 162 is 87.50MPa and the maximum deformation is about 0.59mm with a safety factor of up to 5.77 under a load of 20 Kg.

Because the forearm second link 163 and the forearm first link 162 are symmetrical structures, the materials of the forearm second link 163 and the forearm first link 162 are the same, and the stress is the same in the forward rotation and the backward rotation of the forearm 168, the stress analysis is performed only on the forearm first link 162, the structural strength of the forearm second link 163 is the same, and the drawings and the text are not repeated.

Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention, and the scope of the invention should be assessed accordingly to that of the appended claims.

Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

In the above embodiments, descriptions of orientations such as "front", "rear", "left", "right", "clockwise", "counterclockwise", "inner", "outer", and the like are shown based on the drawings.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An exoskeleton rotational joint, comprising:

a base;

the first connecting rod and the second connecting rod are parallel and are arranged at intervals;

the swinging piece is arranged on the base in a swinging way and is pivoted with the first connecting rod and the second connecting rod at the same time;

the driving motor is arranged on the base, and the swinging piece is fixedly connected with an output shaft of the driving motor; and

A fixed member configured to be connected to an upper arm or a forearm, the fixed member being pivotally connected to the first link and the second link simultaneously, and the fixed member, the first link, the swing member, and the second link forming a four-bar mechanism;

the exoskeleton rotary joint further comprises a side link, wherein the side link is pivoted with the base, and the side link is pivoted with the first connecting rod and the second connecting rod;

the pivot point of the side link and the base, the pivot point of the side link and the first connecting rod, the pivot point of the first connecting rod and the swinging piece and the swinging center of the swinging piece are connected to form a parallelogram;

the pivot point of the side link and the base, the pivot point of the side link and the second connecting rod, the pivot point of the second connecting rod and the swinging piece and the swinging center of the swinging piece are connected to form a parallelogram;

the side link is pivoted with the first connecting rod on the rod section of the first connecting rod; the side link is pivotally connected with the second connecting rod on the rod section of the second connecting rod.

2. The exoskeleton rotary joint of claim 1 wherein the center of rotation of the upper or forearm, the point of pivot of the mount to the first link, the point of pivot of the first link to the swing member, and the center of swing of the swing member are connected to form a parallelogram;

The rotation center of the upper arm or the forearm, the pivot joint of the fixing piece and the second connecting rod, the pivot joint of the second connecting rod and the swinging piece and the swinging center of the swinging piece are connected to form a parallelogram.

3. The exoskeleton rotary joint of claim 1, wherein the drive motor is a disk motor or the drive motor is a cylindrical motor.

4. The exoskeleton rotary joint of any one of claims 1 to 3 wherein a side of the first link facing the second link is provided with a first avoidance space and a side of the second link facing the first link is provided with a second avoidance space, the first and second avoidance spaces being configured to enable the upper or forearm to be rotated 90 ° in a first direction and 90 ° in a second direction, the second direction being opposite to the first direction.

5. The exoskeleton rotary joint of any one of claims 1 to 3 wherein the mount comprises a mount sleeve configured to interface with a downstream joint of the exoskeleton rehabilitation robot and a strap disposed on the mount sleeve configured to interface with an upper arm or forearm.

6. An exoskeleton rehabilitation robot, comprising a shoulder external swing adduction joint (110), a shoulder forward flexion and backward extension joint (120), an upper arm rotation internal rotation external joint (130), an elbow flexion and backward extension joint (150), a forearm rotation front rotation back joint (160) and a wrist dorsiflexion palm Qu Guanjie (170) which are sequentially connected, wherein at least one of the upper arm rotation internal rotation external joint (130) and the forearm rotation front rotation back joint (160) adopts the exoskeleton rotary joint of any one of claims 1 to 5, wherein the exoskeleton rotary joint is connected with an upstream joint through a base and is connected with a downstream joint through a fixing piece.

7. The exoskeleton rehabilitation robot of claim 6, further comprising a lifting column (180) and a translation stage (140), the translation stage (140) being vertically movably disposed to the lifting column (180), the shoulder-outer-swing adduction joint (110) being horizontally movably disposed to the translation stage (140).