CN114643571A

CN114643571A - Full-freedom upper limb exoskeleton device

Info

Publication number: CN114643571A
Application number: CN202210245949.2A
Authority: CN
Inventors: 朱赤; 刘畅; 倪受东; 吴方亮; 梁宏博
Original assignee: Nanjing Chiyan Technology Co ltd
Current assignee: Nanjing Chiyan Technology Co ltd
Priority date: 2022-03-14
Filing date: 2022-03-14
Publication date: 2022-06-21
Anticipated expiration: 2042-03-14
Also published as: CN114643571B

Abstract

The invention discloses a full-freedom upper limb exoskeleton device which comprises a supporting mechanism, an upper arm mechanism, a forearm mechanism and the like. The supporting mechanism comprises a main upright post, a shoulder neck main plate, a waist rear plate, a U-shaped plate and an inclined upright post; the main upright post is arranged on the back surface of the U-shaped plate, and the lower end of the inclined upright post is rotatably connected with the middle part of the U-shaped plate. The upper arm mechanism comprises a shoulder connecting plate, a shoulder movable plate, a shoulder support, a shoulder joint driving unit and a cam; the shoulder connecting plate, the shoulder neck main plate, the cam and the shoulder brace are all connected in a rotating way. The shoulder support side part is provided with a cam contact surface, the cam is attached to the cam contact surface, the shoulder joint driving unit is arranged on the bottom side of the cam, and the elbow joint driving unit is rotationally connected with the shoulder joint driving unit. The exoskeleton robot is driven by the motor to assist the bending and stretching actions of the elbow joint and the shoulder joint, and the shoulder connecting plate is lifted through the matching of the contact surfaces of the cam and the cam, so that the exoskeleton robot can move along with the skeleton of a human body, and the comfort level of a wearer is improved.

Description

Full-freedom upper limb exoskeleton device

Technical Field

The invention relates to the technical field of exoskeleton, in particular to a full-freedom upper limb exoskeleton device.

Background

Wearable exoskeletons, or powered exoskeletons, are robotic devices that are constructed of rigid or flexible materials and that can be worn by a person to provide additional energy to enhance the person's ability to carry heavy objects. The mechanical exoskeleton has various purposes, and the main purpose is to help heavy-physical workers to relieve the burden of the workers, such as logistics and building industry; can also be used for rehabilitation training of disabled people or used as a prosthetic limb to help the autonomous life of paraplegic patients. The powered exoskeleton can also be used for military purposes to enhance physical ability and protection of soldiers.

The existing exoskeleton mainly has the problems of heavy weight, insufficient flexibility and especially insufficient freedom degree. After the exoskeleton robot is worn by a wearer, the mechanical structure of the exoskeleton robot obstructs the movement of the wearer, and the moving range of the wearer is limited.

Therefore, the full-freedom upper limb exoskeleton device is provided, so that the device does not interfere with the movement of a wearer, particularly can follow the movement of shoulder joints of a person, accords with the lifting of the shoulder rotation center when the arm of the person moves, provides assistance, ensures the comfort of the wearer, and improves the freedom of the movement of the device and the comfort of the person of the user.

Disclosure of Invention

The invention aims to provide a full-freedom upper limb exoskeleton device to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: a full-freedom upper limb exoskeleton device comprises a supporting mechanism, an upper arm mechanism and a forearm mechanism.

The supporting mechanism comprises a main upright post, a shoulder and neck main plate, a waist back plate, a U-shaped plate and an inclined upright post. The back at waist back plate is installed to the U template, and main column upper end fixed mounting is at shoulder neck mainboard middle part, and main column lower extreme fixed mounting is provided with two about the oblique stand at the back of U template, and the lower extreme and the U template of two oblique stands are the rotation and are connected.

The upper arm mechanism comprises a shoulder connecting plate, a shoulder moving plate, a shoulder brace, a shoulder joint driving unit and a cam. The shoulder connecting plate, the shoulder movable sheet, the shoulder brace and the cam are symmetrically arranged on two sides of the main upright post and the shoulder neck main plate; one side of the shoulder connecting plate is rotationally connected with the shoulder neck main plate, the bottom of the shoulder connecting plate is rotationally connected with the inclined upright post, and the other side of the shoulder connecting plate is rotationally connected with the shoulder movable plate; the shoulder movable sheet is rotationally connected with the shoulder support, the cam is rotationally connected with the shoulder support, a cam contact surface is arranged on the side portion of the shoulder support, the edge of the cam is attached to the cam contact surface, and the shoulder joint driving unit is arranged on the bottom side of the cam.

The forearm mechanism comprises an elbow joint driving unit, the elbow joint driving unit is rotatably connected with the upper arm length adjusting unit, and a supporting plate is fixedly connected to one side of the elbow joint driving unit.

In one embodiment of the invention, an auxiliary rotating component is arranged outside the cam, the bottom side of the auxiliary rotating component is connected with the shoulder joint driving unit, and one side of the supporting plate is rotationally connected with the shoulder joint driving unit.

In one embodiment of the invention, a sliding seat is fixedly connected to one side of the shoulder support, a sliding plate is slidably connected to the sliding seat, a connecting seat is fixedly connected to one side of the sliding plate, the connecting seat is integrally arranged with the cam, and the shoulder joint driving unit is fixedly connected to the connecting seat.

In one embodiment of the invention, the cam and cam interface on the shoulder brace sides, slides, etc. form a sliding pair that lifts the entire arm (upper arm and forearm) to follow the skeletal movements of the wearer's shoulder joint while the shoulder joint drive motor drives the exoskeleton arm in flexion/extension. However, the lifting mechanism is not limited to a sliding pair, and other methods, such as cam-cam rolling, toothed cam-toothed cam, gear-gear, gear-rack, etc., are included. In one embodiment of the invention, the shoulder joint driving unit comprises a shoulder connecting part, the shoulder connecting part is rotatably connected with the connecting seat, a telescopic rod is arranged at the lower end of the shoulder connecting part, and a forearm connecting part is fixedly connected to the lower end of the telescopic rod.

In one embodiment of the invention, the shoulder joint driving unit comprises a first speed reducer, the first speed reducer is fixedly connected to the connecting seat, and the input end of the first speed reducer is fixedly connected with a shoulder joint synchronous belt wheel;

the shoulder joint connecting part is fixedly connected with a shoulder joint driving motor, the output end of the shoulder joint driving motor is fixedly connected with a shoulder joint synchronous belt wheel, and the shoulder joint synchronous belt wheel is in transmission connection with the shoulder joint synchronous belt wheel through a synchronous belt.

In one embodiment of the invention, the elbow joint driving unit comprises an elbow joint driving motor, and an output end of the elbow joint driving motor is fixedly connected with an elbow joint synchronous belt wheel;

the forearm connecting part is fixedly connected with an elbow joint speed reducer, the output end of the elbow joint speed reducer is fixedly connected with an elbow joint synchronous belt wheel, and the elbow joint synchronous belt wheel is in transmission connection with the elbow joint synchronous belt wheel.

In one embodiment of the invention, the supporting plate is an L-shaped plate, the supporting plate is fixedly connected with a buffer layer, and the shoulder neck main plate and the waist back plate side wall are also provided with buffer layers.

In one embodiment of the invention, the oblique upright posts are arranged into the upright posts with radian, two oblique upright posts are arranged in a V shape, and the two oblique upright posts are symmetrically arranged relative to the main upright post.

In summary, due to the adoption of the technology, the invention has the beneficial effects that:

according to the invention, the main upright post and the inclined upright post are arranged to support the whole device and to be attached to the back of a wearer; the waist back plate is arranged and can be used for placing a waistband, and the shoulder neck main plate is arranged and is rotationally connected with the shoulder connecting plate, so that the shoulders can move up and down; the shoulder connecting plate is rotationally connected with the shoulder moving piece, so that the up-and-down movement space of the shoulder can be further improved, and the shoulder moving piece is rotationally connected with the shoulder support, so that the shoulder can move back and forth, and the shoulder can move with full freedom;

through the setting of cam and cam contact surface to and the cooperation of oblique stand and shoulder activity piece, the wearing is when shoulder joint activity (including bucking/extension, adduction/abduction), and cam contact surface produce the power effect mutually, lifts whole shoulder connecting plate, with the lifting motion of following the wearing person shoulder joint, improved the degree of freedom of device activity and human comfort level.

The shoulder joint and the upper arm can be driven by the shoulder joint driving unit to rotate, and the forearm mechanism can be driven by the elbow joint driving unit to rotate, so that the physical strength of a user is saved; the length of the telescopic rod can be manually adjusted through the arrangement of the telescopic rod, so that the telescopic rod is suitable for users with different arm lengths;

because the first speed reducer is arranged between the shoulder joint synchronous belt wheel and the mounting frame, the shoulder connecting part rotates relative to the mounting frame.

The invention uses the motor to drive the bending and stretching actions of the elbow joint and the shoulder joint to assist, and uses the joint linkage to realize the movement in other directions, thereby not only not obstructing the movement of a wearer, but also following the movement of the shoulder joint of the person and ensuring the comfort of the wearer.

Drawings

FIG. 1 is a rear view of the present invention;

FIG. 2 is a schematic perspective view of the present invention;

FIG. 3 is a schematic diagram of an oblique-view left arm lift configuration of the present invention;

FIG. 4 is a side elevation view of the left arm of the present invention;

FIG. 5 is a schematic view of the hanging part of the two arms of the present invention;

FIG. 6 is a schematic view of the cam of the present invention (upper arm-down condition);

FIG. 7 is a schematic view of the cam of the present invention (with the upper arm raised);

FIG. 8 is a schematic view (in elevation) of the present invention showing the left arm in an extended raised position;

fig. 9 is a schematic view (perspective view) of the left arm in the extended and lifted state according to the present invention.

In the figure: 1, a support mechanism; 11, a main upright post; 12, a shoulder and neck main board; 13, waist back plate; 14, a U-shaped plate; 15, oblique upright posts; 2, an upper arm mechanism; 21, shoulder connecting plates; 22, shoulder moving plates; 23, shoulder bracing; 231, cam interface; 24, a shoulder joint drive unit; 25, an upper arm length adjusting unit; 3, a forearm mechanism; 31, an elbow joint drive unit; 32, a support plate; 261, a slide seat; 262, a slide plate; 27, a connecting seat; 28, a cam; 251, a shoulder connecting portion; 252, a telescoping rod; 253, forearm connecting part; 241, a first reducer; 242, shoulder joint timing pulley; 243, shoulder joint drive motor; 244, shoulder joint timing pulley; 311, an elbow joint driving motor; 312, elbow joint synchronous pulley; 313, elbow joint reducer; 314, elbow joint synchronous pulley.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. Of course, the described embodiments are a few embodiments of the invention, not all embodiments. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

In the description of the present invention, it is to be understood that the terms indicating an orientation or positional relationship are based on the orientation or positional relationship shown in the drawings only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art from the specification.

Example 1

Referring to fig. 1-6, the present invention provides a full-freedom upper limb exoskeleton device, which comprises a support mechanism 1, an upper arm mechanism 2 and a forearm mechanism 3. The upper arm mechanisms 2 are arranged at two sides of the supporting mechanism 1, and the forearm mechanisms 3 are connected at the bottom side of the upper arm mechanisms 2. The supporting mechanism 1 is used for supporting the whole device, the upper arm mechanism 2 is used for assisting the shoulder and moving along with the shoulder, and the forearm mechanism 3 is used for assisting the elbow joint and moving along with the forearm.

The supporting mechanism 1 comprises a main upright post 11, a shoulder neck main plate 12, a waist back plate 13, a U-shaped plate 14 and an inclined upright post 15. The U-shaped plate 14 is arranged on the back of the waist back plate 13, the upper end of the main upright post 11 is fixedly arranged in the middle of the shoulder neck main plate 12, and the lower end of the main upright post 11 is fixedly arranged on the back of the U-shaped plate 14; be provided with two about oblique stand 15, oblique stand 15 sets up to the stand that has the radian for accord with human back radian, two oblique stands 15 are the V type setting, and 11 symmetries of two relative head posts of oblique stand 15 set up, and the lower extreme of two oblique stands 15 all rotates through the round pin axle and connects inside U template 14.

The upper arm mechanism 2 includes a shoulder connecting plate 21, a shoulder moving piece 22, a shoulder rest 23, a shoulder joint drive unit 24, and a cam 28. The shoulder connecting plate 21, the shoulder moving plate 22, the shoulder brace 23 and the cam 28 are symmetrically arranged on two sides of the shoulder neck main plate 12; one side of the shoulder connecting plate 21 is rotatably connected with the shoulder neck main plate 12, the bottom of the shoulder connecting plate 21 is rotatably connected with the inclined upright post 15, and the other side of the shoulder connecting plate 21 is rotatably connected with a shoulder movable sheet 22; one side of the shoulder movable sheet 22 is rotatably connected with the shoulder support 23, the cam 28 is rotatably connected with the shoulder support 23, a cam contact surface 231 is arranged at the side part of the shoulder support 23, the contour of the cam 28 is attached to the cam contact surface 231, and the shoulder joint driving unit 25 is arranged at the bottom side of the cam 28.

The forearm mechanism 3 includes an elbow joint drive unit 31, the elbow joint drive unit 31 and the upper arm length adjustment unit 25 are rotatably connected, and a support plate 32 is fixedly connected to one side of the elbow joint drive unit 31.

In particular use, with reference to figures 1, 4 and 5, the main upright 11 and the inclined upright 15 are used to support the whole device, engaging the back of the user; the waist back plate 13 is arranged and can be used for placing a waistband, the shoulder neck main plate 12 is arranged, and the shoulder neck main plate 12 is rotatably connected with the shoulder connecting plate 21 so that the shoulders can move up and down; the shoulder connecting plate 21 is rotatably connected with the shoulder movable sheet 22, so that the up-and-down movement space of the shoulder can be further improved, and the shoulder movable sheet 22 is rotatably connected with the shoulder support 23, so that the shoulder can move back and forth, and the shoulder can move in a full degree of freedom;

the shoulder joint driving unit 24 drives the shoulder joint, and the elbow joint driving unit 31 drives the elbow joint and the forearm, thereby saving the physical strength of the wearer and enhancing the ability of the wearer.

Further, a shoulder joint driving unit 24 is provided outside the cam 28, the lower side of the shoulder joint driving unit 24 is connected to the upper arm length adjusting unit 25, and one side of the support plate 32 is rotatably connected to the upper arm length adjusting unit 25 for facilitating the movement of the elbow joint of the human body.

Referring to fig. 4, 6 and 7, a sliding seat 261 is fixedly connected to one side of the shoulder support 23, a sliding plate 262 is slidably connected to the sliding seat 261, and a connecting seat 27 is fixedly connected to one side of the sliding plate 262, so as to facilitate movement of the shoulder joint. The connecting base 27 is integrally provided with the cam 28, and the shoulder joint driving unit 24 is fixedly connected to the connecting base 27.

See fig. 2 and 3. Upper arm length adjustment unit 25 includes shoulder connecting portion 251, and shoulder connecting portion 251 and connecting seat 27 rotate to be connected, and shoulder connecting portion 251 lower extreme is provided with telescopic link 252, and telescopic link 252 lower extreme fixedly connected with forearm connecting portion 253, through the length of adjusting telescopic link 252, can cooperate user's upper arm length, improves suitability and flexibility.

The shoulder joint driving unit 24 includes a first speed reducer 241, the first speed reducer 241 is fixedly connected to the connecting base 27, and an input end of the first speed reducer 241 is fixedly connected to a shoulder joint synchronous pulley 242.

See fig. 2 and 3. A shoulder joint driving motor 243 is fixedly connected to the shoulder connecting portion 251, a shoulder joint synchronous pulley 244 is fixedly connected to an output end of the shoulder joint driving motor 243, and the shoulder joint synchronous pulley 244 is in transmission connection with the shoulder joint synchronous pulley 242 through a synchronous belt. The elbow joint driving unit 31 comprises an elbow joint driving motor 311, and an output end of the elbow joint driving motor 311 is fixedly connected with an elbow joint synchronous pulley 312; an elbow joint speed reducer 313 is fixedly connected to the forearm connecting portion 253, an elbow joint synchronous pulley 314 is fixedly connected to an output end of the elbow joint speed reducer 313, and the elbow joint synchronous pulley 314 and the elbow joint synchronous pulley 312 are connected and drive the elbow joint and the forearm mechanism 3 through a synchronous belt.

When the shoulder joint synchronous pulley device is used specifically, the shoulder joint driving motor 243 can drive the shoulder joint synchronous pulley 244 and the shoulder joint synchronous pulley 242 to rotate synchronously, and a first speed reducer 241 is arranged between the shoulder joint synchronous pulley 242 and the connecting base 27, so that the shoulder connecting part 251 rotates relative to the connecting base 27, and the shoulder joint and the upper arm are driven to move.

Backup pad 32 is the L shaped plate, fixedly connected with buffer layer on the backup pad 32, and shoulder neck mainboard 12 and waist backplate 13 lateral wall also are provided with the buffer layer, and the buffer layer can set up to rubber layer or sponge layer, is convenient for improve the soft touch of contact, increases the comfort level.

In the process of lifting the arm, the shoulder joint driving motor 243 drives the shoulder connecting part 251 to rotate relative to the connecting seat 27, so that the cam 28 rotates, the contour of the cam 28 is matched with the cam contact surface 231, and the shoulder connecting plate 21 is lifted; meanwhile, as the shoulder connecting part 251 is connected with the sliding base 261 through the sliding plate 262, the shoulder connecting part 251 moves upwards along the direction of the sliding base 261, so that the shoulder connecting part 251 is lifted, the shoulder joint of the exoskeleton robot follows the movement of the joint of the human body, and the freedom degree of arm movement and the comfort degree of the human body use are increased.

The working principle is as follows: when the exoskeleton robot is worn by a wearer in use, the main upright post 11 and the inclined upright post 15 are attached to the back, when the wearer lifts the arm, the sensor (myoelectricity or force/torque sensor) detects the movement of the wearer, the computer identifies and judges the movement intention of the wearer through an algorithm, and sends a movement instruction to the motor. The shoulder joint driving motor 243 drives the shoulder connecting part 251 to rotate relative to the connecting seat 27, so as to drive the cam 28 to rotate, and the cam 28 is matched with the cam contact surface 231 to lift the shoulder connecting plate 21; meanwhile, since the shoulder connecting part 251 is connected to the slider 261 through the sliding plate 262, the shoulder connecting part 251 is moved upward in the direction of the slider 261, so that the shoulder connecting part 251 is raised; when the wearer performs the abduction action, the inclined upright post 15 rotates inwards towards the main upright post 11, so that the shoulder connecting plate 21 rotates, and the height of the shoulder movable piece (22) is further increased (as shown in fig. 8 and 9); the exoskeleton moves in the opposite direction to the above described motion when the wearer performs the adduction motion. Therefore, the exoskeleton can follow the motion track of the human shoulder joint rotation center in the motion process, so that the exoskeleton does not deviate when moving along with the human body, is more fit with the human body, increases the comfort level, limits the motion range and increases the freedom degree of arm movement and the comfort level of use of the human body; when the user performs flexion/extension, the shoulder joint driving motor 243 drives the shoulder joint driving unit 24 to rotate the shoulder joint, the upper arm mechanism 2, and the forearm mechanism 3; meanwhile, the elbow joint driving motor 311 drives the forearm mechanism 3 to drive the elbow joint driving unit 31, thereby saving the physical strength of the user.

It should be noted that: the model specifications of the shoulder joint driving motor 243, the elbow joint driving motor 311, the first speed reducer 241 and the elbow joint speed reducer 313 need to be determined by type selection according to the actual specification of the device, and the specific type selection calculation method adopts the prior art, so detailed description is omitted.

The detection of the movement of the exoskeleton wearer, the identification and determination of the movement intent, and the control principles and manner of the shoulder joint drive motor 243 and elbow joint drive motor 311 are not within the scope of the present invention and will not be described in detail herein.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims

1. A full degree of freedom upper extremity exoskeleton device comprising:

(1) a support mechanism (1). The supporting mechanism (1) comprises a main upright post (11), a shoulder neck main plate (12), a waist rear plate (13), a U-shaped plate (14) and an inclined upright post (15). The U-shaped plate (14) is mounted on the back surface of the waist back plate (13), the upper end of the main upright post (11) is fixedly mounted in the middle of the shoulder neck main plate (12), the lower end of the main upright post (11) is fixedly mounted on the back surface of the U-shaped plate (14), two inclined upright posts (15) are arranged on the left and right sides, and the lower ends of the two inclined upright posts (15) are rotatably connected with the U-shaped plate (14);

(2) an upper arm mechanism (2). The upper arm mechanism (2) comprises a shoulder connecting plate (21), a shoulder moving plate (22), a shoulder support (23), a shoulder joint driving unit (24) and a cam (28). The shoulder connecting plate (21), the shoulder moving plate (22), the shoulder brace (23) and the cam (28) are symmetrically arranged on two sides of the main upright post (11) and the shoulder neck main plate (12); the shoulder neck main plate (12) is rotatably connected with the shoulder connecting plate (21); the shoulder movable sheet (22) is rotatably connected with the shoulder support (23), the cam (28) is rotatably connected with the shoulder support (23), a cam contact surface (231) is arranged on the side of the shoulder support (23), the edge of the cam (28) is attached to the cam contact surface (231), and the shoulder joint driving unit (24) is arranged on the bottom side of the cam (28);

(3) a forearm mechanism (3). Forearm mechanism (3) are including elbow joint drive unit (31), elbow joint drive unit (31) with upper arm length adjustment unit (25) transmission is connected, one side fixedly connected with backup pad (32) of elbow joint drive unit (31).

2. The full-degree-of-freedom upper limb exoskeleton device of claim 1, wherein: a shoulder joint driving unit (24) is arranged on the outer side of the cam (28), the bottom side of the shoulder joint driving unit (24) is connected with an upper arm length adjusting unit (25), and one side of the supporting plate (32) is rotatably connected with the upper arm length adjusting unit (25).

3. The full-degree-of-freedom upper limb exoskeleton device of claim 2, wherein: shoulder props (23) one side fixedly connected with slide (261), sliding connection has sliding plate (262) on slide (261), sliding plate (262) one side fixedly connected with connecting seat (27), connecting seat (27) with cam (28) integration sets up, shoulder joint drive unit (24) fixed connection be in on connecting seat (27).

4. The full-degree-of-freedom upper limb exoskeleton device of claim 3, wherein: the cam (28) and a cam contact surface (231) at the side part of the shoulder support (23), the sliding seat (261), the sliding plate (262) and the like form a sliding pair, and when the shoulder joint driving motor drives the exoskeleton arm to bend/extend, the whole arm (upper arm and forearm) is lifted so as to follow the skeletal motion of the shoulder joint of the wearer. However, the lifting mechanism is not limited to a sliding pair, and other methods, such as cam-cam rolling, toothed cam-toothed cam, gear-gear, gear-rack, etc., are included.

5. The full-degree-of-freedom upper limb exoskeleton device of claim 3, wherein: the shoulder joint driving unit (24) comprises a shoulder connecting part (251), the shoulder connecting part (251) is rotatably connected with the connecting seat (27), a telescopic rod (252) is arranged at the lower end of the shoulder connecting part (251), and a forearm connecting part (253) is fixedly connected to the lower end of the telescopic rod (252).

6. The full-degree-of-freedom upper limb exoskeleton device of claim 4, wherein: the shoulder joint driving unit (24) comprises a first speed reducer (241), the first speed reducer (241) is fixedly connected to the connecting seat (27), and the input end of the first speed reducer (241) is fixedly connected with a shoulder joint synchronous pulley (242);

the shoulder joint synchronous pulley is characterized in that a shoulder joint driving motor (243) is fixedly connected to the shoulder connecting portion (251), the output end of the shoulder joint driving motor (243) is fixedly connected with a shoulder joint synchronous pulley (244), and the shoulder joint synchronous pulley (244) is in transmission connection with the shoulder joint synchronous pulley (242) through a synchronous belt.

7. The full-degree-of-freedom upper limb exoskeleton device of claim 5, wherein: the elbow joint driving unit (31) comprises an elbow joint driving motor (311), and an output end of the elbow joint driving motor (311) is fixedly connected with an elbow joint synchronous belt wheel (312);

fixedly connected with elbow joint reduction gear (313) on forearm connecting portion (253), the output fixedly connected with elbow joint synchronous pulley (314) of elbow joint reduction gear (313), elbow joint synchronous pulley (314) with elbow joint synchronous pulley (312) transmission is connected.

8. The full-degree-of-freedom upper limb exoskeleton device of claim 2, wherein: the supporting plate (32) is arranged to be an L-shaped plate, a buffer layer is fixedly connected to the supporting plate (32), and buffer layers are also arranged on the side walls of the shoulder neck main plate (12) and the waist back plate (13).

9. The full-degree-of-freedom upper limb exoskeleton device of claim 1, wherein: the inclined upright columns (15) are arranged to be upright columns with radian, the inclined upright columns (15) are arranged in a V shape, and the inclined upright columns (15) are symmetrically arranged relative to the main upright column (11).