CN112716749B

CN112716749B - Exoskeleton type upper limb rehabilitation robot

Info

Publication number: CN112716749B
Application number: CN202011548298.1A
Authority: CN
Inventors: 王壮; 李旺鑫; 冷冰; 臧志刚; 陈永超; 姜琛昱
Original assignee: Jinan Guoke Medical Engineering Technology Development Co ltd
Current assignee: Jinan Guoke Medical Engineering Technology Development Co ltd
Priority date: 2020-12-24
Filing date: 2020-12-24
Publication date: 2023-05-12
Anticipated expiration: 2040-12-24
Also published as: CN112716749A

Abstract

The invention discloses an exoskeleton type upper limb rehabilitation robot which is provided with an elbow joint bending and stretching assembly, wherein the elbow joint bending and stretching assembly comprises a first motor, a first speed reducer, a connecting shaft, a first base, a rotating piece and a first fixing piece which are respectively U-shaped; the bottom end of the first base is vertically arranged with the bottom end of the first fixing piece, and the big arm is fixed between the two opening ends of the first fixing piece through a binding belt; the first motor is fixedly arranged at one end of the opening of the rotating piece through a first speed reducer, a flange of an output shaft of the first speed reducer is fixedly arranged at one end of the opening of the first base, and the other end of the opening of the first base is rotationally connected with the other end of the opening of the rotating piece through a connecting shaft; the first motor rotates through the cavity elbow joint formed between the first base and the rotating piece, and the rotating piece is driven to rotate relative to the first base after the first motor is decelerated through the first speed reducer. The invention solves the problem of low comfort level of elbow joint placement, and has the characteristics of high comfort level of elbow joint placement and convenience for adduction or abduction exercise training.

Description

Exoskeleton type upper limb rehabilitation robot

Technical Field

The invention relates to the technical field of rehabilitation robots, in particular to an exoskeleton type upper limb rehabilitation robot.

Background

In modern society, the deterioration of limb skills caused by factors such as aging, accidental injury, sports injury, stroke, brain injury and the like affects the daily life and work of patients. Compared with the traditional rehabilitation training mode, the rehabilitation robot is used as a mechanical device capable of continuously and repeatedly rehabilitation training, can provide multiple training modes, greatly improves the initiative of patients, and saves a large amount of manpower and time.

The shoulder joint, elbow joint and wrist joint are important joints between the big arm and the lower arm, and the multi-degree-of-freedom motion training is particularly important. The invention patent CN110859731A discloses an exoskeleton type upper limb rehabilitation robot which can realize rehabilitation training of six degrees of freedom of shoulder joint buckling/stretching, abduction/adduction, forearm rotation and adduction, elbow joint buckling/stretching, forearm rotation and adduction and wrist joint buckling/stretching, and each degree of freedom can realize independent or combined actions. However, the rehabilitation robot has poor adaptability and flexibility to elbow joints and low comfort.

Disclosure of Invention

Aiming at the defects in the technology, the invention provides the exoskeleton type upper limb rehabilitation robot which solves the problem of low comfort level of elbow joint placement and has the characteristics of high comfort level of elbow joint placement and convenience in adduction or abduction exercise training.

To achieve these objects and other advantages and in accordance with the purpose of the invention, as embodied by the following:

the embodiment of the invention provides an exoskeleton type upper limb rehabilitation robot which comprises a supporting mechanism, a shoulder joint movement mechanism, an elbow joint movement mechanism and a wrist joint movement mechanism, wherein the shoulder joint movement mechanism, the elbow joint movement mechanism and the wrist joint movement mechanism are sequentially and fixedly connected to the supporting mechanism; the bottom end of the first base is vertically arranged with the bottom end of the first fixing piece, and a large arm is fixed between the two opening ends of the first fixing piece through a binding belt; the first motor output shaft is fixedly connected to the first speed reducer, the first speed reducer output shaft is fixedly installed at one end of the opening of the rotating piece, the flange of the first speed reducer output shaft is fixedly installed at one end of the opening of the first base, and the other end of the opening of the first base is rotatably connected with the other end of the opening of the rotating piece through the connecting shaft; the cavity formed between the first base and the rotating piece is used for accommodating the elbow joint after the big arm is fixed, the first motor rotates, after the first speed reducer is decelerated, the rotating piece is driven to rotate relative to the first base along the axial direction of the first motor, and therefore the elbow joint is subjected to one-degree-of-freedom motion training comprising horizontal inward bending or horizontal outward extending.

Preferably, the elbow joint movement mechanism is further provided with an elbow joint rotation assembly, which comprises a second motor, a second speed reducer, a speed reduction box and a first connecting rod; two bevel gears which are respectively and correspondingly connected to the input shaft of the reduction box and the output shaft of the reduction box are arranged in the reduction box, and the gears of the two bevel gears are vertically and relatively connected in a sliding manner so as to change direction; the second motor is fixedly connected to the reduction gearbox input shaft through the second speed reducer, and the reduction gearbox output shaft is fixedly connected to the bottom end of the rotating piece; the second motor rotates, and drives the first connecting rod to rotate along the direction perpendicular to the output shaft of the second motor after the second speed reducer decelerates and the reduction gearbox changes the transmission direction, so as to exercise the elbow joint in one degree of freedom including inward rotation or outward rotation.

Preferably, the support mechanism includes: a second base; the upright post is vertically and fixedly arranged on the second base, and the shoulder joint movement mechanism is also fixedly arranged on the upright post; and the gravity center adjusting assembly comprises a dead weight rod vertically and fixedly installed on the second base and a plurality of dead weight blocks matched and sleeved on the dead weight rod.

Preferably, the high width adjustment mechanism is further included, comprising:

the height adjusting assembly comprises a first hand wheel, a first mounting plate, a second mounting plate, a third mounting plate, a first nut, a first adjusting screw rod and two first guide rods, wherein the first adjusting screw rod and the two first guide rods penetrate through the first nut respectively; the first mounting plate is vertically and fixedly mounted on the supporting mechanism; the upper end and the lower end of the first mounting plate are respectively and horizontally provided with the second mounting plate and the third mounting plate correspondingly, one end of the first adjusting screw rod is rotatably mounted on the second mounting plate, and the other end of the first adjusting screw rod penetrates through the third mounting plate and is fixedly connected to the first hand wheel; the two first guide rods are fixedly arranged between the second mounting plate and the third mounting plate and symmetrically positioned at two sides of the first adjusting screw rod; the first hand wheel is rotated to drive the first adjusting screw rod to rotate, and the first nut is driven to axially slide along the first adjusting screw rod;

the width adjusting assembly comprises a second hand wheel, a fourth mounting plate, a fifth mounting plate, a sixth mounting plate, a second nut, a second adjusting screw rod and two second guide rods, wherein the second adjusting screw rod and the two second guide rods penetrate through the second nut respectively; the fourth mounting plate is horizontally and fixedly mounted on the first nut; the left end and the right end of the fourth mounting plate are respectively and vertically provided with the fifth mounting plate and the sixth mounting plate correspondingly, one end of the second adjusting screw is rotatably mounted on the fifth mounting plate, and the other end of the second adjusting screw penetrates through the sixth mounting plate and is fixedly mounted on the second hand wheel; the two second guide rods are fixedly arranged between the fifth mounting plate and the sixth mounting plate and symmetrically positioned at two sides of the second adjusting screw rod; the shoulder joint movement mechanism is fixed on the second nut; and rotating the second hand wheel to drive the second adjusting screw rod to rotate, and driving the second nut to drive the shoulder joint movement mechanism to axially slide along the second adjusting screw rod.

Preferably, the shoulder joint movement mechanism comprises a shoulder joint flexion-extension assembly, which comprises a third base, a third motor, a third speed reducer and a second connecting rod, wherein the third base is horizontally and fixedly arranged on the supporting mechanism, the second motor is horizontally arranged on the second connecting rod through the third speed reducer, and a flange of the third speed reducer is fixedly arranged on the third base; the third motor rotates, and after the third speed reducer decelerates, the second connecting rod is driven to rotate along the horizontal direction, so that the shoulder joint is subjected to one-degree-of-freedom exercise training comprising horizontal adduction or horizontal abduction.

Preferably, the shoulder joint movement mechanism further comprises a shoulder joint lifting and swinging assembly, which comprises a third connecting rod, a fourth motor, a fourth speed reducer and a fourth connecting rod; the third connecting rod is vertically and fixedly mounted to the second connecting rod; the fourth motor is fixedly mounted to the third connecting rod through the fourth speed reducer, the fourth connecting rod is further rotatably mounted on the output shaft of the fourth speed reducer, the fourth motor rotates, and after the fourth speed reducer decelerates, the fourth motor drives the fourth connecting rod to rotate along the vertical direction so as to perform one-degree-of-freedom motion training including vertical lifting or vertical swinging on the shoulder joint.

Preferably, the shoulder joint movement mechanism further comprises a shoulder joint rotation assembly comprising a fourth base, a fifth motor and a fifth decelerator; the fourth base is vertically mounted to one end of the fourth connecting rod; the fifth motor is fixedly arranged on the fourth base, and the fifth motor is fixedly connected to the first base through the fifth speed reducer; the fifth motor rotates to drive the first base to rotate along the horizontal direction so as to perform one-degree-of-freedom exercise training including internal rotation or external rotation on the shoulder joint.

Preferably, the wrist movement mechanism comprises a wrist bending and stretching assembly, which comprises a fifth base, a sixth motor, a sixth speed reducer, an adjusting rod and a second fixing piece; the fifth base is vertically and fixedly arranged on the elbow joint rotating assembly, the sixth speed reducer is fixedly arranged on the fifth base, the sixth motor output shaft is arranged on the sixth speed reducer, the sixth speed reducer output shaft is fixedly arranged on the adjusting rod, and the flange of the sixth speed reducer is fixedly provided with the second fixing piece with an opening facing horizontally outwards; the small arm is fixed between the two opening ends of the second fixing piece through a binding belt; and the sixth motor rotates, and after the speed is reduced by the sixth speed reducer, the adjusting rod is driven to rotate in a vertical plane so as to perform one-degree-of-freedom motion training including upward bending or downward stretching on the wrist joint.

Preferably, the wrist movement mechanism further comprises a wrist adjustment assembly comprising a third nut slidably connected to the adjustment rod, a first bolt extending through the third nut to be matingly mounted to the groove on the adjustment rod, and a groove provided to the adjustment rod, the third nut being fixedly mounted to the adjustment rod.

Preferably, the length adjusting mechanism is further included, which includes:

the large-arm length adjusting assembly comprises two parallel third guide rods, a fourth nut fixedly mounted on the fourth connecting rod, a second bolt, a third adjusting screw rod and a third hand wheel, wherein the third adjusting screw rod is positioned between the two third guide rods, one end of each third guide rod is fixedly mounted on the fourth connecting rod, the other end of each third guide rod penetrates through the fourth base in a sliding manner, the second bolt is mounted on the other end of each third guide rod, one end of each third adjusting screw rod is rotatably connected to the fourth nut, and the third bolt and the third hand wheel are mounted on the other end of each third adjusting screw rod in a sliding manner after penetrating through the fourth base in sequence; the third hand wheel is rotated to drive the third adjusting screw rod to rotate, and the fourth base is driven to slide along the length direction of the guide rod;

The small arm length adjusting assembly comprises a right-angle-shaped fifth connecting rod, a sixth connecting rod, a fourth adjusting screw rod, a fifth nut, a fourth bolt and a fourth hand wheel, wherein the vertical part of the fifth connecting rod is vertically and fixedly connected to the first connecting rod, one end of the sixth connecting rod is provided with a sliding rail and a connecting sheet which is horizontally outwards, and the other end of the sixth connecting rod is fixedly connected to a fifth base; one end of the fourth adjusting screw rod is vertically fixed to the connecting sheet, the other end of the fourth adjusting screw rod penetrates through the fifth base and is connected to the fourth hand wheel through the fourth bolt, the fifth nut is installed on the fourth adjusting screw rod, and the horizontal part of the fifth connecting rod is fixedly connected to the fifth nut; and the fourth hand wheel is rotated to drive the fourth adjusting screw rod to rotate, so that the fifth nut, the fifth connecting rod and the first connecting rod are driven to slide horizontally along the sliding rail together.

The invention at least comprises the following beneficial effects:

(1) The exoskeleton type upper limb rehabilitation robot provided by the invention has the advantages that the elbow joint bending and stretching assembly comprising the first motor, the first speed reducer, the connecting shaft, the first base, the rotating piece and the first fixing piece which are respectively U-shaped is arranged, no matter how the first motor rotates, the rotating piece is driven to correspondingly change the size of the cavity after rotating relative to the first base, the exoskeleton type upper limb rehabilitation robot is matched with the inward bending or outward stretching exercise training of the elbow joint, the adjustability is strong, any constraint feeling is not caused to the elbow joint training, the comfort level of the elbow joint placement and training is enhanced, the mechanism is simple, and the operation is easy.

(2) According to the exoskeleton type upper limb rehabilitation robot provided by the invention, through changing the transmission direction by adopting the reduction gearbox, the two degrees of freedom exercise training of inner bending or outer stretching, inner rotation or outer rotation of the elbow joint positioned in the cavity can be realized, and the respective degrees of freedom exercise training can be also relatively and independently completed.

Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.

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 needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of the overall assembly of an exoskeleton type upper limb rehabilitation robot according to the present invention;

FIG. 2 is an assembled schematic view of the supporting mechanism according to the present invention;

FIG. 3a is a schematic view of an assembly of a height adjustment assembly according to the present invention;

FIG. 3b is a schematic view of an assembly of the high width adjustment mechanism of the present invention;

FIG. 4a is a schematic view of an assembly of the shoulder flexion-extension assembly of the present invention;

FIG. 4b is a schematic view of an assembly of a shoulder lobe lift assembly and a large arm length adjustment assembly according to the present invention;

FIG. 4c is a schematic view of the assembly of the arm length adjustment assembly, the shoulder joint rotation assembly and the elbow joint flexion and extension assembly according to the present invention;

FIG. 5 is a schematic view of the assembly of the elbow joint rotation assembly, forearm length adjustment assembly, wrist flexion and extension assembly, and carpal tunnel adjustment assembly according to the invention;

FIG. 6 is a schematic view of the internal structure of a reduction gearbox in an elbow joint rotating assembly according to the present invention;

reference numerals illustrate:

00. a support mechanism; 01. a second base; 02. a column; 03. a dead weight rod; 04. self-weight block; 05. a storage box; 06. a universal wheel;

10. a high width adjustment mechanism; 11a, a first hand wheel; 11b, a second hand wheel; 12a, a first mounting plate; 12b, second mounting plates, 12c, third mounting plates, 13a, first nuts; 13b, a second nut; 14a, a first adjusting screw; 14b, a second adjusting screw; 15a, a first guide rod; 15b, a second guide rod; 16a, a fourth mounting plate; 16b, a fifth mounting plate; 16c, a sixth mounting plate;

20. A shoulder joint flexion and extension assembly; 21. a third base; 22. a third motor; 23. a third decelerator; 24. a second connecting rod; 25a, a first opening; 25b, a first through hole;

30. a shoulder joint lifting and swinging assembly; 31. a third connecting rod; 32. a fourth motor; 33. a fourth decelerator; 34. a fourth connecting rod; 35a, a second opening; 35b, a second through hole;

40. a large arm length adjustment assembly; 41. a third guide bar; 42. a fourth nut; 43. a second bolt; 44. a third bolt; 45. a third adjusting screw; 46. a third hand wheel;

50. a shoulder joint rotation assembly; 51. a fourth base; 52. a fifth motor; 53. a fifth decelerator; 54. a third through hole;

60. an elbow joint flexion and extension assembly; 61. a first motor; 62. a first decelerator; 63. a connecting shaft; 64. a first base; 65. a rotating member; 66. a first fixing member;

70. an elbow joint rotation assembly; 71. a second motor; 72. a second decelerator; 73. a reduction gearbox; 73a, bevel gears; 74. a first connecting rod;

80. a forearm length adjustment assembly; 81. a fifth connecting rod; 82. a sixth connecting rod; 821. a slide rail; 822. a connecting sheet; 83. a fourth adjusting screw; 84. a fifth nut; 85. a fourth bolt; 86. a fourth hand wheel;

90. A wrist flexion and extension assembly; 91. a fifth base; 92. a sixth motor; 93. a sixth decelerator; 94. an adjusting rod; 95. a second fixing member;

100. a wrist distance adjusting assembly; 101. a third nut; 102. a first bolt.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In the description of the embodiments of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the embodiments of the present invention and simplify description, and do not indicate or imply that the devices or elements being referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention, and furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In describing embodiments of the present invention, it should be noted that, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "connected" should be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; the connection may be direct connection, indirect connection via an intermediate medium, communication between two elements, wireless connection, or wired connection. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

Furthermore, terms such as "having," "including," and "comprising," used in various embodiments of the invention described below do not exclude the presence or addition of one or more other elements or combinations thereof; the technical features involved can be combined with one another as long as they do not conflict with one another.

As shown in fig. 1 to 6, an embodiment of the present invention provides an exoskeleton type upper limb rehabilitation robot including a support mechanism, a shoulder joint movement mechanism, an elbow joint movement mechanism, and a wrist joint movement mechanism which are sequentially and fixedly connected to the support mechanism. In order to more clearly describe the respective degree of freedom exercise training of each joint of the upper limb, the three-dimensional coordinate auxiliary direction illustration of X-Y-Z is marked in figure 1.

Example 1 ]

The present embodiments provide a preferred implementation of the elbow joint motion mechanism.

In the first aspect, preferably, the elbow joint movement mechanism is provided with an elbow joint flexion-extension assembly 60. As shown in fig. 4c, the elbow joint flexion and extension assembly 60 includes a first motor 61, a first decelerator 62, a connecting shaft 63, and a first base 64, a rotating member 65, and a first fixing member 66, which are respectively U-shaped. The bottom end of the first base 64 is vertically installed with the bottom end of the first fixing member 66, and the large arm can be fixed between the two open ends of the U-shaped first fixing member 66 through the binding belt. The output shaft of the first motor 61 is fixedly connected to the first speed reducer 62, the output shaft of the first speed reducer 62 is fixedly mounted on one end of an opening of the rotating member 65, a flange of the output shaft of the first speed reducer 62 is fixedly mounted on one end of an opening of the first base 64, the other end of the opening of the first base 64 is rotatably connected with the other end of the opening of the rotating member 65 through a connecting shaft 63, and a cavity is formed between the U-shaped first base 64 and the U-shaped rotating member 65 and is used for accommodating an elbow joint after the big arm is fixed. To facilitate patient sitting testing for forearm immobilization and elbow placement, the two openings of the first mount 66 are oriented in a horizontal direction along the X-axis, and the two openings of the U-shaped first mount 64 and the U-shaped swivel 65 are oriented opposite and in a horizontal direction along the Y-axis. The first motor 61 is fixedly mounted to the first base 64 via a first decelerator 62, and an output shaft of the first motor 61 is in a direction along the Z axis. The first motor 61 rotates a certain angle, after being decelerated by the first decelerator 62, the rotating member 65 connected with the output shaft of the first decelerator 62 is further driven to rotate by the same angle relative to the first base 64, so that the large arm is driven to be fixed to the first fixing member 66, and the elbow joint accommodated in the cavity performs one-degree-of-freedom exercise of horizontal inward bending or horizontal outward extending around the Z axis. And, no matter how the first motor 61 rotates, such as forward rotation, reverse rotation, acceleration or deceleration, how the size of the cavity is correspondingly changed after driving the rotating member 65 to rotate relative to the first base 64, the device is matched with the training of the inner bending or the outer stretching of the elbow joint, has strong adjustability, can not cause any constraint feeling to the elbow joint training, enhances the comfort level of the elbow joint placement and training, and has simple mechanism and easy operation.

As for the rotational connection of the connection shaft 63, it is preferable that one end of the connection shaft 63 is connected to the first base 64 by a deep groove ball bearing, and the other end of the connection shaft 63 is fixedly coupled to the rotating member 65 by a bolt.

In the second aspect, the elbow joint is rotated around the Z axis, and the elbow joint is rotated around the Y axis to further achieve the elbow joint rotation inward or outward, and the direction of rotation is changed, so that it is preferable that the present invention employs the reduction gearbox 73 to change the transmission direction, that is, the elbow joint movement mechanism is further provided with the elbow joint rotation assembly 70. As shown in fig. 5 and 6, the elbow joint rotation assembly 70 includes a second motor 71, a second decelerator 72, a deceleration tank 73, and a first connecting rod 74; two bevel gears 73a which are respectively and correspondingly connected to an input shaft of the reduction box 73 and an output shaft of the reduction box 73 are arranged in the reduction box 73, and gears of the two bevel gears 73a are vertically and oppositely connected in a sliding manner so as to change directions; the second motor 71 is fixedly connected to an input shaft of a reduction gearbox 73 via a second reduction gear 72, and an output shaft of the reduction gearbox 73 is fixedly connected to a bottom end of the rotating member 65.

In this embodiment, the second motor 71 rotates by any angle, and after the second speed reducer 72 is used for speed reduction and the reduction gearbox 73 is used for changing the transmission direction, the first connecting rod 74 is driven to rotate the elbow joint by a corresponding angle along the direction perpendicular to the output shaft of the second motor 71, namely along the Y-axis direction, so as to perform one-degree-of-freedom exercise training including inward rotation or outward rotation on the elbow joint. The output shaft of the reduction box 73 is fixedly connected to the bottom end of the rotating member 65, so that the two degrees of freedom exercise training of the elbow joint positioned in the cavity, including inward bending or outward extending, inward rotation or outward rotation, can be realized, and the degree of freedom exercise training can be also relatively independently finished.

In summary, the exoskeleton type upper limb rehabilitation robot provided by the invention can perform exercise training of two degrees of freedom of inner flexion or outer extension, inner rotation or outer rotation on elbow joints, and the degree of freedom exercise training can be relatively independent or can be sequentially associated.

Example 2 ]

On the basis of example 1, the example of the invention gives a preferred embodiment of the support mechanism 00. As shown in fig. 2, the support mechanism 00 includes a second base 01, a column 02, and a center of gravity adjustment assembly. The upright 02 is vertically and fixedly mounted on the second base 01, i.e. the upright 02 is fixedly mounted along the Z-axis direction. The upright column 02 is also fixedly provided with a shoulder joint movement mechanism. The gravity center adjusting component comprises a dead weight rod 03 vertically and fixedly mounted on a second base 01 and a plurality of dead weight blocks 04 which are matched and sleeved on the dead weight rod 03. In this embodiment, the whole exoskeleton type upper limb rehabilitation robot is fixedly mounted on a second base 01 by a shoulder joint movement mechanism through a column 02, and the second base 01 is used for providing support. Because the whole robot is a large-scale mechanism extending outwards from one side of the upright column 02, the unstable gravity center of the second base 01 is inevitably caused, and the gravity center adjusting component is used for adjusting the gravity center of the second base 01 so as to ensure the stability of the whole equipment, and the adjusting method is used for adjusting the number of self-weight blocks 04 which are matched and sleeved by automatic rods on the second base 01.

As a further preferable aspect, the second base 01 may be fixedly provided with a storage box 05, and the storage box 05 may be configured in a vertically multi-layered structure for storing medicines and machines necessary for rehabilitation training, thereby improving the practicality of the apparatus. As for the positional relationship between the upright 02 and the storage case 05, the upright 02 and the storage case 05 may be disposed on the second base 01, respectively, or the upright 02 may be fixedly mounted above the storage case 05 to save space and maximize the capacity of the storage case 05 as much as possible. The present invention gives an example in which the column 02 is fixedly mounted to the top of the storage case 05 by bolts.

As a further preferable mode, a plurality of universal wheels 06 are further arranged below the second base 01, and specifically, the invention provides an example that one universal wheel 06 is respectively arranged at four corners below the second base 01, so that the exoskeleton type upper limb rehabilitation robot has mobility.

It should be noted that, because the exoskeleton type upper limb rehabilitation robot is fixedly installed on one side of the upright column 02 through the shoulder joint movement mechanism, when a patient is rehabilitated, a seat can be arranged on the same side of the upright column 02 and below the exoskeleton type upper limb rehabilitation robot, and rehabilitation training is carried out by matching with the patient.

Example 3 ]

On the basis of examples 1-2, the present examples provide a preferred embodiment of the present invention for setting the high-width adjustment mechanism 10 to adapt to rehabilitation of patients of different sizes from the aspect of high-width adjustment.

In a first aspect, the height-width adjustment mechanism 10 is provided with a height adjustment assembly for height adjustment. As shown in fig. 3a, the height adjustment assembly includes a first hand wheel 11a, a first mounting plate 12a, a second mounting plate 12b, a third mounting plate 12c, a first nut 13a, and a first adjustment screw 14a and two first guide rods 15a penetrating the first nut 13a, respectively; the first mounting plate 12a is vertically fixedly mounted to the support mechanism 00; the upper end and the lower end of the first mounting plate 12a are respectively and horizontally provided with a second mounting plate 12b and a third mounting plate 12c correspondingly, one end of a first adjusting screw 14a is rotatably mounted on the second mounting plate 12b, and the other end of the first adjusting screw 14a penetrates through the third mounting plate 12c and is fixedly connected to the first hand wheel 11a; two first guide rods 15a are fixedly mounted between the second mounting plate 12b and the third mounting plate 12c and symmetrically located on both sides of the first adjusting screw 14 a.

In this embodiment, the first mounting plate 12a is preferably fixedly mounted vertically in the Z-axis direction to the column 02 of the support mechanism 00 by bolts. The second mounting plate 12b and the third mounting plate 12c are preferably fixedly mounted to the upper and lower ends of the first mounting plate 12a horizontally along the X-Y plane. The first adjusting screw 14a is provided with deep groove ball bearings at both ends so that the screw is sensitive to rotation. The first adjusting screw 14a and the first guide rods 15a on both sides thereof are arranged along the Z-axis direction, and the first hand wheel 11a is rotated to drive the first adjusting screw 14a to rotate, and the first nut 13a is driven to slide along the axial direction of the first adjusting screw 14a, namely the Z-axis direction, so as to perform height adjustment. The first guide rod 15a is preferably fixed to the second mounting plate 12b and the third mounting plate 12c at both ends thereof by nuts, and guides sliding of the first nut 13 a.

In a second aspect, the high-width adjustment mechanism 10 is provided with a width adjustment assembly for performing width adjustment. As shown in fig. 3b, the width adjustment assembly includes a second hand wheel 11b, a fourth mounting plate 16a, a fifth mounting plate 16b, a sixth mounting plate 16c, a second nut 13b, and a second adjustment screw 14b and two second guide rods 15b that extend through the second nut 13b, respectively. The fourth mounting plate 16a is horizontally fixedly mounted to the first nut 13 a; the left end and the right end of the fourth mounting plate 16a are respectively and vertically provided with a fifth mounting plate 16b and a sixth mounting plate 16c correspondingly, one end of a second adjusting screw 14b is rotatably mounted on the fifth mounting plate 16b, and the other end of the second adjusting screw 14b penetrates through the sixth mounting plate 16c and is fixedly mounted on the second hand wheel 11b; two second guide rods 15b are fixedly mounted between the fifth mounting plate 16b and the sixth mounting plate 16c and symmetrically positioned at both sides of the second adjusting screw 14 b; the second nut 13b is fixed with a shoulder joint movement mechanism.

In this embodiment, the fourth mounting plate 16a is preferably fixedly mounted to the first nut 13a horizontally in the X-axis direction. The second adjusting screw 14b is provided with deep groove ball bearings at both ends, so that the screw is sensitive to rotation. The second adjusting screw 14b and the second guide rods 15b on both sides thereof are arranged along the X-axis direction. The second nut 13b is preferably fixed to the shoulder joint movement mechanism by screwing.

The second hand wheel 11b is rotated to drive the second adjusting screw rod 14b to rotate, the second nut 13b is driven to drive the shoulder joint movement mechanism to axially slide along the second adjusting screw rod 14b so as to carry out width adjustment on the shoulder joint movement mechanism in the X-axis horizontal direction, the fourth mounting plate 16a is fixedly mounted on the first nut 13a, then the first nut 13a slides along the Z-axis direction, and the whole height adjustment of the width adjusting assembly fixedly mounted through the fourth mounting plate 16a is necessarily driven, so that the height and width can be completely and randomly adjusted, and the rehabilitation alignment requirements of different heights and fat and thin patients on the seat below the robot can be met.

Example 4 ]

On the basis of examples 1-3, the examples of the invention present preferred embodiments of the shoulder joint movement mechanism.

In the first aspect, the shoulder joint movement mechanism comprises a shoulder joint flexion-extension assembly 20, as shown in fig. 4a, the shoulder joint flexion-extension assembly 20 comprises a third base 21, a third motor 22, a third speed reducer 23 and a second connecting rod 24, the third base 21 is horizontally fixedly mounted to the supporting mechanism 00, the second motor 71 is horizontally mounted to the second connecting rod 24 via the third speed reducer 23, and a flange of the third speed reducer 23 is fixedly mounted to the third base 21.

In this embodiment, the third base 21 is fixedly mounted to the support mechanism 00 horizontally, i.e., the third base 21 is fixedly mounted in the X-Y plane direction, and the entire shoulder joint movement mechanism can be fixedly mounted to the support mechanism 00. In the example given in embodiment 3 where the high-width adjustment mechanism 10 is provided, the third mount 21 may preferably be fixedly mounted horizontally to the second nut 13b in the width adjustment assembly. For the sake of more compact structure, it is preferable that the third base 21 is provided with a first opening 25a along the X-Y horizontal plane and a first through hole 25b penetrating the diversion opening along the Z axis, so that the output shaft of the third motor 22 is fixedly mounted on the third speed reducer 23, after the output shaft of the third speed reducer 23 penetrates the first through hole 25b, the flange of the third speed reducer 23 is fixedly mounted on the third base 21, so as to ensure that the third speed reducer 23 is fixedly mounted relative to the third base 21, meanwhile, the second connecting rod 24 is fixedly mounted on the output shaft of the third speed reducer 23 after being inserted into the first opening 25a, so that the third motor 22 rotates by any angle, and after being decelerated by the third speed reducer 23, the second connecting rod 24 is driven to rotate by a corresponding angle along the horizontal direction, namely the X-Y plane, relative to the third base 21, so as to exercise the shoulder joint with one degree of freedom including horizontal adduction or horizontal abduction.

In a second aspect, as a further preferred aspect, the shoulder movement mechanism further comprises a shoulder lobe assembly 30. As shown in fig. 4b, the shoulder lobe assembly 30 includes a third connecting rod 31, a fourth motor 32, a fourth decelerator 33, and a fourth connecting rod 34; the third connecting rod 31 is vertically fixedly mounted to the second connecting rod 24; the fourth motor 32 is fixedly mounted to the third connecting rod 31 via a fourth speed reducer 33, and a fourth connecting rod 34 is also rotatably mounted to the output shaft of the fourth speed reducer 33.

In this embodiment, the third connecting rod 31 may be preferably fixedly mounted vertically below one end of the second connecting rod 24 by a bolt in the Z-axis direction. For the purpose of compact installation structure, the third connecting rod 31 is used as a base of the fourth motor 32, preferably, a second opening 35a with a downward opening and a second through hole 35b penetrating through the second opening 35a along the X-axis direction are arranged, the output shaft of the fourth motor 32 is fixedly installed on the fourth speed reducer 33, after the output shaft of the fourth speed reducer 33 stretches into the second through hole 35b, the flange is fixed on the third connecting rod 31, meanwhile, the fourth connecting rod 34 stretches into the second opening 35a and is fixedly installed on the output shaft of the fourth speed reducer 33, the fourth motor 32 rotates by any angle, and after the fourth speed reducer 33 decelerates, the fourth connecting rod 34 is driven to rotate by a corresponding angle relative to the third connecting rod 31 along the vertical direction of the Z-axis, so as to perform one-degree-of-freedom motion training including vertical lifting or vertical swinging of the shoulder joint.

In a third aspect, as a further preferred aspect, the shoulder joint movement mechanism further comprises a shoulder joint rotation assembly 50. As shown in fig. 4c, the shoulder joint rotation assembly 50 includes a fourth base 51, a fifth motor 52, and a fifth decelerator 53; the fourth base 51 is vertically mounted to one end of the fourth connecting rod 34; the fifth motor 52 is fixedly mounted to the fourth base 51, and the fifth motor 52 is fixedly connected to the first base 64 via a fifth reducer 53.

In this embodiment, the fourth base 51 is preferably vertically mounted on one end of the fourth connecting rod 34 along the Z axis direction, and is used as a base of the fifth motor 52, so that the fourth base 51 is provided with a third through hole 54 along the Y axis direction, an output shaft of the fifth motor 52 is fixedly mounted on the fifth speed reducer 53, the fifth speed reducer 53 extends into the third through hole 54 and is fixedly mounted on the fourth base 51 through a bolt, meanwhile, an output shaft of the fifth speed reducer 53 is fixedly mounted on the first base 64, the fifth motor 52 rotates by any angle, and after being decelerated by the fifth speed reducer 53, the first base 64 is driven to rotate by a corresponding angle along the horizontal direction of the Y axis, so as to perform one degree of freedom exercise including internal rotation or external rotation on the shoulder joint.

In summary, the exoskeleton type upper limb rehabilitation robot provided by the invention can perform exercise training of three degrees of freedom including adduction or abduction, lifting or swinging and internal rotation or external rotation on shoulder joints, and the degree of freedom exercise training can be relatively independent or can be sequentially associated.

Example 5 ]

On the basis of examples 1-4, the present examples present preferred embodiments of a wrist movement mechanism.

In a first aspect, preferably, the wrist motion mechanism includes a wrist flexion-extension assembly 90. As shown in fig. 5, the wrist flexion-extension assembly 90 includes a fifth mount 91, a sixth motor 92, a sixth decelerator 93, an adjustment lever 94, and a second fixing member 95; the fifth base 91 is vertically and fixedly mounted to the elbow joint rotating assembly 70, the sixth speed reducer 93 is fixedly mounted to the fifth base 91, the output shaft of the sixth motor 92 is mounted to the sixth speed reducer 93, the output shaft of the sixth speed reducer 93 is fixedly mounted to the adjusting rod 94, and the flange of the sixth speed reducer 93 is fixedly mounted with the second fixing piece 95 with an opening facing horizontally outwards; the forearm is secured between the two open ends of the second securing member 95 by a strap.

In this embodiment, the fifth mount 91 is vertically fixedly mounted to the elbow joint rotating assembly 70 in the Z-axis direction, specifically, the fifth mount 91 is L-shaped, and an upper end of the L-shape is fixedly mounted to the elbow joint rotating assembly 70, and a bottom of the L-shape is provided with a third opening for being fixedly mounted to an outside of the sixth decelerator 93 by a bolt, thereby functioning as a support seat for the sixth motor 92. The output shaft of the sixth motor 92 is fixedly mounted to the sixth speed reducer 93, the output shaft of the sixth speed reducer 93 is fixedly mounted to the adjusting rod 94, then, after the two open ends of the second fixing member 95 fix the forearm by the binding band, the wrist joint is aligned to the output shaft position of the sixth speed reducer 93, and as the sixth motor 92 rotates by any angle, after being decelerated by the sixth speed reducer 93, the adjusting rod 94 is driven to rotate by a corresponding angle in the vertical plane along the output shaft of the sixth speed reducer 93, namely, the X direction, so as to perform one-degree-of-freedom motion training including upward bending or downward stretching on the wrist joint.

In a second aspect, it is further preferred that the wrist articulation mechanism further comprises a carpal tunnel adjustment assembly 100. As shown in fig. 5, the wrist adjustment assembly 100 includes a third nut 101, a first bolt 102, and a groove provided to the adjustment lever 94, the third nut 101 being slidably coupled to the adjustment lever 94, the first bolt 102 being matingly mounted to the groove on the adjustment lever 94 through the third nut 101, the third nut 101 being fixedly mounted to the adjustment lever 94. In this embodiment, after the patient fixes the forearm by the second fixing member 95, the wrist distance needs to be further determined, at this time, the groove of the third nut 101 on the adjusting rod 94 is slid to the position of the target wrist distance, and then the position of the third nut 101 is tightly fixed by adjusting the first bolt 102, so as to ensure that the wrist distance is unchanged, thereby achieving the purpose of adjusting the wrist distance.

In summary, the exoskeleton type upper limb rehabilitation robot provided by the invention can perform one-degree-of-freedom motion training including upward bending or downward stretching on the wrist joint, and can perform wrist distance adjustment according to the needs of patients, wherein the upward bending or downward stretching motion training and the wrist distance adjustment can be relatively independent or can be sequentially associated.

Example 6 ]

On the basis of examples 1-5, the preferred embodiment of the invention provides a length adjusting mechanism for improving the length adjusting mechanism from the length adjusting aspect of a big arm and a small arm to adapt to patients with different upper limb lengths for rehabilitation.

In a first aspect, the length adjustment mechanism includes a large arm length adjustment assembly 40. As shown in fig. 4a, the large arm length adjusting assembly 40 includes two parallel third guide rods 41, a fourth nut 42 fixedly mounted to the fourth connecting rod 34, a second bolt 43, a third bolt 44, a third adjusting screw 45 positioned between the two third guide rods 41, and a third hand wheel 46, one end of the third guide rod 41 is fixedly mounted to the fourth connecting rod 34, the other end of the third guide rod 41 is slidably mounted through the fourth base 51 and then is rotatably connected to the fourth nut 42, one end of the third adjusting screw 45 is slidably mounted through the fourth base 51 and then is sequentially mounted with the third bolt 44 and the third hand wheel 46.

In this embodiment, the large arm length adjusting assembly 40 is to be disposed behind the shoulder joint motion mechanism according to the structural sequence of the upper limb, that is, preferably, the large arm length adjusting assembly 40 is mounted behind the shoulder joint lifting and swinging assembly 30, and then, one ends of the third guide rod 41 and the third adjusting screw 45 are horizontally mounted to the third connecting rod 31 in the shoulder joint lifting and swinging assembly 30 along the Y axis; while considering that the exercise training of the shoulder joint can be continued after the adjustment of the length of the large arm, the other ends of the third guide bar 41 and the third adjustment screw 45 are both mounted to the fourth base 51 of the shoulder joint rotating assembly 50. Specifically, one end of the third guide bar 41 is fixedly mounted to the mounting hole of the fourth connection bar 34, and the other end of the third guide bar 41 is fixedly mounted to the fourth base 51 through the second bolt 43 after penetrating the fourth base 51. The fourth nut 42 is a screw nut, one end of a third adjusting screw 45 is fixedly mounted on the fourth connecting rod 34 through the fourth nut 42, the other end of the third adjusting screw 45 penetrates through the fourth base 51 and is connected to the fourth base 51 in a rolling manner through a third bolt 44, and a third hand wheel 46 is fixedly mounted at the tail end of the third adjusting screw 45. The third hand wheel 46 is rotated to drive the third adjusting screw 45 to rotate along the Y-axis direction, and the fourth base 51 is driven to horizontally slide along the length direction of the third guide rod 41, namely the Y-axis direction, so that the adaptability adjustment of the length of the large arm is realized, and the matching degree of rehabilitation training of a patient is improved.

In a second aspect, the length adjustment mechanism includes a small arm length adjustment assembly 80. As shown in fig. 5, the dobby length adjustment assembly 80 includes a fifth connecting rod 81, a sixth connecting rod 82, a fourth adjustment screw 83, a fifth nut 84, a fourth bolt 85, and a fourth hand wheel 86, which are formed in a right angle shape. The vertical part of the fifth connecting rod 81 is vertically and fixedly connected to the first connecting rod 74, one end of the sixth connecting rod 82 is provided with a sliding rail 821 and a connecting sheet 822 horizontally outwards, and the other end of the sixth connecting rod 82 is fixedly connected to the fifth seat 91; one end of the fourth adjusting screw 83 is vertically fixed to the connecting piece 822, the other end of the fourth adjusting screw 83 penetrates through the fifth base 91 and is connected to the fourth hand wheel 86 through the fourth bolt 85, the fifth nut 84 is mounted on the fourth adjusting screw 83, and the horizontal portion of the fifth connecting rod 81 is fixedly connected to the fifth nut 84.

This embodiment is used for adjusting the length of the forearm, and the forearm length adjusting unit 80 is disposed behind the elbow joint movement mechanism and in front of the wrist joint movement mechanism according to the structural sequence of the upper limb, so that the vertical portion of the fifth connecting rod 81 is vertically and fixedly connected to the first connecting rod 74 of the elbow joint rotating unit 70 in the Y-axis direction, and the other end of the sixth connecting rod 82 is horizontally and fixedly mounted to the fifth base 91 of the wrist joint bending and stretching unit 90 in the Y-axis direction. The connecting piece 822 at one end of the sixth connecting rod 82 provides a fixedly mounted support for the fourth adjusting screw 83, and the sliding rail 821-position fourth adjusting screw 83 rotates to drive the sliding of the first connecting piece to provide axial limiting. The process of adjusting the length of the forearm is divided into a fixed part including the first connecting rod 74, the fifth connecting rod 81 and the fifth nut 84, and a movable part including the sixth connecting rod 82, the connecting piece 822 and the fifth seat 91. The fourth hand wheel 86 is rotated to drive the fourth adjusting screw 83 to rotate, and the fifth nut 84, the fifth connecting rod 81 and the first connecting rod 74 are driven to slide horizontally along the sliding rail 821 together, so that the adaptability adjustment of the length of the forearm is completed, and the matching degree of rehabilitation training of a patient is improved.

In summary, according to the exoskeleton type upper limb rehabilitation robot provided by the invention, by arranging the length adjusting mechanism comprising the large arm length adjusting assembly 40 and the small arm length adjusting assembly 80, the adaptive length adjustment can be performed according to the large arm and the small arm of the patient respectively, so as to improve the matching degree of the rehabilitation training of the patient.

In summary, in combination with the descriptions of embodiments 1-6, the exoskeleton-type upper limb rehabilitation robot provided by the invention can perform exercise training with three degrees of freedom including adduction or abduction, lifting or lowering and internal rotation or external rotation on the shoulder joint of a patient, perform exercise training with two degrees of freedom including internal bending or external bending, internal rotation or external rotation on the elbow joint of the patient, and perform exercise training with one degree of freedom including upward bending or downward stretching on the wrist joint of the patient, namely, perform exercise training with six degrees of freedom on the shoulder, elbow and wrist joints of the upper limb of the patient. Furthermore, according to the different stature conditions of height, fat and thin of the patient, a height and width adjusting mechanism 10 is arranged to adjust adaptively from two aspects of height and width respectively; according to the difference of the lengths of the upper limbs, the big arm and the small arm of the patient, a big arm length adjusting assembly 40 and a small arm length adjusting assembly 80 are arranged, and the two aspects of the big arm length and the small arm length are respectively adjusted in an adaptive manner; depending on the patient's requirements for the wrist distance, the wrist distance adjustment assembly 100 is configured to adjust the wrist distance to facilitate wrist distance adjustment. Furthermore, the invention is also provided with the supporting mechanism 00 with the adjustable center of gravity, the storage box 05 and the universal wheels 06, so that the mobility and the installation stability of the system are ensured, and the system has the function of medicine storage.

Example 7 ]

On the basis of the embodiments 1-6, the embodiment of the invention provides a description of the rehabilitation training use and the left-right hand-changing training of the exoskeleton type upper limb rehabilitation robot.

In the first aspect, when the patient needs to perform rehabilitation training, the patient sits on a chair positioned on one side of the upright column 02 of the support mechanism 00 and below the exoskeleton type upper limb rehabilitation robot. First, the medical staff adjusts the first hand wheel 11a and the second hand wheel 11b of the height-width adjusting mechanism 10 according to the thickness and height of the patient, and adjusts the exoskeleton type upper limb rehabilitation robot to the position according with the figure requirement of the patient. The healthcare worker then secures the forearm to the first fastener 66 of the elbow flexion-extension assembly 60 and the forearm to the second fastener 95 of the wrist flexion-extension assembly 90, respectively, via straps. Finally, the medical staff adjusts the first bolt 102 of the wrist adjustment assembly 100 to tighten the position of the third nut 101 according to the wrist requirement of the patient. Thereby adjusting the exoskeleton type upper limb rehabilitation robot to a comfortable position of a patient, and performing at least one of six-degree-of-freedom exercise training on the patient according to a specified path to perform rehabilitation training.

In the second aspect, when the patient has a need for a hand-change rehabilitation exercise, firstly, the medical staff can start the fourth motor 32 of the shoulder joint lifting and swinging assembly 30 to enable the fourth connecting rod 34 to move downwards by 90 degrees from the position shown in fig. 1, secondly, the medical staff starts the third motor 22 of the shoulder joint bending and stretching assembly 20 to enable the second connecting rod 24 to rotate rightwards by 180 degrees from the position shown in fig. 1, and finally, the medical staff starts the fourth motor 32 of the shoulder joint lifting and swinging assembly 30 to enable the fourth connecting rod 34 to move upwards by 90 degrees again, so that the hand-change exercise can be realized.

It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. And obvious variations or modifications thereof are contemplated as falling within the scope of the present invention.

Claims

1. An exoskeleton type upper limb rehabilitation robot comprises a supporting mechanism and a shoulder joint movement mechanism, an elbow joint movement mechanism and a wrist joint movement mechanism which are sequentially and fixedly connected to the supporting mechanism, and is characterized in that the elbow joint movement mechanism is provided with an elbow joint bending and stretching assembly (60) which comprises a first motor (61), a first speed reducer (62), a connecting shaft (63), a first base (64), a rotating piece (65) and a first fixing piece (66) which are respectively U-shaped; the bottom end of the first base (64) is vertically arranged with the bottom end of the first fixing piece (66), and a large arm is fixed between two opening ends of the first fixing piece (66) through a binding belt; the output shaft of the first motor (61) is fixedly connected to the first speed reducer (62), the output shaft of the first speed reducer (62) is fixedly installed at one end of the opening of the rotating piece (65), the flange of the output shaft of the first speed reducer (62) is fixedly installed at one end of the opening of the first base (64), and the other end of the opening of the first base (64) is rotatably connected with the other end of the opening of the rotating piece (65) through the connecting shaft (63); the cavity formed between the first base (64) and the rotating piece (65) is used for accommodating the elbow joint after the big arm is fixed, the first motor (61) rotates, after being decelerated by the first speed reducer (62), the rotating piece (65) is driven to rotate relative to the first base (64) along the axial direction of the first motor (61) so as to perform one-degree-of-freedom motion training comprising horizontal inward bending or horizontal outward extending on the elbow joint;

The elbow joint movement mechanism is also provided with an elbow joint rotation assembly (70) which comprises a second motor (71), a second speed reducer (72), a speed reducer box (73) and a first connecting rod (74); two bevel gears (73 a) which are respectively and correspondingly connected to an input shaft of the reduction gearbox (73) and an output shaft of the reduction gearbox (73) are arranged in the reduction gearbox (73), and gears of the two bevel gears (73 a) are vertically and relatively connected in a sliding manner so as to change directions; the second motor (71) is fixedly connected to an input shaft of the reduction gearbox (73) through the second speed reducer (72), and an output shaft of the reduction gearbox (73) is fixedly connected to the bottom end of the rotating piece (65); the second motor (71) rotates, and after the second speed reducer (72) decelerates and the speed reducer box (73) changes the transmission direction, the first connecting rod (74) is driven to rotate along the direction vertical to the output shaft of the second motor (71) so as to perform one-degree-of-freedom motion training on the elbow joint, wherein the one-degree-of-freedom motion training comprises inward rotation or outward rotation;

the support mechanism (00) includes:

a second base (01);

a stand column (02) vertically and fixedly mounted on the second base (01), wherein the shoulder joint movement mechanism is also fixedly mounted on the stand column (02); the method comprises the steps of,

The gravity center adjusting assembly comprises a dead weight rod (03) vertically and fixedly installed on the second base (01) and a plurality of dead weight blocks (04) which are matched and sleeved on the dead weight rod (03).

2. The exoskeleton type upper limb rehabilitation robot of claim 1, further comprising a high width adjustment mechanism (10) comprising:

a height adjusting assembly comprising a first hand wheel (11 a), a first mounting plate (12 a), a second mounting plate (12 b), a third mounting plate (12 c), a first nut (13 a), a first adjusting screw (14 a) and two first guide rods (15 a) penetrating the first nut (13 a), respectively; the first mounting plate (12 a) is vertically and fixedly mounted on the supporting mechanism (00), the second mounting plate (12 b) and the third mounting plate (12 c) are respectively and horizontally mounted at the upper end and the lower end of the first mounting plate (12 a), one end of the first adjusting screw (14 a) is rotatably mounted on the second mounting plate (12 b), the other end of the first adjusting screw (14 a) penetrates through the third mounting plate (12 c) and is fixedly connected to the first hand wheel (11 a), two first guide rods (15 a) are fixedly mounted between the second mounting plate (12 b) and the third mounting plate (12 c) and symmetrically positioned at two sides of the first adjusting screw (14 a), and the first hand wheel (11 a) is rotated to drive the first adjusting screw (14 a) to rotate and drive the first nut (13 a) to axially slide along the first adjusting screw (14 a);

A width adjusting assembly comprising a second hand wheel (11 b), a fourth mounting plate (16 a), a fifth mounting plate (16 b), a sixth mounting plate (16 c), a second nut (13 b), a second adjusting screw (14 b) and two second guide rods (15 b) penetrating the second nut (13 b), respectively; the fourth mounting plate (16 a) is horizontally and fixedly mounted on the first nut (13 a); the left end and the right end of the fourth mounting plate (16 a) are respectively and vertically provided with the fifth mounting plate (16 b) and the sixth mounting plate (16 c), one end of the second adjusting screw (14 b) is rotatably mounted on the fifth mounting plate (16 b), and the other end of the second adjusting screw (14 b) penetrates through the sixth mounting plate (16 c) and is fixedly mounted on the second hand wheel (11 b); the two second guide rods (15 b) are fixedly arranged between the fifth mounting plate (16 b) and the sixth mounting plate (16 c) and symmetrically positioned at two sides of the second adjusting screw rod (14 b); the shoulder joint movement mechanism is fixed on the second nut (13 b); and the second hand wheel (11 b) is rotated to drive the second adjusting screw rod (14 b) to rotate, and the second nut (13 b) is driven to drive the shoulder joint movement mechanism to axially slide along the second adjusting screw rod (14 b).

3. The exoskeleton type upper limb rehabilitation robot according to claim 1, wherein the shoulder joint movement mechanism comprises a shoulder joint flexion-extension assembly (20) including a third base (21), a third motor (22), a third decelerator (23), and a second connecting rod (24), the third base (21) being horizontally fixedly mounted to the support mechanism (00), the third motor (22) being horizontally mounted to the second connecting rod (24) via the third decelerator (23), a flange of the third decelerator (23) being fixedly mounted to the third base (21); the third motor (22) rotates, and after the third speed reducer (23) decelerates, the second connecting rod (24) is driven to rotate along the horizontal direction so as to perform one-degree-of-freedom motion training including horizontal adduction or horizontal abduction on the shoulder joint.

4. The exoskeleton type upper limb rehabilitation robot according to claim 3, wherein the shoulder joint movement mechanism further comprises a shoulder joint lifting and swinging assembly (30) comprising a third connecting rod (31), a fourth motor (32), a fourth decelerator (33) and a fourth connecting rod (34); the third connecting rod (31) is vertically and fixedly mounted to the second connecting rod (24); the fourth motor (32) is fixedly mounted to the third connecting rod (31) through the fourth speed reducer (33), the fourth connecting rod (34) is further rotatably mounted on an output shaft of the fourth speed reducer (33), the fourth motor (32) rotates, and after the fourth speed reducer (33) decelerates, the fourth connecting rod (34) is driven to rotate in the vertical direction so as to perform one-degree-of-freedom motion training including vertical lifting or vertical swinging on a shoulder joint.

5. The exoskeleton type upper limb rehabilitation robot of claim 4, wherein the shoulder joint movement mechanism further comprises a shoulder joint rotation assembly (50) including a fourth base (51), a fifth motor (52), and a fifth decelerator (53); the fourth base (51) is vertically mounted to one end of the fourth connecting rod (34); the fifth motor (52) is fixedly mounted on the fourth base (51), and the fifth motor (52) is fixedly connected to the first base (64) through the fifth speed reducer (53); the fifth motor (52) rotates to drive the first base (64) to rotate along the horizontal direction so as to exercise the shoulder joint with one degree of freedom including internal rotation or external rotation.

6. The exoskeleton type upper limb rehabilitation robot according to claim 5, wherein the wrist movement mechanism comprises a wrist flexion and extension assembly (90) including a fifth base (91), a sixth motor (92), a sixth decelerator (93), an adjustment lever (94) and a second fixing member (95); the fifth base (91) is vertically and fixedly mounted to the elbow joint rotating assembly (70), the sixth speed reducer (93) is fixedly mounted to the fifth base (91), an output shaft of the sixth motor (92) is mounted to the sixth speed reducer (93), an output shaft of the sixth speed reducer (93) is fixedly mounted to the adjusting rod (94), and the flange of the sixth speed reducer (93) is fixedly mounted with the second fixing piece (95) with an opening facing horizontally outwards; the forearm is fixed between the two open ends of the second fixing piece (95) through a binding belt; the sixth motor (92) rotates, and after the speed is reduced by the sixth speed reducer (93), the adjusting rod (94) is driven to rotate in a vertical plane, so that the wrist joint is trained in one degree of freedom motion comprising upward bending or downward stretching.

7. The exoskeleton type upper limb rehabilitation robot according to claim 6, wherein the wrist joint movement mechanism further comprises a wrist adjustment assembly (100) including a third nut (101), a first bolt (102) and a groove provided to the adjustment lever (94), the third nut (101) being slidably connected to the adjustment lever (94), the first bolt (102) being fitted through the third nut (101) to the groove provided to the adjustment lever (94), the third nut (101) being fixedly mounted to the adjustment lever (94).

8. The exoskeleton type upper limb rehabilitation robot of claim 6, further comprising a length adjustment mechanism comprising:

the large-arm length adjusting assembly (40) comprises two parallel third guide rods (41), a fourth nut (42) fixedly mounted on the fourth connecting rod (34), a second bolt (43), a third bolt (44), a third adjusting screw rod (45) and a third hand wheel (46), wherein the third adjusting screw rod (45) is positioned between the two third guide rods (41), one end of each third guide rod (41) is fixedly mounted on the fourth connecting rod (34), the second bolt (43) is mounted after the other end of each third guide rod (41) penetrates through the fourth base (51) in a sliding manner, one end of each third adjusting screw rod (45) is rotatably connected to the fourth nut (42), and the third bolt (44) and the third hand wheel (46) are mounted after the other end of each third adjusting screw rod (45) penetrates through the fourth base (51) in a sliding manner; the third hand wheel (46) is rotated to drive the third adjusting screw rod (45) to rotate and drive the fourth base (51) to slide along the length direction of the guide rod;

The small arm length adjusting assembly (80) comprises a right-angle-shaped fifth connecting rod (81), a sixth connecting rod (82), a fourth adjusting screw rod (83), a fifth nut (84), a fourth bolt (85) and a fourth hand wheel (86), wherein the vertical part of the fifth connecting rod (81) is vertically and fixedly connected to the first connecting rod (74), one end of the sixth connecting rod (82) is provided with a sliding rail (821) and a connecting sheet (822) which is horizontally outwards, and the other end of the sixth connecting rod (82) is fixedly connected to a fifth base (91); one end of the fourth adjusting screw rod (83) is vertically fixed to the connecting sheet (822), the other end of the fourth adjusting screw rod (83) penetrates through the fifth base (91) and then is connected to the fourth hand wheel (86) through the fourth bolt (85), the fifth nut (84) is mounted on the fourth adjusting screw rod (83), and the horizontal part of the fifth connecting rod (81) is fixedly connected to the fifth nut (84); and the fourth hand wheel (86) is rotated to drive the fourth adjusting screw rod (83) to rotate, so that the fifth nut (84), the fifth connecting rod (81) and the first connecting rod (74) are driven to slide horizontally along the sliding rail (821) together.